3D printing rapid prototyping system based on multi-nozzle collaboration

Abstract

The invention provides a 3D printing rapid prototyping system based on multi-nozzle collaboration.The 3D printing rapid prototyping system based on multi-nozzle collaboration.The 3D printing rapid prototyping system based on multi-nozzle collaborationcomprises a printing unit, a control unit and an auxiliary unit, the printing system comprises a multi-nozzle device and a printing platform, nozzles can be independently controlled, the spacing angle can be adjusted, and the platform can be heated and cooled; the control module covers motion, material and temperature control and central control units, realizes cooperative motion, material supply and temperature control of the spray head and coordinates the work of each unit, and the auxiliary unit comprises a support structure generation and post-processing unit, and the system solves the problems of slow printing speed and limited material color of a traditional single spray head, improves the printing speed, and improves the printing efficiency. Multiple material colors can be printed at the same time, printing quality is improved, and system reliability and stability are enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing, and in particular relates to a 3D printing rapid prototyping system based on multi-nozzle collaboration. Background Art

[0002] With the widespread application of 3D printing technology in many fields, traditional single-nozzle 3D printing systems have gradually exposed some limitations. In terms of printing speed, when faced with complex models or large-scale production needs, single-nozzle printing often takes too long and cannot meet the requirements of rapid prototyping. For example, when producing products with multiple parts, a single nozzle needs to print each part in turn, which makes the entire production process inefficient. In terms of material and color diversity, it is difficult for a single nozzle to print multiple materials or multiple colors at the same time. For some products that require a combination of multiple materials to achieve specific functions, or models that require a colorful appearance, a single nozzle system cannot meet these needs well.

[0003] In order to solve the above problems, the present invention provides a 3D printing rapid prototyping system based on multi-nozzle collaboration. The system realizes the simultaneous printing of multiple parts by designing multiple independently controllable nozzles, greatly improving the printing speed. The modular design of the nozzles and the adjustable spacing and angles enable it to adapt to the printing of complex models and ensure that the material is accurately filled into the internal space. At the same time, the system is equipped with a complete material supply system, which can provide a variety of materials for different nozzles, and ensure the uniformity and stability of material supply through pressure sensors and flow controllers, thereby realizing the simultaneous printing of multiple materials and colors. In addition, the coordinated work of the motion control unit, the temperature control unit and the central control unit further improves the printing quality and the reliability and stability of the system. Summary of the invention

[0004] The purpose of the present invention is to provide a 3D printing rapid prototyping system based on multi-nozzle collaboration, aiming to solve the limitations of the traditional single-nozzle 3D printing system in the prior art, including slow printing speed (too long time when facing complex models or large-scale production, such as printing multiple parts products need to be printed sequentially, low efficiency and limited material and color diversity. It is difficult to realize multiple materials or colors printing at the same time, and it is impossible to meet the requirements of some products for material combination and color appearance.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A 3D printing rapid prototyping system based on multi-nozzle collaboration, characterized by comprising:

[0007] A printing system, the printing system comprising:

[0008] Multi-nozzle device, equipped with multiple independently controllable nozzles, the nozzles adopt modular design and the spacing and angles between the nozzles can be adjusted according to the requirements of the printing model;

[0009] The printing platform has good flatness and stability. Its material has certain strength and heat resistance, and can be heated or cooled as needed during the printing process;

[0010] A control module, the control module comprising:

[0011] The motion control unit is used to control the movement of the multi-nozzle device and the printing platform. It uses high-precision motors and guide rails to ensure motion accuracy and stability. It can achieve multi-nozzle coordinated motion and support multiple motion modes. It moves according to a predetermined motion formula. The motion formula is: x = v x t+x0,g=v g t+g0,z=v z t+z o (x, y, z are the coordinates of the nozzle or platform in three-dimensional space, v x , v y , v z is the speed in the corresponding direction, t is the time, x0, y0, z0 are the initial coordinates);

[0012] Material control unit, which provides different types of printing materials for multiple nozzles. Each material has an independent supply channel and storage container, equipped with a pressure sensor and flow controller to accurately control the material output pressure and flow. For special materials, it also includes a heating device and a heat preservation device;

[0013] A temperature control unit controls the temperature of the multi-nozzle device and the printing platform. The nozzle part adopts a heating block and a temperature sensor, and the printing platform is equipped with a heating plate and a cooling device. The temperature is adjusted according to a temperature control formula. The temperature control formula is: T = kp + b (where T is temperature, P is power, and k and b are coefficients determined according to materials and processes);

[0014] The central control unit, as the core of the system, coordinates the work of each sub-unit, uses advanced algorithms and control software to analyze and process printing tasks to generate the optimal printing path and parameter settings, has a human-computer interaction interface, and has real-time monitoring and fault diagnosis functions;

[0015] An auxiliary unit, the auxiliary unit comprising:

[0016] Support structure generation unit, which automatically generates support structures according to model shape and printing requirements and facilitates removal after printing;

[0017] The post-processing unit performs post-processing operations such as removing support structures, grinding, and polishing on the printed model.

[0018] As a preferred solution of the present invention, the nozzle spacing and angle adjustment method of the multi-nozzle device should be able to accurately fill the internal space with materials when printing a complex internal structure model.

