A device for removing supports from 3D printed parts using ultrasonic scalpel cutting.

Abstract

This utility model relates to a device for cutting and removing supports from 3D printed parts using an ultrasonic cutter. The device includes a frame; a 3D printed part to be cut, mounted on the frame; a six-axis robotic arm mounted on the frame; wherein the six-axis robotic arm includes a first axis component, a second axis component, a third axis component, a fourth axis component, a fifth axis component, and a sixth axis component; an ultrasonic cutter connected to the sixth axis component, the sixth axis component capable of driving the ultrasonic cutter to rotate along its centerline; and a vision device connected to the sixth axis component, used to acquire a visual image of the position of the support structure of the 3D printed part to be cut; wherein, based on the visual image, the six-axis robotic arm can drive the ultrasonic cutter to complete the cutting of the support structure. This utility model improves the efficiency of removing supports from 3D printed parts.

Description

Technical Field

[0001] This utility model relates to the field of ultrasonic cutting technology, and in particular to a device for cutting and removing supports of 3D printed parts based on ultrasonic blades. Background Technology

[0002] With the rapid development of 3D printing technology, more and more complex structural parts can be directly manufactured through layer-by-layer deposition. However, to ensure the stability and forming accuracy of the printing process, support structures are usually required in areas such as suspended structures and spanning structures. These support structures must be removed after printing; otherwise, they will not only affect the appearance and dimensional accuracy of the product but also the mechanical properties of the parts and their subsequent assembly and use.

[0003] Currently, the main methods for removing supports from 3D printed parts fall into three categories: manual removal, mechanical removal, and chemical dissolution. Manual removal relies on tools such as scissors, tweezers, and knives, which is inefficient, labor-intensive, and prone to scratching the surface of the printed part. Mechanical removal often uses grinding wheels, sandpaper, and files, which can improve efficiency but can easily cause localized deformation or surface damage. Chemical dissolution can achieve automatic removal through the action of solvents, but its applicability is limited and may cause degradation of the matrix material properties or environmental pollution.

[0004] In existing technology, Suzhou Zhike 3D Technology Co., Ltd. has disclosed a utility model called "3D Printing Internal Support Strip Removal Tool" (CN222473380U). This tool uses a scissor-type telescopic mechanism to drive the cutter, which can penetrate deep into the annular internal cavity of the 3D printed part to cut the auxiliary support strip. Its connecting arm has a curved side, allowing the scissor-type telescopic mechanism to form an arc trajectory during extension and retraction, adapting to the arc-shaped structure inside the annulus and facilitating the cutting of the support strip. However, this technology is mainly suitable for removing supports in specific cavity structures, with limited effectiveness for support removal in other areas. Its automation level is insufficient, making it difficult to meet the needs of comprehensive support removal for complex parts. Summary of the Invention

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the problems of low automation level of support removal, limited support removal range, and difficulty in guaranteeing processing accuracy in the existing technology of 3D printed parts, and to improve the overall processing quality and production efficiency of 3D printed parts.

[0006] To solve the above-mentioned technical problems, this utility model provides a device for removing the support of a 3D printed part based on ultrasonic cutting, comprising: Equipment frame; The 3D printed part to be cut is set on the frame of the device; A six-axis robotic arm is mounted on the equipment frame; wherein the six-axis robotic arm includes a first axis component, a second axis component, a third axis component, a fourth axis component, a fifth axis component, and a sixth axis component; The first shaft component is connected to the second shaft component and can drive the second shaft component to rotate along the center line of the first shaft component; The second shaft component and the third shaft component are connected by a first connecting arm, and the second shaft component can drive the first connecting arm to rotate along the center line of the second shaft component; The third axis component and the fourth axis component are connected by a second connecting arm, and the third axis component can drive the second connecting arm to rotate along the center line of the third axis component; The fourth axis component is connected to the fifth axis component and can drive the fifth axis component to rotate along the center line of the fourth axis component; The fifth axis component is connected to the sixth axis component and can drive the sixth axis component to rotate along the center line of the fifth axis component; An ultrasonic scalpel is connected to the sixth axis component, which can drive the ultrasonic scalpel to rotate along the center line of the sixth axis component; A vision device, connected to the sixth axis component, is used to acquire a visual image of the position of the support structure of the 3D printed part to be cut; The six-axis robotic arm, based on the visual image, can drive the ultrasonic scalpel to cut the supporting structure.

[0007] In one embodiment of this utility model, the center line of the first shaft component is perpendicular to the horizontal plane; the center line of the second shaft component is perpendicular to the center line of the first shaft component; the center line of the third shaft component is parallel to the center line of the second shaft component; the center line of the fourth shaft component is perpendicular to the center line of the third shaft component; the center line of the fifth shaft component is perpendicular to the center line of the fourth shaft component; and the center line of the sixth shaft component is perpendicular to the center line of the fifth shaft component.

[0008] In one embodiment of this utility model, an ultrasonic scalpel fixing component is installed on the sixth axis component, and the ultrasonic scalpel is installed on the ultrasonic scalpel fixing component.

