Automatic shoveling device

Abstract

The utility model discloses an automatic shoveling device. The automatic shoveling device comprises a transferring 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 utility model relates to 3D printing post-processing technical field especially relates to a kind of automatic spade device. BACKGROUND

[0002] After the printing step of 3D printing, the printed part is adhered to the printing platform, and the printed part needs to be peeled off from the printing platform.For this peeling process, the prior art (such as CN221968962U) is directly performed on the 3D printer by a spade, and the spade is stopped during printing, which occupies the working time of the printer and reduces the printing efficiency; the uncured resin during the spade process may drop on the printer, polluting and affecting the normal operation of the printer.

[0003] Since the spade is performed on the 3D printer, the spade is moving (relative to the rack) and the printing platform is stationary (relative to the rack) during the spade process, which may cause the moving spade to collide with surrounding parts and operators.

[0004] Therefore, to solve the above problems, the utility model provides an automatic spade device. UTILITY MODEL CONTENT

[0005] The spade operation is performed away from the 3D printer, which avoids the occupation of the 3D printer by the spade action and improves the working efficiency. At the same time, the resin does not drop on the 3D printer during the spade process, which avoids the pollution of the 3D printer.

[0006] The spade is fixed relative to the rack, and the transfer mechanism moves relative to the rack (spade) through the feeding mechanism, so as to peel off the printed part adhered to the printing platform, which avoids the risk of collision between the spade with a blade and surrounding parts and operators.

[0007] The utility model embodiment provides an automatic spade device, which comprises:

[0008] The transfer mechanism comprises a printing platform to provide a basis for the attachment of the printed part;

[0009] The rack;

[0010] The feeding mechanism comprises:

[0011] The position detection assembly is configured to detect the position of the transfer mechanism;

[0012] The clamping assembly is configured to clamp the transfer mechanism if the transfer mechanism is located at the starting position;

[0013] The feeding assembly is configured to drive the transfer mechanism to move from the starting position to the end position along the feeding direction;

[0014] The spade mechanism comprises:

[0015] A shovel blade is fixed to the frame and configured to keep the blade edge of the shovel blade close to the upper surface and / or lower surface of the printing platform in a working position during the shoveling process, and keep the shovel blade in a standby position during the process outside the shoveling.

[0016] A collecting baffle is fixed to the frame and located between the shovel blade mechanism and the conveying mechanism, and arranged in the vertical direction to constrain the printing pieces and / or resin falling from the shovel blade mechanism on the conveying mechanism in the lateral direction.

[0017] Further, the clamping assembly comprises:

[0018] A clamping power unit; and

[0019] A clamping work piece capable of clamping / releasing the transfer mechanism under the drive of the clamping power unit.

[0020] Further, the feeding assembly comprises:

[0021] A feeding power unit comprising a power element and a linear transmission element, the power element drives the feeding work piece to reciprocate between the starting position and the ending position through the linear transmission element, the feeding work piece comprises a supporting plate, and the clamp placed on the upper surface of the supporting plate can be clamped / released by the clamping assembly; and

[0022] The transfer mechanism is clamped on the feeding work piece under the action of the clamping assembly, and the feeding work piece reciprocates between the starting position and the ending position under the drive of the feeding power unit.

[0023] Further, the shovel blade mechanism comprises at least one of a lower shovel blade assembly, an upper shovel blade assembly and a side shovel blade assembly, wherein:

[0024] The lower shovel blade assembly comprises a lower shovel blade turnover power unit, a first elastic member and a lower shovel blade, the lower shovel blade can switch between a working position and a standby position under the joint action of the lower shovel blade turnover power unit and the first elastic member, the blade edge of the lower shovel blade is close to the lower surface of the printing platform in the working position, and the blade edge of the lower shovel blade is spaced apart from the printing platform in the standby position;

[0025] The upper shovel blade assembly comprises an upper shovel blade turnover power unit and an upper shovel blade, the upper shovel blade can switch between a working position and a standby position under the drive of the upper shovel blade turnover power unit, the blade edge of the upper shovel blade is close to the upper surface of the printing platform in the working position, and the upper shovel blade is spaced apart from the printing platform in the standby position;

[0026] The side blade assembly includes side blades located close to both sides of the printing platform.

[0027] Further, a conveying mechanism arranged below the blade mechanism is further included, configured to receive and convey the printed piece and / or resin peeled off from the printing platform.

[0028] Further, the conveying mechanism includes a conveying power unit, a driving belt roller, a conveying belt and a driven belt roller connected in sequence, wherein:

[0029] The end of the conveying belt is inclined upward.

[0030] Further, an error-proof detection assembly arranged in the feeding direction is further included, the error-proof detection assembly is located behind the end position, and the error-proof detection assembly is configured to perform at least one of the following if it is detected that the transfer mechanism is located at the end position:

[0031] At least one of the clamping assembly, the feeding assembly, the blade mechanism and the conveying mechanism is stopped;

[0032] A warning device is driven to work.

