A support-free full-color multifunctional 3D printing system

Abstract

The present invention belongs to the technical field of 3D printing equipment, and particularly relates to a supportless full-color multi-functional 3D printing system, including an integrated extrusion structure, an XYZ-axis ball head drive structure, and an X1Y1Z1-axis spherical printing nozzle. In the present invention, the replacement and discharging of the printing wire are completed under the cooperation of the first rotating motor, the feeder shifting plate, the extrusion structure, and the dynamic adjustment structure. The X1Y1Z1-axis spherical printing nozzle is driven to move by the XYZ-axis ball head drive structure. And under the cooperation of the X1-axis rotating structure, the Y1-axis rotating structure, and the Z1-axis rotating structure, each printing nozzle can rotate around the X1, Y1, and Z1 axes as the rotation centers, and perform stacking printing at any position in the X, Y, and Z three-dimensional spaces, so as to achieve supportless printing, save time and materials while improving the printing efficiency and flexibility, and can change the printing method and path according to the structural characteristics and strength requirements of the object to be printed, thereby increasing the structural strength.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing equipment, and in particular relates to a support-free full-color multifunctional 3D printing system. Background Art

[0002] 3D printing technology can save materials, reduce costs, improve material utilization, and directly generate parts of any shape from computer graphics data. It can also print assembled products, greatly reducing assembly costs. However, existing extruders usually install one printing wire for one extruder. When printing wires of multiple colors are required, it is necessary to frequently replace the wires or use multiple extruders, which makes the equipment bulky. At the same time, the manufacturing cost and energy consumption will also increase. In addition, traditional 3D printing nozzles usually only print on a horizontal hot bed, on which materials are stacked layer by layer, and multi-angle unsupported printing cannot be achieved, that is: when printing with an overhang angle of less than 45 degrees, additional supports are required for printing, and the supports are removed after printing. At the same time, when performing multi-color printing, the print head needs to be constantly replaced, or the print head needs to cut and discharge the original printing wire, and then extract the required printing wire to continue printing. In this process, the cut and discharged wires are wasted, which not only increases material costs and printing time, but also reduces printing efficiency and increases carbon emissions in the printing process. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a support-free full-color multifunctional 3D printing system, and the specific technical solution is as follows:

[0004] A support-free full-color multifunctional 3D printing system comprises a printing wire, a printing base and an XYZ-axis ball head driving structure installed on one side of the printing base, an X1Y1Z1-axis spherical printing nozzle is installed on one side of the XYZ-axis ball head driving structure, and the X1Y1Z1-axis spherical printing nozzle is composed of an X1-axis rotating structure, a Y1-axis rotating structure, a Z1-axis rotating structure and a printing nozzle assembly; an integrated extrusion structure is arranged on one side of the printing base, and the integrated extrusion structure comprises an extruder main housing, a receiving plate is fixedly installed on the extruder main housing, a plurality of extruder feeding rods are slidably connected to the receiving plate, and a receiving plate is provided on the receiving plate. An extrusion structure for extruding printing wire is rotatably connected to the connecting plate, a feeder shift plate fixedly connected to the extrusion structure is rotatably connected to the bottom of the connecting plate, an ejection block is arranged at the bottom of the feeder shift plate, and a plurality of dynamic adjustment structures corresponding to the extruder feeding rods are arranged at the bottom of the extruder main shell, one side of the dynamic adjustment structure is fixedly connected to the corresponding extruder feeding rod, and the dynamic adjustment structure is used to dynamically adjust the position of the extruder feeding rod according to the connection state between the feeding rod receiving groove and the feeding rod limiting groove; printing wires are installed on the plurality of extruder feeding rods, and the free ends of the plurality of printing wires are connected to the printing nozzle assembly.

[0005] Furthermore, an upper end cover is clamped on the top of the main shell of the extruder; a plurality of material rod limiting grooves are circumferentially arranged on the receiving plate, the extruder feeding rod corresponds to the material rod limiting grooves one by one, and the extruder feeding rod is slidably connected with the corresponding material rod limiting grooves; a feeding rod receiving groove is arranged on the feeder shift plate, and the feeding rod receiving groove is connected with one of the material rod limiting grooves; wherein, when the feeding rod receiving groove is connected with one of the material rod limiting grooves, the feeding rod receiving groove and the material rod limiting groove connected with the feeding rod receiving groove are slidably connected with the same extruder feeding rod, and the outer walls of the remaining extruder feeding rods are slidably connected with the outer wall of the feeder shift plate.

[0006] Furthermore, the main shell of the extruder is clamped with the upper end cover through a buckle; the bottom of the main shell of the extruder is fixedly connected with a fixed buckle, and the fixed buckle is clamped with a wire box, in which printing wire is placed; a first through-hole is opened on multiple extruder feeding rods, and a plurality of second through-holes corresponding to the first through-holes are opened on the bottom of the main shell of the extruder; the tops of multiple extruder feeding rods are fixedly connected with feed break detectors, and multiple feed break detectors are provided with a third through-hole for the printing wire to pass through; the free end of the printing wire passes through the first through-hole, the second through-hole, and the third through-hole in turn and is connected to the printing nozzle assembly.

[0007] Furthermore, the ejection block is triangular in shape, and the bottoms of multiple extruder feeding rods are all provided with inner edges, the upper surface of the inner edge is slidably connected to the lower surface of the feeder shift plate, and the inclined surface of the ejection block is in sliding contact with the side of one of the inner edges; the dynamic adjustment structure includes a reciprocating slide bar and a spring, the bottom of the extruder feeding rod is fixedly connected to the reciprocating slide bar, the reciprocating slide bar is L-shaped, and the bottom of the extruder main shell is provided with multiple slide grooves corresponding to the reciprocating slide bar, and springs are inserted in the slide grooves, and the transverse rod body of the reciprocating slide bar is slidably connected to the corresponding slide groove, and the end portion is in contact with the spring in the slide groove; the rod body of the extruder feeding rod is symmetrically provided with first inner recesses, and the extruder feeding rod is slidably connected to the corresponding feed rod limit groove through two first inner recesses, and the inner wall tops of the two first inner recesses are in sliding contact with the upper surface of the receiving plate.

[0008] Furthermore, the extrusion structure includes a main extrusion motor, and a lower docking shaft is fixedly connected to the bottom of the main extrusion motor, and the bottom end of the lower docking shaft passes through the receiving plate, the feeder shift plate and the main housing of the extruder and extends outside, and the lower docking shaft is fixedly connected to the feeder shift plate; the main extrusion motor is in sliding contact with the receiving plate; the upper end cover is equipped with a first rotating motor, and the rotating shaft of the first rotating motor is fixedly connected to the top of the main extrusion motor; the lower docking shaft is rotatably connected to a locking plate, and the top of the locking plate is slidably connected to the top of the main housing of the extruder; the extrusion structure also includes a main extrusion gear and a tensioning wheel, the main extrusion gear is rotatably connected to the rotating shaft of the main extrusion motor, and the main extrusion motor A side docking shaft is fixedly connected to the machine, and a U-shaped bracket is rotatably connected to the side docking shaft. The tensioning wheel is rotatably connected to the bracket, the main extrusion gear and the tensioning wheel are located on the same side, and an extrusion gap is formed between the main extrusion gear and the tensioning wheel; second inner recesses are symmetrically opened on the rod body of the extruder feeding rod, the printing wire is connected to the two second inner recesses, the main extrusion gear and the tensioning wheel are respectively located in the two second inner recesses, and both are in contact with the printing wire; a second rotating motor is installed on one side of the main extrusion motor, an adjusting gear is fixedly connected to the rotating shaft of the second rotating motor, and an engaging portion meshing with the adjusting gear is provided at one end of the bracket.

[0009] Furthermore, the wire material box is formed by splicing a main docking wire material box and a plurality of auxiliary docking wire material boxes. A docking slot is provided on the top of the main docking wire material box, and a fixed buckle is snapped into the docking slot.

[0010] Furthermore, the side walls of the main and auxiliary docking wire material boxes are provided with insertion strips and docking slots; wire rollers wound with printing wire are placed in the main and auxiliary docking wire material boxes; and suction cups are installed at the bottoms of the main and auxiliary docking wire material boxes.

