3D printing device with dispensing needle head capable of rotating by 360 degrees without limitation and printing head

Abstract

The invention relates to a 3D printing device with a dispensing needle head capable of rotating by 360 degrees without limitation and a printing head, and solves the technical problems that in the printing process of existing equipment for carrying out multi-material 3D printing on fibers and glue solutions, electric wires and air pipes are likely to be twisted or wound, and rotation by 360 degrees or above cannot be achieved. The 3D printer comprises an X-axis direction linear module, a Y-axis direction linear module, a Z-axis direction linear module, a platform and a printing head, the printing head comprises a vertical supporting plate, a fixing plate, a wire feeding device connecting plate, a rotating cylinder connecting plate, a pneumoelectric slip ring support, a rotating arm, a wire feeding device, a rotating arm rotation driving motor, a pneumoelectric slip ring, a pipeline, a pipeline fixing plate, an outer cylinder, a connecting sleeve, an upper bearing, a lower bearing, a driving gear, a driven gear, a fiber output needle and a dispensing needle connecting arm rotation driving motor. The device comprises a small synchronous pulley, a synchronous belt, a large synchronous pulley, a dispensing needle connecting arm, a dispensing needle, a rotary hollow shaft, a glue tube and a glue injection cylinder. The method is widely applied to the technical field of multi-material 3D printing.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and more particularly, to a 3D printing device and a print head in which a dispensing needle can rotate 360° without limitation. Background Art

[0002] 3D printing technology generates three-dimensional entities by continuously stacking physical layers and adding materials layer by layer, and is widely used in fields such as medical, aerospace, and automotive.

[0003] 3D printing devices can be divided into single-material printing devices and multi-material printing devices according to the type of printing material. Among them, single-material printing devices adopt a single-nozzle structure, and the printing materials used are hydrogels, silicones, photosensitive resins, etc. The functions of the printed products are limited. If other functional devices need to be set in the products, they need to be added manually, which is troublesome to operate. For multi-layer and multi-material flexible devices, the printing method is to change materials layer by layer, with low efficiency and cumbersome operation; through a material switching device, a single nozzle can switch materials when different materials are needed. This switching device has a complex structure, and since its feeding system is unique, the difference between different materials is only in color, and it is still limited to the same physical state.

[0004] Multi-material 3D printing technology is gradually becoming an effective way to improve manufacturing efficiency and reduce production costs in the manufacturing industry. Multi-material 3D printing technology also has the ability to simultaneously construct high precision and complex structures, which is particularly prominent in application fields such as medical devices and sports equipment. Through the collaborative design of soft and hard materials, not only can the comfort of users be significantly improved, but also the functional performance of products can be enhanced. In addition, by introducing conductive materials to achieve the integration of electronic functions, or using high-strength materials to strengthen the durability of structures, all show its broad development prospects in the fields of personalized and intelligent manufacturing.

[0005] The combination of continuous fiber printing and liquid printing is a way of multi-material 3D printing. Continuous fiber printing can enhance mechanical properties by introducing carbon fiber or glass fiber to manufacture components with strength and stiffness far exceeding conventional materials. Liquid composite printing technology, on the other hand, shows great potential in the directions of medical and flexible electronics by introducing fluid materials to create more complex material combinations.

[0006] There is a 3D printing device that prints fibers and glue. Referring to the invention patent application with the publication number CN118493845A, during the printing process of this 3D printing device, due to the rotating components, the wires and air pipes may be twisted or wound, and rotations above 360° cannot be achieved, affecting the printing flexibility and continuity of the device. Summary of the Invention

[0007] The present invention is to solve the technical problem that in the existing multi-material 3D printing equipment for fiber and glue solution, during the printing process, the wires and air pipes may be twisted or wound, and a rotation of more than 360° cannot be achieved. A 3D printing device and a print head capable of rotating 360° without limitation are provided.

[0008] In the first aspect of the present invention, a 3D printing device with a dispensing needle head capable of rotating 360° without limitation is provided, including a support frame, an X-axis linear module, a Y-axis linear module, a Z-axis linear module, a platform, and a print head. The X-axis linear module is used to move the print head in the X-axis direction, the Y-axis linear module is used to move the print head in the Y-axis direction, and the Z-axis linear module is used to move the platform in the Z-axis direction; the print head includes a vertical support plate, a fixing plate, a wire feeding device connecting plate, a rotating cylinder connecting plate, a gas-electric slip ring bracket, a rotating arm, a wire feeding device, a rotating arm rotation driving motor, a gas-electric slip ring, a pipeline, a pipeline fixing plate, an outer cylinder, a connecting sleeve, an upper bearing, a lower bearing, a driving gear, a driven gear, a fiber output needle head, a dispensing needle head connecting arm rotation driving motor, a small synchronous pulley, a synchronous belt, a large synchronous pulley, a dispensing needle head connecting arm, a dispensing needle head, a rotating hollow shaft, a rubber tube, and a rubber injection cylinder. The fixing plate is fixedly connected to the vertical support plate, the wire feeding device connecting plate is fixedly connected to the vertical support plate, the rotating cylinder connecting plate is fixedly connected to the vertical support plate, the gas-electric slip ring bracket is fixedly connected to the vertical support plate, the wire feeding device is connected to the wire feeding device connecting plate, and the rotating arm rotation driving motor is connected to the rotating cylinder connecting plate; the gas-electric slip ring includes a fixed part and a rotating part. An air output joint is connected to the rotating part, and an air input joint is connected to the fixed part. The fixed part of the gas-electric slip ring is fixedly connected to the gas-electric slip ring bracket. The pipeline fixing plate is fixedly connected to the vertical support plate. The upper end of the pipeline is fixedly connected to the pipeline fixing plate. The gas-electric slip ring is provided with an axial central through hole, and the pipeline passes through the axial central through hole of the gas-electric slip ring. The middle part of the outer cylinder is rotationally connected to the rotating cylinder connecting plate through the upper bearing. The upper end of the outer cylinder is connected to the rotating part of the gas-electric slip ring through the connecting sleeve. The lower end of the outer cylinder is rotationally connected to the lower part of the pipeline through the lower bearing. The pipeline passes through the outer cylinder; the rotating arm is fixedly connected to the outer cylinder. The driving gear is connected to the output shaft of the rotating arm rotation driving motor. The driven gear is fixedly connected to the outer cylinder. The driven gear meshes with the driving gear. The fiber output needle head is connected to the lower end of the pipeline through a joint;