[0019] As a preferred solution of the present invention, the heating or cooling operation of the printing platform should be performed according to the printing material and process requirements to improve material adhesion and prevent model deformation, and the model can be quickly cooled after printing is completed to shorten the molding time.

[0020] As a preferred solution of the present invention, the multiple motion modes of the motion control unit should include linear motion, curvilinear motion and layered scanning motion to meet the printing requirements of models with different shapes and structures.

[0021] As a preferred solution of the present invention, the pressure sensor and flow controller of the material control unit should monitor the material pressure and flow in real time, and adjust according to the feedback signal to ensure that the material output of each nozzle is uniform.

[0022] As a preferred solution of the present invention, the human-computer interaction interface of the central control unit should facilitate users to input printing model files and related parameters, such as printing materials, nozzle temperature, printing speed, etc., and can automatically adjust the working status of each subunit according to user input to achieve automatic printing. The support structure generated by the support structure generation unit should be easy to remove after printing while ensuring the smooth progress of the printing process and the quality of the model forming.

[0023] As a preferred solution of the present invention, the operation of the post-processing unit should be able to effectively improve the quality of the final product of the model so that it meets the use requirements.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. In this solution, by designing multiple independently controllable nozzles, the system realizes the ability to print multiple parts simultaneously. When processing complex models or large-scale production tasks, different nozzles can be responsible for printing different areas or parts respectively, without the need to proceed sequentially like the traditional single nozzle system, thereby greatly shortening the printing time. For example, when printing a mechanical product with multiple components, each nozzle can focus on one or several components and carry out printing work at the same time, effectively avoiding the long waiting time caused by printing components one by one, greatly improving production efficiency, meeting the needs of rapid prototyping, and is especially suitable for projects with large-scale production or urgent needs;

[0026] The coordinated movement of multiple nozzles can also reduce the idle stroke of the nozzles during the printing process through reasonable path planning. The nozzles can quickly switch between different areas according to the shape and structure of the model to avoid unnecessary movement and further improve printing efficiency.

[0027] 2. In this solution, the modular design of the nozzles and the adjustable spacing and angles provide the system with high flexibility. For complex models, especially those with complex internal structures, the spacing and angles of the nozzles can be adjusted to ensure that the materials can be accurately filled into every corner of the internal space. At the same time, this flexibility allows different nozzles to be loaded with different types of printing materials or materials of different colors, thereby achieving simultaneous printing of multiple materials and colors. For example, when printing an art model with a colorful appearance and composed of multiple materials, some nozzles can be loaded with colored plastic materials for printing the appearance part, while other nozzles can be loaded with metal materials for printing the internal support structure, realizing a diversified combination of materials and colors, broadening the application scope of 3D printing, and being able to produce products with more complex structures and rich appearances, such as functional parts composed of multiple materials, colorful art models, etc.

[0028] The system is equipped with a complete material supply system, which provides a solid guarantee for the simultaneous printing of multiple materials. Each material has an independent supply channel and storage container, which avoids mixing and contamination between different materials and ensures the characteristics and purity of each material during transportation and storage. The pressure sensor and flow controller can monitor the material pressure and flow in real time, and make precise adjustments based on the feedback signal to ensure that the material supply of each nozzle is uniform and consistent. This not only ensures the stability and reliability of the printing quality, but also enables multiple materials to work together during the printing process to achieve complex material combinations and color matching.

[0029] 3. In this solution, the motion control unit uses high-precision motors and guide rails to ensure the motion accuracy and stability of the nozzle and the printing platform. The high-precision motor (such as a servo motor or a stepper motor) has precise position control capabilities and small rotation errors. The guide rails (such as linear guides or ball screw guides) can provide smooth linear motion and small friction resistance. Through the coordinated work of these high-precision components, the motion control unit can perform precise motion control according to the predetermined motion formula to ensure that the nozzle and the platform move according to the predetermined path and speed during the printing process. This precise motion control can reduce the error between printing layers, making the printed model surface smoother and the structure more accurate. For example, when printing fine micro-mechanical parts or art models with complex curved surfaces, high-precision motion control can accurately reproduce the detailed features of the model and improve the quality and usability of the model;

[0030] The temperature control unit performs precise temperature control on the nozzle and printing platform, which has a vital impact on the printing quality. Different printing materials need to be within a specific temperature range to achieve the best melting, flow and solidification effects. The nozzle part adopts a heating block and a temperature sensor to adjust the temperature according to the temperature control formula so that the printing material can be smoothly melted in the nozzle and maintain appropriate fluidity. The printing platform is equipped with a heating plate and a cooling device, which performs heating or cooling operations according to the printing material and process requirements. By accurately controlling the nozzle temperature, the viscosity and fluidity of the material can be adjusted, so that the material can better adhere to the printing platform and reduce the occurrence of problems such as interlayer defects and pores. At the same time, by controlling the temperature of the printing platform, the adhesion of the material on the platform can be improved, and the model can be prevented from warping or displacement during the printing process, further improving the printing quality. DETAILED DESCRIPTION

[0031] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] The present invention provides the following technical solutions:

