3D printing device

Abstract

The present invention belongs to the field of 3D printing. Disclosed is a 3D printing device. The device comprises an XR assembly, a printing platform and a frame, wherein the XR assembly comprises an assembly support, a moving seat movably connected to the assembly support in an X-axis direction, a swing arm rotatably connected to the moving seat by means of a swing shaft arranged in a Z-axis direction, a print head fixedly mounted on the swing arm, a first driving mechanism configured to drive the moving seat, and a second driving mechanism configured to drive the swing arm; the printing platform is parallel to an XY plane; the printing platform and / or the XR assembly are / is movably connected to the frame in the Z-axis direction; a lifting driving mechanism is mounted on the frame; and the swing shaft is provided with an axial through hole, and / or the distance of travel of the moving seat in the X-axis direction is greater than or equal to twice the radius of the rotation of the print head. The present invention has a compact structure, but can achieve the forming size of a larger model; and in cooperation with the rotation of the swing arm, a larger print range can be achieved by a relatively small movement distance of the moving seat.

Description

A 3D printing device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 202410193936.4, filed with the Patent Office of China on February 21, 2024, entitled “A 3D printing device and 3D printing method thereof,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to the technical field of 3D printing, and in particular to a 3D printing device. Background Art

[0004] 3D printing (three-dimensional printing) uses a digital model file as its foundation, constructing objects through a layer-by-layer printing process. The melt extrusion molding process, also known as FFF (Fused Filament Fabrication) or FDM (Fused Deposition Modeling), extrudes a flowable printing material through a nozzle that moves along a printing path, stacking it layer by layer to form a three-dimensional model. Based on the layer pattern information in the digital model file, the printhead and the platform move relative to each other in the XY plane, allowing the printhead to reach any position within a certain area above the platform. While moving above the platform, the printhead extrudes the printing material at an appropriate speed until a layer is printed. After a layer is printed, the printhead and the printing platform are separated by a certain distance, such as the layer thickness, before printing the next layer, stacking layer by layer until a three-dimensional solid is formed. Existing FDM 3D printers primarily use an XYZ rectangular coordinate system (3D printers based on a Cartesian coordinate system), where, for example, the nozzle moves along the XY axis and the platform moves along the Z axis, or the nozzle moves along the XZ axis and the platform moves along the Y axis. Other systems include polar coordinate systems, where the platform can rotate or the nozzle is mounted at the end of a crankshaft, or parallel arm systems, such as those used in Delta 3D printers or Stewart printers. Each motion system has its own advantages and disadvantages, and further improvements are needed. Summary of the Invention

[0005] Existing 3D printer structures offer room for improvement. For example, 3D printers based on XYZ rectangular coordinates require a larger frame structure to achieve nozzle movement in the XY plane, resulting in a bulky 3D printer. Gantry-style printers, which utilize a platform that moves along the Y axis, can significantly increase printing speed and accuracy because the platform moves the model along with it. 3D printers with parallel arm structures often significantly increase their height. Polar coordinate printers, for example, also experience a reduction in printing speed due to the platform's rotation, which can also affect printing speed. Positioning the nozzle at the end of a crankshaft to ensure precise movement of the print head during dynamic operation requires increased shaft strength, which increases the crankshaft's size and dynamic performance, resulting in a more complex structure. A motion structure in which the nozzle is mounted on a swing arm and can slide along the arm is complex, and when the nozzle is not at the end, the end of the arm moves faster than the nozzle, limiting the actual nozzle printing speed. If the nozzle is set in a crank-connecting rod structure, the 3D printer mechanism will be complicated and two cantilever structures of the crank and connecting rod will be generated. The stability of the structure needs to be improved. If the structure at the joint is strengthened, the overall structure volume and weight will increase significantly, affecting the printing speed, accuracy and effective printing space size. If another degree of freedom of movement is added to the crank-connecting rod mechanism, for example, an X-axis structure is set to drive the crank connection mechanism to move in the X direction, the structure will be further complicated and the nozzle's freedom of movement in space will be redundant, resulting in a waste of motion mechanisms and degrees of freedom. The feeding structure of the nozzle in the existing polar coordinate 3D printing motion structure needs to be improved to avoid interference between the long filamentary printing material (filamentary material) and the X-axis structure. The effective printing range of the existing polar coordinate 3D printing motion structure is not fully utilized.

[0006] In order to overcome the defects of the prior art, the present invention proposes a new technical solution.

[0007] The present invention provides a 3D printing device, comprising:

[0008] An XR assembly, comprising an assembly bracket, a movable base movably connected to the assembly bracket along the X-axis direction, a swing arm rotatably connected to the movable base via a swing shaft arranged along the Z-axis direction, a print head fixedly mounted on the swing arm, a first drive mechanism for driving the movable base to move along the X-axis direction, and a second drive mechanism for driving the swing arm to rotate about an axis parallel to the Z-axis direction; and

[0009] A printing platform and a frame, wherein the printing platform is parallel to the XY plane, the XR assembly and / or the printing platform is connected to the frame so as to be movably along the Z axis, and a lifting drive mechanism is mounted on the frame for driving the XR assembly and / or the printing platform to move along the Z axis;

[0010] The swing shaft is provided with an axial through hole for a printing material conveying line to convey printing material to the print head, and / or the travel of the movable seat along the X-axis direction is greater than or equal to twice the rotation radius of the print head.

[0011] In a preferred embodiment,

[0012] The first driving mechanism and the second driving mechanism together constitute a line-angle coupling transmission mechanism based on a synchronous belt, and the line-angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is rotatably connected to the movable seat, and the linkage wheel is coaxially fixedly connected to the swing shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a first motor fixedly mounted on the assembly bracket; wherein the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively engaged with two opposite sides of the linkage wheel; or,

[0013] The first driving mechanism and the second driving mechanism together constitute a line-angle coupling transmission mechanism based on a synchronous belt, and the line-angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is rotatably connected to the movable seat, and the linkage wheel is coaxially fixedly connected to the swing shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a first motor fixedly mounted on the assembly bracket; wherein, the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively aligned with the two phases of the linkage wheel. The opposite sides are meshed; it also includes a guide wheel rotatably connected to the movable seat, each of the synchronous belts is equipped with two guide wheels, the two guide wheels are arranged on both sides of the linkage wheel along the X-axis direction, and the two guide wheels are used to increase the engagement length of the synchronous belt when passing through the linkage wheel; the movable seat is also equipped with a first shaft and a second shaft, wherein, along the X-axis direction, the two guide wheels located on the same side of the linkage wheel are coaxial and rotatably sleeved on the first shaft, and the two guide wheels located on the other side of the linkage wheel are coaxial and rotatably sleeved on the second shaft; or,

[0014] The first drive mechanism and the second drive mechanism together constitute a line-angle coupling transmission mechanism based on a gear pair, and the line-angle coupling transmission mechanism based on a gear pair includes a center wheel and two driving gears, wherein the center wheel is a worm gear or a driven helical gear rotatably connected to the movable seat, and the driving gear is a long rod-shaped worm or a driving helical gear arranged along the X-axis direction and rotatably connected to the assembly bracket, and the two driving gears are respectively engaged with two opposite sides of the center wheel, wherein a first motor is fixedly mounted on the assembly bracket and is respectively connected to the two driving gears; or,

[0015] The first driving mechanism includes two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt wound between the two synchronous pulleys, and a first motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, and the movable seat is fixedly connected relative to the synchronous belt; the second driving mechanism includes a second motor fixedly mounted on the movable seat, and the second motor is connected to the swing shaft through a coupling, a gear pair or a synchronous belt transmission mechanism, wherein when the second motor is connected to the swing shaft through a coupling, the second motor is configured as a hollow motor; or,

[0016] The first driving mechanism comprises two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt wound between the two synchronous pulleys, and a first motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, and the movable seat is fixedly connected relative to the synchronous belt; the second driving mechanism comprises two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt stretched along the X-axis direction wound between the two synchronous pulleys, and a second motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, wherein a linkage wheel is coaxially fixedly connected to the swing shaft, and the linkage wheel meshes with the inner side of the synchronous pulley; or

[0017] The printing platform is fixedly connected to the frame, and the lifting drive mechanism drives the XR assembly to move along the Z-axis relative to the printing platform.

[0018] In a preferred embodiment, when an axial through hole is provided on the swing shaft through which a printing material conveying line for conveying printing material to the print head passes, wherein:

[0019] The printing material transmission line is a feeding tube, or,

[0020] The printing material conveying line includes a rigid pipeline; or,

[0021] The printing material conveying line includes, in sequence, a first feeding pipe connected to the upper end of the axial through hole, the axial through hole, and a second feeding pipe connected to the lower end of the axial through hole, wherein the second feeding pipe is connected to the print head to convey printing material to the print head; or

[0022] The printing material transmission line is a filamentous printing material; or,

[0023] The wire and / or air supply pipe passes through the axial through hole and is connected to the print head; or,

[0024] A conductive slip ring is installed in the axial through hole, and the conductive slip ring includes a first slip ring and a second slip ring that are rotatably connected to each other, the first slip ring is fixedly connected to the swing shaft, and the first slip ring is connected to the print head via a wire, and the second slip ring is fixedly connected to the movable base, and the second slip ring is connected to a wire for connecting to a controller; or,

[0025] An adapter plate is provided on the swing shaft, and electrical connection terminals are respectively provided on both sides of the adapter plate, the electrical connection terminal on the side away from the print head is electrically connected to the controller, and the electrical connection terminal on the side close to the print head is electrically connected to the electrical device on the print head; or,

[0026] The swing arm is provided with a through hole, and the feeding pipe and / or wire passes through the axial through hole upward and downward and then passes through the through hole to be connected to the print head; or,

[0027] The swing shaft is provided with a notch on the side facing the swing arm, and the swing arm is provided with a through-hole, and a feed pipe and / or a wire passing through the axial through-hole upward and downward is led out from the notch and connected to the print head after passing through the through-hole; or, it also includes a material table, and the material table includes a rotatable material stand, a material source is provided on the material stand and rotates with the material stand, and the material stand can rotate with the swing arm, and the feed pipe is connected to the print head from the material source on the material stand through the axial through-hole provided on the swing shaft and / or the wire is connected to the print head from the material stand through the axial through-hole provided on the swing shaft; or,

[0028] It also includes a material table, which includes a rotatable material table frame, a material source is arranged on the material table frame and rotates with the material table frame, the material table frame is driven by the material table driving mechanism to rotate along with the swing shaft, the material table frame has an axial hole along the rotation axis, the material table frame is driven by the material table driving mechanism to rotate along with the swing arm, a conductive slip ring is installed in the axial hole, the conductive slip ring includes a first slip ring and a second slip ring that are rotatably connected to each other, the first slip ring is fixedly connected relative to the material table frame, the wire connected to the first slip ring passes through the axial through hole opened on the swing shaft and is connected to the print head, and the two slip rings are connected with a wire for connecting to a controller.

[0029] In a preferred embodiment, there are two or more XR assemblies, wherein:

[0030] The printing ranges of two adjacent XR assemblies overlap or seamlessly connect in the Y-axis direction and / or the X-axis direction; and / or,

[0031] When the XR assembly is connected to the frame for movement along the Z-axis direction, each XR assembly is configured with the lifting drive mechanism so as to move independently relative to the frame, or each XR assembly shares the lifting drive mechanism.

[0032] In a preferred embodiment, the number of the swing arms in the XR assembly is two or more, each of the swing arms is rotatably connected to the movable base via a swing shaft, the print head is fixedly mounted at the end of each swing arm, the distances of each print head to the printing platform along the Z-axis direction are the same or different, each of the swing shafts is configured with the second driving mechanism; each of the swing shafts has an axial through hole or no axial through hole along the Z-axis direction; wherein,

[0033] The swing shafts are coaxially arranged in a sleeve manner; or,

[0034] The swing shafts are arranged at intervals along the XY plane direction on the moving base.

[0035] In a preferred embodiment, the printing material is a filamentary material, and further includes a wire feeder for driving the filamentary material to feed along the axial direction of the filamentary material and conveying the filamentary material to the nozzle or extrusion port of the print head, and a wire feeding drive mechanism for driving the wire feeder to drive the filamentary material to feed; wherein:

[0036] The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the print head, wherein the power output end of the wire feeding motor is coaxially fixedly connected to the power input end of the wire feeder or is transmission-connected to the power input end of the wire feeder via a gear pair, a coupling, a belt transmission mechanism, a synchronous belt transmission mechanism or a chain transmission mechanism; or

[0037] The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the swing arm, and the power output end of the wire feeding motor is connected to the power input end of the wire feeder through a gear pair, a coupling, a belt transmission mechanism, a synchronous belt transmission mechanism or a chain transmission mechanism; or,

[0038] The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the swing arm or the swing shaft, the power output end of the wire feeding motor is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, a belt transmission mechanism or a chain transmission mechanism, and the center of mass or gravity of the wire feeding motor is arranged on a side away from the print head relative to the rotation axis of the swing arm; or

[0039] The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the movable base, the wire feeding motor having a hollow structure, the wire feeding motor being coaxially arranged with the swing shaft or the central axis of the movable base, the wire feeding motor being transmission-connected to the power input end of the wire feeder via a synchronous belt transmission mechanism, wherein, when the axis of the wire feeding motor and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the wire feeding motor and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder;

[0040] The wire feeding drive mechanism includes a driving shaft and a wire feeding motor fixedly mounted on the movable seat, the driving shaft and the swinging shaft are coaxially sleeved and rotatably connected to each other; the wire feeding motor is connected to the driving shaft through a synchronous belt transmission mechanism, and the driving shaft is connected to the power input end of the wire feeder through another synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or,

[0041] The wire feeding drive mechanism includes a driving shaft and a wire feeding motor fixedly mounted on the assembly bracket, the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; the driving shaft is also fixedly mounted with a driving wheel, and the wire feeding drive mechanism also includes two synchronous belt pulleys rotatably connected to the assembly bracket, a synchronous belt stretched along the X-axis direction is wound between the two synchronous belt pulleys, the inner side of the synchronous belt is meshed with the driving wheel, and the wire feeding motor is transmission connected to one of the synchronous belt pulleys; the driving shaft is transmission-connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is also connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or,

[0042] The cam-type transmission mechanism is a transmission mechanism which is connected to the transmission mechanism of the present invention, and the transmission mechanism of the present invention is a transmission mechanism which is connected to the transmission mechanism of the present invention on the one hand, and the transmission mechanism of the present invention on the other hand, and a transmission mechanism of the present invention on the other hand.

[0043] The wire feeding drive mechanism includes a driving shaft and a line angle coupling transmission mechanism based on a synchronous belt, and the line angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; the linkage wheel is coaxially fixedly connected to the driving shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a second motor fixedly mounted on the assembly bracket; wherein the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively meshed with the two opposite sides of the linkage wheel; it also includes a guide wheel rotatably connected to the movable seat, each synchronous belt is equipped with two guide wheels, and the two guide wheels are arranged along the X-axis direction. On both sides of the linkage wheel, the two guide wheels are used to increase the engagement length of the synchronous belt when passing through the linkage wheel; the movable seat is also equipped with a first shaft and a second shaft, wherein, along the X-axis direction, the two guide wheels located on the same side of the linkage wheel are coaxially and rotatably sleeved on the first shaft, and the two guide wheels located on the other side of the linkage wheel are coaxially and rotatably sleeved on the second shaft; the driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or,

[0044] The wire feeding drive mechanism includes a driving shaft and a line angle coupling transmission mechanism based on a gear pair, and the line angle coupling transmission mechanism based on the gear pair includes a center wheel and two driving gears, and the driving shaft is coaxially sleeved with the swing shaft and rotatably connected to each other; the center wheel is a worm gear or a driven helical gear coaxially fixedly connected to the driving shaft, and the driving gear is a long rod-shaped worm gear or an active helical gear arranged along the X-axis direction and rotatably connected to the assembly bracket, and the two driving gears are respectively meshed with two opposite sides of the center wheel, wherein a second motor is fixedly mounted on the assembly bracket and is respectively connected to the two driving gears; the driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is also connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder.

[0045] In a preferred embodiment, when the wire feeding drive mechanism includes a driving shaft and the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; wherein,

[0046] The swing shaft is rotatably connected to the movable seat, the drive shaft is sleeved on the inner side of the tubular swing shaft, and the axial through hole is axially opened on the wall of the swing shaft or the drive shaft, or the axial through hole is not opened; or,

[0047] The drive shaft is sleeved on the outer side of the swing shaft, the drive shaft is rotatably connected to the movable seat, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or,

[0048] The swing shaft is rotatably sleeved inside the central shaft of the movable seat, the drive shaft is rotatably sleeved outside the central shaft of the movable seat, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or

[0049] The swing shaft is rotatably sleeved within the central shaft of the movable seat, the drive shaft is rotatably sleeved outside the swing shaft, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or,

[0050] The swing shaft is rotatably sleeved inside the central shaft of the movable seat, the upper portion of the drive shaft in the Z-axis direction is rotatably sleeved outside the central shaft of the movable seat, the lower portion of the drive shaft in the Z-axis direction is rotatably sleeved outside the swing shaft, and the axial through hole is provided in the axial direction of the swing shaft or not; or

[0051] The swing shaft is rotatably sleeved outside the central shaft of the movable seat, and the driving shaft is rotatably sleeved inside the central shaft of the movable seat. The driving shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction.

