Control method of rotation matching mechanism, medium and 3D printing feeding device

Abstract

The invention discloses a control method of a rotation matching mechanism, a medium and a 3D printing feeding device, the rotation matching mechanism is used for driving a feeding mechanism or a discharging mechanism of the 3D printing feeding device to move, and the control method comprises the steps that the driving state of the rotation matching mechanism is monitored; and when the driving state of the rotation matching mechanism is abnormal, the rotation matching mechanism is controlled to swing according to a preset swing strategy. The driving state of the running fit mechanism is monitored, and when the driving state of the running fit mechanism is abnormal, the running fit mechanism is controlled to swing according to the preset swing strategy, so that foreign matters are shaken out of the running fit mechanism by virtue of the swing vibration of the running fit mechanism; or the rotation matching mechanism is separated from the feeding mechanism or the discharging mechanism, so that the rotation matching mechanism has the probability of being separated from the stuck state, manual intervention on operation of the 3D printing feeding device is reduced, and the operation stability of the 3D printing feeding device is improved.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a control method for a rotational matching mechanism, a medium, and a 3D printing feeding device. Background Art

[0002] The 3D printing feeding device is one of the core components of the 3D printing system. Its main function is to cooperate with the 3D printing equipment to provide the 3D printing equipment with the raw materials required for printing during the printing process of the 3D printing equipment.

[0003] The 3D printing feeding device mainly includes a loading mechanism or a unloading mechanism and a rotating matching mechanism. The loading mechanism is used to pull the wire material out of the material tray and feed it into the 3D printing device. The unloading mechanism is used to rewind the wire material in the 3D printing device onto the material tray to avoid loose winding of the wire material.

[0004] The rotational matching mechanism is used to couple with the loading mechanism or unloading mechanism to provide kinetic energy for the loading mechanism or unloading mechanism to move, thereby driving the loading mechanism or unloading mechanism to complete the loading or unloading work. However, during the feeding process of the 3D printing feeding device, the rotational matching mechanism is at risk of being stuck by foreign matter generated by printing or by the loading mechanism or unloading mechanism. How to make the rotational matching mechanism out of the "stuck" state and ensure the normal operation of the loading mechanism or unloading mechanism has become an urgent problem to be solved in the industry. Summary of the invention

[0005] The purpose of the present application is to provide a control method, medium and 3D printing feeding device for a rotational matching mechanism, aiming to solve the problem that the rotational matching mechanism cannot escape from a "stuck" state after being stuck.

[0006] To achieve the purpose of the present application, in a first aspect, the present application provides a control method for a rotational cooperation mechanism, wherein the rotational cooperation mechanism is used to drive a loading mechanism or a unloading mechanism of a 3D printing feeding device to move, and the control method for the rotational cooperation mechanism includes: Monitoring the driving status of the rotational engagement mechanism; When the driving state of the rotational cooperation mechanism is abnormal, the rotational cooperation mechanism is controlled to swing according to a preset swing strategy.

[0007] In a possible implementation, the rotational engagement mechanism has a first position and a second position, and the swing strategy includes: Controlling the rotational engagement mechanism to continuously swing between the first position and the second position at a preset swing frequency; or The rotational cooperation mechanism is controlled to swing between the first position and the second position at a first preset swing frequency for a preset time and then stops, and after stopping for a preset interval time, the rotational cooperation mechanism is controlled to swing between the first position and the second position for a preset time at a second preset swing frequency, and the first preset swing frequency and the second preset swing frequency are set to be the same or different; or The rotating cooperation mechanism is controlled to swing between the first position and the second position for a first preset time at a preset swing frequency and then stop, and after stopping for a preset interval time, the rotating cooperation mechanism is controlled to swing between the first position and the second position for a second preset time at a preset swing frequency, and the first preset time and the second preset time are set to be the same or different.

[0008] In a possible implementation, the first position is closer to the feeding mechanism than the second position; The rotational engagement mechanism first swings toward the second position and then swings toward the first position.

[0009] In a possible implementation, the first position is closer to the unloading mechanism than the second position; The rotational engagement mechanism first swings toward the second position and then swings toward the first position.

[0010] In a possible implementation, the rotational cooperation mechanism includes a swing arm assembly and a driving member, and the swing arm assembly is movably disposed in a feeding device of the 3D printing device; The swing arm assembly has a loading position and a unloading position. When in the loading position, at least a portion of the swing arm assembly is in contact with the loading mechanism and is in transmission connection with the loading mechanism. When in the material unloading position, at least part of the swing arm assembly is in contact with the material unloading mechanism and is in transmission connection with the material unloading mechanism; The first position and the second position are located between the loading position and the unloading position, and the driving member is used to drive the swing arm to move between the loading position, the unloading position, the first position and the second position.

[0011] In a possible implementation, the swing strategy includes: Inputting a voltage of a preset waveform into the driving member to control the driving member to drive the swing arm assembly to swing between the first position and the second position at a preset swing frequency; or A voltage of a first preset waveform is input to the driving member for a preset time, and after stopping for a preset interval time, a voltage of a second preset waveform is input to the driving member for a preset time, wherein the first preset waveform and the second preset waveform are set to be the same or different; or A voltage of a preset waveform is input to the driving member and lasts for a first preset time, and after stopping for a preset interval time, a voltage of a preset waveform is input to the driving member and lasts for a second preset time, and the first preset time and the second preset time are set to be the same or different.

[0012] In a possible implementation, the swing arm assembly includes a transmission group and a swing arm, wherein the transmission group is connected between the driving member and the swing arm; the transmission group is used to transmit power of the driving member to drive the swing arm to move between the loading position and the unloading position; When the swing arm moves to the loading position, the swing arm contacts the loading mechanism and is transmission-connected with the loading mechanism; when the swing arm moves to the unloading position, the swing arm contacts the unloading mechanism and is transmission-connected with the unloading mechanism.