[0033] Further, the conveying mechanism further includes a resin scraping assembly arranged on the lower surface of the slack side of the conveying belt, wherein:

[0034] The resin scraping assembly includes a scraper and a mounting plate,

[0035] The scraper is fixed to the rack through the mounting plate, the cutting edge of the scraper extends upward and closely contacts the lower surface of the slack side, and the upper surface of the mounting plate is inclined in the same direction as the inclination direction of the conveying belt;

[0036] The scraper is two, and is 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 kept between the two scrapers.

[0037] Further, the resin scraping assembly further includes a second elastic member for providing pressure for pressing the scraper against the slack side, wherein:

[0038] The second elastic member is mounted between the scraper and the mounting plate; or

[0039] The second elastic member is mounted between the mounting plate and the rack.

[0040] Further, a collecting hopper is further included, the collecting hopper is fixed to the rack and located below the conveying mechanism, the collecting hopper is funnel-shaped with a large upper part and a small lower part, and is used to collect the resin falling from the conveying mechanism.

[0041] The beneficial effects of the embodiments of the utility model at least include:

[0042] 1, the shovel piece operation is separated from the 3D printer and carries out

[0043] Avoid the shovel piece action to occupy the 3D printer and cannot print, improve work efficiency, simultaneously, the resin will not drip on the 3D printer and pollute the 3D printer when shoveling piece;

[0044] 2, the overall position of shovel is fixed relative to the rack, and the transfer mechanism moves relative to the rack

[0045] By the feed mechanism relative to the rack (shovel) movement, thereby peeling the printing piece attached to the printing platform, avoid the shovel with blade movement and collide with the risk of surrounding parts, operating personnel;

[0046] 3, the posture of shovel relative to the rack is adjustable

[0047] When not shoveling piece, keep in standby position, shovel keeps away from transfer mechanism;When shoveling piece operation, change from standby position to operation position, only when shoveling piece operation, shovel and printing platform are pressed tightly, avoid the contact and friction between shovel and printing platform in non-operation position, thereby guaranteeing the service life of shovel;

[0048] 4, automatic operation

[0049] If the transfer mechanism is located in the starting position, the clamping assembly clamps the transfer mechanism (the shovel keeps in standby position) → the feed assembly drives the transfer mechanism to move along the feed direction from the starting position to the end position (the shovel keeps in operation position), thereby completing the automatic completion of the transfer mechanism, the arrival position judgment, clamping, shovel feed action, high operation efficiency and strong stability;

[0050] 5, by the setting of the material collecting baffle

[0051] The printing piece and resin shovelled from the printing platform are constrained in a certain range in horizontal direction, avoid horizontal random movement. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the utility model, obviously, the drawings in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying the creative labor, other drawings can also be obtained according to these drawings.

[0053] Figure 1 It is the three-dimensional structure schematic diagram of an embodiment of automatic shovel piece device;

[0054] Figure 2 Fig. 1 is a perspective view of an embodiment of the transfer mechanism with a printed item attached;

[0055] Figure 3 Fig. 2 is a perspective view of an embodiment of the transfer mechanism mounted to the feeding mechanism, with the transfer mechanism in a pre-activated position;

[0056] Figure 4 Fig. 3 is a perspective view of an embodiment of the transfer mechanism in a second position; Figure 3 Fig. 4 is a perspective view of an embodiment of the transfer mechanism in a third position;

[0057] Figure 5 Fig. 5 is a perspective view of an embodiment of the transfer mechanism in a fourth position; Figure 4 Fig. 6 is a perspective view of an embodiment of the transfer mechanism in a fifth position; Fig. 7 is a perspective view of an embodiment of the transfer mechanism in a sixth position;

[0058] Fig. 8 is a perspective view of an embodiment of the transfer mechanism in a seventh position; Figure 6 Fig. 9 is a perspective view of an embodiment of the shovel mechanism in a first view; Fig. 10 is a perspective view of an embodiment of the shovel mechanism in a second view;

[0059] Fig. 11 is a perspective view of an embodiment of the shovel mechanism in a third view; Figure 7 Fig. 12 is a perspective view of an embodiment of the shovel mechanism in a fourth view; Figure 1 Fig. 13 is a perspective view of an embodiment of the shovel mechanism in a fifth view; Fig. 14 is a perspective view of an embodiment of the shovel mechanism in a sixth view;

[0060] Fig. 15 is a perspective view of an embodiment of the shovel mechanism in a seventh view; Figure 8 Fig. 16 is a perspective view of an embodiment of the shovel mechanism in an eighth view; Figure 7 Fig. 17 is a close-up view of the central region Z; Fig. 18 is a close-up view of the central region Y, with a partial cutaway drawing method used for the mounting position of the second elastic member in order to show the second elastic member;

[0061] Fig. 19 is a close-up view of the central region X; Figure 9 Fig. 20 is a perspective view of an embodiment of the conveying mechanism in a first view; Figure 8 Fig. 21 is a perspective view of an embodiment of the conveying mechanism in a second view; Fig. 22 is a perspective view of an embodiment of the conveying mechanism in a third view;

[0062] Fig. 23 is a perspective view of an embodiment of the conveying mechanism in a fourth view, with the mounting plate and the second elastic member not drawn in order to clearly show the two scrapers arranged in a V shape; Figure 10 Fig. 24 is a control block diagram of an embodiment of the automatic shovel device. Fig. 25 is a control block diagram of an embodiment of the automatic shovel device.

