Method and device for removing objects from a 3D printing environment
The method and device address the challenge of automated object removal in 3D printing by using a removal device coupled to the 3D printing environment's drive element, facilitating efficient and continuous operation through controlled movements.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- RING DOMINIC JASON
- Filing Date
- 2025-11-25
- Publication Date
- 2026-06-04
AI Technical Summary
Existing 3D printing environments lack efficient and cost-effective methods for automated removal of objects, including finished products and foreign bodies, from the print bed, which hinders continuous operation and productivity.
A method and device utilizing a removal device coupled to the existing kinematic components of the 3D printing environment, allowing controlled movement of the removal device via the drive element, with optional coupling and detachment, and employing various motion techniques such as pushing, pulling, and vibrating to remove objects from the print bed.
Enables automated and efficient removal of objects from the 3D printing environment, enhancing productivity by allowing continuous operation without manual intervention and reducing wear through uniform power and motion transmission.
Smart Images
Figure EP2025084188_04062026_PF_FP_ABST
Abstract
Description
[0001] TRI.01.24 1
[0002] METHOD AND DEVICE FOR REMOVING OBJECTS FROM
[0003] A 3D printing environment
[0004] Technical field
[0005] The application relates to a method and a device for removing objects from a 3D printing environment, a coupling for a 3D printing environment, and a 3D printing environment.
[0006] background
[0007] For additive manufacturing processes and / or processes that use layer-by-layer technologies, so-called 3D printers can be used in 3D printing environments.
[0008] EP2951004B1 describes a 3D printing system with automated part removal. The system comprises a print surface and a print head. An object is produced on the print surface. One or more axes serve to support the print head. To print the object onto the print surface, the print head is actuated via the axes for controlled movement relative to the print surface. A blade is supported so that it can be moved across the print surface to remove the part. The blade is either cantilevered from a support on one side of the print surface or supported on both sides. The printing system enables the automated removal of the printed objects from the system.
[0009] In DE102022126803A1 a method for manufacturing a shoe insole using 3D printing is described.
[0010] Overview
[0011] A 3D printing environment has a driveable element which serves as a carrier for a print head during a 3D printing process.
[0012] One method for removing objects from the 3D printing environment involves:
[0013] A) Coupling a distance device with the driven element. TRI.01.24 2
[0014] B) Controlled movement of the removal device by means of the driven element.
[0015] C) Removing an object from the 3D printing environment using the removal device.
[0016] If required, the removal device can be coupled to the drive element, allowing the drive of the drive element to be used to move the removal device in a controlled manner. The movement is controlled in such a way that the object is removed from the 3D printing environment. In particular, the object can be removed from a print layer within the 3D printing environment.
[0017] The drive mechanism for the removal device can therefore be implemented using the existing kinematic components of the 3D printing environment. This allows for easy retrofitting in existing 3D printing environments.
[0018] Optionally, it can also be provided that the print plane is moved relative to the removal device to assist the removal process.
[0019] During the 3D printing process, the driven element can be moved across the print bed as the print head carrier without the removal device. To remove objects, such as the object that was just printed, the driven element can then be coupled with the removal device and moved so that the object is removed from the 3D printing environment, i.e., ejected.
[0020] The described method allows objects to be removed from the 3D printing environment. This can be automated by selectively controlling the drive of the driven element. The drive and support structure already present in the 3D printing environment for the 3D printing process can be used. This allows for cost-effective removal of the object(s), thereby increasing the efficiency and output of 3D printing environments.
[0021] The driven element can serve as a carrier for the 3D print head. The carrier can, for example, have one area for attaching the 3D print head and another area for coupling with the removal device. These areas can also be the same. TRI.01.24 3
[0022] 3D printing, such as FDM printing (FDM: Fused Deposition Modeling), is a form of extrusion-based additive manufacturing. In an FDM 3D printing process, a plastic filament is melted in a heated nozzle and deposited as a molten strand onto the print bed or onto previously printed sections of the object being manufactured. The print head has the heated nozzle for melting and depositing the filament. The object can be built layer by layer using these deposited strands. 3D printing can also be achieved, for example, by melting powder, dispensing, and curing resin.
