3D printing method and apparatus

Abstract

The application discloses a kind of 3D printing method and device, including printing head and platform.Printing head is located above platform, including body and first nozzle and second nozzle of body, first nozzle and second nozzle respectively extrude printing material to platform, to form printing model. Wherein, printing head and platform can be relatively displaced, and platform can rotate around its axis.The 3D printing method provided in the application, first nozzle and second nozzle need to meet two relationship respectively, so that first nozzle is always in front of second nozzle in printing process, so that first nozzle and second nozzle do not interfere in printing process, and the motion range, rotation angle of both will not be constrained by external structure, circuit wire bundle etc., improve the flexibility of printing head, and then greatly improve the printing efficiency and printing precision of 3D printing device printed by using the 3D printing method.

Description

Technical Field

[0001] This invention relates to the field of 3D printing technology, and more particularly to a 3D printing method and apparatus. Background Technology

[0002] 3D printing technology is based on digital model files and constructs objects by printing layer by layer. Among them, the Fused Filament Fabrication (FFF, or Fused Deposition Modelling) process extrudes flowable printing material through nozzles that move along the printing path and stacks them layer by layer to form a three-dimensional model.

[0003] This molding process uses the layer pattern information from the digital model file. Through relative movement between the printhead and the platform in the XY plane, the printhead can reach any position within a certain area above the platform. Simultaneously, the printhead extrudes printing material at an appropriate speed while moving above the platform, until one layer is printed. After one layer is completed, the printhead and printing platform move away from each other by a certain distance, such as the layer thickness, before printing a new layer, stacking them layer by layer until a three-dimensional solid is formed.

[0004] Traditional fused deposition modeling (FDM) 3D printing generally struggles to achieve simultaneous printing from multiple nozzles; even when multiple nozzles are present, they typically print alternately. To address this, some printing devices utilize the rotation of multiple nozzles in the print head to achieve simultaneous printing. However, the rotation angle of these nozzles is often constrained by the kinking of the filament feed tube or wiring harness, imposing additional limitations on the printer's physical structure and impacting the device's flexibility, printing speed, and printing accuracy. Furthermore, this setup significantly increases the complexity of developing the control system.

[0005] Therefore, how to improve the technical defects existing in the prior art has always been a problem that ordinary people skilled in the art need to solve. Summary of the Invention

[0006] The purpose of this invention is to provide a 3D printing method and apparatus that can achieve simultaneous printing with multiple nozzles, and the rotation angle of the nozzles is not limited.

[0007] The technical solution provided by this invention is as follows: A 3D printing method, comprising: Printhead and platform; The printhead is located above the platform and includes a body and a first printhead and a second printhead located on the body. The first nozzle and the second nozzle respectively extrude printing material onto the platform to form a printed model. The print head and the platform can be displaced relative to each other, and the platform can rotate around its own axis. Let Vn be the velocity component of a point on the line connecting the center point of the extrusion port of the first nozzle used to extrude printing material on the platform (projected onto the platform) and the center point of the extrusion port of the second nozzle used to extrude printing material on the platform (projected onto the platform). The positive direction is defined by the velocity component Vn along the direction from point B to point A, and the positive direction is defined by the clockwise rotation of the platform. Vn, ω, R1, and α1 should satisfy relation 1: Vn-ω*R1*cosα1>0; In the formula, ω represents the angular velocity of the platform; R1 represents the radius of rotation from point A to the platform's rotation center O; If both the platform's rotation direction and the direction of its component velocity Vn are positive or both are negative, α1 represents the angle between the ray drawn from point A along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the direction of its component velocity Vn; if one direction is positive and the other is negative, α1 represents the angle between the ray drawn from point A along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the opposite direction of its component velocity Vn; and Vn, ω, R2, and α2 should satisfy relation 2: Vn-ω*R2*cosα2>0; In the formula, R2 represents the radius of rotation from point B to the rotation center O of the platform; If both the platform's rotation direction and the component velocity Vn are positive or both are negative, α2 represents the angle between the ray drawn from point B along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the component velocity Vn. If the platform's rotation direction and the component velocity Vn are one positive and one negative, α2 represents the angle between the ray drawn from point B along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn.

[0008] In some implementations, V1, ω, R1, θ1, and θ2 should satisfy relation 3: V1*cosθ2-ω* R1*cosθ1=0; In the formula, V1 represents the moving speed of point A; θ1 represents the angle between the ray drawn from point A along the direction perpendicular to the tangent of the printing path and the ray drawn from point A along the tangent of the platform rotation direction; θ2 represents the angle between the ray drawn along the direction of the moving speed V1 and the ray drawn from point A along the direction perpendicular to the tangent of the printing path; and / or V2, ω, R2, θ3, and θ4 should satisfy relation 4: V2*cosθ4-ω* R2*cosθ3=0; In the formula, V2 represents the moving speed of point B; θ3 represents the angle between the ray drawn from point B along the direction perpendicular to the tangent of the printing path and the ray drawn from point B along the tangent of the platform rotation direction. θ4 represents the angle between the ray drawn along the direction of the moving speed V2 and the ray drawn from point B along the direction perpendicular to the tangent of the printing path.

[0009] In some implementations, the printing path of the first printhead is the same as the printing path of the second printhead; The first printhead includes a first nozzle, the second printhead includes a second nozzle, the first nozzle is inclined toward the second nozzle, and the first printhead extrudes continuous fiber printing material; Wherein, the extrusion port of the first nozzle and the extrusion port of the second nozzle are two separate extrusion ports, or the extrusion port of the first nozzle is merged into the extrusion port of the second nozzle; During the printing process, the first nozzle is tilted toward the rear of the print head movement direction or the second nozzle is kept behind the first nozzle, so that the bending angle of the continuous fiber printing material is reduced when it is extruded.

[0010] In some embodiments, an extrusion roller assembly is provided on the side of the second printhead away from the first printhead, and the rollers of the extrusion roller assembly are in rolling contact with the printing material extruded onto the platform; During the printing process, the rolling axis of the roller component that rolls in contact with the printing material in the extrusion roller assembly is always perpendicular to the tangent of the printing path located directly below the extrusion roller assembly.

[0011] The present invention also provides a 3D printing apparatus, which prints using any of the 3D printing methods provided above, wherein the first nozzle includes a first pair of connecting pipes and a first nozzle, the first pair of connecting pipes being connected to the body; and a first heating block is provided on the outer sleeve of the first nozzle; The end of the first nozzle furthest from the platform is provided with a docking portion for docking with the first heating block; The first nozzle is mounted on the first heating block in a vertically downward or perpendicularly towards the platform surface and is connected to the first connecting pipe; or the first nozzle is inclined toward the second nozzle direction on the first heating block, and a bent pipe is provided on the side of the connecting part away from the first nozzle. The bent pipe passes through the first heating block, and the inclined part of the bent pipe is connected to the first nozzle. The vertical part of the bent pipe is correspondingly provided with the first connecting pipe.

[0012] In some embodiments, the second nozzle includes a second pair of connecting pipes and a second nozzle, the second pair of connecting pipes being connected to the body; and the second nozzle is fitted with a second heating block. The second nozzle has a docking portion at the end furthest from the platform for docking with the first heating block; The second nozzle is installed on the second heating block in a vertically downward or perpendicularly towards the platform surface and is connected to the second pair of connecting pipes; or the second nozzle is inclined to the second heating block towards the first nozzle and is opposite or offset from the first nozzle. A bent pipe is provided on the side of the docking part away from the second nozzle. The bent pipe passes through the second heating block, and the inclined part of the bent pipe is connected to the second nozzle. The vertical part of the bent pipe is correspondingly provided to the second pair of connecting pipes. or, The second printhead includes a second pair of connecting pipes and a second nozzle. The second pair of connecting pipes is connected to the main body. The second pair of connecting pipes of the second printhead is a cylinder and also includes a screw. The screw is disposed in the cylinder and pressurizes the printing material by rotating. One end of the cylinder is connected to the second nozzle.

[0013] In some embodiments, the first heating block has an installation station for installing the mating part, and / or the second heating block has an installation station for installing the mating part; the installation station and the mating part are engaged and / or the installation station and the mating part have a plurality of corresponding fastening holes, and fasteners fix the mating part to the installation station through the fastening holes; or, the installation station on the first heating block has a feed hole for communicating with the first mating pipe, and / or the installation station on the second heating block has a feed hole for communicating with the second mating pipe, and the installation station has a clearance hole for the bent pipe to pass into the channel formed by the installation station and the feed hole; or The first heating block is divided into two parts, with a curved groove formed on the inner surface of at least one part. The bent tube is disposed within this curved groove and is clamped by the two parts of the first heating block. Alternatively, the second heating block is divided into two parts, with a curved groove formed on the inner surface of at least one part. The bent tube is disposed within this curved groove and is clamped by the two parts of the second heating block. The first nozzle, the docking portion, and the bend are integrally formed and have a tubular structure; and / or the second nozzle, the docking portion, and the bend are integrally formed and have a tubular structure.

[0014] In some embodiments, the first heating block is provided with an installation station for installing the mating part, and the installation station is provided with a feed hole for communicating with the first mating pipe; and / or the second heating block is provided with an installation station for installing the mating part, and the installation station is provided with a feed hole for communicating with the second mating pipe. The first nozzle and the second nozzle are integrally formed; and / or The first heating block and the second heating block are integrally formed, and the two feed holes are respectively connected to the first pair of pipes and the second pair of pipes, or the first pair of pipes and the second pair of pipes are integrated into a third pair of pipes, and the two feed holes are connected to the third pair of pipes.

[0015] In some embodiments, the second nozzle and / or the first nozzle are provided with a needle valve to control whether printing material is extruded from the extrusion nozzle.

[0016] In some implementations, the print head further includes: A cutting assembly for cutting the printing material conveyed from the first connecting pipe to the bent pipe or to the first heating block; and There is a gap between the first pair of connecting pipes and the first heating block, or between the first pair of connecting pipes and the bend, so that the cutting blade of the cutting assembly can extend into it and make a cut.

[0017] In some embodiments, the cutting blade has a blade structure, and the curve of the cutting edge is a segment of an involute or a spiral. or The cutting blade has a ring structure, and the cutting edge of the cutting blade is a section of the curved edge of the oblique cut surface on the ring or a columnar spiral.

[0018] In some embodiments, the printing material is a continuous fiber filament, and the first connecting pipe conveys multiple printing materials to the bent pipe or the first heating block, and the multiple printing materials are arranged at equal intervals along the blade of the cutting blade.

[0019] In some implementations, the printhead further includes one or more of the following devices: Device 1, the device 1 is a squeezing roller assembly, which is located on the side of the second nozzle away from the first nozzle, and is used to squeeze the printing material extruded by the first nozzle and the second nozzle; the squeezing roller assembly includes a vertical shaft and a roller component that is rotatably disposed below the vertical shaft, and the vertical shaft is connected to the body; Device 2, the second device is a fan, the fan is connected to the body, located on the side of the second nozzle away from the first nozzle, and facing the platform, so as to dissipate heat from the printing material extruded through the first nozzle and the second nozzle; Device 3, the device 3 is an inkjet assembly, the inkjet assembly is connected to the body, the inkjet assembly is located on the side of the second printhead away from the first printhead, and is used to spray pigment or binder onto the surface of the freshly extruded printing material; Device 4, the fourth device is a detection component, the detection component is connected to the body, the detection component is located on the side of the second nozzle away from the first nozzle, and is used to detect the printing accuracy and printing quality of the freshly extruded printing material; Device 5, the device 5 is a light curing lamp, the light curing lamp is connected to the body, the light curing lamp is located on the side of the second nozzle away from the first nozzle, and is used to cure the light-curable printing material extruded onto the platform; Device six, the device six is ​​a temperature detector, the temperature detector is connected to the body, the temperature detector is set on the side of the first nozzle away from the second nozzle, and is used to detect the temperature of the area to be printed where the first nozzle will extrude the printing material; Device 7 is a preheater connected to the main body. The preheater is located on the side of the first nozzle away from the second nozzle to heat the area to be printed on the platform where printing material is to be extruded or to heat the freshly extruded printing material; or the preheater is a first heating block, and the vertical distance between the side of the first heating block facing the platform and the platform is less than the vertical distance between the side of the second heating block facing the platform and the platform, to heat the area to be printed by the first nozzle.

