CN115213439A - 3D prints and removes braced system - Google Patents

3D prints and removes braced system Download PDF

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Publication number
CN115213439A
CN115213439A CN202210858338.5A CN202210858338A CN115213439A CN 115213439 A CN115213439 A CN 115213439A CN 202210858338 A CN202210858338 A CN 202210858338A CN 115213439 A CN115213439 A CN 115213439A
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CN
China
Prior art keywords
processed
product
detection module
support removing
digital model
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Pending
Application number
CN202210858338.5A
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Chinese (zh)
Inventor
张承宁
许培元
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Ningbo Weishi Intelligent Technology Co ltd
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Ningbo Weishi Intelligent Technology Co ltd
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Priority to CN202210858338.5A priority Critical patent/CN115213439A/en
Publication of CN115213439A publication Critical patent/CN115213439A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/80—Plants, production lines or modules
    • B22F12/88—Handling of additively manufactured products, e.g. by robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/60—Treatment of workpieces or articles after build-up
    • B22F10/66—Treatment of workpieces or articles after build-up by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/80—Data acquisition or data processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/90—Means for process control, e.g. cameras or sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • B33Y40/20—Post-treatment, e.g. curing, coating or polishing

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)

Abstract

The invention relates to a 3D printing support removing system, which is characterized by comprising: the system comprises a workbench, a detection module, a control system, a manipulator and a tail end support removing actuator, wherein the control system is set to obtain support removing area position information of a product to be processed and a corresponding actual operation coordinate thereof according to a digital model of the product to be processed, which is established or read by the detection module; and the mechanical arm guides the tail end of the mechanical arm to support the actuator to actively touch the product to be processed according to the actual operation coordinate corresponding to the position information of the real-time support removing area and carries out support removing operation on the product to be processed. Compared with the prior art, the invention has the advantages that: the whole support removing process can realize mechanical automation, replace personnel operation and reduce labor and production management cost. Possess the efficiency advantage for the manual work, the accuracy advantage, the effectual deep-processing article accuse ability that has promoted after the 3D prints promotes in the industry, has certain lean effect.