[0009] The glue dispensing needle connecting arm is connected to the rotating arm. The small synchronous pulley is connected to the output shaft of the glue dispensing needle connecting arm rotating drive motor. The synchronous belt is connected between the small synchronous pulley and the large synchronous pulley. The rotating hollow shaft is rotatably connected to the rotating arm through a bearing. The large synchronous pulley is fixedly connected to the rotating hollow shaft. The glue dispensing needle connecting arm is fixedly connected to the rotating hollow shaft. The glue dispensing needle is connected to the glue dispensing needle connecting arm. The output end of the glue injection cylinder is connected to the upper end of the rotating hollow shaft. The glue pipe passes through the rotating hollow shaft and is led out from the lower end of the rotating hollow shaft. One end of the glue pipe is connected to the output port of the glue injection cylinder, and the other end of the glue pipe is connected to the glue dispensing needle.

[0010] Preferably, the fiber output needle is provided with a central through hole for outputting fibers, a side conduit, and a circular channel. The side conduit communicates with the circular channel, and the circular channel is located around the central through hole.

[0011] Preferably, one side of the lower part of the outer cylinder is provided with a wire inlet, and the other side is provided with an air pipe inlet; the upper part of the outer cylinder is provided with an outlet; the connecting sleeve is provided with an opening.

[0012] Preferably, the 3D printing device further includes a feeding tray, and the feeding tray is connected to the wire feeding device connecting plate.

[0013] Preferably, the 3D printing device further includes a damping mechanism, and the damping mechanism is connected to the feeding tray.

[0014] In a second aspect of the present invention, there is provided a print head, including a vertical support plate, a fixing plate, a wire feeding device connecting plate, a rotating cylinder connecting plate, an air-electric slip ring bracket, a rotating arm, a rotating arm rotation driving motor, an air-electric slip ring, a pipeline, a pipeline fixing plate, an outer cylinder, a connecting sleeve, an upper bearing, a lower bearing, a driving gear, a driven gear, a fiber output needle, a glue dispensing needle connecting arm, a glue dispensing needle connecting arm rotation driving mechanism, a glue dispensing needle, and a glue conveying pipeline;

[0015] The fixed plate is fixedly connected to the vertical support plate, the wire feeding device connecting plate is fixedly connected to the vertical support plate, the rotating cylinder connecting plate is fixedly connected to the vertical support plate, the pneumatic and electrical slip ring bracket is fixedly connected to the vertical support plate, and the rotating arm rotation driving motor is connected to the rotating cylinder connecting plate; The pneumatic and electrical slip ring includes a fixed part and a rotating part. An air output joint is connected to the rotating part, and an air input joint is connected to the fixed part. The fixed part of the pneumatic and electrical slip ring is fixedly connected to the pneumatic and electrical slip ring bracket. The pipe fixing plate is fixedly connected to the vertical support plate. The upper end of the pipe is fixedly connected to the pipe fixing plate. The pneumatic and electrical slip ring is provided with an axial central through hole. The pipe passes through the axial central through hole of the pneumatic and electrical slip ring. The middle part of the outer cylinder is rotationally connected to the rotating cylinder connecting plate through an upper bearing. The upper end of the outer cylinder is connected to the rotating part of the pneumatic and electrical slip ring through a connecting sleeve. The lower end of the outer cylinder is rotationally connected to the lower part of the pipe through a lower bearing. The pipe passes through the outer cylinder; The rotating arm is fixedly connected to the outer cylinder. The driving gear is connected to the output shaft of the rotating arm rotation driving motor. The driven gear is fixedly connected to the outer cylinder. The driven gear meshes with the driving gear. The fiber output needle is connected to the lower end of the pipe through a joint;

[0016] The dispensing needle is connected to the dispensing needle connecting arm. The dispensing needle connecting arm is rotationally connected to the rotating arm. The dispensing needle connecting arm rotation driving mechanism is used to drive the dispensing needle connecting arm to rotate. The glue delivery pipeline is connected to the dispensing needle.

[0017] Preferably, the dispensing needle connecting arm rotation driving mechanism includes a dispensing needle connecting arm rotation driving motor, a small synchronous pulley, a synchronous belt, a large synchronous pulley, and a rotating hollow shaft. The dispensing needle connecting arm rotation driving motor is connected to the rotating arm. The small synchronous pulley is connected to the output shaft of the dispensing needle connecting arm rotation driving motor. The synchronous belt is connected between the small synchronous pulley and the large synchronous pulley. The rotating hollow shaft is rotationally connected to the rotating arm through a bearing. The large synchronous pulley is fixedly connected to the rotating hollow shaft. The dispensing needle connecting arm is fixedly connected to the rotating hollow shaft. The upper end of the rotating hollow shaft is connected with a glue injection cylinder. The glue delivery pipeline includes a glue pipe. The glue pipe passes through the rotating hollow shaft. The glue pipe is led out from the lower end of the rotating hollow shaft. One end of the glue pipe is connected to the output port of the glue injection cylinder. The other end of the glue pipe is connected to the dispensing needle.