[0009] In one embodiment of the present invention, a camera bracket is mounted on the sixth axis component, and the vision device includes a vision camera mounted on the camera bracket.

[0010] In one embodiment of this utility model, a printing part fixing fixture is installed on the equipment frame for holding the 3D printed part to be cut.

[0011] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art: This invention relates to a device for removing supports from 3D printed parts using an ultrasonic cutter. The device mainly consists of a six-axis robotic arm, a frame, an ultrasonic cutter, an ultrasonic cutter fixture, a vision camera, and a 3D printed part fixture. The six-axis robotic arm and the fixture are both mounted on the frame. The vision camera is fixed to the end of the robotic arm via a camera bracket and the ultrasonic cutter fixture, and the ultrasonic cutter is reliably connected to the fixture. In use, the 3D printed part to be supported is fixed in the fixture. The system automatically identifies and locates the support area using the vision camera, driving the six-axis robotic arm to cut the support with the ultrasonic cutter. Compared to existing manual removal, mechanical grinding, and chemical dissolution methods, cutting with an ultrasonic cutter at low temperatures avoids thermal deformation and material damage, making it suitable for various 3D printing materials. The six-axis robotic arm provides multi-degree-of-freedom motion, covering complex shapes and multi-angle support positions. Visual recognition automates and precisely removes the support, reducing manual intervention. Image feedback ensures thorough support removal, improving finished product quality and processing consistency. The overall solution is suitable for mass production and intelligent manufacturing, significantly improving the efficiency of 3D printed part post-processing.

[0012] This invention utilizes ultrasonic cutting. The basic principle is to use high-frequency vibrations of 20-40kHz to generate micro-friction at the contact surface between the cutting tool and the supporting material, thereby reducing cutting force and achieving material separation. Ultrasonic cutting generates almost no heat (temperatures are typically below 50℃), avoiding the heat-affected zone and material deformation problems associated with traditional thermal cutting. It is particularly suitable for various 3D printing materials such as resins, plastics, and metals, and is ideal for large-scale additive manufacturing, reducing manual operation and labor intensity. Attached Figure Description

[0013] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0014] Figure 1 This is a schematic diagram of the structure of the device for removing the support of a 3D printed part based on ultrasonic cutting.

[0015] Explanation of reference numerals on the accompanying drawings: 1. Equipment frame; 2. 3D printed parts to be cut; 3. Six-axis robotic arm; 31. First axis component; 32. Second axis component; 33. Third axis component; 34. Fourth axis component; 35. Fifth axis component; 36. Sixth axis component; 37. First connecting arm; 38. Second connecting arm; 4. Ultrasonic scalpel; 5. Visual device; 51. Camera mount; 52. Visual camera; 6. Ultrasonic scalpel fixing component; 7. Printed part fixing fixture. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0017] In this utility model, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this utility model, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0018] In this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the stated number; "above," "below," "within," etc. are understood to include the stated number. In the description of this utility model, if "first" or "second" is used, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0019] In this utility model, unless otherwise explicitly defined, terms such as "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model based on the specific content of the technical solution.

[0020] Reference Figure 1 As shown, this utility model discloses a device for removing supports from 3D printed parts using an ultrasonic cutter, comprising: Equipment frame 1; The 3D printed part 2 to be cut is set on the equipment frame 1; A six-axis robotic arm 3 is mounted on the equipment frame 1; wherein, the six-axis robotic arm 3 includes a first axis component 31, a second axis component 32, a third axis component 33, a fourth axis component 34, a fifth axis component 35, and a sixth axis component 36; The first shaft component 31 is connected to the second shaft component 32 and can drive the second shaft component 32 to rotate along the center line of the first shaft component 31; The second shaft component 32 and the third shaft component 33 are connected by a first connecting arm 37, and the second shaft component 32 can drive the first connecting arm 37 to rotate along the center line of the second shaft component 32; The third axis component 33 and the fourth axis component 34 are connected by a second connecting arm 38, and the third axis component 33 can drive the second connecting arm 38 to rotate along the center line of the third axis component 33. The fourth axis component 34 is connected to the fifth axis component 35 and can drive the fifth axis component 35 to rotate along the center line of the fourth axis component 34; The fifth axis component 35 is connected to the sixth axis component 36 and can drive the sixth axis component 36 to rotate along the center line of the fifth axis component 35; The ultrasonic scalpel 4 is connected to the sixth axis component 36, which can drive the ultrasonic scalpel 4 to rotate along the center line of the sixth axis component 36. The vision device 5 is connected to the sixth axis component 36 (the execution end of the six-axis robotic arm 3) and is used to acquire a visual image of the position of the support structure of the 3D printed part 2 to be cut. The six-axis robotic arm 3, based on the visual image, can drive the ultrasonic knife 4 to complete the cutting of the support structure.