[0052] In a preferred embodiment, when the axial through hole is provided on the swing shaft, a guide member is provided on the swing arm, and the printing material transmission line passing through the axial through hole upward and downward is connected to the print head after being guided by the guide member, so that the printing material transmission line and the synchronous belt transmission mechanism are prevented from touching each other.

[0053] In a preferred embodiment, the wire feeder includes a first squeezing roller and at least one second squeezing roller, both of which are rotatably connected to the swing arm, the axes of the first squeezing roller and the second squeezing roller are parallel to each other and perpendicular to the Z-axis direction, the first squeezing roller and the second squeezing roller are arranged opposite to each other and form a wire feeding channel for driving the filamentary material to feed axially along the filamentary material at opposite positions, the second squeezing roller and the first squeezing roller are not connected or are connected through a gear pair; the power transmission end of the wire feeding drive mechanism is transmission-connected to the first squeezing roller and / or the second squeezing roller serving as the power input end of the wire feeder; wherein, when there are two or more second squeezing rollers, each second squeezing roller is arranged circumferentially around the first squeezing roller at intervals; or,

[0054] The wire feeder includes a bracket and at least two squeezing rollers, the bracket being rotatably connected to the swing arm, and the rotation axis of the bracket is parallel to the Z-axis direction, the bracket has a channel for the passage of the filamentary material along its rotation axis, the squeezing rollers are rotatably connected to the bracket, and each of the squeezing rollers is circumferentially spaced around the rotation axis of the bracket, the squeezing rollers rotate around the rotation axis of the bracket to form a wire feeding channel for driving the filamentary material to be fed axially along the filamentary material; wherein the rotation axis of the squeezing roller is parallel to the Z-axis direction or has an inclination angle with the Z-axis direction, and the surface of at least one of the squeezing rollers is provided with a plurality of convex teeth for driving the filamentary material; the convex teeth provided on the squeezing roller whose axis is parallel to the Z-axis direction are spiral, and the convex teeth provided on the squeezing roller whose axis is inclined relative to the Z-axis direction are annular; the power transmission end of the wire feeding drive mechanism is transmission-connected to the bracket serving as the power input end of the wire feeder.

[0055] The frame includes a first frame and a second frame, the first frame and the second frame are detachably fixedly connected, the two adjacent XR assemblies are respectively movably connected to the first frame and the second frame along the Z-axis direction or are respectively fixedly connected to the first frame and the second frame, the printing ranges of the two adjacent XR assemblies overlap or seamlessly connect in the Y-axis direction and / or the X-axis direction, and the printing platforms corresponding to each XR assembly are coplanar or share the same printing platform.

[0056] When the travel of the movable base along the X-axis direction is greater than or equal to twice the rotation radius of the print head, the printing range of the XR assembly in the 3D printing device includes a first limit circle area, a second limit circle area, and an area between the first limit circle and the second limit circle, and the first limit circle and the second limit circle are respectively the circular paths formed after the swing arm drives the print head to rotate when the movable base is located at both ends of the X-axis direction; when the layer pattern of the model to be printed spans the first limit circle area and the second limit circle area, the swing arm drives the print head toward the first end area and, in combination with the movement of the movable base along the X-axis direction and the rotation of the swing arm around an axis parallel to the Z-axis direction, the print head Print the layer pattern of the first limit circle area. When it is necessary to print the layer pattern of the second limit circle area, the swing arm drives the print head to rotate to the direction of the second end area. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the second limit circle area. When it is necessary to print the layer pattern of the area between the first limit circle and the second limit circle, the swing arm drives the print head to rotate to the direction of the first end area or the second end area. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the area between the first limit circle and the second limit circle.

[0057] By adopting the above technical solution, the beneficial effects of the present invention are at least one of the following:

[0058] 1. The technical solution of the present invention organically combines linear motion in rectangular coordinates and rotational motion in polar coordinates in a minimalist manner, thereby realizing a 3D printing device with a simple and compact structure but a fast printing speed and a large printing size. The print head can be driven to move quickly and over a large distance by a small movement of the movable seat and the swing arm. An axial through hole is provided on the swing shaft for a printing material transmission line to convey printing material to the print head, and / or the travel of the movable seat along the X-axis direction is greater than or equal to twice the rotation radius of the print head, which is conducive to achieving a faster printing speed and the ability to print larger models with a compact and simple structure.

[0059] 2. The print material transmission line passes through the axial through-hole on the swing shaft. During the swinging process, the swing arm avoids interference between the assembly bracket, guide rail, synchronous belt, or drive gear of the XR assembly and the print material transmission line (such as filamentary material or feed tube, etc.), or avoids or reduces winding and kinking of the print material transmission line. In particular, it can avoid winding of the print material transmission line and the swing shaft, allowing the swing arm to swing freely and at high speed within a larger range, which is conducive to increasing the print size and improving the printing speed, and makes the transmission process of the print material to the print head smoother. Within a large or infinite rotation angle range, no matter how the swing arm rotates, it hardly affects the smooth transmission of the print material.

[0060] 3. By moving the base along the X-axis with a range greater than or equal to twice the radius of the swing arm, the print head can achieve a printing blind area within the entire printing range, which is greatly beneficial to the increase of printing size. This solution can eliminate the need to add additional degrees of freedom or structural complexity to increase the printing size or avoid printing blind areas, greatly simplifying the overall structure and swing arm structure. The simplified and lightweight XR assembly or swing arm structure also helps to improve printing speed. In short, it is conducive to faster printing and printing with larger build sizes.

[0061] 4. The frame structure of the 3D printing device provided by the present invention is simple and has better stability and reliability. The printing material transmission line passes through the axial through hole on the swing shaft. The swing arm avoids interference between the assembly bracket or guide rail or synchronous belt or drive gear of the XR assembly and the filamentous material or the printing material transmission line during the swing process, or avoids or reduces the winding and kinking of the printing material transmission line, especially avoiding the winding of the printing material transmission line and the swing shaft. This can greatly improve the stability and reliability of the printing process, or by moving the movable base along the X-axis direction. The range is greater than or equal to twice the radius of the swing arm, so that the print head can achieve printing without blind spots within the entire printing range. This can effectively ensure that large-size and high-speed printing can be achieved without adding more degrees of freedom or complex structures, that is, based on a simpler structure, further increasing the stability and reliability of the overall structure, and also helping to reduce costs. For example, compared with a gantry-type 3D printer, the printing platform of the 3D printing device provided by the present invention realizes model printing without moving along the Y-axis direction. Compared with a rectangular coordinate 3D printer in which the print head moves in the XY plane, the XR assembly of the 3D printing device provided by the present invention has a simpler structure similar to that of a gantry-type 3D printer, and the structure is simpler and the movement is more stable and reliable.

[0062] 5. The technical solution of the present invention has strong scalability and flexible application. For example, it can easily further realize parallel printing of multiple print heads and achieve a further faster printing speed. By extending the swing arm outward, a large printing range or covering printing of a large molding range between multiple XR assemblies can be achieved, so that the printing areas of multiple XR assemblies can be easily overlapped and interference can be avoided between the X-axis guide rails of each XR assembly or the assembly bracket of the XR assembly, thereby realizing parallel printing of multiple print heads; or multiple 3D printing devices proposed by the present invention can be spliced ​​and combined to form a joint 3D printing device, which can realize more flexible 3D printing applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] FIG1 is a perspective schematic diagram of a swing-arm 3D printing device.

[0064] FIG2 is a three-dimensional schematic diagram of another swing-arm 3D printing device.

[0065] FIG. 3 is a schematic diagram of the top view of FIG. 2 .

[0066] FIG4 is a three-dimensional schematic diagram of an independent dual-nozzle 3D printing device implemented based on the 3D printing device described in FIG2 .

[0067] FIG. 5 is a schematic diagram of the top view of FIG. 4 .

[0068] FIG6 is a schematic perspective view of a 3D printing device improved on the basis of the 3D printing device shown in FIG2 .

[0069] FIG7 is a schematic diagram of the three-dimensional structure of a 3D printing device that uses a linear angle coupling transmission mechanism based on a gear pair to drive a swing arm.

[0070] FIG8 is a side view schematic diagram of a 3D printing device in which the swing shaft has an axial through hole.

[0071] FIG9 is a side view of a 3D printing device in which a wire adapter plate is provided on the swing shaft.

[0072] FIG10 is a side view schematic diagram of a 3D printing device with a conductive slip ring provided at the swing shaft.

[0073] FIG11 is a schematic diagram of the three-dimensional structure of a 3D printing device using a central axis structure.

[0074] FIG12 is a side view of a 3D printing device in which a swing shaft right-angle gear transmission pair is used to drive a wire feeder at a print head.

[0075] FIG13 is a side view of a 3D printing device in which a swing shaft helical gear transmission pair drives a wire feeder at a print head.

[0076] FIG14 and FIG15 are schematic diagrams of two three-dimensional structures of the wire feeder that can be used in FIG12 and FIG13.

[0077] Figure 16 is a three-dimensional schematic diagram of a 3D printing device in which a wire feeder is arranged at the 3D printing head and a driving motor is arranged at the swinging axis.

[0078] FIG17 is a schematic diagram of the three-dimensional structure of a 3D printing device in which a wire feeder on a printing head is driven by a synchronous belt.

[0079] FIG18 is a schematic diagram of the three-dimensional structure of another 3D printing device in which a wire feeder on a printing head is driven by a synchronous belt.

[0080] FIG19 is a schematic diagram of the three-dimensional structure of another 3D printing device in which a wire feeder on a printing head is driven by a synchronous belt.

[0081] FIG20 is a schematic diagram of the three-dimensional structure of a 3D printing device in which two linear angle coupling transmission mechanisms based on synchronous belts respectively drive the rotation of the swing shaft and the drive shaft.

[0082] Figure 21 is a schematic diagram of the three-dimensional structure of a 3D printing device in which the drive shaft is sleeved outside the swing shaft or outside the tube structure on the movable seat.

[0083] Figure 22 is a schematic diagram of the three-dimensional structure of a 3D printing device in which the swing shaft is sleeved outside the tube structure on the moving seat and the drive shaft is sleeved inside the tube structure on the moving seat.

[0084] FIG23 is a schematic diagram of the three-dimensional structure of a 3D printing device in which two linear-angle coupling transmission mechanisms based on gear pairs respectively drive the rotation of the swing shaft and the drive shaft.

[0085] FIG24 is a schematic diagram of the three-dimensional structure of a 3D printing device that feeds material to a 3D printing head via a rotatable material table.

[0086] FIG25 is a schematic diagram of the three-dimensional structure of another 3D printing device that feeds material to the 3D printing head through a rotatable material table.

[0087] FIG26 is a schematic diagram of the three-dimensional structure of a combined 3D printing device formed by splicing and combining multiple 3D printing devices.

[0088] FIG27 is a top view schematic diagram of a combined 3D printing device formed by splicing and combining multiple 3D printing devices.

[0089] FIG28 is a side view of a 3D printing device having multiple swing arms coaxially sleeved with each other.

[0090] FIG29 is a schematic diagram of the three-dimensional structure of a 3D printing device having multiple swing arms and the swing axes are arranged at intervals.

[0091] Figure 30 is a schematic diagram of an embodiment in which the maximum movable displacement of the movable seat is less than 2 times the swing arm radius (the rotation radius of the print head).

[0092] Figure 31 is a schematic diagram of an embodiment in which the maximum movable displacement of the movable seat is greater than or equal to 2 times the swing arm radius (the rotation radius of the print head). DETAILED DESCRIPTION

[0093] The following is a further description of specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is intended to facilitate understanding of the present invention and does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0094] It should be noted that, in the description of the present invention, the terms "up", "down", "left", "right", "front", "back", etc. indicating directions or positional relationships are based on the description of the structure of the present invention shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it cannot be understood as a limitation on the present invention.

[0095] The "first" and "second" in this technical solution are only used to distinguish the same or similar structures, or corresponding structures with similar functions, and are not an arrangement of the importance of these structures, nor do they have any ranking, size comparison, or other meanings.

[0096] In addition, unless otherwise expressly specified or limited, the terms "installed" and "connected" should be understood broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two structures. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on the overall principles of the present invention and the specific context of this solution.

[0097] Example 1

[0098] An embodiment of the present invention provides a 3D printing device 100 , including an XR assembly, a printing platform 61 , and a frame 80 .

[0099] The XR assembly specifically includes an assembly bracket, a movable base 11, a swing arm 12, a print head, a first drive mechanism and a second drive mechanism.

[0100] As shown in FIG1 , the movable seat 11 is connected to the assembly bracket movably along the X-axis direction, as shown by arrow X. For example, a guide rail 51 arranged along the X-axis direction is fixedly mounted on the assembly bracket, and the movable seat 11 is slidably connected to the guide rail 51 .

[0101] The swing arm 12 is rotatably connected to the movable base 11 via a swing shaft 121 arranged along the Z-axis direction. For example, a mounting hole is provided in the movable base 11, and the swing shaft 121 is rotatably connected to the mounting hole via a bearing 56. As shown in FIG8 , a corresponding bearing gland (not shown) for limiting the axial position of the bearing 56 is fixedly mounted on the movable base 11 via screws or bolts. One end of the swing arm 12 is fixed to the swing shaft 121 via welding, screws, keys, pins, or integral molding, so that the swing arm 12 can rotate relative to the movable base 11, as indicated by arrow R.

[0102] The print head is fixedly mounted at the other end of the swing arm 12. Typically, the print head's rotation radius (also known as the swing arm radius, which refers to the distance between the axis of the print head's outlet and the rotation axis of the swing shaft 121) can be roughly the same as the length of the swing arm 12. When used for printing slurry materials, a feed pipe 72 for conveying the slurry can be directly connected to the nozzle 13 on the print head. The slurry can be pressurized by a pump or other pressure-boosting device. When used for printing filamentary materials, the print head typically includes, from bottom to top, a nozzle 13, a heating block 14, and heat sinks 15. The heat sinks 15 dissipate heat from the filamentary material conveying pipeline, the heating block 14 heats the filamentary material, and the nozzle 13 extrudes the filamentary material onto the printing platform 61 below (either directly onto the printing platform or onto a partially printed model on the printing platform). The filamentary material is then stacked layer by layer to form a three-dimensional model. The print head also includes detection components such as a temperature sensor. Typically, filamentary materials are also transported via feed tube 72, differing from paddle-shaped materials in that they are driven differently. The filamentary material feeder can be located along the printing material transport path, for example, on the print head, on the swing arm, on the movable base, on the assembly bracket of the XR assembly, or on the frame 80. For example, as shown in Figure 24, a wire feeder 71 (or feeder or extruder, etc.) is installed on the swing arm 12 or the print head. The wire feeder 71 includes extrusion rollers (i.e., a first extrusion roller 711 and a second extrusion roller 712) that are parallel to each other and arranged opposite to each other. The two extrusion rollers are both perpendicular to the Z-axis direction. One of the extrusion rollers (e.g., the first extrusion roller 711) is connected to a driving motor, such as a wire feeding motor 44 fixedly mounted on the swing arm 12. A synchronous belt 20 is stretched on the swing arm 12 along its length. The motor shaft of the wire feeding motor 44 and the first extrusion roller 712 are respectively fixedly connected with synchronous pulleys that mesh with the synchronous belt 20, so that the wire feeding motor 44 is connected to the first extrusion roller 711 through a synchronous belt transmission mechanism. Of course, it can also be connected through a gear pair or a coupling. A feed channel for driving the filamentary material to be transported along its axial direction can be formed between the two squeezing rollers. The squeezing rollers can have a convex tooth structure for partially embedding into the filamentary material, and driving the filamentary material to be fed axially in the feed channel as the squeezing rollers rotate. The output shaft of the wire feeding motor 44 can also be coaxially fixedly connected to the first squeezing roller, that is, the wire feeding motor 44 is directly mounted on the print head and connected to the first squeezing roller in a transmission manner, so that the synchronous belt 20 and the corresponding synchronous pulley are not required. Of course, there can be multiple second squeezing rollers 712, and the multiple second squeezing rollers 712 are arranged in a planetary shape around the first squeezing roller 711 in a circumferentially spaced manner. A feed channel for transporting the filamentary material is formed between each second squeezing roller 712 and the first squeezing roller 711, as shown in Figure 12, and the second squeezing roller 712 can also serve as the power input end of the wire feeder, as shown in Figure 13.In a solution where the plurality of second squeezing rollers 712 are arranged around the periphery of the first squeezing roller 711 , the filamentary material is fed around the first squeezing roller 711 in the axial direction of the filamentary material, as shown in FIG. 14 and FIG. 15 .

[0103] The first drive mechanism is used to drive the movable base 11 to move along the X-axis, for example, along the guide rail 51. In this embodiment, the first drive mechanism includes a first motor 41, a synchronous belt 20, and two synchronous pulleys 302 and 303. Both synchronous pulleys 302 and 303 are rotatably connected to the assembly bracket. The synchronous belt 20 is wound between the two synchronous pulleys 302 and 303 and stretched along the X-axis. The motor shaft of the first motor 41 is in driving connection with either synchronous pulley 302 or 303. The movable base 11 is fixedly connected to the synchronous belt 20.