[0020] In some implementations, the 3D printing apparatus also includes a heat dissipation component; The heat dissipation assembly includes a first duct and / or a second duct connected to a fan or air source. The end of the first duct away from the fan is located on the side of the second nozzle away from the first nozzle and faces the platform to dissipate heat from the printing material extruded through the first and second nozzles; and / or the outer walls of the first and / or second connecting pipes are provided with heat sinks, and the end of the second duct away from the fan is directly opposite the heat sinks on the outer walls of the first and / or second connecting pipes; or... It also includes an extrusion roller assembly, which includes a vertical shaft and roller components rotatably disposed below the vertical shaft. The heat dissipation assembly includes a first air duct and / or a second air duct connected to a fan or air source. The vertical shaft is connected to the main body. A heat dissipation channel is provided inside the roller components. The end of the first air duct away from the fan is connected to one end of the heat dissipation channel; and / or one end of the second air duct is connected to the other end of the heat dissipation channel, and the other end of the second air duct faces the heat sink on the second connecting pipe or the first connecting pipe; or... The heat dissipation assembly includes a first duct and / or a second duct connected to a fan or air source. The first duct has a heat dissipation channel or a heat dissipation channel wrapped with several heat sinks, and / or the second duct has a heat dissipation channel or a heat dissipation channel wrapped with several heat sinks. The end of the first duct away from the fan is connected to one end of the heat dissipation channel in the first duct, and / or the end of the second duct away from the fan is connected to one end of the heat dissipation channel in the second duct.

[0021] In some embodiments, the roller component has a heat dissipation channel inside, the heat dissipation channel is filled with coolant, and the external circulation pipe of the heat dissipation channel dissipates heat through the circulation of the coolant. and / or The first pair of connecting pipes has a heat dissipation channel or a heat dissipation channel wrapped with several heat dissipation fins, and / or the second pair of connecting pipes has a heat dissipation channel or a heat dissipation channel wrapped with several heat dissipation fins. The heat dissipation channel is filled with coolant, and the external circulation pipe of the heat dissipation channel dissipates heat through the circulation of the coolant.

[0022] In some embodiments, the platform is provided with a heating element and / or a temperature sensor, the heating element and / or the temperature sensor being electrically connected to a control component via a conductive slip ring; The conductive slip ring includes a first slip ring component and a second slip ring component that can rotate relative to each other. The first slip ring component is fixed to the platform and rotates together with the platform. A platform pivot is provided below the platform. The first slip ring is sleeved on the outside of the platform pivot or passes through the inside of the platform pivot, and the corresponding second slip ring is sleeved on the outside of the first slip ring or passes through the inside of the first slip ring. The wires connected to the heating element and / or temperature sensor are electrically connected to the first slip ring, and the wires connected to the control component are electrically connected to the second slip ring.

[0023] In some embodiments, the 3D printing apparatus further includes a printhead, on which the body is rotatably mounted, and the body has a through-hole extending vertically for air ducts, and / or coolant circulation pipes, and / or material delivery pipes, and / or wire harnesses to pass through. The technical advantages of this invention are as follows: 1. In this patent, by requiring the first and second nozzles to satisfy two relational equations respectively, and through the rotation of the platform, the first nozzle is always positioned in front of the second nozzle. This ensures that the first and second nozzles maintain their respective printing paths or a common printing path during the printing process. Furthermore, their range of motion and rotation angle are not constrained by external structures, circuit harnesses, or other kinks or coils. This also facilitates the installation of air ducts or coolant circulation pipes, wiring harnesses (wires), and material delivery pipes, significantly simplifying the structure of the print head and increasing the flexibility of the printing process. Consequently, this greatly improves the printing efficiency and reliability of the 3D printing device using this 3D printing method.

[0024] 2. In this patent, the printing path of the second nozzle is largely the same as that of the first nozzle, and the first nozzle extrudes continuous fiber material. Thus, when the first nozzle extrudes continuous fiber material, the printing material extruded by the second nozzle will directly cover the freshly extruded continuous fiber material, forming the required composite material model, resulting in extremely high printing efficiency.

[0025] 3. By setting a conductive slip ring structure on the platform, the power lines on the platform can be maintained, for example, for platform heating and temperature detection, and there are no restrictions on the platform's rotation angle.

[0026] 4. In this patent, by setting up an extrusion roller assembly, the printing material that has just been extruded onto the platform is pressurized, which can increase the tightness and bonding strength between the printing materials extruded by the first and second nozzles, and can also squeeze out any air bubbles that may exist in the printing material, thereby further improving the printing accuracy and strength. Attached Figure Description

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a three-dimensional structural schematic diagram of the 3D printing device provided by the present invention in one embodiment; Figure 2 This is a schematic diagram showing the positions of the printhead and platform provided by the present invention in one state; Figure 3 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 4 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 5 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 6 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 7This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 8 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 9 This is a schematic diagram showing the position of the printhead and platform provided by the present invention in another state; Figure 10 This is a cross-sectional view of another embodiment of the 3D printing apparatus provided by the present invention; Figure 11 This is a three-dimensional structural schematic diagram of the 3D printing device provided by the present invention in yet another embodiment; Figure 12 This is a cross-sectional view of the 3D printing apparatus provided by the present invention in yet another embodiment; Figure 13 This is a cross-sectional view of the 3D printing apparatus provided by the present invention in yet another embodiment; Figure 14 This is a three-dimensional structural diagram of the printhead provided by the present invention; Figure 15 This is a partial cross-sectional view of the 3D printing device provided by the present invention in yet another embodiment; Figure 16 This is a partial cross-sectional view of the 3D printing device provided by the present invention in yet another embodiment; Figure 17 This is a cross-sectional view of the 3D printing apparatus provided by the present invention in yet another embodiment; Figure 18 This is a partial cross-sectional view of the 3D printing device provided by the present invention in yet another embodiment; Figure 19 This is a front view of the first heating block provided by the present invention in one embodiment; Figure 20 yes Figure 19 A three-dimensional structural schematic diagram of the first heating block provided; Figure 21 This is a cross-sectional view of the first heating block provided by the present invention in another embodiment; Figure 22 This is a top view of the first heating block provided by the present invention; Figure 23 This is a bottom view of the first heating block provided by the present invention; Figure 24 This is a schematic diagram of the state of the cutting component provided by the present invention when it is not cutting the printed material; Figure 25 This is a schematic diagram showing the state of the cutting component provided by the present invention when cutting the printing material; Figure 26This is a schematic diagram showing the arrangement of the cutting blade and multiple first pairs of connecting pipes provided by the present invention; Figure 27 This is a 3D schematic diagram of a printhead with a ring-shaped cutting blade in an uncut state. Figure 28 This is a 3D schematic diagram of a printhead with a ring-shaped cutting blade in a cutting state.

[0028] Explanation of icon numbers: 100. Printhead; 110. Body; 111. Through hole; 112. Print base; 120. First nozzle; 121. First connecting pipe; 1211. Second heat dissipation channel; 1212. Second heat sink; 122. First nozzle; 123. First heating block; 1231. First part; 1232. Second part; 130. Second nozzle; 131. Second connecting pipe; 1311. First heat dissipation channel; 1312. First heat sink; 132. Second nozzle; 133. Second heating block; 140. Mounting station; 141. Needle valve; 142. First drive component; 143. Clearance hole; 150. Feed hole; 160. Connecting part; 161. Bend; 170. Third connecting pipe; 180. Pin; 190. Third heat dissipation channel; 200. Conveying assembly; 210. First feeder; 211. First tray; 212. First feeding component; 220. Second feeder; 221. Second tray; 222. Second feeding component; 223. Cylinder; 224. Feeding hopper; 225. Second drive component; 226. Screw; 300, Platform; 310, Platform Shaft; 320, Fifth Drive Component; 330, Transmission Component; 331, Synchronous Pulley; 332, Synchronous Belt; 340, Conductive Slip Ring; 341, Upper Wire; 342, First Slip Ring Component; 343, Second Slip Ring Component; 344, Lower Wire; 400. Control components; 410. Wiring harness; 500. Cutting assembly; 510. Cutting blade; 511. Blade; 520. Third drive component; 600, Extrusion roller assembly; 610, Vertical shaft; 620, Fixing frame; 630, Fourth drive component; 640, Roller assembly; 650, Connecting rod; 710. Fan; 720. First air duct; 730. Second air duct; 740. Third air duct; 801. Printing path; 802. Heating element; 803. Temperature sensor; 804. Fastening hole; 805. Inkjet assembly; 806. Detection assembly; 807. UV curing lamp; 808. Bearing; 809. Preheater; 810. Temperature detector; 811. Spiral; 812. Output shaft; 900, printing material; 901, first feeding pipe; 902, second feeding pipe. Detailed Implementation

[0029] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0031] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0032] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various components of the invention are relative rather than absolute. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, these directional indications also change accordingly.

[0035] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] According to a specific embodiment provided by the present invention, see [link to specific embodiment]. Figures 1 to 28 A 3D printing method and apparatus are disclosed. In the 3D printing method provided in this embodiment, the 3D printing apparatus includes a print head 100 and a platform 300. The print head 100 is positioned above the platform 300 and includes a body 110 and a first nozzle 120 and a second nozzle 130 disposed on the body 110. The first nozzle 120 and the second nozzle 130 respectively extrude printing material 900 onto the platform 300 to form a printed model. It is worth noting that in this embodiment, the print head 100 and the platform 300 can be displaced relative to each other, and the platform 300 can rotate around its own axis, as indicated by arrow ω.

[0037] Specifically, the print head 100 and the platform 300 can perform lateral relative displacement in a direction parallel to the upper surface of the platform 300, longitudinal relative displacement in a direction perpendicular to the upper surface of the platform 300, or relative rotation. Of course, these relative displacements can be performed individually or in combination, such as simultaneously performing lateral relative displacement and relative rotation. Generally, the print head 100 and the platform 300 will first perform lateral relative displacement and / or relative rotation. After completing the printing of one layer, they will then perform longitudinal relative displacement to increase the distance between the print head 100 and the platform 300, allowing for the printing of the next layer. This process is repeated until printing is complete, obtaining the desired model.

[0038] In actual production, the print head 100 can move laterally or longitudinally to achieve lateral or longitudinal displacement between the print head 100 and the platform 300; or the platform 300 can move laterally or longitudinally to achieve lateral or longitudinal displacement between the print head 100 and the platform 300; or the platform can move longitudinally and the print head 100 can move laterally to achieve lateral or longitudinal displacement between the print head 100 and the platform 300, etc. No limitation is made here, and all are within the protection scope of this invention.