[0034] A 3D printing rapid prototyping system based on multi-nozzle collaboration, characterized by comprising:

[0035] A printing system, the printing system comprising:

[0036] Multi-nozzle device, equipped with multiple independently controllable nozzles, the nozzles adopt modular design and the spacing and angles between the nozzles can be adjusted according to the requirements of the printing model;

[0037] The printing platform has good flatness and stability. Its material has certain strength and heat resistance, and can be heated or cooled as needed during the printing process;

[0038] A control module, the control module comprising:

[0039] The motion control unit is used to control the movement of the multi-nozzle device and the printing platform. It uses high-precision motors and guide rails to ensure motion accuracy and stability. It can achieve multi-nozzle coordinated motion and support multiple motion modes. It moves according to a predetermined motion formula. The motion formula is: x = v x t+x0,g=v g t+g0,z=v z t+zo (x, y, z are the coordinates of the nozzle or platform in three-dimensional space, v x , v y , v z is the speed in the corresponding direction, t is the time, x0, y0, z0 are the initial coordinates);

[0040] Material control unit, which provides different types of printing materials for multiple nozzles. Each material has an independent supply channel and storage container, equipped with a pressure sensor and flow controller to accurately control the material output pressure and flow. For special materials, it also includes a heating device and a heat preservation device;

[0041] A temperature control unit controls the temperature of the multi-nozzle device and the printing platform. The nozzle part adopts a heating block and a temperature sensor, and the printing platform is equipped with a heating plate and a cooling device. The temperature is adjusted according to a temperature control formula. The temperature control formula is: T = kp + b (where T is temperature, P is power, and k and b are coefficients determined according to materials and processes);

[0042] The central control unit, as the core of the system, coordinates the work of each sub-unit, uses advanced algorithms and control software to analyze and process printing tasks to generate the optimal printing path and parameter settings, has a human-computer interaction interface, and has real-time monitoring and fault diagnosis functions;

[0043] An auxiliary unit, the auxiliary unit comprising:

[0044] Support structure generation unit, which automatically generates support structures according to model shape and printing requirements and facilitates removal after printing;

[0045] The post-processing unit performs post-processing operations such as removing support structures, grinding, and polishing on the printed model.

[0046] In a specific embodiment of the present invention, 1. a printing system:

[0047] (i) Multi-nozzle device: Multiple independently controllable nozzles: realize the ability to print multiple parts or different tasks at the same time. Each nozzle can work independently according to the different areas of the printed model or the different material requirements, greatly improving the flexibility and efficiency of printing. For example, when printing a model with multiple colors or multiple materials, different nozzles can be loaded with corresponding materials and printed at the same time, without the need to frequently change nozzles or materials during the printing process, thus saving time.

[0048] Through independent control circuits and signal transmission systems, each nozzle can receive separate instructions from the central control unit to control parameters such as the opening and closing of the nozzle and the amount of material sprayed, so that each nozzle can work according to predetermined design requirements.

[0049] The printhead adopts modular design: It is convenient for the replacement and maintenance of the printhead. When a printhead fails or needs to be replaced with a different type of printhead (for example, from a printhead for printing plastic materials to a printhead for printing metal materials), the modular design allows the operator to quickly and conveniently perform the replacement operation, reducing the system's downtime and improving the availability and reliability of the entire 3D printing rapid prototyping system.

[0050] The nozzle module uses standardized interfaces and connection methods, and can be quickly connected to other parts of the system. At the same time, the modular design also makes the production and manufacturing of nozzles easier to achieve scale and standardization, reducing production costs.

[0051] The spacing and angle between the nozzles can be adjusted according to the requirements of the printed model: it can adapt to printed models of different shapes and complexities to achieve the best printing effect. For models with complex internal structures or special shapes, by adjusting the spacing and angle of the nozzles, it can ensure that the material can be accurately filled into all parts of the model, reduce printing defects, and improve the accuracy and quality of the model. For example, when printing a model with an internal cavity and an irregular shape, a reasonable adjustment of the nozzle angle can allow the material to better enter the cavity and avoid material accumulation or vacancies.

[0052] The multi-nozzle device adopts an adjustable mechanical structure. The relative position and angle between the nozzles can be changed through motor drive or manual adjustment. The central control unit calculates the optimal nozzle spacing and angle settings based on the input model parameters and printing requirements, and sends instructions to the corresponding adjustment mechanism for adjustment.

[0053] (II) Printing platform: good flatness and stability: provides a stable foundation for printing models, ensuring that the model will not be deformed or displaced due to unevenness or shaking of the platform during the printing process, thereby ensuring printing accuracy and quality. A flat and stable platform can keep the distance between the nozzle and the platform constant, ensuring the uniformity of material injection and consistency of layer thickness, which is crucial for high-precision 3D printing.

[0054] The printing platform is usually made of high-strength materials, such as aluminum alloy or stainless steel, which has good rigidity and anti-deformation ability. At the same time, the installation and fixing method of the platform is also carefully designed, using shock-absorbing devices or precise positioning mechanisms to reduce the impact of external vibration and interference on the platform.