Description

3D prints and removes braced system
Technical Field
The invention relates to a 3D printing support removing system.
Background
Compared with the traditional machine tool or CNC machining, the 3D printing is an additive manufacturing method, and the biggest difference of the method is that the appearance is constructed in a layer overlapping mode, but not in a material reducing mode such as material cutting.
In the additive manufacturing process, a support structure is inevitably needed because of the need to cope with the complex topography of the workpiece. The support structure plays an important role in metal additive manufacturing, being responsible for supporting the overhanging geometry and serving as a path for conducting heat from the component during the construction process. When the object to be machined is finished, the bar-shaped or cylindrical support needs to be removed, which is a very tedious work that requires manual operations such as chiseling, knocking, drilling, grinding, etc. There is a need for an interventional, highly efficient automated device to replace human labor from an industry standpoint.
From the process of 3D printing removing support, the worker is required to determine the support removing point, then the support structure is removed by the aid of the tool, the support removing mode is complex in operation and low in efficiency, the support removing point is required to be confirmed manually, and the 3D printing component is easy to damage. Chinese patent No. CN 106738874B discloses a method for quickly removing a 3D printing support, which is mainly implemented by printing a layer of easily degradable material by a medium material print head before and after printing a support, wherein the medium material separates the support from a part, the part from a substrate, and the substrate from the support. And after the printing of the part is finished, taking down the model and degrading the dielectric layer, wherein the dielectric material at the part is dissolved, and the support structure is naturally separated from the surface of the part. Above-mentioned disclosed technique, need adopt the medium material in the part of support and work piece body junction, support the main part and adopt metal material, then will print and accomplish the work piece and carry out the medium layer and dissolve, be convenient for getting rid of bearing structure, but at 3D printing in-process, need use two kinds of materials, in the 3D printing process, need change the material, whole printing process becomes more loaded down with trivial details, and after 3D prints and finishes, need dissolve the operation to bearing structure, and when adopting the chemical industry mode to dissolve bearing structure, must guarantee can not cause the influence to the material of 3D component body, consequently, will put forward special requirements to the material of 3D component body.
Disclosure of Invention
The invention aims to solve the technical problem of providing a 3D printing support removing system which can fully automatically scan a structure of a workpiece to be processed, accurately determine a support removing area and automatically finish cutting and polishing of the support removing area in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: A3D prints and removes braced system, its characterized in that includes:
the workbench is used for fixing a product to be processed or fixing a tail end to support the actuator;
the detection module is used for carrying out 3D sampling on a product to be processed and establishing a digital model of the product to be processed in real time;
the control system is connected with the detection module and is set to obtain the real-time support removing area position information of the product to be processed and the corresponding actual operation coordinate thereof according to the digital model of the product to be processed established by the detection module, and generate corresponding support removing action path information;
the manipulator is connected with the control system and is controlled by the control system, and the control system feeds back the obtained information of the support removing action path to the manipulator;
the mechanical arm guides the tail end support removing actuator on the mechanical arm to carry out support removing operation on the product to be processed according to a real-time support removing action path; or the product to be processed is connected to the manipulator, the tail end support removing actuator is fixed on the workbench, and the manipulator guides the product to be processed on the manipulator to move according to the real-time support removing action path, so that the tail end support removing actuator performs support removing operation on the product to be processed.
The detection module is a 3D scanner or a 3D camera.
The detection module is provided with a plurality of 3D scanners or 3D cameras.
The detection module is arranged on the manipulator, or on the workbench, or on the mounting bracket above the workbench.
When the detection module is arranged on the mounting bracket above the workbench, the detection module is movably arranged on the mounting bracket and can be adjusted at multiple angles to detect the direction.
The number of the manipulators is at least N, and N is more than or equal to 1.
The end support removing actuator is a rotary cutting and grinding module or a reciprocating cutting and grinding module or a laser cutting module or a water cutting module or a linear cutting module.
Digital model templates of different products to be processed and corresponding support removal area information in the different digital model templates are pre-stored in the control system; the control system obtains the position information of the support removing area of the product to be processed by the following method:
step 1, establishing a coordinate system taking a manipulator as a reference, and carrying out hand-eye calibration of 'eyes outside hands', wherein the 'eyes' refer to a detection module, and the 'hands' refer to the manipulator;
step 2, setting the detection module as an observation point, performing self-calibration of the detection module, and acquiring a distortion parameter of the detection module and a spatial position parameter of the detection module in a coordinate system;
step 3, placing the calibration plate on a workbench, and carrying out hand-eye calibration of M points by combining distortion parameters of the detection module and spatial position parameters of the detection module in a coordinate system;
step 4, the control system establishes or reads a digital model of the product to be processed according to the detection module, obtains a digital model template matched with the digital model of the product to be processed and corresponding support removing area information in different digital model templates, and establishes a position relation mapping table of the support removing area information in a coordinate system;
and 5, acquiring point cloud or image data aiming at the specific product to be processed according to the digital model template matched with the digital model of the product to be processed obtained in the step 4 and the position relation mapping table of the corresponding support removing area information in the different digital model templates in the coordinate system, and obtaining the actual support removing area position information of the product to be processed in the coordinate system through space relation conversion.
Compared with the prior art, the invention has the advantages that: the method comprises the steps that firstly, a detection module reconstructs or reads a digital model of a product to be processed, then a control system performs template matching on the digital model of the product to be processed, region information for removing support is called, affine transformation is carried out to obtain actual support removing region position information of the product to be processed, finally, a manipulator carries a tool, support removing operation is carried out according to corresponding coordinates, mechanical automation can be achieved in the whole support removing process, personnel operation is replaced, and labor and production management cost is reduced. Possess the efficiency advantage for the manual work, the accuracy advantage, the effectual deep-processing article accuse ability that has promoted after the 3D prints promotes in the industry, has certain lean effect.
Drawings
Fig. 1 is a schematic structural diagram of a 3D printing support removing system according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a 3D printing support removing system according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a 3D printing support removing system according to a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following examples of the drawings.
The 3D printing unsupported system as shown in fig. 1, comprising:
the working table 1 is used for fixing a product 2 to be processed on the working table 1;
the detection module 3 is used for performing 3D sampling on the product 2 to be processed and establishing a digital model for taking the product to be processed in real time;
the detection module 3 is connected with the control system, and the control system is configured to obtain real-time support removing area position information of the product to be processed and actual operation coordinates corresponding to the real-time support removing area position information according to a digital model of the product to be processed, which is established by the detection module, and generate corresponding support removing action path information;
the manipulator 4 is connected with the control system and is controlled by the control system, and the control system feeds back the obtained information of the support removing action path to the manipulator 4;
the end support removing actuator 5 is connected to the manipulator 4, and the manipulator 4 guides the end support removing actuator 5 on the manipulator 4 according to the real-time support removing action path to perform support removing operation on a product to be processed; the end-support effector 5 may be a rotary cutting, grinding module or reciprocating cutting, grinding module or laser cutting module or water cutting module or wire cutting module.
In this embodiment, the detection module may be one or more 3D scanners or 3D cameras. The detection module 3 is also provided in the robot arm 4.
Digital model templates of different products to be processed and corresponding support removing area information in the different digital model templates are pre-stored in the control system; the control system obtains the position information of the support removing area of the product to be processed by the following method:
step 1, establishing a coordinate system taking a manipulator as a reference, and carrying out hand-eye calibration of 'eyes outside hands', wherein the 'eyes' refer to a detection module, and the 'hands' refer to the manipulator;
step 2, setting the detection module as an observation point, performing self-calibration of the detection module, and acquiring a distortion parameter of the detection module and a spatial position parameter of the detection module in a coordinate system;
step 3, placing the calibration plate on a workbench, and carrying out hand-eye calibration of M points by combining distortion parameters of the detection module and spatial position parameters of the detection module in a coordinate system;
step 4, the control system establishes or reads a digital model of the product to be processed according to the detection module, obtains a digital model template matched with the digital model of the product to be processed and corresponding support removing area information in different digital model templates, and establishes a position relation mapping table of the support removing area information in a coordinate system; and 5, acquiring point cloud or image data aiming at the specific product to be processed according to the digital model template matched with the digital model of the product to be processed obtained in the step 4 and the position relation mapping table of the corresponding support removing area information in the different digital model templates in the coordinate system, and obtaining the actual support removing area position information of the product to be processed in the coordinate system through space relation conversion.
Example two
In contrast to the first exemplary embodiment, the detection module 3 is arranged on a mounting frame 6 next to the table 1.
EXAMPLE III
Different from the second embodiment, the product to be processed 2 is connected to the manipulator 4, the end support removing actuator 5 is fixed on the workbench 1, and the manipulator 4 guides the product to be processed on the manipulator 4 to move according to the real-time support removing motion path, so that the end support removing actuator 5 performs support removing operation on the product to be processed.