[0023] To deposit the molten filament, the print head is moved to the desired deposit point by moving the support on which it is mounted. Moving the support is achieved by driving the drive element, for example, an electric motor. A 3D printing environment can have one or more print heads, which can be mounted on one or more supports.
[0024] The at least one printhead of the 3D printing environment can be designed to be detachable from its carrier. The attachment to the carrier can therefore be designed to be removable. The at least one printhead can thus be selected selectively, for example, from several available printheads. This can also be automated and controlled, for example, by a control unit of the 3D printing environment. For flexible attachment of the at least one printhead to the carrier, the carrier and / or the printhead can have a corresponding printhead coupling.
[0025] The removed object could, for example, be an object produced through the 3D printing process in the 3D printing environment. After its removal, another object can be produced in the 3D printing environment. This enables automation and the possibility of producing multiple objects consecutively without operator intervention.
[0026] The removed object could also be a foreign body located on the print bed. Therefore, the process can also be used to prepare for 3D printing by removing any foreign bodies from the print bed before the printing process begins. The process can also be used after 3D printing by removing any residue from the 3D printing process (TRI.01.24 4) after printing.
[0027] Optionally, coupling the distance device with the driven element can include attaching the driven element to the distance device, whereby the distance device is pushed through the attached driven element.
[0028] By applying the actuating element to the opposite side, the direction of the thrust movement can be reversed. The thrust movement in the opposite direction can be used, for example, to move the removal device back to its original or resting position.
[0029] The 3D printing environment can be designed, for example, for printing shoe insoles. The object to be removed could be, for instance, a finished shoe insole.
[0030] In one embodiment, the method further comprises: D) Controlled movement of the removal device by means of the driven element to perform a pulling motion. During the pulling motion, the removal device is pulled and moved in the opposite direction to the pushing motion. The pulling motion can, for example, be used to move the removal device to its original position or rest position.
[0031] In one embodiment, the method further comprises: E) Detaching the removal device from the driven element. After the object has been removed, the removal device can be detached from the driven element. The driven element can then be used again as a support for the print head during 3D printing processes. Thus, the driven element can then be moved across the printing plane again during the 3D printing processes without the removal device attached.
[0032] In one embodiment of the method, a coupling is used in A) to couple the distance device with the driven element.
[0033] The coupling allows the driven element to be connected to the removal device and its forces and / or movements to be transmitted. The coupling offers the advantages of quick and easy connection and optional disconnection, without necessarily requiring manual work. TRI.01.24 5
[0034] If required, different removal devices can optionally be coupled to the driven element via the coupling, e.g., made of a different material or in a different shape. The removal device can then be adapted to the printed object, for example, its shape and / or the material used.
[0035] The coupling can be attached to the driven element. Specifically, the coupling can be attached to the carrier that holds the printhead, and / or the coupling can be attached to the printhead itself.
[0036] In one embodiment of the method, removing the object from the printing environment in C) involves a pushing motion. The object to be removed is thus removed from the 3D printing environment by a pushing motion of the removal device. In particular, the object can be removed by pushing it out of the 3D printing environment.
[0037] In one embodiment of the method, the pushing motion is performed along the printing plane of the 3D printing environment. In this embodiment, the object is removed from the 3D printing environment by pushing it off the printing plane.
[0038] The pushing motion can optionally be performed multiple times. This increases the likelihood of successfully removing the object. Simultaneously, sensors in the 3D printing environment can detect whether the print bed has been safely cleared during repeated pushing motions. If an object remains on the print bed, the sensors can optionally determine whether objects are, for example, adhering too strongly and / or whether manual intervention is necessary. This can be signaled visually and / or audibly via a signaling device.
[0039] The sensor system can include, for example, optical, mechanical, and / or electrical sensors. The sensor system can also include, in particular, the evaluation of the acquired sensor data. Specifically, an optical sensor, such as a camera, can be used, the captured image data of which can be evaluated, especially by artificial intelligence.
[0040] In one embodiment of the method, the driven element and the coupling work together in B) to carry out the controlled movement of the removal device. The power and motion transmission via the coupling TRI.01.24 6 is uniform and enables control of the movement of the removal device. At the same time, any shocks in both directions can be buffered by the interaction of the driven element and the coupling, thus reducing wear.
