Three-dimensional printing method, three-dimensional printer and computer readable storage medium

Abstract

The invention provides a three-dimensional printing method, a three-dimensional printer and a computer readable storage medium, and relates to the field of three-dimensional printing. The method is applied to the three-dimensional printer, the three-dimensional printer comprises a printing head and a spray head containing frame, the printing head comprises a base assembly and a spray head structure detachably connected with the base assembly, and the method comprises the steps that in response to a replacement signal, a first consumable in a first spray head structure on the base assembly is cut off; the nozzle placing frame is controlled to disassemble the first nozzle structure on the base assembly, and the second nozzle structure on the nozzle placing frame is installed on the base assembly; wherein after the first consumables are cut off, the part, reserved in the base assembly, of the first consumables is drawn back, and second consumables to be used are pushed into the base assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of three-dimensional printing, and in particular to a three-dimensional printing method, a three-dimensional printer and a computer readable storage medium. BACKGROUND

[0002] In actual application scenarios, a multi-color three-dimensional printer faces a common problem: when performing a color switching operation, it is necessary to ensure that the residual melted printing consumables in the nozzle are completely cleaned. However, it is not easy to achieve this goal. In each color changing process, the nozzle has to continuously extrude a certain amount of consumables as waste.

[0003] This mode of operation has two disadvantages. On the one hand, it directly causes waste of printing materials. The extruded waste cannot be used for normal printing, and as the number of color changes increases, the amount of material waste will continue to accumulate, increasing the printing cost. On the other hand, the cleaning operation takes a certain amount of time. During this time, the device cannot perform normal printing work, the overall printing cycle is lengthened, and the printing efficiency of the device is greatly reduced. SUMMARY

[0004] Therefore, the present application provides a three-dimensional printing method, a three-dimensional printer and a computer readable storage medium, which solve the problem of cleaning the residual consumables in the nozzle every time the color is switched in related technologies.

[0005] In a first aspect, an embodiment of the present application provides a three-dimensional printing method applied to a three-dimensional printer, the three-dimensional printer comprising a print head and a nozzle placement rack, the print head comprising a base assembly and a nozzle structure detachably connected to the base assembly, and the method comprising: in response to a replacement signal, cutting off a first consumable in a first nozzle structure on the base assembly; controlling the nozzle placement rack to detach the first nozzle structure on the base assembly and install a second nozzle structure on the nozzle placement rack to the base assembly; wherein, after the first consumable is cut off, part of the first consumable remaining in the base assembly is pulled back, and a second consumable to be used is pushed into the base assembly.

[0006] In a second aspect, an embodiment of the present application provides a three-dimensional printer, comprising a print head, a nozzle placement rack, a processor and a memory. The print head comprises a base assembly and a nozzle structure detachably connected to the base assembly. 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.

[0007] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the method in the first aspect.

[0008] The three-dimensional printing method, the three-dimensional printer and the computer readable storage medium provided by the embodiments of the present application can cut off the first consumable in the first nozzle structure in response to the replacement signal, control the nozzle placing rack to dismount the first nozzle structure currently installed on the base assembly, and then control the nozzle placing rack to install the second nozzle structure on the base assembly. It should be noted that after the first consumable is cut off, the first consumable is divided into a part of the first consumable remaining in the material guide channel of the base assembly and a part of the first consumable remaining in the first nozzle structure. After the first consumable is cut off, the part of the first consumable remaining in the base assembly is sucked back, and then the second consumable to be used is pushed into the base assembly through the discharge channel.

[0009] The embodiments of the present application can realize automatic replacement from the first nozzle structure to the second nozzle structure, the consumable after switching is consistent with the consumable in the second nozzle structure, it is not necessary to clean the residual consumable in the nozzle every time the consumable is switched, the waste of the consumable is reduced, and the printing speed is improved. Moreover, after the first consumable of the first nozzle structure is cut off, the part of the first consumable remaining in the base assembly is sucked back, so that the first consumable does not block the discharge channel of the multi-way piece, and then the second consumable to be used is smoothly pushed into the base assembly through the discharge channel, the smooth delivery of the consumable is realized, the three-dimensional printer can perform other work at the same time when the first consumable is sucked back, such as replacing the second nozzle structure, the switching time of the consumable is saved, and the printing efficiency is ensured.

