Substrate pick-and-place mechanism of SLM metal printing device and SLM metal printing device

Abstract

The application discloses a substrate taking and placing mechanism of an SLM metal printing device and the SLM metal printing device, wherein the substrate taking and placing mechanism comprises a lifting platform capable of only vertical lifting and incapable of horizontal movement, a substrate mounting seat slidingly arranged above the lifting platform, a driving structure between the lifting platform and the substrate mounting seat, and an auxiliary support assembly outside a rack. After printing is completed, only the substrate mounting seat drives a workpiece to extend outward outside the rack, and the lifting platform always remains in a forming cylinder. The scheme does not need a forklift fork arm to extend into the forming cavity for operation, can complete taking out of the workpiece outside the device, avoids scratching of precise parts such as scrapers, laser assemblies and the like in the cavity by the fork arm, prevents damage of the device, simultaneously greatly reduces entry of external dust into the forming cavity, avoids pollution of metal powder, stabilizes subsequent printing quality, adapts to heavy-load taking of a heavy substrate, and reduces labor operation intensity.

Description

Technical Field

[0001] This invention relates to the field of SLM metal printing, specifically to a substrate handling mechanism and an SLM metal printing device. Background Technology

[0002] Selective laser melting (SLM) technology uses high-power lasers to melt metal powder layer by layer to form complex metal parts, and is widely used in aerospace, medical implants, automobile manufacturing and other fields.

[0003] SLM metal printing equipment mainly includes a frame, a forming cylinder mounted on the frame, a lifting platform located inside the forming cylinder that can move up and down relative to the forming cylinder, a lifting mechanism that drives the lifting platform up and down, a laser mechanism, a powder supply mechanism, and a powder scraping mechanism. The lifting platform is used to mount the substrate. During printing, the lifting mechanism drives the lifting platform to move the substrate downwards layer by layer with precision, coordinating with the powder supply mechanism to replenish metal powder. The powder scraping mechanism evenly spreads the metal powder on the substrate surface. Then, the laser mechanism emits a laser to selectively melt the powder according to the preset part contour, layer by layer, to complete the printing of the metal part. After printing is complete, the lifting mechanism drives the lifting platform to move upwards until the lifting platform, the substrate above it, and the printed part reach the top of the forming cylinder. The operator then cleans any remaining powder from the cavity and removes the substrate along with the printed part.

[0004] As SLM technology develops towards larger sizes and heavier weights, the weight of the molded substrate and the printed parts continues to increase. The total weight of the integrated substrate and parts of some large equipment can reach hundreds of kilograms. The traditional method of directly picking up parts manually is extremely labor-intensive and cannot meet the needs of heavy-duty picking. The industry has generally switched to using forklifts to assist in picking up parts.

[0005] Existing SLM metal printing equipment requires forklifts to directly insert their forks into the forming cavity when removing heavy-duty substrates. The forks lift the substrate from the bottom, and the substrate and any components above it are then removed from the cavity. Alternatively, the forks can be inserted into the forming cavity and then connected to the substrate using straps or hooks. This forklift method has significant drawbacks: during the insertion of the forklift into the forming cavity, it is highly susceptible to scraping against precision components such as the laser protection components and scraper mechanism, causing irreversible damage to the equipment. Furthermore, external dust and impurities carried by the forklift can be introduced into the sealed forming cavity, disrupting the clean inert gas atmosphere, contaminating the metal powder, and consequently affecting the printing quality of subsequent parts. Summary of the Invention

[0006] In view of the above problems and to overcome at least one deficiency, the present invention proposes a substrate pick-and-place mechanism for an SLM metal printing device and an SLM metal printing device.