[0041] In one embodiment of the method, the removal device comprises a blade. The blade can be geometrically adapted to the removal process and, for example, have the shape of a straight or curved plane. The blade can be supported, with the support being provided, for example, at one or more edges, in the center, and / or across the entire surface. The blade can be made, for example, of steel or another hard material suitable for lifting the object and removing it from the 3D printing environment when the blade moves across the print plane. The blade performs the movement into which it is set by the drive element. This movement can, in particular, be a shearing movement. The shape and material of the blade can be adapted to the shape and / or material of the object, and especially to the printed products being printed by the 3D printing environment.
[0042] The pushing motion can include an initial push, in which the blade forms a first angle relative to the print plane. This first angle can be chosen such that the object to be removed is pushed away from the print plane and, optionally, also detached from it. The first angle can also be chosen such that the blade is pushed under the object and, optionally, detached from the print plane. This allows removal from the print environment even for objects that are stuck to the print plane. The initial push can optionally be performed multiple times.
[0043] The initial push motion can include a second push motion in which the blade forms a second angle relative to the pressure plane. This second angle and push motion can be specifically chosen to tilt the object being removed by the blade. This prevents the object from remaining stuck on the blade, for example, with small and lightweight components, as well as with material pairings that have very high coefficients of friction. The second push motion can optionally be performed multiple times. TRI.01.24 7
[0044] The first and second thrust movements can be performed consecutively as part of a single thrust movement. For example, a thrust can first be performed over a certain distance at the first angle, followed by a thrust over a certain distance at the second angle. Such a thrust movement, combining the first and second thrust movements, can also be performed multiple times in succession. Within a single thrust movement, the transition can be made from the first to the second thrust movement and vice versa.
[0045] In one embodiment of the method, the second thrusting motion is performed in such a way that it causes the object to tilt. The angle of the second thrusting motion, the force exerted, and / or the speed of the movement can be specifically selected. In particular, the first and second thrusting motions can follow one another such that the blade is first pushed under the object (first thrusting motion) and then tilted (second thrusting motion).
[0046] In one embodiment, the second thrust movement after the tilting can include a tipping of the object. This tipping then leads to the removal of the object from the 3D printing environment, as the object essentially falls over the edge of the print plane by means of a rotational movement.
[0047] In one embodiment, the removal device can be moved in a controlled manner to perform a vibrating motion. This vibrating motion can be achieved, for example, by combining a push and a pull motion. Alternatively or additionally, the vibrating motion can be achieved by combining a first push motion with a second push motion. During the transition between the first and second push motions, the removal device undergoes a rotational movement due to the change in angle, which causes the vibrating motion. By repeatedly transitioning from the first to the second push motion and back again, the vibrating motion can be intensified by the repeated change in angle.
[0048] In one embodiment of the method, the second push movement is combined with the pull movement, in particular in such a way that the removal device performs a vibrating movement. This vibrating movement allows the object to be shaken off if it happens to be stuck to the removal device. TRI.01.24 8
[0049] A coupling for a 3D printing environment is designed to connect a removal device to a drive element of the 3D printing environment in such a way that the removal device can be moved in a controlled manner by means of the drive element, allowing an object to be removed from the 3D printing environment using the removal device. The coupling is designed to be detachable. Such a coupling enables the removal device to be connected to a drive element present in the 3D printing environment as needed. The drive element may already be present in the 3D printing environment and can be used to remove an object using the removal device.
[0050] The coupling allows the driven element to be connected to the removal device and its forces and / or movements to be transmitted. The coupling offers the advantages of quick and easy connection and optional disconnection, without necessarily requiring manual intervention.
[0051] The coupling is particularly suitable and designed to be used in the described method for coupling the distance device with the driven element.
[0052] In one embodiment, the coupling is designed to create a force-locking and / or form-locking connection between the removal device, in particular the blade, and the driven element.
[0053] In a frictional connection, force is transmitted through friction. The blade and the driven element are pressed against each other by a force, so that frictional forces prevent relative movement and thus allow force to be transmitted. In a positive-locking connection, force is transmitted through interlocking forms. The components fit together mechanically, thus preventing relative movement and allowing force to be transmitted.
