FIELD OF THE INVENTION

The present invention relates to a method for removal of printed articles from a 3D printer. Moreover, the present invention relates to a 3D printer system for removal of printed articles and a computer system for supporting removal of printed articled from a 3D printer. In addition, the present invention relates to a physical article having a layered structure and comprising a coupling structure.

BACKGROUND OF THE INVENTION

Additive manufacturing, also referred to as 3D printing, enables rapid prototyping and the ability to produce complex shapes and geometries.

However, in contrast to conventional automated manufacturing methods, additive manufacturing often requires human action between the manufacturing separate articles. Namely, a printed article typically has to be removed from the 3D printer before a new article can be printed.

Approaches for removing articles have previously been proposed. Nevertheless, automated removal of printed articles from a 3D printer still suffers from various shortcomings.

Typically, the printed article at least partially sticks or adheres to the base upon which it is printed. Such bonding can encumber automated removal.

Some conventional proposals depend on extensive machinery or equipment separate from the 3D printer itself, which can significantly complicate setup and programming of 3D printer systems, which are otherwise often relatively simple. Examples include removal of an entire top of the build plate by an external device followed by insertion of a new empty build plate, printing on a belt, and tilting the print or build plate.

Moreover, additive manufacturing often relates to manufacturing of articles which are at least somewhat unique. In other words, separate articles consecutively manufactured can often be different. Since each article may be different, it can be difficult to implement methods to remove them. An approach which works well for one article may not necessarily work well for another article. Hence, problems exist in relation to removal of printed articles from a 3D printer.

SUMMARY OF THE INVENTION

On the above background, it is an object of preferred embodiments of the invention to provide improved removal of printed articles from a 3D printer. In particular, it is an object of embodiments to provide improved removal or printed articles which sticks or adheres to the base upon which it was printed. Further, it is an object of embodiments to provide simplified removal of printed articles from a 3D printer. Moreover, it is an object of embodiments to provide an approach for removing printed articles which are different.

A first aspect of the present invention relates to a method for removal of printed articles from a 3D printer, the method comprising the steps of: providing digital article design; establishing a printer motion pattern indicative of relative motion of a printhead of the 3D printer in relation to a build plate of the 3D printer; printing a physical article on the build plate using the printhead of the 3D printer, wherein the physical article is representative of the digital article design; and executing the printer motion pattern to use an engaging arrangement of the 3D printer to remove the physical article from the build plate, wherein the printer motion pattern comprises the acts of: engaging the physical article with the engaging arrangement to establish a dissociable coupling between the physical article and the engaging arrangement; lifting the physical article off the build plate using the dissociable coupling; and disengaging the physical article from the engaging arrangement to terminate the dissociable coupling and thereby release the physical article. The provision of a printer motion pattern which is executed by the printer itself may ensure that minimal additional components are required to implement the stable removal of printed articles.

Typically, the engaging arrangement can be attached to the printer as a separate component which is used for engaging and lifting the printed articles and not used for actually printing the physical article. Nevertheless, an engaging arrangement, for example in the form of a hook arrangement attached to, e.g., the printhead, constitutes a very limited modification. Further, in some embodiments, a built-in part of the printer is used for engaging and lifting. For example, a horizontally protruding part of the printhead can be used for engaging and lifting.

The provision of a printer motion pattern comprising the acts of engaging, lifting, and disengaging the physical article may further ensure improved removal of printed articles from the 3D printer. Articles may to some degree adhere to the build plate after being printed, which typically makes removal more difficult. By lifting the physical article off the build plate, in contrast to, e.g., pushing the article horizontally off the build plate, the adhesion between the article and the build plate can be more efficiently terminated. Lifting of a physical article is enabled by the establishment of a dissociable coupling between the physical article and the engaging arrangement. In turn, this may permit removal of articles which have a relatively large surface area in contact with the build plate, for example in comparison with the mass, height, or volume of the article.

The dissociable coupling permits the act of lifting, but an unfortunate consequence thereof is that the physical article is attached to the engaging arrangement. Even though printing of further articles is in principle be possible while one or more physical articles are attached to an engaging arrangement of the 3D printer for specific types of physical articles and/or engaging arrangements, the presence of a physical article on the engaging arrangement will often encumber efficient printing of any further articles. One solution is to manually remove physical articles, for example by hand, but this can diminish the efficiency of such automized procedures.

By additionally disengaging the physical article from the engaging arrangement as part of the printer motion pattern to thereby terminate the dissociable coupling, the physical coupling, which was initially required to facilitate the improved removal of a physical article, is ended. Preferable embodiments of the invention do hence not just rely on removing a physical article from the build plate, but additionally rely on a subsequent release of the physical article from the engaging arrangement. Thereby, after completing execution of the printer motion pattern, the 3D printer can be left in an idle state similar to the state of the 3D printer prior to printing the physical article in the first place, and hence, printing a next physical article can efficiently be initialized.

The disengagement may, for example, be performed by relative motion of the printhead to thereby move the physical article into a fixed stopper part which shoves the physical article off the engaging arrangement to terminate the dissociable coupling. The stopper part can, for example, be the build plate.

A problem which can arise when pushing the article horizontally off the build plate, is that the part of the printer used for pushing is prone to misalignment. For example, if a printhead is used to push an article horizontally, the printhead may become misaligned in the direction of pushing. Consequently, future prints of the 3D printer can be erroneous. If instead, the article is lifted, stress on any gantries responsible for motion along the x-axis and/or y-axis is minimized, and the risk of such misalignments is advantageously reduced.

To remove a printed article, it can be necessary to implement a delay between printing and removing the article, allowing the material of the printed article to properly solidify and stiffen. By engaging and lifting the physical article, it can be possible to reduce or remove such a delay. Whether this is possible can depend on the specific article, for example size, material, printing duration, and required specifications of the eventually printed article.

A printer motion pattern which involves engaging and lifting the physical article may further potentially permit a wider range of different articles to be successfully removed by the printer motion patterns which are, e.g., similar or even identical, which can be important in additive manufacturing since different articles are indeed typically manufactured.

Furthermore, by engaging, lifting, and disengaging the physical article with an engaging arrangement, the degree of certainty and control of the removal procedure may be improved. If an article is removed from the build plate via, e.g., a plough structure pushing horizontally into the printed article, the actual trajectory which the article takes can be prone to irregularities. By engaging, lifting, and disengaging, the risk of the article being removed via an unintended trajectory is reduced.

In the context of the present invention, a digital article design may be understood as a digital representation of an article which is to be printed by the 3D printer. The digital article design may for example coordinates of the article to be printed. This can be in the form of lines or line segments. Typically, the actual step of printing the physical article is based on the digital article design. That is, based digital article design may serve as basis for the material deposition and relative motion of the printhead of the 3D printer required to actually print the physical article.

The physical article may then be understood as the actual real article manufactured by printing via the 3D printer. Naturally, the physical article typically corresponds to a representation of the digital article design and vice versa.

The printer motion pattern may be understood as a sequence of motion steps of the 3D printer. The motion of the printer motion pattern is typically entirely separate from the motion required to print the physical article, i.e., separate from the motion performed during the step of printing the physical article on the build plate. Typically, articles are printed via relative motion of the printhead in relation to the build plate. In relation thereto, the printer motion pattern is similarly indicative of relative motion of the printhead in relation to the build plate. In practice, such motion may be implemented via moving the build plate, moving the printhead, or a combination thereof. Typical fused deposition modelling 3D printers have three motional axes, corresponding to three axes of a cartesian coordinates system, by which the printhead is moved relative to the build plate. For such printers, these three motional axes can then be employed both for printing, and for executing the printer motion pattern to remove the physical article from the build plate. In more general terms, the relative motion performed via the printer motion pattern typically relies substantially on the same hardware as the hardware used for printing the physical article. For example, the motor arrangement of the 3D printer used to print the physical article can be the same motor arrangement which is used to implement the printer motion pattern.

The printer motion pattern may be established manually, automatically, or as a combination thereof. Preferably, the printer motion pattern is at least partly automatically established. Such automatic establishment may, for example, be based on the digital article design. In particular, the digital article design is typically indicative of any potential article coupling structure placement with which an engaging arrangement may engage. Optionally, a digital article design may also be indicative of the actual placement of the physical article on the build plate, which can also be useful for providing an adequate printer motion pattern.

