Method and device capable of achieving automatic switching of multiple nozzles of 3D printing equipment

Abstract

The invention discloses a method and device capable of achieving automatic switching of multiple sprayers of 3D printing equipment, the device comprises a sprayer mounting base, a supporting frame and a printing walking mechanism, two clamping base discs are arranged on one side edge face of the supporting frame, the clamping base discs are provided with columnar bodies which can be mounted on different sprayers in a pluggable mode, and the lower side of the sprayer mounting base is connected with a motor; a columnar arm is arranged on the side face of the motor and can be mounted on different spray heads in a pluggable mode, rotatable chucks are arranged on the sides, facing the motor, of the different spray heads, special-shaped holes are formed in the surfaces of the chucks, special-shaped heads are arranged at the output end of the motor and matched with the special-shaped holes, and the motor can drive the chucks to rotate. And the spray head is pulled out of the clamping seat disc through the motor. According to the multi-process 3D printing device, the nozzles can be automatically taken and used in the 3D printing process, the stability of the nozzles is guaranteed, the burden of a movement mechanism is relieved, the number and types of the 3D printing nozzles are not limited, and multi-process 3D printing is achieved.

Description

Technical Field

[0001] The present invention relates to the field of additive manufacturing, and in particular to a method and device for realizing automatic switching of multiple nozzles of a 3D printing device. Background Art

[0002] 3D printing technology is currently a buzzword, dominating the market with its unique printing and manufacturing capabilities. Direct ink writing (DIW) and fused deposition modeling (FDM) are popular desktop 3D printing technologies, with a wide range of applications. However, with the increasing demand for customized parts, the same part often requires multiple processes and materials to manufacture.

[0003] DIW is an additive manufacturing process that builds three-dimensional structures layer by layer by precisely extruding a viscoelastic "ink" through a nozzle. The printed structure is then cured by solvent evaporation, UV curing, heating, or chemical cross-linking.

[0004] FDM is currently the most popular and lowest-cost 3D printing technology, which builds objects by heating and melting thermoplastic filaments and stacking them layer by layer.

[0005] At present, there is a method of changing the printing process to achieve multi-process printing, but the shutdown switching printing process is only suitable for some simple composite structures, and this shutdown switching printing will cause precision errors. There is also a method of using structures such as robotic arms to achieve non-stop composite printing of DIW technology and DLP technology, but this method makes the entire printer structure too large, and this method cannot combine DIW technology and FDM technology for multi-process printing. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention provides a method and device for automatically switching multiple nozzles in a 3D printing device, specifically a multi-process 3D printer that uses both DIW and FDM processes.

[0007] A device capable of automatically switching multiple nozzles of a 3D printing device includes a nozzle mounting base, a support frame, and a printing travel mechanism. The printing travel mechanism is arranged on the upper side of the support frame and has an X-axis slide bar and a Y-axis slide bar arranged horizontally and perpendicular to each other. The printing travel mechanism is used to drive the X-axis slide bar and the Y-axis slide bar to move along the Y-axis and the X-axis respectively. The nozzle mounting base is installed at the intersection of the X-axis slide bar and the Y-axis slide bar and can slide along the X-axis slide bar and the Y-axis slide bar. Two card holders are provided on one side edge surface of the support frame, and a columnar body perpendicular to the side edge surface is provided on the side of the card holder disc facing the inside of the support frame. Both the DIW nozzle and the FDM nozzle are equipped with horizontal tubes that are symmetrical on both sides. The horizontal tubes are perpendicular to the card base. A rotating shaft is provided between the left and right horizontal tubes. One end of the rotating shaft is rotatably connected to the side of the DIW nozzle and the FDM nozzle that faces away from the card base, and the other end is connected to the chuck. The distance between the chuck and the card base is greater than the distance between the end of the horizontal tube away from the card base and the card base. A special-shaped hole is provided in the center of the side of the chuck facing away from the card base, and an arc-shaped notch is provided on the edge of the chuck. The chuck can be rotated so that the arc-shaped notch does not block the horizontal tube and blocks the horizontal tube. The lower side of the nozzle mounting seat is connected to a motor, the output end of the motor faces the side edge surface and is fixed with a special head adapted to the inner circumference of the special-shaped hole, and a columnar arm is provided on the side of the motor facing the side edge surface. The columnar arm is perpendicular to the side edge surface, the first end of the columnar arm is away from the motor, and an annular groove is cut between the first end of the columnar arm and the other end of the columnar arm; The number of columns and columnar arms on each cassette disk is greater than 1. The horizontal tubes of the DIW nozzle and the FDM nozzle can be detachably embedded in the columns on the two cassette disks. The columnar arms of the motor can be detachably embedded in the horizontal tubes. The length of the horizontal tube is not less than the sum of the length of the columnar body and the length from the first end of the columnar arm to the annular groove. When the special-shaped head at the output end of the motor is embedded in the special-shaped hole of the chuck and the chuck is rotated, the chuck can be embedded in the annular groove.

