Printing control method, 3D printing equipment and computer readable storage medium

Abstract

The invention provides a printing control method, 3D printing equipment and a computer readable storage medium, and relates to the field of 3D printing. The method is applied to the 3D printing equipment, the 3D printing equipment comprises a printing head and a nozzle holder, the printing head comprises a printing head base and nozzle assemblies detachably connected with the printing head base, and the method comprises the steps that in response to a replacement signal, after a first nozzle assembly on the printing head base completes a current printing action, the first nozzle assembly on the printing head base is replaced with the nozzle holder; the first nozzle assembly is cooled; the nozzle frame is controlled to detach the cooled first nozzle assembly from the printing head base; a second nozzle assembly on the nozzle holder is mounted to the printhead base.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of 3D printing, and in particular to a printing control method, a 3D printing device and a computer readable storage medium. BACKGROUND

[0002] In practical applications, a multi-color 3D printing device has a prominent problem: when performing a color switching operation, the remaining melted printing consumables in the nozzle must be completely cleaned. This results in the nozzle continuously extruding a certain amount of waste material during each color change process. This process not only causes direct waste of printing materials, but also lengthens the overall printing cycle because the cleaning operation takes a certain amount of time, ultimately resulting in a significant reduction in the printing efficiency of the device. SUMMARY

[0003] Therefore, the present application provides a printing control method, a 3D printing device and a computer readable storage medium, which solve the problem that in the related art, the remaining consumables in the nozzle need to be cleaned every time the color is changed during multi-color printing.

[0004] In a first aspect, an embodiment of the present application provides a printing control method applied to a 3D printing device, the 3D printing device comprising a print head and a nozzle rack, the print head comprising a print head base and a nozzle assembly detachably connected to the print head base, and the method comprising: in response to a replacement signal, cooling the first nozzle assembly on the print head base after the first nozzle assembly completes a current printing action; controlling the nozzle rack to detach the cooled first nozzle assembly from the print head base; installing a second nozzle assembly on the nozzle rack to the print head base.

[0005] In a second aspect, an embodiment of the present application provides a 3D printing device, comprising a print head, a nozzle rack, a processor and a memory. The print head comprises a print head base and a nozzle assembly detachably connected to the print head base. The memory stores programs or instructions running on the processor, and the programs or instructions are executed by the processor to implement the steps of the method of the first aspect.

[0006] In a third aspect, an embodiment of the present application provides a computer readable storage medium, which stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the method of the first aspect.

[0007] The printing control method, the 3D printing device and the computer readable storage medium of the embodiments of the present application respond to the replacement signal, after the first nozzle assembly currently installed on the print head base completes its current printing action, the first nozzle assembly is subjected to cooling treatment, and then is disassembled. After the first nozzle assembly is disassembled from the print head base, the nozzle frame is controlled to install the new nozzle assembly, i.e., the second nozzle assembly, to the print head base.

[0008] The embodiments of the present application can realize automatic replacement of the nozzle assembly, so that when the same color and material consumables are used next time, the nozzle assembly provided with the color and material consumables is used, and it is not necessary to clean the residual consumables in the nozzle every time the consumables are switched, the waste of consumables is reduced, and the printing speed is improved. After the first nozzle assembly on the print head base completes the current printing action, the first nozzle assembly is subjected to cooling, which can ensure solidification of the consumables in the first nozzle assembly, avoid overflow of the molten material, cause adhesion to the nozzle to affect the next printing of the nozzle or cause dripping on the printing platform to affect the model structure, thereby providing stable and reliable conditions for subsequent printing operation, and improving the printing effect.

[0009] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0010] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A structural schematic diagram of a print head of a 3D printing device in an embodiment of the present application is shown; Figure 2 A flowchart of a printing control method in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0011] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0012] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in an "or" relationship.

[0013] The printing control method, 3D printing device and computer readable storage medium provided by the embodiments of the present application will be described in detail below in conjunction with the drawings and specific embodiments and their application scenarios. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0014] The embodiments of the present application provide a printing control method, applied to a 3D printing device, the 3D printing device comprising a print head, a nozzle rack, the print head comprising a print head base and a nozzle assembly detachably connected with the print head base.

[0015] In one embodiment, the 3D printing device further comprises a plurality of cartridges, respectively connected with the print head, and the plurality of cartridges respectively contain consumables of different colors or materials. After the consumables in the cartridge enter the print head, the consumables are melted to form a model on the printing platform of the 3D printing device. It can be understood that the plurality of cartridges can also be integrated together, i.e. a large cartridge is provided with consumables of multiple colors and / or materials.

[0016] In one embodiment, as shown in Figure 1 The nozzle assembly comprises a nozzle 101, a heated part 102, a heat dissipation block 103 and an electric control assembly (not shown in the figure). The nozzle 101 is connected with the heated part 102. The nozzle 101 and the heated part 102 can be integrally formed or connected separately. The heated part 102 is used to heat and melt the consumables therein, and the consumables in the molten state can be sprayed out of the nozzle 101 for printing. In one embodiment, the heated part 102 can be contact heating or remote induction heating, such as electromagnetic induction heating, or resistance heating. Correspondingly, the print head base comprises an active heating part, which is used for contact heating or remote heating of the heated part 102.

[0017] The heat dissipation block 103 is connected with or adjacent to the heated part 102. The heat dissipation block 103 can be connected with the heated part 102 through a throat pipe. The heat dissipation block 103 is used to dissipate heat of the throat pipe or consumables in the heat dissipation block 103, so as to prevent the consumables of the heated part 102 from melting or melting too much, thereby avoiding clogging.

[0018] The electric control assembly includes a first temperature sensor, a second temperature sensor, an electric energy receiving device, a signal transmission device and a storage device. The first temperature sensor is used to sense the temperature of the nozzle 101, and the second temperature sensor is used to sense the temperature of the heated part 102. The electric energy receiving device is used to wirelessly inductively receive electric energy, so as to supply power to other devices on the electric control assembly. The signal transmission device is used to transmit the temperature sensed by the temperature sensor to the processor of the 3D printing device, so as to control the heating power of the active heating part of the print head base to adjust the temperature of the heated part 102. The signal transmission device is also used to obtain the consumable information such as the color and material of the consumables, the component identification such as the ID, number and model of the nozzle assembly, and the station information, and send the consumable information, component identification and station information to the processor of the 3D printing device, so as to identify the consumables and nozzle assembly. The nozzle assembly is integrated with the functions of heating, heat dissipation, temperature detection and control, and wireless communication. It can be understood that the first temperature sensor can be omitted, and the 3D printing device can also adjust the heating power of the active heating part according to the temperature sensed by the second temperature sensor.

