The invention discloses a four-axis linkage 3D printing device based on the fusion deposition principle, belongs to the field of 3D printing and manufacturing, and relates to the four-axis linkage 3D printing device based on the fusion deposition principle. The printing device is composed of a rack, a printing sprayer assembly, a control assembly, an X-axis drive assembly, a Y-axis drive assembly, a Z-axis drive assembly and an A-axis drive assembly. A shaft sleeve of the A-axis drive assembly can be detached and replaced, a series of shaft sleeves the same in inner diameter but different in outer diameter can be selected, and forming and manufacturing of pipe-shaped structure models different in inner diameter are conveniently achieved. By means of the printing device, a thin-wall pipe net-shaped structure can be conveniently prepared, any auxiliary supporting structure does not need to be additionally arranged in the printing process, the posttreatment and other complex operation processes are simplified, printing materials are saved, and the forming rate and surface quality of test piece printing are effectively improved. The A-axis drive assembly is flexible in control and easy and convenient to mount and dismount, a series of inner diameter test pieces can be formed by replacing the shaft sleeves of different outer diameters, and the four-axis linkage 3D printing device is simple, practical and easy to operate and popularize.