Claims (8)

1. A3D prints and removes braced system, its characterized in that includes:
the workbench is used for fixing a product to be processed or fixing a tail end to support the actuator;
the detection module is used for carrying out 3D sampling on the product to be processed and establishing a digital model of the product to be processed in real time;
the control system is connected with the detection module and is set to obtain the real-time support removing area position information of the product to be processed and the corresponding actual operation coordinate thereof according to the digital model of the product to be processed established by the detection module, and generate corresponding support removing action path information;
the manipulator is connected with the control system and is controlled by the control system, and the control system feeds back the obtained information of the support removing action path to the manipulator;
the mechanical arm guides the tail end support removing actuator on the mechanical arm to carry out support removing operation on the product to be processed according to a real-time support removing action path; or the product to be processed is connected to the manipulator, the tail end support removing actuator is fixed on the workbench, and the manipulator guides the product to be processed on the manipulator to move according to the real-time support removing action path, so that the tail end support removing actuator performs support removing operation on the product to be processed.
2. The 3D printing unsupported system of claim 1, wherein: the detection module is a 3D scanner or a 3D camera.
3. The 3D printing unsupported system of claim 2, wherein: the detection module is provided with a plurality of 3D scanners or 3D cameras.
4. The 3D printing unsupported system of claim 2, wherein: the detection module is arranged on the manipulator, or on the workbench, or on the mounting bracket above the workbench.
5. The 3D printing unsupported system of claim 4, wherein: when the detection module is arranged on the mounting bracket above the workbench, the detection module is movably arranged on the mounting bracket and can adjust the detection direction at multiple angles.
6. The 3D printing unsupported system of claim 1, wherein: the number of the mechanical arms is at least N, and N is more than or equal to 1.
7. The 3D printing unsupported system of claim 1, wherein: the end support removing actuator is a rotary cutting module, a grinding module, a reciprocating cutting module, a grinding module, a laser cutting module, a water cutting module or a linear cutting module.
8. The 3D printing unsupported system according to one of claims 1 to 7, wherein: digital model templates of different products to be processed and corresponding support removal area information in the different digital model templates are pre-stored in the control system; the control system obtains the position information of the support removing area of the product to be processed by the following method:
step 1, establishing a coordinate system taking a manipulator as a reference, and carrying out hand-eye calibration of 'eyes outside hands', wherein the 'eyes' refer to a detection module, and the 'hands' refer to the manipulator;
step 2, setting the detection module as an observation point, performing self-calibration of the detection module, and acquiring a distortion parameter of the detection module and a spatial position parameter of the detection module in a coordinate system;
step 3, placing the calibration plate on a workbench, and carrying out hand-eye calibration of M points by combining distortion parameters of the detection module and spatial position parameters of the detection module in a coordinate system;
step 4, the control system establishes or reads a digital model of the product to be processed according to the detection module, obtains a digital model template matched with the digital model of the product to be processed and corresponding support removing area information in different digital model templates, and establishes a position relation mapping table of the support removing area information in a coordinate system;
and 5, acquiring point cloud or image data aiming at the specific product to be processed according to the digital model template matched with the digital model of the product to be processed obtained in the step 4 and the position relation mapping table of the corresponding support removing area information in different digital model templates in the coordinate system, and obtaining the actual support removing area position information of the product to be processed in the coordinate system through space relation conversion.
CN202210858338.5A 2022-07-20 2022-07-20 3D prints and removes braced system Pending CN115213439A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210858338.5A CN115213439A (en) 2022-07-20 2022-07-20 3D prints and removes braced system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210858338.5A CN115213439A (en) 2022-07-20 2022-07-20 3D prints and removes braced system

Publications (1)

Publication Number Publication Date
CN115213439A true CN115213439A (en) 2022-10-21

Family

ID=83612930

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210858338.5A Pending CN115213439A (en) 2022-07-20 2022-07-20 3D prints and removes braced system

Country Status (1)

Country Link
CN (1) CN115213439A (en)

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