[0007] The technical solution adopted in this invention is as follows:

[0008] A substrate picking and placing mechanism for an SLM metal printing apparatus, the SLM metal printing apparatus including a frame and a forming cylinder disposed on the frame, the substrate picking and placing mechanism comprising: The lifting platform is located inside the forming cylinder. The lifting platform can only move vertically up and down under the drive of the lifting mechanism of the SLM metal printing equipment. The lifting platform itself cannot move horizontally. A substrate mounting base is slidably disposed on the upper surface of the lifting platform, and the upper surface of the substrate mounting base is used to fix and mount the substrate. A drive structure is set between the lifting platform and the substrate mounting base, and is used to drive the substrate mounting base to perform horizontal lateral translation relative to the lifting platform. An auxiliary support assembly is installed on the outside of the frame and is used to cooperate with the outwardly extending section of the substrate mounting base to provide auxiliary support for the substrate mounting base. The substrate picking and placing mechanism has an initial working state and a removal state; In the initial working state, the substrate mounting base is located directly above the lifting platform, and the substrate mounting base fully covers the upper surface of the lifting platform; When in the removed state, the lifting platform is located at the upper end of the forming cylinder, and the substrate mounting seat moves horizontally to the outside of the frame relative to the lifting platform. Part of the substrate mounting seat is still supported on the upper part of the lifting platform, and the other part extends out of the frame. The auxiliary support components on the outside of the frame support the part of the substrate mounting seat that extends out of the frame.

[0009] This solution features a lifting platform that can only move vertically and cannot move horizontally. A substrate mounting base, capable of independent horizontal movement, is added above the lifting platform. After printing, only the substrate mounting base moves the substrate and part outwards beyond the frame, while the lifting platform remains stationary inside the forming cylinder. This completely avoids the existing method where the forklift arm must fully extend into the forming cavity to retrieve the part. The forklift can retrieve heavy-duty substrates from outside the frame or with minimal insertion, effectively reducing or preventing forklift arm from scraping against precision components such as the laser protection components and scraper mechanism inside the cavity, eliminating equipment damage from impacts. Simultaneously, it avoids or significantly reduces the entry of external dust and impurities carried by the forklift into the frame, effectively ensuring the printing quality of subsequent batches of parts. This solution is particularly suitable for automated retrieval of large-size, heavy-duty substrates, reducing manual labor intensity.

[0010] The lifting mechanism is not the inventive point of this application. The lifting mechanism of existing SLM metal printing equipment can be used, such as a servo motor + ball screw vertical drive.

[0011] In one embodiment of the present invention, the driving structure includes: A rack is fitted into the lower surface of the substrate mounting base, and the end of the rack does not protrude from the lower surface of the substrate mounting base; Two anti-detachment grooves are provided on both sides of the lower surface of the substrate mounting base. The two anti-detachment grooves are arranged in parallel, and the rack is located between the two anti-detachment grooves. The mounting slot is located on the upper surface of the lifting platform; Two anti-detachment sliders are fixed to the upper surface of the lifting platform. The anti-detachment sliders are used to embed into the corresponding anti-detachment grooves and slide in cooperation with the anti-detachment grooves. A drive assembly is installed in the mounting slot. The drive assembly has a drive motor, a reducer and a drive gear connected in sequence. The drive gear meshes with the rack. When the drive motor is working, it can drive the gear to rotate, thereby driving the substrate mounting base to move along the length direction of the anti-detachment slot.

[0012] The system employs an embedded rack and pinion mechanism paired with anti-detachment grooves and sliders on both sides for sliding. A gear and rack drive assembly, consisting of a motor, reducer, and drive gear, is integrated, concealing the entire drive structure between the substrate mounting base and the lifting platform. The rack does not protrude from the lower surface of the substrate mounting base, resulting in a compact structure that does not occupy additional space in the molding cavity. On one hand, the gear and rack transmission offers strong load-bearing capacity and high transmission precision, enabling smooth horizontal movement of the heavy-duty substrate mounting base, suitable for heavy-duty applications involving substrates and parts integrated into a single unit weighing hundreds of kilograms. On the other hand, the trapezoidal anti-detachment sliders and grooves on both sides mutually limit each other, offsetting the overturning moment generated during substrate extension and preventing offsetting or warping of the substrate mounting base during sliding, ensuring smooth and reliable translation and improving the stability of the part removal operation. In one embodiment of the present invention, the drive structure further includes a sealing gasket, which is embedded and fixed on the periphery of the upper surface of the lifting platform, and the mounting groove and the anti-detachment slider are both located inside the sealing gasket.