[0010] 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 embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0011] 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 the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A structure schematic diagram of a print head of a three-dimensional printer in an embodiment of the present application is shown; Figure 2 A flowchart of a three-dimensional printing method in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0012] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0013] The terms "first", "second", and the like 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 that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit 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 front and rear associated objects are in an "or" relationship.

[0014] The three-dimensional printing method, three-dimensional printer and computer readable storage medium provided by the embodiments of the present application will be described in detail below with reference to 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.

[0015] The embodiments of the present application provide a three-dimensional printing method applied to a three-dimensional printer, the three-dimensional printer comprising a print head, a nozzle placing rack, the print head comprising a base assembly and a nozzle structure detachably connected with the base assembly.

[0016] In one embodiment, the three-dimensional printer further comprises a plurality of cartridges respectively connected with the print head, the plurality of cartridges respectively containing consumables of different colors or materials, the consumables in the cartridges being melted after entering the print head to form a model on a printing platform of the three-dimensional printer. It can be understood that the plurality of cartridges can be integrated together, that is, one cartridge can contain a plurality of consumables.

[0017] In one embodiment, as shown in Figure 1 The nozzle 101 is connected with the heated part 102, and the nozzle 101 and the heated part 102 can be integrally formed or separately connected. 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 an implementation, the heated part 102 can be a contact heating type or a remote induction heating type, for example, electromagnetic induction heating or resistance heating. Correspondingly, the base assembly comprises an active heating part, which is used to contact heat or remotely heat the heated part 102.

[0018] 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 the consumable in the heat dissipation block 103, so as to prevent the consumable of the heated part 102 from melting or melting too much, thereby avoiding material blockage.

[0019] 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 three-dimensional printer, so as to control the heating power of the active heating part of the base assembly to adjust the temperature of the heated part 102. The signal transmission device is also used to obtain consumable information such as the color and material of the consumable, component identification such as the ID, number and model of the nozzle structure, and work station information, and send the consumable information, component identification and work station information to the processor of the three-dimensional printer, so as to identify the consumable and the nozzle structure. The nozzle structure 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 three-dimensional printer can also adjust the heating power of the active heating part according to the temperature sensed by the second temperature sensor.

[0020] In an embodiment, the three-dimensional printer further includes a position sensor for detecting position information of the consumable, for determining whether the consumable is retracted or pushed into place. The position sensor can be a photoelectric sensor, a pressure sensor, etc.

[0021] In an embodiment, the three-dimensional printer further includes a multi-pass piece, which includes a plurality of feeding channels and an outlet channel 106. The outlet channel 106 communicates with the material guide channel of the base assembly. It should be noted that the multi-pass piece can be a component of the print head, or a component outside the print head. The outlet channel 106 and the material guide channel can be integrally formed, i.e., the outlet channel 106 and the material guide channel are different parts of the same channel.

[0022] In an embodiment, as shown in Figure 1 , the three-dimensional printer further includes a consumable extrusion structure 104 for pushing and retracting the consumable.

[0023] In an embodiment, as shown in Figure 1 , the print head further includes a cutting device 105, such as a cutter, for cutting the consumable in the print head.

[0024] In one embodiment, the three-dimensional printer further comprises a locking structure arranged on the frame of the three-dimensional printer, the locking structure being configured to unlock or lock the nozzle structure on the base assembly. When the nozzle structure is unlocked, the nozzle structure on the print head assembly can be disassembled under the action of an external force; when the nozzle structure is locked, the print head 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 locking structure can cut off the consumables while unlocking the nozzle structure. Alternatively, the cutting device 105 can also be provided, and the position of the cutting device 105 can be changed to cut off the consumables while unlocking the nozzle structure.