[0019] In one embodiment, the print head further includes a fan assembly, that is, the fan assembly is arranged on the print head, and the fan assembly blows air to the nozzle assembly mounted on the print head base, so as to cool the nozzle assembly. Alternatively, the 3D printing device further includes a fan assembly arranged on the rack of the 3D printing device, and the fan assembly blows air to the nozzle assembly mounted on the print head base or the nozzle assembly placed on the nozzle rack, so as to cool the nozzle assembly. When the fan assembly is started, the fan will generate a directional air flow, and the air flow will quickly flow through the surface of the first nozzle assembly, and the heat on the first nozzle assembly will be taken away by heat convection. Alternatively, the fan assembly is used to cool the model below the nozzle assembly on the print head base, so as to quickly solidify the model.

[0020] In one embodiment, the 3D printing device further includes a cleaning assembly arranged on the rack of the 3D printing device. The cleaning assembly includes a cleaning head, which is a brush, a metal sheet, silica gel or foam, etc. The cleaning head is in contact with the discharge port of the nozzle of the nozzle assembly, so as to clean the nozzle. In one embodiment, the cleaning head is covered with a consumable dissolving layer, which is used to dissolve the consumables at the discharge port of the nozzle, thereby improving the cleaning effect of the nozzle.

[0021] In one embodiment, asFigure 1 As shown, the print head further comprises a pushing assembly 104 for pushing and retracting the consumables.

[0022] In one embodiment, as shown, Figure 1 As shown, the print head further comprises a cutting device 105, such as a cutter, for cutting the consumables in the print head.

[0023] In one embodiment, the 3D printing device further comprises a locking structure arranged on the frame of the 3D printing device, the locking structure being used for unlocking or locking the nozzle assembly on the print head base. When the nozzle assembly is unlocked, the nozzle assembly on the print head assembly can be disassembled under the action of an external force; when the nozzle assembly is locked, the nozzle assembly cannot be disassembled without damaging the structure of the print head assembly. In some embodiments, the print head can not be provided with the cutting device 105, but the consumables can be cut at the same time when the locking structure unlocks the nozzle assembly. Or the cutting device 105 can also be provided to achieve the unlocking of the nozzle assembly at the same time, so that the position of the cutting device 105 changes to cut the consumables.

[0024] In one embodiment, the nozzle rack is used to place a plurality of nozzle assemblies, and the nozzle rack comprises a disassembly structure for disassembling the unlocked nozzle assembly on the print head base or mounting the nozzle assembly on the nozzle rack to the print head base.

[0025] In one embodiment, the nozzle rack is further provided with a lifting structure capable of lifting, which can drive the nozzle assembly or the disassembly structure to lift, thereby facilitating the disassembly and mounting of the nozzle assembly.

[0026] In one embodiment, the 3D printing device further comprises an image acquisition device, which can be a camera, for acquiring an image of the nozzle assembly or an image of the station where the nozzle assembly is located.

[0027] In one possible embodiment, the image acquisition device can be arranged on the nozzle rack, and can directly capture an image of the station where the nozzle assembly is located, or directly capture an image of the nozzle assembly placed on the nozzle rack. In another possible embodiment, the image acquisition device can be arranged on the nozzle rack, and the image acquisition device is connected to the nozzle rack through a movable assembly. The image acquisition device can be moved to the vicinity of the print head through the movable assembly to capture an image of the nozzle assembly mounted on the print head base.

[0028] In other possible embodiments, the image acquisition device can be arranged on the print head, and can directly capture images of the nozzle assembly installed on the print head base, can follow the print head to move to the vicinity of the nozzle rack to capture images of the nozzle assembly placed on the nozzle rack, and can capture images of the work station where the nozzle assembly is located. In another possible embodiment, the image acquisition device can be arranged on the print head, and the image acquisition device can be connected to the print head through a movable assembly. The image acquisition device can move to the vicinity of the nozzle rack through the movable assembly to capture images of the nozzle assembly placed on the nozzle rack and images of the work station where the nozzle assembly is located.

[0029] To solve the problem that the related art requires cleaning of residual consumables in the nozzle each time the color is switched during multi-color printing, the present application provides a scheme of automatically replacing the nozzle assembly, that is, in response to a replacement signal, the nozzle rack is controlled to disassemble the first nozzle assembly on the print head base and install the second nozzle assembly on the nozzle rack to the print head base. However, in the replacement scheme, after the first nozzle assembly completes the current printing action, a small amount of molten material remaining in the first nozzle assembly will overflow under the action of inertia and gravity. The overflowed molten material will adhere to the nozzle and gradually solidify, or the overflowed molten material will drip onto the print platform below the nozzle when it accumulates to a certain amount, affecting the adhesion of the model to the print platform during the next printing, and the dripped printing material adheres to the model, affecting the structure and appearance effect of the model. Therefore, the present application provides a cooling process for the first nozzle assembly after the first nozzle assembly completes the current printing action, so that the molten material remaining in the first nozzle assembly solidifies, avoiding the overflow of the molten material to adhere to the nozzle to affect the next printing of the nozzle, and avoiding the overflow of the molten material to drip on the print platform to affect the structure of the model, thereby ensuring the printing effect.

[0030] As shown in FIG. 1, Figure 2 The printing control method provided by the present application comprises: Step S201, in response to a replacement signal, after the first nozzle assembly on the print head base completes the current printing action, the first nozzle assembly is cooled.

[0031] In this step, the replacement signal is used to instruct the 3D printing device to replace the nozzle assembly, so that the 3D printing device replaces the nozzle assembly corresponding to the first consumable with the nozzle assembly corresponding to the second consumable, and the material and color of the first consumable and the second consumable can be the same or different. The replacement signal can be a consumable replacement signal, or can be a nozzle assembly replacement signal directly. The replacement signal can be a replacement instruction in the model file, for example, when the consumable needs to be switched, the replacement signal is triggered, or the replacement instruction can be sent by other devices when the consumable needs to be switched, or the replacement instruction is controlled by the user. In response to the replacement signal, the first nozzle assembly currently installed on the print head base can be detached after completing its current printing action. It is worth noting that before the first nozzle assembly is detached, the first nozzle assembly is cooled to make the molten consumable in the first nozzle assembly solidify as soon as possible, so as to avoid the molten material from overflowing and adhering to the nozzle to affect the next printing of the nozzle, and to avoid the molten material from overflowing and dropping on the printing platform to affect the model structure. Among them, the consumable corresponds to the nozzle assembly, which is used to extrude the consumable. For example, there is a consumable in the nozzle assembly that is consistent with the consumable, or the nozzle assembly is suitable for extruding the consumable, such as the extrusion aperture of the nozzle assembly matching the consumable.