[0013] A sealing gasket is installed around the upper surface of the lifting platform to completely enclose the bottom mounting groove, anti-detachment slider, and gear and rack drive structure inside the sealing gasket. This can prevent scattered metal powder from entering the bottom sliding mating area and the drive component, avoid powder from getting stuck in the slider and gear and rack meshing parts, prevent wear and jamming failure of the transmission structure, ensure long-term stable operation of the drive structure, and reduce the frequency of equipment maintenance caused by powder accumulation.

[0014] In one embodiment of the present invention, the cross-section of the anti-detachment groove and the cross-section of the anti-detachment slider are both trapezoidal.

[0015] Both the anti-detachment groove and the anti-detachment slider have trapezoidal cross sections, forming an inverted anti-detachment limiting structure. Compared with ordinary rectangular grooves, this structure can further enhance the vertical anti-detachment limiting capability, effectively counteract the vertical pull-out force generated when the heavy substrate extends outward, and prevent the substrate mounting base from warping upward and detaching from the slide rail under the influence of gravity. This further improves the overall safety and structural stability of the double-layer sliding structure.

[0016] In one embodiment of the present invention, the auxiliary support component includes: Support frame, connected to the frame; Support rollers are rotatably mounted on a support frame and are used for rolling engagement with the lower surface of the substrate mounting base.

[0017] A support frame with supporting rollers is installed on the outside of the frame. After the substrate mounting base extends outside the frame, the supporting rollers directly roll to support the extended and suspended section of the substrate mounting base, sharing the overturning load caused by the weight of the substrate and the parts. At the same time, the rollers adopt rolling friction cooperation, which has low frictional resistance and will not hinder the horizontal translation movement of the substrate mounting base. This solves the problem of the substrate's extended end being prone to sinking and deformation without support, and does not affect the normal extension and retraction of the substrate mounting base, ensuring a smooth loading and unloading process.

[0018] In one embodiment of the present invention, a plurality of telescopic rods are further provided in parallel, one end of which is fixed to the frame and the other end is fixed to the side wall of the support frame. The support frame can be horizontally adjusted to its position relative to the machine frame via the telescopic rod.

[0019] The addition of a telescopic rod connects the frame and the support frame, allowing the support frame to adaptively adjust the horizontal support position according to the extension length of the substrate mounting base. It can match substrate mounting bases with different extension strokes, ensuring that the support rollers always accurately correspond to the extended force area of ​​the substrate mounting base, improving support adaptability. At the same time, the telescopic rod can be folded up to fit the frame layout, so it will not occupy extra workshop space when the equipment is not in use, resulting in a more compact structural layout.

[0020] In one embodiment of the present invention, the support frame has a pressure block, and the uppermost end of the pressure block is lower than the uppermost end of the support roller; An elastic block is provided on the lower surface of the substrate mounting base, and the elastic block has a compressed state and a released state; When the elastic block is directly above the lifting platform, it is under pressure due to the force exerted by the lifting platform. When the elastic block is not directly above the lifting platform, the elastic block pops down and is in a released state. The elastic block in the released state is used to cooperate with the pressure block. When the substrate picking and placing mechanism switches from the initial working state to the moving state under the action of the driving structure, as the substrate mounting base moves outward from the frame, the elastic block switches from the compressed state to the released state. When the elastic block in the released state contacts the compressed block of the support frame, the telescopic rod can extend, driving the support frame and support rollers to move outward together.

[0021] By relying on the mechanical linkage between the elastic block and the pressure block, the support frame adaptively and synchronously moves outward along with the extension stroke of the substrate mounting seat: when the substrate mounting seat is inside the molding cylinder, the elastic block is compressed and retracts, and the support frame remains in place; after the substrate mounting seat extends outward and detaches from the lifting platform, the elastic block automatically pops out. When the elastic block contacts the pressure block, it can drive the support frame to extend automatically (driving the support rollers to follow up synchronously). There is no need to add an additional independent drive source to control the movement of the support frame, simplifying the overall electrical control and mechanical structure, reducing equipment costs, and at the same time achieving follow-up support, providing stable support for the extended section of the substrate.