[0063] Fig. 26 is a control block diagram of an embodiment of the automatic shovel device. Figure 11 Fig. 27 is a control block diagram of an embodiment of the automatic shovel device. Figure 10 Fig. 28 is a control block diagram of an embodiment of the automatic shovel device. Fig. 29 is a control block diagram of an embodiment of the automatic shovel device.

[0064] Fig. 30 is a control block diagram of an embodiment of the automatic shovel device. Figure 12 Fig. 31 is a control block diagram of an embodiment of the automatic shovel device. Fig. 32 is a control block diagram of an embodiment of the automatic shovel device.

[0065] Fig. 33 is a control block diagram of an embodiment of the automatic shovel device. Fig. 34 is a control block diagram of an embodiment of the automatic shovel device.

[0066] 1. printed item 2. automatic shovel device

[0067] 21. transfer mechanism; 211. clamp; 212. printing platform; 213. rod 22. walking robot; 221. arm; 222. positioning column

[0068] 22. walking robot; 221. arm; 222. positioning column 22. walking robot; 221. arm; 222. positioning column

[0069] 22. walking robot; 221. arm; 222. positioning column 22. walking robot; 221. arm; 222. positioning column

[0070] 23, frame;

[0071] 24, feeding mechanism;

[0072] 241, position detection assembly; 2411, start position detection assembly; 2412, end position detection assembly; 2413, error-proof detection assembly;

[0073] 242, clamping assembly; 2421, clamping power unit; 2422, clamping working member;

[0074] 243, feeding assembly; 2431, feeding power unit; 24311, linear transmission element; 24312, linear guide element; 2432, feeding working member; 24321, supporting plate; 24322, bearing plate;

[0075] 25, spade mechanism;

[0076] 251, lower spade assembly; 2511, lower spade turnover power unit; 2512, first elastic member; 2513, lower spade; 2514, lower spade rotation shaft; 2515, lower turnover plate;

[0077] 252, upper spade assembly; 2521, upper spade turnover power unit; 2522, upper spade; 2523, upper spade rotation shaft;

[0078] 253, side spade assembly;

[0079] 26, material collecting baffle;

[0080] 27, conveying mechanism; 271, conveying power unit; 272, driving belt roller; 273, conveying belt; 2731, slack 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

[0081] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clearly understood, the utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0082] In the description of the utility model, it needs to be understood that the orientation or position relation indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown based on the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more than two.

[0083] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0084] The utility model embodiment discloses an automatic spade device, see Figure 1 And Figure 2 It includes transfer mechanism 21, rack 23, feed mechanism 24 and spade mechanism 25.

[0085] Continuing to see Figure 2 , transfer mechanism 21 includes printing platform 212, and printing platform 212 provides the basis that printing piece 1 (three-dimensional model formed by 3D printing) is attached, printing piece 1 can be directly attached to printing platform 212, can be indirectly attached to printing platform 212 through support (not a part of three-dimensional model, but the component that provides support force when printing 3D), can be partially directly attached, and the other part indirectly attached through support. By taking printing platform 212, printing piece 1 (possibly other parts) as a transferable part, after 3D printing is finished, the transfer mechanism 21 can be removed and transferred to the automatic spade device 2, so as to complete spade. Spade operation is carried out separately from the 3D printer, avoids spade action occupying the 3D printer and being unable to print, greatly improves the working efficiency of 3D printing, and at the same time, the resin does not drip on the 3D printer when spading, and the 3D printer is polluted.

[0086] Rack 23 is in the form of a frame as a whole, which can select sheet metal parts, stamping parts and the like, Figure 1 And Figure 7 The rack 23 shown in the drawing includes four vertical columns arranged in a rectangular shape, and the feed mechanism 24 and the spade mechanism 25 are mounted on the rack 23.