[0054] In one embodiment, the coupling has a receptacle into which the driven element can be received. The receptacle can, in particular, be U-shaped. An elongated driven element, e.g., in the form of an axle, can then be received into the U-shape.
[0055] In one embodiment, the coupling can be connected to the printhead. Here, the coupling can be used, for example, to selectively connect one of several printheads or to connect the removal device. TRI.01.24 9
[0056] A device for removing objects from a 3D printing environment comprises a removal mechanism and the described coupling. The coupling is designed for the detachable connection of the removal mechanism to the driven element of the 3D printing environment. The device is particularly suitable and configured to perform the described method.
[0057] The removal device can be coupled to the driven element via the coupling as needed and moved in a controlled manner via the drive of the driven element. The removal device is designed to remove the object from the 3D printing environment, in particular from a print layer within the 3D printing environment.
[0058] In one embodiment, the removal device has a connection for compressed air. The compressed air can then be used for pre- or post-treatment of the print surface and / or to assist the removal process.
[0059] The described device allows objects to be removed from the 3D printing environment. For this purpose, the device can be coupled to the driven element if required. The drive and carrier, which are already available in the 3D printing environment for executing the 3D printing process, can be used to move the device. This allows the object(s) to be removed cost-effectively.
[0060] The coupling of the device is specifically connected to, or connectable to, the distance control device. This enables the transmission of force and / or motion between the driven element and the distance control device. The coupling can optionally be connected to, and optionally detached from, the distance control device.
[0061] In one embodiment of the device, the removal mechanism includes a blade. The blade can have the form of a straight or curved plane and can be adapted in shape and material to the intended use of removing the object.
[0062] A 3D printing environment includes the described device and a drive element. The drive element serves as a carrier for a print head during a 3D printing process. The described device enables the efficient and automated removal of objects from the 3D printing environment. TRI.01.24 10
[0063] During the 3D printing process, the driven element can be moved across the print bed as the print head carrier without the removal device. To remove objects, such as the object that was just printed, the driven element can then be coupled with the removal device and moved so that the object is removed from the 3D printing environment, i.e., ejected.
[0064] In one embodiment of the 3D printing environment, the driven element has an axis that runs above a printing plane. This axis can run in any direction, e.g., longitudinally or transversely, above the printing plane. Such an axis can, for example, simultaneously serve as a support for the print head(s) of the 3D printing environment, thus ensuring that the points on the printing plane to be reached during the 3D printing process can be easily accessed.
[0065] It is also possible to implement designs in which the driven element has, for example, a double axis, one of which is designed with a print head and the other designed to be coupled to the removal device. Kinematically, the double axis is designed as a single driven element.
[0066] In embodiments of the 3D printing environment, the coupling is located on the print head.
[0067] In embodiments of the 3D printing environment, the driven element has a controllable carrier. The controllable carrier can, for example, be designed as a type of mechanical arm. The coupling is arranged on the controllable carrier. The controllable carrier can serve as a tool changer, by means of which either a print head or the removal device can be selectively coupled. This is particularly advantageous in 3D printing environments where, for example, one of several print heads or the removal device can be selectively coupled by means of the controllable carrier.
[0068] In some embodiments, the removal device can also be used to apply materials to the print surface. These materials could be, for example, adhesion promoters, release agents, cleaning agents, or similar substances that can be applied to the print surface after the 3D printing process. For this purpose, the materials can be deposited onto the print surface, for example, through a nozzle in the 3D printing environment and distributed across the print surface by the device, which is moved into the appropriate position. The nozzle, for example, can also be attached to the drive element and moved in a controlled manner by means of the drive element.
[0069] List of figures
[0070] Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description.
[0071] They show
[0072] Fig. 1 is a flowchart of the process,
[0073] Figs. 2 and 3 schematically depict a 3D printing environment with a removal device and various objects.
[0074] Figs. 4 and 5 schematically show the 3D printing environment with the removal device in different positions.
[0075] Fig. 6 schematically shows the 3D printing environment with the removal device in a top view.
[0076] Figs. 7 and 8 schematically show the 3D printing environment with the removal device and a first embodiment of a coupling.