[0032] It should be noted that the cooling can also start when the first nozzle assembly completes the current printing action, and this case still falls within the protection scope of the present application because the cooling continues after the current printing action is completed. It can be understood that the cooling can also start after the current printing action is completed.

[0033] The cooling of the first nozzle assembly can be to make the temperature of the first nozzle assembly lower than the melting point temperature of the consumable in the first nozzle assembly. When the temperature of the first nozzle assembly is lowered below the melting point of the consumable, the consumable in the nozzle can be solidified to avoid the molten material from overflowing.

[0034] In step S202, the nozzle frame is controlled to detach the cooled first nozzle assembly from the print head base.

[0035] In this step, the first nozzle assembly is detached from the print head base, and the first nozzle assembly has been cooled when the first nozzle assembly is detached from the print head base.

[0036] In step S203, the second nozzle assembly on the nozzle frame is installed to the print head base.

[0037] In this step, after the first nozzle assembly is detached from the print head base, the nozzle frame is controlled to install a new nozzle assembly, i.e. the second nozzle assembly, to the print head base. Among them, the first nozzle assembly is used to extrude the first consumable, and the second nozzle assembly is used to extrude the second consumable, and the color and / or material of the first consumable and the second consumable are different.

[0038] In one embodiment, the nozzle frame of the first nozzle assembly is disassembled and the nozzle frame of the second nozzle assembly is assembled, which can be the same component or different components.

[0039] In one embodiment, the second nozzle assembly newly assembled to the print head base can be a preheated nozzle assembly, which can quickly melt the consumables after being assembled, thereby improving the printing effect. It can be understood that the second nozzle assembly newly assembled to the print head base can be a non-preheated nozzle assembly.

[0040] The embodiments of the present application can realize automatic replacement of the nozzle assembly, so that when the same color and material consumables are used next time, the nozzle assembly provided with the consumables of the color and material is used, without cleaning the residual consumables in the nozzle every time the consumables are switched, thereby reducing the waste of consumables and improving the printing speed. Moreover, after the first nozzle assembly on the print head base completes the current printing action, the first nozzle assembly is cooled down, which can ensure that the consumables in the first nozzle assembly solidify, avoid the molten material from overflowing to affect the next printing of the nozzle or drop on the printing platform to affect the model structure, thereby providing stable and reliable conditions for subsequent printing operations and improving the printing effect.

[0041] In one embodiment of the present application, cooling the first nozzle assembly comprises: controlling the active heating part heating the first nozzle assembly to reduce the heating power, and / or controlling the fan assembly of the 3D printing device to start to cool the first nozzle assembly, so that the temperature of the first nozzle assembly is lower than the melting point temperature of the consumables in the first nozzle assembly.

[0042] In this embodiment, three main ways can be used to cool the first nozzle assembly.

[0043] Firstly, the power of the active heating part heating the first nozzle assembly is controlled to reduce the heating speed of the first nozzle assembly, so as to reduce the temperature of the first nozzle assembly. The 3D printing device has precise heating control function and can accurately adjust the heating power of the first nozzle assembly. When the cooling instruction is received, the active heating part of the first nozzle assembly stops heating, thereby reducing the temperature of the first nozzle assembly. It can be understood that the power reduction of the active heating part includes stopping heating of the active heating part, i.e. the power is 0.

[0044] Secondly, the fan assembly is controlled to start to cool the first nozzle assembly.

[0045] Thirdly, the power of the active heating part heating the first nozzle assembly is controlled to reduce, and the fan assembly is controlled to start.

[0046] The fan assembly is arranged on the print head or the rack of the 3D printing device. When the fan assembly is started, the fan generates a directional air flow that quickly flows through the surface of the first nozzle assembly to remove the heat on the first nozzle assembly by heat convection. The heat dissipation by convection can significantly improve the heat dissipation efficiency and accelerate the cooling process of the first nozzle assembly.

[0047] In actual operation, the first nozzle assembly can be controlled to stop heating alone, or the fan assembly can be started alone for cooling, or the two methods can be combined and used at the same time according to specific printing requirements and device states. Through such cooling operation, it is ensured that the consumables in the first nozzle assembly will not overflow after the printing action is completed due to the temperature being too high, thereby providing stable and reliable conditions for subsequent printing operations.

[0048] In an embodiment of the present application, in the case where the fan assembly of the 3D printing device is controlled to start to cool the first nozzle assembly, the method further comprises: controlling the fan assembly to be turned off when the starting duration of the fan assembly reaches a preset duration, or when the temperature of the first nozzle assembly is cooled to a target temperature; or controlling the fan assembly to be turned off when or after the first nozzle assembly is detached from the print head base.

[0049] In this embodiment, in order to ensure the energy saving of the fan assembly and at the same time avoid the problem of wear and tear of the fan assembly due to long-time operation, the present application sets specific conditions for turning off the fan assembly. Specifically, there are the following mechanisms for triggering the fan assembly to be turned off: Firstly, based on the starting duration of the fan assembly. Before the device is operated, the technician will set a reasonable preset duration in advance according to a large amount of experimental data and the requirements of the actual printing scene. This preset duration fully considers the heat dissipation capacity of the fan assembly, the heat accumulation of the first nozzle assembly in the normal working state, etc. The fan assembly is turned off when the starting duration reaches the preset duration, thereby avoiding unnecessary long-time operation of the fan assembly, reducing energy consumption, and at the same time reducing the mechanical wear of the fan due to long-time operation and prolonging the service life thereof.

[0050] Secondly, based on the temperature of the first nozzle assembly being cooled to a target temperature. The target temperature can be the melting point of the consumables or a temperature lower than the melting point of the consumables, so as to ensure that the consumables in the nozzle are solidified and do not overflow after the printing action is completed due to the temperature being too high. In some embodiments, the target temperature can also be slightly higher than the melting point of the consumables.