[0087] The relative displacement of the transfer mechanism 21 relative to the shoveling mechanism 25 is achieved by the feeding mechanism 24. One form of the feeding mechanism 24, see Figure 3 、 Figure 4 and Figure 5 , comprises a position detection assembly 241 for detecting the position of the transfer mechanism 21, a clamping assembly 242 for clamping the transfer mechanism 21 during the shoveling process, and a feeding assembly 243 for causing the transfer mechanism 21 to produce displacement relative to the frame 23 (the shoveling mechanism 25). See Figure 12 , and it is automatically operated in the following order:

[0088] The position detection assembly 241 is configured to S1: (implemented by starting the position detection assembly 2411, optionally using a contact trigger switch as shown, or using a non-contact trigger switch such as infrared) to detect the position of the transfer mechanism 21;

[0089] The clamping assembly 242 is configured to S1 and then performs S2: if the transfer mechanism 21 is at the starting position, clamp the transfer mechanism 21;

[0090] The feeding assembly 243 is configured to S2 and then performs S31: drive the transfer mechanism 21 to move from the starting position to the end position in the feeding direction (the end position can be determined by the displacement of the transfer mechanism 21 to the starting position, or an end position detection assembly 2412 can be set to determine the end position. The end position detection assembly can also use a trigger switch, such as a contact or non-contact trigger switch, which will not be listed one by one);

[0091] During S31, the shoveling knife remains in the working position, and in the working position, the cutting edge of the shoveling knife is in close contact with the upper surface and / or lower surface of the printing platform 212; during S31, the shoveling knife remains in the standby position. When not shoveling, it remains in the standby position, and the shoveling knife keeps away from the transfer mechanism 21; when shoveling, it changes from the standby position to the working position, and only when shoveling does the shoveling knife press against the printing platform 212, avoiding unnecessary wear and tear caused by contact and friction between the shoveling knife and the printing platform 212 in the non-working position, thereby ensuring the service life of the shoveling knife.

[0092] It should also be noted that the cutting edge of the shoveling knife is in close contact with the upper surface and / or lower surface of the printing platform 212, and the spacing between the cutting edge and the printing platform 212 is 0 or a very small spacing (such as 1mm or less). A larger spacing will cause the cross-section of the shoveling to be uneven, as shown in Figure 10 and Figure 11 .

[0093] The controller 28 (such as CPU, single-chip microcomputer, and various processors) relied on by the automatic operation of the automatic shoveling device 2 can be integrated in a component or set as a separate electrical element. When it is a separate electrical element, each signal acquisition part (such as the position detection component 241), action execution part (such as the clamping component 242, the feeding component 243, and the component for controlling the adjustment of the posture of the shovel), and the like are respectively connected to the controller 28 through pins, and then automatically operated through the program burned in the controller 28.

[0094] The automatic shoveling device 2 can also automatically perform the following steps to complete the transfer of the shoveling end mechanism 21 to the original starting position and release, complete the reset action, so that the transfer mechanism 21 can be removed and the transfer mechanism 21 to be shoveling can be placed again.

[0095] The end position detection component 2412 is further configured to perform S4 after S3: detecting that the transfer mechanism 21 is located at the end position.

[0096] The feeding component 243 is further configured to perform S5 after S4: driving the transfer mechanism 21 to move to the starting position.

[0097] The clamping component 242 is further configured to perform S6 after S5: releasing the transfer mechanism 21.

[0098] The transfer mechanism 21 further includes a clamp 211, which will be described below. Figure 2 The clamp 211 can be directly or indirectly detachably installed on the 3D printer, the printing platform 212 is fixed to the clamp 211, and a clearance is maintained between the clamp 211. The printing platform 212 can be quickly assembled and switched between the 3D printer and the automatic shoveling device 2 through the clamp 211, further improving the production efficiency. Of course, the clamp 211 itself should have a structure compatible with the 3D printer and the automatic shoveling device 2, such as a slot or a hole for clearance, which is an adaptive setting for those skilled in the art and will not be described here.

[0099] The transfer of the transfer mechanism 21 can also be performed by the walking robot 22, which is configured to:

[0100] S0 is performed before S1: removing the transfer mechanism 21 from the 3D printer, walking, and placing the transfer mechanism 21 at the starting position; and / or

[0101] S7 is performed after S6: removing the released transfer mechanism 21, walking, and installing the transfer mechanism 21 to the 3D printer.

[0102] The 3D printer, the walking robot 22 and the automatic piece shoveling device 2 (the part other than the walking robot 22) on the site of the 3D printer can be coded. After a 3D printer finishes printing, a walking robot 22 receives the information of the printing end and walks to the 3D printer. Then the position of the transfer mechanism 21 can be sensed by machine vision, position sensor and the like. Then the arm 221 of the walking robot 22 is controlled to extend to the position and take off the printed piece 1, Figure 2 The upper surface of the arm 221 is a flat surface which supports the clamp 211 with a flat lower surface, so as to support the entire transfer mechanism 21 and realize the movement between the 3D printer and the automatic piece shoveling device 2 by the walking of the walking robot 22. The upper end of the arm 221 is provided with a positioning column 222, and the clamp is provided with a positioning hole corresponding to the positioning column 222.