[0039] Specifically, see Figures 2 to 7To better match the first nozzle 120 and the second nozzle 130 during the printing process, the first nozzle 120 is optimally positioned in front of the printing path 801 of the second nozzle 130 during the printing process. For example, when the first nozzle 120 extrudes and prints the lower layer, the second nozzle 130 prints the upper layer, thus achieving a fast printing process. Alternatively, the first nozzle 120 can extrude continuous fiber filaments, and the second nozzle 130 can extrude molten resin printing material. This allows the molten resin printing material extruded by the second nozzle 130 to quickly cover the continuous fiber filaments while the first nozzle 120 extrudes them, achieving faster, more flexible, and more effective composite material printing. Therefore, the component velocity Vn of a point (e.g., the midpoint) on the line connecting the center point A of the extrusion port of the first nozzle 120 for extruding the printing material 900 on the platform 300 and the center point B of the extrusion port of the second nozzle 130 for extruding the printing material 900 on the platform 300, along the direction of the line connecting points A and B, should be greater than the component velocity Vn of the linear velocity μ1 at point A when the platform rotates along the direction of the line connecting points A and B, and the component velocity Vn should be greater than the component velocity Vn of the linear velocity μ2 at point B when the platform rotates along the direction of the line connecting points A and B.

[0040] In this embodiment, see Figures 2 to 7 Using the top view as the main view for analysis, let the rotation center O of platform 300 be the origin. Draw two mutually perpendicular straight lines through this origin on the surface of platform 300. Treat platform 300 as stationary, and all motions are equivalently transformed onto printhead 100. For example, the lateral movement and rotation of platform 300 are converted into the counter-movement at a constant rate and the counter-rotation at a constant angular velocity of printhead 100. Take the clockwise rotation direction of platform 300 as positive, and the direction of the component velocity Vn from point B to point A as positive.

[0041] At this point, we can obtain the relationships Vn>μ1*cosα1 and Vn>μ2*cosα2. If both the rotation direction of platform 300 and the direction of its component velocity Vn are positive or both are negative, then α1 represents the angle between the ray drawn from point A along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the component velocity Vn; α2 represents the angle between the ray drawn from point B along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the component velocity Vn. If one direction of platform 300 is positive and the other is negative, then α1 represents the angle between the ray drawn from point A along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn; α2 represents the angle between the ray drawn from point B along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn.

[0042] Since μ1 = ω*R1 and μ2 = ω*R2, we can deduce that Vn > ω*R1*cosα1 and Vn > ω*R2*cosα2. Here, ω represents the rotational speed of platform 300, R1 represents the radius from point A to the rotation center O of platform 300, and R2 represents the radius from point B to the rotation center O of platform 300.

[0043] Therefore, Vn, ω, R1, and α1 should satisfy relation 1: Vn - ω * R1 * cosα1 > 0. Conversely, Vn, ω, R2, and α2 should satisfy relation 2: Vn - ω * R2 * cosα2 > 0. It is worth noting that when calculating, Vn, ω, R1, α1, and α2 do not need to be substituted with positive or negative signs.

[0044] Of course, the same method and formula can be applied if the platform 300 rotates counterclockwise and the component velocity Vn is positive along the direction from point A to point B. In this case, when both the platform 300 rotation direction and the component velocity Vn direction are positive or both are negative, α1 represents the angle between the ray drawn from point A along the tangent to the platform 300 rotation direction in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn; α2 represents the angle between the ray drawn from point B along the tangent to the platform 300 rotation direction in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn. When the rotation direction of platform 300 and the direction of its component velocity Vn are positive and negative respectively, α1 represents the angle between the ray drawn from point A along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the direction of component velocity Vn. α2 represents the angle between the ray drawn from point B along the tangent to the rotation direction of platform 300 in a clockwise direction and the ray drawn along the direction of component velocity Vn. Similarly, when the clockwise rotation direction of platform 300 is considered positive, and the direction of component velocity Vn from point A to point B is considered positive, the same principle applies. These are all within the scope of protection of this invention and will not be elaborated upon here. See also... Figures 4 to 7 and Figure 11 , Figure 13 and Figure 14 When the first nozzle 120 and the second nozzle 130 of the printhead 100 rotate along an axis that is generally parallel to the rotation axis of the platform, the above analysis method and formula can still be satisfied.

[0045] Thus, in this embodiment, the rotation of the platform 300 ensures that the first nozzle 120 remains in front of the printing path 801 of the second nozzle 130 during the printing process, and that the first nozzle 120 and the second nozzle 130 print on their respective preset printing paths 801, which can also be identical. If the printing material 900 extruded by the first nozzle 120 is continuous fiber filament and the printing material 900 extruded by the second nozzle 130 is molten resin, this movement method can more effectively improve the printing efficiency of composite materials. Furthermore, by rotating the platform 300, the first nozzle 120 and the second nozzle 130 do not need to rotate the print head 100 during the printing process, thus avoiding kinking or winding by the feed tube, wiring harness 410 (wires), or air duct. The control component 400 can be easily connected to various electrical components on the print head 100 via the wiring harness 410, such as the fan 710, heater, temperature sensor 803, detection component 806, inkjet component 805, cutting component 500, temperature detector 810, and preheater 809. Moreover, the range of motion and rotation angle of the first nozzle 120 and the second nozzle 130 are not constrained by external structures such as the feed component 200 and wiring harness, improving the flexibility of the print head 100 and thus significantly improving the printing efficiency and accuracy of the 3D printing device.

[0046] In a preferred embodiment, the printing path 801 of the second printhead 130 coincides with the printing path 801 of the first printhead 120. Specifically, see... Figure 8 and Figure 9 Using the top view as the main view for analysis, with the rotation center O of platform 300 as the origin, two mutually perpendicular straight lines are drawn on the surface of platform 300 through this origin. The relationships V1*sin(π / 2-θ2)=μ1*sin(π / 2-θ1) and V2*sin(π / 2-θ4)=μ1*sin(π / 2-θ3) can be obtained, that is, V1*cosθ2=μ1*cosθ1 and V2*cosθ4=μ2*cosθ3.

[0047] Since μ1 = ω*R1 and μ2 = ω*R2, we can deduce that V1*cosθ2 - ω*R1*cosθ1 = 0 and V2*cosθ4 - ω*R2*cosθ3 = 0. If the first nozzle 120 and the second nozzle 130 do not rotate, then V1 and V2 are equal in size; if the first nozzle 120 and the second nozzle 130 rotate, see [reference needed]. Figure 11 , Figure 13 and Figure 14 V1 and V2 may be of different sizes.

[0048] It is worth noting that the above formulas are all based on theoretical analysis results. In actual production, a small deviation is permissible, such as a deviation of less than 30%. The deviation is the difference between the theoretical speed and the actual speed, divided by the absolute value of the speed with the larger absolute value.

[0049] In one embodiment, see Figure 1 , Figures 10 to 14 ,as well as Figure 17 and Figure 18 The printing paths 801 of the first nozzle 120 and 801 of the second nozzle 130 are consistent, and the first nozzle 120 includes a first nozzle 122, and the second nozzle 130 includes a second nozzle 132. Preferably, the first nozzle 122 is inclined toward the second nozzle 132, and the printing material 900 extruded by the first nozzle 120 is a continuous fiber printing material 900. The extrusion port of the first nozzle 122 and the extrusion port of the second nozzle 132 are two independent extrusion ports, or the extrusion port of the first nozzle 122 is incorporated into the extrusion port of the second nozzle 132. During printing, the first nozzle 122 is inclined toward the rear of the print head 100 in the direction of movement, or the second nozzle 132 is kept behind the first nozzle 122, which reduces the bending angle of the continuous fiber printing material 900 during extrusion, making the extrusion process of the printing material 900 smoother and significantly improving the stability of the printing process and the quality of the printed model.

[0050] Furthermore, an extrusion roller assembly 600 is provided on the side of the second printhead 130 away from the first printhead 120, and the roller component 640 on the extrusion roller assembly 600 rolls in contact with the printing material 900 extruded onto the platform 300 to apply pressure to the printing material 900 just extruded onto the platform 300. This increases the tightness and bonding strength between the printing material 900 extruded from the first printhead 120 and the second printhead 130, and also squeezes out any air bubbles that may exist in the printing material 900, further improving printing accuracy and strength. During the printing process, the rolling axis of the roller component 640 in rolling contact with the printing material 900 should be kept perpendicular to the tangent of the printing path 801 located directly below the extrusion roller assembly 600.

[0051] The present invention also provides a 3D printing apparatus, which uses the 3D printing method provided in any of the above embodiments. Specifically, it may include a print head 100, a feeding assembly 200, a platform 300, and a control assembly 400. The feeding assembly 200 is used to feed printing material 900 to the print head 100. The print head 100 is disposed above the platform 300 and includes a body 110 and a first nozzle 120 and a second nozzle 130 disposed on the body 110. The first nozzle 120 and the second nozzle 130 respectively extrude printing material 900 onto the platform 300 to form a printed model. The control assembly 400 is used to control the movement and rotation of the first nozzle 120, the second nozzle 130, and the platform 300.

[0052] In one embodiment, see Figure 1 , Figures 10 to 14 ,as well as Figure 17 and Figure 18 The first nozzle 120 includes a first connecting pipe 121 and a first nozzle 122. The first connecting pipe 121 is connected to the body 110, and the first nozzle 122 is fitted with a first heating block 123. The first nozzle 122 can be directly fixed to the first connecting pipe 121, or fixed to the first connecting pipe 121 via the first heating block 123. Conversely, the second nozzle 130 includes a second connecting pipe 131 and a second nozzle 132. The second connecting pipe 131 is fixedly connected to the body 110, and the second nozzle 132 is fitted with a second heating block 133. The second nozzle 132 can be directly fixed to the second connecting pipe 131, or fixed to the second connecting pipe 131 via the second heating block 133.

[0053] Specifically, see Figure 10 , Figure 12 , Figure 13 , Figures 17 to 23 Taking the first heating block 123 as an example, the first heating block 123 is provided with a heating element 802, a temperature sensor 803, and an installation station 140 for fixing the first nozzle 122. The installation station 140 is provided with a feed hole 150 for connecting the first connecting pipe 121. At this time, the printing material 900 conveyed by the feeding assembly 200 enters the first nozzle 122 installed in the installation station 140 through the first connecting pipe 121 and the feed hole 150, and is extruded through the first nozzle 122. The heating element 802 and the temperature sensor 803 are both wired or wirelessly connected to the control assembly 400. The heating element 802 is used to heat the printing material 900 in the first printhead 120 near the first nozzle 122, and the temperature sensor 803 is used to detect the temperature of the printing material 900 in the first printhead 120 near the first nozzle 122.

[0054] In this embodiment, a heating element 802 is provided to heat the printing material 900 near the first nozzle 122 inside the first printhead 120, allowing the printing material 900 to be extruded more smoothly and fluidly from the first nozzle 122. Furthermore, a temperature sensor 803 is provided to detect the temperature of the printing material 900 near the first nozzle 122 inside the first printhead 120, enabling the control component 400 to adjust the heating temperature of the heating element 802 in real time. This prevents the heating temperature from being too low, causing the printing material 900 to clog the first nozzle 122, or from being too high, making it difficult for the extruded printing material 900 to form a solid shape. This significantly improves printing efficiency and accuracy.