[0022] In one embodiment of the present invention, the lower surface of the substrate mounting base has a mounting groove, and the elastic block includes: A drive block is slidably disposed in a mounting groove. One side of the drive block has an inclined surface. The inclined surface is used to cooperate with the lifting platform when the substrate picking and placing mechanism switches from the removed state to the initial working state, so that the drive block can be pressed into the inside of the mounting groove. A reset spring is provided between the top wall of the mounting groove and the drive block, which is used to give the drive block a tendency to switch to the release state.

[0023] The elastic block structure is formed by a drive block with an inclined surface and a return spring. When the substrate mounting seat retracts and returns to its original position, the drive block can be automatically compressed by the hard extrusion of the inclined surface and the lifting platform to complete the retraction. No additional power is required to reset the elastic block. The return spring continuously provides the ejection force to the drive block, ensuring that the elastic block can quickly and reliably eject after the substrate mounting seat is extended and trigger the follow-up support action. The mechanical linkage structure is simple and reliable, with a low failure rate, and improves the automation level of the overall mechanism operation.

[0024] In one embodiment of the present invention, the frame has a notch, and one end of the telescopic rod is disposed in the notch.

[0025] This application also discloses an SLM metal printing apparatus, including the substrate pick-and-place mechanism described above.

[0026] The SLM metal printing equipment equipped with the aforementioned substrate handling mechanism addresses two major industry pain points at the source: component collisions and dust contamination within the cavity caused by forklifts entering the cavity for component handling. This improves equipment operational safety and printing stability, while also meeting the requirements for automated and safe external component handling of heavy-duty substrates, thereby enhancing the overall operational efficiency and service life of the equipment.

[0027] The beneficial effects of this invention are as follows: This solution features a lifting platform that can only be raised and lowered vertically and cannot be moved horizontally. Simultaneously, a substrate mounting base that can be moved horizontally outwards is added above the lifting platform. After printing, only the substrate mounting base moves the substrate and part outwards beyond the frame, while the lifting platform remains stationary inside the forming cylinder. This completely avoids the existing method where the forklift arm must be fully inserted into the forming cavity to retrieve the part. The forklift can retrieve heavy-duty substrates from outside the frame or with minimal insertion into the frame, effectively reducing or preventing forklift arm from scraping against precision components such as the laser protection components and scraper mechanism inside the cavity, thus eliminating equipment damage from impacts. Simultaneously, it avoids or significantly reduces the entry of external dust and impurities carried by the forklift into the frame, effectively ensuring the printing quality of subsequent batches of parts. This solution is particularly suitable for automated retrieval of large-size, heavy-duty substrates, reducing manual labor intensity. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the substrate picking and placing mechanism (in its initial working state) when the lifting platform and substrate mounting base move down into the molding cylinder; Figure 2 This is a schematic diagram of the substrate picking and placing mechanism (in its initial working state) when the lifting platform and substrate mounting base move up to the top of the molding cylinder; Figure 3 yes Figure 2 A schematic diagram of the substrate picking and placing mechanism after switching to the removal state; Figure 4 This is a schematic diagram of the lifting platform, base plate mounting base, and drive structure; Figure 5 This is an exploded view of the lifting platform, base plate mounting base, and drive structure; Figure 6 This is a cross-sectional view of the substrate mounting base in the elastic block area when the elastic block is under pressure. Figure 7 This is a cross-sectional view of the substrate mounting base in the elastic block area when the elastic block is in the released state. Figure 8 This is a schematic diagram of the substrate picking and placing mechanism after it has switched to the removal state; Figure 9 yes Figure 8 Enlarged view of point A in the middle; Figure 10 This is a schematic diagram of the auxiliary support assembly after the telescopic pole extends.

[0029] The labels for the attached figures are as follows: 1. Frame; 11. Notch; 2. Molding cylinder; 3. Lifting platform; 4. Base plate mounting seat; 41. Mounting groove; 5. Drive structure; 51. Rack; 52. Anti-detachment groove; 53. Mounting groove; 54. Anti-detachment slider; 55. Drive assembly; 551. Drive motor; 552. Reducer; 553. Drive gear; 56. Sealing gasket; 6. Auxiliary support assembly; 61. Support frame; 611. Pressure block; 62. Support roller; 63. Telescopic rod; 7. Elastic block; 71. Drive block; 711. Inclined surface; 72. Return spring. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] The present invention will now be described in detail with reference to the accompanying drawings.