[0018] Preferably, the fiber output needle is provided with a central through hole for outputting fibers, a side conduit, and a circular channel. The side conduit communicates with the circular channel. The circular channel is located on the periphery of the central through hole.

[0019] Preferably, one side of the lower part of the outer cylinder is provided with a wire inlet, and the other side is provided with an air pipe inlet; The upper part of the outer cylinder is provided with an outlet; The connecting sleeve is provided with an opening.

[0020] Preferably, the print head further includes a wire feeding device, and the wire feeding device is connected to the wire feeding device connecting plate.

[0021] The beneficial effects of the present invention are as follows: It realizes 360° unrestricted rotation, effectively solves the problem of winding of the feeding pipeline and cable, greatly improves the continuity and flexibility of the printer, effectively avoids the winding problem that may occur in the continuous movement of the feeding pipeline and cable, and thus significantly improves the coherence, stability and accuracy of printing.

[0022] The dispensing needle can operate independently, and has a wide printing range. It realizes the composite printing of two physical states, and can also move freely between the dispensing needle and the fiber delivery needle. The fiber and the glue can be printed independently, which broadens the laying range of the glue and improves the printing efficiency of multiple materials.

[0023] The application scenarios are very extensive, and the printed products have diverse functions.

[0024] The further features of the present invention will be clearly recorded in the following description of the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an axonometric view of the 3D printing device;

[0026] Figure 2 is Figure 1 the front view of the 3D printing device shown;

[0027] Figure 3 is Figure 1 the axonometric view of the print head in the 3D printing device shown;

[0028] Figure 4 is Figure 3 the front view of the print head shown;

[0029] Figure 5 is Figure 4 the sectional view in the A-A direction in;

[0030] Figure 6 is Figure 3 the left view of the print head described;

[0031] Figure 7 is Figure 6 the sectional view in the B-B direction in;

[0032] Figure 8 is the structural diagram of the wire feeding device;

[0033] Figure 9 is the schematic diagram of the wire routing layout;

[0034] Figure 10 is the schematic diagram of the distribution of wires and air pipes;

[0035] Figure 11 is the schematic diagram of the distribution of air pipes;

[0036] Figure 12 It is a schematic diagram showing that the electric wire and the air pipe pass through the space between the pipeline and the inner wall of the outer cylinder.

[0037] Explanation of symbols in the figure:

[0038] 100. Support frame, 200. Linear module in the X-axis direction, 202-1. Slide block; 300. Linear module in the Y-axis direction; 400. Linear module in the Z-axis direction, 500. Platform, 600. Print head, 601. Vertical support plate, 602. Fixed plate, 603. Connecting plate for wire feeding device, 604. Connecting plate for rotating cylinder, 605. Glue bucket support, 606. Support for air-electric slip ring, 607. Rotating arm, 608. Feeding tray, 609. Damping mechanism, 610. Active wire feeding wheel, 611. Passive wire feeding wheel, 612. Wire feeding drive motor, 614. Compression spring, 615. Top screw connection block, 616. Connecting plate for passive wire feeding wheel, 617. Top screw, 618. Positioning block, 619. Rotating arm rotation drive motor, 620. Air-electric slip ring, 620-1. Fixed part, 620-2. Rotating part, 620-3. Air output joint, 620-4. Air input joint, 621. Pipeline, 622. Pipeline fixing plate, 623. Outer cylinder, 623-1. Electric wire inlet, 623-2. Air pipe inlet, 623-3. Outlet, 624. Connecting sleeve, 624-1. Opening, 625. Upper bearing, 626. Lower bearing, 627. Driving gear, 628. Driven gear, 629. Fiber output needle, 630. Connector, 631. Rotation drive motor for the connecting arm of the dispensing needle, 632. Small synchronous pulley, 633. Synchronous belt, 634. Large synchronous pulley, 635. Connecting arm of the dispensing needle, 636. Dispensing needle, 637. Rotating hollow shaft, 638. Rubber tube, 639. Glue injection cylinder, 640. Pipe clamp, 641. Pipe clamp, 642. Air pipe support, 643. Clip, 644. Clip; 1. Fiber, 2. Electric wire, 4. Air pipe. Detailed implementation manners

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] As Figure 1-2As shown, the 3D printing device includes a support frame 100, an X-axis linear module 200, a Y-axis linear module 300, a Z-axis linear module 400, a platform 500, and a print head 600. The X-axis linear module 200 is connected to the Y-axis linear module 300. When the Y-axis linear module 300 moves, it can drive the X-axis linear module 200 to move in the Y-axis direction. When the X-axis linear module 200 moves, the slider 202-1 moves in the X-axis direction. The Z-axis linear module 400 is connected to the support frame 100. The Y-axis linear module 300 is connected to the top of the support frame 100. The Z-axis linear module 400 is located below the Y-axis linear module 300. The platform 500 is connected to the Z-axis linear module 400. When the Z-axis linear module 400 moves, it can drive the platform 500 to move up and down in the Z-axis direction. The print head 600 is connected to the slider 202-1 of the X-axis linear module 200. When the slider 202-1 moves in the X-axis direction, it drives the print head 600 to move in the X-axis direction.