[0055] Conversely, the second heating block 133 is equipped with a heating element 802, a temperature sensor 803, and an installation station 140 for fixing the second nozzle 132. The installation station 140 is provided with a feed hole 150 for connecting to the second coupling pipe 131. At this time, the printing material 900 conveyed by the material conveying assembly 200 enters the second nozzle 132 installed in the installation station 140 through the second coupling pipe 131 and the feed hole 150, and is extruded through the second nozzle 132. The heating element 802 and the temperature sensor 803 are both wired or wirelessly connected to the control assembly 400. The heating element 802 is used to heat the printing material 900 in the second printhead 130 near the second nozzle 132, so that the printing material 900 can be extruded more smoothly and continuously from the second nozzle 132. Temperature sensor 803 is used to detect the temperature of the printing material 900 near the second nozzle 132 inside the second printhead 130, so that the control component 400 can adjust the heating temperature of the heating element 802 in real time, avoiding the printing material 900 from clogging the second nozzle 132 due to the heating temperature being too low, or the extruded printing material 900 from being too high, thus greatly improving printing efficiency and printing accuracy.

[0056] refer to Figures 10 to 14 The first feed tube 901 and the second feed tube 902 can respectively convey the printing material to the first pair of connectors 121 and the second pair of connectors 122. For example, quick connectors can be provided above the first pair of connectors 121 and the second pair of connectors 122 to connect the first feed tube 901 and the second feed tube 902 respectively.

[0057] Preferably, both the first heating block 123 and the second heating block 133 are made of materials with good thermal conductivity, such as copper or aluminum, which have high heating precision and can effectively improve the heating efficiency of the heating element 802.

[0058] In one embodiment, see Figure 1 and Figures 10 to 12The first nozzle 122 is mounted on the first heating block 123 in a vertically downward orientation and is connected to the first connecting pipe 121; and / or the second nozzle 132 is mounted on the second heating block 133 in a vertically downward orientation and is connected to the second connecting pipe 131.

[0059] In a preferred embodiment, see Figure 10 and Figures 17 to 23 The first nozzle 122 is inclined toward the second nozzle 132 on the first heating block 123, and is set at an angle to the upper surface of the platform 300. The end of the first nozzle 122 away from the platform 300 is provided with a docking part 160 for docking with the installation station 140. The connection between the installation station 140 and the feed hole 150 is an arc transition; or the side of the docking part 160 away from the first nozzle 122 is provided with a bent pipe 161 connected to the first nozzle 122. The bent pipe 161 passes through the channel formed by the installation station 140 and the feed hole 150, and partially protrudes from the first heating block 123. The end of the bent pipe 161 protruding from the first heating block 123 is directly opposite the first docking pipe 121.

[0060] In this embodiment, by tilting the first nozzle 122, the bending angle of the end of the printing material 900 extruded through the first nozzle 122 that contacts the platform 300 is no longer a right angle, but a gentler angle. This makes the extrusion process of the printing material 900 smoother and effectively prevents the printing material 900 from being accidentally cut, broken, or damaged during the extrusion process. This greatly improves the stability of the printing process and the quality of the printed model, and reduces the wear of the printing material 900 on the extrusion nozzle at the first nozzle, thus extending the life of the first nozzle.

[0061] Preferably, see Figure 10 and Figures 17 to 23 The first nozzle 122 is tilted towards the direction of the second nozzle 132. This significantly reduces the distance between the first nozzle 122 and the second nozzle 132, decreasing the rotation angle of the platform 300 and making it easier for the first nozzle 122 and the second nozzle 132 to adapt to printing paths 801 with different bending radii. Furthermore, the significantly reduced distance between the first nozzle 122 and the second nozzle 132 also facilitates the faster and more timely coverage of the printing material 900 extruded from the second nozzle 132 with the printing material 900 extruded from the first nozzle 122, which is more conducive to the fusion of the composite material printing material 900 and improves the strength of the model.

[0062] Further, see Figure 13 and Figure 14The second nozzle 132 is inclined toward the first nozzle 122 and disposed on the second heating block 133, and is disposed opposite to or offset from the first nozzle 122. The end of the second nozzle 132 away from the platform 300 has a docking portion 160 for docking with the installation station 140. The connection between the installation station 140 and the feed hole 150 is an arc transition; or the side of the docking portion 160 away from the second nozzle 132 has a bent pipe 161 communicating with the first nozzle 122. This bent pipe 161 passes through the channel formed by the installation station 140 and the feed hole 150, and partially protrudes from the second heating block 133, with the end of the bent pipe 161 protruding from the second heating block 133 directly opposite the second docking pipe 131.

[0063] Furthermore, this configuration can further shorten the distance between the first nozzle 122 and the second nozzle 132, and even allow the two extrusion ports to overlap into one, enabling the first nozzle 122 and the second nozzle 132 to better adapt to printing paths 801 with different bending radii. Correspondingly, this configuration further allows the printing material 900 extruded from the second nozzle 132 to more quickly and timely cover the printing material 900 extruded from the first nozzle 122, further improving the fusion of the printing material 900 or composite material and enhancing the strength of the model.

[0064] In this embodiment, the second nozzle 132 can be disposed opposite to the first nozzle 122, or it can be disposed at a different position. If disposed opposite to the first nozzle 122, see [link to relevant documentation]. Figure 13 The first nozzle 122 and the second nozzle 132 are positioned one after the other along the printing path 801, i.e., in a relative configuration. For a staggered configuration, see [link to documentation]. Figure 14 The first nozzle 122 and the second nozzle 132 are twisted at corresponding angles and then positioned close to each other, such that the line connecting the extrusion ports of the first nozzle 122 and the second nozzle 132 is positioned approximately perpendicular to the line connecting the first nozzle 122 and the second nozzle 132 in a relatively opposite configuration, or to the line connecting the first connecting pipe 121 and the second connecting pipe 131 parallel to the surface of the platform 300. That is, they are arranged in an alternating manner. At this time, the alternation angle of the first nozzle 122 and the second nozzle 132 can be flexibly set according to the actual situation, and is not limited here. All of these are within the protection scope of the present invention.

[0065] When the first nozzle 122 and the second nozzle 132 are staggered, and their lengths are the same as when they are aligned, the distance between them is smaller, which can reduce the size of the printhead 100 body 110 to some extent. In this case, the first heating block 123 and the second heating block 133 can be positioned on opposite sides of the first nozzle 122 and the second nozzle 132, providing a larger space between them for mounting other components, such as a fan 710 blowing air towards the platform, an extrusion roller assembly 600, or a preheater 809.

[0066] It is worth noting that, see Figure 10 , Figure 13 , Figure 14 and Figures 17 to 23 In the above embodiment, the channel formed by the installation station 140 and the feed hole 150 should be adapted to the contour of the bent pipe 161. The bent pipe 161 passes through the channel and is fixed in the channel by the mating part 160 that mates with the installation station 140. In this way, the overall structure of the first nozzle 120 and the second nozzle 130 is more stable, and the contact area between the first heating block 123 and the second heating block 133 and the corresponding first nozzle 120 and second nozzle 130 is also increased, thereby improving the heat conduction of the first heating block 123 and the second heating block 133 to the corresponding first nozzle 120 and second nozzle 130 to a certain extent and accelerating the heating speed.

[0067] Preferably, the bend 161 matches and is coaxially arranged with the extrusion channel profile inside the corresponding first nozzle 122 and second nozzle 132. The extrusion channel inside the first nozzle 122 and second nozzle 132 can be a stepped hole or a straight hole arranged in an inclined direction, or a stepped hole or a straight hole perpendicular to the surface of the platform 300.

[0068] The method of setting the connection between the mounting station 140 and the feed hole 150 with an arc transition, as mentioned in the above embodiments, and the method of setting the bent tube 161, can all prevent the printing material 900 from breaking or being damaged during the extrusion process due to the lack of an arc transition. Setting the bent tube 161, as a preferred solution, is simple to manufacture and easy to implement, and it is easier to have a smooth inner wall to ensure the smoothness of the printing material 900 during extrusion. In actual production, the bent tube 161 is preferably made of a material with good wear resistance.

[0069] Specifically, the installation station 140 and the docking part 160 can be fixed together by snap-fit, or a number of corresponding fastening holes 804 can be provided on the installation station 140 and the docking part 160, and the fasteners can pass through the corresponding fastening holes 804 to fix the docking part 160 to the installation station 140.

[0070] Alternatively, the first heating block 123 can be divided into two parts, such as... Figure 27 and Figure 28 As shown, a curved groove is formed on the inner surface of at least a portion of the heating block 123. In this case, the bent tube 161 is disposed in the curved groove and is clamped by the two parts of the first heating block 123. Conversely, the second heating block 133 is divided into two parts, and a curved groove is formed on the inner surface of at least a portion of the heating block 133. In this case, the bent tube 161 is disposed in the curved groove and is clamped by the two parts of the second heating block 133.

[0071] Preferably, see Figure 10 and Figures 18 to 23 The installation station 140 is provided with a clearance hole 143, which allows the bent pipe 161 to pass through the channel formed by the installation station 140 and the feed hole 150. In this embodiment, by providing the clearance hole 143, the bent pipe 161 can be more easily passed upward from the installation station 140, making the installation convenient and quick.

[0072] Further, see Figure 18 The first nozzle 122, the docking portion 160, and the bend 161 are integrally formed and have a tubular structure. Similarly, the second nozzle 132, the docking portion 160, and the bend 161 are integrally formed and also have a tubular structure. Thus, in actual production, a bent tube can be directly integrated as the first nozzle 122 or the second nozzle 132 with the corresponding docking portion 160 and bend 161, resulting in low manufacturing costs and high economic benefits.

[0073] Furthermore, since the first nozzle 122 and the second nozzle 132 are integrally formed, if the printing material 900 extruded by the first nozzle 122 and the second nozzle 132 are different printing materials 900, then the extrusion channels inside the first nozzle 122 and the second nozzle 132 should not be connected. If the printing material 900 extruded by the first nozzle 122 and the second nozzle 132 are the same printing material 900, then the extrusion channels inside the first nozzle 122 and the second nozzle 132 can either be disconnected or connected at the ends of the two nozzles away from the platform 300. If the extrusion channels inside the first nozzle 122 and the second nozzle 132 are connected, the corresponding first connecting pipe 121 and the second connecting pipe 131, or the corresponding two mounting stations 140 and the feed hole 150 should be integrated into one unit to mate with the extrusion channels connected to the first nozzle 122 and the second nozzle 132.

[0074] Of course, see Figure 15 and Figure 16 The first heating block 123 and the second heating block 133 can also be integrally formed. In this case, the two feed holes 150 can be respectively connected to the first pair of connectors 121 and the second pair of connectors 131, or the first pair of connectors 121 and the second pair of connectors 131 can be integrated into a third pair of connectors 170, and the two feed holes 150 can be connected to the third pair of connectors 170. Conversely, the first pair of connectors 121 and the second pair of connectors 131 can only be integrated into a third pair of connectors 170 when the printing material 900 extruded by the first nozzle 122 and the second nozzle 132 is the same printing material 900. The extrusion ports of the first nozzle 122 and the second nozzle 132 can also be merged into a single extrusion port. Figure 15 The first nozzle 122 can be completely or partially merged into the second nozzle's extrusion port, while keeping the first extrusion port 122 tilted toward the second nozzle 132. This allows the first nozzle 122, used to extrude the connecting fiber material, to extrude the connecting fiber material backward or toward the second nozzle 132 during the printing process. This not only results in a smaller bending angle during extrusion but also allows the first nozzle 122 to share the same extrusion port with the second nozzle 132, enabling more flexible and free fiber arrangement. Meanwhile, the control component 400 can still flexibly adjust the first nozzle 122 and the second nozzle 132 to extrude the printing material 900 separately.