[0025] In one embodiment, the nozzle placement rack is configured to place a plurality of nozzle structures, and the nozzle placement rack comprises a disassembly structure configured to disassemble the unlocked nozzle structure on the base assembly or mount the nozzle structure on the nozzle placement rack to the base assembly.

[0026] In one embodiment, the nozzle placement rack further comprises a lifting structure capable of lifting the nozzle structure or the disassembly structure, so as to facilitate the disassembly and mounting of the nozzle structure.

[0027] In one embodiment, the three-dimensional printer further comprises an image acquisition device, which can be a camera configured to acquire image information of the nozzle structure. In one possible embodiment, the image acquisition device can be arranged on the nozzle placement rack, and the image acquisition device can capture an image of the nozzle structure placed on the nozzle placement rack.

[0028] In order to solve the problem that the nozzle needs to be cleaned every time the color is switched in the related art, the present application proposes an automatic nozzle structure replacement scheme, that is, in response to a replacement signal, the nozzle placement rack disassembles the first nozzle structure on the base assembly and mounts the second nozzle structure on the nozzle placement rack to the base assembly. In this nozzle structure replacement scheme, the first consumable in the first nozzle structure needs to be cut off before the nozzle structure is replaced, and the position of the cut-off consumable is set on the discharge channel of the multi-pass piece. The multi-pass piece plays a role in consumable conveying in the multi-color three-dimensional printer, and has a plurality of consumable feeding channels capable of guiding the consumables to be used to the discharge channel. The discharge channel is in communication with the nozzle structure, and the consumables are extruded from the nozzle structure to realize printing. When the nozzle structure needs to be replaced, that is, when the printing is switched from using the first consumable to using the second consumable, if the first consumable is not returned in time, the first consumable will occupy the discharge channel of the multi-pass piece. Due to the blockage of the first consumable, the second consumable cannot enter the discharge channel smoothly, and printing cannot be realized.

[0029] As Figure 2As shown, the three-dimensional printing method provided in the present application comprises: In step S201, in response to the replacement signal, the first consumable in the first nozzle structure on the base assembly is cut off.

[0030] In this step, the replacement signal is used to instruct the three-dimensional printer to replace the nozzle structure, so that the three-dimensional printer replaces the nozzle structure corresponding to the first consumable with the nozzle structure corresponding to the second consumable. 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 it can be a nozzle structure 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 it can be a replacement instruction sent by other equipment when the consumable needs to be switched, or it can be a replacement instruction generated by manual operation of the user. In response to the replacement signal, the nozzle placement rack disassembles the first nozzle structure currently installed on the base assembly. It is worth noting that before the first nozzle structure is disassembled, the first consumable needs to be cut off first. The position of cutting off can be between the first nozzle structure and the base assembly, or inside the first nozzle structure, or inside the base assembly. After cutting off the consumable, the first nozzle structure and the base assembly are not connected together due to the consumable.

[0031] It can be understood that before the first consumable in the first nozzle structure on the base assembly is cut off in response to the replacement signal, the replacement signal needs to be obtained first. The way of obtaining is not limited, which can be passive reception of the signal or active inquiry.

[0032] In step S202, the nozzle placement rack disassembles the first nozzle structure on the base assembly, and installs the second nozzle structure on the nozzle placement rack to the base assembly; wherein, after the first consumable is cut off, the part of the first consumable remaining in the base assembly is sucked back, and the second consumable to be used is pushed into the base assembly.

[0033] In this step, after the first consumable is cut off, the nozzle placement rack disassembles the first nozzle structure on the base assembly, and then controls the nozzle placement rack to install the new nozzle structure, i.e. the second nozzle structure, to the base assembly.

[0034] The first nozzle structure is used to extrude the first consumable, and the second nozzle structure is used to extrude the second consumable. The first consumable and the second consumable can be the same or different. In an embodiment, the nozzle placement rack for dismounting the first nozzle structure and the nozzle placement rack for mounting the second nozzle structure can be the same component or different components. In an embodiment, the second nozzle structure newly mounted to the base assembly can be a preheated nozzle structure, which can quickly melt the consumable after being mounted, thereby improving the printing effect. Alternatively, the second nozzle structure can be a nozzle without preheating, and the second nozzle structure is preheated after being mounted to the base assembly.