[0041] As Figure 3-8As shown, the print head 600 includes a vertical support plate 601, a fixing plate 602, a wire feeding device connecting plate 603, a rotating cylinder connecting plate 604, a glue bucket support 605, a gas-electric slip ring support 606, a rotating arm 607, a feeding tray 608, a damping mechanism 609, a wire feeding device, a positioning block 618, a rotating arm rotation driving motor 619, a gas-electric slip ring 620, a pipeline 621, a pipeline fixing plate 622, an outer cylinder 623, a connecting sleeve 624, an upper bearing 625, a lower bearing 626, a driving gear 627, a driven gear 628, a fiber output needle 629, a connector 630, a dispensing needle connecting arm rotation driving motor 631, a small synchronous pulley 632, a synchronous belt 633, a large synchronous pulley 634, a dispensing needle connecting arm 635, a dispensing needle 636, a rotating hollow shaft 637, a rubber tube 638, a glue injection cylinder 639, and a pipe clamp 640. The fixing plate 602 is fixedly connected to the vertical support plate 601, the wire feeding device connecting plate 603 is fixedly connected to the vertical support plate 601, the rotating cylinder connecting plate 604 is fixedly connected to the vertical support plate 601, the glue bucket support 605 is fixedly connected to the wire feeding device connecting plate 603, the gas-electric slip ring support 606 is fixedly installed on the vertical support plate 601, the feeding tray 608 is connected to the wire feeding device connecting plate 603, and the damping mechanism 609 is connected to the feeding tray 608. A specific implementation of the wire feeding device includes a driving wire feeding wheel 610, a driven wire feeding wheel 611, a wire feeding driving motor 612, a compression spring 614, a set screw connecting block 615, a driven wire feeding wheel connecting plate 616, and a set screw 617. The wire feeding driving motor 612 is fixedly installed on the wire feeding device connecting plate 603, the driving wire feeding wheel 610 is connected to the output shaft of the wire feeding driving motor 612, the driven wire feeding wheel 611 is rotatably connected to the driven wire feeding wheel connecting plate 616, the set screw connecting block 615 is fixedly connected to the wire feeding device connecting plate 603, the driven wire feeding wheel connecting plate 616 is located in the sliding groove of the set screw connecting block 615, the set screw 617 is connected and matched with the internal thread hole of the set screw connecting block 615, the front end of the set screw 617 abuts against the side surface of the driven wire feeding wheel connecting plate 616, the compression spring 614 is located between the driven wire feeding wheel connecting plate 616 and the set screw connecting block 615, the bottom of the set screw connecting block 615 is provided with a sliding groove, the driven wire feeding wheel connecting plate 616 is located in the sliding groove of the set screw connecting block 615, and the driven wire feeding wheel connecting plate 616 can slide in this sliding groove.The positioning block 618 is fixedly installed on the wire feeding device connecting plate 603. The rotating arm rotation driving motor 619 is installed on the rotating cylinder connecting plate 604. The pneumatic and electrical slip ring 620 includes a fixed part 620-1 and a rotating part 620-2. An air output joint 620-3 is connected to the rotating part 620-2, and an air input joint 620-4 is connected to the fixed part 620-1. The fixed part 620-1 is fixedly connected to the pneumatic and electrical slip ring support 606. The pipeline fixing plate 622 is fixedly connected to the vertical support plate 601. The upper end of the pipeline 621 is fixedly connected to the pipeline fixing plate 622. The pneumatic and electrical slip ring 620 is provided with an axial central through hole, and the pipeline 621 passes through the axial central through hole of the pneumatic and electrical slip ring 620. The middle part of the outer cylinder 623 is rotationally connected to the rotating cylinder connecting plate 604 through the upper bearing 625. The upper end of the outer cylinder 623 is fixedly connected to the rotating part 620-2 through the connecting sleeve 624. The lower end of the outer cylinder 623 is rotationally connected to the lower part of the pipeline 621 through the lower bearing 626. The pipeline 621 passes through the outer cylinder 623. The rotating arm 607 is fixedly connected to the outer cylinder 623. The driving gear 627 is connected to the output shaft of the rotating arm rotation driving motor 619. The driven gear 628 is fixedly connected to the outer cylinder 623. The driven gear 628 meshes with the driving gear 627. The fiber output needle 629 is connected to the lower end of the pipeline 621 through the joint 630. When the rotating arm rotation driving motor 619 works, the outer cylinder 623 is driven to rotate through the driving gear 627 and the driven gear 628. The outer cylinder 623 drives the rotating arm 607 to rotate. While the outer cylinder 623 rotates, the rotating part 620-2 rotates synchronously.

[0042] The dispensing needle connecting arm rotation drive motor 631 is fixedly installed on the rotating arm 607. The small synchronous pulley 632 is connected to the output shaft of the dispensing needle connecting arm rotation drive motor 631. The synchronous belt 633 is connected between the small synchronous pulley 632 and the large synchronous pulley 634. The rotating hollow shaft 637 is rotatably connected to the rotating arm 607 through a bearing. The large synchronous pulley 634 is fixedly connected to the rotating hollow shaft 637. The dispensing needle connecting arm 635 is fixedly connected to the rotating hollow shaft 637. The dispensing needle 636 is connected to the dispensing needle connecting arm 635. The output end of the glue injection cylinder 639 is connected to the upper end of the rotating hollow shaft 637 (when the rotating hollow shaft 637 rotates, it drives the glue injection cylinder 639 to rotate). The glue pipe 638 passes through the rotating hollow shaft 637 and is led out from the lower end of the rotating hollow shaft 637. One end of the glue pipe 638 is connected to the output port of the glue injection cylinder 639, and the other end of the glue pipe 638 is connected to the dispensing needle 636. Three pipe clamps 640 are installed on the dispensing needle connecting arm 635 to position the glue pipe 638 with the three pipe clamps 640. When the dispensing needle connecting arm rotation drive motor 631 works, it can make the rotating hollow shaft 637 rotate through the synchronous belt transmission mechanism. The rotating hollow shaft 637 drives the dispensing needle connecting arm 635 to rotate, and the dispensing needle connecting arm 635 drives the dispensing needle 636 to rotate. The glue injection cylinder 639 rotates with the rotating hollow shaft 637.

[0043] The pipe clamp 641 is installed on the rotating arm 607.