[0051] When the temperature of the first nozzle assembly is detected to be reduced to the target temperature after the fan assembly is started, the fan assembly is controlled to be turned off. The temperature-based turning-off method of the present application can more accurately control the cooling process, and ensure that the first nozzle assembly stops cooling after reaching the appropriate temperature, thereby avoiding unnecessary long-time operation of the fan assembly.

[0052] Thirdly, the fan assembly is controlled to be turned off when or after the first nozzle assembly is detached from the print head base. After the first nozzle assembly completes the current printing action and starts cooling, the first nozzle assembly has been cooled for a long enough time to ensure that the consumable in the first nozzle assembly is solidified. Therefore, the fan assembly is controlled to be turned off when or after the first nozzle assembly is detached from the print head base, thereby avoiding unnecessary long-time operation of the fan assembly.

[0053] In an embodiment of the present application, before the method of controlling the nozzle rack to detach the cooled first nozzle assembly from the print head base, the method further comprises: cutting the consumable in the first nozzle assembly by the cutting device of the print head, or controlling the print head to move to the first position to cut the consumable in the first nozzle assembly by the cutting device of the print head.

[0054] In this embodiment, before the method of controlling the nozzle rack to detach the cooled first nozzle assembly from the print head base, the method further comprises:

[0055] The embodiments of the present application have relatively flexible time selection for the temperature reduction process of the first nozzle assembly, which can be performed before, during or after cutting the consumable. In particular, in one embodiment of the present application, the action of reducing the temperature of the first nozzle assembly is started before cutting the consumable. Reducing the temperature of the first nozzle assembly before cutting the consumable can further reduce the nozzle temperature in advance, improve the solidification effect of the consumable, and reduce the problem of overflow. Moreover, reducing the temperature of the first nozzle assembly before cutting the consumable also helps to more accurately control the cutting state of the consumable when cutting the consumable, avoiding problems such as consumable stringing and adhesion caused by excessive temperature.

[0056] In one embodiment of the present application, after the temperature reduction of the first nozzle assembly, the method further comprises: controlling the first nozzle assembly to relatively move with a cleaning assembly of the 3D printing device to clean the first nozzle assembly.

[0057] In this embodiment, the 3D printing device further comprises a cleaning assembly, which is arranged on a rack of the 3D printing device. After the temperature reduction of the first nozzle assembly, the first nozzle assembly is controlled to relatively move with the cleaning assembly, so that the cleaning assembly contacts the discharge port of the first nozzle assembly to clean the discharge port of the nozzle of the first nozzle assembly, clean the overflowed consumable at the discharge port of the nozzle, and avoid affecting the next use of the first nozzle assembly.

[0058] In one embodiment, the cleaning assembly comprises a cleaning head, which is a brush, a metal sheet, silica gel or foam, etc. The cleaning head is in contact with the discharge port of the nozzle of the nozzle assembly, thereby achieving cleaning of the nozzle. In one implementation, the cleaning head is covered with a consumable dissolving layer, which is used to dissolve the consumable at the discharge port of the nozzle, thereby improving the cleaning effect of the nozzle.

[0059] In one embodiment of the present application, the 3D printing device further comprises a locking structure, and the nozzle frame comprises a dismounting structure. The locking structure is used to unlock or lock the nozzle assembly on the print head base, and the dismounting structure is used to dismount the unlocked nozzle assembly on the print head base or mount the nozzle assembly on the nozzle frame to the print head base. The locking structure and the dismounting structure together realize the replacement of the nozzle assembly.

[0060] In one embodiment of the present application, the control of the nozzle frame to dismount the temperature-reduced first nozzle assembly from the print head base comprises: controlling the print head to move to a first position, and controlling the locking structure to unlock the temperature-reduced first nozzle assembly on the print head base; wherein after the first nozzle assembly is unlocked, the first nozzle assembly and the print head base are in an incomplete disconnection state; controlling the print head to move to a second position, and controlling the dismounting structure to dismount the first nozzle assembly; mounting the second nozzle assembly on the nozzle carrier to the printhead base, comprising: controlling the printhead to move to a third position, corresponding to which the second nozzle assembly is placed, and controlling the dismounting structure to mount the second nozzle assembly to the printhead base.

[0061] In this embodiment, the printhead is controlled to move to the first position, and after the printhead reaches the first position, the locking structure is controlled to unlock the first nozzle assembly on the printhead base, so that the first nozzle assembly is in the state of not being completely disconnected from the printhead base.

[0062] It should be noted that the timing of cooling the first nozzle assembly can be after the completion of the current printing action of the first nozzle assembly and before the dismounting of the first nozzle assembly, for example, the first nozzle assembly is cooled during the movement of the printhead to the first position.

[0063] The nozzle assembly, which can be the first nozzle assembly, is connected to the printhead base by clamping, bolt fastening, quick-release structure fixing, etc. For example, the printhead base is matched with the clamping groove on the nozzle assembly through a buckle, the buckle is elastically deformed under pressure, and after entering the clamping groove, clamping is achieved to connect the nozzle assembly to the printhead base, or the nozzle assembly is provided with a threaded structure, and the printhead base is provided with a corresponding threaded hole, and the threaded structure is rotated to cooperate with the threaded hole to achieve clamping of the nozzle assembly and the printhead base; the nozzle assembly can also be fixedly connected to the printhead base by a bolt; the nozzle assembly can also be fixedly connected to the printhead base by a buckle plate, a spring, etc.

[0064] After the nozzle assembly is unlocked, the nozzle assembly and the printhead base are in a state of not being completely disconnected, i.e., they are still connected, but the connection mode is different from the above-mentioned locking connection mode. Compared with the above-mentioned locking connection mode, the connection in the state of not being completely disconnected is easier to disconnect and easier to dismount. In one embodiment, when the nozzle assembly and the printhead base are in the state of not being completely disconnected, they are connected by at least one of mechanical connection, magnetic attraction connection, and electromagnetic attraction connection. After the nozzle assembly is unlocked, in order to prevent the nozzle assembly from falling off the printhead base, the printhead base is still connected to the nozzle assembly, which can be connected by mechanical, magnetic attraction, and electromagnetic attraction, etc. For example, the nozzle assembly is integrated with magnetic material, and the printhead base is provided with an electromagnetic coil, when current passes through the coil, a magnetic field along a specific direction is generated, attracting or releasing the magnetic material in the nozzle assembly, to achieve the connection or disconnection of the printhead base and the nozzle assembly. Although this way can also connect the nozzle assembly to the printhead base, it can be easily disconnected.

