A grabbing mechanism, nozzle library system and 3D printer

Abstract

The present invention discloses a gripping mechanism, a nozzle library system and a 3D printer, wherein a gripping mechanism is used to lock a nozzle mechanism, the nozzle mechanism is provided with a limit piece for cooperating with the gripping mechanism, comprising: a mounting plate, a mounting hole is opened on the mounting plate; the rotating member has a limit end, the limit end passes through the mounting hole; a locking spring is arranged on a section of the side wall of the rotating member located in the mounting hole; a driving device is installed on the mounting plate, and the driving device is connected to the rotating member; the rotating member can move until the limit end is inserted into the limit member, the driving device can drive the rotating rod to rotate, the limit member causes the rotating rod to rotate and advance to a fixed position, and the locking spring is stretched so that when the rotating member stops rotating, the limit end is engaged in the fixed position under the pulling force of the locking spring to achieve a locking effect.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a gripping mechanism, a nozzle library system and a 3D printer. Background Art

[0002] Existing 3D printers are generally single-head, dual-head or multi-material mixed-head. The disadvantages of common printer head structures are as follows: the number of heads is generally extended to 2, and the printed model can only be compatible with two materials at most, which cannot meet the printing needs of multi-color and multi-material models.

[0003] It is also necessary to ensure the rigidity of the nozzle after positioning. For 3D printing, if the rigidity is insufficient after grabbing the nozzle, the nozzle will shake during high-speed printing, which will seriously reduce the quality and accuracy of 3D printing. Therefore, it is very important to ensure the rigidity of the nozzle after grabbing. For this purpose, a grabbing mechanism, a nozzle library system and a 3D printer are proposed. Summary of the invention

[0004] The present invention solves the technical problems that the existing nozzles cannot be locked well after switching and the rigidity after locking is insufficient, and provides a gripping mechanism, a nozzle library system and a 3D printer.

[0005] The technical solution provided by the present invention is as follows:

[0006] A gripping mechanism, used for locking a nozzle mechanism, wherein the nozzle mechanism is provided with a limiting member for cooperating with the gripping mechanism, comprising:

[0007] A mounting plate, wherein a mounting hole is formed on the mounting plate;

[0008] A rotating member, wherein the rotating member has a limiting end, and the limiting end passes through the mounting hole;

[0009] A locking spring, arranged on a side wall of the rotating member located in the mounting hole;

[0010] A driving device and a transmission shaft, wherein the driving device is mounted on the mounting plate and connected to the rotating member via the transmission shaft;

[0011] Among them, when the rotating member can move until the limit end is inserted into the limit member, the driving device can drive the rotating member to rotate, and the limit member causes the rotating member to rotate and advance to a fixed position, and the locking spring is stretched so that when the rotating member stops rotating, the limit end is engaged in the fixed position under the pulling force of the locking spring.

[0012] Preferably, the rotating member comprises:

[0013] Rotating rod;

[0014] A latch pin is mounted on a side wall at one end of the rotating rod to form the limiting end and is used for inserting the limiting member.

[0015] Preferably, the limiting member has at least a mounting block, a locking hole is formed on the mounting block, which matches the limiting end, and the mounting block has two inclined surfaces on the side away from the rotating rod, and the two inclined surfaces are centrally symmetrical about the locking hole, so that the limiting end can enter the locking hole and rotate along the inclined surface to be pushed into a fixed position.

[0016] Preferably, a first magnet is mounted on the mounting plate, and a second magnet matching the first magnet is mounted on the nozzle mechanism.

[0017] Preferably, a first switch is installed on the mounting plate, and is used for controlling the rotation of the driving device when the limiting end is inserted into the locking hole.

[0018] A nozzle library system is installed on a machine platform, comprising:

[0019] A gripping mechanism as described above;

[0020] A nozzle mechanism cooperates with the gripping mechanism to achieve printing;

[0021] A nozzle library is installed on the machine platform, matched with the nozzle mechanism, and used to place the nozzle mechanism;

[0022] The grabbing mechanism can lock the nozzle mechanism from the nozzle library to drive the nozzle mechanism to print.

[0023] Preferably, the nozzle mechanism comprises:

[0024] Fixed plate;

[0025] The nozzle assembly is mounted on the fixing plate.