According to preferred embodiment, the printer motion pattern comprises the acts of engaging, lifting, and disengaging the physical article. These acts rely on an engaging arrangement of the 3D printer. The purpose of the engaging arrangement is to engage with the physical article, which thereby permits lifting the article via this engaging arrangement. In exemplary embodiments, the engaging arrangement is a hook arrangement, and the physical article comprises a coupling structure which is a hook receiving arrangement in the form of loops configured to receive the hook arrangement. Thereby, the physical article can be engaged via a printer motion pattern which involves coupling the hook arrangement to the hook-receiving arrangement.

Another example of an engaging arrangement is an engaging arrangement configured to press fit with a coupling structure of a physical article. Another example of an engaging arrangement is a shovel structure configured to separate the physical article from the build plate and subsequently lift it from underneath. In principle, an engaging arrangement can also be based on movable parts. For example, an engaging arrangement can be configured to engage with the physical article via clamping onto the physical article, for example via a spring.

In some embodiments, the printhead terminates at a lower nozzle outlet, wherein the engaging arrangement is vertically positioned entirely above the lower nozzle outlet.

In typical embodiments, the engaging arrangement attached to the printhead. However, in alternative embodiments, the engaging arrangement is attached to another part or the 3D printer which is movable relative to the print plate. Such another part may for example be a frame of the 3D printer, a linear rail which guides motion carriages, etc.

In the context of the present invention, lifting the physical article may be understood as moving the physical article substantially vertically. The act of lifting may optionally be performed in combination with other motion, such as horizontal motion. However, preferably, during the act of lifting the physical article, the relative component of vertical motion is greater than the relative component of horizontal motion. In this context, the act of lifting may for example be defined as starting from the initiation of vertical motion and ending when the article releases from or losses contact with the build plate. Note that lifting can both be performed by physically moving the build plate (typically downwards), by physically moving the engaging arrangement of the 3D printer (typically upwards), or by some combination thereof.

According to embodiments of the invention, physical articles can be printed with or without a coupling structure. Some articles inherently comprise a coupling structure. For example, if a cup for drinking is printed and the cup comprises a handle, this handle can be used as, e.g., a hook-receiving arrangement. Another hypothetical article is a solid cube, which does not inherently have a coupling structure suitable for receiving, e.g., a hook arrangement. In such cases, the article may optionally be printed with a coupling structure, such as a hookreceiving arrangement attached to the exemplary solid cube. This can even be the case if the presence of the coupling structure renders the article unsuitable for its intended purpose. In such cases, the article can be printed and removed from the 3D printer with the coupling structure, and subsequently, the coupling structure can be removed from the printed article, for example by cutting. Such a coupling structure, which is intended for removal at some stage, for example between removing the physical article from the 3D printer and implementing the physical article in its intended application, may be referred to as a sacrificial coupling structure.

In embodiments of the invention, the engaging arrangement is attached to the printhead.

Attaching the engaging arrangement to the printhead may ensure a large degree of motional freedom of the engaging arrangement.

In embodiments of the invention, the digital article design is associated with article properties, wherein the article properties are indicative of properties of the printed article, wherein the step of establishing the printer motion pattern is a step of automatically establishing the printer motion pattern based on the article properties.

In embodiments of the invention, the article properties comprise article weight, article centre of mass, article size, article position, article coupling structure placement, article material information, or any combination thereof.

By automatically establishing the printer motion pattern based on article properties, it is possible to tailor the printer motion pattern to the individual physical article having specific article properties.

In embodiments of the invention, the method comprises a step of waiting for the physical article to cool after the step of printing the physical article and prior to the step of executing the printer motion pattern, wherein the duration of the step of waiting is automatically determined based on the article properties.

Different physical articles of, e.g., different weight, size, or material may require different durations to cool sufficiently for removal. Thereby, the provision of the duration of the step of waiting being automatically determined based on article properties may potentially reduce waiting times and/or reduce the risk of premature removal of articles. In turn, a waiting duration of the step of waiting can be based on mass, volume, surface area, bounding box area, or combinations thereof. For example, the wating duration can be based on a ratio of volume to bounding box area, or a ratio of volume to surface area. A bounding box is the box with the smallest volume within which the entire physical article fits. Its (surface) area is hence indicative of surface area. In practice, the duration may for example be determined based on, e.g., a lookup table of durations linked to different article properties, a mathematical function in which article properties are used as input to provide a duration as output, or a simulation of cooling of the physical article.

In embodiments of the invention, the physical article at least partially adheres to the build plate prior to the step of executing the printer motion pattern.

In embodiments of the invention, the step of establishing the printer motion pattern is automatically performed by a computer system.

In embodiments of the invention, the physical article is a footwear insole or footwear inlay.

In embodiments of the invention, the method comprises a step of performing a collision check of the printer motion pattern.

In embodiments of the invention, the step of performing a collision check is based on a simulation of the printer motion pattern.

In embodiments of the invention, the simulation of the printer motion pattern is based on the article properties.

Conventional 3D printing is often performed one layer at a time, which typically thereby avoids collisions between, e.g., the printhead and the physical article. However, by executing a printer motion pattern in which an engaging arrangement of the 3D printer intentionally engages with the physical article, the risk of an unintentional collision between a part of the 3D printer and the physical article arises.

Collision checks are hence not conventionally required when simply printing an article, but when the printer itself is employed to remove a physical article via a printer motion pattern, a collision check can potentially improve aspects of removal of physical articles.

Accordingly, a collision check according to the present disclosure at least relates to the relative motion of the printhead which is implemented to remove the physical article, and not necessarily to motion of the printhead which relates to printing the article.

In practice, the collision check can be performed by simulating the motion which is performed as a part of the printer motion pattern. The act of engaging the physical article with the engaging arrangement can in some sense involve a "collision" to establish a dissociable coupling, albeit an intended one. Therefore, a part of the printer motion pattern which is performed prior to engaging the physical article is typically of main interest, such as an act of positioning the engaging arrangement relative to the physical article. However, other acts, such as engaging, lifting, transporting, lowering, disengaging, or combinations thereof may also be analysed as a part of a collision check according to embodiments of the invention. For example, once the physical article has been lifted, a transportation of the physical article horizontally displacing the physical article from the build plate and/or lowering the physical article relative to the build plate may also be included to check for unintended collisions while the dissociable coupling between the physical article and the engaging arrangement is present.

As a response to the identification of a collision, a modified printer motion pattern which remedies the predicted unintentional collision may for example be automatically established. Alternatively, or additionally, as a response to the identification of a collision, a warning message may be provided to a user, which thereby enables the user to analyse and modify the printer motion pattern.

In embodiments of the invention, the physical article comprises a coupling structure.

In embodiments of the invention, the coupling structure and the engaging arrangement comprise a hook arrangement and a hook-receiving arrangement.

A hook arrangement and a hook-receiving arrangement can serve as simple and efficient features capable of facilitating a dissociable coupling between an engaging arrangement and coupling structure.

The hook-receiving arrangement may for example be configured to receive the hookarrangement

In embodiments of the invention, the engaging arrangement is the hook arrangement, and the coupling structure is the hook-receiving arrangement.

Alternatively, the engaging arrangement is the hook-receiving arrangement, and the coupling structure is a hook arrangement.

In embodiments of the invention, the coupling structure is a sacrificial coupling structure, wherein the method further comprises a step of removing the sacrificial coupling structure from the physical article after executing the printer motion pattern. Many types of articles to be 3D printed do not inherently comprise a coupling structure, which can thereby hinder removal via an engaging arrangement of the 3D printer.

A sacrificial coupling structure may be understood as a part added to the digital article design of the article to be 3D printed, which serves the purpose of engaging with the engaging arrangement before eventually being removed from the physical article.

The provision of a sacrificial coupling structure may ensure that any physical article can be removed from a 3D printer, independently of the occurrence of inherent coupling structures on the physical article.

In embodiments of the invention, the sacrificial coupling structure extends primarily horizontally and/or upwards relative to non-sacrificial parts of the physical article.