[0044] The fiber output needle 629 is provided with a central through hole for outputting fibers, and the fibers pass through the central through hole. The fiber output needle 629 can also be provided with a side conduit and a circular channel. The side conduit communicates with the circular channel, and the circular channel is located on the periphery of the central through hole. The glue liquid for coating flows in from the side conduit, then flows out downward from the circular channel. As the fibers are output from the central through hole, the glue liquid flowing out from the circular channel coats the fibers.

[0045] The fixed plate 602 is fixedly connected to the slider 202-1 of the X-axis direction linear module 200.

[0046] The fiber 1 as a raw material is wound on the feeding disk 608. The fiber 1 led out from the feeding disk 608 passes through the wire feeding device, then through the through hole on the positioning block 618, then through the pipe 621, and finally is output downward from the central through hole of the fiber output needle 629.

[0047] When the rotating arm 607 rotates and the dispensing needle connecting arm 635 rotates, and the two are linked, the dispensing needle 636 can reach a predetermined position on the horizontal plane.

[0048] Such as Figure 4 、 9, as shown in Fig. 11, one side of the lower part of the outer cylinder 623 is provided with a wire inlet 623-1, and the other side is provided with an air pipe inlet 623-2. As Figure 4 , 9 , as shown in Fig. 10, the upper part of the outer cylinder 623 is provided with an outlet 623-3. As Figure 3 , 4 , as shown in Fig. 9, the connecting sleeve 624 is provided with an opening 624-1.

[0049] Reference Figure 9 , 10 , Fig. 12, the wiring layout of the wire 2 (the green wire in the figure) for energizing the rotation drive motor 631 of the dispensing needle connecting arm is as follows: it passes through the wire inlet 623-1, then passes through the space between the pipeline 621 and the inner wall of the outer cylinder 623, goes upward, then passes through the outlet 623-3, and then enters the inside of the air-electric slip ring 620 through the opening 624-1 of the connecting sleeve 624 for wiring.

[0050] As Figure 3 and 4 shown, the air pipe bracket 642 is connected to the rotating arm 607, and the clip 643 is connected to the air pipe bracket 642. As Figure 11 shown, the clip 644 is connected to the rotating arm 607.

[0051] Reference Figure 11 , 12 , Fig. 10, the layout method of the air pipe 4 for supplying compressed air to the glue injection cylinder 639 is as follows: one end of the air pipe 4 is connected to the glue injection cylinder 639 through a rotary joint (when the glue injection cylinder 639 rotates, due to the setting of the rotary joint, one end of the air pipe 4 is stationary), the air pipe 4 is positioned by the clip 643 along the air pipe bracket 642, the air pipe 4 is positioned by the clip 644 along the rotating arm 607, then the air pipe 4 passes through the air pipe inlet 623-2, then passes through the space between the pipeline 621 and the inner wall of the outer cylinder 623, goes upward, then passes through the outlet 623-3, and finally is connected to the air output joint 620-3. The external air source is connected to the air input joint 620-4.

[0052] It can be seen that when the rotating arm 607 rotates 360°, the wire 2 and the air pipe 4 also rotate accordingly, so the wire 2 will not get entangled, and the air pipe 4 will not get entangled. 360° unlimited rotation is achieved. Ensure the stable and reliable operation of the equipment printing operation.

[0053] One way of the printing process is:

[0054] Step (1), printing of the base layer. The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction are fixed, the position of the fiber output needle 629 is fixed (initial position), and the base layer is printed by the glue dispensing needle 636. The specific process is that under the control of the host computer, the glue dispensing needle connecting arm 635 moves, the rotating arm 607 moves, and the glue dispensing needle connecting arm 635 and the rotating arm 607 are linked to make the glue dispensing needle 636 reach the predetermined position on the platform 500 to lay the glue liquid. The movement path of the glue dispensing needle 636 is set according to needs.

[0055] Step (2), printing of the functional layer. The dispensing needle 636 returns to the original position and remains stationary. Next, under the coordinated movement of the linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction, the fiber output needle 629 performs a translational movement in the formed glue liquid plane, and the wire feeding device acts synchronously, thereby laying the functional fiber to the specified position on the base layer. The functional fiber can have conductive properties.

[0056] Step (3), the fiber output needle 629 is returned to the initial position and fixed therein, and the glue dispensing needle connecting arm 635 and the rotating arm 607 are linked to allow the glue dispensing needle 636 to lay glue on the base layer according to a predetermined path, forming a sealing layer to cover the functional fiber.

[0057] The molded flexible electronic devices can be widely used in many fields such as signal sensing, flexible display, thin-film solar cells, soft robots, wearable electronic devices, etc.

[0058] The second case is applied in the field of flexible electronic devices.

[0059] Step (1), printing the base layer. The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction are fixed, the position of the fiber output needle 629 is fixed (initial position), and the base layer is printed by the glue dispensing needle 636. The specific process is that under the control of the host computer, the glue dispensing needle connecting arm 635 moves, the rotating arm 607 moves, and the glue dispensing needle connecting arm 635 and the rotating arm 607 are linked to make the glue dispensing needle 636 reach the predetermined position on the platform 500 to lay the glue liquid and form the base layer. The movement path of the glue dispensing needle 636 is set as needed. For example, if the path of the glue dispensing needle 636 is in an S shape, the output glue liquid also forms the base layer in an S shape. For example, if the path of the glue dispensing needle 636 is in a spiral shape, the output glue liquid also forms the base layer in a spiral shape.

[0060] Step (2): Print the functional layer. The dispensing needle head 636 returns to the origin position and remains stationary. Next, under the combined movement of the linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction, the fiber output needle head 629 performs a translational movement on the formed glue liquid plane, and the wire feeding device acts synchronously, thereby laying the functional fibers at the specified position.

[0061] Step (3): The platform 500 descends a certain distance, and the wire feeding device acts synchronously. The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction move in cooperation to move the fiber output needle head 629 to another position.