[0026] Preferably, the mounting plate is provided with a plurality of positioning grooves, and the fixing plate is connected with positioning posts matching the positioning grooves, and when the mounting plate is close to the fixing plate, the positioning posts enter the positioning grooves along the notches of the positioning grooves.

[0027] Preferably, a guide rod is connected to the nozzle depot, and a socket matching the guide rod is provided on the fixing plate, so that the guide rod can be inserted into the socket to place the nozzle mechanism.

[0028] Preferably, a third magnet matching the second magnet is connected to the nozzle library.

[0029] Preferably, a second switch is installed on the nozzle library, and when the grabbing structure moves the nozzle mechanism along the guide rod to the vicinity of the second switch position, the driving device drives the rotating member to rotate to escape from the limited state.

[0030] Preferably, the nozzle depot is connected to two opposing plungers, and the nozzle mechanism is provided with a slot matching the plungers.

[0031] Preferably, the nozzle library further comprises: a plurality of telescopic springs, one end of each telescopic spring is connected to the nozzle library, and the other end of each telescopic spring is connected to the machine platform.

[0032] A 3D printer comprises the nozzle library system described above.

[0033] Compared with the prior art, the gripping mechanism, nozzle library system and 3D printer provided by the present invention have the following beneficial effects:

[0034] 1. The present invention combines a locking spring with a rotating part, which cooperates with the limit part, so that when the rotating part enters and passes through the locking hole on the limit part, the driving device drives the rotating part to rotate, locks and stretches, so that the rotating part rotates to a fixed position, and the limit end of the rotating part is well against the fixed position of the limit part, so that the nozzle mechanism is well connected with the grasping mechanism without shaking, so as to ensure the rigidity after grasping, so that the nozzle mechanism can follow the grasping mechanism to print well.

[0035] 2. The present invention provides a first magnet on the mounting plate and a second magnet on the fixing plate, so that when the grabbing mechanism approaches the nozzle mechanism, the first magnet and the second magnet attract each other, so that the grabbing mechanism has a pre-positioning effect before locking the nozzle mechanism. At this time, the nozzle mechanism will shift with the suction force so as to be fully aligned with the grabbing mechanism, so that the grabbing mechanism can be well locked with the nozzle mechanism. When the first magnet and the second magnet are attracted, a double locking effect is achieved.

[0036] 3. The present invention opens a plurality of positioning grooves on the mounting plate and fixes a plurality of matching positioning columns on the fixing plate, so that the grabbing mechanism can be well positioned after contacting the nozzle mechanism, and the nozzle mechanism will not shake after being locked, so that it can work well.

[0037] 4. The present invention arranges a third magnet on the nozzle library so that when the grabbing mechanism places the nozzle mechanism on the nozzle library, the nozzle mechanism is placed on the nozzle library along the guide rod and is attracted by the third magnet, so that the nozzle mechanism is not easy to fall off after being placed on the nozzle library.

[0038] 5. Multiple nozzle mechanisms are placed in the nozzle library of the present invention, which can print multiple materials. At the same time, switching between nozzle mechanisms can also be achieved, and rapid switching between materials can also be achieved to improve work efficiency.

[0039] 6. The present invention can grasp the nozzles through two grasping mechanisms to realize simultaneous printing of independent dual nozzles, thereby realizing synchronous copying or mirror printing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of a gripping mechanism, a nozzle library system and a 3D printer.

[0041] Figure 1 It is a schematic diagram of a partial assembly structure of the present invention;

[0042] Figure 2 It is an exploded schematic diagram of the grabbing mechanism of the present invention;

[0043] Figure 3 It is a schematic diagram of the exploded structure of the nozzle mechanism of the present invention;

[0044] Figure 4 It is a schematic diagram of the exploded structure of the nozzle library part of the present invention;

[0045] Figure 5 It is a schematic cross-sectional view of a portion of the grasping mechanism;

[0046] Figure 6 It is a schematic diagram of the top view of the structure of the nozzle mechanism placed on the nozzle bank of the present invention;

[0047] Figure 7 It is a structural schematic diagram of a 3D printer.