[0104] The first drive mechanism may also employ a screw pair, for example, a long, rod-shaped screw arranged along the X-axis, the screw engaging a threaded hole or nut on the movable base 11. The first motor 41 may be drivingly connected to the screw, for example, by a coaxial fixed connection or via a coupling or gear pair. The first motor 41 may be fixedly connected to the assembly bracket. Driving the movable base 11 via the screw pair allows for smoother and more precise X-axis movement.

[0105] The second driving mechanism is used to drive the swing arm 12 to rotate about an axis parallel to the Z-axis direction (i.e., the rotation axis of the swing shaft 121). In this embodiment, the second driving mechanism includes a second motor 42 fixedly mounted on the movable base 11. The motor shaft of the second motor 42 is connected to the swing shaft 121 in a transmission manner. For example, the motor shaft of the second motor 42 is connected to the swing shaft 121 via a coupling, a gear pair, or a synchronous belt transmission mechanism. The coupling is used to fixedly connect the motor shaft to the swing shaft, such as a screw, a key, or a pin. A sensor can also be provided between the swing arm and the movable base to detect the initial angular position or rotation angle of the swing arm relative to the movable base.

[0106] The printing platform 61 is arranged parallel to the XY plane. The print head is usually arranged on the side of the swing arm 12 close to the printing platform 61 (i.e., the bottom side), and the swing arm 12 is also arranged on the side of the relative movable base 11 close to the printing platform 61 (i.e., the bottom side). The first drive mechanism is arranged on the side of the relative movable base 11 away from the printing platform 61, and the second drive mechanism is usually arranged on the side of the relative movable base 11 away from the printing platform 61. This can avoid the first drive mechanism and the second drive mechanism occupying the space between the movable base 11 and the printing platform 61, so that the swinging motion of the swing arm 12 is not interfered with, which is conducive to the arrangement of a longer swing arm 12. In addition, arranging the first drive mechanism and the second drive mechanism on the same side of the movable base 11 is also conducive to the arrangement of the motor cables. Of course, the first drive mechanism can also be arranged on the side of the relative movable base 11 close to the printing platform 61, and the second drive mechanism can also be arranged on the side of the relative movable base 11 close to the printing platform 61. The X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0107] In this embodiment, the XR assembly is also connected to the frame 80 so as to be movable along the Z-axis direction. For example, the assembly bracket in the XR assembly can be an end seat 55, and the guide rail 51 is fixedly connected to the end seat 55. A Z-direction slide rail 53 (as shown in FIG6 ) is arranged on the frame 80 along the Z-direction direction, and the end seat 55 is slidably connected to the Z-direction slide rail. The end seat 55 can also be used to mount the first motor 41 and the second motor 42. In addition, the frame 80 is also equipped with a lifting drive mechanism for driving the XR assembly to move along the Z-axis direction. For example, the lifting drive mechanism includes a lifting motor 43 and a screw 52. The lifting motor 43 is fixedly connected to the frame 80. The screw 52 is connected to the motor shaft of the lifting motor 43 on one hand and is connected to the end seat 55 through a screw pair on the other hand. The XR assembly can be driven to move along the Z-axis direction by the lifting motor 43 driving the screw 52 to rotate. The screw 52 can also be rotatably connected to the frame 80 via a bearing. Of course, the lifting drive mechanism can also be a synchronous belt transmission mechanism, a cylinder with a locking function, or a hydraulic cylinder.

[0108] The lift drive mechanism can also be used to adjust the distance between the XR assembly and the printing platform. This can be an automatic or manual adjustment mechanism. For example, in Figures 2 or 10 , only the screw 52 can be retained, and the lift motor 43 can be eliminated, with the distance between the XR assembly and the printing platform adjusted manually. For some models with only one layer (such as thin films, lines, or line patterns), it may only be necessary to adjust the initial distance between the XR assembly and the printing platform. For example, the lift drive mechanism can also be a screw-nut adjustment pair or a cam adjustment mechanism.

[0109] In other embodiments, the printing platform 61 can be connected to the frame 80 so as to be movable along the Z-axis direction. For example, the lifting motor 43 drives the lead screw 52 to drive the printing platform 61 to move along the Z-axis direction (as shown in FIG. 10 ), or both the XR assembly and the printing platform 61 can be connected to the frame 80 so as to be movable along the Z-axis direction. Furthermore, the XR assembly (printing platform 61) that is movably connected relative to the frame 80 is equipped with a lifting drive mechanism.

[0110] In this embodiment, the movable base 11 is further configured to move along the X-axis direction so that the travel thereof is greater than or equal to twice the rotation radius of the print head. Under the combined action of the movement of the movable base 11 and the swinging action of the swing arm 12, the print head can form an elongated elliptical printing area 91 without a printing blind spot on the printing platform 61.

[0111] During use, the swing arm 12 rotates relative to the movable base 11 via the swing shaft 121, and the axis of the swing shaft 121 is fixed relative to the movable base 11. When the movable base 11 moves along the guide rail 51, two extreme positions are formed at both ends of its moving direction. When the movable base 11 moves to the first end, such as the leftmost end in Figure 30 or Figure 31, the swing arm 12 rotates one circle relative to the movable base 11 via the swing shaft 121, and the movement path of the print head forms a first extreme circle 901; and when the movable base 11 moves to the second end, such as the rightmost end in Figure 30 or Figure 31, the swing arm 12 rotates one circle relative to the movable base 11 via the swing shaft 121, and the movement path of the print head forms a second extreme circle 902.

[0112] Therefore, the printing area 91 can be divided into three parts: the first limit circle area, the second limit circle area, and the area between the first limit circle and the second limit circle. The first limit circle area includes the area within the first limit circle 901 and the circular outline of the first limit circle 901, the second limit circle area includes the area within the second limit circle 902 and the circular outline of the second limit circle 902, and the area between the first limit circle and the second limit circle includes the area outside the first limit circle 901 and the second limit circle 902; or, the first limit circle area includes the area within the first limit circle 901, the second limit circle area includes the area within the second limit circle 902, and the area between the first limit circle and the second limit circle includes the area outside the first limit circle 901 and the second limit circle 902, as well as the circular outline of the first limit circle 901 and the circular outline of the second limit circle 902. It is also defined that the first end area direction refers to the swing arm state in which the angle between the swing arm 12 and the guide rail portion along the X-axis direction from the swing shaft 121 to the first end of the guide rail 51 is less than or equal to 90 degrees, and the second end area direction refers to the swing arm state in which the angle between the swing arm 12 and the guide rail portion along the X-axis direction from the swing shaft 121 to the second end of the guide rail 51 is less than or equal to 90 degrees. When the swing arm is at an angle of 90 degrees to the X-axis direction, that is, the swing arm is perpendicular to the X-axis direction, the angle between the swing arm and the X-axis direction refers to the angle between the axis of the extrusion port (nozzle) of the print head and the rotation axis of the swing shaft and the connecting line parallel to the XY plane and the X-axis direction. When the moving distance of the movable base 11 along the guide rail 51 is less than twice the radius of the swing arm 12 (i.e., the rotation radius of the print head), as shown in Figure 30, the first limit circle 901 and the second limit circle 902 will produce an intersection area, which is the printing blind area 912. At this time, no matter how the movable base 11 moves along the guide rail 51 and how the swing arm 12 swings, the print head cannot reach the printing blind area 912, so that a printing blind area 912 that cannot be printed is formed inside the printing area 91, which is not conducive to the laying of the model to be printed on the printing platform 61, and also greatly reduces the actual molding size of the printable model. For example, for the model 69 to be printed, since a part of the model is located in the printing blind area 912, the part cannot be printed. When the moving distance of the movable base 11 along the guide rail 51 is greater than or equal to twice the length of the swing arm 12, as shown in Figure 31, the first limit circle 901 and the second limit circle 902 will not produce an intersection area, but will contact or separate from each other, thereby eliminating the printing blind area 912, so that the print head can reach all areas within the printing area 91 through the movement of the movable base 11 and the swing of the swing arm 12.

[0113] To further illustrate, when the travel of the movable base along the X-axis is greater than or equal to twice the rotation radius of the print head, the printing range of the XR assembly in the 3D printing device includes the first limit circle area, the second limit circle area, and the area between the first limit circle and the second limit circle, as shown in Figure 31. The first limit circle and the second limit circle are the circular paths formed by the swing arm driving the print head to rotate when the movable base is located at the two ends of the X-axis direction. Then, when the layer pattern of the model to be printed spans the first limit circle area and the second limit circle area, the swing arm drives the print head toward the first end area and combined with the movement of the movable base along the X-axis direction and the rotation of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the first limit circle area. When it is necessary to print the layer pattern of the second limit circle area, the swing arm drives the print head to rotate to the second end area direction. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the second limit circle area. When it is necessary to print the layer pattern of the area between the first limit circle and the second limit circle, the swing arm drives the print head to rotate to the first end area direction or the second end area direction. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the area between the first limit circle and the second limit circle.

[0114] During 3D printing, the lifting drive mechanism moves the print head on the XR assembly to a first preset distance from the print platform. Printing begins by driving the movable base to move along the X-axis and the swing arm to swing or rotate about an axis parallel to the Z-axis, causing the print head to move along the XY plane along a preset printing path and extrude printing material onto the print platform. After each layer of printing is completed, the lifting drive mechanism moves the print head and print platform away from each other by a second preset distance, and then prints the next layer until printing is complete. For example, when printing model 69, it is typically printed layer by layer, with each layer representing a layer pattern of model 69. For each layer pattern, printing can be performed in the following manner: for example, first print the layer pattern located in the first limit circle area, at this time the swing arm 12 swings to the direction toward the first end area, such as the state of the swing arm 12 in Figure 30, and then through the movement of the movable seat 11 and the swing of the swing arm 12, the print head prints the layer pattern located in the first limit circle area; when it is necessary to further print the layer pattern located in the second limit circle area, the swing arm 12 first swings to the direction toward the second end area, such as the state of the swing arm 12 in Figure 31, and then through the movement of the movable seat 11 and the swing of the swing arm 12, the print head is able to print the layer pattern located in the second limit circle area, for the position For the layer pattern in the area between the first limit circle and the second limit circle, the swing arm 12 can be oriented toward the first end area or toward the second end area, and the swing arm can also be in a state perpendicular to the X-axis direction, so that a layer pattern of one layer can be completely printed. The above process can be repeated to print the layer pattern of each layer of the printed model. After printing a layer pattern, the lifting drive mechanism drives the XR assembly away from the printing platform 61 by a preset distance (such as layer thickness), or the lifting drive mechanism drives the printing platform 61 away from the preset distance relative to the XR assembly, and then the next layer pattern can be printed, and this is repeated until the entire model 69 is printed. In addition, the XR assembly can also move along the Y direction or the printing platform can also move along the Y direction.

[0115] The printing material can be a filament material, such as a thermoplastic resin material, such as PLA (polylactic acid), PP (Polypropylen), PE (polyethylene), ABS (Acrylonitrile Butadiene Styrene), PA (Polyamide) (nylon), PC (Polycarbonate), PS (Polystyrene), PEI (Poly (etherimide)), PET (Poly (Ethylene Terephthalare)), PEEK (Polyetheretherketone), TPU (Thermoplastic polyurethanes), etc.; or an elastic material, such as thermoplastic elastomer (TPE), styrene-butadiene rubber (SBR) and styrene-butadiene rubber (SBS), etc.; or thermoplastic polyurethane (TPU) or thermoplastic vulcanizate (TPV); of course, it can also be a thermosetting resin material or a photosensitive polymer resin material; or other flowable extrudable materials. The filamentary material may also be continuous fiber printing material (or continuous fiber filament material), fiber material, metal wire material (such as copper wire), optical fiber material, or other continuous linear material, or may be resin pre-impregnated continuous fiber material, or continuous fiber material such as carbon fiber, glass fiber, polyester, aramid, ceramic fiber, boron fiber, or basalt fiber. The printing material may also be a flowing material such as slurry, biomaterial, liquid (such as photosensitive material or ink), granular material, etc. The feed tube 72 may be made of a plastic material such as tetrafluoroethylene or other elastic or flexible material.

[0116] Example 2

[0117] In the first embodiment, the feed tube 72 and / or the wire 45 need to pass through the movable base 11 and then along the swing arm 12 to the print head. As shown in FIG8 , in this embodiment, an axial through hole 1211 is further provided on the swing shaft 121 for allowing a printing material transmission line to pass through for feeding printing material to the print head. The printing material transmission line can be a filamentary printing material or a feeding tube for printing material. The printing material transmission line can be flexible, for example, the axial through hole 1211 can be used to allow a flexible feed tube 72 or wire 45 to pass through. Of course, the printing material transmission line can also be rigid, for example, for transmitting printing materials such as slurry, liquid, or granular materials through a rigid pipeline. Optimally, the rigid pipeline maintains a rotationally sliding seal with the axial through hole 1211. The printing material transmission line can also be formed by connecting multiple sections of pipelines, for example, it can sequentially include a first feed tube connected to the upper end of the axial through hole, the axial through hole, and a second feed tube connected to the lower end of the axial through hole, the second feed tube being connected to the print head to feed printing material to the print head. During use, the feed tube 72 or the wire 45 passes through the axial through hole 1211 from top to bottom and is then connected to the print head. For example, the wire 45 is connected to an electrical device such as the heating block 14 (specifically, the heater 141 and the temperature sensor 142 therein) arranged on the print head. After the feed tube 72 is connected to the print head, if the feed tube 72 is conveying filamentary material, the filamentary material passes through the heat dissipation fins 15, the throat section, and the heating block 14 from top to bottom in sequence before being connected to the extrusion outlet of the nozzle 13. Alternatively, the filamentary material passes through the wire feeder, the heat dissipation fins 15, the throat section, and the heating block 14 from top to bottom in sequence before being connected to the extrusion outlet of the nozzle 13 and then extruded through the nozzle 13 onto the printing platform 61 to form the printed model 69. The throat section is a connecting pipe between the heat dissipation section (which may be provided with heat dissipation fins) and the heating section (which may be provided with a heating block) on the conveying pipeline that conveys the printing material to the nozzle.

[0118] At this time, when the motor shaft of the second motor 42 is coaxially connected to the swing shaft 121, for example, the motor shaft and the swing shaft are coaxially fixedly connected through a coupling, the second motor 42 is further configured as a hollow motor, so as to facilitate the feeding tube 72 and the wire 45 to pass through the axial through hole 1211.

[0119] The feed tube is connected to the print head after passing through the axial through hole. The feed tube can avoid winding or interfering with the swing shaft, and can also avoid interfering with the assembly bracket or guide rail or synchronous belt or drive gear of the XR assembly. Moreover, when the print head rotates around the swing shaft, the feed tube will not be pulled to hinder the rotation of the print head. In general, such a structure makes the rotation process of the swing arm and the print head freer, and can achieve a larger angle or even multiple rotations of the print head, so that the printing range is greatly increased, and the printing speed can also be greatly increased. Moreover, during the printing process, the process of the printing material (such as filamentary material) being transported to the print head along the feed tube is smoother, making the printing process more stable and reliable. In addition, the axial through hole can also be used for the air supply pipe to pass through. The air supply pipe can be connected to the print head to blow air and dissipate heat to the heat dissipation fins 15 on the print head or the printing material extruded by the print head.

[0120] Of course, this embodiment is not necessarily limited to the first embodiment in which the travel of the movable base 11 along the X-axis direction is greater than or equal to twice the rotation radius of the print head.

[0121] Example 3

[0122] As shown in FIG9 , based on the second embodiment, an adapter plate 46 is further provided on the swing shaft 121 to cover the axial through hole 1211. The adapter plate 46 has a through hole to facilitate the passage of the feed tube 72. Electrical connection terminals 461 are provided on the upper and lower sides of the adapter plate 46. The electrical connection terminals 461 located on the side of the adapter plate 46 away from the print head (i.e., the upper side) are electrically connected to the controller 59 via wires 45. The electrical connection terminals 461 located on the side of the adapter plate 46 closer to the print head (i.e., the lower side) are electrically connected to electrical components on the print head (e.g., the heater 141, the temperature sensor 142, the fan, etc.) via wires 45.

[0123] Example 4

[0124] As shown in FIG10 , based on the second embodiment, a conductive slip ring 440 is further provided within the axial through hole 1211 of the swing shaft 121. The conductive slip ring 440 specifically includes a first slip ring 441 and a second slip ring 442 that are rotatable with respect to each other, and a corresponding circuit connection is maintained between the first slip ring 441 and the second slip ring 442. The first slip ring 441 is fixedly connected to the inner wall of the axial through hole 1211 and is connected to the print head via a wire 45. The second slip ring 442 is fixedly connected to the movable base 11 and is connected to the controller 59 via a wire 45.

[0125] In this embodiment, the second sliding ring 442 is located inside the first sliding ring 441 , and is further configured to have a hollow tubular structure to facilitate the passage of the feeding tube 72 .

[0126] FIG10 also schematically illustrates the structural features of the third motor 43 in the lifting drive mechanism driving the printing platform 61 to move relative to the frame 80 via the lead screw 52 and the lead screw pair.