[0075] In one specific embodiment, Figure 15 and Figure 16 A needle valve 141 may be provided in the first nozzle 122 and / or the second nozzle 132. The end of the needle valve 141 away from the platform 300 may be connected to the first drive member 142. The first drive member 142 is wired or wirelessly connected to the control component 400 to drive the needle valve 141 to move, thereby controlling whether the first nozzle 122 or the second nozzle 132 extrudes printing material 900. At this time, the first nozzle 120 and the second nozzle 130 provided in this embodiment can extrude printing material 900 made of molten plastic. By controlling the operation of the first drive member 142 through the control component 400, the first nozzle 120 and the second nozzle 130 can extrude the printing material 900 onto the platform 300 in a droplet manner, which improves the printing accuracy and speed. The printing material 900 ejected in a droplet manner can be regarded as a special printing material 900. Of course, in actual production, the needle valve 141 and the first driving component 142 may be set only at the first nozzle 120 or the second nozzle 130. They will not be described in detail here. They can be flexibly set according to actual needs, and all of them are within the protection scope of this invention.

[0076] Specifically, see Figure 1The feeding assembly 200 includes a first feeder 210 and a second feeder 220. The first feeder 210 includes a first tray 211 and a first feeding member 212 disposed below the first tray 211. The first feeding member 212 is wired or wirelessly connected to the control assembly 400. Printing material 900 is wound around the first tray 211 and passes through the first feeding member 212, and is fed to the first nozzle 122 under the drive of the first feeding member 212. Conversely, the second feeder 220 may include a second tray 221 and a second feeding member 222 disposed below the second tray 221. The second feeding member 222 is wired or wirelessly connected to the control assembly 400. Printing material 900 is wound around the second tray 221 and passes through the second feeding member 222, and is fed to the second nozzle 132 under the drive of the second feeding member 222. The first feeder 212 or the second feeder 222 can also be set on the print head to achieve near-end feeding, which is beneficial for printing elastic printing material 900, such as TPU material printing material 900.

[0077] Specifically, see Figure 1 The first feeder 212 can be two rotating wheels (or gears), through which the printing material 900 passes. Other forms of feeders can also be used. The control component 400 controls the rotation of the two rotating wheels, causing the printing material 900 to move towards the first nozzle 122 under the drive of the two rotating wheels. Preferably, the first feeder 210 also includes a feed tube fixed above the print head 100, which is connected to the first connecting pipe 121 and can be connected to the first connecting pipe 121 via a quick connector. Similarly, the second feeder 222 can also be two rotating wheels (or gears), through which the printing material 900 passes. Other forms of feeders can also be used. The control component 400 controls the rotation of the two rotating wheels, causing the printing material 900 to move towards the second nozzle 132 under the drive of the two rotating wheels. Preferably, the second feeder 220 further includes a feed tube fixed above the printhead 100, which is connected to the first coupling tube 121 and can be connected to the first coupling tube 121 via a quick connector. The printing material 900 can be conveyed to the corresponding printheads through the feed tubes, for example, the first feed tube 901 conveys the printing material to the first printhead 120, and the second feed tube 902 conveys the printing material to the second printhead 130.

[0078] In some embodiments, see Figure 17A second feeder 220, used to deliver printing material 900 to the second nozzle 132 (equivalent to the second printhead 120 using the second feeder 220), may include a cylinder 223, a feeding funnel 224, a second drive member 225, and a screw 226. One end of the cylinder 223 is connected to the second nozzle 132, and the other end is provided with the second drive member 225. The second drive member 225 is wired or wirelessly connected to the control component 400 and driven by the screw 226. The feeding funnel 224 is located on the side wall of the cylinder 223 and is used to feed the printing material 900 into the cylinder 223. Driven by the second drive member 225, the screw 226 pressurizes the granular printing material 900 fed in by the feeding funnel 224. A heating element (not shown in the figure) may be provided to heat the printing material 900, making it melt, and then extruding it through the second nozzle 132. Preferably, a bearing 808 is provided between the screw 226 and the barrel 223, so that the screw 226 can rotate more smoothly and the extrusion efficiency is high.

[0079] At this time, the granular printing material 900 conveyed by the second feeder 220 undergoes a melting and pressurization process, and is extruded by the second nozzle 132 to form a linear or droplet-shaped printing material 900 made of molten plastic. At this time, the cylinder 223 and the second connecting pipe 131 can be regarded as integrally formed. Then, the second heating block 133 can be directly sleeved on the end of the cylinder 223 near the platform 300 to heat the printing material 900 inside the cylinder 223 near the platform 300.

[0080] In one embodiment, see Figure 11 , Figure 13 and Figure 14 The body 110 of the print head 100 is rotatably mounted on the print base 112, for example, it can be sleeved inside the print base 112. In this case, the first nozzle and the second nozzle should be located on the side of the body 110 away from the material feeding assembly 200, and can be fixedly connected to the body 110. Preferably, a bearing 808 is provided between the body 110 and the print base 112, so that the body 110 can rotate more smoothly, resulting in good printing performance and high precision.

[0081] Specifically, the printing material 900 wound around the first feed tray 211 can be made of a prepreg-treated continuous fiber material, such as forming a continuous fiber filament. The printing material 900 wound around the second feed tray 221 or the printing material 900 extruded through the second nozzle 132 inside the cylinder 223 can be made of materials such as molten plastic, photosensitive resin, or metal.

[0082] Since the extrusion port of the first nozzle 120 can always be located in front of the extrusion port of the second nozzle 130, and the printing paths 801 of the two can be largely the same, the printing material 900 made of continuous fiber material extruded by the first nozzle 120 can be covered by the printing material 900 made of fusible plastic extruded by the second nozzle 130, forming a model made of composite material with high structural strength.

[0083] The continuous fiber material (or continuous fiber filament) can be a fiber material, a metal wire material (such as copper wire), an optical fiber material, or other continuous linear material. It can also be a continuous fiber material pre-impregnated with resin, such as carbon fiber, glass fiber, polyester, aramid, ceramic fiber, boron fiber, or basalt fiber. The matrix material or resin material used for pre-impregnating the continuous fiber can be a thermoplastic resin material or a thermosetting material, such as epoxy resin, PLA (polylactic acid), PP (polypropylen), PE (polyethylene), ABS (Acrylonitrile Butadiene Styrene), PA (Polyamide), PC (Polycarbonate), PS (Polystyrene), PEI (Poly(etherimide)), PET (Poly(Ethylene Terephthalare)), PEEK (Polyetheretherketone), TPU (Thermoplastic polyurethanes), etc. It can also be a photosensitive polymerizable resin material, rubber, metal, or other flowable extrudable material. The fusible plastic can be a thermoplastic or thermosetting plastic, or rubber. For example, the printing material extruded from the second extrusion port can also use the aforementioned matrix materials.

[0084] See Figure 1 , Figure 10 , Figure 17 , Figure 18 and Figures 24 to 26 The 3D printing apparatus should also include a cutting assembly 500 for cutting the printing material 900 conveyed by the first connecting pipe 121 to the bent pipe 161 or the first heating block 123. The cutting assembly 500 includes a cutting blade 510 and a third drive member 520 for driving the cutting blade 510 to cut, and there is a gap between the first connecting pipe 121 and the first nozzle 122 into which the cutting blade 510 can extend. Specifically, the first heating block 123 is directly fixed to the print head 100 body 110 or the print base 112, and a gap may be left between it and the first connecting pipe 121, while the first nozzle 122 is fixed to the print head 100 body 110 or the print base 112 via the first heating block 123, thereby forming the gap between the first connecting pipe 121 and the first nozzle 122.

[0085] Specifically, see Figures 24 to 26 The third drive unit 520 is wired or wirelessly connected to the control component 400, and under the control of the control component 400, it drives the cutting blade 510 to rotate. It is worth noting that the cutting edge 511 of the cutting blade 510 is a segment of an involute or helix 811. Thus, as the cutting blade 510 rotates under the drive of the third drive unit 520, the distance between its cutting edge 511 and the printing material 900 changes. Specifically, when there is no need to cut the printing material 900, the smaller radius area of ​​the cutting blade 510 faces the printing material 900 and is not in contact with it. When cutting the printing material 900 is required, the third drive unit 520 drives the cutting blade 510 to rotate, so that its larger radius area faces the printing material 900 and is in contact with it, completing the cutting. After cutting, the third drive unit 520 drives the cutting blade 510 to rotate in the opposite direction or continue rotating in the original direction, so that its smaller radius area is again facing the printing material 900 and is not in contact with it.

[0086] This configuration is simple in structure and has few components. Furthermore, because the cutting blade 510 cuts the printing material 900 made of continuous fiber material by changing its radius under torque, the cutting force is large, and the entire cutting process is stable and reliable. The third drive component 520 is a servo or servo motor that uses a combination of a micro-motor and a reduction gear system to rotate or oscillate the output shaft 812 at a limited angle. It can determine the starting zero point and precisely control the rotation angle. Preferably, PWM signals can be used for control. This type of servo or servo motor is commonly used in servo drives in drones or steering drives in remote-controlled cars, and is lightweight, small in size, and has high torque. Of course, in actual production, the third drive component 520 can also be replaced by a stepper motor; this is not limited here, and both are within the scope of protection of this invention.

[0087] In contrast, in actual production, the third driving component 520 can also drive the cutting blade 510 to move in a direction parallel to the surface of the platform 300 toward the printing material 900 to cut the printing material 900 and achieve the above-mentioned function. This is not a limitation and is within the protection scope of the present invention.

[0088] The above embodiments and Figure 18 , Figures 24 to 26 The cutting blades used in this system all employ a blade-type structure, for example, the curve containing the cutting edge 511 is located on a plane. Alternatively, the cutting blade can also adopt a ring-type structure, where the curve containing the cutting edge 511 is located on a ring surface.

[0089] In one embodiment, see Figure 27 and Figure 28The cutting blade has a ring-shaped structure. The cutting edge 511 of the cutting blade 510 is at the top of the ring blade, and may also have a shaft hole at the root. The distance from the cutting edge 511 to the root of the blade along the axial direction of this ring blade varies with the rotation angle, for example, preferably increasing. For example, the lateral projection of the cutting edge 511 can be a diagonal line or part of a spiral 811. The cutting edge 511 can be on the inner or outer side of the ring-shaped blade. Ideally, the distance traveled around the circumference of the contact position between the ring cutting blade and the continuous filament (printing material 900) during rotation is greater than the distance traveled along the axial direction of the rotation axis. Ideally, the axis of the first connector 121 or the continuous fiber filament is substantially perpendicular to the axis of the output shaft 812 (or the axis of the shaft hole of the cutting blade 510). Figure 27 In this configuration, the cutting blade 510 is mounted and fixedly connected to the output shaft 812 of the third drive unit 520. For example, the third drive unit 520 can be a servo motor, or it can be a stepper motor. Ideally, the lower end face of the first coupling tube 121 is a spherical or cylindrical surface that matches the cutting blade 510. Figure 27 The cutting blade 510 avoids the continuous fiber material, which can be conveyed to the lower gap by the first connecting pipe 121 and extruded through the bent pipe 161 and the first nozzle 123. At this time, the heating element 802 and temperature sensor 803 on the first heating block 123 between the bent pipe 161 and the first nozzle 123 are used for heating temperature control. The output shaft 812 of the third drive unit 520 drives the cutting blade 510 to rotate, causing the extension of the cutting edge 511 of the cutting blade 510 corresponding to the position of the continuous fiber material to increase in the direction of the continuous fiber material, thus cutting the continuous fiber material. Figure 28 The continuous fiber filaments are cut, and then the cutting blade continues to rotate or rotates in the opposite direction to return to the initial state that avoids the continuous fiber filaments 21, as shown. Figure 27 As shown, the continuous fiber filaments can be conveyed downwards. Figure 27 and Figure 28 The embodiment in the text can employ a cutting blade structure with an inner blade 511. Figure 27 and Figure 28 The first heating block 123 can be further divided into two parts, including a first part 1231 and a second part 1232, which are combined to form the first heating block 123. A curved groove is provided on at least one of the two opposing surfaces of the first part 1231 and the second part 1232. A bent tube 161 is disposed within this curved groove and is clamped by the combination of the first part 1231 and the second part 1232. Preferably, the first nozzle 122 is inclined toward the second nozzle 132, with a first extrusion port 1201 formed at the bottom end of the first nozzle 122 and a second extrusion port 1202 formed at the bottom end of the second nozzle 132.