[0048] Description of Figure Numbers:

[0049] Grasping mechanism 100, mounting plate 110, connecting plate 111, limiting block 112, driving device 120, mounting frame 121, transmission shaft 122, rotating rod 131, locking spring 132, latch 133, jack 140, first switch 150, first magnet 160, first positioning groove 170a, second positioning groove 170b

[0050] The nozzle mechanism 200, the fixing plate 210, the nozzle assembly 220, the positioning column 230, the second magnet 240, and the limiting member 250;

[0051] The nozzle library 300, the placement plate 310, the guide rod 320, the plunger mounting block 330, the third magnet 340, the plunger 350, the second switch 360, the guide column 370, and the telescopic spring 380;

[0052] Movement mechanism 400;

[0053] Machine 500. DETAILED DESCRIPTION

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0055] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0056] According to an embodiment provided by the present invention, Figure 1As shown, a gripping mechanism 100 is used to lock a nozzle mechanism 200. The gripping mechanism 100 is mounted on a motion mechanism 400 and can drive the gripping mechanism 100 to move in the X direction and the Y direction, so that the gripping mechanism 100 can drive the nozzle mechanism 200 to move well. The nozzle mechanism 200 is provided with a stopper 250 for cooperating with the gripping mechanism 100. The stopper 250 is provided with a locking hole, which cooperates with the gripping mechanism 100 to achieve the locking purpose. The gripping mechanism includes: a mounting plate 110, a rotating member, a locking spring 132, a driving device 120 and a transmission shaft 122. The mounting plate 110 10 is provided with a mounting hole; the rotating member has a limiting end, which passes through the mounting hole; a locking spring 132 is arranged on a side wall of the rotating member located in the mounting hole; the driving device 120 is installed on the mounting plate 110, and the driving device 120 is connected to the rotating member through a transmission shaft 122; in a specific implementation, the upper end of the mounting plate 110 is connected with a connecting plate 111, the side wall of the mounting plate 110 is connected with a limiting block 112, and the limiting block 112 is connected to the connecting plate 111, so that the connecting plate 111 is connected to the mounting plate 110 vertically to achieve a stable connection, and the connecting plate 111 is connected to the motion mechanism 400; the driving device 120 is installed on the mounting plate 110, and the driving device 120 is connected to the rotating member through a transmission shaft 122; in a specific implementation, the upper end of the mounting plate 110 is connected with a connecting plate 111, and the side wall of the mounting plate 110 is connected with a limiting block 112, and the limiting block 112 is connected to the connecting plate 111, so that the connecting plate 111 is connected to the mounting plate 110 vertically to achieve a stable connection, and the connecting plate 111 is connected to the motion mechanism 400; The driving device 120 is a steering gear, and the steering gear is installed on the mounting plate 110 through a mounting frame 121. The output end of the steering gear is connected to one end of a transmission shaft 122 to realize power delivery. The other end of the transmission shaft 122 is connected to a rotating rod 131. At the same time, the transmission shaft 122 can also be a tubular structure. One end of the tubular structure is connected to the output end of the steering gear, and the other end of the tubular structure is sleeved on an end of the rotating rod 131 close to the driving device 120. The rotating rod can only move axially in the tubular structure. When actually connected, a connecting groove can be opened on the end of the rotating rod 131 close to the transmission shaft 122. The connecting groove is similar to a waist-shaped groove structure. The transmission shaft 122 extends into the connecting groove, the transmission shaft 122 connecting groove matches the transmission shaft 122, the rotating rod 131 will rotate along the inclined surface to a fixed position, and the locking spring 132 is stretched. When the rotating member stops rotating, under the action of the locking spring 132, the limiting end of the rotating member can be against the fixed position, and the locking spring 132 has a certain pre-tightening force, so that the nozzle mechanism 200 will not loosen after locking. In this embodiment, it is not limited to the connection method between the transmission shaft 122 and the rotating rod 131. It only needs that the transmission shaft 122 after connection can also move axially while driving the rotating rod 131 to rotate.

[0057] In this embodiment, two sets of locking mechanisms can be installed on the mounting plate 110 at the same time, and each set of locking mechanisms includes a driving device 120, a transmission shaft 122, a rotating part, and a locking spring 132 to ensure that the gripping mechanism 100 can better lock the nozzle mechanism 200.