[0065] Further, after the first nozzle assembly is unlocked from the printhead base, the printhead is controlled to move to a second position, and after the printhead reaches the second position, the dismounting structure is controlled to completely dismount the first nozzle assembly from the printhead base, and the two are no longer connected.

[0066] In the embodiments of the present application, the nozzle assembly is gradually dismounted from the printhead base by unlocking and then dismounting, thereby reducing the risk of the nozzle assembly suddenly separating from the printhead base.

[0067] Further, the printhead is controlled to move to a third position, and corresponding to the third position, a fifth position on the nozzle frame is provided with a second nozzle assembly to be installed. The dismounting structure is controlled to install the second nozzle assembly to the printhead base, thereby realizing replacement of the first nozzle assembly with the second nozzle assembly.

[0068] In an embodiment of the present application, the printhead is controlled to move to a first position, and the locking structure is controlled to unlock the first nozzle assembly on the printhead base after cooling, including: The printhead is controlled to move to a first position, and the first position is in contact with the position of the locking structure, or the first position is within a first preset distance from the position of the locking structure. The locking structure and the printhead are controlled to move relative to each other, and the first nozzle assembly on the printhead base is unlocked by the force generated by the relative movement; or, In an embodiment of the present application, the printhead is controlled to move to a first position, and the locking structure is controlled to unlock the first nozzle assembly on the printhead base after cooling, including: The printhead is controlled to move to a first position to collide with the locking structure, and the force generated by the collision unlocks the first nozzle assembly on the printhead base, wherein the locking structure is fixed.

[0069] In this embodiment, the printhead is controlled to move to a first position, and the first position is a corresponding position of the locking mechanism, for example, can be a position in contact with the position of the locking structure, or can be a position within a first preset distance from the position of the locking structure. The first preset distance refers to the maximum distance at which the locking structure can unlock the first nozzle assembly.

[0070] The locking structure unlocks the first nozzle assembly. The unlocking can be that the print head moves and collides with the locking structure, so that the locking structure presses a component on the print head base, such as a buckle, to make the buckle elastically deform due to the pressing and disengage from the clamping groove on the first nozzle assembly, so that the first nozzle assembly is unlocked from the print head base. The unlocking can also be that the print head moves to the first position, and then the locking structure moves and collides with the print head, so that the first nozzle assembly is unlocked from the print head base. The unlocking can also be that the locking structure is fixed, and the print head moves to the first position and collides with the locking structure, and the force generated by the collision makes the first nozzle assembly on the print head base be unlocked.

[0071] In an embodiment of the present application, the control of the print head moving to the second position and the control of the dismounting structure dismounting the first nozzle assembly comprise: The control of the print head moving to the second position, the control of the dismounting structure connecting with the first nozzle assembly, and the control of the dismounting structure moving to dismount the first nozzle assembly from the print head base to the fourth position.

[0072] In this embodiment, the printhead is controlled to move to a second position, at which or at a position corresponding to the second position, the first nozzle assembly is disassembled by the disassembling structure, so as to be detached from the printhead base and placed in a fourth position. The fourth position is a position on the nozzle rack, i.e., a station, for placing the replaced nozzle assembly, i.e., the first nozzle assembly. When the first nozzle assembly is not unloaded and placed in the fourth position, the position can be empty. Specifically, after the first nozzle assembly is unlocked, the first nozzle assembly is still connected to the printhead base by mechanical connection, magnetic force or electromagnetic force, etc. In an embodiment, the disassembling structure can be a clamping structure, a magnetic structure or an electromagnetic structure, which can be connected to the first nozzle assembly by clamping, magnetic attraction or electromagnetic attraction, and then lowered to separate the first nozzle assembly from the printhead base, thereby disassembling the first nozzle assembly and placing the disassembled first nozzle assembly in the fourth position. For example, the first nozzle assembly is integrated with magnetic material, and the printhead base is provided with an electromagnetic coil. After the first nozzle assembly is unlocked, the first nozzle assembly is connected to the printhead base by electromagnetic force. The disassembling structure is an electromagnetic structure, and the attraction force of the disassembling structure to the first nozzle assembly is greater than the attraction force of the printhead base to the first nozzle assembly, so that the disassembling structure adsorbs the first nozzle assembly or the printhead base actively releases the first nozzle assembly, so that the disassembling structure adsorbs the first nozzle assembly. After the disassembling structure is adsorbed to the first nozzle assembly, it is lowered and releases the first nozzle assembly, so that the first nozzle assembly falls in the fourth position, thereby disassembling the first nozzle assembly. For another example, after the first nozzle assembly is unlocked, the first nozzle assembly is connected to the printhead base by a slider and a sliding groove. The disassembling structure is a clamping structure, which clamps the first nozzle assembly and then lowers to generate a pulling force on the first nozzle assembly, so that the slider falls out of the sliding groove, and the first nozzle assembly falls in the fourth position, thereby disassembling the first nozzle assembly. In an embodiment, since the heat dissipation block is more protruding than the heated part and the nozzle, the disassembling structure can clamp the heat dissipation block, facilitating the realization of the clamping action of the disassembling structure. It can be understood that the first nozzle assembly can also be moved to the fourth position with the disassembling structure.

[0073] In an embodiment of the present application, the disassembling structure is connected to the first nozzle assembly, including: The disassembling structure is directly connected to the first nozzle assembly; or, The disassembling structure is moved, and after the movement, the disassembling structure is connected to the first nozzle assembly.

[0074] In this embodiment, the control head is moved to the second position, and if the position of the dismounting structure is within a second preset distance from the first nozzle assembly, the second preset distance is the maximum distance at which the dismounting structure can perform the dismounting operation on the first nozzle assembly, the dismounting structure is directly connected to the first nozzle assembly to dismount the first nozzle assembly. If the position of the dismounting structure is not within the second preset distance from the first nozzle assembly, the dismounting structure is moved to approach the first nozzle assembly, for example, the dismounting structure is raised to approach the first nozzle assembly, and then the dismounting structure is connected to the first nozzle assembly to dismount the first nozzle assembly.

[0075] In this application, by controlling the dismounting structure to be directly connected to the first nozzle assembly or controlling the dismounting structure to be connected to the first nozzle assembly after moving, the dismounting structure is connected to the first nozzle assembly to ensure the reliability of dismounting the first nozzle assembly.