[0011] Furthermore, a docking shell is provided on one side of the XYZ-axis ball head driving structure, a Y1-axis rotating structure is installed on the docking shell, a Z1-axis rotating structure is installed on the Y1-axis rotating structure, an X1-axis rotating structure is installed on the Z1-axis rotating structure, a printing nozzle assembly is installed on the X1-axis rotating structure, a horizontally placed hot bed and two vertically placed hot beds are installed on the printing base, the top of the two vertically placed hot beds is also installed with the same horizontally placed hot bed, and the two adjacent hot beds are perpendicular to each other; the Y1-axis rotating structure includes a Y1-axis turbine gear and a Y1-axis worm, the Y1-axis turbine gear is rotatably connected to the inner wall of the docking shell, a first worm motor is provided on the docking shell, the Y1-axis worm is fixedly connected to the rotating shaft of the first worm motor, and the Y1-axis worm is meshed with the Y1-axis turbine gear; one side of the docking shell is rotatably connected to The clamping piece for clamping the Z1-axis rotating structure, the Y1-axis turbine gear disc is fixedly clamped with the clamping piece; the Z1-axis rotating structure includes a Z1-axis turbine gear disc and a Z1-axis worm, the Z1-axis turbine gear disc is rotatably connected to the clamping piece, a second worm motor is arranged on the clamping piece, the Z1-axis worm is fixedly connected to the rotating shaft of the second worm motor, and the Z1-axis worm is meshed with the Z1-axis turbine gear disc; the clamping piece is rotatably connected with a docking outer frame, the Z1-axis turbine gear disc is fixedly clamped with the docking outer frame; the X1-axis rotating structure includes an X1-axis turbine gear disc and an X1-axis worm, the X1-axis turbine gear disc is rotatably connected to the docking outer frame, a third worm motor is arranged on the docking outer frame, the X1-axis worm is fixedly connected to the rotating shaft of the third worm motor, and the X1-axis worm is meshed with the X1-axis turbine gear disc; the print head assembly is rotatably connected to the docking outer frame, and the X1-axis turbine gear disc is fixedly clamped with the print head assembly.

[0012] Furthermore, the print head assembly is formed by a first print head shell and a second print head shell that are semicircular and are clamped together. After the first print head shell and the second print head shell are clamped together, two symmetrically distributed clamping slots are formed. The X1-axis turbine gear disk is fixedly clamped to one of the clamping slots, and a fixed buckle is rotatably connected to the side of the docking outer frame away from the X1-axis turbine gear disk, and the fixed buckle is fixedly clamped to the other clamping slot; a plurality of nozzle heaters are circularly installed on the inner walls of the first print head shell and the second print head shell, and the nozzle heaters on the first print head shell and the second print head shell are symmetrically distributed, and printing nozzles are installed on the plurality of nozzle heaters, and a plurality of mounting ports corresponding to the printing nozzles are opened on the first print head shell and the second print head shell, and the printing nozzles are installed on the corresponding mounting ports, and the discharge end of the printing nozzle passes through the mounting port and extends outside; the first print head shell and the second print head shell are both provided with There is a cooling air duct, and the outer surfaces of the first print head shell and the second print head shell are provided with multiple air duct outlets corresponding to the printing nozzles one by one, and the multiple air duct outlets are all connected with the corresponding cooling air ducts, and the air duct outlets are sleeved on the corresponding printing nozzles; multiple feed ducts are provided on the X1-axis turbine gear disc and the fixed buckle, the feed ducts correspond to the nozzle heaters one by one, and the feed ducts are connected with the corresponding printing nozzles through the nozzle heaters, the feed ducts correspond to the third through-holes one by one, and the free ends of the feed ducts are connected with the corresponding third through-holes; an air duct is also provided on the fixed buckle, and two branches are provided at one end of the air duct, and the two branches are respectively connected with the cooling air ducts on the first print head shell and the second print head shell, and the other end of the air duct is connected with an external fan; a wire harness tube is provided on the X1-axis turbine gear disc, and multiple nozzle heaters are electrically connected with temperature measuring elements, and the wires of the nozzle heater and the temperature measuring element are all passed through the wire harness tube.

[0013] Furthermore, the XYZ-axis ball head drive structure includes two longitudinal docking rails installed on one side of the printing base; a Z-axis drive motor is installed on the same side of the two longitudinal docking rails, and the same side of the two longitudinal docking rails is also rotatably connected to a first belt meshing wheel corresponding to the Z-axis drive motor, the two first belt meshing wheels are meshed with the same first transmission belt, and the tops of the two Z-axis drive motors are fixed with screws, and the tops of the screws are fixedly connected to the corresponding first belt meshing wheels; the two screws are threadedly connected with docking kits, the docking kits are sleeved on the corresponding longitudinal docking rails, and the docking kits are rollingly connected to the longitudinal docking rails through rollers, and the same transverse docking rail is fixed to the same side of the two docking kits, and the inner walls on both sides of the transverse docking rails are rotatably connected to the first Two belt meshing wheels, two second belt meshing wheels are meshed with the same second transmission belt, a Y-axis driving motor is arranged on one side of the transverse docking slide rail, and the rotating shaft of the Y-axis driving motor is fixedly connected to one of the second belt meshing wheels; a sliding member is slidably connected to the transverse docking slide rail, and the sliding member is fixedly connected to the upper belt body of the second transmission belt, and the sliding member is slidably connected to a ball head bracket, and a tooth plate is also fixedly connected to the ball head bracket, and the tooth plate is perpendicular to the transverse docking slide rail, and the free end of the tooth plate slides through the sliding member and extends outside, an X-axis driving motor is installed on one side of the sliding member, and the rotating shaft of the X-axis driving motor extends to the inside of the sliding member, and a gear meshing with the tooth plate is fixedly connected to the rotating shaft extending to the inside of the sliding member; the same side of the ball head bracket and the tooth plate is fixedly connected to the docking shell.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the present invention, when it is necessary to change the printing wire of another color for printing, the extrusion gap is widened from narrow under the cooperation of the second rotating motor, the adjusting gear, the meshing part and the bracket. At the same time, as the feeder shift plate rotates, the inclined surface of the ejection block will squeeze the inner edge, so that the extruder feed rod is squeezed out of the feed rod receiving groove, and as the feeder shift plate continues to rotate, the outer wall of the extruder feed rod will be re-slidably connected with the outer wall of the feeder shift plate. While extruding, the reciprocating slide bar at the bottom of the extruder feed rod will slide inward along the slide groove, and the spring is compressed at this time;

[0016] At the same time, the replacement and discharge of the printing wire are completed with the cooperation of the first rotating motor, the feeder shift plate, the extrusion structure and the dynamic adjustment structure.

[0017] Second, in the present invention, by adjusting the coordination between the gear and the meshing part, the width of the extrusion gap can be flexibly changed, so that the extruder feed rod can enter and exit the extrusion gap.

[0018] 3. In the present invention, the XYZ-axis ball head driving structure drives the X1Y1Z1-axis spherical printing nozzle to move, and with the cooperation of the X1-axis rotating structure, the Y1-axis rotating structure and the Z1-axis rotating structure, each printing nozzle can print with the hot bed on the X, Y, and Z axes and the top as the reference surface, so that the printing freedom is higher, the model can be constructed in multiple dimensions, and it is more suitable for the printing of special models and special structures. Moreover, each printing nozzle can rotate with the X1, Y1, and Z1 axes as the rotation center, and stacking printing can be performed at any position in the X, Y, and Z three-dimensional space, thereby realizing support-free printing, which can meet the printing needs of objects with complex geometric shapes, save time and materials compared with the traditional horizontal layer-by-layer stacking 3D printing mode, and improve printing efficiency and flexibility; and the printing method and path can be changed according to the structural characteristics and strength requirements of the printed object, and the strength of the printed object in the Z-axis direction can be increased, so that the printed object has approximately isotropic properties in all directions and the Z-axis strength of all three dimensions, thereby increasing the structural strength.

[0019] 4. In the present invention, multiple printing nozzles are set up to meet the printing needs of multiple colors and nozzles of different calibers. When switching colors, there is no need to cut off the material. The printing nozzles installed with corresponding colors can be switched through the cooperation of the X1-axis rotating structure, the Y1-axis rotating structure and the Z1-axis rotating structure. This is efficient and fast and improves the utilization rate of the printing wire. At the same time, the printing nozzles on the first print head shell and the second print head shell are symmetrically distributed. The semicircular first print head shell and the second print head shell are spherical as a whole after being snapped together. While reducing the occupied space, the printing nozzles can be evenly distributed and the time required for adjustment can be reduced.

[0020] 5. In the present invention, the printing wire is inserted into the corresponding feed duct, heated and melted by the nozzle heater, and then discharged from the printing nozzle for printing. The external fan transports the cold air through the air duct and branch pipe to the corresponding cooling air duct, and discharges it through the air duct outlet, thereby cooling the printed wire.

[0021] 6. In the present invention, the wires of each nozzle heater and temperature measuring element are passed through the wire harness tube, and the wires are arranged and protected by the wire harness tube, so that the interior of the first print head housing and the second print head housing are neat and tidy.

[0022] 7. In the present invention, the provided rollers can reduce the friction between the docking kit and the two longitudinal docking rails when the docking kit moves.

[0023] 8. In the present invention, when disassembly is required, the upper end cover can be separated from the main housing of the extruder by simply canceling the engagement of the upper end cover through the buckle, thereby improving disassembly efficiency.

[0024] 9. In the present invention, the extruder feed rod can be limited by the provided rod limiting groove, and the contact area between the extruder feed rod and the rod limiting groove can be increased by the two first inner recesses, thereby improving the stability of the extruder feed rod when sliding in the rod limiting groove.

[0025] 10. In the present invention, multiple extruder feeding rods are provided to facilitate the staff to install printing wires of different colors on the extruder feeding rods.

[0026] 11. In the present invention, by setting a material break detector, when there is no printing wire at the third through hole, the material break detector will alarm and automatically stop the machine to remind the staff to check.

