My Delta Toolchanger - Finally printing

itslikeboo

@o_lampe
What's this vacuum pump?

o_lampe

@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.

itslikeboo

@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!

fcwilt

@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

o_lampe

@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.

itslikeboo

Added a second tool:
https://www.youtube.com/watch?v=bYUtPNZ3ag4

This 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.

itslikeboo

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.

itslikeboo

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

breed

@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.

bberger

@breed same here

itslikeboo

@breed
Thanks!
I spent a bit of time trying to figure out how to create a tool changer with the smart effector. Ultimately, couldn't really get anywhere. But I'd love to see it.

breed

@itslikeboo

oliof

@breed I would worry that that magnetic coupling is not enough to keep the smart effector in place during probing -- otherwise a good first iteration. My worries may be unfounded.

breed

@oliof don't think that will be a prob. I'm more worried about the motors skipping steps trying to separate the balls and magnets. They are pretty stout.

itslikeboo

@oliof said in My Delta Toolchanger - Finally printing:

@breed I would worry that that magnetic coupling is not enough to keep the smart effector in place during probing -- otherwise a good first iteration. My worries may be unfounded.

The coupling is strong. So strong that I'll likely never build a delta that's not coupled this way again.
On the other hand, it can be as weak as you'd like it to be. Meaning a nozzle knock into the print not causing layer shifts. Definitely something to investigate.

@breed said in My Delta Toolchanger - Finally printing:

@oliof don't think that will be a prob. I'm more worried about the motors skipping steps trying to separate the balls and magnets. They are pretty stout.

Yes, this is why I opted for the shear motion to disengage. The other worry about a straight pulling is that the stress is felt on the joints of the parking piece that holds the tool. And if that piece moves in the slightest or deforms over time, your tool changes will fail at some point.

breed

@itslikeboo I figured that's why you were rotating the magnets. Also why I was planning on igus rod ends in case magball ends came loose instead.