[0077] Figs. 9 and 10 schematically show the 3D printing environment with the removal device and a second embodiment of a coupling.
[0078] Fig. 11 schematically shows the 3D printing environment with the removal device and a third embodiment of a coupling,
[0079] Fig. 12 schematically shows the 3D printing environment with the removal device and a fourth embodiment of a coupling.
[0080] Fig. 13 schematically shows another embodiment of the 3D printing environment.
[0081] The same reference symbols are used in the figures for identical or similar elements. The representations in the figures cannot be to scale.
[0082] Figure description
[0083] Figure 1 schematically illustrates an embodiment of a method for removing objects 4, 5 from a 3D printing environment 10. The 3D printing environment 10 has a driveable element which serves as a carrier for a print head 6 during a 3D printing process. TRI.01.24 12
[0084] The procedure indicates:
[0085] A) Coupling a removal device 2 with the driven element. The removal device 2 can, in particular, be designed as a blade, which is coupled to the driven element. The driven element is part of the 3D printing environment 10 and, during a 3D printing process, also serves as a carrier for the print head 6, which is used for the 3D printing process.
[0086] B) Controlled movement of the removal device 2 by means of the driven element. The drive used for the controlled movement is the same one that also drives the printhead carrier 6.
[0087] C) Removing an object 4, 5 from the 3D printing environment 10 using the removal device 2. For example, to remove the object 4, 5, the removal device may perform a pushing movement 12.
[0088] D) Controlled movement of the removal device 2 by means of the driven element to perform a pulling motion 13. Performing the pulling motion 13 allows greater degrees of freedom in the movement of the removal device 2 within the 3D printing environment 10, e.g., to move it back to a parked position after the removal process. On the other hand, using the pulling motion 13 of the removal device 2 to remove the object 4, 5, a kind of shaking motion can also be performed, in which an object 4, 5 that may be stuck to the removal device 2 can be detached from the removal device 2.
[0089] E) Detaching the distance device 2 from the driven element. Detaching the distance device 2 from the driven element can occur, for example, when the distance process by the distance device 2 has ended and the distance device 2 is, for example, in a parked position.
[0090] Steps D) and E) are optional.
[0091] Optionally, the pressure plane 1 can be moved relative to the removal device 2 to support the removal process, e.g., by a vibration movement, and to facilitate a potentially useful detachment process between objects 4, 5 and the removal device 2. TRI.01.24 13
[0092] The described process can be carried out by the 3D printing environment 10, whereby the control can be performed, for example, by a control unit of the 3D printing environment 10. The control unit can have a processor, memory, and input and output interfaces for this purpose.
[0093] Figure 2 shows a schematic example of the 3D printing environment 10. A device for removing objects 4, 5 from the 3D printing environment 10 comprises the removal device 2 and a coupling 3.
[0094] A print plane 1 serves as the print bed for the 3D printing process. The print plane can also be referred to as the build platform. The object 4, e.g., a component, is located on print plane 1. This component is, for example, a 3D-printed object that was produced in a previous 3D printing process within the 3D printing environment 10. For the previous printing process in which object 4 was produced, the print head 6, or one of the print heads 6 of the 3D printing environment, was used.
[0095] The printhead 6, or printheads, are used to perform 3D printing. For example, filament for an FDM process can be melted and applied using the printhead 6. The printhead 6 can also serve as a printing device for other forms of 3D printing, such as melting powder, dispensing and curing resin, or similar applications.
[0096] The removal device 2 has a coupling 3 by means of which the removal device can be coupled to the driven element of the 3D printing environment 10. A force and / or a movement of the driven element can be transmitted to the removal device 2 via the coupling 3.