[0027] 12. In the present invention, during installation, the inserting strips and the docking slots on the side walls of the main docking wire material box or the auxiliary docking wire material box are docked with the docking slots and the inserting strips on the corresponding main docking wire material box or the auxiliary docking wire material box, so that the auxiliary docking wire material box and the main docking wire material box can be quickly assembled; the main docking wire material box and the auxiliary docking wire material box are both installed with suction cups at the bottom, and the main docking wire material box and the auxiliary docking wire material box can be firmly adsorbed and fixed to the desktop through the suction cups, thereby improving the stability of the main docking wire material box and the auxiliary docking wire material box when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional schematic diagram of the present invention as a whole;

[0029] Figure 2 It is a schematic diagram of the integrated extrusion structure and the wire material box in the present invention;

[0030] Figure 3 It is a schematic diagram of the main housing of the extruder in the present invention;

[0031] Figure 4 It is a bottom view of the main housing of the extruder in the present invention;

[0032] Figure 5 It is an exploded schematic diagram of the main housing, receiving plate and upper end cover of the extruder in the present invention;

[0033] Figure 6 It is an exploded schematic diagram of the main housing, the receiving plate and the upper end cover of the extruder in the present invention from a bottom-up perspective;

[0034] Figure 7 It is an exploded schematic diagram of the printing wire, the receiving plate and the extruder feeding rod in the present invention;

[0035] Figure 8 It is a schematic diagram of the extrusion structure in the present invention;

[0036] Fig. 9 It is a schematic diagram of the printing wire, extruder feed rod and extrusion structure in the present invention;

[0037] Fig.10 It is a cutaway view of the main housing of the extruder in the present invention;

[0038] Fig.11 It is a schematic diagram of the receiving plate, the feeder shifting plate, the main extrusion motor and the lower docking shaft in the present invention;

[0039] Fig.12 It is a schematic diagram of the extruder feeding rod and the feeder shifting plate in the present invention;

[0040] Fig.13 It is a schematic diagram of the extrusion structure of the present invention when it is working;

[0041] Fig.14 It is a schematic diagram of the main docking wire material box in the present invention;

[0042] Fig.15 It is a schematic diagram of the secondary docking wire material box in the present invention;

[0043] Fig.16 It is a schematic diagram of the printing base, the XYZ-axis ball head driving structure and the X1Y1Z1-axis spherical printing nozzle in the present invention;

[0044] Fig.17 It is a schematic diagram of the XYZ-axis ball head driving structure of the present invention;

[0045] Fig.18 It is a schematic diagram of the docking housing and the Y1-axis rotating structure in the present invention;

[0046] Fig.19 It is a schematic diagram of the docking housing, the Y1-axis turbine gear disc and the clamping member in the present invention;

[0047] Fig. 20 It is a schematic diagram of the Z1-axis rotating structure and the docking outer frame in the present invention;

[0048] Fig.21 It is a schematic diagram of the clamping member, the Z1-axis turbine gear disc and the docking outer frame in the present invention;

[0049] Fig. 22 It is a schematic diagram of the X1-axis rotating structure, the docking outer frame and the print head assembly in the present invention;

[0050] Fig.23 It is a schematic diagram of the first print head housing, the second print head housing and the fixing buckle in the present invention;

[0051] Fig.24 It is a schematic diagram of the first print head housing, the second print head housing, the card slot, the mounting port and the air duct outlet in the present invention;

[0052] Fig.25A partial cutaway view of a print head assembly of the present invention;

[0053] Fig.26 A cross-sectional view of a printing nozzle assembly in the present invention;

[0054] Fig. 27 Schematic diagram of the Z-axis drive motor, screw, docking kit and roller in the present invention;

[0055] Fig.28 for Fig. 27 A local enlarged schematic diagram of the middle A;

[0056] Fig.29 It is a schematic diagram of the docking kit and the transverse docking rail in the present invention;

[0057] Fig.30 for Fig.29 A partial enlarged schematic diagram of point B in the middle;

[0058] Fig.31 It is a schematic diagram of the sliding member, the ball head bracket and the docking housing in the present invention;

[0059] Fig.32 It is a cross-sectional view of the sliding member in the present invention.

[0060] In the figure: 11, printing base; 12, X1 axis rotating structure; 13, Y1 axis rotating structure; 14, Z1 axis rotating structure; 15, printing nozzle assembly; 16, docking shell; 17, Y1 axis turbine gear; 18, Y1 axis worm; 19, first worm motor; 110, clamping piece; 111, Z1 axis turbine gear; 112, Z1 axis worm; 113, second worm motor; 114, docking outer frame; 115, X1 axis turbine gear; 116, X1 axis worm; 117, third worm motor; 118, first print head shell; 119, second print head shell; 12 0. Card slot; 121. Fixing buckle; 122. Nozzle heater; 123. Print nozzle; 124. Mounting port; 125. Cooling air duct; 126. Air duct outlet; 127. Feed duct; 128. Air duct; 129. Branch pipe; 130. Hot bed; 131. Cable duct; 132. Temperature measuring element; 133. Longitudinal docking rail; 134. Z-axis drive motor; 135. First belt meshing wheel; 136. First transmission belt; 137. Screw; 138. Docking kit; 139. Roller; 140. Horizontal docking rail; 141. Second belt meshing wheel; 142. Second transmission belt; 143, Y-axis drive motor; 144, sliding part; 145, ball head bracket; 146, tooth plate; 147, X-axis drive motor; 148, gear; 21, extruder main housing; 22, printing wire; 23, receiving plate; 24, material rod limiting groove; 25, extruder feed rod; 26, feeder shift plate; 27, feed rod receiving groove; 28, ejector block; 29, buckle; 210, upper end cover; 211, fixed buckle; 212, wire box; 213, first through hole; 214, second through hole; 215, third through hole; 216, inner edge; 217, reciprocating slide; 218. Spring; 219. Slide groove; 220. First inner recess; 221. Main extrusion motor; 222. Lower docking shaft; 223. First rotary motor; 224. Locking piece; 225. Main extrusion gear; 226. Tensioning wheel; 227. Side docking shaft; 228. Support seat; 229. Extrusion gap; 230. Second inner recess; 231. Second rotary motor; 232. Adjusting gear; 233. Meshing part; 234. Main docking wire box; 235. Secondary docking wire box; 236. Docking slot; 237. Material break detector; 238. Insert strip; 239. Docking slot; 240. Suction cup. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Embodiment 1

[0063] like Figure 1-Figure 32 As shown, a support-free full-color multifunctional 3D printing system includes a printing wire 22, a printing base 11, and an XYZ-axis ball head drive structure installed on one side of the printing base 11, such as Figure 1 As shown, a horizontally placed heat bed 130 and two vertically placed heat beds 130 are installed on the printing base 11, and the top of the two vertically placed heat beds 130 is also installed with the same horizontally placed heat bed 130, and the two adjacent heat beds 130 are perpendicular to each other. An integrated extrusion structure is provided on one side of the printing base 11, such as Figure 3 As shown, the integrated extrusion structure includes an extruder main housing 21, and an upper end cover 210 is clamped on the top of the extruder main housing 21. Specifically, the extruder main housing 21 is clamped with the upper end cover 210 through a buckle 29. When disassembly is required, the upper end cover 210 can be separated from the extruder main housing 21 by simply canceling the clamping of the upper end cover 210 through the buckle 29. Figure 3-Figure 8 As shown, a receiving plate 23 is fixedly mounted on the main housing 21 of the extruder, and a plurality of rod limiting grooves 24 are circumferentially arranged on the receiving plate 23. A plurality of extruder feeding rods 25 corresponding to the rod limiting grooves 24 are slidably connected on the receiving plate 23, and the extruder feeding rods 25 are slidably connected to the corresponding rod limiting grooves 24. Specifically: Fig. 9 and Fig.12 As shown, the rod body of the extruder feeding rod 25 is symmetrically provided with first inner recesses 220, and the extruder feeding rod 25 is slidably connected with the corresponding rod limiting groove 24 through the two first inner recesses 220. The extruder feeding rod 25 can be limited by the provided rod limiting groove 24, and the contact area between the extruder feeding rod 25 and the rod limiting groove 24 can be increased by the two first inner recesses 220, thereby improving the stability of the extruder feeding rod 25 when sliding in the rod limiting groove 24, and the inner wall tops of the two first inner recesses 220 are in sliding contact with the upper surface of the receiving plate 23;

[0064] like Figure 2 , Figure 4 and Fig.15 As shown, a fixed buckle 211 is fixedly connected to the bottom of the main housing 21 of the extruder, and a wire material box 212 is clamped on the fixed buckle 211, and the printing wire 22 is placed in the wire material box 212; specifically: the wire material box 212 is composed of a main docking wire material box 234 and a plurality of auxiliary docking wire material boxes 235. The top of the main docking wire material box 234 is provided with a docking slot 236, and the fixed buckle 211 is clamped in the docking slot 236. When in use, only different numbers of auxiliary docking wire material boxes 235 and the main docking wire material box 234 need to be clamped together to quickly complete the installation, which is convenient and quick;

[0065] A plurality of extruder feed rods 25 are each provided with a printing wire 22, and the free ends of the plurality of printing wires 22 are connected to the print head assembly 15, specifically: Fig.12 As shown, a plurality of extruder feed rods 25 are provided with a first opening 213, such as Figure 6 As shown, the bottom of the extruder main housing 21 is provided with a plurality of second openings 214 corresponding to the first openings 213 one by one;

[0066] like Figure 7 As shown, the tops of the multiple extruder feeding rods 25 are fixedly connected with a material break detector 237, and the multiple material break detectors 237 are provided with a third through hole 215 for the printing wire 22 to pass through;

[0067] When discharging, the free end of the printing wire 22 passes through the first opening 213, the second opening 214 and the third opening 215 in turn and is connected to the print head assembly 15. When there is no printing wire 22 in the third opening 215, the feed break detector 237 will alarm and automatically stop the machine to remind the staff to check. By setting up multiple extruder feeding rods 25, it is convenient for the staff to install printing wires 22 of different colors on the extruder feeding rods 25.