[0008] Furthermore, the columnar body is loosely matched with the inner circumference of the horizontal tube, and a marble that can be popped out and pressed in is provided on the surface of the columnar body. A spherical countersunk head is provided on the inner circumference of the horizontal tube. When the columnar body is embedded in the horizontal tube, the marble slides to align with the spherical countersunk head.

[0009] The columnar body is a hollow tube with a radial opening on it. The size of the radial opening is smaller than the diameter of the marble. A guide rod and a spring outside the guide rod are loaded inside the columnar body. The guide rod passes through the radial opening to connect the marble. The free length of the spring is greater than the inner diameter of the columnar body. The spring is used to make the marble pop out of the radial opening.

[0010] Furthermore, the columnar arm is clearance-matched with the horizontal tube.

[0011] Furthermore, the horizontal tubes of the DIW nozzle and the FDM nozzle are wrapped in a hollow shell, and one end of the horizontal tube facing the chuck plate extends to the first end face of the shell, and the end of the horizontal tube facing the support frame is spaced apart from the second end face of the shell. The first end face and the second end face of the shell are parallel to each other, and a circular hole is provided in the center of the second end face, and the diameter of the circular hole is larger than the diameter of the special-shaped hole of the chuck.

[0012] Furthermore, the chuck is rotatably connected to the second end surface.

[0013] Furthermore, the distances between the chucks of the DIW nozzle and the FDM nozzle and the end of the horizontal tube facing the chuck plate are equal.

[0014] Furthermore, it also includes a lifting platform, and a lifting device is provided in the support frame for controlling the lifting of the lifting platform.

[0015] A method for realizing automatic switching of multiple nozzles of a 3D printing device is disclosed. Using the device, a DIW nozzle or FDM nozzle mounted on a motor is mounted on a cassette plate, and the DIW nozzle or FDM nozzle mounted on the cassette plate is mounted on the motor according to the following steps: Step S1: The printing mechanism moves the nozzle mounting base to align the horizontal tube of the DIW nozzle or FDM nozzle mounted on the motor with the corresponding column on the unloaded cassette plate. Then, the DIW nozzle or FDM nozzle mounted on the motor moves toward the cassette plate and brings it closer, so that all the columns on the unloaded cassette plate are embedded in the corresponding horizontal tubes on the DIW nozzle or FDM nozzle, and the marbles on the columns slide into the spherical countersunk heads in the horizontal tubes. Step S2: Rotate the motor's shaped head to move the chuck on the mounted DIW nozzle or FDM nozzle so that the arc-shaped notch of the chuck moves out of the annular groove on the cylindrical arm. The print travel mechanism moves the nozzle mounting base so that the motor moves away from the DIW nozzle or FDM nozzle installed on the chuck plate in step S1. Step S3: The printing mechanism moves the nozzle mounting base to align all the columnar arms on the unloaded motor in step S2 with the horizontal tubes corresponding to the DIW nozzle or FDM nozzle mounted on another cassette plate, and then moves the motor toward the DIW nozzle or FDM nozzle mounted on the cassette plate and brings it closer, so that the special-shaped head on the motor fits into the special-shaped hole in the chuck of the DIW nozzle or FDM nozzle mounted on the cassette plate; Step S4: rotating the special-shaped head of the motor, and moving the chuck of the DIW nozzle or FDM nozzle mounted on the chuck plate, so that the arc-shaped notch of the chuck fits into the annular groove on the cylindrical arm of the motor; Step S5: running the printing travel mechanism to pull the DIW nozzle or FDM nozzle mounted on the motor in step S4 out of the chuck plate; Step S6: Adjust the height of the lifting platform according to the lifting value, where the lifting value is the difference between the length of the DIW nozzle or FDM nozzle mounted on the motor in step S1 and the length of the DIW nozzle or FDM nozzle mounted on the motor in step S5. If the difference is negative, the height of the lifting platform is lowered according to the difference; if the difference is positive, the height of the lifting platform is raised according to the difference. The length of the DIW nozzle or FDM nozzle is the distance from the center of the chuck to the plane of the nozzle outlet, and the plane of the nozzle outlet is the bottom surface of the DIW nozzle or FDM nozzle.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1) It can print all-in-one structures, using FDM technology to print rigid materials and DIW technology to print flexible materials, and avoid collision problems caused by material filling.