[0127] As shown in FIG11 , the movable base 11 may further include a central shaft 111 and an end plate 112. A swing shaft 121 is sleeved on the outside of the central shaft 111. A linkage wheel 30 or a central wheel 40 may be fixedly coupled to the swing shaft 121. The swing shaft 121 can be driven to rotate by a linear angle coupling transmission mechanism based on a synchronous belt or a gear pair. An axial through hole 1211 may also be provided axially on the central shaft 111 to allow the wire 45 or feed tube 72 to pass through and connect to the print head. The end plate 112 can drive the central shaft 111 to slide along the guide rail 51, which can be fixedly coupled to the end base 55 (assembly bracket). Of course, a conductive slip ring 440 can also be disposed within the axial through-hole 1211 of the central shaft 111. Referring to FIG. 10 , unlike the solution shown in FIG. 10 , the first slip ring 441 in the solution shown in FIG. 11 is connected to the central shaft 111. In the solution shown in FIG. 11 , the wire 45 connected to the first slip ring 441 is connected to the controller 59, while the wire 45 connected to the second slip ring 442 is connected to the electrical components on the print head. The second slip ring 442 can also be configured as a hollow tubular structure to facilitate the passage of the feed tube 72. Since the wire connected to the second slip ring 442 is connected to the print head, and the feed tube 72, which passes through the central tubular structure of the second slip ring 442, is also connected to the print head, the feed tube and the second slip ring 442 can rotate relatively synchronously, further preventing friction between the feed tube and the second slip ring 442 when the swing arm swings.

[0128] Example 5

[0129] Based on the content of Examples 2 to 4, it can be seen that after the feed tube 72 passes through the bottom of the swing shaft 121, it needs to bend upward as it extends toward the print head, so that the printing material can be connected to the print head from top to bottom and then fed into the nozzle 13. However, due to the presence of the swing arm 12, the feed tube 72 needs to avoid and detour.

[0130] Based on this, as shown in Figure 25, a through hole 1201 is provided on the swing arm 12, so that the feed tube 72 can pass through the through hole 1201 from bottom to top, and then be connected to the print head. That is, after the feed tube 72 is led out from under the swing shaft 121, the feed tube 72 will pass through the through hole 1201 on the swing arm 12 from bottom to top in the process of extending toward the print head, and then continue to extend toward the print head 12 and be connected to the print head from top to bottom. This arrangement makes the transmission line of the feed tube 72 smoother and the transmission path shorter, which can avoid the bending that may occur when the feed tube 72 has a small turning radius, and is conducive to the transportation of filamentary materials therein.

[0131] In addition, a notch 1212 communicating with the axial through hole 1211 can be further provided on the side wall of the swing shaft 121 below the movable base 11. Specifically, the notch 1212 is located between the movable base 11 and the printing platform 61. Preferably, the notch 1212 is located between the movable base 11 and the swing arm 12. For example, the notch 1212 is arranged toward the swing arm or the print head. In this manner, the feed tube 72 can be directly led out of the notch 1212 and then extend directly toward the print head, connecting to the print head from top to bottom. In this case, the perforation 1201 on the swing arm 12 can be retained to provide more room for the feed tube 72 to turn.

[0132] In addition, as shown in Figures 20, 21, 22, 23 and 24, a guide member 123 may be provided on the swing arm 12. In this case, the perforation 1201 on the swing arm 12 may or may not be retained. The guide member 123 is fixedly connected to the swing arm 12. Optimally, the guide member 123 protrudes from the synchronous belt transmission mechanism in the Z-axis direction. The synchronous belt transmission mechanism in this embodiment refers to a transmission mechanism for transmitting the power of the drive shaft or motor to the power input end of the wire feeder on the print head through the synchronous belt 20. The power input end of the wire feeder refers to a component that can receive power and is driven to rotate (such as an extrusion roller or a synchronous pulley or gear thereon). When driven to rotate, the component can drive the wire feeder to drive the filamentary material to be fed along the axial direction of the filamentary material. The flexible printing material transmission line, such as the feeding tube 72, passes through the axial through hole 1211 from top to bottom, then turns back from bottom to top and then connects to the printing material input end of the print head from top to bottom, such as the printing material input port of the wire feeder on the print head. Therefore, the feed tube will pass through the area of ​​the synchronous belt transmission mechanism in the direction of the XY plane during the process of turning back from bottom to top. When the swing arm swings, the synchronous belt may shake and touch the synchronous belt 20 of the synchronous belt transmission mechanism. Therefore, the feed tube 72 that will turn back from bottom to top can be connected to the guide member 123. For example, the guide member 123 is a tube structure arranged along the Z-axis direction or the Z-axis direction inclined toward the print head direction. For example, the feed tube 72 passes through the axial through hole from top to bottom, and then passes through the guide member 123 of the tube structure from bottom to top and then is connected to the print head from top to bottom or obliquely. Or the guide member is a plate-like structure fixed to the swing arm or a plate-like structure with grooves. The feed tube 72 that turns back from bottom to top is bound to the guide member, and the feed tube extends to the top of the synchronous belt transmission mechanism and then is connected to the print head from top to bottom. In this way, when the swing arm 12 rotates, the swing arm 12 will drive the guide member 123 and the feed tube 72 to rotate together, which can effectively prevent the feed tube from contacting the synchronous belt transmission mechanism. When the rotation axis of the synchronous belt transmission mechanism is parallel to the Z-axis direction, the guide member 123 can optimally pass through the gap in the synchronous belt 20 of the synchronous belt transmission mechanism, guiding the feed tube 72 to also pass through the gap in the synchronous belt 20. The transmission path of the feed tube 72 is shorter and the overall structure is more compact. The synchronous belt 20 is a closed-end circular synchronous belt. The gap in the synchronous belt 20 refers to the idle area between the synchronous belts that the synchronous belt 20 transmits back and forth. Of course, similarly, the guide member 123 can also be used to secure the wire 45 to the swing arm to prevent the wire from contacting the synchronous belt transmission mechanism.

[0133] Example 6

[0134] As shown in Figures 2 and 3, and referring also to Figures 6 and 11, in this embodiment, the first drive mechanism and the second drive mechanism together constitute a line-angle coupling transmission mechanism based on a synchronous belt, that is, the line-angle coupling transmission mechanism based on a synchronous belt can simultaneously realize the functions of driving the movable seat 11 to move and the swing shaft 12 to rotate.

[0135] The synchronous belt-based linear angle coupling transmission mechanism specifically includes a linkage wheel 30 and two synchronous belts (i.e., a left synchronous belt 21 and a right synchronous belt 22). The linkage wheel 30 is rotatably connected to the movable base 11 and is coaxially fixedly connected to the swing shaft 12. For example, the linkage wheel 30 is fixed to the swing shaft 12 via a key, spline, or pin, or the linkage wheel 30 and the swing shaft are integrally formed.

[0136] The left synchronous belt 21 and the right synchronous belt 22 are both annular synchronous belts (i.e., closed synchronous belts). The left synchronous belt 21 is stretched along the X-axis direction by the upper left wheel 31 and the lower left wheel 32, and the right synchronous belt 22 is stretched along the X-axis direction by the upper right wheel 33 and the lower right wheel 34. The linkage wheel 30, the upper left wheel 31, the lower left wheel 32, the upper right wheel 33 and the lower right wheel 34 are all synchronous pulleys, and the upper left wheel 31, the lower left wheel 32, the upper right wheel 33 and the lower right wheel 34 can all be rotatably connected to the assembly bracket, and at the same time, the two opposite sides of the linkage wheel 30 are respectively engaged with the inner sides of the left synchronous belt 21 and the right synchronous belt 22.

[0137] In addition, the first motor 41 fixed to the assembly bracket (such as the end seat 55) is transmission-connected (e.g., coaxially fixedly connected) to the upper left wheel 31, and the second motor 42 is transmission-connected (e.g., coaxially fixedly connected) to the upper right wheel 33. In a preferred embodiment, the first motor 41 and the second motor 42 are also arranged on the side of the assembly bracket (such as the end seat 55) away from the printing platform 61. That is, in Figures 2 and 3, the second motor 42 is preferably transmission-connected to the lower right wheel 34, thereby separating the first motor 41 and the second motor 42 from each other, thereby enabling both to be arranged more comfortably on the side of the assembly bracket (such as the end seat 55) away from the printing platform 61 (as shown in Figure 6).

[0138] In this way, when the left synchronous belt 21 and the right synchronous belt 22 rotate synchronously in the same direction (synchronous and in the same direction means that the rotation direction and speed of the upper left wheel 31, the lower left wheel 32, the upper right wheel 33 and the lower right wheel 34 are consistent), the pulling forces on the upper and lower sides of the interlocking wheel 30 just offset each other while rotating, so that the position of the movable base 11 on the guide rail 51 does not change, that is, the interlocking wheel 30 rotates in the direction indicated by the arrow R while not moving in the direction of the arrow X. When the left synchronous belt 21 and the right synchronous belt 22 rotate asynchronously in the same direction, the interlocking wheel 30 rotates in the direction indicated by the arrow R while the movable base 11 also moves in the direction of the arrow X. When the left synchronous belt 21 and the right synchronous belt 22 rotate synchronously in the opposite direction, the interlocking wheel 30 does not rotate in the direction indicated by the arrow R while the movable base 11 moves in the direction of the arrow X. When the left synchronous belt 21 and the right synchronous belt 22 rotate asynchronously in the opposite direction, the interlocking wheel 30 rotates in the direction indicated by the arrow R while the movable base 11 also moves in the direction of the arrow X.

[0139] Example 7

[0140] On the basis of Example 6, as shown in Figures 2 and 3, each line-angle coupling transmission mechanism is further rotatably connected to two groups of four guide wheels 35 on the movable base 11, and the guide wheels 35 are coaxially arranged in groups of two. For example, two guide wheels 35 are rotatably connected to the first axis, and the other two guide wheels 35 are rotatably connected to the second axis. The first axis and the second axis are both fixed on the movable base 11, and the first axis and the second axis are both parallel to the swing axis 121. Optimally, the first axis and the second axis are arranged symmetrically about the center of the swing axis 121, and the first axis, the swing axis 121 and the second axis are arranged in a row along the X-axis direction.

[0141] In this embodiment, the left and right synchronous belts 21 and 22 are further staggered along the Z-axis. Specifically, the left and right synchronous belts 21 and 22 are staggered along the axial direction of the linkage pulley 30 and overlap along the axial projection of the linkage pulley 30. For example, the left synchronous belt 21 is on the relatively upper side, and the right synchronous belt 22 is on the relatively lower side. Simultaneously, the inner sides of the left and right synchronous belts 21 and 22 remain engaged with opposite sides of the linkage pulley 30. Furthermore, the two guide wheels 35 mounted on the upper side of the first and second shafts abut against the outer side of the left synchronous belt 21, thereby increasing the meshing range between the left synchronous belt 21 and the linkage pulley 30. Similarly, the two guide wheels 35 mounted on the lower side of the first and second shafts abut against the outer side of the right synchronous belt 22, thereby increasing the meshing range between the right synchronous belt 22 and the linkage pulley 30. Each guide wheel 35 is a toothless, smooth wheel.

[0142] In another preferred embodiment, as shown in FIG16 , the movable base 11 may further include an upper transverse plate 114, a lower transverse plate 113, and a column 115, wherein the upper transverse plate 114 and the lower transverse plate 113 are fixedly connected to form a whole via the column 115. The lower transverse plate 113 is connected to the guide rail 51, and the swing shaft 121 forms a stable rotatable connection with both the upper transverse plate 114 and the lower transverse plate 113. The ends of the first shaft and the second shaft are fixedly connected to the lower transverse plate 113 and the upper transverse plate 114, respectively. The linkage wheel 30 and the four guide wheels 35 are arranged between the upper transverse plate 114 and the lower transverse plate 113. Optimally, the column 115 passes between the left synchronous belt 21 and the right synchronous belt 22. Of course, the column 115 may also be arranged in an area outside the left synchronous belt 21 and the right synchronous belt 22.

[0143] Example 8

[0144] As shown in FIG7 , in this embodiment, the first driving mechanism and the second driving mechanism are configured to form a line-angle coupling transmission mechanism based on a gear pair, that is, the line-angle coupling transmission mechanism based on a gear pair can simultaneously realize the functions of driving the movable seat 11 to move and the swing shaft 12 to rotate.

[0145] The linear angle coupling transmission mechanism based on the gear pair specifically includes a central wheel 40 and two driving gears (ie, a first driving gear 23 and a second driving gear 24 ).

[0146] The center wheel 40 is rotatably connected to the movable base 11 and is coaxially fixedly connected to the swing shaft 12. For example, the upper end of the swing shaft 12 extends through the upper surface of the movable base 11. For example, the center wheel 40 is fixed to the swing shaft 12 via a key, spline, or pin, or the center wheel 40 and the swing shaft 12 are integrally formed. In this embodiment, the center wheel 40 is configured as a worm gear, and the corresponding first drive gear 23 and second drive gear 24 are both configured as worms; or the center wheel 40 is configured as a helical gear, and the corresponding first drive gear 23 and second drive gear 24 are both configured as long rod-shaped helical gears.

[0147] The axes of the first drive gear 23 and the second drive gear 24 are both parallel to the X-axis, and the first drive gear 23 and the second drive gear 24 are arranged opposite each other. The first drive gear 23 and the second drive gear 24 are also respectively meshed with opposite sides of the center gear 40. Both ends of the first drive gear 23 and the second drive gear 24 are rotatably connected to an assembly bracket (e.g., an end seat 55). A first motor 41 and a second motor 42 are also fixedly mounted on the assembly bracket. The first motor 41 is in driving connection with the first drive gear 23 (e.g., a coaxial fixed connection), and the second motor 42 is in driving connection with the second drive gear 24 (e.g., a coaxial fixed connection).

[0148] End seats 55 can also be fixedly installed at both ends of the assembly bracket along the X-axis direction. The end seats 55 can be considered as the assembly bracket. The end seats 55 move along the Z-direction slide rail 53 fixed on the frame 80. At this time, the first motor 41 and the second motor 42 are fixedly installed on the assembly bracket or the end seats. The first drive gear 23 and the second drive gear 24 can be rotatably installed on the two end seats 55 or the assembly bracket. The two end seats 55 can also be fixedly connected to each other to form a single integral structure of the assembly bracket.

[0149] During operation, the movement of the movable base 11 and the rotation of the center wheel 40 or the swing shaft 121 are driven by controlling the direction and speed of the first motor 41 and the second motor 42. This process is similar to that of a synchronous belt-based line-angle coupling transmission mechanism and will not be further described in this embodiment. Compared to a synchronous belt-based line-angle coupling transmission mechanism, the gear-pair-based line-angle coupling transmission mechanism in this embodiment has greater rigidity and a more precise, stable and reliable transmission process, facilitating higher printing speeds and higher printing accuracy.

[0150] Embodiment 9

[0151] In the first embodiment, the second motor 42 of the second driving mechanism is directly mounted on the movable base 11 , while in this embodiment, the second motor 42 is fixedly mounted on the assembly bracket (such as the end base 55 ).

[0152] With reference to Figure 18, a drive wheel 301 is also fixedly installed on the swing shaft 121. The drive wheel 301 is a synchronous pulley, for example, located on one side above the mobile base 11, or located on one side below the mobile base 11. In addition, synchronous pulleys, such as synchronous pulleys 302 and 303, are rotatably connected at both ends of the assembly bracket (such as the two end seats 55). A synchronous belt 201 stretched along the X-axis direction is wound between the two synchronous pulleys 302 and 303. The second motor 42 is connected to one of the synchronous pulleys 302 or 303 in a transmission manner, such as being coaxially fixedly connected, and the inner side of the synchronous belt 201 is meshed with the drive wheel 301. In this way, the center synchronous pulley can be driven to rotate by the second motor 42, thereby driving the swing shaft 121 to rotate. During printing, although the movement of the mobile base 11 can cause the rotation of the swing shaft 121, the second motor 42 drives the swing shaft 121 to rotate in the opposite direction, thereby compensating for the loss.

[0153] In order to increase the meshing length between the synchronous belt 201 and the driving wheel 301, two shafts can be fixedly installed on the movable seat 11. The two shafts are symmetrically arranged about the axis of the swing shaft 121 along the X-axis direction. Both shafts can be rotatably connected to the guide wheel. The outer side of the synchronous belt 201 fits into the smooth surface of the guide wheel, thereby increasing the meshing length between the synchronous belt and the center synchronous pulley. The principle and structural arrangement can be referred to Example 7, and will not be repeated in this embodiment.

[0154] Example 10

[0155] As shown in FIG. 24 and FIG. 25 , a material stage for providing filamentary material to the print head is also included.

[0156] The feed stage includes a feed stage frame 79 that can rotate about its own axis and at least one feed component for conveying printing material to the print head. Each feed component is fixed to the feed stage frame 79 so as to rotate with the feed stage frame 79. A feed stage shaft is fixed to the feed stage frame 79 and is rotatably connected to the feed stage base plate 78 via a bearing. The feed stage base plate 78 can be fixedly connected to the frame 80, and the axis of the feed stage shaft can be parallel to the Z-axis. A feed stage drive mechanism for driving the feed stage frame 79 to rotate can also be fixedly mounted to the feed stage base plate 78. For example, this mechanism can include a motor that drives the feed stage shaft via a gear pair or a synchronous belt drive mechanism, as indicated by arrow β in the figure.