[0068] The receiving plate 23 is rotatably connected to an extrusion structure for extruding the printing wire 22, and the bottom of the receiving plate 23 is rotatably connected to a feeder shift plate 26 fixedly connected to the extrusion structure. Specifically: Figure 8 Shown and Fig.10 The extrusion structure includes a main extrusion motor 221, and a lower docking shaft 222 is fixedly connected to the bottom of the main extrusion motor 221. The bottom end of the lower docking shaft 222 passes through the receiving plate 23, the feeder shift plate 26 and the extruder main housing 21 and extends outside, and the lower docking shaft 222 is fixedly connected to the feeder shift plate 26;

[0069] The main extrusion motor 221 is in sliding contact with the receiving plate 23;

[0070] The upper end cover 210 is equipped with a first rotary motor 223, and the rotary shaft of the first rotary motor 223 is fixedly connected to the top of the main extrusion motor 221;

[0071] The lower docking shaft 222 is rotatably connected with a locking piece 224, and the top of the locking piece 224 is slidably connected with the top of the extruder main housing 21;

[0072] like Figure 8As shown, the extrusion structure also includes a main extrusion gear 225 and a tensioning wheel 226. The main extrusion gear 225 is rotatably connected to the rotating shaft of the main extrusion motor 221. The main extrusion motor 221 is fixedly connected to a side docking shaft 227. The side docking shaft 227 is rotatably connected to a U-shaped bracket 228. The tensioning wheel 226 is rotatably connected to the bracket 228. The main extrusion gear 225 and the tensioning wheel 226 are located on the same side, and an extrusion gap 229 is formed between the main extrusion gear 225 and the tensioning wheel 226.

[0073] like Fig. 9 and Fig.12 As shown, the rod body of the extruder feeding rod 25 is symmetrically provided with second inner recesses 230, the printing wire 22 is connected with the two second inner recesses 230, the main extrusion gear 225 and the tensioning wheel 226 are respectively located in the two second inner recesses 230, and are in contact with the printing wire 22;

[0074] like Figure 8 As shown, a second rotary motor 231 is installed on one side of the main extrusion motor 221 , an adjusting gear 232 is fixedly connected to the rotating shaft of the second rotary motor 231 , and an engaging portion 233 engaged with the adjusting gear 232 is provided at one end of the bracket 228 .

[0075] A feeding rod receiving groove 27 is provided on the feeder shift plate 26, and the feeding rod receiving groove 27 is connected to one of the feed rod limiting grooves 24; Figure 8 , Fig.11 and Fig.13 As shown, when the feed rod receiving groove 27 is connected to one of the material rod limiting grooves 24, the feed rod receiving groove 27 and the material rod limiting groove 24 connected to the feed rod receiving groove 27 are slidably connected with the same extruder feed rod 25, and the inclined surface of the ejection block 28 is in sliding contact with the side of the inner edge 216 of the bottom of the extruder feed rod 25; the outer wall of the remaining extruder feed rods 25 is slidably connected with the outer wall of the feeder shift plate 26;

[0076] like Fig.12 As shown, a push-out block 28 is provided at the bottom of the feeder shift plate 26, and the push-out block 28 is triangular in shape. An inner edge 216 is provided at the bottom of each of the plurality of extruder feed rods 25, and the upper surface of the inner edge 216 is slidably connected to the lower surface of the feeder shift plate 26. A plurality of dynamic adjustment structures corresponding to the extruder feed rods 25 are provided at the bottom of the extruder main housing 21, and one side of the dynamic adjustment structure is fixedly connected to the corresponding extruder feed rod 25. The dynamic adjustment structure is used to dynamically adjust the position of the extruder feed rod 25 according to the connection state between the feed rod receiving groove 27 and the feed rod limiting groove 24. Specifically: Fig. 9 and Fig.10As shown, the dynamic adjustment structure includes a reciprocating slide bar 217 and a spring 218. The bottom of the extruder feeding rod 25 is fixedly connected with the reciprocating slide bar 217, and the reciprocating slide bar 217 is L-shaped. The bottom of the extruder main housing 21 is provided with a plurality of slide grooves 219 corresponding to the reciprocating slide bar 217, and springs 218 are inserted in the slide grooves 219. The transverse rod body of the reciprocating slide bar 217 is slidably connected in the corresponding slide grooves 219, and the end thereof abuts against the spring 218 in the slide groove 219. When the outer wall of the extruder feeding rod 25 is slidably connected with the outer wall of the feeder shift plate 26, the spring 218 is in a compressed state.

[0077] Specifically: Figure 8 and Fig. 9 As shown, the adjusting gear 232 is driven to rotate by the rotating shaft of the second rotating motor 231, and under the meshing action with the meshing portion 233, the bracket 228 rotates in the opposite direction with the side docking shaft 227 as the rotation center, and the tensioning wheel 226 also rotates in the same direction, and the extrusion gap 229 becomes wider from narrow;

[0078] At the same time, the first rotary motor 223 drives the main extrusion motor 221 to rotate counterclockwise through the rotary shaft, and the main extrusion motor 221 drives the feeder shift plate 26 to rotate in the same direction through the lower docking shaft 222. When the feed rod receiving groove 27 is connected to the rod limiting groove 24 where the required printing wire 22 is located, the spring 218 in the compressed state is stretched and reset, and pushes the reciprocating slide bar 217 to push along the direction of the feed rod receiving groove 27, and then pushes the extruder feed rod 25 into the extrusion gap 229. At this time, the rotary shaft of the second rotary motor 231 drives the adjusting gear 232 to rotate in the opposite direction and reset. Under the meshing action with the meshing part 233, the bracket 228 rotates in the opposite direction with the side docking shaft 227 as the rotation center, thereby resetting, and the tensioning wheel 226 also rotates in the same direction. Figure 5 As shown, at this time, the extrusion gap 229 becomes narrower from wide, and the main extrusion gear 225 and the tension wheel 226 tightly clamp the printing wire 22, and the main extrusion motor 221 drives the main extrusion gear 225 to rotate counterclockwise through the rotating shaft, thereby applying an upward thrust to the printing wire 22, so that the printing wire 22 is continuously sent out;

[0079] When it is necessary to change the printing wire 22 of another color for printing, the extrusion gap 229 is widened from narrow under the cooperation of the second rotary motor 231, the adjusting gear 232, the meshing portion 233 and the bracket 228. At the same time, as the feeder shift plate 26 rotates, the inclined surface of the ejection block 28 squeezes the inner edge 216, so that the extruder feed rod 25 is squeezed out of the feed rod receiving groove 27. As the feeder shift plate 26 continues to rotate, the outer wall of the extruder feed rod 25 is re-slidably connected with the outer wall of the feeder shift plate 26. While extruding, the reciprocating slide bar 217 at the bottom of the extruder feed rod 25 slides inward along the slide groove 219, and the spring 218 is compressed at this time.

[0080] At the same time, the replacement of the printing wire 22 is completed with the cooperation of the first rotating motor 223, the feeder shift plate 26, the extrusion structure and the dynamic adjustment structure;

[0081] In the present invention, switching can be performed by setting an extrusion structure and a dynamic adjustment structure, which is convenient and quick.

[0082] Furthermore, an X1Y1Z1 axis spherical printing nozzle is installed on one side of the XYZ axis ball head driving structure. Fig.17 , Figure 27-Figure 32 As shown, specifically: the XYZ-axis ball head driving structure includes two longitudinal docking slide rails 133 installed on one side of the printing base 11;

[0083] A Z-axis driving motor 134 is installed on the same side of the two longitudinal docking slides 133. A first belt meshing wheel 135 corresponding to the Z-axis driving motor 134 is also rotatably connected to the same side of the two longitudinal docking slides 133. The two first belt meshing wheels 135 are meshed with the same first transmission belt 136. A screw rod 137 is fixed to the top of the two Z-axis driving motors 134, and the top of the screw rod 137 is fixedly connected to the corresponding first belt meshing wheel 135.