[0097] In the example shown in Figure 2, the removal device 2 has a first angle o relative to the printing plane 1. The removal device 2 can optionally rest on the printing plane 1 or be positioned at a small distance, e.g., approximately a few millimeters to less than 1 cm, from the printing plane 1. The distance of the removal device 2 to the printing plane 1 is preferably chosen such that the object 4 can be lifted from the printing plane 1 by the removal device 2 (see Figure 4). The first angle o and the distance of the removal device 2 can be adjusted, e.g., by the control unit of the 3D printing environment 10. TRI.01.24 14
[0098] Figure 3 schematically illustrates the 3D printing environment 10 with an additional object 5. This additional object 5 could be a component that was not fully printed, for example. Therefore, in Figure 3, the additional object 5 is shorter than object 4. The 3D printing process may not have been completed because it was interrupted by a user and / or the software. The additional object 5 must then be removed to allow further 3D printing operations. In the example shown in Figure 3, the removal device 2 also has the first angle o relative to the printing plane 1. As in the example in Figure 2, the first angle o and the position of the adjustment device 2 relative to the printing plane 1 can be adjusted by the control unit of the 3D printing environment.
[0099] By means of the device, which has the removal device 2 and the coupling 3, the finished component as object 4, the unfinished component as another object 5 and / or other contaminants or residues can be removed from the printing plane 1.
[0100] Figure 4 shows the 3D printing environment 10, in which the removal device 2 performs a thrust movement 12 towards the object 4, 5. During the thrust movement 12, the removal device forms the first angle o with respect to the printing plane 1. It can be seen that the removal device 2, which is designed as a blade, was pushed under the object 4, 5 and consequently lifted.
[0101] Figure 5 schematically depicts the 3D printing environment 10, in which the removal device 2 performs the thrust movement 12 towards the object 4, 5. During the thrust movement 12, the removal device exhibits the second angle Ao relative to the printing plane 1. The second angle Ao relative to the printing plane 1 is larger than the first angle o and therefore less acute. It can be seen that the removal device 2, which is designed as a blade and is pushed under the object 4, 5, has raised the object 4, 5 further compared to the state shown in Figure 4.
[0102] The blade can, for example, cover the width of print plane 1 and perform a movement 12, 13 lengthwise along print plane 1. This allows objects 4, 5 to be removed across the entire print plane 1. TRI.01.24 15
[0103] By performing the thrust movement 12 with the second Ao, the object 4, 5 can be tilted from the printing plane 1 and thus removed from the 3D printing environment 10.
[0104] The tilting motion prevents the object 4, 5 from remaining in the 3D printing environment 10 after detaching from the print plane 1. Tilting allows the object 4, 5 to be ejected. This is particularly advantageous for small and / or slightly adhering objects 4, 5.
[0105] Figure 6 shows a schematic top view of the 3D printing environment 10. The 3D printing environment 10 has a driveable element with 3 axes 7. The print head 6 of the 3D printing environment 10 is attached to one of the axes 7, which is mounted transversely to the printing plane 1.
[0106] Axis 7 serves as a carrier for the print head 6. The print head 6 melts the filament for the 3D printing process and applies it layer by layer as a molten strand to the print plane 1 or to a layer already applied to it. The print head 6 can be moved to the desired position on the print plane 1 via axis 7. The 3D printing process, which includes the controlled movement of the print head 6, can be controlled, for example, by the control unit of the 3D printing environment 10. Optionally, the 3D printing environment can have multiple print heads 6, for example, for different materials.
[0107] The driven element serves as a carrier for the printhead 6. In some embodiments, the axis 7 can serve as the carrier for the printhead 6 and be coupled to the removal device 2. There are also embodiments in which the driven element has, for example, a double axis, one of which is designed with the printhead 6 and the other designed to be coupled to the removal device 2. Kinematically, the double axis is designed as a single driven element.
[0108] The device, which includes the removal device 2 and the coupling 3, is shown in Figure 6 in a parked or resting position, located at the edge of or outside the print plane 1. When the removal device 2 and the coupling 3 are in the parked position, the 3D printing process can take place, for example, in which the print head 6 is moved across the print plane 1.
[0109] Figure 7 shows the device with the removal device 2 and a first embodiment of the coupling 3. The first embodiment of the coupling 3 has a receptacle 8 which has a U-shaped profile. The opening of the U-profile faces away from the pressure plane 1. The first embodiment of the coupling 3 provides a positive-locking connection between the shaft 7 as the driven element 7 and the coupling 3.
[0110] As shown in Figure 8, the axis 7 can be inserted into the receptacle 8 of the first embodiment of the coupling 3 from above and / or the receptacle 8 of the first embodiment of the coupling 3 can receive the axis 7 from below.