[0055] The material has certain strength and heat resistance:

[0056] Able to withstand high temperatures and pressures during printing. During 3D printing, some materials (such as plastics, metals, etc.) need to be melted at high temperatures before being sprayed and solidified. The printing platform needs to have sufficient heat resistance to prevent deformation or damage under long-term high temperatures. At the same time, the strength of the platform can also ensure that it will not deform or break when bearing the pressure of the nozzle and the weight of the model.

[0057] Select materials with suitable thermal expansion coefficients and high-temperature mechanical properties to make the printing platform. For example, certain ceramic materials or specially treated metal alloys have good heat resistance and strength, which can meet the requirements of 3D printing platforms. In addition, the heat resistance of the platform can be further improved by surface treatment of the platform or adding thermal insulation coatings.

[0058] Heating or cooling can be performed as needed during the printing process:

[0059] Heating: For some printing materials that need to improve material adhesion, heating the printing platform can make the material melt and fuse faster after being sprayed onto the platform, increase the adhesion between the material and the platform, and prevent the model from warping or falling off during the printing process. Especially when printing large or complex models, heating the platform helps to improve the molding quality and stability of the entire model.

[0060] Heating: The printing platform is equipped with a heating device, such as a heating wire or a heating plate, which heats the platform surface to a set value through electric current. The temperature control unit accurately controls the power and temperature of the heating device according to the characteristics of the printing material and the process requirements to ensure that the platform temperature is within the appropriate range.

[0061] Cooling: After printing is completed, rapid cooling of the model can shorten the molding time and improve production efficiency. At the same time, for some temperature-sensitive materials, rapid cooling can make the material solidify faster and obtain better physical properties and dimensional accuracy.

[0062] Cooling: The printing platform is equipped with a cooling device, such as a fan or a coolant circulation system. After printing is completed, the cooling device starts to remove the heat of the model through air cooling or liquid cooling, so that the model can be cooled quickly. The temperature control unit will also monitor and adjust the cooling process to ensure that the cooling speed and effect meet the requirements.

[0063] 2. Control module: (a) Motion control unit: uses high-precision motors and guide rails to ensure motion accuracy and stability

[0064] High-precision motors and guides are the key to achieving precise movement of the nozzle and printing platform. They can ensure that the nozzle and platform move according to the predetermined path and speed during the printing process, thereby ensuring the dimensional accuracy and shape accuracy of the printed model. High-precision motion control can reduce the error between printing layers, making the printed model surface smoother and the structure more accurate. For example, when printing a model with fine details, such as micro-mechanical parts or artwork models, high-precision motion control can accurately reproduce the detailed features of the model and improve the quality and usability of the model.

[0065] High-precision motors usually use servo motors or stepper motors, which have precise position control capabilities and small rotation errors. The guide rails use high-precision linear guides or ball screw guides, which can provide smooth linear motion and small friction resistance. The motion control unit controls the rotation angle and speed of the motor by sending pulse signals to the motor driver, and monitors the motion status of the motor and guide rails in real time through sensors, and performs feedback control to ensure the accuracy and stability of the motion.

[0066] Able to realize multi-nozzle coordinated movement and support multiple movement modes

[0067] Multi-nozzle coordinated motion: enables multiple nozzles to cooperate with each other and work in coordination during the printing process to achieve more efficient printing. For example, when printing a model with a complex structure, different nozzles can print in different areas at the same time, or switch printing in a certain order and time interval, avoiding the time waste of a single nozzle printing and greatly improving the printing speed. At the same time, multi-nozzle coordinated motion can also reduce the idle stroke of the nozzle through reasonable path planning, further improving printing efficiency.

[0068] Coordinated movement of multiple nozzles: The central control unit plans and allocates the movement paths of multiple nozzles according to the requirements of the printing task and the geometric shape of the model. The motion control unit coordinates the motor control signals of each nozzle to make the nozzle move along the predetermined trajectory in space. At the same time, through real-time communication and feedback mechanisms, the movement of each nozzle is coordinated to avoid collision and interference.

[0069] Multiple motion modes: The support of multiple motion modes such as linear motion, curved motion and layered scanning motion enables the 3D printing rapid prototyping system to adapt to the printing needs of models with different shapes and structures. Linear motion is suitable for printing simple geometric shapes and contours, curved motion can realize the printing of more complex curved surfaces and arc structures, and layered scanning motion is the basic method of 3D printing, which builds a three-dimensional model by printing layer by layer. Different motion modes can be selected and combined according to the characteristics of the model to improve the flexibility and adaptability of printing.