A sacrificial coupling structure extending horizontally and/or upwards relative to non- sacrificial parts of the physical article may ensure that the coupling structure is straightforward to engage with the engaging arrangement. Further, it may ensure that it is simple to add the sacrificial coupling structure during design and/or printing. This contrasts a sacrificial structure which is located, e.g., below non-sacrificial parts of the physical article. In addition, an upwards/vertical extension of a coupling structure (sacrificial or not) compliments an engaging arrangement which is vertically positioned entirely above the lower nozzle outlet.

In embodiments of the invention, the method comprises a step of attaching the engaging arrangement to the 3D printer.

In embodiments of the invention, the step of attaching the engaging arrangement to the 3D printer is performed by a user of the 3D printer

In embodiments of the invention, the method comprises a step of printing the engaging arrangement with the 3D printer.

The step of printing the engaging arrangement with the 3D printer may for example be performed prior to the step of attaching the engaging arrangement to the 3D printer.

In embodiments of the invention, the method comprises a step of automatically digitally positioning the coupling structure relative to the remainder of the digital article. Conducting an automatic design of the coupling structure and its position relative to the remainder of the digital article is advantageous, since 3D printed articles are often unique. Hence, a coupling structures typically has to be added in a unique manner.

The automatic positioning of the coupling structure may for example be based on the center of mass of the article to be printed. For example, the coupling structure may be located at or near the center of mass, such that when the engaging arrangement lifts the physical article, it is lifted near the center of mass which serves as a stable lifting approach.

In embodiments of the invention, the coupling structure comprises a printed article ID.

That the coupling structure comprises a printed article ID is particularly advantageous when the coupling structure is a sacrificial coupling structure. Here, an article ID can be added to the individual articles during manufacturing, but these IDs are then automatically removed when the sacrificial coupling structure is removed. Consequently, the final physical article, without the sacrificial coupling structure, does not suffer from the presence of an article ID, which can otherwise be undesirable for the end user of the physical article.

In some embodiments of the invention, a non-sacrificial part of the printed article comprises a complimentary article ID. The complimentary article ID may be the same or different from the printed article ID. In case they are different, the IDs may nevertheless be associated with one another, for example in a register available to a manufacturer.

The combination of a printed article ID in combination with a complimentary article ID permits the sacrificial part to be stored by a manufacturer as a product sample for later reference. This may for example be relevant in case print or material quality is questioned by, e.g., a user of the printed article.

In embodiments of the invention, the act of engaging the physical article is an act of engaging the physical article via a substantially horizontal motion to establish the dissociable coupling between the physical article and the engaging arrangement.

Substantially horizontal motion may serve as a simple and efficient approach for establishing the dissociable coupling.

In embodiments of the invention, the article properties comprise an article coupling structure placement, wherein the act of engaging the physical article is based on the article coupling structure placement. Thereby, different printer motion patterns capable of engaging with different physical articles having different coupling structure placements can successfully be established, allowing improved automated removal of printed articles.

Examples of motional parameters in relation to the act of engaging the physical article which can potentially be based on article properties (such as coupling structure placement) are length, direction/angle, curvature, and combinations thereof.

In embodiments of the invention, the act of engaging the physical article provides engagement of the hook arrangement with the hook-receiving arrangement which thereby hooks the physical article to the engaging arrangement to establish the dissociable coupling.

In embodiments of the invention, the printer motion pattern comprises an act of positioning the engaging arrangement relative to the physical article prior to engaging the physical article with the engaging arrangement.

The provision of an explicit act of positioning the engaging arrangement relative to the physical article may ensure stable execution of removal of the physical article.

By positioning the engaging arrangement, the risk of undesired collisions between parts of the 3D printer and the physical article may be reduced. Further, the risk of unsuccessful engagement between the physical article and the engaging arrangement may be reduced.

One approach of implementing positioning of the engaging arrangement in practice is to initially place the engaging arrangement in an elevated position in the z-axis of the printer relative to the printed article. Next, the engaging arrangement is positioned in the plane spanned by the x-axis and the y-axis. Finally, the engaging arrangement is lowered along the z-axis, such that the engaging arrangement is aligned with the physical article, or preferably, a coupling structure thereof. Hence, the engaging arrangement is ready to engage the physical article via substantially horizontal motion.

In embodiments of the invention, the article properties comprise an article coupling structure placement, wherein the act of positioning the engaging arrangement relative to the physical article is based on the article coupling structure placement.

Since the coupling structure placement may vary between different articles, it is advantageous to utilize the actual placement of coupling structures to ensure accurate positioning of the engaging arrangement. The coupling structure placement is typically available via the digital article design or article properties thereof.

The engaging arrangement may for example be positioned at a fixed horizontal distance relative to the coupling structure.

In embodiments of the invention, the article properties comprise an article size wherein the act of lifting the physical article is based on the article size.

In embodiments of the invention, the act of lifting is performed via substantially vertical motion.

For example, the act of lifting may be associated with a lifting height, which is indicative of relative vertical motion of the printhead during the act of lifting the physical article.

Different physical articles have different sizes. A given lifting height may fully separate one physical article from the built plate, while this lifting height does not fully separate another physical article from the built plate.

Hence, it is advantageous to implement a dependency between article size and the act of lifting to ensure that each article is probably separated from the built place, without the necessity of having a very large lifting height.

In embodiments of the invention, the printer motion pattern comprises an act of transporting the physical article via a substantially horizontal motion to horizontally displace the physical article from the build plate.

In embodiments of the invention, the act of transporting the physical article is performed after the act of lifting the physical article.

By implementing a step of transporting the physical article, a complete removal of the physical article from the 3D printer, particularly from the build plate of the 3D printer, may be ensured. Thereby, the 3D printer can efficiently and successively manufacture several physical articles.

In embodiments of the invention, the article properties comprise an article size wherein the act of transporting the physical article is based on the article size. Different sizes of different articles may influence the distance by which it is necessary to horizontally displace the physical article. Thereby, a given substantially horizontal motion may fully displace one physical article from the build plate, while this same horizontal motion does not fully displace another physical article from the build plate.

Thus, the implementation of an act of transportation which takes the article size into account may ensure that physical articles are always properly displaced from the build plate, e.g., by a large horizontal displacement.

In embodiments of the invention, the printer motion pattern comprises an act of lowering the physical article relative to the build plate by substantially vertical motion, wherein the act of lowering the physical article is performed prior to the act of disengaging the physical article and after the act of transporting the physical article.

Lowering the physical article may suitably prepare the physical article for disengagement. The lowering may for example horizontally align the physical article with a stopper part, such as the build plate, at least partially.

In embodiments of the invention, the physical article extends at least partially below the build plate of the act of lowering.

Thereby, the physical article is adequately prepared for disengagement via the build plate.

In embodiments of the invention, the act of disengaging the physical article involves relatively moving the physical article into a stopper part to terminate the dissociable coupling between the physical article and the printhead.

A stopper part may preferably at least partly stop motion of a physical article which is dissociable coupled to an engaging arrangement undergoing motion relative to the build plate. By stopping the physical article while the engaging arrangement moves, the dissociable coupling between the physical article and the engaging arrangement can be terminated.

In embodiments of the invention, the stopper part is a fixed stopper part.

A fixed stopper part may for example be fixed relative the motion of the act of disengaging the physical article. In embodiments of the invention, the stopper part is a part of the 3D printer, such as the build plate.

By utilizing a part of the 3D printer, no additional components are required. Further, by using the build plate, the risk of unintentionally mislaying the physical article onto the build plate is reduced.

In embodiments of the invention, the substantial horizontal motion of the act of disengaging the physical article is of opposite directionality in comparison with the substantial horizontal motion of the act of engaging the physical article.

The provision of an act of disengaging in which the horizontal motion is of opposite directionality in comparison with the substantially horizontal motion of the act of engaging the physical article may serve as a simple scheme for disengaging the physical article from the engaging arrangement to terminate the dissociable coupling. For example, if the engaging arrangement is a horizontally aligned hook arrangement which establish a dissociable coupling via horizonal motion, then horizontal motion of opposite directionality may provide efficient disengagement.

In embodiments of the invention, the article properties comprise an article size wherein the act of disengaging the physical article is based on the article size.

Since the article size may vary between different articles, it is advantageous to utilize the actual size of the article for providing an optimal act of disengaging physical articles.

A fixed motional distance of the act of disengaging may work well for some physical articles, but not for others.

In embodiments of the invention, the method comprises a step of verifying removal of the physical article after the step of executing the printer motion pattern.