[0034] like Figures 1-10 As shown, this embodiment discloses an SLM metal printing device, including a frame 1 and a forming cylinder 2 disposed on the frame 1, and also includes a substrate picking and placing mechanism.

[0035] like Figure 1 , 2 As shown in Figures 3 and 5, the substrate picking and placing mechanism includes: The lifting platform 3 is located inside the forming cylinder 2. The lifting platform 3 can only move vertically up and down under the drive of the lifting mechanism of the SLM metal printing equipment. The lifting platform 3 itself cannot move horizontally. The substrate mounting base 4 is slidably disposed on the upper surface of the lifting platform 3, and the upper surface of the substrate mounting base 4 is used to fix and mount the substrate. The drive structure 5 is disposed between the lifting platform 3 and the substrate mounting base 4, and is used to drive the substrate mounting base 4 to perform horizontal lateral translation relative to the lifting platform 3. Auxiliary support assembly 6 is installed on the outside of the frame 1 and is used to cooperate with the outwardly extending section of the substrate mounting base 4 to form auxiliary support for the substrate mounting base 4. The substrate pick-and-place mechanism has an initial working state and a removal state; In the initial working state, the substrate mounting base 4 is completely located directly above the lifting platform 3, and the substrate mounting base 4 completely covers the upper surface of the lifting platform 3. When in the removed state, the lifting platform 3 is located at the upper end of the forming cylinder 2, and the substrate mounting base 4 is horizontally laterally moved relative to the lifting platform 3 to the outside of the frame 1. Part of the substrate mounting base 4 is still supported on the lifting platform 3, and the other part extends out of the frame 1. The auxiliary support component 6 on the outside of the frame 1 supports the part of the substrate mounting base 4 that extends out of the frame 1.

[0036] This solution features a lifting platform 3 that can only move vertically and cannot move horizontally. Above the lifting platform 3, a substrate mounting base 4 that can move independently horizontally is added. After printing, only the substrate mounting base 4 moves the substrate and part outwards from the frame 1, while the lifting platform 3 remains stationary inside the forming cylinder 2. This completely avoids the existing method where the forklift arm must be fully inserted into the forming cavity to retrieve the part. The forklift can retrieve heavy-duty substrates from outside the frame 1 or with only a small insertion into it, effectively reducing or preventing forklift arm from scraping against precision components such as the laser protection components and scraper mechanism inside the cavity, thus eliminating equipment damage from impacts. Simultaneously, it avoids or significantly reduces the entry of external dust and impurities carried by the forklift into the frame 1, effectively ensuring the printing quality of subsequent batches of parts. This solution is particularly suitable for automated retrieval of large-size, heavy-duty substrates, reducing manual labor intensity.

[0037] The lifting mechanism is not the inventive point of this application. The lifting mechanism of existing SLM metal printing equipment can be used, such as a servo motor + ball screw vertical drive.

[0038] like Figure 5 As shown, in this embodiment, the driving structure 5 includes: The rack 51 is embedded in the lower surface of the substrate mounting base 4, and the end of the rack 51 does not protrude from the lower surface of the substrate mounting base 4. Two anti-detachment grooves 52 are provided on both sides of the lower surface of the substrate mounting base 4. The two anti-detachment grooves 52 are arranged in parallel, and the rack 51 is located between the two anti-detachment grooves 52. Mounting slot 53 is located on the upper surface of lifting platform 3; Two anti-detachment sliders 54 are fixed on the upper surface of the lifting platform 3. The anti-detachment sliders 54 are used to embed into the corresponding anti-detachment grooves 52 and slide in cooperation with the anti-detachment grooves 52. The drive assembly 55 is installed in the mounting slot 53. The drive assembly 55 has a drive motor 551, a reducer 552 and a drive gear 553 connected in sequence. The drive gear 553 meshes with the rack 51. When the drive motor 551 is working, it can drive the gear to rotate, thereby driving the base plate mounting seat 4 to move along the length direction of the anti-detachment slot 52.