[0062] Step (4): The dispensing needle head connecting arm 635 and the rotating arm 607 are linked to make the dispensing needle head 636 lay the glue liquid above the base layer along a predetermined path to form the first intermediate layer.

[0063] Step (5): The platform 500 descends another certain distance, and the wire feeding device acts synchronously. The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction move in cooperation to move the fiber output needle head 629 to another position.

[0064] Step (6): The dispensing needle head connecting arm 635 and the rotating arm 607 are linked to make the dispensing needle head 636 lay the glue liquid above the first intermediate layer along a predetermined path to form the second intermediate layer.

[0065] Step (7): The platform 500 descends another certain distance, and the wire feeding device acts synchronously. The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction move in cooperation to move the fiber output needle head 629 to another position.

[0066] Step (8): The dispensing needle head connecting arm 635 and the rotating arm 607 are linked to make the dispensing needle head 636 lay the glue liquid above the second intermediate layer along a predetermined path to form the sealing layer.

[0067] The third case is applied in the field of bioprinting.

[0068] Step (1): The linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction are fixed and stationary, and the position of the fiber output needle head 629 is fixed (initial position);

[0069] Step (2): The dispensing needle head connecting arm 635 and the rotating arm 607 are linked to move the dispensing needle head 636 to print the bioink on the platform 500;

[0070] Step (3): Under the combined movement of the linear module 200 in the X-axis direction and the linear module 300 in the Y-axis direction, the fiber output needle head 629 performs a translational movement, and the wire feeding device acts synchronously, thereby laying the functional fibers or hollow fibers on the first layer of bioink that has been formed;

[0071] In step (4), the platform 500 descends a certain distance, and the wire feeding device moves synchronously. The position of the fiber output needle 629 remains fixed or the X-axis linear module 200 and the Y-axis linear module 300 cooperate to move the fiber output needle 629 to another position.

[0072] In step (5), the dispensing needle connecting arm 635 and the rotating arm 607 are linked to move the dispensing needle 636 to print on the first layer of bioink and continue to print the bioink to form the second layer of bioink.

[0073] In step (6), the platform 500 descends a certain distance, and the wire feeding device moves synchronously. The position of the fiber output needle 629 remains fixed or the X-axis linear module 200 and the Y-axis linear module 300 cooperate to move the fiber output needle 629 to another position.

[0074] In step (7), the dispensing needle connecting arm 635 and the rotating arm 607 are linked to move the dispensing needle 636 to print on the second layer of bioink and continue to print the bioink to form the third layer of bioink.

[0075] In step (8), steps (6) and (7) are repeated to form the fourth layer of bioink, the fifth layer of bioink, etc., until the printing of the entire biological tissue is completed. The fiber is equivalent to a skeleton in the entire biological tissue.

[0076] The finally formed living tissue-like (such as skin tissue, organ sections) can be applied to the fields of tissue engineering and pharmaceutical R & D, such as drug testing, therapy screening, etc.

[0077] In the fourth case, it is applied in the field of microchannels.

[0078] In step (1), the X-axis linear module 200 and the Y-axis linear module 300 remain fixed, and the position of the fiber output needle 629 is fixed (initial position).

[0079] In step (2), the end of the hollow fiber output from the wire feeding device is fixed on the platform 500.

[0080] In step (3), the dispensing needle connecting arm 635 and the rotating arm 607 are linked to move the dispensing needle 636 to print glue on the platform 500 to wrap the hollow fiber.

[0081] In step (4), the platform 500 descends a certain distance, and the wire feeding device moves synchronously. The position of the fiber output needle 629 remains fixed or the X-axis linear module 200 and the Y-axis linear module 300 cooperate to move the fiber output needle 629 to another position.

[0082] Step (5): The dispensing needle connecting arm 635 and the rotating arm 607 move in tandem to move the dispensing needle 636 to continue printing the glue liquid, forming a new glue liquid layer on the glue liquid layer formed in step (3) to wrap the hollow fiber;

[0083] Step (6): Repeat steps (4) and (5) to finally form a flexible product with a certain height.

[0084] When using this flexible product, the hollow fiber is used as a microchannel. By injecting different functional liquids into the hollow fiber, different functions can be achieved. For example, injecting liquid metal, magneto-responsive materials, etc. to prepare sensors or actuators.

[0085] For example, one printing operation method is: while the platform 500 descends and the wire feeding device moves synchronously, the dispensing needle outputs the glue liquid. For example:

[0086] Step (1): The X-axis linear module 200 and the Y-axis linear module 300 remain stationary, and the position of the fiber output needle 629 is fixed (initial position);

[0087] Step (2): Fix the end of the fiber output from the wire feeding device on the platform 500;

[0088] Step (3): The platform 500 descends, and the wire feeding device moves synchronously. The position of the fiber output needle 62 remains stationary or the X-axis linear module 200 and the Y-axis linear module 300 cooperate to move the fiber feeding needle 628 to another position;

[0089] Step (4): While the platform 500 descends, the dispensing needle connecting arm 635 and the rotating arm 607 move in tandem to move the dispensing needle 636. The dispensing needle 636 prints the glue liquid, and the glue liquid stacks layer by layer around the fiber.