In embodiments of the invention, the step of verifying removal of the physical article is based on an image recognition algorithm, a weight sensor, a proximity sensor, or any combination thereof.

Since additive manufacturing are often used for prototyping, and not for mass production, there is no conventional need for verifying removal of a physical article. However, given the improvements that the invention offers in relation to removal of printed articles from a 3D printer, a verification of removal of the physical article may ensure that several articles can be manufactured successively without the need for human interactions.

In embodiments of the invention, a detection of non-removal terminates operation of the 3D printer.

Hence, if an error occurs, operation of the 3D printer can be terminated to, for example, ensure that the 3D printer does not perform printing if a previous physical article has not been correctly removed from the build plate.

In embodiments of the invention, the method steps are repeated for a second digital article design associated with second article properties different from the article properties.

In embodiments of the invention, the printer motion pattern associated with removal of the physical article associated with the second digital article design is different from the previous printer motion pattern.

In embodiments of the invention, the method steps are repeated for the second digital article design based on the step of verifying removal.

In embodiments of the invention, the method for removal of printed articles from a 3D printer is a method for cyclical removal of cyclically printed articles from a 3D printer, the method requiring at least the article properties as input, wherein first article properties are firstly used as input and second article properties are secondly used as input to thereby print two different physical articles removed from the build plate using different printer motion patterns.

The aspects of the current disclosure are particularly advantageous to employ when printing several articles, particularly several articles having different properties. This may for example be exploited to perform cyclical removal of cyclically printer articles. Thus, the 3D printer may operate by repetition of a cycle in which a physical article is first printed, and then removed by executing a printer motion pattern to use an engaging arrangement of the 3D printer.

In embodiments of the invention, the engaging arrangement is attached to a part of the 3D printer which is movable relative to the print plate. For example, the engaging arrangement can be attached to the printhead, or a linear rail which guides motion carriages.

According to such embodiments, execution of the printer motion pattern thereby involves movement of the part of the 3D printer which is moveable relative to the print plate to perform the acts of the printer motion pattern.

In embodiments of the invention, the article coupling structure placement is indicative of a placement of the coupling structure on the physical article.

In embodiments of the invention, the step of performing a collision check comprises a simulation of the printer motion pattern in relation to the physical article to indicate if execution of the printer motion pattern subsequent to printing the physical article involves a collision between the physical article and a movable part of the 3D printer prior to the act of engaging the physical article with the engaging arrangement.

Such a simulation may take into account the sizes of the physical article, the movable parts of the 3D printer, and the engaging arrangement, in combination with the printer motion pattern. For example, the simulation may involve a simulation of moving the movable parts of the 3D printer relative to the physical article while continuously checking whether a movable part overlaps with the physical article while taking sizes into account.

A second aspect of the present invention relates to a 3D printer system for removal of printed articles, the 3D printer system comprising: a build plate; a printhead; and an engaging arrangement attached to the 3D printer; wherein the 3D printer system is configured to execute a printer motion pattern associated with relative motion of the printhead in relation to the build plate, wherein the printer motion pattern is configured to engage the engaging arrangement with a 3D-printed physical article on the build plate to establish a dissociable coupling between the physical article and the engaging arrangement, wherein the printer motion pattern is further configured to disengage the physical article from the engaging arrangement and thereby remove the physical article from the build plate. A 3D printer system according to the above-outlined aspect may for example be used to facilitate the method according to the first aspect of the invention and may therefore bring about similar advantages. Namely, an engaging arrangement attached to the printer can be used to engage a physical article and lift it off the build plate.

In embodiments of the invention, the printhead terminates at a lower nozzle outlet, wherein the engaging arrangement is vertically positioned entirely above the lower nozzle outlet.

Since physical articles are typically printed one (horizontal) layer at a time, there is typically minimal risk of collisions between, e.g., the printhead and the physical article. However, when, e.g., a hook arrangement is attached to the 3D printhead, this hook arrangement can be prone to colliding with the physical article being printed.

The provision of an engaging arrangement which is vertically positioned entirely above the lower nozzle outlet minimizes the risk of collisions between the engaging arrangement and the physical article while the physical article is being printed.

In this context, the vertical direction may be defined relative to the motional axes of the 3D printer. Typically, a 3D printer has at least a motional z-axis substantially perpendicular to the plane of the build plate during printing. The lower nozzle outlet defines a nozzle outlet plane (for example, an x-y plane) which is perpendicular to the motional z-axis. An engaging arrangement vertically positioned entirely above the lower nozzle outlet corresponds to the engaging arrangement being positioned entirely above the nozzle outlet plane. Accordingly, this provision does not provide any limitations to the relative horizontal positioning of the engaging arrangement parallel to the nozzle outlet plane.

In embodiments of the invention, the engaging arrangement is a hook arrangement.

In embodiments of the invention, the hook arrangement is a horizontal hook arrangement.

A hook arrangement may have one or more hook members. Each hook member may have a distal end, for example a distal end configured to engage with a coupling structure of 3D printed physical article. In a horizontal hook arrangement, the distal end has a substantially horizontal alignment.

In embodiments of the invention, the engaging arrangement is attached to the printhead. In embodiments of the invention, the engaging arrangement is post-assembled in relation to a remainder of the 3D printer system.

An engaging arrangement installed onto a 3D printer system by a user, in contrast to at a manufacturing stage, may for example constitute an engaging arrangement which is postassembled in relation to a remainder of the 3D printer system.

In embodiments of the invention, the engaging arrangement is 3D printed.

In embodiments of the invention, the 3D printer system comprises the physical article, wherein the physical article is positioned on the build plate.

In embodiments of the invention, the physical article is printed together with a coupling structure for engaging with the engaging arrangement to establish a dissociable coupling.

In embodiments of the invention, the coupling structure is a hook-receiving arrangement.

In embodiments of the invention, the coupling structure is a sacrificial coupling structure.

In embodiments of the invention, the hook-receiving arrangement comprises one or more apertures for receiving the hook-arrangement.

In embodiments of the invention, the 3D printer system is configured to perform the method according to the first aspect of the present disclosure.

A third aspect of the present invention relates to a computer system for supporting removal of printed articles from a 3D printer, the computer system comprising: a digital storage block configured to store a digital article design and article properties associated with the digital article design; a printer motion block configured to automatically establish a printer motion pattern based on the article properties, wherein the printer motion pattern is indicative of relative motion of a printhead of the 3D printer in relation to a build plate of the 3D printer; and a motion transmission block configured to communicate the printer motion pattern to the 3D printer to execute the printer motion pattern and thereby remove a physical article from a build plate of the 3D printer via an engaging arrangement of the 3D printer subsequently to printing the physical article using the printhead.

A computer system according to the above-outlined aspect may for example be used to support removal of printed articles according to the first aspect of the invention, and can therefore potentially provide similar improvements.

A computer system configured to automatically establish a printer motion pattern based on article properties, wherein the printer motion pattern can be executed to thereby remove a printed physical article from a build plate, may allow improved removal of different articles, for example different articles successively printed by the 3D printer.

Such automated establishment may further reduce the burden of programming for the user.

Removal of manufactured articles based on properties of the specific article is particularly significant within the field of additive manufacturing, since here, the manufactured products are often different. Differences may for example relate to weight, centre of mass, size, placement, etc. Removal of articles for which such parameters differ can potentially be improved by taking into account, e.g., one or more of these same parameters.

A computer system for supporting removal of printed articles from a 3D printer according to the present disclosure may typically rely on software operating via conventional well-known computer hardware, such as a processing unit, computer memory, computer storage, etc. Alternatively, the computer system may operate via distributed and/or cloud computation.

In case of the present invention, preferred embodiments of the computer system are based on various computerized blocks, which combine to form at least part of a software for supporting removal of printed article. The software may further be configured to support design and/or printing of articles. A digital storage block stores a digital article design and article properties, a printer motion block establishes a printer motion pattern, and a motion transmission block communicates the printer motion pattern to a 3D printer. Optionally, embodiment of the invention may further comprise a coupling structure establishment block establishing a coupling structure and a coupling structure placement.