[0070] Multiple motion modes: The motion control unit controls the motor's motion mode and speed curve according to the motion instructions sent by the central control unit. For linear motion, the motor moves on the linear guide at a constant speed or acceleration; for curved motion, the motion control unit calculates the curve's parameter equation, decomposes it into a series of tiny straight line segments or circular arc segments, and then controls the motor to move along the corresponding trajectory; the layered scanning motion controls the nozzle to scan in the plane according to the layered slicing information of the model. After completing the printing of one layer, the platform moves according to the set layer thickness to print the next layer, and this cycle continues until the entire model is printed;

[0071] The motion formula is: x = v x t+x0,g=v g t+g0,z=v z t+z o (x, y, z are the coordinates of the nozzle or platform in three-dimensional space, v x , v y , v z is the speed in the corresponding direction, t is the time, x0, y0, z0 are the initial coordinates) is a mathematical model that describes the motion trajectory of the nozzle and platform. Through this formula, the motion control unit can accurately calculate the position of the nozzle and platform in three-dimensional space at different time points, thereby achieving precise motion control. This formula is crucial for realizing complex three-dimensional model printing. It ensures that the nozzle and platform can move along the predetermined path, ensuring the accuracy and consistency of the printed model;

[0072] During the printing process, the motion control unit determines the speed v of the nozzle or platform in each direction according to the motion instructions sent by the central control unit. x , v y , v z And the initial coordinates x0, y0, z0. Then, according to the current time, the real-time coordinates x, y, z of the nozzle or platform in three-dimensional space are calculated by the above formula. The motion control unit converts these coordinate information into control signals for the motor, which drives the motor to move the nozzle or platform to the corresponding position. By constantly updating the time and calculating the coordinates, the continuous movement of the nozzle and platform in three-dimensional space is achieved, and the printing task is completed according to the predetermined path;

[0073] (II) Material control unit: provides different types of printing materials for multiple nozzles:

[0074] It realizes the simultaneous printing of multiple materials or switching printing on demand, expanding the application scope of 3D printing rapid prototyping systems. Different materials have different physical, chemical and mechanical properties. By using multiple materials, products with more complex functions and structures can be manufactured. For example, when printing a mechanical part, high-strength metal materials and wear-resistant plastic materials can be used at the same time, so that the part has both sufficient strength and good wear resistance and lubricity.

[0075] The material control unit stores different types of printing materials through multiple independent material supply channels and storage containers. Each nozzle can be connected to the corresponding material supply channel. According to the needs of the printing task, the central control unit can control the material control unit to deliver specific materials to the specified nozzle. In this way, during the printing process, different nozzles can select different materials for injection according to the requirements of the model, realizing the coordinated printing of multiple materials.

[0076] Each material has independent supply channel and storage container:

[0077] The stable and continuous supply of each material is ensured, and the mixing and contamination between different materials are avoided. Independent supply channels and storage containers can keep the characteristics and purity of each material during transportation and storage, ensuring the stability and reliability of printing quality. At the same time, it is also convenient for the management and replacement of materials. When a certain material needs to be replaced, only the corresponding storage container and supply channel need to be operated without affecting the use of other materials.

[0078] Each storage container is equipped with a corresponding conveying device, such as a screw extruder or a pressure pump, to convey the material from the storage container to the printhead. The independent supply channel is made of corrosion-resistant and high-temperature resistant materials to ensure that the material will not chemically react with the channel or block the channel during the conveying process. The central control unit can adjust the output flow and speed of the material by controlling the speed or pressure of the conveying device to meet the needs of different printheads and printing tasks.

[0079] Equipped with pressure sensor and flow controller to accurately control material output pressure and flow

[0080] Precisely controlling the output pressure and flow of the material is crucial to ensuring printing quality. Stable pressure and flow can ensure that the material is sprayed evenly at the nozzle, so that the thickness and density of the printed layer remain consistent, thereby improving the dimensional accuracy and surface quality of the model. At the same time, for some printing processes that require a high amount of material injection, such as high-precision model printing or printing that requires special texture effects, precise pressure and flow control can achieve more refined printing effects.

[0081] The pressure sensor is installed in the material supply channel or nozzle to monitor the material pressure in real time. The flow controller controls the material flow by adjusting the working parameters of the conveying device (such as motor speed, valve opening, etc.). The central control unit compares the signals fed back by the pressure sensor and the flow controller with the preset pressure and flow values, and adjusts the working state of the conveying device through the PID control algorithm or other control strategies to keep the output pressure and flow of the material within the set range. For special materials, such as high-temperature melting metal materials, the control of pressure and flow is more critical, because the physical properties of these materials are more sensitive to temperature and pressure changes. Accurate control can ensure that the material is printed in a suitable state to avoid clogging of the nozzle or unstable printing quality.

[0082] For special materials, it also includes heating and insulation devices:

[0083] Some special materials, such as metal materials that melt at high temperatures or materials that need to maintain good fluidity at a specific temperature, require heating devices and heat preservation devices to ensure the stability of the material's performance during transportation and printing. The heating device can heat the material to a suitable melting temperature so that it can be smoothly extruded from the nozzle for printing. The heat preservation device can reduce the heat loss of the material during transportation, maintain the temperature uniformity of the material, and prevent the material from solidifying or clogging in the pipeline. This is very important for ensuring the printing quality of special materials and the smooth printing process.

[0084] The heating device usually uses resistance heating wire or induction heating coil to heat the material storage container or conveying pipeline. The temperature sensor is installed at the corresponding position to monitor the temperature of the material in real time. The central control unit controls the power of the heating device according to the feedback signal of the temperature sensor to keep the material within the set temperature range. The insulation device uses insulation material to wrap the conveying pipeline or storage container to reduce heat loss. At the same time, the pipeline can also be assisted by circulating heating medium or using heating belts to ensure that the material can maintain the appropriate temperature and fluidity during the entire conveying process.