[0111] It can be provided, in particular, that the receptacle 8 accommodates the axis 7, which runs transversely to the printing plane 1. At the start of a removal process, the axis 7 can then be inserted into the receptacle 8 from above via its drive. The removal device 2 can then be moved across the printing plane 1 by means of the drive of the axis 7, as described, for example, with reference to Figures 1 to 5. The movement 12, 13 of the removal device 2 can comprise a pulling movement 13 and / or a pushing movement 12. The pushing and pulling movement 12, 13 can, in particular, take place in a direction longitudinal to the printing plane 1, wherein the removal device 2 is preferably designed as a blade that covers the width of the printing plane 1.
[0112] Figure 9 shows the device with the removal device 2 and a second embodiment of the coupling 3. The second embodiment of the coupling 3 provides a positive and non-positive connection between the axle 7 as the driven element and the coupling 3. This improves the power and motion transmission.
[0113] The second embodiment of the coupling 3 has a receptacle 8, which has a U-shaped profile. The opening of the U-profile faces away from the pressure plane 1. The shaft 7 has a ball 9 connected to it and can be inserted into the receptacle 8, for example, from above. The receptacle 8 also has a passage 11 (Figure 10) into which the ball 9 of the shaft 7 can be received. Due to the arc attached to the receptacle 8, which runs above the ball 9 when the ball 9 is inserted, the ball 9 can slide when the removal device 2 (Figure 5) is tilted, thus preventing jamming.
[0114] The second embodiment of the coupling 3 can, for example, be attached to the printhead 6. In this case, the ball 9 can be attached to the printhead 6. TRI.01.24 17
[0115] In a further embodiment, the coupling can be selectively coupled to the at least one printhead 6 or the removal device 2. For this purpose, the coupling can, for example, be arranged on a controllable carrier of the driven element. The controllable carrier is controlled to establish the coupling with the at least one printhead 6 or the removal device 2.
[0116] As shown in Figure 10, the receptacle 8 has the opening 11, which can, for example, resemble a keyhole. The ball 9 can be hooked into the receptacle 8 through the opening 11. This allows the removal device 2 to be coupled to the axle 7 as the driven element via the second embodiment of the coupling 3.
[0117] Figure 11 schematically depicts the 3D printing environment 10 with the removal device 2 and a third embodiment of a coupling 3. In the third embodiment, the U-shaped recess 8 of the coupling 3 has an additional element in the form of a rod or a ball. This allows for a press fit between the axle 7 as the driven element and the coupling 3, thereby achieving a positive and non-positive coupling. This improves the transmission of force and motion.
[0118] Figure 12 schematically depicts the 3D printing environment 10 with the removal device 2 and a fourth embodiment of a coupling 3. In the fourth embodiment, the opening of the U-shaped receptacle 8 of the coupling 3 is open downwards towards the printing plane 1. The fourth embodiment of the coupling 3 provides a positive-locking connection between the axis 7 as the driven element and the coupling 3.
[0119] As shown in Figure 12, the axis 7 can be inserted into the receptacle 8 from below and / or the receptacle 8 can receive the axis 7 from above.
[0120] It can be provided, in particular, that the receptacle 8 accommodates the axis 7, which runs transversely to the pressure plane 1. When a removal process is started, the axis 7 can then be inserted into the receptacle 8 from below via its drive. The removal device 2 can then be moved across the pressure plane 1 by means of the drive of the axis 7. The movement 12, 13 of the removal device 2 can include a pulling movement 13 and / or a pushing movement 12 TRI.01.24 18. By raising the axis 7, the removal device 2 can be tilted to assist the removal of the object 4, 5 by the tilting movement.
[0121] Figure 13 schematically shows another embodiment of the 3D printing environment 10 with the removal device 2. The coupling between the axis
[0122] In the embodiment shown here, the connection between the 7 as the driveable element and the distance device 2 is made by placing the axle against the distance device 2.
[0123] As shown in Figure 13, the axis 7 can exert a force on the distance device 2 and thus set it into a thrust movement.