[0157] The feeding assembly includes a material tray 74 fixedly connected to a material stand 79, on which a filamentary material is wound. In addition, each feeding assembly may also be equipped with a secondary wire feeder 71a, which is typically mounted on the material stand 79 and is used to transport the filamentary material wound on the material tray 74 to the axial through hole 1211. The structure of the secondary wire feeder 71a may be the same as that of the wire feeder 71 in the first embodiment and will not be repeated in this embodiment.

[0158] A flexible circuit is connected between the material stand 79 and the print head, and the flexible circuit includes a feed tube 72 and a wire 45. The feed tube 72 starts from the feeding component, passes through the axial through hole 1211 opened in the swing shaft 121, and then extends along the swing arm 12 to the print head, and then connects the filamentary material therein to the print head. The wire 45 starts from the material stand 79, passes through the axial through hole 1211 opened in the swing shaft 121, and then extends along the swing arm 12 to the print head, and then connects to the electrical components on the print head. When there is no axial through hole 1211, the feed tube 72 and the wire 45 directly bypass the movable seat 11, and then extend along the swing arm 12 to the print head. In this embodiment, the material stand driving mechanism drives the material stand 79 to rotate synchronously with respect to the swing arm 12, thereby preventing or reducing the winding of the feed tube 72.

[0159] The wire 45 connects the print head to the controller 59. When the swing arm 12 or the material table rotates, the wire may become tangled. Therefore, this embodiment further includes a conductive slip ring 440 on the material table frame 79. Accordingly, the material table shaft is configured as a hollow shaft, and the conductive slip ring 440 is installed within the hollow structure. The conductive slip ring 440 specifically includes a first slip ring 441 and a second slip ring 442 that can rotate with each other. The corresponding circuit is kept conductive between the first slip ring 441 and the second slip ring 442. The first slip ring 441 is fixedly connected to the material table frame 79 (i.e., the material table shaft) and rotates together. The wire 45 led out from the first slip ring 441 is transmitted downward and passes through the axial through hole 1211 on the swing shaft 121 to reach the swing arm 12 and then extends to the electrical components on the print head, such as the heating block 14 on the print head (of course, also including various motors that may be installed on the swing arm 12) and other electrical components. The second slip ring 442 is fixed relative to the material table base plate 78, and the wire 45 led out from the second slip ring 442 is connected to the controller 59. With such an arrangement, when the material stand 79 rotates following the swing arm 121, neither the feed tube 72 nor the wire 45 will be entangled, thereby allowing the swing arm 12 to rotate arbitrarily within its working range, thereby greatly improving the freedom of movement of the print head, which is beneficial to improving the printing speed and the freedom of the printing control scheme, and is also beneficial to expanding the printing range and molding size.

[0160] The conductive slip ring may also be sleeved on the outside of the swing shaft. For example, the conductive slip ring has a hollow structure and is sleeved on the outside of the swing shaft.

[0161] Example 11

[0162] As shown in Figures 4, 5, 26 and 27, there can be more than one XR assembly, or two or more.

[0163] This embodiment takes two XR assemblies as examples, which are respectively referred to as the first XR assembly and the second XR assembly. In the first XR assembly, the moving seat 11 moves along the guide rail 51, and the swing arm 12 drives the print head to swing relative to the moving seat 11. The line angle coupling transmission mechanism based on the synchronous belt is as described in Example 6. Of course, in other preferred embodiments, other driving methods disclosed in the above embodiments can also be used to drive the moving seat 11 to move and the swing arm 12 to rotate. In the second XR assembly, the secondary moving seat 11a moves along the secondary guide rail 51a, and the secondary swing arm 12a drives the secondary print head to rotate relative to the secondary moving seat 11a. A line angle coupling transmission mechanism based on the synchronous belt is also used to drive the secondary moving seat 11a to move and the secondary swing arm 12a to rotate. Of course, in other preferred embodiments, other driving methods disclosed in the above embodiments can also be used to drive the secondary moving seat 11a to move and the secondary swing arm 12a to rotate. Of course, the first XR assembly and the second XR assembly can also adopt different driving methods respectively. Preferably, the guide rails (guide rail 51 and auxiliary guide rail 51a) of the two XR assemblies shown in Figures 4 and 5 are arranged parallel to each other, but they can also be arranged at an angle to each other.

[0164] The printing ranges of two adjacent XR assemblies overlap or seamlessly connect in the Y-axis direction. As shown in Figures 5 and 27, the printing area 91 of the first XR assembly and the secondary printing area 91a of the second XR assembly overlap, namely, an overlapping printing area 911. This means that both nozzle 13 and secondary nozzle 13a can reach the overlapping printing area 911. This allows adjacent printing areas, such as the printing area 91 and the secondary printing area, to be combined into a larger printing area, allowing nozzle 13 and secondary nozzle 13a to print in parallel within this larger printing area.

[0165] For the case where the printing range brought by a larger model extends from the printing area 91 through the overlapping printing area 911 to the sub-printing area 91a, the printing of the complete model can be achieved by the nozzle 13 and the sub-nozzle 13a alternately relaying the printing in the overlapping printing area 911. For example, the nozzle 13 and the sub-nozzle 13a can respectively print the partial layer patterns of the model in the printing area 91 and the sub-printing area 91a in parallel, and then the nozzle 13 prints along the printing path extending to the overlapping printing area 911, and then the nozzle 13 stops printing the printing path to form a breakpoint of the printing, and the nozzle 13 moves away, and then the sub-nozzle 13a moves to the overlapping printing area 911 and continues printing at the breakpoint of the printing path and extends to the sub-printing area 91a, thereby achieving the printing of the complete layer pattern (or printing path) of the model. For the printing areas that are respectively located in the non-overlapping parts of the printing area 91 and the sub-printing area 91a, the nozzle 13 and the sub-nozzle 13a can print along their respective printing paths at the same time. When the layer pattern passes through the overlapping printing area, the nozzle 13 and the sub-nozzle 13a realize the printing of the complete layer pattern or printing path by alternatingly intersecting in the overlapping printing area.

[0166] Of course, in other preferred embodiments, the printing ranges of two adjacent XR assemblies can be configured to overlap or seamlessly connect in the X-axis direction, or the printing ranges of two adjacent XR assemblies can be configured to overlap in both the X-axis direction and the Y-axis direction.

[0167] In this embodiment, each XR assembly is connected to the frame 80 so as to be movable along the Z-axis direction, and each XR assembly is equipped with a lifting drive mechanism to facilitate independent movement relative to the frame 80. Of course, all XR assemblies can also share a set of lifting drive mechanisms. Taking two XR assemblies as an example, the lifting drive mechanism can be arranged between the two groups. In this case, the printing platforms 61 corresponding to each XR assembly can be spliced ​​and fixed to each other as a whole. Multiple XR assemblies can adapt to the printing of larger models, and multiple print heads working simultaneously can also increase printing speed.

[0168] Of course, it is also possible to fix each XR assembly relative to the Z-axis direction, and integrate the printing platforms 61 corresponding to each XR assembly into a coplanar integral structure, and then configure a lifting drive mechanism for the integral structure to enable it to move along the Z-axis direction relative to the frame 80. Furthermore, it is also feasible to simultaneously configure a lifting drive mechanism for each independent XR assembly (or mutually connected XR assemblies) and each mutually connected printing platform 61.

[0169] The lifting drive mechanism shown in Figures 4 and 5 includes a lifting motor 43 and a screw rod 52. Optimally, the lifting motor 43 and the screw rod 52 are arranged between the printing area 91 and the sub-printing area 91a and at a concave position corresponding to the overlapping printing area 911, or two sets of lifting motors 43 and screw rods 52 are arranged, respectively at two corner positions of the four corners of the overall printing area formed by the printing area 91 and the sub-printing area 91a. These positions do not interfere with the print head and can make the overall structure of the printing device more compact.

[0170] Example 12

[0171] The number of the swing arms 12 installed on the movable base 11 may be more than one, and may be two or more.

[0172] As shown in Figures 28 and 29, two swing arms (referred to as the swing arm 12 and the auxiliary swing arm 12a) are rotatably connected to the movable base 11. A print head is provided at one end of each swing arm away from the movable base 11. The two print heads respectively include a nozzle 13 and a heating block 14, and an auxiliary nozzle 13a and an auxiliary heating block 14a, thus forming a dual-swing arm solution based on the same movable base 11.

[0173] Both swing arms are equipped with swing shafts (referred to as swing shaft 121 and swing shaft 121a, respectively). In Figure 28, swing shaft 121 and swing shaft 121a are coaxially arranged. For example, swing shaft 121 is rotatably connected to movable base 11 via bearing 56. Secondary swing shaft 121a is disposed within the hollow structure of swing shaft 121 and is rotatably connected to swing shaft 121 via another bearing 56a. Both swing arms are located on one side below movable base 11 (i.e., the side of movable base 11 closest to printing platform 61) and are fixedly connected to the corresponding two swing shafts.

[0174] The two swing arms can be of the same or different lengths, where the length of the swing arm refers to the rotation radius of the print head. The two swing arms can move along the same XY plane or along different XY planes. That is, the swing arm 12 and the auxiliary swing arm 12a can be staggered or aligned in a direction parallel to the Z axis.

[0175] When the swing arm 12 and the auxiliary swing arm 12a are staggered with each other in a direction parallel to the Z axis, the two swing arms are usually configured with different lengths, where the swing arm with a shorter length (such as the auxiliary swing arm 12a) is arranged on the side closer to the printing platform 61 (relative to the swing arm 12), so that the two swing arms can move simultaneously along the XY plane without interference. Of course, at this time, the distance from the extrusion outlet of the nozzle in the print head at the end of the two swing arms to the printing platform 61 can be the same.

[0176] For the two coaxially arranged swing shafts, in addition to the axial hole for installing the secondary swing shaft 121a, the outer swing shaft 121 can also be eccentrically provided with an axial through hole 1211 for the feed pipe and the wire to pass through. For the secondary swing shaft 121a in the inner layer, the secondary axial through hole 1211a for the feed pipe and the wire can be directly opened at its center. By analogy, the same is applicable to the scenario of coaxially sleeved with more swing shafts. Of course, neither the axial through hole 1211 nor the secondary axial through hole 1211a is necessary. These pipelines can extend along the corresponding swing shaft to the print head installed at its end after bypassing the movable seat 11. This does not affect the realization of the printing function.

[0177] Of course, in other preferred embodiments, the swing axes corresponding to the two swing arms can also be arranged non-coaxially, as shown in Figure 29. Similarly, there are no restrictions on whether the two swing arms are staggered along the Z-axis, whether they are the same length, or whether they have axial through-holes. A print head can be mounted at the end of each swing arm. As shown in Figure 29, the two swing axes are spaced apart, that is, the swing axis 121 and the auxiliary swing arm 121a are spaced apart by a preset distance along the XY plane and are rotatably disposed on the movable base 11. The swing arm 12 and the auxiliary swing arm 12a are respectively fixedly connected to the swing axis 121 and the auxiliary swing arm 121a. Figure 29 further illustrates that the swing axis 121 and the auxiliary swing axis 121a are respectively driven by two different linear angle coupling transmission mechanisms. For example, the figure shows that the linkage wheel 30 is coaxially fixedly connected to the swing axis 121, and the auxiliary linkage wheel 30a is coaxially fixedly connected to the auxiliary swing axis 121a. The structures of the two linear angle coupling transmission mechanisms are the same as those described in Examples 6 and 7. The two synchronous belts driving the linear angle coupling transmission mechanism of the secondary swing shaft 121a are the secondary left synchronous belt 21a and the secondary right synchronous belt 22a, which mesh on opposite sides of the secondary linkage wheel 30a. The secondary left synchronous belt 21a is stretched along the X-axis by the secondary left upper wheel 31a and the secondary left lower wheel 32a, while the secondary right synchronous belt 22a is stretched along the X-axis by the secondary right upper wheel 33a and the secondary right lower wheel 34a. An axial through hole 1211 can be formed along the axial direction of the swing shaft 121, and a secondary axial through hole 1211a can be formed along the axial direction of the secondary swing shaft 121a. Of course, the swing shaft 121 and the secondary swing arm 121a can also adopt the drive schemes of other embodiments.

[0178] In terms of driving the swing arm, each swing arm can be individually configured with a second driving mechanism as disclosed in Example 1 or 9, which will not be repeated in this embodiment.

[0179] It should be noted that when the solution disclosed in Example 6 or 7 is used to drive each swing shaft, it is necessary to install a linkage wheel (such as linkage wheel 30 and auxiliary linkage wheel 30a) for each swing shaft. The linkage wheel 30 is driven by two synchronous belts equipped with a motor. Similarly, the auxiliary linkage wheel 30a is also driven in the same way by two synchronous belts equipped with a motor. This is equivalent to the XR assembly being equipped with two linear angle coupling transmission mechanisms based on synchronous belts. While the two linear angle coupling transmission mechanisms based on synchronous belts respectively drive the two swing shafts to rotate, both have the function of driving the moving seat 11, and the two synchronously drive the moving seat 11 to move, which can achieve a more powerful moving drive of the moving seat 11. This is still applicable to the case where more swing shafts are coaxially sleeved.

[0180] Similarly, when using the solution disclosed in Example 8 to drive each swing shaft, it is sufficient to install a center wheel for each swing shaft, and each center wheel is driven by two drive gears equipped with a motor. In this case, it is equivalent to the XR assembly being equipped with two gear-pair-based linear angle coupling transmission mechanisms. While the two gear-pair-based linear angle coupling transmission mechanisms respectively drive the two swing shafts to rotate, both have the function of driving the movable base 11, and the two synchronously drive the movable base 11 to move, achieving a more powerful movable base 11 movement drive. This is also applicable to the case where more swing shafts are coaxially arranged.

[0181] In addition, in the case where multiple swing arms are provided on the movable base 11, the movable distance of the movable base 11 is usually configured to be greater than or equal to twice the length of the largest swing arm, or the movable distance of the movable base 11 is configured to be greater than or equal to twice the length of any swing arm.

[0182] Example 13

[0183] As shown in FIG. 19 , in this embodiment, the moving motion of the moving base 11 , the swinging motion of the swing shaft 121 , and the rotational motion of the driving shaft 122 are all driven by a synchronous belt.

[0184] The swing shaft 121 and the drive shaft 122 are coaxially sleeved and rotatably connected relative to the movable base 11. The first drive mechanism for driving the movable base 11 is described in Example 1; the second drive mechanism for driving the swing shaft 121 is described in Example 9; and the wire feeding drive mechanism for driving the drive shaft 122 is described in Example 17, which will not be described in detail here.

[0185] Example 14

[0186] In the first embodiment, the wire feeder 71 for conveying filamentary material comprises two squeeze rollers, both parallel to the Z-axis and arranged opposite each other. One of the squeeze rollers, acting as a power input end, receives power and rotates, thereby forming a channel between the two squeeze rollers for driving the filamentary material to be fed. The squeeze roller, acting as the power input end, can be coaxially fixedly connected to a synchronous pulley.

[0187] In this embodiment, as shown in Figures 16-23 and 25, another form of wire feeder for conveying filamentary materials is provided, which includes a bracket 710 and at least two squeezing rollers. The bracket 710 is rotatably connected to the swing arm 12, and the rotation axis of the bracket 710 is parallel to the Z-axis direction. The bracket 710 has a through hole, the axis of which is parallel to the Z-axis direction, so that the filamentary material 73 can pass through the upper end of the bracket 710 and pass through the lower end of the bracket 710. The power input end in this wire feeder solution is the bracket 710, and a synchronous pulley can also be coaxially fixedly connected to the bracket 710.

[0188] Each extrusion roller can be rotatably connected to the bracket 710, for example, can be rotatably connected to the lower side or upper side of the bracket 710, and each extrusion roller is arranged circumferentially around the rotation axis of the bracket 710, for example, evenly spaced circumferentially, and the filamentary material 73 is transported along the rotation axis of the bracket 710, and each extrusion roller rotates with the bracket around the rotation axis of the bracket, forming a channel for driving the filamentary material to be fed between the extrusion rollers.

[0189] The rotation axis of the squeeze roller is parallel to the Z-axis or has an inclination angle with the Z-axis. As shown in Figures 16, 18, 19, 20, 21, 22, and 23, the axis of the squeeze roller is parallel to the Z-axis; as shown in Figures 17 and 25, the axis of the squeeze roller has an inclination angle with the Z-axis. Of course, it is also possible that at least one squeeze roller axis is parallel to the Z-axis and at least one squeeze roller axis has an inclination angle with the Z-axis.