[0090] Another example:

[0091] Step (1): The X-axis linear module 200 and the Y-axis linear module 300 remain stationary, and the position of the fiber output needle 629 is fixed (initial position);

[0092] Step (2): The dispensing needle connecting arm 635 and the rotating arm 607 move in tandem to move the dispensing needle 636 to a predetermined position to lay the glue liquid on the platform 500, forming a base layer;

[0093] Step (3): The fiber output needle 629 performs a translational movement on the plane of the formed base layer, and the wire feeding device moves synchronously, and then lays the fiber to a specified position;

[0094] Step (4), the platform 500 descends, the wire feeding device moves synchronously, the position of the fiber output needle 629 is fixed or the X-axis linear module 200 and the Y-axis linear module 300 move in coordination to move the fiber output needle 629 to another position;

[0095] In step (5), while the platform 500 descends, the dispensing needle connecting arm 635 and the rotating arm 607 are linked to move the dispensing needle 636, and the dispensing needle 636 prints the glue, and the glue is stacked layer by layer around the fiber.

[0096] When the fiber output needle 629 outputs the fiber, it is coated by the glue surrounding it.

[0097] The working switching of the fiber output needle 629 and the dispensing needle 636 is realized by the pneumatic-electric slip ring in cooperation with the electric control. The pneumatic-electric slip ring can effectively avoid problems such as signal interruption and gas path blockage during the rotation process, and provides a reliable guarantee for the stable operation of the entire multi-material printing system.

[0098] During the 3D printing process of the above 3D printing device, the trajectories of the fiber output needle 629 and the dispensing needle 636 can be set as follows to achieve collaborative operation:

[0099] Step 1, the fiber output needle 629 moves to the initial point position (eg, X=10, Y=10, Z=0.2 mm).

[0100] Step 2, the fiber output needle 629 moves in the XY plane according to a predetermined track to form fibers wrapped with glue on the platform (for example, distributed in a curve or a spiral line). At this stage, the glue dispensing needle 636 is in a standby state and does not work.

[0101] Step 3, make the dispensing needle 636 located at the origin of its motion trajectory.

[0102] The origin of the motion trajectory of the fiber output needle 629 is (x0, y0, z0), and at this point the original coordinates of the dispensing needle 636 can be calculated in combination with the mechanical structure;

[0103] Then, as needed, a point close to the origin (x0, y0, z0) is set as the origin (x1, y1, z1) of the motion trajectory of the dispensing needle 636.

[0104] The dispensing needle connecting arm 635 is rotated so that the dispensing needle 636 is displaced to the origin (x1, y1, z1). The origin (x1, y1, z1) is the origin of the predetermined trajectory of the dispensing needle 636.

[0105] Step 4, through the pneumatic-electric slip ring switching, the dispensing needle 636 is made to work and output glue, and the fiber output needle 629 is made to stop working.

[0106] Step 5: Move the dispensing needle 636 in the XY plane along a predetermined trajectory and output glue.

[0107] After printing one layer according to the above steps, the platform moves downward by a certain height.

[0108] Regarding the fiber output needle 629 and the dispensing needle 636, in the Cartesian three-dimensional absolute coordinate system, the coordinates of the fiber output needle 629 are (x0, y0, z0), and the coordinates of the dispensing needle 636 are (x1, y1, z1). When the coordinates of the dispensing needle 636, (x1, y1, z1), are used as the origin of the coordinate system, the coordinates of the fiber output needle 629 are converted according to the following formula.

[0109] (x1’, y1’, z1’) = (x1 = x0, y1 - y0, z1 - z0).

Claims

1. A 3D printing device with a dispensing needle capable of unrestricted 360° rotation, comprising a support frame, an X-axis linear module, a Y-axis linear module, a Z-axis linear module, a platform and a print head. The X-axis linear module is used to move the print head in the X-axis direction, the Y-axis linear module is used to move the print head in the Y-axis direction, and the Z-axis linear module is used to move the platform in the Z-axis direction; characterized in that: The print head includes a vertical support plate, a fixing plate, a wire feeding device connecting plate, a rotating cylinder connecting plate, an air-electric slip ring bracket, a rotating arm, a wire feeding device, a rotating arm rotation driving motor, an air-electric slip ring, a pipeline, a pipeline fixing plate, an outer cylinder, a connecting sleeve, an upper bearing, a lower bearing, a driving gear, a driven gear, a fiber output needle, a dispensing needle connecting arm rotation driving motor, a small synchronous pulley, a synchronous belt, a large synchronous pulley, a dispensing needle connecting arm, a dispensing needle, a rotating hollow shaft, a rubber tube and a rubber injection cylinder. The fixing plate is fixedly connected to the vertical support plate, the wire feeding device connecting plate is fixedly connected to the vertical support plate, the rotating cylinder connecting plate is fixedly connected to the vertical support plate, the air-electric slip ring bracket is fixedly connected to the vertical support plate, the wire feeding device is connected to the wire feeding device connecting plate, and the rotating arm rotation driving motor is connected to the rotating cylinder connecting plate; The air-electric slip ring includes a fixed part and a rotating part. An air output joint is connected to the rotating part, and an air input joint is connected to the fixed part. The fixed part of the air-electric slip ring is fixedly connected to the air-electric slip ring bracket. The pipeline fixing plate is fixedly connected to the vertical support plate. The upper end of the pipeline is fixedly connected to the pipeline fixing plate. The air-electric slip ring is provided with an axial central through hole, and the pipeline passes through the axial central through hole of the air-electric slip ring. The middle part of the outer cylinder is rotatably connected to the rotating cylinder connecting plate through an upper bearing. The upper end of the outer cylinder is connected to the rotating part of the air-electric slip ring through a connecting sleeve. The lower end of the outer cylinder is rotatably connected to the lower part of the pipeline through a lower bearing. The pipeline passes through the outer cylinder; The rotating arm is fixedly connected to the outer cylinder. The driving gear is connected to the output shaft of the rotating arm rotation driving motor. The driven gear is fixedly connected to the outer cylinder. The driven gear meshes with the driving gear. The fiber output needle is connected to the lower end of the pipeline through a joint; The dispensing needle connecting arm rotation driving motor is connected to the rotating arm. The small synchronous pulley is connected to the output shaft of the dispensing needle connecting arm rotation driving motor. The synchronous belt is connected between the small synchronous pulley and the large synchronous pulley. The rotating hollow shaft is rotatably connected to the rotating arm through a bearing. The large synchronous pulley is fixedly connected to the rotating hollow shaft. The dispensing needle connecting arm is fixedly connected to the rotating hollow shaft. The dispensing needle is connected to the dispensing needle connecting arm. The output end of the rubber injection cylinder is connected to the upper end of the rotating hollow shaft. The rubber tube passes through the rotating hollow shaft and is led out from the lower end of the rotating hollow shaft. One end of the rubber tube is connected to the output port of the rubber injection cylinder, and the other end of the rubber tube is connected to the dispensing needle.