In practice, blocks may be implemented as a single program, or distributed across multiple computer programs or functions configured to operate in combination. The printer motion block typically comprises one or more acts of relative motion to be performed by the 3D printer to remove the physical article. Such acts may for example comprise acts of engaging, lifting, and disengaging the physical article. The automatic establishment of the printer motion pattern can for example involve determination of the exact distances by which motion of the various acts are performed.

In embodiments of the invention, the computer system further comprises the 3D printer, wherein the 3D printer is configured to print the physical article and configured to subsequently execute the printer motion pattern.

In embodiments of the invention, the computer system comprises a coupling structure establishment block configured to automatically digitally establish a coupling structure and a coupling structure placement in relation to the digital article design such that the physical article is printed with the coupling structure.

In embodiments of the invention, the printer motion block is configured to establish the printer motion pattern based on the coupling structure placement such that the physical article is removed by engaging the coupling structure with the engaging arrangement upon execution of the printer motion pattern by the 3D printer.

In embodiments of the invention, the article properties are indicative of properties of the printed article.

In embodiments of the invention, the printer motion pattern comprises an act of positioning the engaging arrangement relative to the physical article prior to engaging the physical article with the engaging arrangement.

In embodiments of the invention, the article properties comprise an article coupling structure placement, wherein the act of positioning the engaging arrangement relative to the physical article is based on the article coupling structure placement.

In embodiments of the invention, the printer motion pattern comprises an act of engaging the physical article with the engaging arrangement to establish a dissociable coupling between the physical article and the engaging arrangement.

In embodiments of the invention, the article properties comprise an article coupling structure placement, wherein the act of engaging the physical article is based on the article coupling structure placement. In embodiments of the invention, the printer motion pattern comprises an act of lifting the physical article off the build plate using the dissociable coupling.

In embodiments of the invention, the article properties comprise an article size wherein the act of lifting the physical article is based on the article size.

In embodiments of the invention, the printer motion pattern comprises an act of transporting the physical article via a substantially horizontal motion to horizontally displace the physical article from the build plate.

In embodiments of the invention, the article properties comprise an article size wherein the act of transporting the physical article is based on the article size.

In embodiments of the invention, the printer motion pattern comprises an act of lowering the physical article relative to the build plate by substantially vertical motion, wherein the act of lowering the physical article is performed prior to the act of disengaging the physical article and after the act of transporting the physical article.

In embodiments of the invention, the printer motion pattern comprises an act of disengaging the physical article from the engaging arrangement to terminate the dissociable coupling and thereby release the physical article.

In embodiments of the invention, the article properties comprise an article size wherein the act of disengaging the physical article is based on the article size.

In embodiments of the invention, the computer system and the 3D printer are configured to remove the physical article from the 3D printer according to the method of the first aspect of the present disclosure.

A fourth aspect of the invention relates to a physical article having a layered structure and comprising a coupling structure, wherein the physical article is a footwear insole or footwear inlay.

In the context of the present invention, a physical article having a layered structure may also be understood as a 3D printed articled, such as a 3D printed article manufactured by fused deposition modelling. Providing a footwear insole or a footwear inlay with a coupling structure, for example in the form of a hook-receiving arrangement, such as one or more loops, permits the physical article to be easily removed after 3D printing it.

In particular, footwear insoles and footwear inlays often have a flat structure and thereby a relatively large surface area in contact with the build plate, which can make it more difficult to remove a given footwear insole or footwear inlay from a built plate. Moreover, the material used to print footwear insoles and footwear inlays are often soft and elastic. The provision of a coupling structure is particularly advantageous for such articles a with flat structure and/or soft materials.

In embodiments of the invention, the coupling structure is a sacrificial coupling structure.

In embodiments of the invention, the coupling structure is a hook-receiving arrangement.

In embodiments of the invention, the physical article does not constitute or comprise a raft.

In embodiments of the invention, the coupling structure extents vertically above a remainder of the physical article.

Thereby, the risk of undesirable collisions is reduced.

In embodiments of the invention, the coupling structure comprises one or more vertically aligned flat loop structures, each of the loop structures comprising a horizontally aligned aperture.

Another example of a coupling structure is a set of one or more horizontally aligned holes or apertures in the physical article for receiving an engaging arrangement such as a hook arrangement.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be further described by reference to the accompanying drawings, in which:

Fig. 1 illustrates 3D printing of an article via fused deposition modelling (FDM),

Fig. 2 illustrates method steps and acts according to an embodiment of the invention, Fig. 3a-k illustrates various stages of a printed article being removed from a 3D printer according to an embodiment of the invention,

Fig. 4 schematically illustrates a computer system according to an embodiment of the invention,

Fig. 5 illustrates a footwear insole with a coupling structure, and

Fig. 6a-b illustrate two exemplary hook arrangements.

DETAILED DESCRIPTION

Fig. 1 illustrates 3D printing of an article via fused deposition modelling (FDM). A printer configured to print via FDM may be referred to as an extrusion-based printer. The illustrated printer 35 comprises a filament supply 1 in the form of a spool of thermo-polymer filament. The filament 2 is supplied by a feeding motor (not shown) to an extruder 3. The feeding motor is controlled according to a computer-based program comprising series of commands or actions which, when executed correctly, provide a printed article. This series of commands or actions may also be referred to as a tool command. The extruder 3 comprises a nozzle 4 and an electrical heater (not shown). The heater is also controlled via the tool command. In this embodiment, the tool is constituted by the filament supply and the extruder including the nozzle and heater, and the shape defining structure is the nozzle 4. The extruder 3 is fixed to a motion structure which can move the extruder 3, heater, and nozzle 4 in two (horizontal) directions of a Cartesian space illustrated by the arrow 5.

The shape defining structure of the tool, i.e., in this case the nozzle 4, has a tool position, and the tool position determines the corresponding adding-position 6 where the material, i.e., melted filament, is added. The tool command controls the movement of the nozzle 4 and thereby of the adding position 6. Thereby, the illustrated FDM printer 35 as capable of printing an article. One layer of the article is printed at a time, and when one layer is finished, the stage 7 is moved downwards as indicated by the arrow 8. The stage 8 may alternatively be referred to as a base plate, print plate, or build plate.

Fig. 2 illustrates method steps S1-S4 and acts A1-A3 according to an embodiment of the invention. The method relates to removal of printed articles from a 3D printer. In a first step SI of the method, a digital article design is provided. This digital article design is indicative of geometric properties of an article to be printed. The digital article design may be provided automatically or manually.

In a next step S2, a printer motion pattern 13 is established. This printer motion pattern 13 is indicative of relative motion of a printhead of the 3D printer in relation to a build plate of the 3D printer. Further, the printer motion pattern 13 comprises a series of acts A1-A3, with each of the acts being executable by the 3D printer.

In a next step S3, a physical article is printed on the build plate using the printhead of the 3D printer. The physical article is a representation of the digital article design. That is, the digital, geometric properties of the digital article design has now been transferred to a real object, i.e., the physical article.

In a next step S4, the printer motion pattern 13 is executed to use an engaging arrangement of the 3D printer to remove the physical article from the build plate. The engaging arrangement can, for example, be a hook arrangement attached to the printhead.

Execution of the printer motion pattern 13 corresponds to execution of the acts A1-A3 of the printer motion pattern 13.

In a first act Al, the physical article is engaged with the engaging arrangement to establish a dissociable coupling between the physical article and the engaging arrangement.

In a next act, the physical article is lifted off the build plate using the dissociable coupling.

In a next act, the physical article is disengaged from the engaging arrangement to terminate the dissociable coupling and thereby release the physical article.

Hence, the physical article has been removed, and the 3D printer is ready to proceed with manufacturing another article.

Optionally, the printer motion pattern 13, more specifically one or more of the acts A1-A3 of the printer motion pattern, may be partially or fully established based on the provided digital article design, as indicated by the dasher horizontal arrow in Fig. 2.

Fig. 3a-k illustrates various stages of a printed physical article 10 being removed from a 3D printer according to an embodiment of the invention. To not obscure the drawings with unnecessary details, only the build plate 7 and the printhead 9 of 3D printer is illustrated. In this embodiment, an engaging arrangement 11 in the form of a hook arrangement is attached to the printhead 11. Relative motion of the printhead 9 in relation to the build plate 7 is facilitated by moving the build plate 7 vertically (i.e., in a z-direction), and by moving the printhead horizontally (i.e., in an x-direction and a y-direction).