[0085] (III) Temperature control unit: temperature control of the multi-nozzle device and printing platform:

[0086] Temperature control has an important impact on the material properties and molding quality during 3D printing. Different printing materials require a specific temperature range to achieve the best melting, flow and solidification effects. By precisely controlling the temperature of the nozzle and the printing platform, the viscosity and fluidity of the material can be adjusted to better adapt to the printing process requirements and improve the printing quality. For example, for plastic materials, appropriately increasing the nozzle temperature can reduce the viscosity of the material, making it easier to extrude from the nozzle to form a uniform filament; and for the printing platform, controlling the appropriate temperature can increase the adhesion of the material to the platform and prevent problems such as warping or displacement of the model during the printing process.

[0087] The temperature control unit monitors and controls the temperature by installing heating blocks, heating plates, temperature sensors and other equipment on the nozzle and printing platform. The temperature sensor collects the temperature data of the nozzle and platform in real time and transmits it to the central control unit. The central control unit adjusts the temperature of the nozzle and platform by controlling the power of the heating block or heating plate according to the preset temperature value and the actual collected temperature value. When the temperature is lower than the set value, increase the power for heating; when the temperature is higher than the set value, reduce the power or start the cooling device (such as fan, coolant circulation system, etc.) to cool down, so that the temperature of the nozzle and platform is always kept within the appropriate range.

[0088] The nozzle part uses a heating block and a temperature sensor to adjust the temperature according to the temperature control formula

[0089] The nozzle heating block and temperature sensor are key components for achieving precise nozzle temperature control. The heating block is used to heat the nozzle so that the printed material can melt smoothly in the nozzle and maintain appropriate fluidity. The temperature sensor monitors the temperature of the nozzle in real time and provides feedback signals to the temperature control unit so that accurate temperature adjustment can be performed according to the temperature control formula. By accurately controlling the nozzle temperature, the consistency and stability of the material during the injection process can be ensured, the printing quality can be improved, and printing defects such as drawing and clogging can be reduced.

[0090] The heating block usually adopts resistance heating, and the current flows through the heating block to generate heat to heat the nozzle. The temperature sensor is installed at a suitable position of the nozzle, which can accurately measure the actual temperature of the nozzle. The temperature control unit calculates the heating power that needs to be adjusted according to the preset temperature control formula (where is temperature, is power, and is a coefficient determined according to the material and process) and the current temperature value fed back by the temperature sensor. Then the power supply power of the heating block is adjusted through the control circuit so that the nozzle temperature gradually approaches and stabilizes at the set target temperature value. Different printing materials and processes have different requirements for nozzle temperature, so the and coefficients need to be experimentally determined and optimized according to the specific materials and processes to achieve the best temperature control effect.

[0091] The printing platform is equipped with a heating plate and cooling device:

[0092] Heating Plate The heating plate of the printing platform plays an important role in the printing process. For some printing materials that need to improve material adhesion, the heating platform can make the material melt and fuse faster after being sprayed onto the platform, increase the adhesion between the material and the platform, and thus improve the stability and molding quality of the model during the printing process. Especially when printing large or complex models, the heating platform helps to reduce the warping and deformation of the model, ensuring the smooth progress of the entire printing process.

[0093] The heating plate is usually heated electrically, with heating elements such as heating wires or heating films arranged inside. The temperature control unit controls the power of the heating element to make the heating plate reach and maintain the set temperature. Before printing, the platform is heated to a suitable temperature according to the characteristics of the printing material and process requirements. During the printing process, the temperature sensor monitors the platform temperature in real time and feeds back to the temperature control unit to ensure that the platform temperature is always kept within a stable range, providing a good basic condition for the molding of the model.

[0094] After printing, the cooling device can quickly cool the model to shorten the molding time and improve production efficiency. At the same time, for some temperature-sensitive materials, rapid cooling can make the material solidify faster and obtain better physical properties and dimensional accuracy. In addition, the cooling device can also properly cool the platform during the printing process to prevent the platform temperature from being too high and causing adverse effects on the model and equipment.

[0095] Specifically in this solution, the nozzle spacing and angle adjustment method of the multi-nozzle device should be sufficient to enable the material to accurately fill the internal space when printing a complex internal structure model.

[0096] In this embodiment: the multi-nozzle device adopts a mechanical adjustment structure to adjust the nozzle spacing and angle. Specifically, the nozzle is installed on a slidable and rotatable bracket, which is connected to the main frame through a precise guide rail and screw transmission system. The operator can input specific parameters through the control system, and the control system calculates the required position and angle of each nozzle according to the preset algorithm, and then drives the motor to drive the screw to rotate, so that the bracket slides and rotates on the guide rail, thereby achieving precise adjustment of the nozzle spacing and angle.

[0097] Specifically in this solution, the heating or cooling operation of the printing platform should be performed according to the printing material and process requirements to improve material adhesion and prevent model deformation, and the model can be quickly cooled after printing is completed to shorten the molding time.

