My Delta Toolchanger - Finally printing
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Hey everyone. Finally found some time to iterate on my delta. Hope you like it! The effector and tool use a kinematic coupling and there are magnets that apply the coupling force. I was hoping to avoid magnets but they've been solid for me. Before this, I had just a static coupling and a manual toolchanger and I'm not really sure I'd go back to any other way.
Kudos to the Jubilee tool changer project. I fashioned its cable drive system to the effector to offload the weight. I wanted to make this as simple, cheap, and as easy to upgrade from a normal delta as possible.
Here's a link to it setting a tool down and picking it back up:
https://www.youtube.com/watch?v=hrbC58hZFl4Edit:
Added a second tool:
https://www.youtube.com/watch?v=bYUtPNZ3ag4Edit:
Printing:
https://www.youtube.com/watch?v=AtBPeQnealA -
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@fcwilt
Thanks! Things just kept working out! -
@itslikeboo said in My Delta Toolchanger - initial iteration:
@fcwilt
Thanks! Things just kept working out!What are you using to rotate the magnets into position?
Frederick
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@fcwilt
Before Jubilee implemented a more robust locking mechanism, it used a more simple cable driven system, you can see here: https://www.youtube.com/watch?v=ibJpjYAcjaMOn the delta, there's a pulley mounted to a motor that sits on the frame. Like the above, spectra line is fed from the motor through the spring guides, but through the effector, to the inner torus which can rotate. When the motor turns, it rotates the torus.
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You mean the silvery spring looking things going off screen?
Could you post a picture showing the other end?
Frederick
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@fcwilt
Right.
Let me know if this clears anything up.
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@itslikeboo
Congrats, that looks clean and simple!
One thing I don't grasp is the hotend fan: It would sit on the outer effector, right?
When you park the tool, will there be another fan to take over cooling the heatsink?@cosmowave
Hi, do you think I could use your vacuum pump to replace the magnets? The weight of the tool will hold it down anyway, so the pump wouldn't fight against gravity. (Which would be the case in my design) -
@o_lampe
Thanks! The Mosquito comes with a small hotend fan that's attached to the heatsink. So it follows the tool when it's picked up and parked. You can make it out in the video. For tools that need a fan that can't fit through the inner diameter of the effector's torus, there would need to be another solution. -
@o_lampe said in My Delta Toolchanger - initial iteration:
Hi, do you think I could use your vacuum pump to replace the magnets? The weight of the tool will hold it down anyway, so the pump wouldn't fight against gravity. (Which would be the case in my design)
You have to try it!
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@o_lampe
What's this vacuum pump? -
@itslikeboo
It's similar to this
Cosmowave borrowed me his pump to test how good it would suck on our common steelballs on Delta effectors. I wanted to get rid of the magnets (Haydn Huntleys Mag-arms are very good, but heavy)
It's yet untested, but if it'd work, your locking mechanism would be much easier. -
@o_lampe
Very cool! I went towards traditional joints for that very reason. Although, I will admit there might be a bit of play in mine. Keep me posted if you go down that route! -
@o_lampe said in My Delta Toolchanger - initial iteration:
Haydn Huntleys Mag-arms are very good, but heavy
Do they add enough weight to make a significant difference in performance?
Frederick
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@fcwilt
Six magnets with steelballs weight 85gr. That's almost the same as my direct drive extruder. For Bowden extruders, it's even more significant.
With input shaping we can iron out a lot of ringing, so it's less of a problem I guess.[OT]
In 2018 I started experimenting with Delrin ball effectors and rubber bands.
Maybe, if I replace/support the rubber band with vacuum, it'll hold stronger. I'd go for six Delrin balls now. -
Added a second tool:
https://www.youtube.com/watch?v=bYUtPNZ3ag4This tool gets knocked around a bit during changes even though it's a mirror of the first tool and I'm not positive why. But the tool seems like it seats just as firmly as the first. Still need to mess around.
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I should mention, I do plan on uploading all the files to thingiverse. My Fusion 360 skills are abysmal and I need to do some cleanup before I put them up.
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Work has been busy but I've finally got around to fooling around with dual color printing. Print quality is superb. Some of the changes themselves are a little rough but consistent enough for the most part!
Here's a quick video: https://www.youtube.com/watch?v=AtBPeQnealA
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@itslikeboo I love this project. Hope to do something similar on one of my anycubic predators except with two smart effectors. Keep up the good work.