[0039] An embedded rack 51, combined with anti-detachment grooves 52 and anti-detachment sliders 54 on both sides, slides smoothly. A gear and rack drive assembly 55, consisting of a motor, reducer 552, and drive gear 553, is also incorporated, concealing the entire drive structure 5 within the substrate mounting base 4 and the lifting platform 3. The rack 51 does not protrude from the lower surface of the substrate mounting base 4, resulting in a compact structure that does not occupy additional space in the molding cavity. On one hand, the gear and rack 51 offers strong transmission capacity and high transmission accuracy, enabling smooth horizontal movement of the heavy-duty substrate mounting base 4, suitable for heavy-duty applications involving substrates and parts integrated into a single unit weighing hundreds of kilograms. On the other hand, the trapezoidal anti-detachment sliders 54 and anti-detachment grooves on both sides mutually limit each other, offsetting the overturning moment generated during substrate extension and preventing offsetting or warping of the substrate mounting base 4 during sliding, ensuring smooth and reliable translation and improving the stability of the part removal operation. like Figure 3 and 5 As shown, in this embodiment, the drive structure 5 also includes a sealing gasket 56, which is embedded and fixed on the periphery of the upper surface of the lifting platform 3. The mounting groove 53 and the anti-detachment slider 54 are both located inside the sealing gasket 56.

[0040] A sealing gasket 56 is provided around the upper surface of the lifting platform 3 to completely enclose the bottom mounting groove 53, the anti-detachment slider 54, and the gear rack 51 drive structure 5 inside the sealing gasket 56. This can prevent scattered metal powder in the molding cavity from entering the bottom sliding mating area and the drive component 55, avoid powder from getting stuck in the slider and the meshing part of the gear rack 51, prevent wear and jamming failure of the transmission structure, ensure long-term stable operation of the drive structure 5, and reduce the frequency of equipment maintenance caused by powder accumulation.

[0041] like Figure 5 As shown, in this embodiment, the cross-section of the anti-detachment groove 52 and the cross-section of the anti-detachment slider 54 are both trapezoidal.

[0042] Both the anti-detachment groove 52 and the anti-detachment slider 54 have trapezoidal cross sections, forming an inverted anti-detachment limiting structure. Compared with ordinary rectangular slide grooves, this structure can further enhance the vertical anti-detachment limiting capability, effectively counteract the vertical pull-out force generated when the heavy substrate extends outward, and prevent the substrate mounting base 4 from warping upward and detaching from the slide rail due to gravity. This further improves the overall safety and structural stability of the double-layer sliding structure.

[0043] like Figure 1 , 3 As shown in Figures 8 and 9, in this embodiment, the auxiliary support component 6 includes: Support frame 61 is connected to frame 1; Support roller 62 is rotatably mounted on support frame 61 and is used to roll into contact with the lower surface of substrate mounting base 4.

[0044] A support frame 61 with supporting rollers 62 is set on the outside of the frame 1. After the substrate mounting base 4 extends out of the frame 1, the supporting rollers 62 directly support the extended and suspended section of the substrate mounting base 4, sharing the overturning load caused by the weight of the substrate and the parts. At the same time, the rollers adopt rolling friction cooperation, with low frictional resistance, which will not hinder the horizontal translation movement of the substrate mounting base 4. This solves the problem of the substrate's extended end being prone to sinking and deformation without support, and does not affect the normal extension and retraction of the substrate mounting base 4, ensuring a smooth loading and unloading process.

[0045] like Figure 9 and 10 As shown, in this embodiment, it also includes multiple parallel telescopic rods 63, one end of which is fixed to the frame 1 and the other end is fixed to the side wall of the support frame 61. The support frame 61 can be horizontally adjusted to its position relative to the frame 1 via the telescopic rod 63.

[0046] An additional telescopic rod 63 connects the frame 1 and the support frame 61, allowing the support frame 61 to adaptively adjust its horizontal support position according to the extension length of the substrate mounting seat 4. It can match substrate mounting seats 4 with different extension strokes, ensuring that the support rollers 62 always accurately correspond to the extended force area of ​​the substrate mounting seat 4, improving the support adaptability. At the same time, the telescopic rod 63 can be folded up to fit the frame 1, so that it will not occupy extra space in the workshop when the equipment is not in use, resulting in a more compact structural layout.