[0098] In this embodiment: the printing platform is equipped with an electric heating plate and an air-cooling device. The resistance wire is evenly distributed inside the heating plate, and the heating power is accurately controlled by the temperature controller. Before printing, according to the characteristics and process requirements of the printing material used, such as ABS plastic material, the platform temperature is preheated to about 100°C to improve the adhesion of the material on the platform. The temperature sensor monitors the platform temperature in real time. When the temperature is lower than the set value, the temperature controller automatically increases the heating power; when the temperature reaches the set value, the heating power is maintained stable to ensure that the platform temperature fluctuates within a suitable range, and the general fluctuation range is controlled within ±2°C.

[0099] After printing is completed, start the air cooling device. The cooling fan is installed at the bottom or side of the platform to quickly remove the heat of the model through forced air convection. Adjust the fan speed and running time according to the size of the model and the heat dissipation characteristics of the material. For example, for a small plastic model, after printing is completed, the fan runs at a higher speed for about 5 minutes, which can quickly reduce the model temperature to room temperature, thereby shortening the molding time and preventing the model from deformation or performance changes due to being in a high temperature state for a long time.

[0100] Specifically in this solution, the various motion modes of the motion control unit should include linear motion, curved motion and layered scanning motion to meet the printing requirements of models with different shapes and structures.

[0101] In this embodiment: the linear motion uses a combination of high-precision linear guides and stepper motors. The stepper motor receives pulse signals from the motion control unit to accurately control the number of steps and speed of the motor, thereby driving the nozzle or platform to move smoothly on the linear guide. When printing simple geometric shapes or the contour part of the model, the system selects the linear motion mode to ensure the accuracy and straightness of the printing path.

[0102] Curved motion is achieved by introducing an interpolation algorithm into the motion control algorithm. For example, for a circular or arc-shaped model structure, the motion control unit decomposes the curve into a series of tiny straight line segments, and calculates the coordinate position and motor motion parameters of each point according to the preset interpolation accuracy (such as 10 points per millimeter). Then, the motor is controlled to move in sequence according to these parameters, so that the nozzle draws a smooth curved trajectory in the plane.

[0103] The layered scanning motion is based on the layered slicing data of the model. First, the 3D model is layered and sliced ​​in the vertical direction to obtain a series of two-dimensional slice images. When printing each layer, the motion control unit controls the nozzle to scan in the plane according to the slicing data of the current layer. After completing the injection and curing of a layer of material, the platform descends according to the set layer thickness (such as 0.1 mm) to print the next layer. Through this layer-by-layer printing method, a complete three-dimensional model is finally constructed. At the same time, the motion control unit will optimize the scanning path according to the shape and structure of the model, reduce empty strokes and unnecessary movements, and improve printing efficiency.

[0104] Specifically in this solution, the pressure sensor and flow controller of the material control unit should monitor the material pressure and flow in real time, and adjust according to the feedback signal to ensure that the material output of each nozzle is uniform.

[0105] In this embodiment: the pressure sensor is a piezoresistive sensor, which is installed in the material supply channel of each nozzle near the nozzle. It can monitor the pressure of the material in real time and convert the pressure signal into an electrical signal to transmit to the material control unit. The flow controller uses an electromagnetic flow valve to control the flow of the material by adjusting the opening of the valve.

[0106] During the printing process, the material control unit receives real-time data feedback from the pressure sensor and flow controller according to the preset material injection parameters and the set values ​​of pressure and flow. When it is detected that the pressure or flow deviates from the set value, the material control unit calculates the valve opening or the speed of the conveying device that needs to be adjusted through the PID control algorithm. For example, if the pressure sensor detects that the material pressure of a certain nozzle is lower than the set value, it may be caused by insufficient material supply or pipeline blockage. At this time, the material control unit will increase the speed of the conveying device or slightly open the flow valve to increase the pressure and flow of the material to ensure that the material output of each nozzle is uniform and consistent. At the same time, the system will continue to monitor the adjusted pressure and flow changes until they return to the set range, thereby ensuring the stable supply and uniform injection of materials during the printing process, and improving the printing quality and consistency of the model.

[0107] Specifically in this solution, the human-computer interaction interface of the central control unit should facilitate users to input printing model files and related parameters, such as printing materials, nozzle temperature, printing speed, etc., and can automatically adjust the working status of each subunit according to user input to achieve automatic printing. The support structure generated by the support structure generation unit should be easy to remove after printing while ensuring the smooth progress of the printing process and the quality of the model forming.

[0108] In this embodiment: the human-computer interaction interface of the central control unit adopts a touch screen display, which is simple and intuitive in design and convenient for user operation. On the interface, the user can select the 3D model file to be printed through the file browser, which supports common formats such as STL and OBJ. Then, the user enters the parameter setting page, where the type of printing material (such as PLA, ABS, metal, etc.), nozzle temperature (adjustable between 150℃-300℃ depending on the material), printing speed (range between 10-100 mm / s), layer thickness (0.05-0.3 mm optional) and other parameters can be set.