[0058] Specifically, the rotating part includes: a rotating rod 131 and a pin 133; the pin 133 is installed on the side wall of one end of the rotating rod 131 to form a limiting end, and the pin 133 is installed behind the rotating rod 131 so that the limiting end forms a "cross" shape, which is used to insert the limiting part 250 to achieve a limiting effect.

[0059] Among them, when the rotating part can move to the limit end and is inserted into the limit part 250, the driving device 120 can drive the rotating part to rotate, and the limit part 250 causes the rotating part to rotate and advance to a fixed position, and the locking spring 132 is stretched so that when the rotating part stops rotating, the limit end is engaged in a fixed position under the pulling force of the locking spring 132.

[0060] In another embodiment of the present invention, the limit member 250 at least has a mounting block, which is provided with a locking hole that matches the limit end, and the mounting block has two inclined surfaces on one side away from the rotating rod 131, and the two inclined surfaces are centrally symmetrical about the locking hole, so that the limit end can be rotated and pushed to a fixed position along the inclined surface, and a rectangular groove is provided at a fixed position on the mounting block. When the rotating rod 131 is rotated 90 degrees along the inclined surface into the rectangular groove, because the two sides of the locking hole are inclined, the rotating rod 131 is rotated and pushed, so that the locking spring is stretched. When the rotating rod 131 stops rotating, the rotating rod 131 will make the limit end firmly stuck in the rectangular groove under the action of the locking spring 132. In specific implementation, it is not limited to the setting of the inclined surface, and a thread design with a larger pitch can also be adopted, and a screw groove with a larger pitch is provided on the inner wall of the locking hole. In this embodiment, it is not limited to the specific design of the limit member 250, and it only needs to be designed that the limit member 250 can be rotated and pushed when the rotating rod rotates, so that the locking spring is stretched.

[0061] The first magnet 160 is mounted on the mounting plate 110, and in the present embodiment, the first magnet 160 is a ring-shaped structure mounted in a mounting groove provided on the mounting plate 110, and the second magnet 240 matching the first magnet 160 is mounted on the nozzle mechanism 200. In the present embodiment, no specific restriction is made on the magnetic properties of the first magnet 160, and no restriction is made on the shape and quantity of the magnets. It is only necessary that when the first magnet 160 and the second magnet 240 are installed and the gripping mechanism 100 is close to the nozzle mechanism 200, the two attract each other to produce a pre-positioning effect, and when the gripping mechanism 100 and the nozzle mechanism 200 are separated, it is not difficult to separate them, which is convenient for maintenance after power failure. In the present embodiment, the attraction between the first magnet 160 and the second magnet 240 can not only play a further locking role, but also play a pre-positioning role.

[0062] At the same time, a first switch 150 is installed on the mounting plate 110. The first switch 150 is a capacitive proximity switch. The first switch 150 is installed on the mounting plate 110 so that when the mounting plate 110 is close to the fixed plate 210, the first switch 150 controls the driving device 120 to drive the rotating rod 131 to rotate, so that the limiting end is inserted into the locking hole and reaches the rectangular groove.

[0063] A nozzle library system is installed on a machine platform 500, comprising: a gripping mechanism 100 as described above; a nozzle mechanism 200, which cooperates with the gripping mechanism 100 to achieve printing; a nozzle library 300 is installed on the machine platform 500, matched with the nozzle mechanism 200, and used to place the nozzle mechanism 200; wherein the gripping mechanism 100 can lock the nozzle mechanism 200 from the nozzle library 300 to drive the nozzle mechanism 200 to print.

[0064] In a specific implementation, the grabbing mechanism 100 can grab the nozzle mechanism 200 from the nozzle library 300, or place the nozzle mechanism 200 that has been installed on the nozzle library 300, so as to achieve rapid switching.

[0065] In another embodiment of the present invention, the nozzle mechanism 200 includes: a fixed plate 210, and a second magnet 240 is installed on the fixed plate 210; a nozzle assembly 220 is installed on the fixed plate 210. In a specific implementation, the nozzle assembly 220 is installed on the fixed plate 210, and the second magnet 240 is installed on the fixed plate 210. The number and magnetic size of the second magnet 240 can be preset according to requirements.