2. The 3D printing device with a dispensing needle capable of rotating 360° without limitation according to claim 1, wherein The fiber output needle is provided with a central through hole for outputting fibers, a side conduit and a circular channel. The side conduit is communicated with the circular channel. The circular channel is located outside the central through hole.

3. The 3D printing device with a dispensing needle capable of unrestricted 360° rotation according to claim 1, characterized in that, One side of the lower part of the outer cylinder is provided with a wire inlet, and the other side is provided with an air pipe inlet; the upper part of the outer cylinder is provided with an outlet; the connecting sleeve is provided with an opening.

4. The 3D printing device with a dispensing needle capable of rotating 360° without limitation according to claim 1, wherein The 3D printing device further includes a feeding tray, and the feeding tray is connected to the wire feeding device connecting plate.

5. The 3D printing device with a dispensing needle capable of rotating 360° without limitation according to claim 1, wherein The 3D printing device further includes a damping mechanism, and the damping mechanism is connected to the feeding tray.

6. A print head, characterized in that, It includes a vertical support plate, a fixing plate, a wire feeding device connecting plate, a rotating cylinder connecting plate, a gas-electric slip ring bracket, a rotating arm, a rotating arm rotation driving motor, a gas-electric slip ring, a pipeline, a pipeline fixing plate, an outer cylinder, a connecting sleeve, an upper bearing, a lower bearing, a driving gear, a driven gear, a fiber output needle, a dispensing needle connecting arm, a dispensing needle connecting arm rotation driving mechanism, a dispensing needle and a glue conveying pipeline; The fixing plate is fixedly connected to the vertical support plate, the wire feeding device connecting plate is fixedly connected to the vertical support plate, the rotating cylinder connecting plate is fixedly connected to the vertical support plate, the gas-electric slip ring bracket is fixedly connected to the vertical support plate, and the rotating arm rotation driving motor is connected to the rotating cylinder connecting plate; the gas-electric slip ring includes a fixed part and a rotating part, an air output joint is connected to the rotating part, and an air input joint is connected to the fixed part. The fixed part of the gas-electric slip ring is fixedly connected to the gas-electric slip ring bracket, the pipeline fixing plate is fixedly connected to the vertical support plate, the upper end of the pipeline is fixedly connected to the pipeline fixing plate, the gas-electric slip ring is provided with an axial central through hole, the pipeline passes through the axial central through hole of the gas-electric slip ring, the middle part of the outer cylinder is rotationally connected to the rotating cylinder connecting plate through the upper bearing, the upper end of the outer cylinder is connected to the rotating part of the gas-electric slip ring through the connecting sleeve, the lower end of the outer cylinder is rotationally connected to the lower part of the pipeline through the lower bearing, and the pipeline passes through the outer cylinder; the rotating arm is fixedly connected to the outer cylinder, the driving gear is connected to the output shaft of the rotating arm rotation driving motor, the driven gear is fixedly connected to the outer cylinder, the driven gear meshes with the driving gear, and the fiber output needle is connected to the lower end of the pipeline through a joint; The dispensing needle is connected to the dispensing needle connecting arm, the dispensing needle connecting arm is rotationally connected to the rotating arm, and the dispensing needle connecting arm rotation driving mechanism is used to drive the dispensing needle connecting arm to rotate, and the glue conveying pipeline is connected to the dispensing needle.

7. The print head according to claim 6, characterized in that, The dispensing needle connecting arm rotation driving mechanism includes a dispensing needle connecting arm rotation driving motor, a small synchronous pulley, a synchronous belt, a large synchronous pulley and a rotating hollow shaft. The dispensing needle connecting arm rotation driving motor is connected to the rotating arm, the small synchronous pulley is connected to the output shaft of the dispensing needle connecting arm rotation driving motor, the synchronous belt is connected between the small synchronous pulley and the large synchronous pulley, the rotating hollow shaft is rotationally connected to the rotating arm through a bearing, the large synchronous pulley is fixedly connected to the rotating hollow shaft, the dispensing needle connecting arm is fixedly connected to the rotating hollow shaft, a glue injection cylinder is connected to the upper end of the rotating hollow shaft, the glue conveying pipeline includes a glue pipe, the glue pipe passes through the rotating hollow shaft, the glue pipe is led out from the lower end of the rotating hollow shaft, one end of the glue pipe is connected to the output port of the glue injection cylinder, and the other end of the glue pipe is connected to the dispensing needle.

8. The print head according to claim 6 or 7, characterized in that, The fiber output needle is provided with a central through hole for outputting fibers, a side conduit and a circular channel. The side conduit is communicated with the circular channel, and the circular channel is located on the periphery of the central through hole.

9. The print head according to claim 6 or 7, characterized in that, One side of the lower part of the outer cylinder is provided with a wire inlet, and the other side is provided with an air pipe inlet; an outlet is provided at the upper part of the outer cylinder; the connecting sleeve is provided with an opening.

10. The print head according to claim 6 or 7, characterized in that, The print head further includes a wire feeding device, and the wire feeding device is connected to a wire feeding device connecting plate.

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