[0013] In a possible implementation, the transmission group includes a worm gear group and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm; The transmission shaft has a loading connection end and a unloading connection end which are arranged opposite to each other, wherein the loading connection end is connected to the loading swing arm; and the unloading connection end is connected to the unloading swing arm; The worm gear set is connected between the transmission shaft and the driving member, and the worm gear set is used to transmit the power of the driving member to drive the transmission shaft to move between the loading position and the unloading position; When the transmission shaft moves to the loading position, the transmission group contacts the loading mechanism and drives the loading mechanism to move; when the transmission shaft moves to the unloading position, the transmission group contacts the unloading mechanism and drives the unloading mechanism to move.

[0014] In a possible implementation, the transmission group includes a transmission wheel group and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm; The transmission shaft has a loading connection end and a unloading connection end which are arranged opposite to each other, wherein the loading connection end is connected to the loading swing arm; and the unloading connection end is connected to the unloading swing arm; The transmission wheel set is connected between the transmission shaft and the driving member, and the transmission wheel set is used to transmit the power of the driving member to drive the transmission shaft to move between the loading position and the unloading position; When the transmission shaft moves to the loading position, the transmission group contacts the loading mechanism and drives the loading mechanism to move; when the transmission shaft moves to the unloading position, the transmission group contacts the unloading mechanism and drives the unloading mechanism to move.

[0015] In a possible implementation, the driving member has an output shaft, which is drivingly connected to the rotating cooperation mechanism; the abnormal driving state of the rotating cooperation mechanism includes that the loading swing arm is in contact with the loading structure while the unloading swing arm is in contact with the unloading mechanism.

[0016] In a possible implementation, the swing arm assembly includes a transmission group and a swing arm, and a part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the feeding mechanism to achieve feeding; The other part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the unloading mechanism to realize unloading; Wherein, the driving member includes a first driving member and a second driving member, the transmission group includes a transmission shaft and a transmission wheel, the swing arm includes a loading swing arm and a unloading swing arm, the first driving member and the swing arm are drivingly connected, the second transmission shaft is connected between the second driving member and the swing arm; the transmission wheel is arranged on the second transmission shaft; When the 3D printing feeding device unloads materials, the first driving member drives the unloading swing arm to contact the transmission wheel, and the power of the second driving member is transmitted to the unloading mechanism via the second driving shaft, the transmission wheel and the unloading swing arm to drive the unloading mechanism to unload materials; When the 3D printing feeding device is loading material, the first driving member drives the unloading swing arm to be staggered with the transmission wheel, and the power of the second driving member is transmitted to the loading swing arm via the second driving shaft, and drives the loading mechanism to load material.

[0017] The distance from the contact point between the feeding swing arm and the feeding mechanism to the connection hinge between the feeding swing arm and the connecting shaft is L1, 3mm≤L1≤16mm; and / or The distance from the contact point between the unloading swing arm and the unloading mechanism to the connection hinge point between the unloading swing arm and the connecting shaft is L2, 3mm≤L2≤16mm.

[0018] In a possible implementation, the distance from the contact point between the feeding swing arm and the feeding mechanism to the connection hinge between the feeding swing arm and the connecting shaft is L1, 5mm≤L1≤12mm; The distance from the contact point between the unloading swing arm and the unloading mechanism to the connection hinge point between the unloading swing arm and the connecting shaft is L2, 5mm≤L2≤12mm.

[0019] In a possible implementation, the preset waveform is a sinusoidal waveform, and the frequency of the sinusoidal waveform is Z, 3 Hz≤Z≤30 Hz.

[0020] In a possible implementation, the preset waveform is a sinusoidal waveform, and the frequency of the sinusoidal waveform is Z, 5 Hz≤Z≤12 Hz.

[0021] In a possible implementation, the driving member has an output shaft, and the output shaft is drivingly connected to the rotational cooperation mechanism; the abnormal driving state of the rotational cooperation mechanism includes: The output shaft has a rotational speed of zero; and / or The voltage of the driving element reaches a preset voltage range.

[0022] In a second aspect, the present application further proposes a storage medium, on which a swing arm control program is stored, and the swing arm control program is executed by a controller to implement a control method for a rotational cooperation mechanism, and the control method for a rotational cooperation mechanism includes: Monitoring the driving status of the rotational engagement mechanism; When the driving state of the rotational cooperation mechanism is abnormal, the rotational cooperation mechanism is controlled to swing according to a preset swing strategy.

[0023] In a third aspect, the present application further proposes a 3D printing feeding device, the 3D printing feeding device comprising a controller and a memory, the memory being used to store computer instructions, the controller being used to call the computer instructions to execute a control method for a rotational matching mechanism, the control method for a rotational matching mechanism comprising: Monitoring the driving status of the rotational engagement mechanism; When the driving state of the rotational cooperation mechanism is abnormal, the rotational cooperation mechanism is controlled to swing according to a preset swing strategy.

[0024] The present application monitors the driving state of the rotational cooperation mechanism, and when the driving state of the rotational cooperation mechanism becomes abnormal, controls the rotational cooperation mechanism to swing according to a preset swinging strategy, thereby relying on the vibration of the swinging of the rotational cooperation mechanism to shake out foreign matter from the rotational cooperation mechanism, or separate the rotational cooperation mechanism from the loading mechanism or the unloading mechanism, thereby making it possible for the rotational cooperation mechanism to escape from the "stuck" state, thereby reducing manual intervention in the operation of the 3D printing feeding device and improving the stability of the operation of the 3D printing feeding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic structural diagram of an embodiment of a 3D printing feeding device provided in this application; Figure 2 for Figure 1 Structural diagram of the feeding mechanism; Figure 3 for Figure 2 A magnified view at point A; Figure 4 for Figure 1 Structural diagram of the middle and lower feeding mechanism; Figure 5 for Figure 1 A schematic diagram of the structure of the rotating cooperation mechanism; Figure 6 A schematic flow chart of an embodiment of a method for controlling a rotational matching mechanism provided in the present application; Figure 7 This is a schematic diagram of the structure of the hardware operating environment involved in this application solution.