[0190] In addition, at least one of the extrusion rollers has a plurality of teeth on its surface for driving the filamentary material 73. In this embodiment, the extrusion roller with the teeth is referred to as the first extrusion roller 711, and the extrusion roller with the smooth surface is referred to as the second extrusion roller 712. In this embodiment, for the first extrusion roller 711 whose axis is parallel to the Z-axis, the teeth are spirally arranged; for the first extrusion roller 711 whose axis is inclined relative to the Z-axis, the teeth are annular. When the axes of all the extrusion rollers are parallel to the Z-axis, optimally, one of the extrusion rollers has spiral teeth on its surface, while the other extrusion rollers have smooth surfaces. For example, optimally, a first extrusion roller 711 with spiral teeth and two second extrusion rollers 712 with smooth surfaces are arranged circumferentially around a parallel axis (the axis of the filamentary material or the axis of the through hole of the bracket). Optimally, the axes of the extrusion rollers are evenly arranged around the circumference, as shown in Figures 19 to 23. When the axis of at least one of the extrusion rollers is parallel to the Z-axis direction, and the axis of at least one extrusion roller has an inclination angle with the Z-axis direction, the surface of the extrusion roller parallel to the Z-axis direction is a smooth surface and the surface of the extrusion roller with an inclination angle with the Z-axis direction is provided with annular convex teeth, or the surface of the extrusion roller parallel to the Z-axis direction has spiral convex teeth and the surface of the extrusion roller with an inclination angle with the Z-axis direction is a smooth surface. Figure 16 shows that the surface of one extrusion roller is provided with a spiral convex tooth structure, and the surface of the other extrusion roller is a smooth surface. Figure 17 shows that the surface of one extrusion roller is provided with an annular convex tooth structure, and the surface of the other extrusion roller is a smooth surface. Figure 18 shows that the surfaces of both extrusion rollers are provided with a spiral convex tooth structure. Figure 25 shows that the surfaces of both extrusion rollers are provided with an annular convex tooth structure.

[0191] The driving method of the wire feeder can refer to the first embodiment, with the only difference being that the axis of the wire feed motor 44 is arranged along the Z-axis direction. In addition, as shown in Figures 16, 24, or 25, the wire feed motor 44 can be fixedly connected to the swing arm 12 or the swing shaft 121. Optimally, the wire feed motor 44 (the center of mass or center of gravity) is arranged on the side of the swing shaft 121 away from the print head relative to the rotation axis, so that the swing arm has better dynamic balance when rotating, or the center of gravity of the overall swing arm assembly structure that rotates with the swing arm is close to or coincides with the rotation axis of the swing arm.

[0192] With such arrangement, when the bracket 710 rotates, each squeezing roller not only revolves around the rotation axis of the roller 710 (i.e., the filamentary material 73), but also rotates on its own, so that each squeezing roller rolls on the surface of the filamentary material, thereby causing the convex teeth arranged on the surface of the squeezing roller to give the filamentary material 73 a driving force for axial movement, thereby causing the filamentary material 73 to move along its axial direction, thereby feeding the nozzle 13 arranged below the wire feeder.

[0193] Example 15

[0194] In the first embodiment and the fourteenth embodiment, the wire feeding motor 44 for driving the squeezing roller is directly mounted on the swing arm 12 , which obviously increases the burden on the swing arm 12 .

[0195] Compared with the first and fourteenth embodiments, the present embodiment directly transfers the wire feeding motor 44 from the swing arm 12 and fixes it on the movable seat 11. The wire feeding motor 44 is a hollow structured motor. The wire feeding motor 44 is sleeved on the outside of the swing shaft 121 or the central axis 111 of the movable seat. The wire feeding motor 44 still directly drives one of the extrusion rollers to rotate through the synchronous belt transmission mechanism. Optimally, the swing arm can be set below the synchronous belt transmission mechanism. The rotation of the swing arm will cause the extrusion roller, which serves as the power input end, to rotate. At this time, the wire feeding motor can be rotated accordingly to compensate or offset the rotation of the extrusion roller caused by the rotation of the swing arm. For example, the wire feeding motor rotates synchronously with the swing arm to compensate or offset the rotation of the extrusion roller caused by the rotation of the swing arm.

[0196] Example 16

[0197] In this embodiment, the wire feeding motor 44 is fixedly mounted on the movable base 11 or the assembly bracket.

[0198] As shown in FIG12 or FIG13 , the swing shaft 12 is first configured as a hollow structure, that is, having an axial hole at its center. A drive shaft 122 is then passed through the axial hole. The drive shaft 122 is coaxially arranged with the swing shaft 121. For example, the drive shaft 122 is rotatably connected to the swing shaft 121 via a bearing 56. Of course, the swing shaft 121 can also be passed through the drive shaft 122.

[0199] A drive wheel 301 is fixedly mounted on the upper end of the drive shaft 122 (passing through the swing shaft 121). The drive wheel 301 can be configured as a synchronous pulley. At the same time, another corresponding synchronous pulley is installed on the motor shaft of the wire feeding motor 44. Then, the power of the wire feeding motor 44 can be transmitted to the drive shaft 122 through the synchronous belt. Of course, the wire feeding motor 44 can also be connected to the drive shaft 122 through a gear pair. In addition, a wheel shaft can be rotatably connected to the swing arm 12. A synchronous pulley meshing with the synchronous belt 20 is fixedly mounted on the wheel shaft. Then, a first gear 361 and a second gear 362 that mesh with each other are fixedly mounted on the drive shaft 122 and the wheel shaft respectively. Considering that the wheel shaft and the drive shaft 122 are perpendicular to each other, the first gear 361 and the second gear 362 constitute a right-angle transmission gear pair (such as the bevel gear transmission pair shown in Figure 12 or the helical gear transmission pair shown in Figure 13). Of course, the drive shaft 122 and the wheel shaft can also be connected through a universal joint. This arrangement allows the power of the wire feed motor 44, which is fixedly mounted on the movable base 11, to be transmitted to the first squeeze roller 711. Alternatively, the power can be transmitted to the second squeeze roller 712. Specifically, a synchronous pulley, which engages with the synchronous belt 20 and is coaxially fixedly mounted on the second squeeze roller 712, as shown in FIG13, serves as the power input port. This further facilitates increasing the driving force on the filamentary material. FIG13 illustrates the wire feed motor 44 driving the drive shaft 122 to rotate via the synchronous belt 20. The wire feed motor 44 can be fixedly connected to the movable base 11.

[0200] As shown in FIG13 , the first motor 41 drives the swing shaft 121 via another synchronous belt 20, thereby driving the swing arm and the print head to rotate. The first motor 41 can also be fixedly connected to the movable base 11 and drive the swing shaft 121 via the synchronous belt. In this case, when the swing arm 12 swings, it may cause the extrusion roller of the wire feeder, which serves as the power input end, to rotate. Similarly, in this case, only the corresponding rotation of the wire feed motor 44, and thus the corresponding rotation of the drive shaft 122, can compensate or offset the rotation of the extrusion roller caused by the swing arm rotation. Of course, a method similar to that shown in FIG17 can also be used to drive the driving wheel 301. Two synchronous pulleys (i.e., synchronous pulley 302 and synchronous pulley 303) can be rotatably connected to the assembly bracket or the end seat 55. A synchronous belt 201 stretched along the X-axis direction is wound between the synchronous pulleys 302 and 303. The driving wheel 301 is still configured as a synchronous pulley, and the driving wheel 301 is meshed with the synchronous belt 201. The wire feeding motor 44 is connected to one of the synchronous pulleys 302 and 303. Of course, the wire feeding motor 44 can also be fixed to the swing arm 12 or the swing shaft 121 in a manner similar to that shown in FIG24. The wire feeding motor 44 drives the first squeezing roller 711 or the second squeezing roller 712 to rotate through the synchronous belt 20. In this way, the driving shaft 122 and the right-angle transmission mechanism (right-angle transmission gear pair) can be eliminated.

[0201] There can be more than one second squeezing roller 712. When there are two or more second squeezing rollers 712, each second squeezing roller 712 is arranged circumferentially around the first squeezing roller 711, thereby increasing the number of force points of the filamentary material. Similarly, this also applies to Example 1. The filamentary material is fed circumferentially around the first squeezing roller 711, and the diameter of the optimal first squeezing roller is greater than or equal to the minimum allowable bending radius of the filamentary material. When the wire feeder uses multiple second squeezing rollers 712 arranged circumferentially around the first squeezing roller 711, optimally, the input end of the wire feeder is set to face the direction of the rotation axis of the swing arm, which is conducive to the connection of the printing material transmission line (such as a feed pipe) to the input end of the wire feeder. The output end of the wire feeder is transmitted downward along the Z axis toward the extrusion outlet.

[0202] The first extrusion roller 711 and the second extrusion roller 712 may also be formed with an annular first extrusion groove 7111 and a second extrusion groove 7121, respectively, and a texture (tooth-shaped or grid-shaped) or a bump suitable for increasing friction or bite force may be arranged in the annular groove. Similarly, this also applies to Example 1. Figures 14 and 15 show schematic diagrams of the three-dimensional structures of two wire feeders. As shown in Figure 14, a central gear 7112 may be coaxially arranged on the first extrusion roller 711, and a planetary gear 7122 may be coaxially arranged on the second extrusion roller 712, and the planetary gear 7122 may be meshed with the central gear 7112. This arrangement enables each extrusion roller to apply a driving force to the filamentary material. Among them, when there are multiple second squeezing rollers 712 and they are arranged in a planetary shape around the first squeezing roller 712, it is preferred that the second squeezing roller 712 serve as the power input end of the power transmitted by the wire feeding motor 44. The reason is that the first squeezing roller 711 as the center is usually larger in size to prevent the conveying turning radius of the filamentary material from being too small. Accordingly, the size of the central gear 7112 will also be larger and larger than the planetary gears 7122. Therefore, the smaller planetary gears 7122 are more suitable as driving gears. As shown in Figures 14 and 15, the synchronous pulley 309 that can be used to mesh with the synchronous belt 20 is coaxially fixedly connected to one of the second squeezing rollers 712. Similarly, this also applies to Example 1.

[0203] In addition, as shown in FIG15 , two central gears 7112 may be further arranged on the first extrusion roller 711. The two central gears 7112 are axially arranged on both sides of the first extrusion ring groove 7111 (i.e., the transmission path of the filamentary material), and the planetary gears 7122 belonging to the two adjacent second extrusion rollers 712 are further configured to mesh with the two central gears 7112. This arrangement allows the planetary gears 7122 in the two adjacent second extrusion rollers 712 to be staggered axially, so that the multiple second extrusion rollers 712 can be closer to each other when arranged around the first extrusion roller 711, thereby making the structure of the wire feeder more compact, or more second extrusion rollers 712 can be arranged around the first extrusion roller 711. Similarly, this also applies to Example 1.

[0204] An axial through hole 1211 may also be eccentrically opened on the swing shaft 121, as shown in FIG13, so that printing materials, a feeding tube 72, a wire 45 and other lines can pass through.

[0205] Similarly, the above arrangement can also be directly applied to the wire feeder disclosed in Example 14. The only difference is that the first gear 361, the second gear 362 and the axle corresponding to the synchronous belt 20 can be omitted, and the synchronous pulley 306 corresponding to the synchronous belt 20 can be directly installed on the lower end of the drive shaft 122, as shown in Figures 17-23.

[0206] In general, the wire feeding drive mechanism may include a drive shaft 122 and a wire feeding motor that are coaxially sleeved with the swing shaft 121 and rotatably connected to each other. Furthermore, when the wire feeding motor is fixedly mounted on the movable seat, the wire feeding motor is connected to the drive shaft 122 through a synchronous belt transmission mechanism, and the drive shaft is connected to the power input end of the wire feeder through another synchronous belt transmission mechanism; or, when the wire feeding motor is fixedly mounted on the assembly bracket, a drive wheel (synchronous pulley) is also fixedly mounted on the drive shaft, and the wire feeding drive mechanism also includes two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt stretched along the X-axis direction is wound between the two synchronous pulleys, the inner side of the synchronous belt is engaged with the drive wheel, and the wire feeding motor is connected to one of the synchronous pulleys; the drive The driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism; alternatively, the wire feeding drive mechanism includes a driving shaft and a line angle coupling transmission mechanism based on a synchronous belt, and the line angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is coaxially fixedly connected to the driving shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a second motor fixedly mounted on the assembly bracket; wherein, the two synchronous belts are stretched along the X-axis direction, and the inner sides (the toothed sides) of the two synchronous belts are respectively meshed with the two opposite sides of the linkage wheel. The driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism; or, the wire feeding drive mechanism includes a driving shaft 122 and a line angle coupling transmission mechanism based on a synchronous belt, and the line angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is coaxially fixedly connected to the driving shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a second motor fixedly mounted on the assembly bracket; wherein, the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively meshed with the two opposite sides of the linkage wheel. ; It also includes a guide wheel 35 rotatably connected to the movable base, each synchronous belt is equipped with two guide wheels, and the two guide wheels are arranged on both sides of the linkage wheel along the X-axis direction. The two guide wheels are used to increase the engagement length of the synchronous belt when passing through the linkage wheel; The movable base is also equipped with a first shaft and a second shaft, wherein, along the X-axis direction, the two guide wheels located on the same side of the linkage wheel are coaxial and rotatably sleeved on the first shaft, and the two guide wheels located on the other side of the linkage wheel are coaxial and rotatably sleeved on the second shaft; The drive shaft is transmission-connected to the power input end of the wire feeder through a synchronous belt transmission mechanism;Alternatively, the wire feeding drive mechanism includes a drive shaft 122 and a line angle coupling transmission mechanism based on a gear pair, the line angle coupling transmission mechanism based on the gear pair includes a center wheel and two drive gears, the center wheel is a worm gear or a driven helical gear fixedly connected to the drive shaft coaxially, the drive gear is a long rod-shaped worm gear or a driving helical gear arranged along the X-axis and rotatably connected to the assembly bracket, the two drive gears are respectively engaged with two opposite sides of the center wheel, wherein a second motor is fixedly mounted on the assembly bracket and is respectively connected to the two drive gears; the drive shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism. When the drive shaft 122 and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure (or right-angle transmission mechanism, such as a right-angle transmission gear pair, such as a bevel gear transmission pair or a helical gear transmission pair) is further connected between the drive shaft 122 and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder.

[0207] The power output end of the wire feeding drive mechanism can be the output shaft (motor shaft) of the wire feeding motor, a synchronous pulley or gear, etc., or a moving component that can transmit the rotational motion to the power input end of the wire feeder.

[0208] Embodiment 17

[0209] On the basis of the sixteenth embodiment, the wire feeding motor 44 may be further fixedly mounted on the assembly bracket or the end seat 55. The wire feeder disclosed in the fourteenth embodiment is used for illustration.

[0210] At this time, as shown in Figure 17, the assembly bracket or end seat 55 is rotatably connected to two synchronous pulleys (i.e., synchronous pulley 302 and synchronous pulley 303). A synchronous belt 201 stretched along the X-axis direction is wound between the synchronous pulleys 302 and 303. The drive wheel 301 is still configured as a synchronous pulley, and the drive wheel 301 is engaged with the synchronous belt 201. The wire feeding motor 44 is transmission-connected to one of the synchronous pulleys 302 and 303. Such an arrangement enables the wire feeding motor 44 to drive the drive shaft 122 to rotate, thereby driving the wire feeder to perform feeding operations. At the same time, when the movable base 11 moves, the drive wheel 301 can also move along the X-axis direction on the synchronous belt 201, thereby not affecting the movable base 11's movement function. By controlling the wire feeding motor 44 to rotate accordingly, the problem of the bracket 710 rotating erroneously caused by the drive wheel 301 moving along the X-axis direction on the synchronous belt 201 can be compensated. For example, when the movable base 11 moves along the X-axis in a first direction at a preset speed, the synchronous belt 201 can drive the driving wheel 301 to move along the first direction at the same preset speed, thereby offsetting the influence of the movable base movement on the driving shaft or the bracket.

[0211] In order to increase the engagement length between the synchronous belt 201 and the driving wheel 301, two shafts can be fixedly installed on the movable seat 11. The two shafts are symmetrically arranged about the axis center of the swing shaft 121 along the X-axis direction. Both shafts can be rotatably connected to the guide wheel. The outer side of the synchronous belt 201 fits with the smooth surface of the guide wheel, thereby increasing the engagement length between the synchronous belt 201 and the driving wheel 301. Its principle and structural arrangement can be referred to Example 7, and will not be repeated in this embodiment.

[0212] As further illustrated in FIG17 , the moving seat 11 and the swing shaft 121 are driven by a linear angle coupling drive mechanism based on a gear pair, and the center wheel 40 is arranged on the lower side of the moving seat 11, and the drive wheel 301 is arranged on the upper side of the moving seat 11. At this time, the two ends of the drive shaft 122 respectively pass through the upper and lower parts of the swing shaft 121, and are then respectively connected to the drive wheel 301 and the synchronous pulley 306 used in conjunction with the synchronous belt 20. Of course, the linear angle coupling drive mechanism based on the gear pair can also be replaced by a linear angle coupling drive mechanism based on a synchronous belt, for example, the center wheel 40 is replaced by the linkage wheel 30, and the first drive gear 23 and the second drive gear 24 are replaced by the left synchronous belt and the right synchronous belt. In addition, both the center wheel 40 and the drive wheel 301 can be arranged on the upper side of the moving seat 11, or the drive wheel 301 can be arranged below the moving seat 11 and above the swing shaft.

[0213] Example 18

[0214] As shown in Figure 18, it drives the movement of the movable seat 11 and the rotation of the drive shaft 122 through a linear angle coupling drive mechanism based on a synchronous belt. Its principle and structure are the same as those of Example 6 or 7. The difference is that the swing shaft 121 in Example 6 or 7 is replaced by the drive shaft 122, and a synchronous pulley 306 used in conjunction with the synchronous belt 20 is fixedly installed at the lower end of the drive shaft 122.