[0090] Preferably, see Figure 26The first connecting pipe 121 conveys multiple printing materials 900 to the bent pipe 161 or the first heating block, and the multiple printing materials 900 are distributed and arranged along the blade 511 of the cutting blade. That is, each printing material 900 is distributed and arranged along the blade 511, and is arranged at equal distances from the blade 511 or at slightly different distances. In this way, when the cutting blade 510 cuts the printing materials 900 under the drive of the third driving member 520, although the positions of the multiple printing materials 900 are different, they can still be cut simultaneously or cut slightly differently according to the preset, resulting in high cutting efficiency.

[0091] Specifically, see Figure 14 and Figure 18 The first heating block 123 and / or the second heating block 133 are fixed to the body 110 by a pin 180. This fixing method allows a gap to be left between the first connecting pipe 121 and the first nozzle 122. Preferably, the pin 180 is made of a high-strength material with poor thermal conductivity, such as stainless steel, titanium alloy, or ceramic, which can effectively prevent the heat from the first heating block 123 from being conducted upward to the first connecting pipe 121.

[0092] In one specific embodiment, see Figure 11 and Figure 12 The 3D printing apparatus also includes an extrusion roller assembly 600, located on the side of the second nozzle 130 away from the first nozzle 120, for extruding the printing material 900 extruded from the first nozzle 122 and the second nozzle 132. Specifically, the extrusion roller assembly 600 may include a vertical shaft 610, a fixing frame 620, a fourth drive member 630, and a roller member 640 rotatably disposed below the vertical shaft 610. The vertical shaft 610 is rotatably fixed to the fixing frame 620, which is fixed to the print head 100 body 110 or the print base 112. The fourth drive member 630 is wired or wirelessly connected to the control assembly 400 to drive the vertical shaft 610 to rotate, thereby causing the roller member 640 to swing or rotate. Specifically, the fourth drive member 630 can be fixed to the print base 112 or the body 110, and drives the vertical shaft 610 to rotate via a connecting rod 650, so that the roller member 640 can always follow the printing path 801 of the first printhead 120 and the second printhead 130 during the printing process. Moreover, by making the roller member 640 rotate with the rotation of the vertical shaft 610, the axis of rotation of the roller member 640 can always be perpendicular to the tangent at the printing path 801 directly below. The vertical shaft 610 can also be fixed to the print base 112 or the body 110, or the fourth drive member 630 can be omitted.

[0093] In this embodiment, by setting up an extrusion roller assembly 600, pressure is applied to the freshly extruded printing material 900, which can increase the tightness and bonding strength between the printing material 900 extruded by the first nozzle 120 and the second nozzle 130, and can also squeeze out any air bubbles that may exist in the printing material 900, thereby further improving printing accuracy and strength.

[0094] Preferably, there is a gap between the rotation axis of the roller component 640 and the rotation axis of the vertical shaft 610, so that the roller component 640 can rotate or oscillate eccentrically under the drive of the vertical shaft 610. In this way, the roller component 640 can adjust its displacement in the normal direction of the printing path 801 by the oscillation of the vertical shaft 610 frame, thereby better following the printing path 801 of the first nozzle 122 and the second nozzle 132.

[0095] Specifically, see Figure 10 Figure 13 and Figure 18 The 3D printing apparatus also includes a heat dissipation component for dissipating heat from the first nozzle 120 and / or the second nozzle 130 and / or the printing material 900 extruded through the first nozzle 120 and the second nozzle 130.

[0096] In one embodiment, the heat dissipation assembly includes a fan 710, a first air duct 720, and a second air duct 730. The fan 710 is wired or wirelessly connected to the control assembly 400. One end of the first air duct 720 is connected to the fan or an air source, and the other end is located on the side of the second printhead 130 away from the first printhead 120 and facing the platform 300, to dissipate heat from the printing material 900 extruded through the first printhead 120 and the second printhead 130. Meanwhile, one end of the second air duct 730 is connected to the fan or an air source, and the other end faces the second connecting pipe 131. Of course, the second air duct 730 can also be directly connected to the first air duct 720; this is not limited here, and all such connections are within the scope of protection of this invention.

[0097] At this time, the first air duct 720 can always be aimed at the area of ​​the freshly extruded printing material 900 for spray cooling, with accurate airflow and better cooling effect, thereby accelerating the cooling and solidification speed of the printing material 900, preventing deformation of the extruded printing material 900, and improving printing accuracy. In addition, this setting can reduce the airflow of the first air duct 720 to other solidified areas, which is more conducive to maintaining the temperature of other areas. In contrast, the second air duct 730 can effectively block the heat from the second heating block 133 from being conducted to the second connecting pipe 131.

[0098] In this embodiment, air is delivered from a fan or air source to the second nozzle 132 and the second connecting pipe 131 via the first air duct 720 and the second air duct 730, thereby achieving remote air delivery.

[0099] In one embodiment, see Figure 11 and Figure 12 The heat dissipation assembly includes a fan 710, a first air duct 720, and a second air duct 730. The fan 710 is wired or wirelessly connected to the control assembly 400. The roller assembly 640 has an internal heat dissipation channel. One end of the first air duct 720 is connected to the fan 710 or an air source, and the other end is connected to the heat dissipation channel. One end of the second air duct 730 is connected to the heat dissipation channel, and the other end is directly opposite the second connecting pipe 131. At this time, the first air duct 720 and the second air duct 730 dissipate heat from the roller assembly 640 and can further block the heat from the second heating block 133 from being conducted and dissipated to the second connecting pipe 131. When the roller assembly 640 extrudes the freshly extruded printing material 900, it can simultaneously dissipate heat and cool the printing material 900, accelerating its cooling and solidification, improving printing accuracy, and increasing printing speed.

[0100] In one embodiment, see Figure 18 The heat dissipation component includes a fan 710 that is wired or wirelessly connected to the control component 400. The fan 710 is located on the print base 112 or the body 110, on the side of the second printhead 130 away from the first printhead 120, and facing the platform 300, to dissipate heat from the printing material 900 extruded through the first printhead 120 and the second printhead 130, thereby accelerating the cooling and solidification of the printing material 900, preventing the extruded printing material 900 from deforming, improving printing accuracy, and speeding up the printing speed.

[0101] In a preferred embodiment, see Figure 13 A third duct 740 is provided on the side wall of the second duct 730 away from the air source. The third duct 740 is connected to the second duct 730, and the end of the third duct 740 away from the second duct 730 is directly opposite the first connecting pipe 121.

[0102] In a preferred embodiment, see Figure 12 The second connecting pipe 131 has a first heat dissipation channel 1311 on its pipe wall or outer side wall, which is connected to the end of the second air duct 730 away from the fan or air source, and the first connecting pipe 121 has a second heat dissipation channel 1211 on its pipe wall or outer side wall. The second heat dissipation channel 1211 is connected to the first heat dissipation channel 1311 via a third heat dissipation channel 190, and the end of the second heat dissipation channel 1211 away from the first heat dissipation channel 1311 is connected to a third air duct 740.

[0103] The two preferred embodiments described above can dissipate heat from the second connecting pipe 131 while also dissipating heat from the first connecting pipe 121, thereby simultaneously blocking the heat from the second heating block 133 to the second connecting pipe 131 and the heat from the first heating block 123 to the first connecting pipe 121.

[0104] Further, see Figures 10 to 13 and Figure 15 A first heat sink 1312 is provided on the outer wall of the second connecting pipe 131 corresponding to the air outlet area of ​​the second air duct 730, and a second heat sink 1212 is provided on the outer wall of the first connecting pipe 121 corresponding to the first heat sink 1312. The first heat sink 1312 surrounds the second connecting pipe 131, and the second heat sink 1212 surrounds the first connecting pipe 121, which can effectively improve heat dissipation efficiency and further block the conduction of heat from the second heating block 133 to the second connecting pipe 131, and the conduction of heat from the first heating block 123 to the first connecting pipe 121.

[0105] Furthermore, the inner wall of the roller component 640, which has a heat dissipation channel, is provided with a third heat sink. In this way, the heat transferred from the extruded printing material 900 to the roller component 640 can be quickly conducted to the third heat sink on the inner wall of the roller component 640, which greatly increases the convective heat transfer area of ​​the air delivered through the first air duct 720, improves the heat dissipation effect, accelerates the cooling and solidification of the freshly extruded printing material 900, improves printing accuracy, and speeds up the printing speed.

[0106] In one embodiment, the heat dissipation channel, the first heat dissipation channel 1311, or the second heat dissipation channel 1211 may be filled with coolant, and the heat dissipation channel, the first heat dissipation channel 1311, or the second heat dissipation channel 1211 may be connected to a circulation pipeline for circulating heat dissipation. For example, an inflow pipeline and an outflow pipeline may be connected respectively, allowing the coolant to circulate through the heat dissipation channel, the first heat dissipation channel 1311, or the second heat dissipation channel 1211 for heat dissipation; or, a pipeline may be connected between any two of the heat dissipation channels, the first heat dissipation channel 1311, or the second heat dissipation channel 1211 to achieve a series connection, or all three may be connected sequentially to form a series connection (e.g., Figure 12 As shown in the figure, the coolant is then circulated within it for heat dissipation. In this embodiment, by setting the coolant to circulate for heat dissipation, the heat from the first pair of connecting pipes 121, the second pair of connecting pipes 131, and the extrusion roller assembly 600 can be quickly removed, resulting in rapid heat dissipation.

[0107] Specifically, see Figure 11 , Figure 13 and Figure 14 The body 110 has a through hole 111 extending vertically through it. The through hole 111 allows the first feed pipe 901, and / or the second feed pipe 902, and / or the wire harness 410 to pass through. The through hole 111 also allows the first air duct 720 and the second air duct 730 to pass through, in which case the body 110 can resemble a rotatable ring structure. For example, when the first nozzle 122 and the second nozzle 132 are arranged in an alternating manner (see reference). Figure 14For example, the mating portion of the first nozzle 122 and the mating portion of the second nozzle 132 can be distributed on both sides of the printing path 801, or the first connecting pipe 121 and the second connecting pipe 131 can be distributed on both sides of the printing path 801, and when the first heating block 123 and the second heating block 133 are respectively disposed on opposite sides of the first nozzle 122 and the second nozzle 132, the first air duct 720 and the second air duct 730 can also pass through the hole 111 in the area between the first heating block 123 and the second heating block 133.