[0109] When the user completes the parameter setting and clicks the start printing button, the central control unit first parses and processes the input model file, and generates the optimal printing path planning and control instructions for each subunit according to the shape, size and parameters set by the user. Then, the central control unit sends these instructions to the corresponding subunits such as the motion control unit, material control unit, and temperature control unit, automatically adjusts their working status, and realizes automated printing. For example, when the user chooses to print a complex model made of PLA material and sets the nozzle temperature to 200℃, the printing speed to 50 mm / s, and the layer thickness to 0.1 mm, the central control unit will calculate the appropriate motion trajectory, material supply speed and temperature control strategy based on these parameters, and send the corresponding instructions to each subunit. During the printing process, the central control unit will also monitor the operating status of each subunit and the data fed back by the sensor in real time. If an abnormal situation is found (such as nozzle blockage, too high or too low temperature, etc.), the control strategy will be adjusted in time or an alarm will be issued to prompt the user to handle it, ensuring the smooth progress of the printing process and the stability of the printing quality.

[0110] Specifically in this solution, the operation of the post-processing unit should be able to effectively improve the quality of the final product of the model so that it meets the use requirements.

[0111] In this embodiment: the post-processing unit includes multiple steps and corresponding equipment to effectively improve the final product quality of the model. First, the printed model will be placed on a special support structure removal workbench, and the staff will use appropriate tools (such as the pliers, scissors or power tools mentioned above) to carefully remove the support structure on the model. During the removal process, special attention should be paid to protecting the surface quality of the model to avoid scratching or damaging the model.

[0112] After removing the support structure, the model will enter the grinding process. Use sandpaper of different grits (from coarse to fine, such as 80 mesh, 120 mesh, 240 mesh, 400 mesh, etc.) to gradually grind the surface of the model to remove the layer lines and surface roughness generated during the printing process. When grinding, pay attention to uniform force to avoid leaving uneven marks on the surface of the model. For some complex shapes or parts that are difficult to grind, you can use a small handheld grinding tool or an electric grinding head for processing.

[0113] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A 3D printing rapid prototyping system based on multi-nozzle collaboration, characterized in that: include: A printing system, the printing system comprising: Multi-nozzle device, equipped with multiple independently controllable nozzles, the nozzles adopt modular design and the spacing and angles between the nozzles can be adjusted according to the requirements of the printing model; The printing platform has good flatness and stability. Its material has certain strength and heat resistance, and can be heated or cooled as needed during the printing process; A control module, the control module comprising: The motion control unit is used to control the movement of the multi-nozzle device and the printing platform. It uses high-precision motors and guide rails to ensure motion accuracy and stability. It can achieve multi-nozzle coordinated motion and support multiple motion modes. It moves according to a predetermined motion formula. The motion formula is: x = v x t+x0,g=v g t+g0,z=v z t+z o (x, y, z are the coordinates of the nozzle or platform in three-dimensional space, v x , v y , v z is the speed in the corresponding direction, t is the time, x0, y0, z0 are the initial coordinates); Material control unit, which provides different types of printing materials for multiple nozzles. Each material has an independent supply channel and storage container, equipped with a pressure sensor and flow controller to accurately control the material output pressure and flow. For special materials, it also includes a heating device and a heat preservation device; A temperature control unit controls the temperature of the multi-nozzle device and the printing platform. The nozzle part adopts a heating block and a temperature sensor, and the printing platform is equipped with a heating plate and a cooling device. The temperature is adjusted according to a temperature control formula. The temperature control formula is: T = kp + b (where T is temperature, P is power, and k and b are coefficients determined according to materials and processes); The central control unit, as the core of the system, coordinates the work of each sub-unit, uses advanced algorithms and control software to analyze and process printing tasks to generate the optimal printing path and parameter settings, has a human-computer interaction interface, and has real-time monitoring and fault diagnosis functions; An auxiliary unit, the auxiliary unit comprising: Support structure generation unit, which automatically generates support structures according to model shape and printing requirements and facilitates removal after printing; The post-processing unit performs post-processing operations such as removing support structures, grinding, and polishing on the printed model.

2. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 1, characterized in that: The nozzle spacing and angle adjustment method of the multi-nozzle device should be able to accurately fill the internal space with materials when printing a complex internal structure model.

3. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 2, characterized in that: The heating or cooling operation of the printing platform should be performed according to the printing material and process requirements to improve material adhesion and prevent model deformation, and the model can be quickly cooled after printing to shorten the molding time.

4. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 3, characterized in that: The various motion modes of the motion control unit should include linear motion, curved motion and layered scanning motion to meet the printing requirements of models with different shapes and structures.

5. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 4, characterized in that: The pressure sensor and flow controller of the material control unit should monitor the material pressure and flow in real time, and adjust according to the feedback signal to ensure that the material output of each nozzle is uniform.

6. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 5, characterized in that: The human-computer interaction interface of the central control unit should facilitate users to input printing model files and related parameters, such as printing materials, nozzle temperature, printing speed, etc., and can automatically adjust the working status of each subunit according to user input to achieve automatic printing. The support structure generated by the support structure generation unit should be easy to remove after printing while ensuring the smooth progress of the printing process and the quality of model forming.

7. A 3D printing rapid prototyping system based on multi-nozzle collaboration according to claim 6, characterized in that: The operation of the post-processing unit should be able to effectively improve the final product quality of the model so that it meets the use requirements.