[0017] 2) A motor is used to connect the DIW print head or FDM print head to achieve free switching between the DIW print head and FDM print head without stopping the machine. Each time printing, only the required DIW print head or FDM print head needs to be locked, and the rest are mounted on the card base, which reduces the weight of the motion mechanism, reduces the motion inertia, and improves the printing accuracy.

[0018] 3) By raising and lowering the lifting platform, the height difference between the lifting platform and the DIW or FDM nozzle is kept consistent before and after switching the DIW or FDM nozzle. In this way, the printing mechanism only needs to translate the nozzle mounting base within the support frame, and there is no need to adjust the height of the DIW or FDM nozzle.

[0019] 4) The six-axis platform mechanism can be used for deflection without dead angles, which enables support-free printing and printing of complex surfaces and structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 An assembly diagram of a 3D printing device capable of switching 3D printing nozzles; Figure 2 To print the walking mechanism assembly drawing; Figure 3 This is a schematic diagram of the DIW nozzle fixed on the cassette plate; Figure 4 This is a half-section diagram of the DIW nozzle fixed on the cassette plate; Figure 5 This is a 1 / 4 cross-sectional diagram of the DIW nozzle fixed on the cylindrical arm; Figure 6 Schematic diagram of the DIW nozzle fixed on the cylindrical arm; Figure 7 This is a 1 / 4 cross-sectional diagram of the FDM nozzle fixed on the cylindrical arm; Figure 8 This is a half-section diagram of the FDM printhead fixed on the card base plate; Figure 9 Schematic diagram of the structure of the chuck; Figure 10 Structural diagram of the six-axis platform mechanism.

[0021] 1-made frame; 2-printing travel mechanism; 201a-X-axis slide; 201b-Y-axis slide; 202a-X-axis lead screw; 202b-Y-axis lead screw; 203a-X-axis slider; 203b-Y-axis slider; 204-lifting lead screw; 205-stepping motor; 206-lifting platform; 207a-X-axis guide rod; 207b- Y-axis guide rod; 208-guide rod; 3-nozzle mounting base; 4-six-axis platform mechanism; 401-driving electric cylinder; 402-telescopic rod; 403-top plate; 404-bottom plate; 405-joint seat; 406-spherical joint; 5-cage plate; 51-column; 52-elastic strain; 6-housing; 61-arc-shaped notch; 62-chuck; 63-horizontal tube; 64-special-shaped hole; 65-round hole; 66-rotating shaft; 67-spherical countersunk head; 68-guide rod; 69-spring; 7-DIW nozzle; 71-nozzle; 8-FDM nozzle; 9-motor; 91a-first end of the columnar arm; 91-columnar arm; 92-special-shaped head; 93-annular groove. DETAILED DESCRIPTION

[0022] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the drawings only show portions relevant to the present invention, not all of them.