[0027] Description of reference numerals: 1000-3D printing feeding device; 1- silo, 11- accommodating chamber, 111- material guiding channel; 2-Feeding tray; 3-loading and unloading mechanism, 31-loading mechanism, 311-driving wheel, 312-driven wheel, 313-gap, 32-unloading mechanism, 321-driving shaft; 4-rotational matching mechanism, 41-swing arm assembly, 411-swing arm, 4111-swing arm rod, 4112-active swing arm wheel, 4113-driven swing arm wheel, 412-transmission group, 4121-worm gear group, 41211-worm wheel, 41212-worm, 4122-transmission shaft, 42-driving member, 43-loading swing arm, 44-unloading swing arm; 1001 - controller, 1002 - communication bus, 1003 - user interface, 1004 - network interface, 1005 - memory. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0030] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0031] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] Please refer to Figures 1 to 4 The present application proposes a 3D printing feeding device 1000, which is used to cooperate with a 3D printing device to provide the 3D printing device with raw materials required for printing during the printing process of the 3D printing device. In some embodiments, the 3D printing feeding device 1000 includes a material bin 1, a material tray 2, a loading and unloading mechanism 3, and a rotation matching mechanism 4.

[0033] The silo 1 is the main structure of the 3D printing feeding device 1000, and is used to support and connect the various parts of the 3D printing feeding device 1000. The silo 1 is formed with a receiving cavity 11 for accommodating the wire material, and a material guide channel 111 is formed in the receiving cavity 11. One end of the material guide channel 111 is connected to the receiving cavity 11, and the other end is connected to the extruder head of the 3D printing device. The wire material can enter the extruder head of the 3D printing device through the material guide channel 111, and be extruded onto the printing platform of the 3D printing device through the extruder head.

[0034] The material tray 2 is rotatably placed in the accommodating chamber 11, the wire material is wound on the material tray 2, and the material head of the wire material is installed in the material guide channel 111. The number of material trays 2 can be set to one or more, and this application does not limit this. Considering that a variety of wire materials are often required to participate in the printing process of a model, in one embodiment of the present application, the 3D printing feeding device 1000 includes a plurality of material trays 2, and correspondingly, a plurality of material guide channels 111 corresponding to the number of material trays 2 are set in the accommodating chamber 11.

[0035] The loading and unloading mechanism 3 is installed on the silo 1, and is used to drive the wire material from the material guide channel 111 into the 3D printing device, or to rewind it on the material tray 2 through the material guide channel 111. In some embodiments, the loading and unloading mechanism 3 includes a loading mechanism 31 and a unloading mechanism 32. The loading mechanism 31 is used to drive the wire material from the material guide channel 111 into the 3D printing device to load the 3D printing device. The unloading mechanism 32 is used to drive the wire material to exit the material guide channel 111 and rewind it on the material tray 2, thereby avoiding loose winding of the wire material and ensuring that the wire material can be loaded normally.

[0036] Please refer to Figure 2 and Figure 3 In some embodiments, the feeding mechanism 31 includes a driving wheel 311 and a driven wheel 312, which are rotatably connected to the silo 1 and at least partially extend into the material guide channel 111. There is a gap 313 between the driving wheel 311 and the driven wheel 312, and the wire material can extend into the gap 313 and contact the driving wheel 311 and the driven wheel 312. The rotation matching mechanism 4 can drive the driven wheel 312 to rotate by driving the driving wheel 311 to rotate, and finally drive the wire material between the driving wheel 311 and the driven wheel 312 to move toward the 3D printing device, thereby completing the feeding of the 3D printing device.

[0037] Please refer to Figure 4 In some embodiments, the unloading mechanism 32 includes a driving shaft 321, and the driving shaft 321 contacts the outer peripheral surface of the material tray 2. The rotation matching mechanism 4 can drive the driving shaft 321 to rotate, thereby causing the material tray 2 in contact with the driving shaft 321 to rotate in the winding direction, thereby causing the wire material to be withdrawn from the material guide channel 111 again and be rewound on the material tray 2 again, thereby completing the unloading of the wire material.

[0038] Please refer to Figure 5, the rotational matching mechanism 4 is used to contact with the loading mechanism 31 or the unloading mechanism 32, thereby driving the loading mechanism 31 or the unloading mechanism 32 to move. In some embodiments, the rotational matching mechanism 4 includes a swing arm assembly 41 and a driving member 42. The swing arm assembly 41 is movably arranged in the feeding device of the 3D printing device. The swing arm assembly 41 has a loading position and an unloading position. When in the loading position, at least part of the swing arm assembly 41 contacts with the loading mechanism 31 and drives the loading mechanism 31 to load. When in the unloading position, at least part of the swing arm assembly 41 contacts with the unloading mechanism 32 and drives the unloading mechanism 32 to unload.

[0039] The driving member 42 is used to drive the swing arm assembly 41 to move between the loading position and the unloading position. The power of the driving member 42 can be transmitted to the loading mechanism 31 or the unloading mechanism 32 via the swing arm assembly 41, thereby driving the loading mechanism 31 or the unloading mechanism 32 to move. The driving member 42 can be a motor, a cylinder, or other transmission structures, which is not limited in the present application.

[0040] In some embodiments, the swing arm assembly 41 includes a swing arm 411 and a transmission group 412. The transmission group 412 is connected between the driving member 42 and the swing arm 411. The transmission group 412 is used to transmit the power of the driving member 42 to drive the swing arm 411 to move between the loading position and the unloading position, and at the same time drive the swing arm 411 to drive the loading mechanism 31 and the unloading mechanism 32 to move.