[0103] An embodiment of the clamping assembly 242 includes a clamping power unit 2421 and a clamping working piece 2422 which can clamp / release the transfer mechanism 21 under the driving of the clamping power unit 2421. During the piece shoveling operation, the transfer mechanism 21 is clamped so that the transfer mechanism 21 can move synchronously with the feeding mechanism 24 and does not change the posture, so as to move relative to the frame 23 (shovel) and shovel the piece; and the transfer mechanism 21 is released when the piece shoveling operation is finished, so that the transfer mechanism 21 can be conveniently taken off. Continue to refer to Figure 3 , Figure 4 and Figure 5 The clamping power unit 2421 can be selected as a pneumatic cylinder, and the clamping working piece 2422 can be selected as a conical center fixed to the working end of the pneumatic cylinder. The pneumatic cylinder and the conical center are two and one-to-one corresponding, so as to ensure that the transfer mechanism 21 does not change the posture when clamped. In order to further improve the stability of clamping, the clamp 211 can be further provided with a positioning hole or a positioning groove matched with the center.

[0104] An embodiment of the feeding assembly 243 can further include a feeding power unit 2431 and a feeding working piece 2432. The transfer mechanism 21 is clamped on the feeding working piece 2432 under the action of the clamping assembly 242. The feeding working piece 2432 reciprocates between the starting position and the ending position under the driving of the feeding power unit 2431. The feeding power unit 2431 drives the feeding working piece 2432 to move, so as to drive the transfer mechanism 21 clamped on the feeding working piece 2432 to move synchronously, so as to finally realize the feeding (the relative movement of the transfer mechanism 21 relative to the shovel) of the feeding working piece 2432 reciprocating along the feeding direction between the starting position and the ending position.

[0105] An embodiment of the feeding power unit 2431 comprises a power element and a linear transmission element 24311, the power element drives the feeding workpiece 2432 to reciprocate between the start position and the end position through the linear transmission element 24311, the feeding workpiece 2432 comprises a supporting plate 24321, the clamp 211 can be clamped / released by the clamping assembly 242 after being placed on the upper surface of the supporting plate 24321. Continue to refer to Figure 3 The feeding power unit 2431 comprises the linear transmission element 24311 and the 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 feeding workpiece 2432 comprises the supporting plate 24321 and the bearing plate 24322, and a space is arranged between the supporting plate 24321 and the bearing plate 24322 for the clamp 211 to be placed on the upper surface of the supporting plate 24321 and then be lifted up by the supporting plate 24321, the bearing plate 24322 is fixedly connected with the supporting plate 24321, and provides a mounting basis for the clamping power unit 2421 and the linear guide rail.

[0106] An embodiment of the transfer mechanism 21 can further comprise the rod 213 connected between the printing platform 212 and the clamp 211, and the supporting plate 24321 is provided with a recessed groove to provide a space for the rod 213 to reciprocate along the feeding direction. Through the arrangement of the rod 213, a space for accommodating the supporting plate 24321 is formed between the clamp 211 and the printing platform 212.

[0107] An embodiment of the shovel mechanism 25 comprises at least one of the lower shovel assembly 251, the upper shovel assembly 252 and the side shovel assembly 253, referring to Figure 1 and Figure 6 which can respectively tightly adhere to the lower surface, the upper surface and the side surface of the printing platform 212 when the shovel moves, so as to realize the shovel action on different parts, when the printing piece 1 is located on the lower surface of the printing platform 212, the printing piece 1 adhered to the lower surface, the excess resin on the upper surface and the excess resin on the side surface are respectively shoveled down, and the cleaning of the printing platform 212 is completed.

[0108] An embodiment of the lower shovel assembly 251 comprises the lower shovel turnover power unit 2511, the first elastic element 2512 and the lower shovel 2513, referring to Figure 1 and Figure 6Under the combined action of the lower shovel knife turnover power unit 2511 and the first elastic member 2512, the lower shovel knife 2513 can be switched between the working position and the standby position. In the working position, the blade of the lower shovel knife 2513 closely abuts the lower surface of the printing platform 212, and in the standby position, the blade of the lower shovel knife 2513 is spaced apart from the printing platform 212, so that the shovel knife is not in contact with the printing platform 212, avoiding unnecessary wear and tear, ensuring the sharpness of the lower shovel knife 2513 and the cleaning effect of the shovel, and ensuring the service life. The lower shovel knife 2513 is fixed to the lower turnover plate 2515, the lower turnover plate 2515 is hinged to the rack 23 through the lower shovel knife 2513 rotating shaft 2514, the lower shovel knife turnover power unit 2511 and the first elastic member 2512 are both installed between the lower turnover plate 2515 and the rack 23, and the switching of the lower shovel knife 2513 between the working position and the standby position is realized through the combined action of the two. A specific action of the lower shovel knife turnover power unit 2511 and the first elastic member 2512 is shown in the figure, the first elastic member 2512 is pre-stretched between the rack 23 and the lower turnover plate 2515, providing a pulling force, so that the lower shovel knife 2513 has a tendency to turn from the standby position to the working position; the lower shovel knife turnover power unit 2511 provides a pushing force to make the lower shovel knife 2513 turn from the working position to the standby position. By adjusting the working state of the lower shovel knife turnover power unit 2511, the position of the lower shovel knife 2513 can be adjusted. When the lower shovel knife turnover power unit 2511 is a gas cylinder, the extension length of the working end of the gas cylinder can be adjusted.