[0124] To move the distance device 2 into a thrust movement in the opposite direction, the axis 7 can be placed on the other side of the distance device 2 and the force can be applied in the opposite direction.
[0125] TRI.01.24
[0126] List of reference signs
[0127] 1 print layer
[0128] 2 Distance device
[0129] 3 Clutch
[0130] 4 objects
[0131] 5 more objects
[0132] 6 Printhead
[0133] 7-axis
[0134] 8th recording
[0135] 9 balls
[0136] 10 3D printing devices
[0137] 11 Passage
[0138] 12. Pushing motion
[0139] 13. Pulling motion o, Ao angle
Claims
TRI.01.24 20 REQUIREMENTS 1. Method for removing objects (4, 5) from a 3D printing environment (10), wherein the 3D printing environment (10) has a driveable element which serves as a carrier for a print head (6) during a 3D printing process, wherein the method comprises: A) Coupling a distance device (2) with the driven element, B) Controlled movement of the removal device (2) by means of the driven element and C) Removing an object (4, 5) from the 3D printing environment (10) using the removal device (2).
2. The method according to claim 1, further comprising: D) Controlled movement of the distance device (2) by means of the driven element to carry out a pulling movement.
3. Method according to claim 1 or 2, further comprising: E) Detaching the removal device (2) from the driven element.
4. Method according to one of the preceding claims, wherein in A) a coupling (3) is used to couple the removal device (2) with the driven element.
5. Method according to one of the preceding claims, wherein in C) the removal of the object (4, 5) from the pressure environment (10) comprises a pushing movement.
6. Method according to claim 5, wherein the shearing motion is performed along the printing plane (1) of the 3D printing environment (10).
7. Method according to one of the preceding claims, wherein in B) the driven element and the coupling (3) cooperate to carry out the controlled movement of the removal device (2).
8. Method according to any of the preceding claims, wherein the removal device (2) comprises a blade. TRI.01.24 21 9. Method according to claim 8, wherein the thrusting movement comprises a first thrusting movement, wherein during the first thrusting movement the blade has a first angle (o) relative to the pressure plane (1).
10. Method according to claim 9, wherein the thrusting movement comprises a second thrusting movement, wherein during the second thrusting movement the blade has a second angle (Ao) relative to the pressure plane.
11. Method according to claim 10, wherein the second thrust movement is performed in such a way as to cause the object (4, 5) to tilt, in particular to cause the object (4, 5) to be removed by tilting it out of the 3D printing environment.
12. Method according to claim 10 or 11, wherein the removal device is moved in a controlled manner such that the removal device performs a vibrating motion, wherein the vibrating motion is achieved in particular by a combination of the push motion with the pull motion and / or by a combination of the first push motion and the second push motion.
13. Coupling (3) for a 3D printing environment, wherein the coupling is configured to couple a removal device (2) with a driveable element of the 3D printing environment (10) in such a way that the removal device (2) can be moved in a controlled manner by means of the driveable element so that an object (4, 5) can be removed from the 3D printing environment (10) by means of the removal device (2), wherein the coupling via the coupling (3) is configured to be releasable.
14. Coupling (3) according to claim 13, wherein the coupling (3) is designed to create a friction-fit and / or positive-fit connection of the removal device (2) with the driven element.
15. Coupling (3) according to claim 13 or 14, wherein the coupling (3) has a receptacle (8) into which the driven element can be received.
16. Coupling (3) according to one of claims 13 to 15, wherein the coupling (3) is connectable to the print head (6).
17. Device for removing objects (4, 5) from a 3D printing environment (10), wherein the device comprises a removal device (2) and a coupling (3) according to any one of claims 13 to 16. TRI.01.24 22 18. Device according to claim 17, wherein the removal device (2) comprises a blade.
19. 3D printing environment (10) comprising the device according to claim 17 or 18 and a driveable element which serves as a carrier of a print head (6) in a 3D printing process.
20. 3D printing environment (10) according to claim 19, wherein the driveable element has an axis (7) which extends over a printing plane (1).
21. 3D printing environment (10) according to claim 19 or 20, wherein the coupling (3) is arranged on the printhead (6) and / or wherein the coupling (3) is arranged on a controllable carrier.