[0023] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[0025] like Figure 1 and Figure 2 As shown, a device for automatically switching multiple nozzles of a 3D printing device is shown, comprising a nozzle mounting seat 3, a support frame 1, and a printing travel mechanism 2. The printing travel mechanism 2 is arranged on the upper side of the support frame 1 and has an X-axis slide bar 201a and a Y-axis slide bar 201b arranged horizontally and perpendicular to each other. The printing travel mechanism is used to drive the X-axis slide bar 201a and the Y-axis slide bar 201b to move along the Y-axis and the X-axis respectively. The nozzle mounting seat 3 is installed at the intersection of the X-axis slide bar 201a and the Y-axis slide bar 201b and can slide along the X-axis slide bar 201a and the Y-axis slide bar 201b. The printing travel mechanism 2 comprises a pair of X-axis lead screws 202a, a pair of Y-axis lead screws 202b, a pair of X-axis guide rods 207a, a pair of Y-axis guide rods 207b, a pair of X-axis lead screws 202a, a pair of Y-axis lead screws 202 b is distributed in a rectangular shape and is installed on the upper side of the support frame 1, a pair of X-axis guide rods 207a and a pair of Y-axis guide rods 207b are also distributed in a rectangular shape and are installed on the upper side of the support frame 1, and the two ends of the X-axis slide rod 201a are respectively connected to the Y-axis slider 203b, each Y-axis slider 203b is slidingly connected to the Y-axis guide rod 207b on the first side edge of the support frame 1 and is threadedly connected to the Y-axis lead screw 202b, each X-axis slider 203a is slidingly connected to the X-axis guide rod 207a on the first edge of the support frame 1 and is threadedly connected to the X-axis lead screw 202a, and two stepping motors 205 are provided on the support frame 1, which respectively drive an X-axis lead screw 202a and a Y-axis lead screw 202b to rotate through belts, so that the nozzle mounting base 3 can be translated to any point in the rectangular plane on the upper side of the support frame 1.

[0026] The 3D printing device also includes a lifting platform 206, which is threadedly connected to a vertically arranged lifting screw 204 on one side of the lifting platform 206 close to the first side edge of the support frame 1, and is also slidably connected to a vertically arranged guide rod 208. The lifting screw 204 and the guide rod 208 are set on the first side edge of the support frame 1, and the lifting screw 204 can rotate.

[0027] like Figure 1 and Figure 3 The second side edge of the support frame 1 is provided with two card base plates 5, and the side of the card base plates 5 facing the inside of the support frame 1 is provided with four columns 51 perpendicular to the second side edge. The second side edge and the first side edge of the support frame 1 are opposite to each other.

[0028] like Figures 3 to 9As shown, the DIW nozzle 7 or the FDM nozzle 8 is provided with horizontal tubes 63 that are symmetrical on both sides. There are four horizontal tubes 63, which are perpendicular to the card base plate 5. A rotating shaft 66 is provided between the left and right horizontal tubes 63. One end of the rotating shaft 66 is rotatably connected to the side of the DIW nozzle 7 or the FDM nozzle 8 facing away from the card base plate 5, and the other end is connected to the chuck 62. The distance between the chuck 62 and the card base plate 5 on the support frame 1 is greater than the distance between the end of the horizontal tube 63 away from the card base plate 5 and the card base plate 5 on the support frame 1. A special-shaped hole 64 is centrally provided on the side of the chuck 62 facing away from the card base plate 5. An arc-shaped notch 61 is provided on the edge of the chuck 62. The chuck 62 can be rotated to a position where the arc-shaped notch 61 does not block the horizontal tube 63 and blocks the horizontal tube 63. The lower side of the nozzle mounting base 3 is connected to the motor 9. The output end 92 of the motor 9 faces the first side edge surface and is fixed with a special-shaped head 92 adapted to the inner circumference contour of the special-shaped hole 64. A columnar arm 91 is provided on the side of the motor 9 facing the first side edge surface. The columnar arm 91 is perpendicular to the first side edge surface. The first end 91a of the columnar arm 91 is away from the motor 9. An annular groove 93 is cut between the first end 91a of the columnar arm 91 and the other end of the columnar arm 92. The number of columns 51 and the number of columnar arms 91 on each cassette disk 5 are both 4. The horizontal tubes 63 of the DIW nozzle 7 and the FDM nozzle 8 can be detachably inserted into the columns 51 on the two cassette disks 5, and the columnar body 51 and the inner periphery of the horizontal tube 63 are gap-matched. The columnar arm 91 of the motor 9 can be detachably embedded in the horizontal tube 63, and the columnar arm 91 and the horizontal tube 63 are gap-matched. The length of the horizontal tube 63 is not less than the sum of the length of the columnar body 51 and the length from the first end 91a of the columnar arm 91 to the annular groove 93. The special-shaped head 92 at the output end of the motor 9 is embedded in the special-shaped hole 64 of the chuck 62 and when the chuck 62 is rotated, the chuck 62 can be embedded in the annular groove 93.