[0109] An embodiment of the upper shovel knife assembly 252 includes an upper shovel knife turnover power unit 2521 and an upper shovel knife 2522, which will be described in detail below. Figure 1 and Figure 6The upper shoveling blade 2522 can be switched between a working position and a standby position under the driving of the upper shoveling blade flipping power unit 2521. In the working position, the edge of the upper shoveling blade 2522 is close to the upper surface of the printing platform 212. In the standby position, the upper shoveling blade 2522 is spaced apart from the printing platform 212. The upper shoveling blade 2522 and the upper shoveling blade flipping power unit 2521 form a lever on both sides of the upper shoveling blade rotating shaft 2523. When the upper shoveling blade flipping power unit 2521 is not working, the side of the upper shoveling blade 2522 has a greater weight than the side of the upper shoveling blade flipping power unit 2521. The side of the upper shoveling blade 2522 can be pressed down under the action of gravity until it contacts the upper surface of the printing platform 212. In this state, the upper shoveling blade 2522 is lower than the upper shoveling blade rotating shaft 2523. Therefore, when the printing platform 212 moves relative to the upper shoveling blade 2522 in the feeding direction, the force acting on the upper shoveling blade 2522 generates a component force that presses on the upper surface of the printing platform 212, thereby increasing the scraping force on the upper surface. Conversely, when the shoveling piece transfer mechanism 21 moves in the opposite direction of the feeding direction, the upper shoveling blade 2522 receives an upward component force, which reduces the scraping force of the upper shoveling blade 2522 on the upper surface of the printing platform 212, thereby avoiding unnecessary scraping, ensuring the service life of the upper shoveling blade 2522, and avoiding unnecessary wear on the upper surface of the printing platform 212.

[0110] An embodiment of the side shoveling blade assembly 253 includes side shoveling blades located close to both sides of the printing platform 212. Referring to Figure 1 and Figure 6 , the side shoveling blades scrape both sides of the printing platform 212, thereby cleaning the printing platform 212 in all directions and ensuring the cleaning effect.

[0111] Referring to Figure 1 and Figure 7 , an embodiment of the automatic shoveling piece device can further include a conveying mechanism 27 arranged below the shoveling blade mechanism 25 and configured to receive and convey the printed pieces 1 and / or the resin peeled from the printing platform 212.

[0112] Referring to Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 , an embodiment of the conveying mechanism 27 can include a conveying power unit 271, a driving belt roller 272, a conveying belt 273, and a driven belt roller 274 connected in sequence. The end of the conveying belt 273 (the end in the conveying direction) is inclined upward. The printed pieces 1 can fall from the end of the conveying belt 273, thereby completing the conveying of the printed pieces 1. The resin scraped by the shoveling blade adheres to the outer surface of the conveying belt 273. When the conveying belt 273 rotates downward, at least part of the resin adhering to the outer surface of the conveying belt 273 falls off from the conveying belt 273 under the action of gravity and centrifugal force, thereby completing the conveying of the excess resin.

[0113] The automatic shoveling device embodiment can also include a misoperation detection component 2413 (its structure and installation state are well known to those skilled in the art, so the structure diagram is not drawn, Figure 12 , a control block diagram is drawn), the misoperation detection component 2413 is located behind the end position, and the misoperation detection component 2413 is configured to at least one of the following if it is detected that the transfer mechanism 21 is located at the end position: stop at least one of the clamping component 242, the feeding component 243, the shovel mechanism 25, and the conveying mechanism 27; drive the alarm to work. Through the setting of the misoperation detection component 2413, it is avoided that the feeding component 243 still continues to feed after the shoveling end after the end position detection failure occurs, it is avoided that the part is damaged due to overfeeding, and the system fault tolerance is improved.

[0114] The inventor found that part of the resin adhering to the outer surface of the conveying belt 273 can be detached from the conveying belt 273 and dropped, but part of the remaining resin will affect the rotation of the conveying belt 273 and will also adhere to the printed part 1. Obviously, this part of the remaining resin is not expected to occur. Based on the consideration of completely cleaning the part of the remaining resin, the conveying mechanism 27 embodiment further includes a resin scraping component 274, which is arranged on the lower surface of the slack side of the conveying belt 273 (when the part of the conveying belt 273 inclined downward is rotated in the direction T as shown, the part behind the driving belt roller 272 is tensioned to form a tension side due to the friction of the belt roller, that is, the part located on the upper side as a whole), please continue to refer to Figure 8 , Figure 8 , Figure 9 , Figure 10 and Figure 11 . By scraping the slack side of the conveying belt 273, the adhering excess resin is completely cleaned. The resin scraping component 274 is arranged on the lower surface of the slack side of the conveying belt 273, and the resin is most likely to drop at this position due to the smallest adhesion force under the action of gravity and vibration. This setting provides a small scraping action to clean up.