[0066] Specifically, a plurality of positioning grooves are provided on the mounting plate 110, and a positioning column 230 matching the positioning grooves is connected to the fixing plate 210, and the end of the positioning column 230 close to the grasping mechanism 100 is in a spherical structure, so that when the mounting plate 110 is close to the fixing plate 210, the positioning column 230 enters the positioning groove along the notch of the positioning groove, so that the limiting end enters the locking hole, which is beneficial to the locking between the rotating member and the limiting member 250. In the specific implementation, the positioning groove is divided into a first positioning groove 170a and a second positioning groove 170b, wherein the first positioning groove 170a and the second positioning groove 170b are both "V"-shaped structures, so that the positioning column 230 can quickly enter the positioning groove for positioning.

[0067] Specifically, the nozzle library 300 is connected with a guide rod 320, and a socket 140 matching the guide rod 320 is provided on the fixing plate 210, so that the guide rod 320 can be inserted into the socket 140 to place the nozzle mechanism 200; the nozzle library 300 is connected with a third magnet 340 matching the second magnet 240, so that the nozzle library 300 can absorb the nozzle mechanism 200. In the specific implementation, the nozzle library 300 is connected with a placement plate 310, and the guide rod 320 is installed on the placement plate 310. 0, and a socket 140 is opened on the fixed plate 210, and a copper sleeve is installed in the socket 140 to ensure that the socket 140 will not be greatly damaged after the guide rod 320 is inserted into the socket 140, so as to improve the accuracy of switching the nozzle mechanism 200. In actual application, the number of the socket 140 and the guide rod 320 are both two to ensure good balance. At the same time, two plunger mounting blocks 330 are connected to the placement plate 310, and the third magnet 340 is installed on the plunger mounting block 330. The first magnet 160, the second magnet 240 and the third magnet 340 are on the same horizontal line, and the magnetic attraction between the third magnet 340 and the second magnet 240 is greater than the magnetic attraction between the first magnet 160 and the second magnet 240, so as to ensure that when the grasping mechanism 100 places the nozzle mechanism 200 on the nozzle library 300, the grasping mechanism 100 and the nozzle mechanism 200 can be separated. Two relative plungers 350 are connected to the nozzle library 300, and the nozzle mechanism A slot matching the plunger 350 is provided on 200. When the nozzle mechanism 200 moves to the nozzle library 300, the slot on the nozzle mechanism 200 is engaged with the plunger 350. In a specific implementation, the plunger 350 is connected to the side wall on the opposite side of the plunger mounting block 330, and a slot matching the plunger 350 is provided on the nozzle mechanism 200 so that when the nozzle mechanism 200 is placed on the placement plate 310, the nozzle mechanism 200 can be well engaged with the nozzle library 300.

[0068] A second switch 360 is installed on the nozzle library 300. When the grabbing structure moves the nozzle mechanism 200 along the guide rod 320 to the vicinity of the second switch 360, the driving device 120 drives the rotating member to rotate to escape from the limited state.

[0069] The nozzle library also includes: a plurality of telescopic springs 380, one end of the telescopic spring 380 is connected to the nozzle library 300, and the other end of the telescopic spring 380 is connected to the machine table 500. At the same time, the four telescopic springs are used to compensate for the assembly and motion errors in the Y direction. When switching, the grasping mechanism 100 can move a certain range of distance, so that the V-groove of the grasping mechanism 100 can be fully in contact with the positioning column 230 on the fixed plate 210, thereby improving the repeatability and reliability of grasping. In specific implementation, one end of the guide column 370 is connected to the side of the placement plate 310 away from the nozzle mechanism 200, and the other end of the guide column 370 is installed on On the entire printer platform, the guide column 370 is a telescopic guide column 370, and the guide column 370 is provided with a telescopic spring 380, so that when the moving mechanism 400 brings the grabbing mechanism 100 to the nozzle library 300, the nozzle mechanism 200 will enter the nozzle library 300 mechanism along the guide rod 320, and as the moving mechanism 400 continues to move forward, it will drive the entire placement plate 310 to move toward the side wall of the platform, the guide column 370 contracts, the telescopic spring 380 contracts, and at this time the nozzle mechanism 200 is stuck on the plunger 350 to ensure that the entire nozzle mechanism 200 will not fall after being placed.