[0029] The distances between the chucks 62 of the DIW nozzle 7 and the FDM nozzle 8 and the end of the horizontal tube 63 facing the chuck plate 5 are equal.

[0030] like Figure 3 、 Figure 4 、 Figure 8 As shown, the surface of the columnar body 51 is provided with a marble 52 that can be ejected and pressed in, and the inner periphery of the horizontal tube 63 is provided with a spherical countersunk head 67. When the columnar body 51 is embedded in the horizontal tube 63, the marble 52 slides to align with the spherical countersunk head 67.

[0031] As a way to enable the marble 52 to pop out and be pressed into the surface of the columnar body 51, the columnar body 51 is a hollow tube with a radial opening provided on it. The size of the radial opening is smaller than the diameter of the marble 52. The columnar body 51 is loaded with a guide rod 68 and a spring 69 outside the guide rod 68. The guide rod 68 passes through the radial opening to connect to the marble 52. The free length of the spring 69 is greater than the inner diameter of the columnar body 51. The spring 69 is used to make the marble 52 pop out of the radial opening.

[0032] like Figure 3 and Figure 6 As shown, the horizontal tube 63 of the DIW nozzle 7 and the FDM nozzle 8 is wrapped in the hollow shell 6, and the horizontal tube 63 extends to the first end face of the shell 6 toward the chuck plate 5, and the end of the horizontal tube 63 toward the support frame 1 is spaced apart from the second end face of the shell 6. The first end face and the second end face of the shell 6 are parallel to each other, and a circular hole 65 is provided in the center of the second end face, and the diameter of the circular hole 65 is larger than the diameter of the special-shaped hole 64 of the chuck 62.

[0033] As an alternative solution to realize the rotatable chuck, the chuck 62 is rotatably connected to the second end surface.

[0034] like Figure 10 As shown, a six-axis platform mechanism 4 is fixed to the lifting platform 206 of the 3D printing device. The six-axis platform mechanism 4 comprises a base plate 404 and a top plate 403. A telescopic rod 402 driven by a drive cylinder 401 is positioned between the base plate 404 and the top plate 403. The drive cylinder 401 is rotatably connected to a joint seat 405 on the upper side of the base plate 404 via a spherical joint 406. The upper end of the telescopic rod 402 is rotatably connected to a joint seat on the lower side of the top plate 403 via a spherical joint. Three joint seats are provided on each base plate 404 and the top plate 403, forming a triangular arrangement. The joint seats on the base plate 404 and the top plate 403 are offset by 60 degrees. Each joint seat is equipped with a pair of spherical joints that connect the telescopic rod 402 of the drive cylinder 401. A triangular truss is arranged between the joint seats on the base plate 404 and the top plate 403. The six-axis platform mechanism allows for seamless deflection, enabling support-free printing and printing complex curved surfaces and structures.