[0115] An embodiment of the resin scraping component 274 can include a scraper 2741 and a mounting plate 2743, please continue to refer to Figure 8 , Figure 9 , Figure 10 and Figure 11The scraper 2741 is installed on the frame 23 through the mounting plate 2743, and the blade of the scraper 2741 is tightly attached to the lower surface of the slack side of the conveying belt 273 from bottom to top. The scraper 2741 is fixed on the frame 23 through the mounting plate 2743, and the blade of the scraper 2741 extends upward and is tightly attached to the lower surface of the slack side 2731, and the upper surface of the mounting plate 2743 is inclined in the same direction as the inclination direction of the conveying belt 273; the scraper 2741 is two, and is symmetrically arranged on the left and right sides along the conveying direction of the conveying belt 273, and the resin passage 2742 for the scraped resin to flow is kept between the two scrapers 2741. Therefore, the two scrapers 2741 are arranged in a V shape without blocking in the middle (resin passage 2742 is left), and the V-shaped opening formed is inclined upward. This arrangement causes the resin on the slack side 2731 to be gradually gathered into the resin passage 2742 along the V-shaped opening, and as more and more resin converges in the narrow area of the resin passage 2742, it makes the resin with small attachment area and large weight more easily drip, and further makes the resin on the conveying belt 273 be thoroughly cleaned.

[0116] The resin scraping assembly 274 embodiment can also include a second elastic member 2745 for providing pressure for pressing the scraper 2741 against the slack side. The scraper 2741 is installed in a floating manner by the second elastic member 2745 (as shown in Figure 9 The mounting plate 2743 is provided with a guide groove 27431, and the frame 23 is fixed with a guide pin 2746 which can slide in the guide groove 27431), the scraper 2741 can be tightly attached to the slack side 2731 in real time, especially when the conveying belt 273 moves, slight up and down may occur, and this tight attachment further ensures the thorough cleaning of the resin; at the same time, the use of the second elastic member 2745 avoids the pressure applied by the scraper 2741 to the slack side 2731 being too large, and always keeps floating contact, and the pressure applied only fluctuates within a small range (depending on the product of the fluctuation amplitude of the conveying belt 273 and the elastic modulus of the second elastic member 2745), avoiding damage to the conveying belt 273 and shortening the service life caused by excessive pressure. Therefore, the scraping effect on the resin and reliable and stable operation are taken into account.

[0117] One installation method of the second elastic member 2745, continuing to refer to Figure 9 The scraper 2741 is fixed in the groove formed in the tool holder 2744, the tool holder 2744 is inserted into the sliding groove of the mounting plate 2743, and the second elastic member 2745 is located between the tool holder 2744 and the bottom of the sliding groove; it can also be that the second elastic member 2745 is installed between the mounting plate 2743 and the frame 23, which is not shown in the figure.

[0118] The first elastic member 2512 and the second elastic member 2745 can be components that are elastically deformed by changing their shapes, such as leaf springs, conical coil springs, or Figure 6 The first elastic member 2512 is a leaf spring, Figure 9 The second elastic member 2745 is a cylindrical coil spring as shown in the drawing.

[0119] The automatic component shoveling device embodiment further comprises a material collecting baffle 26 and / or a material collecting hopper.

[0120] The material collecting baffle 26 is fixed to the frame 23 and is located between the shoveling mechanism 25 and the conveying mechanism 27, and is arranged in the vertical direction to laterally constrain the printed components 1 and / or the resin that falls from the shoveling mechanism 25 on the conveying mechanism 27, so as to avoid the printed components 1 and the resin from falling beside the conveying mechanism 27.

[0121] The material collecting hopper 29 is fixed to the frame 23 and is located below the conveying mechanism 27, and is funnel-shaped with a large upper part and a small lower part, and is used to collect the resin that falls from the conveying mechanism 27, and a container can be used below the material collecting hopper 29 to collect the resin.

[0122] The automatic component shoveling device disclosed in the embodiment of the utility model can be applied to an automatic component shoveling method, and the automatic component shoveling method comprises the following steps:

[0123] S1, detecting the position of the transfer mechanism 21;

[0124] S2, if the transfer mechanism 21 is located at the starting position, clamping the transfer mechanism 21;

[0125] S31, driving the transfer mechanism 21 to move from the starting position to the ending position in the feeding direction, and in the process of S31, the shoveling knife is kept in the working position, and in the working position, the cutting edge of the shoveling knife is close to the upper surface and / or the lower surface of the printing platform 212; in the process outside S31, the shoveling knife is kept in the standby position.