[0070] A 3D printer includes a nozzle library system as described above, so that the printer can not only quickly switch materials during printing, but also realize independent dual-nozzle printing to achieve synchronous replication or mirror printing.

[0071] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A gripping mechanism for locking a nozzle mechanism, wherein the nozzle mechanism is provided with a limiter for cooperating with the gripping mechanism, characterized in that: include: A mounting plate, wherein a mounting hole is formed on the mounting plate; A rotating member, wherein the rotating member has a limiting end, and the limiting end passes through the mounting hole; A locking spring, arranged on a side wall of the rotating member located in the mounting hole; A driving device and a transmission shaft, wherein the driving device is mounted on the mounting plate and connected to the rotating member via the transmission shaft; When the rotating member moves to the point where the limit end is inserted into the limit member, the driving device drives the rotating member to rotate, and the limit member causes the rotating member to rotate and advance to a fixed position, and the locking spring is stretched so that when the rotating member stops rotating, the limit end is engaged in the fixed position under the pulling force of the locking spring.

2. A gripping mechanism according to claim 1, characterized in that: The rotating member comprises: Rotating rod; A latch pin is mounted on a side wall at one end of the rotating rod to form the limiting end and is used for inserting the limiting member.

3. A gripping mechanism according to claim 2, characterized in that: The limiting member has at least a mounting block, a locking hole is formed on the mounting block, and the locking hole matches the limiting end. The mounting block has two inclined surfaces on a side away from the rotating rod, and the two inclined surfaces are centrally symmetrical about the locking hole, so that the limiting end enters the locking hole and is rotated along the inclined surface to be pushed to a fixed position.

4. A gripping mechanism according to any one of claims 1 to 3, characterized in that: A first magnet is mounted on the mounting plate, and a second magnet matching the first magnet is mounted on the nozzle mechanism.

5. A gripping mechanism according to claim 4, characterized in that: A first switch is installed on the mounting plate, and is used to control the rotation of the driving device when the limiting end is inserted into the locking hole.

6. A nozzle library system, installed on a machine platform, characterized in that: include: A gripping mechanism as described in any one of claims 1 to 5 above; A nozzle mechanism cooperates with the gripping mechanism to achieve printing; A nozzle library is installed on the machine platform, matched with the nozzle mechanism, and used to place the nozzle mechanism; The grabbing mechanism can lock the nozzle mechanism from the nozzle library to drive the nozzle mechanism to print.

7. A nozzle library system according to claim 6, characterized in that: The nozzle mechanism comprises: Fixed plate; The nozzle assembly is mounted on the fixing plate.

8. A nozzle library system according to claim 7, characterized in that: The mounting plate is provided with a plurality of positioning grooves, and the fixing plate is connected with positioning posts matching the positioning grooves. When the mounting plate is close to the fixing plate, the positioning posts enter the positioning grooves along the notches of the positioning grooves.

9. A nozzle library system according to claim 7, characterized in that: The nozzle depot is connected with a guide rod, and the fixing plate is provided with a plug hole matching with the guide rod, so that the guide rod can be inserted into the plug hole to place the nozzle mechanism.

10. A nozzle library system according to any one of claims 7 to 9, characterized in that: The nozzle library is connected with a third magnet matching the second magnet.

11. A nozzle library system according to claim 9, characterized in that: A second switch is installed on the nozzle library. When the grabbing mechanism carries the nozzle mechanism along the guide rod to the vicinity of the second switch position, the driving device drives the rotating member to rotate to escape from the limited state.

12. A nozzle library system according to any one of claims 6 to 9, characterized in that: The nozzle depot is connected with two opposite plungers, and the nozzle mechanism is provided with a card slot matching with the plungers.

13. A nozzle library system according to any one of claims 6 to 9, characterized in that: The nozzle library also includes: A plurality of telescopic springs, one end of each of which is connected to the nozzle library, and the other end of each of which is connected to the machine platform.

14. A 3D printer, characterized in that: A nozzle library system comprising any one of claims 6-13.

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