[0084] The two screw rods 137 are both threadedly connected with a docking kit 138, which is sleeved on the corresponding longitudinal docking rail 133 and connected to the longitudinal docking rail 133 by a roller 139. The friction between the docking kit 138 and the two longitudinal docking rails 133 can be reduced by the roller 139 when the docking kit 138 moves. Fig. 27 and Fig.29 As shown, the same side of the two docking kits 138 is fixed with the same transverse docking rail 140, as shown in FIG. Fig.30As shown, the inner walls of both sides of the transverse docking slide 140 are rotatably connected to the second belt meshing wheels 141, and the two second belt meshing wheels 141 are meshed with the same second transmission belt 142. A Y-axis driving motor 143 is provided on one side of the transverse docking slide 140, and the rotating shaft of the Y-axis driving motor 143 is fixedly connected to one of the second belt meshing wheels 141;

[0085] like Fig.31 and Fig.32 As shown, a sliding member 144 is slidably connected to the transverse docking rail 140, and the sliding member 144 is fixedly connected to the upper belt body of the second transmission belt 142. The sliding member 144 is slidably connected to a ball head bracket 145, and a tooth plate 146 is also fixedly connected to the ball head bracket 145. The tooth plate 146 is perpendicular to the transverse docking rail 140, and the free end of the tooth plate 146 slides through the sliding member 144 and extends outside. An X-axis driving motor 147 is installed on one side of the sliding member 144, and the rotating shaft of the X-axis driving motor 147 extends to the inside of the sliding member 144, and a gear 148 meshing with the tooth plate 146 is fixedly connected to the rotating shaft extending to the inside of the sliding member 144;

[0086] like Figure 16-Figure 18 As shown, a docking housing 16 is provided on one side of the XYZ-axis ball head drive structure. Specifically, the same side of the ball head bracket 145 and the tooth plate 146 is fixedly connected to the docking housing 16;

[0087] like Figure 17-Figure 26 As shown, the X1Y1Z1 axis spherical printing nozzle is composed of an X1 axis rotating structure 12, a Y1 axis rotating structure 13, a Z1 axis rotating structure 14 and a printing nozzle assembly 15;

[0088] Further, the Y1-axis rotating structure 13 is mounted on the docking housing 16, the Z1-axis rotating structure 14 is mounted on the Y1-axis rotating structure 13, the X1-axis rotating structure 12 is mounted on the Z1-axis rotating structure 14, and the print head assembly 15 is mounted on the X1-axis rotating structure 12;

[0089] Specifically, during the printing process, when the X1Y1Z1-axis spherical printing nozzle needs to move forward and backward, the X-axis driving motor 147 drives the gear 148 to rotate through the rotating shaft, and drives the gear plate 146 to move forward and backward under the meshing action, thereby driving the docking housing 16 and the X1Y1Z1-axis spherical printing nozzle to move along the X-axis direction;

[0090] When the X1Y1Z1-axis spherical printing nozzle needs to move horizontally, the Y-axis driving motor 143 drives the second belt meshing wheel 141 to rotate through the rotating shaft, and drives another second belt meshing wheel 141 to rotate in the same direction under the action of the second transmission belt 142, so that when the second transmission belt 142 moves, the upper belt body of the second transmission belt 142 drives the sliding member 144 to move along the Y-axis direction, thereby driving the ball head bracket 145, the docking shell 16, and the X1Y1Z1-axis spherical printing nozzle to move along the Y-axis direction, and the sliding member 144 can be supported by the provided horizontal docking slide rail 140 to prevent the sliding member 144 from compressing and deforming the second transmission belt 142;

[0091] When the X1Y1Z1-axis spherical printing nozzle needs to move longitudinally, the two Z-axis driving motors 134 simultaneously drive the corresponding screws 137 to rotate in the same direction, and the docking kit 138 moves along the Z-axis direction under the meshing action, thereby driving the horizontal docking slide rail 140, the sliding member 144, the ball head bracket 145, the docking shell 16, and the X1Y1Z1-axis spherical printing nozzle to move along the Z-axis direction;

[0092] Under the action of the XYZ-axis ball head driving structure, the X1Y1Z1-axis spherical printing nozzle can be moved arbitrarily on the X, Y, and Z axes, thereby improving the flexibility of the X1Y1Z1-axis spherical printing nozzle when moving.

[0093] Specifically, Fig.18 As shown, the Y1-axis rotating structure 13 includes a Y1-axis turbine gear disc 17 and a Y1-axis worm 18. The Y1-axis turbine gear disc 17 is rotatably connected to the inner wall of the docking housing 16. The docking housing 16 is provided with a first worm motor 19. The Y1-axis worm 18 is fixedly connected to the rotating shaft of the first worm motor 19, and the Y1-axis worm 18 is meshed with the Y1-axis turbine gear disc 17.

[0094] like Fig.19 As shown, a clamping member 110 for clamping the Z1-axis rotating structure 14 is rotatably connected to one side of the docking housing 16, and the Y1-axis turbine gear 17 is fixedly clamped with the clamping member 110. The Y1-axis turbine gear 17 and the Y1-axis worm 18 can improve the rotation accuracy of the clamping member 110, thereby improving the printing accuracy;

[0095] like Fig. 20 and Fig.21As shown, the Z1-axis rotating structure 14 includes a Z1-axis turbine gear disc 111 and a Z1-axis worm 112. The Z1-axis turbine gear disc 111 is rotatably connected to the clamping member 110. The clamping member 110 is provided with a second worm motor 113. The Z1-axis worm 112 is fixedly connected to the rotating shaft of the second worm motor 113, and the Z1-axis worm 112 is meshed with the Z1-axis turbine gear disc 111.

[0096] The clamping member 110 is rotatably connected to the docking outer frame 114, and the Z1-axis turbine gear plate 111 is fixedly clamped with the docking outer frame 114. The Z1-axis turbine gear plate 111 and the Z1-axis worm 112 can improve the rotation accuracy of the docking outer frame 114, thereby further improving the printing accuracy.

[0097] like Fig. 22 As shown, the X1-axis rotating structure 12 includes an X1-axis turbine gear disc 115 and an X1-axis worm 116, the X1-axis turbine gear disc 115 is rotatably connected to the docking outer frame 114, a third worm motor 117 is provided on the docking outer frame 114, the X1-axis worm 116 is fixedly connected to the rotating shaft of the third worm motor 117, and the X1-axis worm 116 is meshed with the X1-axis turbine gear disc 115;

[0098] like Fig.23 and Fig.24 As shown, the print head assembly 15 is rotatably connected to the docking outer frame 114, and the X1-axis turbine gear 115 is fixedly engaged with the print head assembly 15. The rotation accuracy of the print head assembly 15 can be improved by setting the X1-axis turbine gear 115 and the X1-axis worm 116, thereby further improving the printing accuracy.

[0099] Specifically, the XYZ-axis ball head driving structure drives the X1Y1Z1-axis spherical print head to move, and the third worm motor 117 drives the X1-axis worm 116 to rotate through the rotating shaft, and drives the X1-axis turbine gear 115 to rotate under the meshing action, thereby causing the print head assembly 15 to rotate with the X1 axis as the rotation center;

[0100] The second worm motor 113 drives the Z1-axis worm 112 to rotate through the rotating shaft, and drives the Z1-axis turbine gear plate 111 to rotate under the meshing action, thereby causing the docking outer frame 114 and the print head assembly 15 to rotate with the Z1 axis as the rotation center;

[0101] The first worm motor 19 drives the Y1-axis worm 18 to rotate through the rotating shaft, and drives the Y1-axis turbine gear 17 to rotate under the meshing action, thereby causing the clamping member 110, the docking outer frame 114, and the print head assembly 15 to rotate with the Z1 axis as the rotation center;

[0102] In the present invention, the XYZ-axis ball head driving structure drives the X1Y1Z1-axis spherical printing nozzle to move, and with the cooperation of the X1-axis rotating structure 12, the Y1-axis rotating structure 13 and the Z1-axis rotating structure 14, each printing nozzle assembly 15 can rotate with the X1, Y1, and Z1 axes as the rotation center, so that the printing nozzle assembly 15 can print at any angle, and stack materials can be printed at any position in the X, Y, and Z three-dimensional space, thereby realizing support-free printing, which can meet the printing needs of objects with complex geometric shapes, and is more convenient than traditional horizontal layer-by-layer stacking. The 3D printing mode saves time and materials, improves printing efficiency and flexibility; and the printing method and path can be changed according to the structural characteristics and strength requirements of the printed object, which can increase the strength of the printed object in the Z-axis direction, so that the printed object has approximately isotropic properties in all directions and Z-axis strength in all three dimensions, thereby increasing the structural strength. At the same time, with the cooperation of the Y1-axis turbine gear 17 and the Y1-axis worm 18, the Z1-axis turbine gear 111 and the Z1-axis worm 112, and the X1-axis turbine gear 115 and the X1-axis worm 116, the printing accuracy is improved, and printing errors and material waste are reduced.

[0103] like Figure 24-26 As shown, the print head assembly 15 is formed by a first print head housing 118 and a second print head housing 119 which are in a semicircular shape and are connected by clamping. The first print head housing 118 and the second print head housing 119 are connected by clamping to form two symmetrically distributed clamping slots 120. The X1-axis turbine gear disc 115 is fixedly connected to one of the clamping slots 120. A fixed buckle 121 is rotatably connected to a side of the docking outer frame 114 away from the X1-axis turbine gear disc 115. The fixed buckle 121 is fixedly connected to the other clamping slot 120.