[0035] A method for realizing automatic switching of multiple nozzles of 3D printing equipment using Figures 1 to 9 In the multi-nozzle automatic switching device, the DIW nozzle 7 or FDM nozzle 8 mounted on the motor 9 is mounted on the cassette plate 5, and the DIW nozzle 7 or FDM nozzle 8 mounted on the cassette plate 5 is mounted on the motor 9 according to the following steps: Step S1: The printing travel mechanism 2 moves the nozzle mounting base 3 to align the horizontal tube 63 of the DIW nozzle head 7 or FDM nozzle head 8 mounted on the motor 9 with the corresponding column 51 on the unloaded cassette plate 5. Then, the DIW nozzle head 7 or FDM nozzle head 8 mounted on the motor 9 moves toward the cassette plate 5 and brings it closer, so that all the columns 51 on the unloaded cassette plate 5 are embedded in the corresponding horizontal tubes 63 on the DIW nozzle head 7 or FDM nozzle head 8, and the marbles 52 on the columns 51 slide into the spherical countersunk heads 67 in the horizontal tubes 63. Step S2: Rotate the special-shaped head 92 of the motor 9 to move the chuck 62 on the mounted DIW printhead 7 or FDM printhead 8, so that the arc-shaped notch 61 of the chuck 62 moves out of the annular groove 93 on the columnar arm 91. The printing travel mechanism 2 moves the printhead mounting base 3, so that the motor 9 is away from the DIW printhead 7 or FDM printhead 8 installed on the chuck plate 5 in step S1. Step S3: The printing travel mechanism 2 moves the nozzle mounting base 3 to align all the columnar arms 91 on the unloaded motor 9 in step S2 with the horizontal tube 63 corresponding to the DIW nozzle head 7 or FDM nozzle head 8 mounted on another cassette plate 5, and then moves the motor 9 toward the DIW nozzle head 7 or FDM nozzle head 8 mounted on the cassette plate 5 and approaches it, so that the special-shaped head 92 on the motor 9 is inserted into the special-shaped hole 64 in the chuck 62 of the DIW nozzle head 7 or FDM nozzle head 8 mounted on the cassette plate 5; Step S4: Rotate the special-shaped head 92 of the motor 9 to move the chuck 62 of the DIW nozzle 7 or FDM nozzle 8 mounted on the chuck plate 5 so that the arc-shaped notch 61 of the chuck 62 fits into the annular groove 93 on the columnar arm 91 of the motor 9; Step S5: operating the printing travel mechanism 2 to pull the DIW nozzle 7 or FDM nozzle 8 mounted on the motor 9 in step S4 out of the chuck plate 5; Step S6: Adjust the height of the lifting platform 206 according to the lift value. The lift value is the difference between the length of the DIW nozzle 7 or FDM nozzle 8 mounted on the motor 9 in step S1 and the length of the DIW nozzle 7 or FDM nozzle 8 mounted on the motor 9 in step S5. If the difference is negative, the height of the lifting platform 206 is lowered by the difference. If the difference is positive, the height of the lifting platform 206 is raised by the difference. The length of the DIW nozzle 7 or FDM nozzle 8 is the distance from the center of the chuck 62 to the nozzle outlet plane. The nozzle outlet plane is the bottom surface of the DIW nozzle 7 or FDM nozzle 8.

Claims

1. A device for automatically switching multiple nozzles in a 3D printing device, comprising a nozzle mounting base, a support frame, and a printing travel mechanism. The printing travel mechanism is arranged on the upper side of the support frame and has an X-axis slide bar and a Y-axis slide bar arranged horizontally and perpendicular to each other. The printing travel mechanism is used to drive the X-axis slide bar and the Y-axis slide bar to move along the Y-axis and the X-axis respectively. The nozzle mounting base is installed at the intersection of the X-axis slide bar and the Y-axis slide bar and can slide along the X-axis slide bar and the Y-axis slide bar. The device is characterized in that: Two card base plates are provided on one side edge surface of the support frame, and a columnar body perpendicular to the side edge surface is provided on each side of the card base plate facing the inside of the support frame; Both the DIW nozzle and the FDM nozzle are equipped with horizontal tubes that are symmetrical on both sides. The horizontal tubes are perpendicular to the card base. A rotating shaft is provided between the left and right horizontal tubes. One end of the rotating shaft is rotatably connected to the side of the DIW nozzle and the FDM nozzle that faces away from the card base, and the other end is connected to the chuck. The distance between the chuck and the card base is greater than the distance between the end of the horizontal tube away from the card base and the card base. A special-shaped hole is provided in the center of the side of the chuck facing away from the card base, and an arc-shaped notch is provided on the edge of the chuck. The chuck can be rotated so that the arc-shaped notch does not block the horizontal tube and blocks the horizontal tube. The lower side of the nozzle mounting seat is connected to a motor, the output end of the motor faces the side edge surface and is fixed with a special head adapted to the inner circumference of the special-shaped hole, and a columnar arm is provided on the side of the motor facing the side edge surface. The columnar arm is perpendicular to the side edge surface, the first end of the columnar arm is away from the motor, and an annular groove is cut between the first end of the columnar arm and the other end of the columnar arm; The number of columns and columnar arms on each cassette disk is greater than 1. The horizontal tubes of the DIW nozzle and the FDM nozzle can be detachably embedded in the columns on the two cassette disks. The columnar arms of the motor can be detachably embedded in the horizontal tubes. The length of the horizontal tube is not less than the sum of the length of the columnar body and the length from the first end of the columnar arm to the annular groove. When the special-shaped head at the output end of the motor is embedded in the special-shaped hole of the chuck and the chuck is rotated, the chuck can be embedded in the annular groove.