Fig. 3a provides a side view of the illustrated parts of the 3D printer, namely the build plate 7 and the printhead 9. A physical article 10 has been printed on the build plate 7 by the 3D printer via deposition of material by the printhead 9. The physical article 10 comprises a coupling structure 12 in the form of two vertically aligned flat loop structures.

As the 3D printer has finished printing the physical article 10, the printhead 9 has been positioned above the physical article 10.

The illustrated embodiment is configured to execute a printer motion pattern to remove the physical article from the build plate 7. This printer motion pattern comprises a series of acts, each of which corresponds to relative motion between the build plate 7 and the printhead 9.

As a first act, the engaging arrangement 11 is positioned relative to the physical article 10. In this particular example, the engaging arrangement 11 is positioned such that the engaging arrangement 11 is horizontally aligned with the coupling structure 12.

As a next act, the engaging arrangement 11 engages the coupling structure 12 via substantially horizontal motion. A dissociable coupling between the physical article and the engaging arrangement is thereby established.

Fig. 3b provides a side view of the dissociable coupling between the coupling structure 12 of the physical article 10 and the engaging arrangement 11. The hook arrangement 11 is inserted through the flat loop structures of the coupling structure 12.

As a next act, the physical article 10 is lifted off the build plate 7 using the dissociable coupling between the engaging arrangement 11 and the coupling structure 12. The lifting is performed via substantially vertical motion of the printhead 9 relative to the build plate 7.

The subfigures 3c-3e illustrate side views of various stages of lifting. In the illustrated example, the printed article 10 is printed in a soft material and with a soft structure. As a result, a bottom surface of the printed article gradually releases from the build plate 7, which is illustrated in Fig. 3c. In Fig. 3d, the article has been entirely released from the build plate 7, and in Fig. 3e, the act of lifting has ended, and the printed article 10 is suspended above the build plate 7 via the dissociable coupling.

Fig. 3f illustrates a top view of the situation also illustrated in Fig. 3e. That is, the printed article 10 is suspended above the build plate 7.

As a next act, the physical article 10 is transported via substantially horizontal motion to displace the physical article 10 from the build plate 7.

This is shown in Fig. 3g, which provides a top view after the above-outlined act of transporting. The physical article 10 is displaced horizontally from the build plate.

In a next act, the physical article 10 is lowered relative to the build plate 7 by substantially vertical motion. The resulting position of the printhead 9 and the physical article 10 is illustrated in Fig. 3h, which provides a side view. The physical article 10 has been lowered such that it extends at least partially below the build plate 7. A top view of the same situation is provided in Fig. 3i.

As a next act, the physical article 10 is disengaged from the engaging arrangement 11, which is illustrated as a side view in Fig. 3j and as a top view in Fig. 3k. In practice, the act of disengaging is performed via substantially horizontal motion having an opposite directionality than the substantially horizontal motion performed during the act of engaging the physical article 10. The result is that the physical article 10 is shoved into the build plate 7 and, consequently, the physical article is pushed off the engaging arrangement 11. As a result, the physical article 10 falls down in a location which is horizontally displaced from the build plate 7. In this example, the build plate thereby constitutes a stopper part. A basket or similar means may optionally be located underneath the location at which physical article 10 falls down, to thereby collect the article 10 and any auxiliary articles produced before or afterwards. The 3D printer is now vacant to initiate another print.

The exemplary printer motion pattern shown in Fig. 3a-k further provides an illustrative example of various parts of a printer motion pattern which may be subject to a collision check. For example, motion in relation positioning the engaging arrangement 11 relative to the physical article as illustrated in Fig. 3a, or motion in relation to transporting the physical article as illustrated from Fig. 3f to Fig. 3g. This collision check may be performed, e.g. prior to actual execution of the printer motion pattern.

Fig. 4 schematically illustrates a computer system 26 according to an embodiment of the invention. The embodiment comprises a computer 33 configured to automatically establish a printer motion pattern 13 based on digital article properties 31 of an article to be printed on a 3D printer 35, which in turn is configured to print that physical article and subsequently remove it using the established printer motion pattern 13.

The automated establishment of the printer motion pattern 13 is based on computerized blocks 27-30, which form part of a software for providing motional patterns for 3D printers.

The computer system 26 comprises a digital storage block 27 configured to store a digital article design and article properties associated with the digital article design. The article properties may for example comprise article weight, article centre of mass, article size, article position, article coupling structure placement, article material information, or some combination thereof. The digital article design can be provided externally, for example by a user, or it can be partially or fully automatically established, for example by the same software which also establishes the printer motion pattern 13.

The computer system further comprises a printer motion block 28 which establishes the printer motion pattern 13 based on the article properties of the digital article design 31. To do so, the printer motion pattern may, for example, use an article coupling structure placement, such that execution of the resulting printer motion pattern 13 by the 3D printer 35 utilizes this coupling structure placement, for example by engaging a coupling structure located at the coupling structure placement of the printed article with an engaging arrangement.

In practice, the printer motion pattern 13 comprises a series of acts Al, ..., An, with each act corresponding to a specific part of the printer motion pattern 13. In practice, one or more of these acts are then determined by the printer motion block 28. For example, the printer motion pattern may have an act of positioning an engaging arrangement, in which the relative position at which the engaging arrangement is positioned (upon execution of the printer motion pattern 13) is determined based on the coupling structure placement.

Once the printer motion pattern 13 has been established, a motion transmission block 29 communicates or transmits the printer motion pattern 13 to the 3D printer 35.

Typically, the computer system 26 is further configured to communicate or transmit the digital article design 31, or a representation thereof, to the 3D printer, such that the 3D printer can print a physical article based on the digital article design prior to removing that physical article using the printer motion pattern 13. This communication or transmission may be performed using the motion transmission block. Optionally, computer systems 26 according to the disclosure may comprise a coupling structure establishment block 30, as indicated by Fig. 4 by dotted lines. Such a coupling structure establishment block 30 is configured to automatically digitally establish a coupling structure and a coupling structure placement in relation to the digital article design such that the physical article is printed with that coupling structure. Since the printer motion pattern can rely on the coupling structure and its placement, the establishment of the printer motion pattern may typically rely on the coupling structure establishment block, or vice versa.

Both the printer motion pattern 13, and any representation of the digital article design 31 with or without coupling structure, are transmitted to the 3D printer in a format in which they are readable by the 3D printer, for example as G-code, upon which the 3D printer can print and execute relative motion.

The 3D printer comprises a printer controller 37 configured to control the functionalities of the printer required to print articles, such as extrusion, heating, and motion. Upon receiving adequate representations of the digital article design 31 and printer motion pattern 13 from, e.g., the motion transmission block 29, the printer 35 can proceed to print and remove an article accordingly.

The illustrated printer 34 is extrusion based. It comprises a printhead 9 from which material is deposited. The relative position at which material is deposited is controlled by moving the printhead 9 on an x-axis 38, or moving the print bed 39 on a y-axis 40, or a z-axis 41. Thereby, independent control of three axes 38,40,41 of a cartesian coordinates system is provided, allowing for creation of any arbitrary three-dimensional path. The actual positioning is accomplished using timing belts, pulleys, and stepper motors operated in an open loop configuration via the printer controller 37.

Optionally, a user may interact with the computer system 26 via a computer 33 and a user interface thereof 34.

In the following, an example of establishing a printer motion pattern based on article properties and removing a physical article from a build plate in accordance with embodiments of the present disclosure is provided.

First, article properties are derived from a digital article design (i.e. a 3D model), namely weight, size, and center of gravity.

Based on the article properties, a coupling structure is added to the physical article in form of two vertically aligned flat loop structure with horizontally aligned apertures. These flat loop structures are added such that the center of gravity lies between two alignment planes, wherein each of the alignment planes is defined by horizontal direction of alignment of a respective aperture and the vertical direction.

Then, the physical article is provided to a slicing software to convert the digital article design into a stack of layers. The slicing software may optionally further describe the layers in terms of trajectories of relative motion of the printhead, such that the printhead can print the physical object following these trajectories.

Next, a first portion of G-code is established based on the output of the slicing software. The resulting G-code enables a 3D printer to print the physical article including the coupling structure.