[0104] A plurality of nozzle heaters 122 for heating the printing wire 22 are circumferentially mounted on the inner walls of the first print head housing 118 and the second print head housing 119, and the nozzle heaters 122 on the first print head housing 118 and the second print head housing 119 are symmetrically distributed, and a printing nozzle 123 is mounted on each of the plurality of nozzle heaters 122, and a plurality of mounting ports 124 corresponding to the printing nozzles 123 are opened on the first print head housing 118 and the second print head housing 119, and the printing nozzles 123 are mounted on the corresponding mounting ports 124, and the discharge ends of the printing nozzles 123 pass through the mounting ports 124 and extend outside;

[0105] The third worm motor 117 drives the X1-axis worm 116 to rotate through the rotating shaft, and drives the X1-axis turbine gear plate 115 to rotate under the meshing action, so as to make the print head assembly 15 rotate with the X1 axis as the rotation center. Specifically, when the X1-axis turbine gear plate 115 rotates, it drives the first print head housing 118 and the second print head housing 119 to rotate, so as to adjust the required print nozzle 123 to the corresponding position;

[0106] like Fig.26 As shown, the first print head housing 118 and the second print head housing 119 are both provided with a cooling air duct 125, and the outer surfaces of the first print head housing 118 and the second print head housing 119 are provided with a plurality of air duct outlets 126 corresponding to the printing nozzles 123 one by one, and the plurality of air duct outlets 126 are all connected to the corresponding cooling air duct 125, and the air duct outlets 126 are sleeved on the corresponding printing nozzles 123;

[0107] like Fig. 22 and Fig.23 As shown, a plurality of feed conduits 127 are provided on the X1-axis turbine gear disc 115 and the fixing buckle 121, the feed conduits 127 correspond one-to-one with the nozzle heater 122, and the feed conduits 127 are connected with the corresponding printing nozzle 123 through the nozzle heater 122, the feed conduits 127 correspond one-to-one with the third through-hole 215, and the free end of the feed conduit 127 is connected with the corresponding third through-hole 215, after the printing wire 22 passes through the third through-hole 215, the free end of the printing wire 22 is installed in the corresponding feed conduit 127, and the nozzle heater 122 heats and melts the printing wire 22, so that the melted printing wire 22 is discharged from the printing nozzle 123 for printing;

[0108] like Fig.26 As shown, the fixing buckle 121 is also provided with an air duct 128, one end of which is provided with two branch pipes 129, the two branch pipes 129 are respectively connected to the cooling air ducts 125 on the first print head housing 118 and the second print head housing 119, and the other end of the air duct 128 is connected to an external fan;

[0109] like Fig. 22 and Fig.26 As shown, a wire harness tube 131 is provided on the X1-axis turbine gear disc 115, and multiple nozzle heaters 122 are electrically connected to temperature measuring elements 132. During installation, the wires of each nozzle heater 122 and the temperature measuring element 132 are all passed through the wire harness tube 131, and the wires are arranged and protected by the wire harness tube 131, so that the interior of the first print head housing 118 and the second print head housing 119 are tidy.

[0110] Specifically, the printing wire 22 is inserted into the corresponding feed conduit 127, and after the printing wire 22 is heated and melted by the nozzle heater 122, it is discharged from the printing nozzle 123 to perform printing, and the external fan conveys the cold air through the air duct 128 and the branch pipe 129 to the corresponding cooling air duct 125, and is discharged through the air duct outlet 126, so as to cool the printed wire;

[0111] Traditional 3D printing usually uses a print head to stack printing materials layer by layer in a horizontal manner. In the present invention, the XYZ-axis ball head driving structure drives the X1Y1Z1-axis spherical print head to move, and with the cooperation of the X1-axis rotating structure 12, the Y1-axis rotating structure 13 and the Z1-axis rotating structure 14, each print nozzle 123 can print with the hot bed 130 on the X, Y, Z axis and the top as the reference surface, so that the printing freedom is higher, the model can be constructed in multiple dimensions, and it is faster to be suitable for the printing of special models and special structures, and each print nozzle 123 can rotate with X1, Y1, and Z1 axes as the rotation center, and can perform stacking printing at any position in the X, Y, and Z three-dimensional space, thereby realizing support-free printing, which can meet the printing needs of objects with complex geometric shapes. Compared with the traditional horizontal layer-by-layer 3D printing mode, it saves time and materials, improves printing efficiency and flexibility; and can change the printing method and path according to the structural characteristics and strength requirements of the printed object, which can increase the strength of the printed object in the Z-axis direction, so that the printed object has approximately isotropic properties in all directions and Z-axis strength in all three dimensions, thereby increasing the structural strength.

[0112] Secondly, the multiple printing nozzles 123 can meet the printing needs of multiple colors and nozzles of different diameters. When switching colors, there is no need to cut off the material. The printing nozzles 123 installed with corresponding colors can be switched through the cooperation of the X1-axis rotating structure 12, the Y1-axis rotating structure 13 and the Z1-axis rotating structure 14. This is efficient and fast and improves the utilization rate of the printing wire 22. At the same time, the printing nozzles 123 on the first print head shell 118 and the second print head shell 119 are symmetrically distributed. The semicircular first print head shell 118 and the second print head shell 119 are spherical as a whole after being snapped together. While reducing the occupied space, the printing nozzles 123 can also be evenly distributed, reducing the time required for adjustment.

[0113] Embodiment 2

[0114] like Figure 1-Figure 32 As shown, this embodiment is improved on the basis of the first embodiment as follows: Further, as Figure 2 , Fig.14 and Fig.15As shown, the side walls of the main docking wire material box 234 and the secondary docking wire material box 235 are both provided with inserting strips 238 and docking slots 239. When installing, the inserting strips 238 and docking slots 239 on the side walls of the main docking wire material box 234 or the secondary docking wire material box 235 are docked with the docking slots 239 and inserting strips 238 on the corresponding main docking wire material box 234 or the secondary docking wire material box 235, so that the secondary docking wire material box 235 and the main docking wire material box 234 can be quickly assembled;

[0115] The main docking wire material box 234 and the auxiliary docking wire material box 235 both contain wire rollers wound with the printing wire 22. During installation, the free end of the printing wire 22 is pulled out from the main docking wire material box 234 and the auxiliary docking wire material box 235 and passes through the first through-hole 213, the second through-hole 214 and the third through-hole 215 in sequence. After passing through the third through-hole 215, the free end of the printing wire 22 is installed in the corresponding feed conduit 127.

[0116] Suction cups 240 are installed at the bottom of the main docking wire material box 234 and the auxiliary docking wire material box 235. The main docking wire material box 234 and the auxiliary docking wire material box 235 can be firmly adsorbed and fixed to the desktop through the suction cups 240, thereby improving the stability of the main docking wire material box 234 and the auxiliary docking wire material box 235 when in use.