[0041] Specifically, in some embodiments, the swing arm 411 includes a swing arm rod 4111 and an active swing arm wheel 4112 and a driven swing arm wheel 4113 rotatably connected to the swing arm rod 4111. The active swing arm wheel 4112 and the driven swing arm wheel 4113 are in contact with each other and are connected to the transmission group 412. The active swing arm wheel 4112 can rotate under the action of the transmission group 412 and drive the swing arm rod 4111 and the driven swing arm wheel 4113 to move between the loading position and the unloading position. When the swing arm assembly 41 moves to the loading position, the driven swing arm wheel 4113 contacts the driving wheel 311 of the loading mechanism 31, and the power of the driving member 42 can be transmitted to the driving wheel 311 via the transmission group 412, the active swing arm wheel 4112 and the driven swing arm wheel 4113, thereby driving the driving wheel 311 to rotate, thereby realizing the loading of the wire material.

[0042] When the swing arm assembly 41 moves to the unloading position, the driven swing arm wheel 4113 contacts the driving shaft 321 of the unloading mechanism 32, and the power of the driving member 42 can be transmitted to the driving shaft 321 via the transmission group 412, the active swing arm wheel 4112 and the driven swing arm wheel 4113, and then drive the material tray 2 to rewind the wire material inward through the driving shaft 321, thereby completing the unloading of the wire material.

[0043] Among them, the transmission group 412 has various structural forms. In some embodiments, the transmission group 412 includes a worm gear group 4121 and a transmission shaft 4122. The worm gear group 4121 includes at least one group of meshing worm wheels 41211 and worms 41212. The worm wheels 41211 are connected to the transmission shaft 4122, and the worms 41212 are connected to the driving member 42. The worms 41212 are arranged along the direction from the loading position to the unloading position, or from the unloading position to the loading position. The power of the driving member 42 can be transmitted to the worm wheel 41211 via the worm 41212, and drive the worm wheel 41211 and the transmission shaft 4122 connected to the worm wheel 41211 to move between the loading position and the unloading position, and drive the worm wheel 41211 and the transmission shaft 4122 to rotate. The transmission shaft 4122 moves and rotates, driving the active swing arm wheel 4112 to move and rotate, thereby driving the loading mechanism 31 or the unloading mechanism 32 .

[0044] In some other embodiments, the transmission group may also include a transmission wheel group and a transmission shaft. The transmission wheel group is connected between the driving member and the transmission shaft. The transmission wheel group is used to transmit the power of the driving member to drive the transmission shaft to move between the loading position and the unloading position, and drive the transmission shaft to rotate at the same time. Then, the movement and rotation of the transmission shaft drives the movement and rotation of the active swing arm wheel, thereby realizing the driving of the loading mechanism or the unloading mechanism.

[0045] It should be noted that the active swing arm wheel 4112 and the driven swing arm wheel 4113 described above can be gears, or friction wheels, or one can be gears and the other can be friction wheels. The transmission wheel set can be a transmission gear set, or a transmission friction wheel set, or a wheel set formed by a combination of gears and friction. The driving wheel 311 and the driven wheel 312 of the feeding mechanism 31 can be gears, or friction wheels, or one can be gears and the other can be friction wheels, and this application does not limit this.

[0046] It should be noted that the swing arm 411 refers to a mechanism that revolves around a rotation axis and has a contact position at other positions away from the rotation axis. The structure of the swing arm 411 can be a rod body, an arm body, or a rotating body such as a cam, a roller, etc.

[0047] In some embodiments, the swing arm 411 may be a single swing arm structure. When the swing arm 411 is a single swing arm structure, the swing arm 411 can move between the loading position and the unloading position under the drive of the transmission group 412. When the swing arm moves to the loading position, the swing arm contacts the loading mechanism and drives the loading mechanism 31 to move. When the swing arm moves to the unloading position, the swing arm contacts the unloading mechanism and drives the unloading mechanism 32 to move.

[0048] In some embodiments, the swing arm 411 may also be a double swing arm structure. In this case, the transmission shaft 4122 has a loading connection end and a unloading connection end that are arranged opposite to each other. The swing arm 411 includes a loading swing arm 43 and an unloading swing arm 44. The loading swing arm 43 is connected to the loading connection end of the transmission shaft 4122, and the unloading swing arm 44 is connected to the unloading connection end of the transmission shaft 4122. When the transmission shaft 4122 moves to the loading position, the loading swing arm 43 contacts the loading mechanism 31 and drives the loading mechanism 31 to load. When the transmission shaft 4122 moves to the unloading position, the loading swing arm 43 separates from the loading mechanism 31, and the unloading swing arm 44 contacts the unloading mechanism 32, thereby driving the unloading mechanism 32 to unload.

[0049] In some embodiments, the swing arm can also be a roller structure. When the swing arm is a roller structure, a part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the loading mechanism to achieve loading; the other part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the unloading mechanism to achieve unloading. Specifically, in this embodiment, the driving member includes a first driving member and a second driving member, the transmission group includes a transmission shaft and a transmission wheel, the swing arm includes a loading swing arm and a unloading swing arm, the first driving member is connected to the swing arm rod of the swing arm, and can drive the unloading swing arm and the loading swing arm to rotate, the first driving member and the swing arm are drivingly connected, the second transmission shaft is connected between the second driving member and the swing arm, and the loading swing arm can be connected in cooperation with the loading mechanism. The transmission wheel is arranged on the second transmission shaft.

[0050] When the 3D printing feeding device unloads material, the first driving member drives the swing arm to rotate, and makes the active swing arm wheel on the swing arm rod of the unloading swing arm contact with the transmission wheel, and the driven swing arm wheel contacts with the driving shaft of the unloading mechanism. The power of the second driving member is transmitted to the material tray via the second driving shaft, the transmission wheel, the active swing arm wheel, the driven swing arm wheel, and the driving shaft, thereby driving the material tray to rewind the wire material, thereby realizing the unloading of the 3D printing feeding device.