In addition, a second portion of G-code is generated, corresponding to a printer motion pattern upon which the 3D printer can remove the physical article from the build plate of the 3D printer. This second portion of G-code is established based on coupling structure placement and a predefined placement of an engaging arrangement on the printhead. It includes motional pattern corresponding to at least engagement of the coupling structure with the engaging arrangement, lift of the physical article, and disengagement of the physical article.

The first and second portions of G-code is transmitted to the 3D printer. Accordingly, the 3D printer prints and removes the physical article as instructed.

Optionally, a video stream and an image recognition algorithm may be used to verify whether the physical article has been successfully removed.

After removal, the state of the 3D printer can be set to being available to receive another print. Subsequently, a second physical article can then be printed and removed, based on a second digital article design.

Fig. 5 illustrates a footwear insole 10 with a coupling structure 12. The footwear insole is an example of a physical article 10 which can be printed and removed by a 3D printer.

In this illustrative example, it is clear that the coupling structure 12 is not an inherent part of the physical article 10 (when the physical article is used by, e.g., a user). Instead, the coupling structure 12 is a sacrificial coupling structure which have been added for the purpose of automatically removing the footwear insole from a 3D printer using a printer motion pattern. At some point after removal, the sacrificial coupling structure 12 can then be removed, for example via cutting.

The bottom surface of the (sacrificial) coupling structure 12 is aligned with the bottom surface of the physical article 10. This enables simplified printing of the article in combination with the coupling structure.

The coupling structure 12 comprises two vertically aligned flat loop structures with each of the loop structures comprising a horizontally aligned aperture.

Fig. 6a-b illustrate two exemplary hook arrangements 11. Each of the hook arrangements 11 are configured to be attached to a 3D printer, for example attached to a printhead of such 3D printer, via two horizontally aligned apertures, through which, e.g., fastening screws may be inserted to implement attachment.

Each of the hook arrangements 11 constitute a horizontal hook arrangement. The hook arrangement 11 of Fig. 6a comprises two hook members 14, and the hook arrangement of Fig. 6b comprises four hook members 14. Each of the hook members have a distal end configured to engage with a coupling structure of a 3D printer article, such as the printed article illustrated in Fig. 5. Further, each distal end of the hook members has a substantially horizontal alignment (for example when adequately mounted on a 3D printer).

List of figure references:

1 filament supply

2 filament

3 extruder

4 nozzle

5 arrow indicative of motion structure movement

6 adding position where material is added

7 build plate

8 arrow indicative of stage movement

9 printhead

10 physical article

11 engaging arrangement

12 coupling structure

13 printer motion pattern

14 hook member

26 computer system 27 digital storage block

28 printer motion block

29 motion transmission block

30 coupling structure establishment block

31 digital article design

33 computer

34 user interface

35 3D printer

37 printer controller

38 x-axis

39 print bed

40 y-axis

41 z-axis

S1-S4 method steps

A1-A3 method acts

LIST OF NUMBERED EMBODIMENTS

1. A method for removal of printed articles from a 3D printer, the method comprising the steps of: providing digital article design; establishing a printer motion pattern indicative of relative motion of a printhead of the 3D printer in relation to a build plate of the 3D printer; printing a physical article on the build plate using the printhead of the 3D printer, wherein the physical article is representative of the digital article design; and executing the printer motion pattern to use an engaging arrangement of the 3D printer to remove the physical article from the build plate, wherein the printer motion pattern comprises the acts of: engaging the physical article with the engaging arrangement to establish a dissociable coupling between the physical article and the engaging arrangement; lifting the physical article off the build plate using the dissociable coupling; and disengaging the physical article from the engaging arrangement to terminate the dissociable coupling and thereby release the physical article.

2. A method according to embodiment 1, wherein the engaging arrangement is attached to the printhead.

3. A method according to any of the preceding embodiments, wherein the digital article design is associated with article properties, wherein the article properties are indicative of properties of the printed article, wherein the step of establishing the printer motion pattern is a step of automatically establishing the printer motion pattern based on the article properties. 4. A method according to embodiment 3, wherein the article properties comprise article weight, article centre of mass, article size, article position, article coupling structure placement, article material information, or any combination thereof.

5. A method according to any of the preceding embodiments, wherein the method comprises a step of waiting for the physical article to cool after the step of printing the physical article and prior to the step of executing the printer motion pattern, wherein the duration of the step of waiting is automatically determined based on the article properties.

6. A method according to any of the preceding embodiments, wherein the physical article at least partially adheres to the build plate prior to the step of executing the printer motion pattern.

7. A method according to any of the preceding embodiments, wherein the step of establishing the printer motion pattern is automatically performed by a computer system.

8. A method according to any of the preceding embodiments, wherein the physical article is a footwear insole or footwear inlay.

9. A method according to any of the preceding embodiments, wherein the method comprises a step of performing a collision check of the printer motion pattern.

10. A method according to embodiment 9, wherein the step of performing a collision check is based on a simulation of the printer motion pattern.

11. A method according to embodiment 10, wherein the simulation of the printer motion pattern is based on the article properties.

12. A method according to any of the preceding embodiments, wherein the physical article comprises a coupling structure.

13. A method according to embodiment 12, wherein the coupling structure and the engaging arrangement comprise a hook arrangement and a hook-receiving arrangement.

14. A method according to embodiment 13, wherein the engaging arrangement is the hook arrangement, and the coupling structure is the hook-receiving arrangement. 15. A method according to any of embodiments 12-14, wherein the coupling structure is a sacrificial coupling structure, wherein the method further comprises a step of removing the sacrificial coupling structure from the physical article after executing the printer motion pattern.

16. A method according to embodiment 15, wherein the sacrificial coupling structure extends primarily horizontally and/or upwards relative to non-sacrificial parts of the physical article.

17. A method according to any of the preceding embodiments, wherein the method comprises a step of attaching the engaging arrangement to the 3D printer.

18. A method according to embodiment 17, wherein the step of attaching the engaging arrangement to the 3D printer is performed by a user of the 3D printer

19. A method according to any of the preceding embodiments, wherein the method comprises a step of printing the engaging arrangement with the 3D printer.

20. A method according to any of the preceding embodiments, wherein the method comprises a step of automatically digitally positioning the coupling structure relative to the remainder of the digital article.

21. A method according to any of the preceding embodiments, wherein the coupling structure comprises a printed article ID.

22. A method according to any of the preceding embodiments, wherein the act of engaging the physical article is an act of engaging the physical article via a substantially horizontal motion to establish the dissociable coupling between the physical article and the engaging arrangement.

23. A method according to any of the preceding embodiments, wherein the article properties comprise an article coupling structure placement, wherein the act of engaging the physical article is based on the article coupling structure placement.

24. A method according to any of the preceding embodiments, wherein the act of engaging the physical article provides engagement of the hook arrangement with the hook-receiving arrangement which thereby hooks the physical article to the engaging arrangement to establish the dissociable coupling. 25. A method according to any of the preceding embodiments, wherein the printer motion pattern comprises an act of positioning the engaging arrangement relative to the physical article prior to engaging the physical article with the engaging arrangement.

26. A method according to any of the preceding embodiments, wherein the article properties comprise an article coupling structure placement, wherein the act of positioning the engaging arrangement relative to the physical article is based on the article coupling structure placement.

27. A method according to any of the preceding embodiments, wherein the article properties comprise an article size wherein the act of lifting the physical article is based on the article size.

28. A method according to any of the preceding embodiments, wherein the act of lifting is performed via substantially vertical motion.

29. A method according to any of the preceding embodiments, wherein the printer motion pattern comprises an act of transporting the physical article via a substantially horizontal motion to horizontally displace the physical article from the build plate.

30. A method according to any of the preceding embodiments, wherein the act of transporting the physical article is performed after the act of lifting the physical article.

31. A method according to any of the preceding embodiments, wherein the article properties comprise an article size wherein the act of transporting the physical article is based on the article size.

32. A method according to any of the preceding embodiments, wherein the printer motion pattern comprises an act of lowering the physical article relative to the build plate by substantially vertical motion, wherein the act of lowering the physical article is performed prior to the act of disengaging the physical article and after the act of transporting the physical article.

33. A method according to any of the preceding embodiments, wherein the physical article extends at least partially below the build plate of the act of lowering. 34. A method according to any of the preceding embodiments, wherein the act of disengaging the physical article involves relatively moving the physical article into a stopper part to terminate the dissociable coupling between the physical article and the printhead.