[0117] In summary, the workflow of the present invention is as follows: during installation, the free end of the printing wire 22 is drawn out from the main docking wire material box 234 and the secondary docking wire material box 235 and passes through the first through-hole 213, the second through-hole 214 and the third through-hole 215 in sequence, and after passing through the third through-hole 215, the free end of the printing wire 22 is installed in the corresponding feed conduit 127; during feeding, the rotating shaft of the second rotating motor 231 drives the adjusting gear 232 to rotate, and under the meshing action with the meshing portion 233, the bracket 228 rotates in the opposite direction with the side docking shaft 227 as the rotation center, and the tensioning wheel 226 also rotates in the same direction The first rotary motor 223 rotates counterclockwise through the rotating shaft to drive the main extrusion motor 221 to rotate counterclockwise, and the main extrusion motor 221 drives the feeder shift plate 26 to rotate in the same direction through the lower docking shaft 222. When the feed rod receiving slot 27 is connected to the feed rod limiting slot 24 where the required printing wire 22 is located, the spring 218 in the compressed state is stretched and reset, and pushes the reciprocating slide bar 217 to push along the direction of the feed rod receiving slot 27, and then pushes the extruder feed rod 25 into the extrusion gap 229. At this time, the second rotary motor 231 The rotating shaft drives the adjusting gear 232 to rotate in the reverse direction to reset. Under the meshing action with the meshing portion 233, the bracket 228 rotates in the reverse direction with the side docking shaft 227 as the rotation center, thereby resetting. The tensioning wheel 226 also rotates in the same direction. At this time, the extrusion gap 229 becomes narrower from wide. At this time, the main extrusion gear 225 and the tensioning wheel 226 tightly clamp the printing wire 22. The main extrusion motor 221 drives the main extrusion gear 225 to rotate counterclockwise through the rotating shaft, thereby applying an upward thrust to the printing wire 22, thereby continuously sending out the printing wire 22; the printing wire 22 is pushed into the nozzle heater 122. After being heated and melted, the wire is discharged from the printing nozzle 123 to print. The external fan delivers the cold air to the corresponding cooling air duct 125 through the air duct 128 and the branch pipe 129, and discharges it through the air duct outlet 126, so as to cool the printed wire. During the printing process, when the X1Y1Z1-axis spherical printing nozzle needs to move forward and backward, the X-axis driving motor 147 drives the gear 148 to rotate through the rotating shaft, and drives the gear plate 146 to move forward and backward under the meshing action, thereby driving the docking shell 16 and the X1Y1Z1-axis spherical printing nozzle to move along the X-axis direction.When the X1Y1Z1-axis spherical printing nozzle needs to move horizontally, the Y-axis driving motor 143 drives the second belt meshing wheel 141 to rotate through the rotating shaft, and drives another second belt meshing wheel 141 to rotate in the same direction under the action of the second transmission belt 142, so that when the second transmission belt 142 moves, the upper belt body of the second transmission belt 142 drives the sliding member 144 to move along the Y-axis direction, thereby driving the ball head bracket 145, the docking shell 16, and the X1Y1Z1-axis spherical printing nozzle to move along the Y-axis direction, and the sliding member 144 can be moved by the horizontal docking slide rail 140 provided The support prevents the sliding member 144 from deforming the second transmission belt 142; when the X1Y1Z1-axis spherical printing nozzle needs to move longitudinally, the two Z-axis drive motors 134 simultaneously drive the corresponding screws 137 to rotate in the same direction, and the docking kit 138 moves along the Z-axis direction under the meshing action, thereby driving the horizontal docking slide rail 140, the sliding member 144, the ball head bracket 145, the docking shell 16, and the X1Y1Z1-axis spherical printing nozzle to move along the Z-axis direction; when adjusting the angle of the printing nozzle 123, the third worm motor 117 drives the X1-axis worm 116 to rotate through the rotating shaft, The meshing action drives the X1-axis turbine gear 115 to rotate, thereby causing the print head assembly 15 to rotate with the X1 axis as the rotation center; the second worm motor 113 drives the Z1-axis worm 112 to rotate through the rotating shaft, and drives the Z1-axis turbine gear 111 to rotate under the meshing action, thereby causing the docking outer frame 114 and the print head assembly 15 to rotate with the Z1 axis as the rotation center; the first worm motor 19 drives the Y1-axis worm 18 to rotate through the rotating shaft, and drives the Y1-axis turbine gear 17 to rotate under the meshing action, thereby causing the clamping part 110, the docking outer frame 114, and the print head assembly 15 to rotate with the Z1 axis as the rotation center. The XYZ-axis ball head driving structure drives the X1Y1Z1-axis spherical printing nozzle to move, and with the cooperation of the X1-axis rotating structure 12, the Y1-axis rotating structure 13 and the Z1-axis rotating structure 14, the printing nozzle 123 can rotate with the X1, Y1 and Z1 axes as the rotation center, so that the printing nozzle 123 can flexibly print from various angles; when switching colors, there is no need to cut off the material, and the printing nozzle 123 installed with the corresponding color can be switched through the cooperation of the X1-axis rotating structure 12, the Y1-axis rotating structure 13 and the Z1-axis rotating structure 14;At the same time, the extrusion gap 229 is widened by the cooperation of the second rotary motor 231, the adjustment gear 232, the meshing part 233, and the bracket 228. At the same time, as the feeder shift plate 26 rotates, the inclined surface of the ejection block 28 squeezes the inner edge 216, thereby extruding the extruder feed rod 25 from the feed rod receiving groove 27. As the feeder shift plate 26 continues to rotate, the outer wall of the extruder feed rod 25 will be slidably connected with the outer wall of the feeder shift plate 26 again. While extruding, the reciprocating slide bar 217 at the bottom of the extruder feed rod 25 will slide inward along the slide groove 219, and the spring 218 is compressed. At the same time, the replacement of the printing wire 22 is completed by the cooperation of the first rotary motor 223, the feeder shift plate 26, the extrusion structure and the dynamic adjustment structure. ;

[0118] However, as is well known to those skilled in the art, the working principles and wiring methods of the first worm motor 19, the second worm motor 113, the third worm motor 117, the nozzle heater 122, the hot bed 130, the Z-axis drive motor 134, the Y-axis drive motor 143, the X-axis drive motor 147, the fan, the main extrusion motor 221, the first rotary motor 223, the second rotary motor 231 and the material break detector 237 are commonplace and are all conventional means or common knowledge, and will not be elaborated herein. Those skilled in the art may make any selections according to their needs or convenience.

[0119] The above different embodiments can be combined, replaced and used in conjunction with each other.

[0120] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0121] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A support-free full-color multifunctional 3D printing system, characterized by: The invention comprises a printing wire (22), a printing base (11), and an XYZ-axis ball head driving structure installed on one side of the printing base (11); an X1Y1Z1-axis spherical printing nozzle is installed on one side of the XYZ-axis ball head driving structure; the X1Y1Z1-axis spherical printing nozzle is composed of an X1-axis rotating structure (12), a Y1-axis rotating structure (13), a Z1-axis rotating structure (14), and a printing nozzle assembly (15); An integrated extrusion structure is provided on one side of the printing base (11), the integrated extrusion structure comprising an extruder main housing (21), a receiving plate (23) fixedly mounted on the extruder main housing (21), a plurality of extruder feed rods (25) being slidably connected to the receiving plate (23), an extrusion structure for extruding a printing wire (22) being rotatably connected to the receiving plate (23), a feeder shift plate (25) fixedly connected to the extrusion structure being rotatably connected to the bottom of the receiving plate (23), 26), an ejector block (28) is provided at the bottom of the feeder shift plate (26), and the ejector block (28) is triangular in shape. A plurality of dynamic adjustment structures corresponding to the extruder feed rods (25) are provided at the bottom of the extruder main housing (21), and one side of the dynamic adjustment structure is fixedly connected to the corresponding extruder feed rod (25), and the dynamic adjustment structure is used to dynamically adjust the position of the extruder feed rod (25) according to the connection state between the feed rod receiving groove (27) and the feed rod limiting groove (24); A plurality of the extruder feed rods (25) are each mounted with a printing wire (22), and free ends of the plurality of printing wires (22) are connected to a printing nozzle assembly (15); An upper end cover (210) is clamped on the top of the extruder main housing (21); A plurality of material rod limiting grooves (24) are circumferentially arranged on the receiving plate (23), the extruder feeding rods (25) correspond to the material rod limiting grooves (24) one by one, and the extruder feeding rods (25) are slidably connected to the corresponding material rod limiting grooves (24); The feeder shift plate (26) is provided with a feed rod receiving groove (27), and the feed rod receiving groove (27) is connected to one of the feed rod limiting grooves (24); wherein, when the feed rod receiving groove (27) is connected to one of the feed rod limiting grooves (24), the feed rod receiving groove (27) and the feed rod limiting groove (24) connected to the feed rod receiving groove (27) are slidably connected to the same extruder feed rod (25), and the outer wall of the remaining extruder feed rods (25) is slidably connected to the outer wall of the feeder shift plate (26); The extrusion structure comprises a main extrusion motor (221), the bottom of the main extrusion motor (221) is fixedly connected to a lower docking shaft (222), the bottom end of the lower docking shaft (222) passes through the receiving plate (23), the feeder shift plate (26) and the extruder main housing (21) and extends outside, and the lower docking shaft (222) is fixedly connected to the feeder shift plate (26); The main extrusion motor (221) is in sliding contact with the receiving plate (23); The upper end cover (210) is equipped with a first rotating motor (223), and the rotating shaft of the first rotating motor (223) is fixedly connected to the top of the main extrusion motor (221); The lower docking shaft (222) is rotatably connected to a locking plate (224), and the top of the locking plate (224) is slidably connected to the top of the extruder main housing (21); The extrusion structure further comprises a main extrusion gear (225) and a tension wheel (226); the main extrusion gear (225) is rotatably connected to the rotating shaft of the main extrusion motor (221); a side docking shaft (227) is fixedly connected to the main extrusion motor (221); a U-shaped bracket (228) is rotatably connected to the side docking shaft (227); the tension wheel (226) is rotatably connected to the bracket (228); the main extrusion gear (225) and the tension wheel (226) are located on the same side, and an extrusion gap (229) is formed between the main extrusion gear (225) and the tension wheel (226); The extruder feed rod (25) has a rod body symmetrically provided with second inner recesses (230), the printing wire (22) is connected to the two second inner recesses (230), and the main extrusion gear (225) and the tensioning wheel (226) are respectively located in the two second inner recesses (230) and are in contact with the printing wire (22); A second rotating motor (231) is installed on one side of the main extrusion motor (221); an adjusting gear (232) is fixedly connected to the rotating shaft of the second rotating motor (231); and an engaging portion (233) engaged with the adjusting gear (232) is provided at one end of the bracket (228); The bottoms of the plurality of extruder feed rods (25) are each provided with an inner edge (216), the upper surface of the inner edge (216) being slidably connected to the lower surface of the feeder shift plate (26), and the inclined surface of the ejection block (28) being in slidable contact with the side surface of one of the inner edges (216); The dynamic adjustment structure comprises a reciprocating slide bar (217) and a spring (218); the bottom of the extruder feeding rod (25) is fixedly connected with the reciprocating slide bar (217); the reciprocating slide bar (217) is L-shaped; the bottom of the extruder main housing (21) is provided with a plurality of slide grooves (219) corresponding to the reciprocating slide bars (217); springs (218) are inserted in each of the slide grooves (219); the transverse rod body of the reciprocating slide bar (217) is slidably connected in the corresponding slide groove (219), and the end portion thereof abuts against the spring (218) in the slide groove (219); The extruder feed rod (25) has first inner recesses (220) symmetrically formed on its rod body. The extruder feed rod (25) is slidably connected to corresponding feed rod limit grooves (24) via the two first inner recesses (220). The tops of the inner walls of the two first inner recesses (220) are in slidable contact with the upper surface of the receiving plate (23).