[0051] When the 3D printing feeding device is loading, the first driving member drives the swing arm to rotate, and makes the active swing arm wheel and the transmission wheel on the swing arm rod of the unloading swing arm staggered, and makes the driven wheel and the driving wheel on the swing arm rod of the loading swing arm cooperate to clamp the 3D printing wire material, and the power of the second driving member is transmitted to the driving wheel and the driven wheel of the loading swing arm through the second driving shaft, and the driving wheel and the driven wheel of the loading swing arm pull the 3D printing wire material into the material guide channel, thereby realizing the loading of the 3D printing feeding device.

[0052] In order to reduce the volume of the 3D printing feeding device 1000, the loading position and the unloading position are often close to each other, which also leads to the unloading swing arm 44 contacting the unloading mechanism 32 before the loading swing arm 43 is separated from the loading mechanism 31 in some working conditions, thereby causing the movement of the rotational matching mechanism 4 to be "stuck". Or in some working conditions, the waste generated by 3D printing may enter the driving member 42 or the swing arm (the swing arm can be a single swing arm structure or a double swing arm structure), hindering the normal operation of the rotational matching mechanism 4, causing the rotational matching mechanism 4 to be "stuck".

[0053] To solve the above problems, in some embodiments of the present application, the 3D printing feeding device 1000 also includes a controller and a memory, and the memory stores a control method of the rotation cooperation mechanism 4. The controller is used to call the control method of the rotation cooperation mechanism 4 stored in the memory to control the movement of the rotation cooperation mechanism 4.

[0054] Please refer to Figure 6 , the control method of the rotational matching mechanism includes: S10, monitoring the driving state of the rotational matching mechanism.

[0055] S20: When the driving state of the rotational cooperation mechanism is abnormal, the rotational cooperation mechanism is controlled to swing according to a preset swing strategy.

[0056] The present application monitors the driving state of the rotational cooperation mechanism, and when the driving state of the rotational cooperation mechanism becomes abnormal, controls the rotational cooperation mechanism to swing according to a preset swinging strategy, thereby relying on the vibration of the swinging of the rotational cooperation mechanism to shake out foreign matter from the rotational cooperation mechanism, or separate the rotational cooperation mechanism from the loading mechanism or the unloading mechanism, thereby making it possible for the rotational cooperation mechanism to escape from the "stuck" state, thereby reducing manual intervention in the operation of the 3D printing feeding device and improving the stability of the operation of the 3D printing feeding device.

[0057] It should be noted that the abnormal driving state of the rotating cooperation mechanism refers to that the swing arm assembly is stuck during the swinging process, or the swing arm assembly is stuck in engagement with the loading mechanism or the unloading mechanism, or when the swing arm of the swing arm assembly is a double swing arm structure, the loading swing arm is in contact with the loading structure while the unloading swing arm is in contact with the unloading mechanism. This application does not impose any restrictions on this.

[0058] There are many ways for the controller to monitor the driving state of the rotational matching mechanism to obtain whether the driving state of the rotational matching mechanism is abnormal. In some embodiments, the controller can monitor the driving state of the rotational matching mechanism by monitoring the rotation speed of the output shaft of the driving member, thereby determining whether the swing of the rotational matching mechanism is abnormal. Specifically, the driving member has an output shaft, which is connected to the rotational matching mechanism by driving. When the rotational matching mechanism swings normally, the output shaft of the driving member will rotate at the rated speed. When the rotational matching mechanism is stuck, the rotation of the output shaft of the driving member is "blocked" and the speed of the output shaft is zero. At this time, when the controller does not receive a shutdown command and the speed of the output shaft of the driving member suddenly changes to zero, the controller can determine that the swing of the rotational matching mechanism is abnormal, and then control the rotational matching mechanism to swing according to a preset swing strategy, so that the rotational matching mechanism has a probability of escaping from the "stuck" state, reducing manual intervention in the operation of the 3D printing feeding device, and improving the stability of the operation of the 3D printing feeding device.

[0059] There are many ways for the controller to monitor the output shaft speed. The controller can monitor the output shaft speed through a Hall sensor installed on the output shaft. The controller can also use an encoder set on the output shaft. The controller counts the number of pulses of the pulse signal generated by the grating disk on the output shaft per unit time to obtain the output shaft speed. This application does not impose any restrictions on this.

[0060] In addition, in some other possible implementations, the controller can monitor the driving state of the rotational cooperation mechanism by monitoring the voltage of the driving member, thereby determining whether the swing of the rotational cooperation mechanism is abnormal. Specifically, when the rotational cooperation mechanism operates normally, the voltage of the driving member fluctuates within the rated range. When the rotational cooperation mechanism is stuck, the output shaft of the driving member is "blocked" and the voltage of the driving member rises. At this time, it is only necessary to record the voltage range after the increase and set it as the preset voltage range. When the controller detects that the voltage of the driving member reaches the preset voltage range, the controller can determine that the rotational cooperation mechanism is "stuck", and then control the rotational cooperation mechanism to swing with a preset swing strategy, so that the rotational cooperation mechanism has a probability of escaping from the "stuck" state, reducing manual intervention in the operation of the 3D printing feeding device, and improving the stability of the operation of the 3D printing feeding device.

[0061] There are multiple swing strategies for the rotational matching mechanism. In some embodiments, the rotational matching mechanism has a first position and a second position. When the controller detects that the driving state of the rotational matching mechanism is abnormal, the controller can input a voltage of a preset waveform to the driver to control the driver to drive the swing arm assembly to swing between the first position and the second position at a preset swing frequency, so that the rotational matching mechanism can continue to swing between the first position and the second position until the rotational matching mechanism has a probability of escaping from the "stuck" state, or manual intervention is taken. The continuous swinging of the swing arm assembly can increase the swinging time of the swing arm assembly per unit time, thereby maximizing the possibility of the rotational matching mechanism escaping from the stuck state.