[0076] In an embodiment of the present application, the control of the dismounting structure to install the second nozzle assembly to the printhead base comprises: Based on the connection of the dismounting structure and the second nozzle assembly, the dismounting structure is controlled to move to fix the second nozzle assembly to the printhead base; or, based on the connection of the dismounting structure and the second nozzle assembly, the dismounting structure is controlled to move to pre-connect the second nozzle assembly to the printhead base, the printhead is controlled to move to the first position, and the locking structure is controlled to lock the second nozzle assembly to the printhead base.

[0077] In this embodiment, based on the connection of the dismounting structure and the second nozzle assembly, the dismounting structure is controlled to move to the printhead base, which can be upward or downward movement, to install the second nozzle assembly to the printhead base. It should be noted that the installation can be fixed installation, that is, after the second nozzle assembly is installed to the printhead base, no locking operation is required; the installation can also be pre-connection, that is, the second nozzle assembly and the printhead base are in a state of not being completely disconnected, in which case the printhead is controlled to move to the first position, and the locking structure is controlled to lock the second nozzle assembly to the printhead base, thereby realizing the fixed connection of the second nozzle assembly to the printhead base.

[0078] It is worth noting that the dismounting structure and the second nozzle assembly can be originally in a connected state, or the dismounting structure can be connected to the second nozzle assembly placed in the fifth position after the printhead is controlled to move to the third position. The dismounting structure can be connected to the second nozzle assembly by clamping, magnetic attraction or electromagnetic attraction.

[0079] In an embodiment of the present application, after the dismounting structure is controlled to move to fix the second nozzle assembly to the printhead base, the method further comprises: controlling the dismounting structure to move to disengage the dismounting structure from the second nozzle assembly; or, After the second nozzle assembly is pre-connected with the printhead base by controlling the movement of the dismounting structure, the method further comprises: controlling the movement of the dismounting structure to detach the dismounting structure from the second nozzle assembly.

[0080] In this embodiment, after the second nozzle assembly is installed, the dismounting structure can move, for example, can move downward to detach from the second nozzle assembly. Then, the printhead moves to the position to be printed, so as to avoid the damage of the printhead caused by the dismounting structure blocking the movement of the printhead.

[0081] The embodiments of the present application also provide a 3D printing device, comprising: a printhead, a nozzle frame, a processor and a memory. The printhead comprises a printhead base and a nozzle assembly which is detachably connected with the printhead base. The memory stores programs or instructions which are run on the processor, and when the programs or instructions are executed by the processor, each step of the printing control method of the above-mentioned embodiments is implemented, and the same technical effects can be achieved. To avoid repetition, it will not be described here.

[0082] The memory can be used to store software programs and various data. The memory can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory can include a volatile memory or a non-volatile memory, or the memory can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0083] The processor can include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor.

[0084] In an embodiment of the present application, the nozzle rack is used to place the nozzle assembly to be used; The nozzle rack includes a disassembly structure; The 3D printing device further includes a locking structure, the locking structure is arranged on the rack of the 3D printing device, and the locking structure is used to lock or unlock the nozzle assembly installed on the printing head base.

[0085] In this embodiment, the 3D printing device further comprises a locking structure for unlocking or locking the nozzle assembly on the print head base. The nozzle rack comprises a dismounting structure for dismounting the unlocked nozzle assembly on the print head base or mounting the nozzle assembly on the print head base.

[0086] In an embodiment of the present application, the dismounting structure comprises at least one of a clamping structure, a magnetic structure and an electromagnetic structure.

[0087] In an embodiment of the present application, the print head further comprises a fan assembly; or, the 3D printing device further comprises a fan assembly arranged on the rack of the 3D printing device.

[0088] In this embodiment, the print head further comprises a fan assembly, i.e. the fan assembly is arranged on the print head, and the fan assembly blows air to the nozzle assembly mounted on the print head base to cool the nozzle assembly. Or, the 3D printing device further comprises a fan assembly arranged on the rack of the 3D printing device, and the fan assembly blows air to the nozzle assembly mounted on the print head base or the nozzle assembly placed on the nozzle rack to cool the nozzle assembly. When the fan assembly is started, the fan generates directional air flow, and the air flow quickly flows through the surface of the first nozzle assembly to remove the heat on the first nozzle assembly by heat convection.

[0089] In an embodiment of the present application, the 3D printing device further comprises a cleaning assembly arranged on the rack of the 3D printing device.

[0090] In this embodiment, the 3D printing device further comprises a cleaning assembly arranged on the rack of the 3D printing device. The cleaning assembly comprises a cleaning head, which is a brush, a metal sheet, silica gel or foam, etc. The cleaning head is in contact with the discharge port of the nozzle of the nozzle assembly to clean the nozzle. In an embodiment, the cleaning head is covered with a consumable dissolving layer for dissolving the consumable at the discharge port of the nozzle to improve the cleaning effect of the nozzle.

[0091] In an embodiment of the present application, the nozzle assembly comprises a nozzle, a heated part, a heat dissipation block and an electric control assembly, and the heated part is used for heating the nozzle. The print head base comprises an active heating part for contact heating or remote heating of the heated part. The electronic control component includes a first temperature sensor, a second temperature sensor, a power receiving device, and a signal transmission device. The power receiving device is used to supply power to the first temperature sensor and the second temperature sensor, and the signal transmission device is used to transmit the signals of the first temperature sensor and the second temperature sensor over a long distance. The first temperature sensor is used to sense the temperature of the nozzle, and the second temperature sensor is used to sense the temperature of the heated part.

[0092] This application also provides a computer-readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described printing control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0093] This application also provides the following embodiments: Example 1: A printing control method applied to a 3D printing device, the 3D printing device including a print head and a nozzle holder, the print head including a print head base and a nozzle assembly detachably connected to the print head base, the method including: In response to a replacement signal, the first nozzle assembly on the printhead base is cooled after completing the current printing action; The nozzle holder is controlled to detach the cooled first nozzle assembly from the printhead base; The second nozzle assembly on the nozzle holder is mounted to the printhead base.

[0094] Example 2, based on Example 1, the cooling of the first nozzle assembly includes: Control the active heating section of the first nozzle assembly to reduce the heating power, and / or control the fan assembly of the 3D printing equipment to start to cool the first nozzle assembly so that the temperature of the first nozzle assembly is lower than the melting point temperature of the consumable in the first nozzle assembly.