2. The support-free full-color multifunctional 3D printing system according to claim 1, characterized in that: The extruder main housing (21) is snap-connected to the upper end cover (210) via a snap buckle (29); A fixed buckle (211) is fixedly connected to the bottom of the extruder main housing (21), a wire material box (212) is clamped to the fixed buckle (211), and a printing wire (22) is placed in the wire material box (212); A first through-hole (213) is formed on each of the plurality of extruder feeding rods (25), and a plurality of second through-holes (214) corresponding one to one with the first through-holes (213) are formed on the bottom of the extruder main housing (21); The tops of the plurality of extruder feeding rods (25) are all fixedly connected to a material break detector (237), and the plurality of material break detectors (237) are all provided with a third through hole (215) for the printing wire (22) to pass through; The free end of the printing wire (22) passes through the first through hole (213), the second through hole (214), and the third through hole (215) in sequence to be connected to the printing nozzle assembly (15).

3. The support-free full-color multifunctional 3D printing system according to claim 2, characterized in that: The wire material box (212) is formed by splicing a main docking wire material box (234) and a plurality of auxiliary docking wire material boxes (235); a docking slot (236) is provided on the top of the main docking wire material box (234), and the fixing buckle (211) is snap-fitted into the docking slot (236).

4. The support-free full-color multifunctional 3D printing system according to claim 3, characterized in that: Insertion strips (238) and docking slots (239) are provided on the side walls of the main docking wire material box (234) and the auxiliary docking wire material box (235); The main docking wire material box (234) and the auxiliary docking wire material box (235) both contain wire rollers wound with printing wire (22); Suction cups (240) are installed at the bottom of the main docking wire material box (234) and the auxiliary docking wire material box (235).

5. The support-free full-color multifunctional 3D printing system according to claim 1, characterized in that: A docking shell (16) is provided on one side of the XYZ-axis ball head driving structure, the Y1-axis rotating structure (13) is mounted on the docking shell (16), the Y1-axis rotating structure (13) is mounted on the Z1-axis rotating structure (14), the Z1-axis rotating structure (14) is mounted on the X1-axis rotating structure (12), the X1-axis rotating structure (12) is mounted on the printing nozzle assembly (15), a horizontally placed heating bed (130) and two vertically placed heating beds (130) are mounted on the printing base (11), the tops of the two vertically placed heating beds (130) are also mounted with the same horizontally placed heating bed (130), and the two adjacent heating beds (130) are perpendicular to each other; The Y1-axis rotating structure (13) comprises a Y1-axis turbine gear disc (17) and a Y1-axis worm gear (18); the Y1-axis turbine gear disc (17) is rotatably connected to the inner wall of a docking housing (16); a first worm motor (19) is provided on the docking housing (16); the Y1-axis worm gear (18) is fixedly connected to the rotating shaft of the first worm motor (19), and the Y1-axis worm gear (18) is meshed with the Y1-axis turbine gear disc (17); A clamping piece (110) for clamping the Z1-axis rotating structure (14) is rotatably connected to one side of the docking housing (16), and the Y1-axis turbine gear disc (17) is fixedly clamped to the clamping piece (110); The Z1-axis rotating structure (14) comprises a Z1-axis turbine gear disc (111) and a Z1-axis worm gear (112); the Z1-axis turbine gear disc (111) is rotatably connected to a clamping member (110); a second worm motor (113) is provided on the clamping member (110); the Z1-axis worm gear (112) is fixedly connected to a rotating shaft of the second worm motor (113); and the Z1-axis worm gear (112) is meshed with the Z1-axis turbine gear disc (111); The clamping member (110) is rotatably connected to a docking outer frame (114), and the Z1-axis turbine gear disc (111) is fixedly clamped to the docking outer frame (114); The X1-axis rotating structure (12) comprises an X1-axis turbine gear disc (115) and an X1-axis worm gear (116); the X1-axis turbine gear disc (115) is rotatably connected to a docking outer frame (114); a third worm motor (117) is provided on the docking outer frame (114); the X1-axis worm gear (116) is fixedly connected to a rotating shaft of the third worm motor (117); and the X1-axis worm gear (116) is meshed with the X1-axis turbine gear disc (115); The print head assembly (15) is rotatably connected to the docking outer frame (114), and the X1-axis turbine gear disc (115) is fixedly engaged with the print head assembly (15).

6. The support-free full-color multifunctional 3D printing system according to claim 5, characterized in that: The print head assembly (15) is formed by a first print head housing (118) and a second print head housing (119) which are in a semicircular shape and are connected by clamping. After the first print head housing (118) and the second print head housing (119) are connected by clamping, two symmetrically distributed clamping slots (120) are formed. The X1-axis turbine gear disc (115) is fixedly connected to one of the clamping slots (120). A fixed buckle (121) is rotatably connected to a side of the docking outer frame (114) away from the X1-axis turbine gear disc (115). The fixed buckle (121) is fixedly connected to the other clamping slot (120). A plurality of nozzle heaters (122) are circumferentially mounted on the inner walls of the first print head housing (118) and the second print head housing (119), and the nozzle heaters (122) on the first print head housing (118) and the second print head housing (119) are symmetrically distributed, and a printing nozzle (123) is mounted on each of the plurality of nozzle heaters (122); a plurality of mounting openings (124) corresponding to the printing nozzles (123) are formed on the first print head housing (118) and the second print head housing (119), and the printing nozzles (123) are mounted on the corresponding mounting openings (124), and the discharge ends of the printing nozzles (123) pass through the mounting openings (124) and extend outside; The first print head housing (118) and the second print head housing (119) are both provided with a cooling air duct (125); the outer surfaces of the first print head housing (118) and the second print head housing (119) are provided with a plurality of air duct outlets (126) corresponding one to one with the printing nozzles (123); the plurality of air duct outlets (126) are all connected to the corresponding cooling air duct (125); and the air duct outlets (126) are sleeved on the corresponding printing nozzles (123); A plurality of feed conduits (127) are provided on the X1-axis turbine gear disc (115) and the fixing buckle (121), the feed conduits (127) correspond one-to-one with the nozzle heaters (122), and the feed conduits (127) are connected to the corresponding printing nozzles (123) through the nozzle heaters (122), the feed conduits (127) correspond one-to-one with the third through-holes (215), and the free ends of the feed conduits (127) are connected to the corresponding third through-holes (215); The fixing buckle (121) is also provided with an air duct (128), one end of the air duct (128) is provided with two branch pipes (129), the two branch pipes (129) are respectively connected to the cooling air duct (125) on the first print head housing (118) and the second print head housing (119), and the other end of the air duct (128) is connected to an external fan; The X1-axis turbine gear disc (115) is provided with a wire harness tube (131), and the plurality of nozzle heaters (122) are electrically connected to temperature measuring elements (132), and the wires of the nozzle heaters (122) and the temperature measuring elements (132) are passed through the wire harness tube (131).

7. The support-free full-color multifunctional 3D printing system according to claim 6, characterized in that: The XYZ-axis ball head drive structure comprises two longitudinal docking slide rails (133) mounted on one side of the printing base (11); A Z-axis drive motor (134) is installed on the same side of the two longitudinal docking slide rails (133); a first belt meshing wheel (135) corresponding to the Z-axis drive motor (134) is also rotatably connected to the same side of the two longitudinal docking slide rails (133); the two first belt meshing wheels (135) are meshed with the same first transmission belt (136); a screw rod (137) is fixed on the top of the two Z-axis drive motors (134), and the top of the screw rod (137) is fixedly connected to the corresponding first belt meshing wheel (135); The two screw rods (137) are both threadedly connected with a docking kit (138), the docking kit (138) is sleeved on the corresponding longitudinal docking slide rail (133), and the docking kit (138) is rollingly connected to the longitudinal docking slide rail (133) through a roller (139), the same side of the two docking kits (138) is fixed with the same transverse docking slide rail (140), the inner walls on both sides of the transverse docking slide rail (140) are rotatably connected with second belt meshing wheels (141), the two second belt meshing wheels (141) are meshed with the same second transmission belt (142), and a Y-axis driving motor (143) is arranged on one side of the transverse docking slide rail (140), and the rotating shaft of the Y-axis driving motor (143) is fixedly connected to one of the second belt meshing wheels (141); The transverse docking rail (140) is slidably connected to a sliding member (144), the sliding member (144) is fixedly connected to the upper belt body of the second transmission belt (142), the sliding member (144) is slidably connected to a ball head bracket (145), the ball head bracket (145) is also fixedly connected to a toothed plate (146), the toothed plate (146) is perpendicular to the transverse docking rail (140), the free end of the toothed plate (146) slides through the sliding member (144) and extends outside, an X-axis driving motor (147) is installed on one side of the sliding member (144), the rotating shaft of the X-axis driving motor (147) extends to the inside of the sliding member (144), and a gear (148) meshing with the toothed plate (146) is fixedly connected to the rotating shaft extending to the inside of the sliding member (144); The same side of the ball head bracket (145) and the tooth plate (146) is fixedly connected to the docking housing (16).

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