[0062] To drive the rotational cooperation mechanism to swing between the first position and the second position, in some embodiments, when the controller detects that the driving state of the rotational cooperation mechanism is abnormal, the controller may also input a voltage of a first preset waveform to the driving member and continue for a preset time, and after stopping for a preset interval time, input a voltage of a second preset waveform to the driving member and continue for a preset time, so that the rotational cooperation mechanism can swing between the first position and the second position for a preset time and then stop, and after stopping for a preset interval time, control the rotational cooperation mechanism to swing between the first position and the second position for a preset time at a second preset swinging frequency. Among them, the preset time and the preset interval time can be set to be different, and the first preset swing frequency and the second preset swing frequency can be set to be the same. For example, in some embodiments, the preset time can be set to 10s, the preset interval time can be set to 5s, and the first preset swing frequency and the second preset swing frequency can be set to 10HZ. Then, when the controller detects that the driving state of the rotational cooperation mechanism is abnormal, the controller will first control the rotational cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. After 10s, the controller controls the rotational cooperation mechanism to stop swinging, and the stop swinging time is 5s. After 5s, the controller controls the rotational cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. Afterwards, the controller will take the above driving state as a swing cycle. After a swing cycle ends, if the rotational cooperation mechanism is out of the "stuck" state at this time, the controller controls the rotational cooperation mechanism to continue to execute the driving instructions of the loading mechanism or the unloading mechanism. If the rotational cooperation mechanism has not escaped from the "stuck" state at this time, the controller will enter the next swing cycle with the same swing strategy, or remind the user to intervene manually. The intermittent swing of the swing arm assembly at different frequencies allows the controller to adjust the swing of the swing arm assembly and automatically match the natural frequencies of different swing arm assemblies during the adjustment process, triggering resonance to increase the strength and effect of the swing-out of the rotating mating mechanism.

[0063] It can be understood that in other possible implementation modes, the preset time and the interval time can also be set to the same, and the first preset swing frequency and the second preset swing frequency can be set to different. For example, the preset time and the interval time can be set to 10s, the first preset swing frequency can be set to 10HZ, and the second preset swing frequency can be set to 15Hz. At this time, when the controller detects that the driving state of the rotation cooperation mechanism is abnormal, the controller will first control the rotation cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. After 10s, the controller controls the rotation cooperation mechanism to stop swinging, and the stop swinging time is 10s. After 10s, the controller controls the rotation cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 15Hz for 10s. The present application does not limit the specific setting method of the preset time, the interval time, the first preset swing frequency and the second preset swing frequency.

[0064] In addition, in some embodiments, when the controller detects that the driving state of the rotational cooperation mechanism is abnormal, the controller may also input a voltage of a preset waveform to the driving member and continue for a first preset time, and after stopping for a preset interval time, input a voltage of a preset waveform to the driving member and continue for a second preset time, so that the rotational cooperation mechanism can control the rotational cooperation mechanism to swing between the first position and the second position at a preset swing frequency and stop after the first preset time, and after stopping for a preset interval time, control the rotational cooperation mechanism to swing between the first position and the second position at a preset swing frequency for a second preset time. The first preset time and the second preset time may be set to be the same or different, and the first preset time and the interval time may be set to be the same or different. The second preset time and the interval time may be set to be the same or different. For example, in some embodiments, the first preset time can be set to 10s, the second preset time can be set to 15s, the interval time can be set to 5s, and the preset swing frequency can be set to 10HZ. Then, when the controller detects that the driving state of the rotating cooperation mechanism is abnormal, the controller will first control the rotating cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. After 10s, the controller controls the rotating cooperation mechanism to stop swinging, and the swing stop time is 5s. After 5s, the controller controls the rotating cooperation mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 15s. After that, the controller will take the above driving state as a swing cycle. After a swing cycle ends, if the rotating cooperation mechanism is out of the "stuck" state at this time, the controller controls the rotating cooperation mechanism to continue to execute the driving instructions of the loading mechanism or the unloading mechanism. If the rotating cooperation mechanism does not escape from the "stuck" state at this time, the controller will enter the next swing cycle with the same swing strategy, or remind the user to intervene manually. The intermittent swing of the swing arm assembly at different time intervals can balance energy consumption and swing effect. The controller can set the preset frequency to be close to the natural frequency of the swing arm so that the swing arm assembly can obtain a larger swing amplitude, thereby increasing the possibility of the rotational matching mechanism being free from being stuck.

[0065] In other possible implementations, the first preset time can be set to 10s, the second preset time can be set to 10s, the interval time can be set to 10s, and the preset swing frequency can be set to 10HZ. When the controller detects that the driving state of the rotational coordination mechanism is abnormal, the controller will first control the rotational coordination mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. After 10s, the controller controls the rotational coordination mechanism to stop swinging, and the swing stop time is 10s. After 10s, the controller controls the rotational coordination mechanism to swing back and forth between the first position and the second position at a swing frequency of 10HZ for 10s. Afterwards, the controller will use the above driving state as a swing cycle. This application does not limit the specific setting method of the first preset time, the second preset time, and the interval time.

[0066] It should be noted that the swing arm assembly swings between the first position and the second position as described above means that when the driving state of the rotational matching mechanism is abnormal, the driving member will drive the swing arm assembly to swing to the first position first, then swing to the second position or somewhere between the first position and the second position, and finally return to the first position, and repeat the cycle. Or first swing to the second position, then swing to the first position or somewhere between the first position and the second position via the second position, and finally return to the second position, and repeat the cycle.

[0067] The preset waveform, the first preset waveform, and the second preset waveform can be a sine waveform, a cosine waveform, or other regular or irregular oscillation waveforms, and the present application does not impose any restrictions on this. In some embodiments, the preset waveform, the first preset waveform, and the second preset waveform are sinusoidal waveforms, and the frequency of the sinusoidal waveform is Z, 3Hz≤Z≤30Hz. Under the limitation of this waveform and frequency, it is possible to avoid the swing frequency of the rotational cooperation mechanism being too low, which does not achieve the effect of escaping from the jam. It is effective to avoid the swing frequency of the rotational cooperation mechanism being too high, which affects the service life of the rotational cooperation mechanism. Furthermore, when 5Hz≤Z≤12Hz, the swing effect of the rotational cooperation mechanism can be further improved, and the service life of the rotational cooperation mechanism can be extended.