2. The device according to claim 1, characterized in that The columnar body is in clearance fit with the inner circumference of the horizontal tube. A marble that can be popped out and pressed in is provided on the surface of the columnar body. A spherical countersunk head is provided on the inner circumference of the horizontal tube. When the columnar body is embedded in the horizontal tube, the marble slides to align with the spherical countersunk head.

3. The device according to claim 1, characterized in that The columnar arm is clearance-matched with the horizontal tube.

4. The device according to claim 1, characterized in that The horizontal tubes of the DIW nozzle and the FDM nozzle are wrapped in a hollow shell, and one end of the horizontal tube facing the chuck plate extends to the first end face of the shell, and the end of the horizontal tube facing the support frame is spaced apart from the second end face of the shell. The first end face and the second end face of the shell are parallel to each other, and a circular hole is provided in the center of the second end face, and the diameter of the circular hole is larger than the diameter of the special-shaped hole of the chuck.

5. The device according to claim 4, characterized in that The chuck is rotatably connected to the second end surface.

6. The device according to claim 1, characterized in that The chucks of the DIW nozzle and the FDM nozzle are equidistant from one end of the horizontal tube facing the chuck base.

7. The device according to claim 1, characterized in that It also includes a lifting platform, and a lifting device is provided in the supporting frame for controlling the lifting of the lifting platform.

8. A method for realizing automatic switching of multiple nozzles of a 3D printing device, using the device according to claim 7, characterized in that: Follow the steps below to mount the DIW or FDM printhead mounted on the motor onto the chuck plate, and to mount the DIW or FDM printhead mounted on the chuck plate onto the motor: Step S1: The printing mechanism moves the nozzle mounting base to align the horizontal tube of the DIW nozzle or FDM nozzle mounted on the motor with the corresponding column on the unloaded cassette plate. Then, the DIW nozzle or FDM nozzle mounted on the motor moves toward the cassette plate and brings it closer, so that all the columns on the unloaded cassette plate are embedded in the corresponding horizontal tubes on the DIW nozzle or FDM nozzle, and the marbles on the columns slide into the spherical countersunk heads in the horizontal tubes. Step S2: Rotate the motor's shaped head to move the chuck on the mounted DIW nozzle or FDM nozzle so that the arc-shaped notch of the chuck moves out of the annular groove on the cylindrical arm. The print travel mechanism moves the nozzle mounting base so that the motor moves away from the DIW nozzle or FDM nozzle installed on the chuck plate in step S1. Step S3: The printing mechanism moves the nozzle mounting base to align all the columnar arms on the unloaded motor in step S2 with the horizontal tubes corresponding to the DIW nozzle or FDM nozzle mounted on another cassette plate, and then moves the motor toward the DIW nozzle or FDM nozzle mounted on the cassette plate and brings it closer, so that the special-shaped head on the motor fits into the special-shaped hole in the chuck of the DIW nozzle or FDM nozzle mounted on the cassette plate; Step S4: rotating the special-shaped head of the motor, and moving the chuck of the DIW nozzle or FDM nozzle mounted on the chuck plate, so that the arc-shaped notch of the chuck fits into the annular groove on the cylindrical arm of the motor; Step S5: running the printing travel mechanism to pull the DIW nozzle or FDM nozzle mounted on the motor in step S4 out of the chuck plate; Step S6: Adjust the height of the lifting platform according to the lifting value, where the lifting value is the difference between the length of the DIW nozzle or FDM nozzle mounted on the motor in step S1 and the length of the DIW nozzle or FDM nozzle mounted on the motor in step S5. If the difference is negative, lower the height of the lifting platform according to the difference; if the difference is positive, raise the height of the lifting platform according to the difference. The length of the DIW nozzle or FDM nozzle is the distance from the center of the chuck to the plane of the nozzle outlet, and the plane of the nozzle outlet is the bottom surface of the DIW nozzle or FDM nozzle.

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