[0215] In addition, a swing shaft 121 is coaxially sleeved on the outside of the drive shaft 122. The swing shaft 121 and the drive shaft 122 are rotatably connected via a bearing. The swing shaft 121 can also be rotatably connected to the movable base 11, thereby further strengthening the connection of the swing shaft 121. The swing arm 12 is arranged on the lower side of the movable base 11 and is directly fixed to the swing shaft 121. The figure shows that the bracket 710 can also be rotatably connected to the swing arm 12, and then the synchronous belt 20 is connected between the bracket 710 and the drive shaft 122.

[0216] Regarding the rotation driving method of the swing arm 12 , the second driving mechanism in the ninth embodiment may be directly referred to.

[0217] The movement of the movable base 11 along the X-axis causes the swing arm 12 to swing. The synchronous belt 201 can drive the drive wheel 301 to rotate accordingly to compensate for or offset the swing arm rotation caused by the movable base movement. For example, when the movable base 11 moves along the X-axis in a first direction at a preset speed, the synchronous belt 201 can drive the drive wheel 301 to move in the first direction at the same preset speed to offset the effect of the movable base movement on the swing arm.

[0218] The swing shaft 121 can also be rotatably mounted within the drive shaft 122. In this case, the swing arm 12 is positioned below the synchronous belt 20, as shown in Figures 20 and 21. Accordingly, the bracket 710 (i.e., the shaft fixed thereto) is rotatably connected to the swing arm 12, and the extrusion rollers (including the first extrusion roller 711 and the second extrusion roller 712) are rotatably connected to the bracket 710. As shown in Figures 20 and 21, the bracket 710 can include three parts: a bracket 710 above and below the extrusion rollers (such as the first extrusion roller 711 and the second extrusion roller 721), and a connecting portion 719 between the two bracket parts. This structure allows the extrusion rollers to be rotatably connected to the upper and lower brackets, respectively, providing a more stable connection. Of course, the lower bracket 710 can also be rotatably connected to the swing arm 12, as shown in Figure 22. Of course, as shown in Figure 22, only the bracket 710 below the extrusion roller can be retained. The connection portion 719 between the upper and lower parts of the bracket 710 is not shown in Figure 23. In addition, as shown in Figure 21, a bearing 56 can be provided between the bracket 710 and the swing arm 12, or between the bracket 710 and the body of the print head, or between the bracket 56 and the heat dissipation fins 15. As shown in the partial cross-sectional area on the print head in Figure 21, the bracket above and the bracket below the squeezing roller of the wire feeder can be rotatably connected to the swing arm 12, the body of the print head, or the heat dissipation fins via bearings.

[0219] The swing shaft 121 in FIG18 can also be driven by another line-angle coupling transmission mechanism. For the specific driving structure, reference can be made to the sixth, seventh and eighth embodiments.

[0220] As shown in Figure 20 or Figure 23, two line angle coupling transmission mechanisms can also be set up at the same time to drive the rotation of the swing shaft 121 and the rotation of the drive shaft 122 respectively. The drive shaft 122 and the swing shaft 121 are coaxially connected and can be rotatably sleeved with each other. Figure 20 shows that the swing shaft is on the inner side of the drive shaft, and of course it can also be on the outer side of the drive shaft. Figure 23 shows that the swing shaft is on the outer side of the drive shaft, and of course it can also be on the inner side of the drive shaft. Figure 20 shows that two line angle coupling transmission mechanisms based on synchronous belts are used, and Figure 23 uses a line angle coupling transmission mechanism with two extrusion gear pairs. The two line angle coupling transmission mechanisms can independently drive the rotation of the swing shaft 121 and the rotation of the drive shaft 122, and can also jointly drive the movable seat 11 to move along the X-axis direction. The two line angle coupling transmission mechanisms drive the movable seat 11 to move along the X-axis direction in synchronization, thereby achieving a greater driving force for the movable seat 11 to move along the X-axis direction. Optimally, the two linear angle coupling transmission mechanisms are respectively disposed above and below the movable base 11 or the guide rail 51. In this way, when the two linear coupling transmission mechanisms simultaneously drive the movable base to move along the X-axis, the force exerted on the movable base relative to the guide rail 51 is more balanced. Of course, both linear angle coupling transmission mechanisms can also be disposed above or below the movable base 11 or the guide rail 51. FIG20 illustrates that the linear angle coupling transmission mechanism driving the swing shaft 121 is disposed above the movable base 11 or the guide rail 51, while FIG23 illustrates that the linear angle coupling transmission mechanism driving the swing shaft 121 is disposed below the movable base 11 or the guide rail 51.

[0221] In Figure 20 , the swing shaft 121 is coaxially fixedly connected to the linkage wheel 30. The drive structure, driven by a linear-angle coupling transmission mechanism based on a synchronous belt, can be referred to in Examples 6 and 7. The drive shaft 122 in Figure 20 is driven by a linear-angle coupling mechanism similar to the embodiment shown in Figure 18 , except that the word "sub" is added before the noun of each component to distinguish similar components. Part of the description is repeated here as follows: the secondary linkage wheel 30a in Figure 20 (equivalent to the driving wheel 301 in Figure 17) is coaxially fixedly connected to the driving shaft 122, and the secondary left synchronous belt 21a and the secondary right synchronous belt 22a are respectively engaged on opposite sides of the secondary linkage wheel 30a. The secondary left synchronous belt 21a is stretched along the X-axis direction by the secondary upper left wheel 31a and the secondary lower left wheel 32a, and the secondary right synchronous belt 22a is stretched along the X-axis direction by the secondary upper right wheel 33a and the secondary lower right wheel 34a. One of the secondary upper left wheel 31a and the secondary lower left wheel 32a is connected to the motor transmission, and one of the secondary upper right wheel 33a and the secondary lower right wheel 34a is connected to the other motor transmission.

[0222] In Figure 23, the swing shaft 121 is coaxially fixedly connected to the center wheel 30. The drive structure driven by a linear-angle coupling transmission mechanism based on a gear pair can be referred to in Example 8. The secondary center wheel 40a (corresponding to the drive wheel 301 in Figure 17) is coaxially fixedly connected to the drive shaft 122. The secondary first drive gear 23a and the secondary second drive gear 24a respectively mesh with opposite sides of the secondary center wheel 40a. The drive shaft 122 in Figure 23 is driven by the linear-angle coupling drive mechanism in a manner similar to that shown in Example 8, except that the term "secondary" is added before the nouns of the components used to drive the drive shaft to distinguish similar components. A partial description is repeated below. The secondary first drive gear 23a and the secondary second drive gear 24a are both long, rod-shaped gears, arranged along the X-axis. The secondary center gear 40a is configured as a worm gear, and the corresponding secondary first drive gear 23a and secondary second drive gear 24a are both configured as worm gears; or the secondary center gear 40a is configured as a helical gear, and the corresponding secondary first drive gear 23a and secondary second drive gear 24a are both configured as long rod-shaped helical gears. The secondary first drive gear 23a and secondary second drive gear 24a are respectively connected to the corresponding motor.

[0223] In Figures 20 to 23 , the lower portion of the drive shaft 122 is coaxially and fixedly connected to a timing pulley 306. This timing pulley 306 drives a coaxially connected timing pulley on the bracket 710 of the wire feeder on the print head via a timing belt 20. The timing pulley 306, the timing belt 20, and the timing pulley on the bracket 710 form the timing belt drive mechanism of the wire feed drive mechanism.

[0224] The swing shaft and drive shaft in Figures 21 and 22 can also be driven by a linear-angle coupling transmission mechanism similar to that shown in Figures 20 and 23. For example, the drive wheel 301 in Figures 21 and 22 can be replaced with the secondary linkage wheel 30a or the secondary center wheel 40a in Figures 20 or 23. The specific drive method will not be repeated here.

[0225] One of the auxiliary first drive gear 23a and the auxiliary second drive gear 24a in Figure 23 can be omitted, that is, one drive gear can be used to drive the auxiliary center wheel 40a to rotate to drive the wire feeder. Similarly, when the movable seat 11 moves, it will cause the drive shaft 122 to rotate, thereby causing the wire feeder to malfunction and drive the filamentous material to feed. Compensation or offset can be achieved by driving the auxiliary center wheel 40a corresponding to the remaining drive gear. For example, when the movable seat moves at a preset speed along the first direction of the X-axis, the remaining drive gear drives the auxiliary center wheel 40a to move at a preset speed along the first direction of the X-axis, which can offset the influence of the movement of the movable seat 11 on the drive of the wire feeder.

[0226] Similarly, the above-mentioned driving method is also applicable to the wire feeder disclosed in Example 1. Referring to Example 16, a wheel axle can be rotatably connected to the swing arm 12, and a synchronous pulley meshing with the synchronous belt 20 is fixedly installed on the wheel axle. Then, a first gear 361 and a second gear 362 that mesh with each other are fixedly installed on the drive shaft 122 and the wheel axle respectively. Considering that the wheel axle and the drive shaft 122 are perpendicular to each other, the first gear 361 and the second gear 362 constitute a right-angle transmission gear pair (for example, the bevel gear transmission pair shown in Figure 12 or the helical gear transmission pair shown in Figure 13). Of course, the drive shaft 122 and the wheel axle can also be connected through a universal joint.

[0227] Example 19

[0228] When the wire feeding drive mechanism includes a drive shaft 122 and the drive shaft 122 is coaxially sleeved with the swing shaft 121 and rotatably connected to each other, the swing shaft 121 or the drive shaft 122 can be rotatably connected to the movable seat 11, and the drive shaft 122 is sleeved on the inner side of the tubular swing shaft 121, as shown in Figures 12, 13, 17, 18, and 19, and an axial through hole 1211 is axially opened on the tube wall of the swing shaft 121 or on the drive shaft, or the axial through hole 1211 is not opened; or the drive shaft 122 is sleeved on the outer side of the swing shaft 121, and the drive shaft 122 is rotatably connected to the movable seat 11, as shown in Figure 20, 21 is provided with an axial through hole 1211 or no axial through hole 1211 is provided in the axial direction; or, the swing shaft 121 is rotatably sleeved in the center shaft 111 on the movable seat 11, and the drive shaft 122 is rotatably sleeved outside the center shaft 111 on the movable seat, as shown in Figure 21, an axial through hole is provided in the axial direction of the swing shaft or no axial through hole is provided; or, the swing shaft 121 is rotatably sleeved in the center shaft 111 on the movable seat 11, and the drive shaft 122 is rotatably sleeved outside the swing shaft 121, as shown in Figure 21, the swing shaft 122 can be adjusted downward and directly sleeved on the outside of the swing shaft 121, which can help reduce the area below the center shaft. And the diameter of the drive shaft sleeved on the outer part of the swing shaft, as shown in Figure 21, can help reduce the diameter of the synchronous pulley 306 set on this part of the drive shaft. Of course, the drive wheel 301 can also be set on this part of the drive shaft, and an axial through hole or no axial through hole is opened in the axial direction of the swing shaft; or, the swing shaft 121 is rotatably sleeved in the center shaft 111 on the movable seat 11, and the drive shaft 122 is rotatably sleeved outside the center shaft 111 on the movable seat 11 in the upper part along the Z axis direction, and the drive shaft 122 is rotatably sleeved outside the swing shaft 121 in the lower part along the Z axis direction. As shown in Figure 21, an axial through hole is opened in the axial direction of the swing shaft. The drive shaft structure shown in FIG21 can be provided with or without an axial through hole, which can not only make the drive shaft stable and reliable, but also reduce the accumulation of rotational errors or interference between the drive shaft and the swing shaft, and can also reduce the diameter of the synchronous pulley 306, which is conducive to increasing the reduction ratio of the synchronous belt transmission mechanism that transmits power to the wire feeder on the print head, thereby improving the driving torque. At the same time, an axial through hole 1211 for the printing material transmission line for conveying printing material can be directly provided on the swing shaft 121. When the feed pipe or wire passes through the axial through hole 1211, it can maintain synchronous rotation with the swing shaft 121, reducing or avoiding friction between the feed pipe or wire and the axial through hole 1211. Alternatively, the swing shaft 121 can be rotatably sleeved on the outside of the central shaft 111 on the movable base, and the drive shaft 122 can be rotatably sleeved on the inside of the central shaft 111 on the movable base, as shown in FIG22, with or without an axial through hole provided in the axial direction of the drive shaft. Alternatively, the drive shaft is sleeved on the outside of the swing shaft, the swing shaft is arranged on the inside of the mounting hole of the movable seat or the inside of the central shaft, and the drive shaft is arranged below the movable seat or the central shaft.Preferably, a bearing is provided between the driving shaft and the swing shaft, and a bearing is provided between the swing shaft and the central shaft. Preferably, at least a portion of the central shaft extends upward relative to the movable seat or the guide rail.

[0229] The drive shaft 122 is arranged on the inner side of the swing shaft 121 or the inner side of the center shaft 111, so that the diameter of the drive shaft 122 can be as small as possible. The drive wheel 301 and the synchronous pulley 306 thereon can easily realize a small diameter structure. In particular, the small diameter of the synchronous pulley 306 is conducive to improving the transmission of the wire feeder on the print head and providing a suitable transmission ratio to increase the driving torque. The swing shaft 121 is arranged on the outside of the center shaft, which is conducive to increasing the stability of the swing shaft. At the same time, the diameter of the interlocking wheel 30 or the central wheel 40 is increased, which is also conducive to increasing the driving torque for the swing rotation. In addition, the drive shaft 122 and the swing shaft 121 are respectively rotatably connected to the movable seat or the center shaft 111 on the movable seat, for example, by a rotatable connection through a bearing 56, which is conducive to increasing the stability of the swing shaft 121 and the stability of the drive shaft 122 respectively. It is conducive to reducing the accumulation and interference of rotation deviations between the two. In addition, optimally, the swing shaft is directly rotatably connected to the movable seat or the central shaft of the movable seat through a bearing, and the drive shaft 122 is rotatably connected to the swing shaft through a bearing. This can appropriately simplify the structure while ensuring the rotational stability of the swing shaft, which is conducive to ensuring the accuracy of the swing arm rotation.

[0230] Example 20

[0231] This embodiment is equivalent to integrating at least two 3D printing devices disclosed in any of the above embodiments, including at least two of the above 3D printing devices (which can be referred to as sub-3D printing devices), the frames of each of the 3D printing devices are detachably fixedly connected, the printing ranges of the XR assemblies in two adjacent 3D printing devices overlap or seamlessly connect in the Y-axis direction and / or the X-axis direction, and the printing platforms of each 3D printing device are coplanar or share the same printing platform. For example, two sets of XR assemblies and two corresponding frames are provided in the 3D printing device to form multiple sub-3D printing devices. As shown in Figures 26 and 27, the two sub-3D printing devices shown in Figure 6 are respectively referred to as the second sub-3D printing device 100b and the first sub-3D printing device 100a. The frame 80 of the second sub-3D printing device 100b and the sub-frame 80a of the first sub-3D printing device 100a are fixedly connected (fixedly connected) to each other along the Y-axis direction. The printing ranges of the XR assemblies in the two sub-3D printing devices overlap or seamlessly connect in the Y-axis direction. In addition, the printing platforms of each sub-3D printing device are aligned and adjusted coplanarly, or replaced with a larger printing platform 61, thereby replacing the smaller printing platforms of the original sub-3D printing devices, and then the print heads of each sub-3D printing device independently print the model on the larger printing platform 61.

[0232] In Figure 26, the XR assemblies of the two sub-3D printing devices can move independently along the Z-axis, allowing for more flexible multi-nozzle parallel printing of models. Of course, the 3D printing system can also be spliced ​​using multiple 3D printing devices such as those shown in Figures 2, 4, or 7. The XR assemblies can also be fixedly connected to each other.

[0233] In addition, each sub-3D printing device can also be spliced ​​along the X-axis, that is, the printing ranges of the XR assemblies in two adjacent sub-3D printing devices overlap or seamlessly connect along the X-axis. Of course, the 3D printing system can also simultaneously have two adjacent sub-3D printing devices that overlap or seamlessly connect along the X-axis and two adjacent sub-3D printing devices that overlap or seamlessly connect along the Y-axis.

[0234] Furthermore, the multi-printhead 3D printing device formed by this combination can be further disassembled into independent sub-3D printing devices. Each sub-3D printing device can have only one XR longitudinal axis assembly or multiple XR axis assemblies, providing flexible applications.

[0235] The terms “perpendicular,” “parallel,” “coplanar,” or “equal” herein refer to theoretical accuracy, but may actually result in manufacturing or installation errors, such as an error of less than +-45 degrees, or less than +-30 degrees, or less than +-15 degrees, or an error no greater than ±50%, ±40%, ±30%, ±20%, or ±10%.

[0236] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It is apparent to those skilled in the art that various changes, modifications, substitutions, and variations to these embodiments may be made without departing from the principles and spirit of the present invention, and these changes and modifications still fall within the scope of protection of the present invention.

Claims

1. A 3D printing device, characterized in that: include: An XR assembly, comprising an assembly bracket, a movable base movably connected to the assembly bracket along the X-axis direction, a swing arm rotatably connected to the movable base via a swing shaft arranged along the Z-axis direction, a print head fixedly mounted on the swing arm, a first drive mechanism for driving the movable base to move along the X-axis direction, and a second drive mechanism for driving the swing arm to rotate about an axis parallel to the Z-axis direction; as well as A printing platform and a frame, wherein the printing platform is parallel to the XY plane, the XR assembly and / or the printing platform is connected to the frame so as to be movably along the Z axis, and a lifting drive mechanism is mounted on the frame for driving the XR assembly and / or the printing platform to move along the Z axis; The swing shaft is provided with an axial through hole for a printing material conveying line to convey printing material to the print head, and / or the travel of the movable seat along the X-axis direction is greater than or equal to twice the rotation radius of the print head.