[0068] When the rotating matching mechanism swings between the first position and the second position, the rotating matching mechanism may first swing to the first position and then swing to the second position, or may first swing to the second position and then swing to the first position, and the present application does not impose any restrictions on this. In some embodiments, the first position is closer to the feeding mechanism than the second position, and when the rotating matching mechanism is stuck when it is close to the feeding mechanism, the rotating matching mechanism first swings to the second position and then swings to the first position. That is, when the controller executes the swinging strategy, it will first control the rotating matching mechanism to swing away from the feeding mechanism, and then control the rotating matching mechanism to swing close to the feeding mechanism. In this way, the interference of the feeding mechanism on the swinging of the rotating matching mechanism is reduced, the swingable space of the rotating matching mechanism is increased, and the possibility of the rotating matching mechanism escaping from being stuck by swinging is increased.

[0069] In some embodiments, the first position may be closer to the blanking mechanism than the second position. When the rotational matching mechanism is stuck near the blanking mechanism, the rotational matching mechanism first swings to the second position and then swings to the first position. That is, when the controller executes the swinging strategy, it first controls the rotational matching mechanism to swing away from the blanking mechanism and then controls the rotational matching mechanism to swing toward the blanking mechanism. In this way, the interference of the blanking mechanism on the swinging of the rotational matching mechanism is reduced, the swingable space of the rotational matching mechanism is increased, and the possibility of the rotational matching mechanism being freed from being stuck by swinging is increased.

[0070] In order to increase the probability of escaping from a jam by means of a swinging strategy, in some embodiments, the material of the transmission shaft includes plastic, and the distance from the contact point between the loading swing arm and the loading mechanism to the axis of the loading swing arm and the connecting shaft is L1, 3mm≤L1≤16mm, and the distance from the contact point between the unloading swing arm and the unloading mechanism to the axis of the unloading swing arm and the connecting shaft is L2, 3mm≤L2≤16mm, and further, 5mm≤L1≤12mm, 5mm≤L2≤12mm. Under the restrictions of this material and size, the weight of the rotational matching mechanism can be reduced, the torque between the loading swing arm and the unloading swing arm can be reduced, the force required for swinging the rotational matching mechanism can be reduced, and the swinging effect of the driving member on the swing arm assembly can be improved.

[0071] It should be noted that the controller mentioned above may be a central processing unit (CPU), or other general controllers, digital signal controllers (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0072] The above memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

[0073] It should be noted that when the controller is a general controller, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated in the controller.

[0074] It should be noted that the memory described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0075] In addition to the data bus, the bus may also include a power bus, a control bus, a status signal bus, etc. However, for the sake of clarity, various buses are marked as buses in the figure.

[0076] Please refer to Figure 7In some embodiments, in addition to the controller 1001 and the memory 1005, the 3D printing feeding device also includes a communication bus 1002, a user interface 1003 and a network interface 1004. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 is mainly used for users to interact with data. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. The network interface is mainly used for data communication with a network server. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 also stores an operating system, a network communication module, a user interface module, and a control program for a rotational matching mechanism.

[0077] The present application also proposes a storage medium on which a swing arm control program is stored. The swing arm control program is executed by a controller to implement the control method of the above-mentioned rotational coordination mechanism.

[0078] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0079] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A control method for a rotational matching mechanism, wherein the rotational matching mechanism is used to drive a loading mechanism or a unloading mechanism of a 3D printing feeding device to move, characterized in that: include: Monitoring the driving status of the rotational engagement mechanism; When the driving state of the rotational cooperation mechanism is abnormal, the rotational cooperation mechanism is controlled to swing according to a preset swing strategy.

2. The control method of the rotational matching mechanism according to claim 1, characterized in that: The rotational engagement mechanism has a first position and a second position, and the swing strategy includes: Controlling the rotational engagement mechanism to continuously swing between the first position and the second position at a preset swing frequency; or, The rotational cooperation mechanism is controlled to swing between the first position and the second position at a first preset swing frequency for a preset time and then stops, and after stopping for a preset interval time, the rotational cooperation mechanism is controlled to swing between the first position and the second position for a preset time at a second preset swing frequency, and the first preset swing frequency and the second preset swing frequency are set to be the same or different; or, The rotating cooperation mechanism is controlled to swing between the first position and the second position for a first preset time at a preset swing frequency and then stop, and after stopping for a preset interval time, the rotating cooperation mechanism is controlled to swing between the first position and the second position for a second preset time at a preset swing frequency, and the first preset time and the second preset time are set to be the same or different.

3. The control method of the rotational matching mechanism according to claim 2, characterized in that: Compared with the second position, the first position is closer to the feeding mechanism; The rotational engagement mechanism first swings toward the second position and then swings toward the first position.

4. The control method of the rotational matching mechanism according to claim 2, characterized in that: Compared with the second position, the first position is closer to the unloading mechanism; The rotational engagement mechanism first swings toward the second position and then swings toward the first position.

5. The control method of the rotational matching mechanism according to any one of claims 1 to 4, characterized in that: The rotational matching mechanism includes a swing arm assembly and a driving member, and the swing arm assembly is movably arranged in a feeding device of the 3D printing device; The swing arm assembly has a loading position and a unloading position. When in the loading position, at least a portion of the swing arm assembly is in contact with the loading mechanism and is in transmission connection with the loading mechanism. When in the material unloading position, at least part of the swing arm assembly is in contact with the material unloading mechanism and is in transmission connection with the material unloading mechanism; The first position and the second position are located between the loading position and the unloading position, and the driving member is used to drive the swing arm to move between the loading position, the unloading position, the first position and the second position.