[0047] like Figure 8 and 9 As shown, in this embodiment, the support frame 61 has a pressure block 611, and the uppermost end of the pressure block 611 is lower than the uppermost end of the support roller 62. An elastic block 7 is provided on the lower surface of the substrate mounting base 4. The elastic block 7 has a compressed state and a released state. When the elastic block 7 is directly above the lifting platform 3, it is under pressure due to the force of the lifting platform 3. When the elastic block 7 is not directly above the lifting platform 3, the elastic block 7 pops down and is in the released state. The elastic block 7 in the released state is used to cooperate with the pressure block 611. When the substrate picking and placing mechanism switches from the initial working state to the removal state under the action of the drive structure 5, as the substrate mounting base 4 moves outward from the frame 1, the elastic block 7 switches from the pressed state to the released state. When the elastic block 7 in the released state contacts the pressed block 611 of the support frame 61, the telescopic rod 63 can extend, driving the support frame 61 and the support roller 62 to move outward together.

[0048] Relying on the mechanical linkage between the elastic block 7 and the pressure block 611, the support frame 61 adaptively and synchronously moves outward along with the extension stroke of the substrate mounting seat 4: when the substrate mounting seat 4 is inside the molding cylinder 2, the elastic block 7 is compressed and retracts, and the support frame 61 remains in its original position; after the substrate mounting seat 4 extends outward and disengages from the lifting platform 3, the elastic block 7 automatically pops out. When the elastic block 7 contacts the pressure block 611, it can drive the support frame 61 to move in tandem, causing the telescopic rod 63 to extend automatically (driving the support roller 62 to follow up and provide support synchronously). There is no need to add an additional independent drive source to control the movement of the support frame 61, simplifying the overall electrical control and mechanical structure, reducing equipment costs, and at the same time achieving follow-up support, providing stable support for the extended section of the substrate.

[0049] like Figure 5 , 6 As shown in Figure 7, in this embodiment, the lower surface of the substrate mounting base 4 has a mounting groove 41, and the elastic block 7 includes: The drive block 71 is slidably disposed in the mounting groove 41. One side of the drive block 71 has an inclined surface 711. The inclined surface 711 is used to cooperate with the lifting platform 3 when the substrate picking and placing mechanism switches from the removal state to the initial working state, so that the drive block 71 can press against the inside of the mounting groove 41. A reset spring 72 is disposed between the top wall of the mounting groove 41 and the drive block 71, and is used to give the drive block 71 a tendency to switch to the release state.

[0050] The drive block 71 with inclined surface 711 and the return spring 72 form an elastic block 7 structure. When the substrate mounting base 4 retracts and returns to its original position, the drive block 71 can be automatically compressed by the hard extrusion of the inclined surface 711 and the lifting platform 3 to complete the retraction. No additional power is required to reset the elastic block 7. The return spring 72 continuously provides the ejection force to the drive block 71, ensuring that the elastic block 7 can quickly and reliably eject after the substrate mounting base 4 extends and trigger the follow-up support action. The mechanical linkage structure is simple and reliable, with a low failure rate, and improves the automation level of the overall mechanism operation.

[0051] like Figure 10As shown, in this embodiment, the frame 1 has a notch 11, and one end of the telescopic rod 63 is disposed in the notch 11.

[0052] The above description is merely a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent structural transformations made based on the description and drawings of the present invention, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present invention.