2. The 3D printing device according to claim 1, wherein: The first driving mechanism and the second driving mechanism together constitute a line-angle coupling transmission mechanism based on a synchronous belt, and the line-angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is rotatably connected to the movable seat, and the linkage wheel is coaxially fixedly connected to the swing shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a first motor fixedly mounted on the assembly bracket; wherein the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively engaged with two opposite sides of the linkage wheel; or, The first driving mechanism and the second driving mechanism together constitute a line-angle coupling transmission mechanism based on a synchronous belt, and the line-angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the linkage wheel is rotatably connected to the movable seat, and the linkage wheel is coaxially fixedly connected to the swing shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a first motor fixedly mounted on the assembly bracket; wherein, the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively aligned with the two phases of the linkage wheel. The opposite sides are meshed; it also includes a guide wheel rotatably connected to the movable seat, each of the synchronous belts is equipped with two guide wheels, the two guide wheels are arranged on both sides of the linkage wheel along the X-axis direction, and the two guide wheels are used to increase the engagement length of the synchronous belt when passing through the linkage wheel; the movable seat is also equipped with a first shaft and a second shaft, wherein, along the X-axis direction, the two guide wheels located on the same side of the linkage wheel are coaxial and rotatably sleeved on the first shaft, and the two guide wheels located on the other side of the linkage wheel are coaxial and rotatably sleeved on the second shaft; or, The first drive mechanism and the second drive mechanism together constitute a line-angle coupling transmission mechanism based on a gear pair, and the line-angle coupling transmission mechanism based on a gear pair includes a center wheel and two driving gears, wherein the center wheel is a worm gear or a driven helical gear rotatably connected to the movable seat, and the driving gear is a long rod-shaped worm or a driving helical gear arranged along the X-axis direction and rotatably connected to the assembly bracket, and the two driving gears are respectively engaged with two opposite sides of the center wheel, wherein a first motor is fixedly mounted on the assembly bracket and is respectively connected to the two driving gears; or, The first driving mechanism includes two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt wound between the two synchronous pulleys, and a first motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, and the movable seat is fixedly connected relative to the synchronous belt; the second driving mechanism includes a second motor fixedly mounted on the movable seat, and the second motor is connected to the swing shaft through a coupling, a gear pair or a synchronous belt transmission mechanism, wherein when the second motor is connected to the swing shaft through a coupling, the second motor is configured as a hollow motor; or, The first driving mechanism comprises two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt wound between the two synchronous pulleys, and a first motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, and the movable seat is fixedly connected relative to the synchronous belt; the second driving mechanism comprises two synchronous pulleys rotatably connected to the assembly bracket, a synchronous belt stretched along the X-axis direction wound between the two synchronous pulleys, and a second motor fixedly mounted on the assembly bracket and drivingly connected to one of the synchronous pulleys, wherein a linkage wheel is coaxially fixedly connected to the swing shaft, and the linkage wheel meshes with the inner side of the synchronous pulley; or The printing platform is fixedly connected to the frame, and the lifting drive mechanism drives the XR assembly to move along the Z-axis relative to the printing platform.

3. The 3D printing device according to claim 1, characterized in that When an axial through hole for a printing material conveying line for conveying printing material to the print head is provided on the swing shaft, wherein: The printing material transmission line is a feeding tube, or, The printing material conveying line includes a rigid pipeline; or, The printing material conveying line sequentially includes a first feeding pipe connected to the upper end of the axial through hole, the axial through hole, and a second feeding pipe connected to the lower end of the axial through hole, wherein the second feeding pipe is connected to the print head to convey printing material to the print head; or The printing material transmission line is a filamentous printing material; or, The wire and / or air supply pipe passes through the axial through hole and is connected to the print head; or, A conductive slip ring is installed in the axial through hole, and the conductive slip ring includes a first slip ring and a second slip ring that are rotatably connected to each other, the first slip ring is fixedly connected to the swing shaft, and the first slip ring is connected to the print head via a wire, and the second slip ring is fixedly connected to the movable base, and the second slip ring is connected to a wire for connecting to a controller; or, An adapter plate is provided on the swing shaft, and electrical connection terminals are respectively provided on both sides of the adapter plate, the electrical connection terminal on the side away from the print head is electrically connected to the controller, and the electrical connection terminal on the side close to the print head is electrically connected to the electrical device on the print head; or, The swing arm is provided with a through hole, and the feeding pipe and / or wire passes through the axial through hole upward and downward and then passes through the through hole to be connected to the print head; or, The swing shaft is provided with a notch on the side facing the swing arm, and the swing arm is provided with a through-hole, and a feed pipe and / or a wire passing through the axial through-hole upward and downward is led out from the notch and connected to the print head after passing through the through-hole; or, it also includes a material table, and the material table includes a rotatable material stand, a material source is provided on the material stand and rotates with the material stand, and the material stand can rotate with the swing arm, and the feed pipe is connected to the print head from the material source on the material stand through the axial through-hole provided on the swing shaft and / or the wire is connected to the print head from the material stand through the axial through-hole provided on the swing shaft; or, It also includes a material table, which includes a rotatable material table frame, a material source is arranged on the material table frame and rotates with the material table frame, the material table frame is driven by the material table driving mechanism to rotate along with the swing shaft, the material table frame has an axial hole along the rotation axis, the material table frame is driven by the material table driving mechanism to rotate along with the swing arm, a conductive slip ring is installed in the axial hole, the conductive slip ring includes a first slip ring and a second slip ring that are rotatably connected to each other, the first slip ring is fixedly connected relative to the material table frame, the wire connected to the first slip ring passes through the axial through hole opened on the swing shaft and is connected to the print head, and the two slip rings are connected with a wire for connecting to a controller.

4. The 3D printing device according to claim 1, characterized in that There are two or more XR assemblies, wherein: The printing ranges of two adjacent XR assemblies overlap or seamlessly connect in the Y-axis direction and / or the X-axis direction; and / or, When the XR assembly is connected to the frame for movement along the Z-axis direction, each XR assembly is configured with the lifting drive mechanism so as to move independently relative to the frame, or each XR assembly shares the lifting drive mechanism.

5. The 3D printing device according to claim 1, characterized in that: The number of the swing arms in the XR assembly is two or more, each of the swing arms is rotatably connected to the movable base via a swing shaft, the print head is fixedly mounted at the end of each swing arm, and the distances of the print heads to the printing platform along the Z-axis direction are the same or different, and each of the swing shafts is configured with the second driving mechanism; each of the swing shafts has an axial through hole or no axial through hole along the Z-axis direction; wherein, The swing shafts are coaxially arranged in a sleeve manner; or, The swing shafts are arranged at intervals along the XY plane direction on the moving base.

6. The 3D printing device according to claim 1, wherein: The printing material is a filamentary material, and further includes a wire feeder for driving the filamentary material to feed along the axial direction of the filamentary material and conveying the filamentary material to the nozzle or extrusion port of the print head, and a wire feeding drive mechanism for driving the wire feeder to drive the filamentary material to feed; wherein: The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the print head, wherein the power output end of the wire feeding motor is coaxially fixedly connected to the power input end of the wire feeder or is transmission-connected to the power input end of the wire feeder via a gear pair, a coupling, a belt transmission mechanism, a synchronous belt transmission mechanism or a chain transmission mechanism; or The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the swing arm, and the power output end of the wire feeding motor is connected to the power input end of the wire feeder through a gear pair, a coupling, a belt transmission mechanism, a synchronous belt transmission mechanism or a chain transmission mechanism; or, The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the swing arm or the swing shaft, the power output end of the wire feeding motor is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, a belt transmission mechanism or a chain transmission mechanism, and the center of mass or gravity of the wire feeding motor is arranged on a side away from the print head relative to the rotation axis of the swing arm; or The wire feeding drive mechanism includes a wire feeding motor fixedly mounted on the movable base, the wire feeding motor having a hollow structure, the wire feeding motor being coaxially arranged with the swing shaft or the central axis of the movable base, the wire feeding motor being transmission-connected to the power input end of the wire feeder via a synchronous belt transmission mechanism, wherein, when the axis of the wire feeding motor and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the wire feeding motor and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; The wire feeding drive mechanism includes a driving shaft and a wire feeding motor fixedly mounted on the movable seat, the driving shaft and the swinging shaft are coaxially sleeved and rotatably connected to each other; the wire feeding motor is connected to the driving shaft through a synchronous belt transmission mechanism, and the driving shaft is connected to the power input end of the wire feeder through another synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or, The wire feeding drive mechanism includes a driving shaft and a wire feeding motor fixedly mounted on the assembly bracket, the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; the driving shaft is also fixedly mounted with a driving wheel, and the wire feeding drive mechanism also includes two synchronous belt pulleys rotatably connected to the assembly bracket, a synchronous belt stretched along the X-axis direction is wound between the two synchronous belt pulleys, the inner side of the synchronous belt is meshed with the driving wheel, and the wire feeding motor is transmission connected to one of the synchronous belt pulleys; the driving shaft is transmission-connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is also connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or, The cam-type transmission mechanism is a transmission mechanism which is connected to the transmission mechanism of the present invention, and the transmission mechanism of the present invention is a transmission mechanism which is connected to the transmission mechanism of the present invention on the one hand, and the transmission mechanism of the present invention on the other hand, and a transmission mechanism of the present invention on the other hand. The wire feeding drive mechanism includes a driving shaft and a line angle coupling transmission mechanism based on a synchronous belt, and the line angle coupling transmission mechanism based on a synchronous belt includes a linkage wheel and two synchronous belts, the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; the linkage wheel is coaxially fixedly connected to the driving shaft, and the synchronous belts are stretched by two synchronous pulleys rotatably connected to the assembly bracket, and one of the synchronous pulleys is equipped with a second motor fixedly mounted on the assembly bracket; wherein the two synchronous belts are stretched along the X-axis direction, and the inner sides of the two synchronous belts are respectively meshed with the two opposite sides of the linkage wheel; it also includes a guide wheel rotatably connected to the movable seat, each synchronous belt is equipped with two guide wheels, and the two guide wheels are arranged along the X-axis direction. On both sides of the linkage wheel, the two guide wheels are used to increase the engagement length of the synchronous belt when passing through the linkage wheel; the movable seat is also equipped with a first shaft and a second shaft, wherein, along the X-axis direction, the two guide wheels located on the same side of the linkage wheel are coaxially and rotatably sleeved on the first shaft, and the two guide wheels located on the other side of the linkage wheel are coaxially and rotatably sleeved on the second shaft; the driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is further connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder; or, The wire feeding drive mechanism includes a driving shaft and a line angle coupling transmission mechanism based on a gear pair, and the line angle coupling transmission mechanism based on the gear pair includes a center wheel and two driving gears, and the driving shaft is coaxially sleeved with the swing shaft and rotatably connected to each other; the center wheel is a worm gear or a driven helical gear coaxially fixedly connected to the driving shaft, and the driving gear is a long rod-shaped worm gear or an active helical gear arranged along the X-axis direction and rotatably connected to the assembly bracket, and the two driving gears are respectively meshed with two opposite sides of the center wheel, wherein a second motor is fixedly mounted on the assembly bracket and is respectively connected to the two driving gears; the driving shaft is connected to the power input end of the wire feeder through a synchronous belt transmission mechanism, wherein, when the driving shaft and the power input end of the wire feeder are perpendicular to each other, a 90° rotation transmission structure is also connected between the driving shaft and the synchronous belt transmission mechanism or between the synchronous belt transmission mechanism and the power input end of the wire feeder.

7. The 3D printing device according to claim 6, wherein: When the wire feeding drive mechanism includes a driving shaft and the driving shaft and the swing shaft are coaxially sleeved and rotatably connected to each other; wherein, The swing shaft is rotatably connected to the movable seat, the drive shaft is sleeved on the inner side of the tubular swing shaft, and the axial through hole is axially opened on the wall of the swing shaft or the drive shaft, or the axial through hole is not opened; or, The drive shaft is sleeved on the outer side of the swing shaft, the drive shaft is rotatably connected to the movable seat, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or, The swing shaft is rotatably sleeved inside the central shaft of the movable seat, the drive shaft is rotatably sleeved outside the central shaft of the movable seat, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or The swing shaft is rotatably sleeved within the central shaft of the movable seat, the drive shaft is rotatably sleeved outside the swing shaft, and the swing shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction; or, The swing shaft is rotatably sleeved inside the central shaft of the movable seat, the upper portion of the drive shaft in the Z-axis direction is rotatably sleeved outside the central shaft of the movable seat, the lower portion of the drive shaft in the Z-axis direction is rotatably sleeved outside the swing shaft, and the axial through hole is provided in the axial direction of the swing shaft or not; or The swing shaft is rotatably sleeved outside the central shaft of the movable seat, and the driving shaft is rotatably sleeved inside the central shaft of the movable seat. The driving shaft is provided with the axial through hole or not provided with the axial through hole along the axial direction.

8. The 3D printing device according to claim 6, characterized in that: When the axial through hole is provided on the swing shaft, a guide is provided on the swing arm, and the printing material transmission line passing through the axial through hole upward and downward is connected to the print head after being guided by the guide, so that the printing material transmission line and the synchronous belt transmission mechanism are prevented from touching each other.

9. The 3D printing device according to claim 6, wherein: The wire feeder includes a first squeezing roller and at least one second squeezing roller, both of which are rotatably connected to the swing arm, the axes of the first squeezing roller and the second squeezing roller are parallel to each other and perpendicular to the Z-axis direction, the first squeezing roller and the second squeezing roller are arranged opposite to each other and form a wire feeding channel for driving the filamentary material to feed axially along the filamentary material at opposite positions, the second squeezing roller and the first squeezing roller are not connected or are connected through a gear pair; the power transmission end of the wire feeding drive mechanism is transmission-connected to the first squeezing roller and / or the second squeezing roller serving as the power input end of the wire feeder; wherein, when there are two or more second squeezing rollers, each second squeezing roller is arranged circumferentially around the first squeezing roller at intervals; or, The wire feeder includes a bracket and at least two squeezing rollers, the bracket being rotatably connected to the swing arm, and the rotation axis of the bracket is parallel to the Z-axis direction, the bracket has a channel for the passage of the filamentary material along its rotation axis, the squeezing rollers are rotatably connected to the bracket, and each of the squeezing rollers is circumferentially spaced around the rotation axis of the bracket, the squeezing rollers rotate around the rotation axis of the bracket to form a wire feeding channel for driving the filamentary material to be fed axially along the filamentary material; wherein the rotation axis of the squeezing roller is parallel to the Z-axis direction or has an inclination angle with the Z-axis direction, and the surface of at least one of the squeezing rollers is provided with a plurality of convex teeth for driving the filamentary material; the convex teeth provided on the squeezing roller whose axis is parallel to the Z-axis direction are spiral, and the convex teeth provided on the squeezing roller whose axis is inclined relative to the Z-axis direction are annular; the power transmission end of the wire feeding drive mechanism is transmission-connected to the bracket serving as the power input end of the wire feeder.

10. The 3D printing device according to claim 4, characterized in that: The frame includes a first frame and a second frame, the first frame and the second frame are detachably fixedly connected, and the two adjacent XR assemblies can be movably connected to the first frame and the second frame along the Z-axis direction, or are fixedly connected to the first frame and the second frame.

11. The 3D printing device according to claim 1, wherein: When the travel of the movable base along the X-axis direction is greater than or equal to twice the rotation radius of the print head, the printing range of the XR assembly in the 3D printing device includes a first limit circle area, a second limit circle area, and an area between the first limit circle and the second limit circle, and the first limit circle and the second limit circle are respectively the circular paths formed after the swing arm drives the print head to rotate when the movable base is located at both ends of the X-axis direction; when the layer pattern of the model to be printed spans the first limit circle area and the second limit circle area, the swing arm drives the print head toward the first end area and, in combination with the movement of the movable base along the X-axis direction and the rotation of the swing arm around an axis parallel to the Z-axis direction, the print head Print the layer pattern of the first limit circle area. When it is necessary to print the layer pattern of the second limit circle area, the swing arm drives the print head to rotate to the direction of the second end area. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the second limit circle area. When it is necessary to print the layer pattern of the area between the first limit circle and the second limit circle, the swing arm drives the print head to rotate to the direction of the first end area or the second end area. Through the movement of the movable base along the X-axis direction and the swing of the swing arm around the axis parallel to the Z-axis direction, the print head prints the layer pattern of the area between the first limit circle and the second limit circle.

12. A 3D printing system, characterized in that: The method comprises at least two 3D printing devices according to any one of claims 1 to 11, wherein the frames of the 3D printing devices are detachably fixedly connected, the printing ranges of the XR assemblies in two adjacent 3D printing devices overlap or are seamlessly connected in the Y-axis direction and / or the X-axis direction, and the printing platforms of the 3D printing devices are coplanar or share the same printing platform.

Images