6. The control method of the rotational matching mechanism according to claim 5, characterized in that: The swing strategy includes: Inputting a voltage of a preset waveform into the driving member to control the driving member to drive the swing arm assembly to swing between the first position and the second position at a preset swing frequency; or A voltage of a first preset waveform is input to the driving member for a preset time, and after stopping for a preset interval time, a voltage of a second preset waveform is input to the driving member for a preset time, wherein the first preset waveform and the second preset waveform are set to be the same or different; or A voltage of a preset waveform is input to the driving member and lasts for a first preset time, and after stopping for a preset interval time, a voltage of a preset waveform is input to the driving member and lasts for a second preset time, and the first preset time and the second preset time are set to be the same or different.

7. The control method of the rotational engagement mechanism according to claim 6, characterized in that: The swing arm assembly includes a transmission group and a swing arm, wherein the transmission group is connected between the driving member and the swing arm; the transmission group is used to transmit the power of the driving member to drive the swing arm to move between the loading position and the unloading position; When the swing arm moves to the loading position, the swing arm contacts the loading mechanism and is transmission-connected with the loading mechanism; when the swing arm moves to the unloading position, the swing arm contacts the unloading mechanism and is transmission-connected with the unloading mechanism.

8. The control method of the rotational matching mechanism according to claim 7, characterized in that: The transmission group includes a worm gear group and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm; The transmission shaft has a loading connection end and a unloading connection end which are arranged opposite to each other, the loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm; The worm gear set is connected between the transmission shaft and the driving member, and the worm gear set is used to transmit the power of the driving member to drive the transmission shaft to move between the loading position and the unloading position; When the transmission shaft moves to the loading position, the transmission group contacts the loading mechanism and drives the loading mechanism to move; when the transmission shaft moves to the unloading position, the transmission group contacts the unloading mechanism and drives the unloading mechanism to move.

9. The control method of the rotational engagement mechanism according to claim 7, characterized in that: The transmission group includes a transmission wheel group and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm; The transmission shaft has a loading connection end and a unloading connection end which are arranged opposite to each other, the loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm; The transmission wheel set is connected between the loading position or the unloading position and the driving member, and the transmission wheel set is used to transmit the power of the driving member to drive the transmission shaft to move between the loading position and the unloading position; When the transmission shaft moves to the loading position, the transmission wheel group contacts the loading mechanism and drives the loading mechanism to move; when the transmission shaft moves to the unloading position, the transmission wheel group contacts the unloading mechanism and drives the unloading mechanism to move.

10. The control method of the rotational matching mechanism according to claim 9, characterized in that: The driving member has an output shaft, and the output shaft is drivingly connected to the rotational cooperation mechanism; the abnormal driving state of the rotational cooperation mechanism includes that the loading swing arm is in contact with the loading structure while the unloading swing arm is in contact with the unloading mechanism.

11. The control method of the rotational engagement mechanism according to claim 6, characterized in that: The swing arm assembly includes a transmission group and a swing arm, and a part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the feeding mechanism to achieve feeding; The other part of the swing arm is used to cooperate with the transmission group so that the power of the driving member can act on the unloading mechanism to realize unloading; Wherein, the driving member includes a first driving member and a second driving member, the transmission group includes a transmission shaft and a transmission wheel, the swing arm includes a loading swing arm and a unloading swing arm, the first driving member and the swing arm are drivingly connected, the second transmission shaft is connected between the second driving member and the swing arm; the transmission wheel is arranged on the second transmission shaft; When the 3D printing feeding device unloads materials, the first driving member drives the unloading swing arm to contact the transmission wheel, and the power of the second driving member is transmitted to the unloading mechanism via the second driving shaft, the transmission wheel and the unloading swing arm to drive the unloading mechanism to unload materials; When the 3D printing feeding device is loading material, the first driving member drives the unloading swing arm to be staggered with the transmission wheel, and the power of the second driving member is transmitted to the loading swing arm via the second driving shaft, and drives the loading mechanism to load material.

12. The control method of the rotational engagement mechanism according to any one of claims 7 to 9, characterized in that: The material of the transmission shaft includes plastic; and / or The distance between the contact point between the feeding swing arm and the feeding mechanism and the axis of the feeding swing arm and the connecting shaft is L1, 3mm≤L1≤16mm; and / or The distance from the contact point between the unloading swing arm and the unloading mechanism to the axis of the unloading swing arm and the connecting shaft is L2, 3mm≤L2≤16mm.

13. The control method of the rotational engagement mechanism according to claim 12, characterized in that: The distance between the contact point between the feeding swing arm and the feeding mechanism and the axis of the transmission group and the connecting shaft is L1, 5mm≤L1≤12mm; The distance from the contact point between the unloading swing arm and the unloading mechanism to the axis of the unloading swing arm and the connecting shaft is L2, 5mm≤L2≤12mm.

14. The control method of the rotational engagement mechanism according to claim 11, characterized in that: The preset waveform is a sine waveform, and the frequency of the sine waveform is Z, 3Hz≤Z≤30Hz.

15. The control method of the rotational engagement mechanism according to claim 14, characterized in that: The preset waveform is a sine waveform, and the frequency of the sine waveform is Z, 5 Hz ≤ Z ≤ 12 Hz.

16. The control method of the rotational engagement mechanism according to claim 4, characterized in that: The driving member has an output shaft, and the output shaft is drivingly connected to the rotational matching mechanism; Abnormal driving status of the rotating mating mechanism includes: The output shaft has a rotational speed of zero; and / or The voltage of the driving element reaches a preset voltage range.

17. A storage medium, characterized in that: The storage medium stores a swing arm control program, and the swing arm control program is executed by the controller to implement the control method of the rotational cooperation mechanism as described in any one of claims 1-16.

18. A 3D printing feeding device, characterized in that: The 3D printing feeding device includes a controller and a memory, the memory is used to store computer instructions, and the controller is used to call the computer instructions to execute the control method of the rotational matching mechanism according to any one of claims 1-16.

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