Claims

1. A substrate loading and unloading mechanism for an SLM metal printing apparatus, the SLM metal printing apparatus comprising a frame and a forming cylinder disposed on the frame, characterized in that, The substrate picking and placing mechanism includes: The lifting platform is located inside the forming cylinder. The lifting platform can only move vertically up and down under the drive of the lifting mechanism of the SLM metal printing equipment. The lifting platform itself cannot move horizontally. A substrate mounting base is slidably disposed on the upper surface of the lifting platform, and the upper surface of the substrate mounting base is used to fix and mount the substrate. A drive structure is set between the lifting platform and the substrate mounting base, and is used to drive the substrate mounting base to perform horizontal lateral translation relative to the lifting platform. An auxiliary support assembly is installed on the outside of the frame and is used to cooperate with the outwardly extending section of the substrate mounting base to provide auxiliary support for the substrate mounting base. The substrate picking and placing mechanism has an initial working state and a removal state; In the initial working state, the substrate mounting base is located directly above the lifting platform, and the substrate mounting base fully covers the upper surface of the lifting platform; When in the removed state, the lifting platform is located at the upper end of the forming cylinder, and the substrate mounting seat moves horizontally to the outside of the frame relative to the lifting platform. Part of the substrate mounting seat is still supported on the upper part of the lifting platform, and the other part extends out of the frame. The auxiliary support components on the outside of the frame support the part of the substrate mounting seat that extends out of the frame.

2. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 1, characterized in that, The driving structure includes: A rack is fitted into the lower surface of the substrate mounting base, and the end of the rack does not protrude from the lower surface of the substrate mounting base; Two anti-detachment grooves are provided on both sides of the lower surface of the substrate mounting base. The two anti-detachment grooves are arranged in parallel, and the rack is located between the two anti-detachment grooves. The mounting slot is located on the upper surface of the lifting platform; Two anti-detachment sliders are fixed to the upper surface of the lifting platform. The anti-detachment sliders are used to embed into the corresponding anti-detachment grooves and slide in cooperation with the anti-detachment grooves. A drive assembly is installed in the mounting slot. The drive assembly has a drive motor, a reducer and a drive gear connected in sequence. The drive gear meshes with the rack. When the drive motor is working, it can drive the gear to rotate, thereby driving the substrate mounting base to move along the length direction of the anti-detachment slot.

3. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 2, characterized in that, The drive structure also includes a sealing gasket, which is embedded and fixed to the periphery of the upper surface of the lifting platform. The mounting groove and the anti-detachment slider are both located inside the sealing gasket.

4. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 3, characterized in that, Both the cross-section of the anti-detachment groove and the cross-section of the anti-detachment slider are trapezoidal.

5. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 2, characterized in that, The auxiliary support components include: Support frame, connected to the frame; Support rollers are rotatably mounted on a support frame and are used for rolling engagement with the lower surface of the substrate mounting base.

6. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 5, characterized in that, It also includes multiple parallel telescopic rods, one end of which is fixed to the frame and the other end of which is fixed to the side wall of the support frame; The support frame can be horizontally adjusted to its position relative to the machine frame via the telescopic rod.

7. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 6, characterized in that, The support frame has a pressure block, and the uppermost end of the pressure block is lower than the uppermost end of the support roller; An elastic block is provided on the lower surface of the substrate mounting base, and the elastic block has a compressed state and a released state; When the elastic block is directly above the lifting platform, it is under pressure due to the force exerted by the lifting platform. When the elastic block is not directly above the lifting platform, the elastic block pops down and is in a released state. The elastic block in the released state is used to cooperate with the pressure block. When the substrate picking and placing mechanism switches from the initial working state to the moving state under the action of the driving structure, as the substrate mounting base moves outward from the frame, the elastic block switches from the compressed state to the released state. When the elastic block in the released state contacts the compressed block of the support frame, the telescopic rod can extend, driving the support frame and support rollers to move outward together.

8. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 7, characterized in that, The lower surface of the substrate mounting base has a mounting groove, and the elastic block includes: A drive block is slidably disposed in a mounting groove. One side of the drive block has an inclined surface. The inclined surface is used to cooperate with the lifting platform when the substrate picking and placing mechanism switches from the removed state to the initial working state, so that the drive block can be pressed into the inside of the mounting groove. A reset spring is provided between the top wall of the mounting groove and the drive block, which is used to give the drive block a tendency to switch to the release state.

9. The substrate pick-and-place mechanism of the SLM metal printing equipment as described in claim 6, characterized in that, The frame has a notch, and one end of the telescopic rod is set in the notch.

10. An SLM metal printing device, characterized in that, Includes the substrate picking and placing mechanism as described in any one of claims 1 to 9.

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