[0108] In addition, the through hole 111 allows the end of the third air duct 740 away from the second heat dissipation channel 1211 to pass through from bottom to top, thereby discharging the heated gas above the print head 100. This arrangement is particularly suitable for situations where the area below the print head 100 is enclosed in a closed and heated chamber, effectively preventing the third air duct 740 from injecting gas into this closed chamber.

[0109] The fan or air source mentioned in the above embodiments can be a blower 710, an air compressor, or a gas compression bottle, etc. In order to further improve the cooling effect, the air provided by the fan or air source can be cooled down first, and then sent to the print head 100 for blowing cooling. There is no need to set a fan in the print head 100, which reduces the wiring harness 410 layout and the weight and structural complexity of the print head 100.

[0110] Specifically, see Figure 10 A temperature detector 810 is provided on the side of the first nozzle 120 away from the second nozzle 130 to detect the temperature of the area to be printed (e.g., the area on the platform 300 or the corresponding part of the printed model receiving the extruded printing material 900) from the first nozzle onto the platform 300. Simultaneously, a preheater 809 is provided on the side of the first nozzle 120 away from the second nozzle 130 to heat the side of the extruded printing material 900 away from the platform 300, the area to be printed, or the freshly extruded printing material 900. Thus, the control component 400 can adjust the heating temperature of the preheater 809 in real time according to the temperature detected by the temperature detector 810 to improve the bonding effect between the extruded printing material 900 and the cured model, thereby increasing the bonding strength of the printing material 900 and the strength of the model.

[0111] Among them, the temperature detector 810 can be an infrared imager, and the preheater 809 can be an infrared heater or a laser, which can be used to irradiate and heat the position in front of the first nozzle 122 about to be extruded printing material 900, or to irradiate and heat the printing material 900 that has just been extruded from the first nozzle 122.

[0112] If the first nozzle 122 and the second nozzle 132 are staggered, and the first heating block 123 and the second heating block 133 are respectively located on opposite sides of the first nozzle 122 and the second nozzle 132, the temperature detector 810 and the preheater 809 can also be located between the first heating block 123 and the second heating block 133, so as to be closer to the area of ​​the model near the first nozzle 122, which is convenient for heating or detection.

[0113] In addition, see Figure 10 In one embodiment, the vertical distance between the first heating block 123 and the platform 300 on the side facing the platform 300 can be smaller than the vertical distance between the second heating block 133 and the platform 300 on the side facing the platform 300, for example, a gap of less than 3 mm. The first heating block 123 is used to bake the cured model in the area of ​​the first nozzle 122 to achieve heating of this area. No additional separate heating element is required, and the structure is simple and low cost.

[0114] In this embodiment, the temperature detector 810 is used to detect the temperature of the area on the platform 300 where the printing material 900 is to be extruded (the area to be printed) or to detect the temperature of the freshly extruded printing material 900. The preheater 809 is used to heat the area on the platform 300 where the printing material 900 is to be extruded or to heat the freshly extruded printing material 900. Thus, the control component 400 can adjust the heating temperature of the preheater 809 in real time according to the temperature detected by the temperature detector 810, thereby improving the bonding effect between the printing materials 900 and increasing the bonding strength of the printing materials 900 and the strength of the model.

[0115] In one embodiment, see Figure 10 The 3D printing apparatus may also include an inkjet assembly 805 located on the side of the second printhead 130 away from the first printhead 120, and wired or wirelessly connected to the control assembly 400. Under the control of the control assembly 400, the inkjet assembly 805 applies color or sprays binder onto the printing material 900 extruded onto the platform 300.

[0116] During the printing process, as the platform 300 and the printhead 100 rotate relative to each other, the projection of the inkjet assembly 805 on the platform 300 overlaps with the area of ​​the extruded printing material 900 on the platform 300. The control assembly 400 can dynamically determine the inkjet nozzles on the inkjet assembly 805 within this overlapping area, thereby controlling the corresponding inkjet nozzles to spray ink (pigment or binder) according to the inkjet pattern of each printing layer, forming a preset pattern on the extruded printing material 900. After the entire printing process is completed, the preset pattern is formed on the surface and / or inside of the model.

[0117] It is worth noting that the inkjet component 805 can spray colored pigments or binders, and it generally sprays ink onto the surface of the extruded printing material 900 to form patterns or apply colors while the printing material 900 is being extruded. This simultaneous process increases printing speed. Moreover, this simultaneous process allows the inkjet component 805 to be more flexible in spraying binders or applying colors to the surface of the printing material 900, and the pattern accuracy is also very high.

[0118] At this time, if the first nozzle 122 and the second nozzle 132 are arranged in a cross manner (e.g.) Figure 14 Furthermore, the first heating block 123 and the second heating block 133 are respectively located on opposite sides of the first nozzle 122 and the second nozzle 132. The inkjet assembly 805 can also be located between the first heating block 123 and the second heating block 133, which saves space and has a reasonable structural design.

[0119] In one embodiment, see Figure 10 The 3D printing apparatus may also include a detection component 806, located on the side of the second nozzle 130 away from the first nozzle 120, and wired or wirelessly connected to the control component 400. The detection component can employ image detection equipment, such as a camera, or a laser scanner to obtain the outline shape of the freshly extruded printing material 900 through laser scanning. The detection component can also employ an ultrasonic detector to detect the bonding between the extruded printing material 900 and the already printed model, such as whether there are gaps. The detection component 806 can be used to photograph the printing material 900 extruded onto the platform 300 and transmit the captured information to the control component 400. The control component 400 compares and analyzes the received information with the printing path 801 and adjusts the extrusion of the print head 100 based on the analysis results. Alternatively, it can detect the bonding between the extruded printing material 900 on the platform and the previously printed model, such as the ratio of voids.

[0120] Specifically, as the platform 300 and the print head 100 rotate relative to each other, the overlap between the camera area projected onto the platform 300 by the detection component 806 and the area of ​​the freshly extruded printing material 900 on the platform 300 is dynamically changing. Therefore, the detection area projected onto the platform 300 by the detection component 806 should be large enough to always overlap with the area of ​​the freshly extruded printing material 900 on the platform 300, thereby acquiring the status information of the printing material 900 in real time. Subsequently, the control component 400 compares the pattern detected by the detection area of ​​the detection component 806 with the printing path 801 in each layer pattern to determine the overlap and the surface condition of the freshly extruded printing material 900, etc. This synchronous process can improve printing speed and better ensure printing quality and accuracy.

[0121] In one embodiment, see Figure 10The 3D printing apparatus may also include a light curing lamp 807 located on the side of the second nozzle 130 away from the first nozzle 120, for curing the printing material 900 extruded onto the platform 300 that can undergo a light curing reaction.

[0122] Specifically, the light curing lamp 807 can be an ultraviolet lamp and is directly or indirectly fixed to the print head 100 body 110 or the print base 112. When the printing material 900 extruded from the second nozzle 132 is a photosensitive material (such as photosensitive resin) that can undergo a polymerization reaction and cure when exposed to light, the light curing lamp 807 can irradiate the freshly extruded printing material 900 to cause it to undergo a photopolymerization reaction and cure, forming a cured model.

[0123] Specifically, see Figure 15 and Figure 16 A platform shaft 310 is provided on the side of the platform 300 away from the print head 100. The platform shaft 310 is driven by a fifth drive unit 320, which is preferably a stepper motor or a servo motor, and is used to drive the platform shaft 310 and the platform to rotate.

[0124] In one embodiment, see Figure 16 The fifth drive component 320 and the platform shaft 310 are driven together by a transmission component 330. The transmission component 330 includes a drive wheel fixed to the drive shaft of the fifth drive component 320, a synchronous pulley 331 fixed to the platform shaft 310, and a synchronous belt 332 fitted over the drive wheel and the synchronous pulley 331. The fifth drive component 320 drives the drive wheel to rotate, and the drive wheel, via the synchronous belt 332, drives the synchronous pulley 331 to rotate, thereby causing the platform 300 to rotate.

[0125] Of course, see Figure 15 The platform pivot 310 can be directly driven by the fifth driving component 320. This embodiment only lists one feasible solution, and will not elaborate on them one by one. All of them are within the protection scope of this invention.

[0126] Specifically, see Figure 15 and Figure 16The platform 300 is equipped with a heating element 802 and a temperature sensor 803, which are electrically connected to the control component 400 via a conductive slip ring 340. The conductive slip ring 340 includes a first slip ring 342 and a second slip ring 343 that are rotatable relative to each other. The first slip ring 342 is fixed to the platform 300 and rotates synchronously with it. If the first slip ring 342 is fitted outside the platform shaft 310, then the second slip ring 343 is fitted outside the first slip ring 342. If the first slip ring 342 passes through the platform shaft 310, then the second slip ring 343 passes through the first slip ring 342. One end of the upper wire 341 is electrically connected to the first slip ring 342, and the other end is electrically connected to the heating element 802 or the temperature sensor 803. One end of the lower wire 344 is electrically connected to the second slip ring 343, and the other end is connected to the control component 400.

[0127] Since the platform 300 will rotate around its own axis, in order to improve the arrangement of the upper wire 341 and the lower wire 344 and prevent them from interfering with the rotation of the platform 300, a conductive slip ring 340 structure is adopted. In this way, it is easy to connect the circuit on the platform 300 in the 3D printing device to the control component 400 and realize the electrical connection of the rotating platform 300.

[0128] It is worth noting that most of the data in this paper, especially when performing planar analysis, are theoretically accurate, but actual manufacturing or installation may have errors. If the error is less than ±45 degrees or ±15 degrees, it is within the error tolerance range of this invention.

[0129] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, 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 within the scope of protection of the present invention.

Claims

1. A 3D printing method, characterized in that, include: Printhead and platform; The printhead is located above the platform and includes a body and a first printhead and a second printhead located on the body. The first nozzle and the second nozzle respectively extrude printing material onto the platform to form a printed model. The print head and the platform can be displaced relative to each other, and the platform can rotate around its own axis. Let Vn be the velocity component of a point on the line connecting the center point of the extrusion port of the first nozzle used to extrude printing material on the platform (projected onto the platform) and the center point of the extrusion port of the second nozzle used to extrude printing material on the platform (projected onto the platform). The positive direction is defined by the velocity component Vn along the direction from point B to point A, and the positive direction is defined by the clockwise rotation of the platform. Vn, ω, R1, and α1 should satisfy relation 1: Vn-ω*R1*cosα1>0; In the formula, ω represents the angular velocity of the platform; R1 represents the radius of rotation from point A to the platform's rotation center O; If both the platform's rotation direction and the direction of its component velocity Vn are positive or both are negative, α1 represents the angle between the ray drawn from point A along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the direction of its component velocity Vn; if one direction is positive and the other is negative, α1 represents the angle between the ray drawn from point A along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the opposite direction of its component velocity Vn; and Vn, ω, R2, and α2 should satisfy relation 2: Vn-ω*R2*cosα2>0; In the formula, R2 represents the radius of rotation from point B to the rotation center O of the platform; If both the platform's rotation direction and the component velocity Vn are positive or both are negative, α2 represents the angle between the ray drawn from point B along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the component velocity Vn. If the platform's rotation direction and the component velocity Vn are one positive and one negative, α2 represents the angle between the ray drawn from point B along the tangent to the platform's rotation direction in a clockwise direction and the ray drawn along the opposite direction of the component velocity Vn.