[0021] In one embodiment, the centerline of the first axis component 31 is perpendicular to the horizontal plane; the centerline of the second axis component 32 is perpendicular to the centerline of the first axis component 31; the centerline of the third axis component 33 is parallel to the centerline of the second axis component 32; the centerline of the fourth axis component 34 is perpendicular to the centerline of the third axis component 33; the centerline of the fifth axis component 35 is perpendicular to the centerline of the fourth axis component 34; and the centerline of the sixth axis component 36 is perpendicular to the centerline of the fifth axis component 35. The six-axis robotic arm 3 achieves full spatial coverage motion through six degrees of freedom, adapting to support structures with different angles and complex shapes, significantly improving the flexibility and applicability of cutting.

[0022] It should be noted that each axis component transmits torque to the transmission mechanism (gear drive, worm gear drive, etc.) through the drive mechanism (such as servo motor and reducer) to realize the output shaft drive.

[0023] In one embodiment, an ultrasonic scalpel holder 6 is mounted on the sixth axis component 36, and the ultrasonic scalpel 4 is mounted on the ultrasonic scalpel holder 6.

[0024] In one embodiment, a camera bracket 51 is mounted on the sixth axis component 36, and the vision device 5 includes a vision camera 52 mounted on the camera bracket 51.

[0025] In one embodiment, a print fixture 7 is mounted on the device frame 1 to hold the 3D printed part 2 to be cut.

[0026] The workflow is as follows: First, the 3D printed part 2, whose support structure needs to be removed, is clamped and fixed onto the printed part fixing fixture 7. The vision device 5 (vision camera 52) at the end of the six-axis robotic arm 3 takes pictures of the 3D printed part 2 to initially identify the distribution position of the support structure; then, the vision camera 52 takes pictures of the printed part from multiple angles to further determine the specific spatial position of the support. The control system (such as a PLC or microcontroller) generates motion commands based on the identified support position information, driving the six-axis robotic arm 3 to move the ultrasonic cutter 4 to the target position and start cutting to remove the support structure. After all the support structure has been cut, the vision camera 52 acquires images again to verify the removal effect; if residual support is detected, the system will repeat the above identification and cutting steps until the support is completely removed.

[0027] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although this utility model has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A device for removing supports from 3D printed parts using ultrasonic scalpel cutting, characterized in that, include: Equipment frame (1); The 3D printed part (2) to be cut is set on the device frame (1); A six-axis robotic arm (3) is mounted on the equipment frame (1); wherein the six-axis robotic arm (3) includes a first axis component (31), a second axis component (32), a third axis component (33), a fourth axis component (34), a fifth axis component (35), and a sixth axis component (36). The first shaft component (31) is connected to the second shaft component (32) and can drive the second shaft component (32) to rotate along the center line of the first shaft component (31); The second shaft component (32) is connected to the third shaft component (33) via a first connecting arm (37), and the second shaft component (32) can drive the first connecting arm (37) to rotate along the center line of the second shaft component (32); The third shaft component (33) and the fourth shaft component (34) are connected by a second connecting arm (38), and the third shaft component (33) can drive the second connecting arm (38) to rotate along the center line of the third shaft component (33); The fourth axis component (34) is connected to the fifth axis component (35) and can drive the fifth axis component (35) to rotate along the center line of the fourth axis component (34); The fifth axis component (35) is connected to the sixth axis component (36) and can drive the sixth axis component (36) to rotate along the center line of the fifth axis component (35); The ultrasonic scalpel (4) is connected to the sixth axis component (36), which can drive the ultrasonic scalpel (4) to rotate along the center line of the sixth axis component (36); The vision device (5) is connected to the sixth axis component (36) and is used to obtain a visual image of the position of the support structure of the 3D printed part (2) to be cut. The six-axis robotic arm (3) can drive the ultrasonic knife (4) to cut the support structure based on the visual image.

2. The device for removing 3D printed parts supports based on ultrasonic scalpel cutting according to claim 1, characterized in that, The center line of the first shaft component (31) is perpendicular to the horizontal plane; the center line of the second shaft component (32) is perpendicular to the center line of the first shaft component (31); the center line of the third shaft component (33) is parallel to the center line of the second shaft component (32); the center line of the fourth shaft component (34) is perpendicular to the center line of the third shaft component (33); the center line of the fifth shaft component (35) is perpendicular to the center line of the fourth shaft component (34); and the center line of the sixth shaft component (36) is perpendicular to the center line of the fifth shaft component (35).

3. The device for removing 3D printed part supports based on ultrasonic scalpel cutting according to claim 1, characterized in that, An ultrasonic knife fixture (6) is mounted on the sixth axis component (36), and the ultrasonic knife (4) is mounted on the ultrasonic knife fixture (6).

4. The device for removing 3D printed part supports based on ultrasonic scalpel cutting according to claim 1, characterized in that, A camera bracket (51) is mounted on the sixth axis component (36), and the vision device (5) includes a vision camera (52) mounted on the camera bracket (51).

5. The device for removing 3D printed part supports based on ultrasonic scalpel cutting according to claim 1, characterized in that, The device frame (1) is equipped with a printing fixture (7) for holding the 3D printed part (2) to be cut.

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