[0095] Example 3, based on Example 2, further includes the following method when the fan assembly of the 3D printing equipment is activated to cool the first nozzle assembly: The fan assembly is controlled to shut down when the fan assembly's startup time reaches a preset duration, or when the temperature of the first nozzle assembly drops to a target temperature; or... The fan assembly is controlled to shut down when or after the first nozzle assembly is removed from the printhead base.

[0096] Example 4, based on Example 1, further includes the following method before the nozzle holder is controlled to detach the cooled first nozzle assembly from the printhead base: cutting the consumable in the first nozzle assembly by a cutting device of the print head, or controlling the print head to move to a first position so as to cut the consumable in the first nozzle assembly by a cutting device of the print head; wherein the action of cooling the first nozzle assembly is initiated before cutting the consumable.

[0097] Embodiment 5, based on Embodiment 1, after the cooling of the first nozzle assembly, the method further comprises: controlling the first nozzle assembly to relatively move with a cleaning assembly of the 3D printing device so as to clean the first nozzle assembly.

[0098] Embodiment 6, based on any one of Embodiments 1 to 5, the 3D printing device further comprises a locking structure, the nozzle rack comprises a dismounting structure; the controlling of the nozzle rack to dismount the cooled first nozzle assembly from the print head base comprises: controlling the print head to move to a first position, and controlling the locking structure to unlock the cooled first nozzle assembly on the print head base; wherein after the first nozzle assembly is unlocked, the first nozzle assembly and the print head base are in an incomplete disconnection state; controlling the print head to move to a second position, and controlling the dismounting structure to dismount the first nozzle assembly; the mounting of the second nozzle assembly on the nozzle rack to the print head base comprises: controlling the print head to move to a third position, a second nozzle assembly is placed corresponding to the third position, and controlling the dismounting structure to mount the second nozzle assembly to the print head base.

[0099] Embodiment 7, based on Embodiment 6, the controlling of the print head to move to a first position, and the controlling of the locking structure to unlock the cooled first nozzle assembly on the print head base comprises: controlling the print head to move to a first position, the first position is in contact with a position where the locking structure is located, or the first position is within a first preset distance from the position where the locking structure is located; controlling the locking structure and the print head to relatively move, and unlocking the first nozzle assembly on the print head base by an acting force generated by the relative movement; or, controlling the print head to move to a first position, and controlling the locking structure to unlock the cooled first nozzle assembly on the print head base comprises: controlling the printhead to move to a first position to collide with the locking structure, the collision generating a force to unlock the first nozzle assembly on the printhead base, wherein the locking structure is fixed.

[0100] In embodiment 8, on the basis of embodiment 6, the controlling the printhead to move to a second position and the controlling the dismounting structure to dismount the first nozzle assembly comprises: controlling the printhead to move to a second position, and controlling the dismounting structure to connect with the first nozzle assembly, and controlling the dismounting structure to move to dismount the first nozzle assembly from the printhead base to a fourth position.

[0101] In embodiment 9, on the basis of embodiment 6, the controlling the dismounting structure to mount the second nozzle assembly to the printhead base comprises: controlling the dismounting structure to move to mount the second nozzle assembly to the printhead base based on the dismounting structure connecting with the second nozzle assembly, or controlling the dismounting structure to move to pre-connect the second nozzle assembly with the printhead base based on the dismounting structure connecting with the second nozzle assembly, and controlling the printhead to move to a first position and controlling the locking structure to lock the second nozzle assembly with the printhead base.

[0102] In embodiment 10, on the basis of embodiment 9, after the controlling the dismounting structure to move to mount the second nozzle assembly to the printhead base, the method further comprises: controlling the dismounting structure to move to disengage the dismounting structure from the second nozzle assembly; or, after the controlling the dismounting structure to move to pre-connect the second nozzle assembly with the printhead base, the method further comprises: controlling the dismounting structure to move to disengage the dismounting structure from the second nozzle assembly.

[0103] The application also provides the following embodiments: In embodiment 12, a 3D printing device comprises a printhead, a nozzle rack, a processor and a memory. The printhead comprises a printhead base and a nozzle assembly detachably connected with the printhead base. The memory stores programs or instructions running on the processor, and the programs or instructions are executed by the processor to realize the steps of the printing control method in any one of embodiments 1 to 10.

[0104] In embodiment 12, on the basis of embodiment 11, the nozzle rack is used to place a nozzle assembly to be used. The nozzle frame comprises a detachable structure. The 3D printing device further comprises a locking structure arranged on a frame of the 3D printing device, and the locking structure is used for locking or unlocking the nozzle assembly installed on the print head base.

[0105] In embodiment 13, on the basis of embodiment 11, the print head further comprises a fan assembly; or, The 3D printing device further comprises a fan assembly arranged on a frame of the 3D printing device.

[0106] In embodiment 14, on the basis of embodiment 11, the 3D printing device further comprises: A cleaning assembly arranged on a frame of the 3D printing device.

[0107] In embodiment 15, on the basis of any one of embodiments 11 to 14, the nozzle assembly comprises a nozzle, a heated part, a heat dissipation block and an electric control assembly, and the heated part is used for heating the nozzle. The print head base comprises an active heating part used for contact heating or remote heating of the heated part. The electric control assembly comprises a first temperature sensor, a second temperature sensor, an electric energy receiving device and a signal transmission device, the electric energy receiving device is used for supplying power to the first temperature sensor and the second temperature sensor, the signal transmission device is used for remotely transmitting signals of the first temperature sensor and the second temperature sensor, the first temperature sensor is used for sensing the temperature of the nozzle, and the second temperature sensor is used for sensing the temperature of the heated part.

[0108] The application further provides the following embodiments: In embodiment 16, a computer readable storage medium has a program or instruction stored thereon, and the program or instruction is executed by a processor to realize the steps of the print control method in any one of embodiments 1 to 10.

[0109] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the methods and apparatus of the present embodiments are not limited by the order of the steps or the sequence for performing the steps, as some steps can occur in different orders and / or concurrently with one another; for example, described methods can be performed in an order other than that described, and / or additional steps can be added, or steps can be omitted, or a combination thereof. Also, characteristics described in relation to certain examples can be combined in other examples.

[0110] The embodiments of the present application described above are merely exemplary and are not intended to limit the present application to the above-described embodiments, but the above-described embodiments are merely illustrative, and the present application is not limited to the above-described embodiments. The embodiments of the present application described above are merely exemplary and are not intended to limit the present application to the above-described embodiments, but the above-described embodiments are merely illustrative, and the present application is not limited to the above-described embodiments.