2. The 3D printing method according to claim 1, characterized in that, V1, ω, R1, θ1, and θ2 should satisfy relation 3: V1*cosθ2-ω* R1*cosθ1=0; In the formula, V1 represents the moving speed of point A; θ1 represents the angle between the ray drawn from point A along the direction perpendicular to the tangent of the printing path and the ray drawn from point A along the tangent of the platform rotation direction; θ2 represents the angle between the ray drawn along the direction of the moving speed V1 and the ray drawn from point A along the direction perpendicular to the tangent of the printing path; and / or V2, ω, R2, θ3, and θ4 should satisfy relation 4: V2*cosθ4-ω* R2*cosθ3=0; In the formula, V2 represents the moving speed of point B; θ3 represents the angle between the ray drawn from point B along the direction perpendicular to the tangent of the printing path and the ray drawn from point B along the tangent of the platform rotation direction. θ4 represents the angle between the ray drawn along the direction of the moving speed V2 and the ray drawn from point B along the direction perpendicular to the tangent of the printing path.

3. The 3D printing method according to claim 1 or 2, characterized in that, The printing path of the first printhead is the same as that of the second printhead; The first printhead includes a first nozzle, the second printhead includes a second nozzle, the first nozzle is inclined toward the second nozzle, and the first printhead extrudes continuous fiber printing material; Wherein, the extrusion port of the first nozzle and the extrusion port of the second nozzle are two separate extrusion ports, or the extrusion port of the first nozzle is merged into the extrusion port of the second nozzle; During the printing process, the first nozzle is tilted toward the rear of the print head movement direction or the second nozzle is kept behind the first nozzle, so that the bending angle of the continuous fiber printing material is reduced when it is extruded.

4. The 3D printing method according to claim 1 or 2, characterized in that, An extrusion roller assembly is provided on the side of the second nozzle away from the first nozzle, and the roller components of the extrusion roller assembly are in rolling contact with the printing material extruded onto the platform; During the printing process, the rolling axis of the roller component that rolls in contact with the printing material in the extrusion roller assembly is always perpendicular to the tangent of the printing path located directly below the extrusion roller assembly.

5. A 3D printing apparatus, using the 3D printing method according to any one of claims 1-4, characterized in that, The first nozzle includes a first pair of connecting pipes and a first nozzle, the first pair of connecting pipes being connected to the body; and a first heating block being provided on the outer sleeve of the first nozzle; The end of the first nozzle furthest from the platform is provided with a docking portion for docking with the first heating block; The first nozzle is mounted on the first heating block in a vertically downward or perpendicularly towards the platform surface and is connected to the first connecting pipe; or the first nozzle is inclined toward the second nozzle direction on the first heating block, and a bent pipe is provided on the side of the connecting part away from the first nozzle. The bent pipe passes through the first heating block, and the inclined part of the bent pipe is connected to the first nozzle. The vertical part of the bent pipe is correspondingly provided with the first connecting pipe.

6. The 3D printing apparatus according to claim 5, characterized in that, The second nozzle includes a second pair of connecting pipes and a second nozzle, the second pair of connecting pipes being connected to the main body; and a second heating block being provided on the outer sleeve of the second nozzle; The second nozzle has a docking portion at the end furthest from the platform for docking with the first heating block; The second nozzle is installed on the second heating block in a vertically downward or perpendicularly towards the platform surface and is connected to the second pair of connecting pipes; or the second nozzle is inclined to the second heating block towards the first nozzle and is opposite or offset from the first nozzle. A bent pipe is provided on the side of the docking part away from the second nozzle. The bent pipe passes through the second heating block, and the inclined part of the bent pipe is connected to the second nozzle. The vertical part of the bent pipe is correspondingly provided to the second pair of connecting pipes. or The second printhead includes a second pair of connecting pipes and a second nozzle. The second pair of connecting pipes is connected to the main body. The second pair of connecting pipes of the second printhead is a cylinder and also includes a screw. The screw is disposed in the cylinder and pressurizes the printing material by rotating. One end of the cylinder is connected to the second nozzle.

7. The 3D printing apparatus according to claim 6, characterized in that, The first heating block has an installation station for installing the mating part, and / or the second heating block has an installation station for installing the mating part; the installation station and the mating part are engaged and / or the installation station and the mating part have a plurality of corresponding fastening holes, and fasteners fix the mating part to the installation station through the fastening holes; or, the installation station on the first heating block has a feed hole for communicating with the first mating pipe, and / or the installation station on the second heating block has a feed hole for communicating with the second mating pipe, and the installation station has a clearance hole for the bent pipe to pass into the channel formed by the installation station and the feed hole; or. The first heating block is divided into two parts, and a curved groove is formed on the inner surface of at least one part. The curved tube is disposed in the curved groove and is clamped by the two parts of the first heating block. And / or the second heating block is divided into two parts, and a curved groove is formed on the inner surface of at least one part. The curved tube is disposed in the curved groove and is clamped by the two parts of the second heating block. or, The first nozzle, the docking portion, and the bend are integrally formed and have a tubular structure; and / or the second nozzle, the docking portion, and the bend are integrally formed and have a tubular structure.

8. The 3D printing apparatus according to claim 6, characterized in that, The first heating block is provided with an installation station for installing the docking part, and the installation station is provided with a feed hole for communicating with the first pair of pipes; and / or the second heating block is provided with an installation station for installing the docking part, and the installation station is provided with a feed hole for communicating with the second pair of pipes. The first nozzle and the second nozzle are integrally formed; and / or The first heating block and the second heating block are integrally formed, and the two feed holes are respectively connected to the first pair of pipes and the second pair of pipes, or the first pair of pipes and the second pair of pipes are integrated into a third pair of pipes, and the two feed holes are connected to the third pair of pipes.

9. The 3D printing apparatus according to any one of claims 6-8, characterized in that, The second nozzle and / or the first nozzle are provided with a needle valve to control whether printing material is extruded from the extrusion nozzle.

10. The 3D printing apparatus according to any one of claims 5-8, characterized in that, The printhead also includes: A cutting assembly for cutting the printing material conveyed from the first connecting pipe to the bent pipe or to the first heating block; and There is a gap between the first pair of connecting pipes and the first heating block, or between the first pair of connecting pipes and the bend, so that the cutting blade of the cutting assembly can extend into it and make a cut.

11. The 3D printing apparatus according to claim 10, characterized in that, The cutting blade has a blade structure, and the curve of the cutting edge is a segment of an involute or a spiral. or The cutting blade has a ring structure, and the cutting edge of the cutting blade is a section of the curved edge of the oblique cut surface on the ring or a columnar spiral.

12. The 3D printing apparatus according to claim 11, characterized in that, The printing material is a continuous fiber material. The first connecting pipe conveys multiple printing materials to the bent pipe or the first heating block, and the multiple printing materials are arranged at equal intervals along the blade of the cutting knife.

13. The 3D printing apparatus according to any one of claims 6-8, characterized in that, The printhead also includes one or more of the following components: Device 1, wherein device 1 is a compression roller assembly, which is located on the side of the second nozzle away from the first nozzle, and is used to compress the printing material extruded by the first nozzle and the second nozzle; The extrusion roller assembly includes a vertical shaft and roller components that are rotatably disposed below the vertical shaft, the vertical shaft being connected to the body; Device 2, the second device is a fan, the fan is connected to the body, located on the side of the second nozzle away from the first nozzle, and facing the platform, so as to dissipate heat from the printing material extruded through the first nozzle and the second nozzle; Device 3, the device 3 is an inkjet assembly, the inkjet assembly is connected to the body, the inkjet assembly is located on the side of the second printhead away from the first printhead, and is used to spray pigment or binder onto the surface of the freshly extruded printing material; Device 4, the fourth device is a detection component, the detection component is connected to the body, the detection component is located on the side of the second nozzle away from the first nozzle, and is used to detect the printing accuracy and printing quality of the freshly extruded printing material; Device 5, the device 5 is a light curing lamp, the light curing lamp is connected to the body, the light curing lamp is located on the side of the second nozzle away from the first nozzle, and is used to cure the light-curable printing material extruded onto the platform; Device six, the device six is ​​a temperature detector, the temperature detector is connected to the body, the temperature detector is set on the side of the first nozzle away from the second nozzle, and is used to detect the temperature of the area to be printed where the first nozzle will extrude the printing material; Device 7 is a preheater connected to the main body. The preheater is located on the side of the first nozzle away from the second nozzle to heat the area to be printed on the platform where printing material is to be extruded or to heat the freshly extruded printing material; or the preheater is a first heating block, and the vertical distance between the side of the first heating block facing the platform and the platform is less than the vertical distance between the side of the second heating block facing the platform and the platform, to heat the area to be printed by the first nozzle.

14. The 3D printing apparatus according to any one of claims 6-8, characterized in that, It also includes heat dissipation components; The heat dissipation assembly includes a first duct and / or a second duct connected to a fan or air source. The end of the first duct away from the fan is located on the side of the second nozzle away from the first nozzle and faces the platform to dissipate heat from the printing material extruded through the first and second nozzles; and / or the outer walls of the first and / or second connecting pipes are provided with heat sinks, and the end of the second duct away from the fan is directly opposite the heat sinks on the outer walls of the first and / or second connecting pipes; or... It also includes an extrusion roller assembly, which includes a vertical shaft and roller components rotatably disposed below the vertical shaft. The vertical shaft is connected to the body. The heat dissipation assembly includes a first air duct and / or a second air duct connected to a fan or air source. A heat dissipation channel is provided inside the roller component. The end of the first air duct away from the fan is connected to one end of the heat dissipation channel; and / or one end of the second air duct is connected to the other end of the heat dissipation channel, and the other end of the second air duct faces the heat sink on the second connecting pipe or the first connecting pipe; or... The heat dissipation assembly includes a first duct and / or a second duct connected to a fan or air source. The first duct has a heat dissipation channel or a heat dissipation channel wrapped with several heat sinks, and / or the second duct has a heat dissipation channel or a heat dissipation channel wrapped with several heat sinks. The end of the first duct away from the fan is connected to one end of the heat dissipation channel in the first duct, and / or the end of the second duct away from the fan is connected to one end of the heat dissipation channel in the second duct.

15. The 3D printing apparatus according to claim 13, characterized in that, The roller component has a heat dissipation channel inside, which is filled with coolant, and the external circulation pipe of the heat dissipation channel dissipates heat through the circulation of the coolant. and / or The first pair of connecting pipes has a heat dissipation channel or a heat dissipation channel wrapped with several heat dissipation fins, and / or the second pair of connecting pipes has a heat dissipation channel or a heat dissipation channel wrapped with several heat dissipation fins. The heat dissipation channel is filled with coolant, and the external circulation pipe of the heat dissipation channel dissipates heat through the circulation of the coolant.

16. The 3D printing apparatus according to any one of claims 5-8, characterized in that, The platform is equipped with a heating element and / or a temperature sensor, and the heating element and / or the temperature sensor are electrically connected to the control component through a conductive slip ring; The conductive slip ring includes a first slip ring component and a second slip ring component that can rotate relative to each other. The first slip ring component is fixed to the platform and rotates together with the platform. A platform pivot is provided below the platform. The first slip ring is sleeved on the outside of the platform pivot or passes through the inside of the platform pivot, and the corresponding second slip ring is sleeved on the outside of the first slip ring or passes through the inside of the first slip ring. The wires connected to the heating element and / or temperature sensor are electrically connected to the first slip ring, and the wires connected to the control component are electrically connected to the second slip ring.

17. The 3D printing apparatus according to any one of claims 5-8, characterized in that, It also includes a print base, the main body being rotatably mounted on the print base, and the main body having a through hole extending vertically, the through hole being used for air ducts, and / or coolant circulation pipes, and / or material conveying pipes, and / or wire harnesses to pass through.

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