35. A method according to any of the preceding embodiments, wherein the stopper part is a fixed stopper part.

36. A method according to any of the preceding embodiments, wherein the stopper part is a part of the 3D printer, such as the build plate.

37. A method according to any of the preceding embodiments, wherein the substantial horizontal motion of the act of disengaging the physical article is of opposite directionality in comparison with the substantial horizontal motion of the act of engaging the physical article.

38. A method according to any of the preceding embodiments, wherein the article properties comprise an article size wherein the act of disengaging the physical article is based on the article size.

39. A method according to any of the preceding embodiments, wherein the method comprises a step of verifying removal of the physical article after the step of executing the printer motion pattern.

40. A method according to any of the preceding embodiments, wherein the step of verifying removal of the physical article is based on an image recognition algorithm, a weight sensor, a proximity sensor, or any combination thereof.

41. A method according to any of the preceding embodiments, wherein a detection of nonremoval terminates operation of the 3D printer.

42. A method according to any of the preceding embodiments, wherein the method steps are repeated for a second digital article design associated with second article properties different from the article properties.

43. A method according to any of the preceding embodiments, wherein the printer motion pattern associated with removal of the physical article associated with the second digital article design is different from the previous printer motion pattern. 44. A method according to any of the preceding embodiments, wherein the method steps are repeated for the second digital article design based on the step of verifying removal.

45. A method according to any of the preceding embodiments, wherein the method for removal of printed articles from a 3D printer is a method for cyclical removal of cyclically printed articles from a 3D printer, the method requiring at least the article properties as input, wherein first article properties are firstly used as input and second article properties are secondly used as input to thereby print two different physical articles removed from the build plate using different printer motion patterns.

46. A method according to any of the preceding embodiments, wherein the engaging arrangement is attached to a part of the 3D printer which is movable relative to the print plate.

47. A method according to any of the preceding embodiments, wherein the article coupling structure placement is indicative of a placement of the coupling structure on the physical article.

48. A method according to any of the preceding embodiments, wherein the step of performing a collision check comprises a simulation of the printer motion pattern in relation to the physical article to indicate if execution of the printer motion pattern subsequent to printing the physical article involves a collision between the physical article and a movable part of the 3D printer prior to the act of engaging the physical article with the engaging arrangement.

49. A 3D printer system for removal of printed articles, the 3D printer system comprising : a build plate; a printhead; and an engaging arrangement attached to the 3D printer; wherein the 3D printer system is configured to execute a printer motion pattern associated with relative motion of the printhead in relation to the build plate, wherein the printer motion pattern is configured to engage the engaging arrangement with a 3D-printed physical article on the build plate to establish a dissociable coupling between the physical article and the engaging arrangement, wherein the printer motion pattern is further configured to disengage the physical article from the engaging arrangement and thereby remove the physical article from the build plate.

50. A 3D printer system according to embodiment 49, wherein the printhead terminates at a lower nozzle outlet, wherein the engaging arrangement is vertically positioned entirely above the lower nozzle outlet.

51. A 3D printer system according to any of embodiments 49-50, wherein the engaging arrangement is a hook arrangement.

52. A 3D printer system according to embodiments 51, wherein the hook arrangement is a horizontal hook arrangement.

53. A 3D printer system according to any of embodiments 49-52, wherein the engaging arrangement is attached to the printhead.

54. A 3D printer system according to any of embodiments 49-53, wherein the engaging arrangement is post-assembled in relation to a remainder of the 3D printer system.

55. A 3D printer system according to any of embodiments 49-54, wherein the engaging arrangement is 3D printed.

56. A 3D printer system according to any of embodiments 49-55, wherein the 3D printer system comprises the physical article, wherein the physical article is positioned on the build plate.

57. A 3D printer system according to any of embodiments 49-56, wherein the physical article is printed together with a coupling structure for engaging with the engaging arrangement to establish a dissociable coupling.

58. A 3D printer system according to any of embodiments 49-57, wherein the coupling structure is a hook-receiving arrangement.

59. A 3D printer system according to any of embodiments 49-58, wherein the coupling structure is a sacrificial coupling structure.

60. A 3D printer system according to any of embodiments 49-59, wherein the hook-receiving arrangement comprises one or more apertures for receiving the hook-arrangement. 61. A 3D printer system according to any of embodiments 49-60, wherein the 3D printer system is configured to perform the method according to any of embodiments 1-48.

62. A computer system for supporting removal of printed articles from a 3D printer, the computer system comprising : a digital storage block configured to store a digital article design and article properties associated with the digital article design; a printer motion block configured to automatically establish a printer motion pattern based on the article properties, wherein the printer motion pattern is indicative of relative motion of a printhead of the 3D printer in relation to a build plate of the 3D printer; and a motion transmission block configured to communicate the printer motion pattern to the 3D printer to execute the printer motion pattern and thereby remove a physical article from a build plate of the 3D printer via an engaging arrangement of the 3D printer subsequently to printing the physical article using the printhead.

63. A computer system according to embodiment 62, wherein the computer system comprises a coupling structure establishment block configured to automatically digitally establish a coupling structure and a coupling structure placement in relation to the digital article design such that the physical article is printed with the coupling structure.

64. A computer system according to embodiment 63, wherein the printer motion block is configured to establish the printer motion pattern based on the coupling structure placement such that the physical article is removed by engaging the coupling structure with the engaging arrangement upon execution of the printer motion pattern by the 3D printer.

65. A computer system according to any of embodiments 62-64, wherein the article properties are indicative of properties of the printed article.

66. A computer system according to any of embodiments 62-65, wherein the printer motion pattern comprises an act of positioning the engaging arrangement relative to the physical article prior to engaging the physical article with the engaging arrangement. 67. A computer system according to any of embodiments 62-66, wherein the article properties comprise an article coupling structure placement, wherein the act of positioning the engaging arrangement relative to the physical article is based on the article coupling structure placement.

68. A computer system according to any of embodiments 62-67, wherein the printer motion pattern comprises an act of engaging the physical article with the engaging arrangement to establish a dissociable coupling between the physical article and the engaging arrangement.

69. A computer system according to any of embodiments 62-68, wherein the article properties comprise an article coupling structure placement, wherein the act of engaging the physical article is based on the article coupling structure placement.

70. A computer system according to any of embodiments 62-69, wherein the printer motion pattern comprises an act of lifting the physical article off the build plate using the dissociable coupling.

71. A computer system according to any of embodiments 62-70, wherein the article properties comprise an article size wherein the act of lifting the physical article is based on the article size.

72. A computer system according to any of embodiments 62-71, wherein the printer motion pattern comprises an act of transporting the physical article via a substantially horizontal motion to horizontally displace the physical article from the build plate.

73. A computer system according to any of embodiments 62-72, wherein the article properties comprise an article size wherein the act of transporting the physical article is based on the article size.

74. A computer system according to any of embodiments 62-73, wherein the printer motion pattern comprises an act of lowering the physical article relative to the build plate by substantially vertical motion, wherein the act of lowering the physical article is performed prior to the act of disengaging the physical article and after the act of transporting the physical article.

75. A computer system according to any of embodiments 62-74, wherein the printer motion pattern comprises an act of disengaging the physical article from the engaging arrangement to terminate the dissociable coupling and thereby release the physical article. 76. A computer system according to any of embodiments 62-75, wherein the article properties comprise an article size wherein the act of disengaging the physical article is based on the article size.

77. A computer system according to any of embodiments 62-76, wherein the computer system and the 3D printer are configured to remove the physical article from the 3D printer according to any of the embodiments 1-48.

78. A physical article having a layered structure and comprising a coupling structure, wherein the physical article is a footwear insole or footwear inlay.

79. A physical article according to embodiment 78, wherein the coupling structure is a sacrificial coupling structure.

80. A physical article according to any of embodiments 78-79, wherein the coupling structure is a hook-receiving arrangement.

81. A physical article according to any of embodiments 78-80, wherein the physical article does not constitute or comprise a raft.

82. A physical article according to any of embodiments 78-81, wherein the coupling structure extents vertically above a remainder of the physical article.

83. A physical article according to any of embodiments 78-82, wherein the coupling structure comprises one or more vertically aligned flat loop structures, each of the loop structures comprising a horizontally aligned aperture.