[0126] In the automatic component shoveling method embodiment,

[0127] After S3, S4 is performed: detecting that the transfer mechanism 21 is located at the ending position;

[0128] After S4, S5 is performed: driving the transfer mechanism 21 to move to the starting position;

[0129] After S5, S6 is performed: releasing the transfer mechanism 21.

[0130] It should be further noted that S0 is performed before S1: taking the transfer mechanism 21 from the 3D printer, walking, and placing the transfer mechanism 21 to the starting position; and / or

[0131] S6 is followed by S7: the released transfer mechanism 21 is removed, walked and installed to the 3D printer.

[0132] The features and effects of the automatic spade method embodiments have been described in detail in the automatic spade device 2 disclosed in the first aspect, and will not be repeated.

[0133] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An automatic spade device, characterized by The application relates to a 3D printing device. The device comprises: a transfer mechanism, which comprises a printing platform to provide a base for the attachment of a printed object; a frame; a feeding mechanism, which comprises a position detection assembly configured to detect the position of the transfer mechanism, a clamping assembly configured to clamp the transfer mechanism if the transfer mechanism is in a starting position, and a feeding assembly configured to drive the transfer mechanism to move from the starting position to an ending position along a feeding direction; a shovel mechanism, which comprises a shovel fixed to the frame and configured to keep the shovel in a working position during the shoveling process, in which the cutting edge of the shovel is close to the upper surface and / or the lower surface of the printing platform, and to keep the shovel in a standby position during the process outside the shoveling; a conveying mechanism arranged below the shovel mechanism and configured to receive and convey the printed object and / or resin peeled from the printing platform; and 2. The automatic spade device according to claim 1, characterized in that a collecting baffle fixed to the frame and located between the shovel mechanism and the conveying mechanism, which is arranged in a vertical direction to laterally confine the printed object and / or resin falling from the shovel mechanism on the conveying mechanism.

3. The automatic spade device according to claim 1, characterized in that The clamping assembly comprises a clamping power unit and a clamping working member, which can clamp / release the transfer mechanism under the drive of the clamping power unit. The feeding assembly comprises: a feeding power unit, which comprises a power element and a linear transmission element, and a feeding working member, which can reciprocate between the starting position and the ending position under the drive of the linear transmission element, the feeding working member comprising a supporting plate, on the upper surface of which a clamp can be clamped / released by the clamping assembly; and 4. The automatic spade device according to any one of claims 1 to 3, characterized in that a feeding working member, which clamps the transfer mechanism under the action of the clamping assembly, and reciprocates between the starting position and the ending position under the drive of the feeding power unit. The shovel mechanism comprises at least one of a lower shovel assembly, an upper shovel assembly and a side shovel assembly, wherein: the lower shovel assembly comprises a lower shovel turnover power unit, a first elastic member and a lower shovel, which can switch between a working position and a standby position under the joint action of the lower shovel turnover power unit and the first elastic member, in the working position, the cutting edge of the lower shovel is close to the lower surface of the printing platform, and in the standby position, the cutting edge of the lower shovel is spaced apart from the printing platform; 5. The automatic spade device according to claim 1, characterized in that, the upper shovel assembly comprises an upper shovel turnover power unit and an upper shovel, which can switch between a working position and a standby position under the drive of the upper shovel turnover power unit, in the working position, the cutting edge of the upper shovel is close to the upper surface of the printing platform, and in the standby position, the upper shovel is spaced apart from the printing platform; and the side shovel assembly comprises side shovels located close to both sides of the printing platform. The conveying mechanism comprises a conveying power unit, a driving belt roller, a conveying belt and a driven belt roller which are sequentially transmissionally connected, wherein the end of the conveying belt is inclined upward.

6. The automatic spade device according to claim 1, characterized in that Further comprising a mistake-proofing detection assembly arranged in the feeding direction, the mistake-proofing detection assembly is located behind the end position, the mistake-proofing detection assembly 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 spade mechanism and the conveying mechanism is stopped; drive the alarm to work.

7. The automatic spade device according to claim 5, characterized in that The conveying mechanism further comprises a resin scraping assembly arranged on the lower surface of the slack side of the conveying belt, wherein: the resin scraping assembly comprises a scraper and a mounting plate, the scraper is fixed to the rack through the mounting plate, the cutting edge of the scraper extends upward and is close to the lower surface of the slack side, the upper surface of the mounting plate is inclined in the same direction as the conveying belt; the scraper is two and symmetrically arranged on the left and right sides along the conveying direction of the conveying belt, and a resin channel for the flow of scraped resin is maintained between the two scrapers.

8. The automatic spade device according to claim 7, characterized in that The resin scraping assembly further comprises 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 rack.

9. The automatic spade device according to claim 8, characterized in that Further comprising a collecting hopper, the collecting hopper is fixed to the rack and located below the conveying mechanism, the collecting hopper is funnel-shaped with large upper and small lower, for collecting the resin falling from the conveying mechanism.

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