Claims

1. A print control method characterized by, The method is applied to a 3D printing device, the 3D printing device comprising a print head and a nozzle rack, the print head comprising a print head base and a nozzle assembly detachably connected with the print head base, and the method comprising: In response to a replacement signal, cooling the first nozzle assembly on the print head base after the first nozzle assembly completes a current printing action; Controlling the nozzle rack to detach the cooled first nozzle assembly from the print head base; Mounting a second nozzle assembly on the nozzle rack to the print head base.

2. The print control method according to claim 1, characterized by, The cooling of the first nozzle assembly comprises: Controlling a main heating part of the first nozzle assembly to reduce heating power, and / or controlling a fan assembly of the 3D printing device to start to cool the first nozzle assembly, so that the temperature of the first nozzle assembly is lower than the melting point temperature of a consumable in the first nozzle assembly.

3. The print control method according to claim 2, characterized by, In the case of controlling the fan assembly of the 3D printing device to start to cool the first nozzle assembly, the method further comprises: Controlling the fan assembly to be turned off when the starting time of the fan assembly reaches a preset time or when the temperature of the first nozzle assembly is cooled to a target temperature; or Controlling the fan assembly to be turned off when or after the first nozzle assembly is detached from the print head base.

4. The print control method according to claim 1, characterized by, Before the controlling of the nozzle rack to detach the cooled first nozzle assembly from the print head base, the method further comprises: Cutting the consumable in the first nozzle assembly by a cutting device of the print head, or controlling the print head to move to a first position to cut the consumable in the first nozzle assembly by the cutting device of the print head; Wherein, the action of cooling the first nozzle assembly is started before the cutting of the consumable.

5. The print control method according to claim 1, characterized by, After the cooling of the first nozzle assembly, the method further comprises: Controlling the first nozzle assembly to relatively move with a cleaning assembly of the 3D printing device to clean the first nozzle assembly.

6. The print control method according to any one of claims 1 to 5, characterized by, The 3D printing device further comprises a locking structure, and the nozzle rack comprises a detachable structure; the controlling of the nozzle rack to detach the cooled first nozzle assembly from the print head base comprises: Controlling the print head to move to a first position and controlling the locking structure to unlock the cooled first nozzle assembly on the print head base; wherein, after the first nozzle assembly is unlocked, the first nozzle assembly and the print head base are in an incomplete disconnection state; Controlling the print head to move to a second position and controlling the detachable structure to detach the first nozzle assembly; The mounting of the second nozzle assembly on the nozzle rack to the print head base comprises: Controlling the print head to move to a third position, a second nozzle assembly being placed corresponding to the third position, and controlling the detachable structure to mount the second nozzle assembly to the print head base.

7. The print control method according to claim 6, wherein The controlling of the print head to move to a first position and the controlling of the locking structure to unlock the cooled first nozzle assembly on the print head base comprise: controlling the printhead to move to a first position, the first position being in contact with the locking structure or being within a first preset distance from the locking structure; controlling the locking structure and the printhead to move relative to each other, and causing the first nozzle assembly on the printhead base to be unlocked by a force generated by the relative movement; or, controlling the printhead to move to a first position, and controlling the locking structure to unlock the first nozzle assembly on the printhead base after being cooled down, comprising: controlling the printhead to move to a first position to collide with the locking structure, a force generated by the collision causing the first nozzle assembly on the printhead base to be unlocked, wherein the locking structure is fixedly positioned; controlling the printhead to move to a second position, and controlling the dismounting structure to dismount the first nozzle assembly, comprising: controlling the printhead to move to a second position, and controlling the dismounting structure to connect with the first nozzle assembly, and controlling the dismounting structure to move to dismount the first nozzle assembly from the printhead base to a fourth position; controlling the dismounting structure to mount the second nozzle assembly to the printhead base, comprising: controlling the dismounting structure to move to fix the second nozzle assembly to the printhead base based on the dismounting structure being connected with the second nozzle assembly; or, controlling the dismounting structure to move to pre-connect the second nozzle assembly with the printhead base based on the dismounting structure being connected with the second nozzle assembly, and controlling the printhead to move to a first position, and controlling the locking structure to lock the second nozzle assembly with the printhead base; after controlling the dismounting structure to move to fix the second nozzle assembly to the printhead base, the method further comprises: controlling the dismounting structure to move to disengage the dismounting structure from the second nozzle assembly; or, after controlling the dismounting structure to move to pre-connect the second nozzle assembly with the printhead base, the method further comprises: controlling the dismounting structure to move to disengage the dismounting structure from the second nozzle assembly.

8. A 3D printing device, characterized by comprising: a printhead, a nozzle rack, a processor, and a memory; wherein the printhead comprises a printhead base and a nozzle assembly that is detachably connected with the printhead base; the memory stores a program or instructions that are run on the processor, and the program or instructions, when executed by the processor, implement the steps of the printing control method according to any one of claims 1 to 7.

9. The 3D printing device according to claim 8, characterized in that, the nozzle rack is used to place a nozzle assembly to be used; the nozzle rack comprises a dismounting structure; the 3D printing device further comprises a locking structure that is arranged on a rack of the 3D printing device, and is used to lock or unlock a nozzle assembly mounted on the printhead base; the printhead further comprises a fan assembly; or, the 3D printing device further comprises a fan assembly that is arranged on a rack of the 3D printing device. The 3D printing device further comprises: a cleaning assembly arranged on a rack of the 3D printing device; the nozzle assembly comprises a nozzle, a heated part, a heat dissipation block and an electric control assembly, the heated part is used for heating the nozzle; the printing head base comprises an active heating part, the active heating part is used for contact heating or remote heating of the heated part; the electric control assembly comprises a first temperature sensor, a second temperature sensor, an electric energy receiving device and a signal transmission device, the electric energy receiving device is used for powering the first temperature sensor and the second temperature sensor, the signal transmission device is used for remote transmission of signals of the first temperature sensor and the second temperature sensor, the first temperature sensor is used for sensing a temperature of the nozzle, and the second temperature sensor is used for sensing a temperature of the heated part.

10. A computer-readable storage medium having stored thereon a program or instructions, characterized in that, The program or the instruction is executed by the processor to realize the steps of the printing control method in any one of claims 1 to 7.

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