[0035] It should be noted that after the first consumable is cut off, the first consumable is divided into a part of the first consumable remaining in the material guide channel of the base assembly and a part of the first consumable remaining in the first nozzle structure. After the first consumable is cut off, the part of the first consumable remaining in the base assembly is pulled back to avoid occupying the material outlet channel of the multi-way piece, and then the second consumable to be used is pushed into the base assembly through the material outlet channel, and further into the second nozzle structure to be replaced through the base assembly, thereby realizing the replacement of the nozzle structure and the delivery of the consumable. In an embodiment, the timing of pulling back the part of the first consumable remaining in the material guide channel is after the first consumable is cut off and before the second nozzle structure is mounted. In other embodiments, the timing can be after the first consumable is cut off and when the second nozzle structure is mounted, or after the first consumable is cut off and after the second nozzle structure is mounted.

[0036] The embodiment of the present application can realize automatic replacement from the first nozzle structure to the second nozzle structure, the switched consumable is consistent with the consumable in the second nozzle structure, and there is no need to clean the residual consumable in the nozzle every time the consumable is switched, thereby reducing the waste of the consumable and improving the printing speed. After the first consumable of the first nozzle structure is cut off, the part of the first consumable remaining in the base assembly is pulled back, so that the first consumable does not block the material outlet channel of the multi-way piece, and then the second consumable to be used is smoothly pushed into the base assembly through the material outlet channel, thereby realizing the smooth delivery of the consumable. While the first consumable is pulled back, the three-dimensional printer can perform other operations, such as replacing the second nozzle structure, thereby saving the switching time of the consumable and ensuring the printing efficiency.

[0037] In an embodiment of the present application, after the first consumable is cut off, the process specifically includes: during the process of controlling the nozzle placement rack to dismount the first nozzle structure on the base assembly, or during the process of controlling the nozzle placement rack to mount the second nozzle structure to the base assembly.

[0038] In this embodiment, after the first consumable is cut off, the part of the first consumable remaining in the base assembly is pulled back, and the second consumable to be used is pushed into the base assembly. Specifically, the timing of pulling back and pushing can be during the process of disassembling the first nozzle structure, or during the process of assembling the second nozzle structure, without adding extra time for pulling back the first consumable and pushing the second consumable, ensuring the printing efficiency.

[0039] In an embodiment of the present application, the three-dimensional printer further comprises a multi-pass element, the multi-pass element comprising a plurality of feeding channels and an outlet channel, the outlet channel being in communication with the guide channel of the base assembly; the pulling back of the part of the first consumable remaining in the base assembly and the pushing of the second consumable to be used into the base assembly comprises: the end of the upper section of consumable is pulled back to a first preset position in the first feeding channel of the multi-pass element, and the second consumable in the second feeding channel of the multi-pass element is pushed to a second preset position in the guide channel of the base assembly, the first consumable being cut off into an upper section of consumable remaining in the guide channel of the base assembly and a lower section of consumable remaining in the first nozzle structure.

[0040] In this embodiment, the three-dimensional printer further comprises a multi-pass element, which can be a component on the print head or a component outside the print head. The multi-pass element comprises a plurality of feeding channels and an outlet channel, the number of feeding channels is not specifically limited, for example, it can be 3, 4, etc., and the feeding channels of the multi-pass element can further be connected to other multi-pass elements to achieve more color printing. The outlet channel of the multi-pass element is in communication with the guide channel of the base assembly, and the outlet channel and the guide channel can be integrally formed, that is, the outlet channel and the guide channel are different parts of one channel.

[0041] After the first consumable is cut off, it is divided into a part of consumable remaining in the guide channel of the base assembly and a part of consumable remaining in the first nozzle structure, the part of consumable remaining in the guide channel of the base assembly being an upper section of consumable, and the part of consumable remaining in the first nozzle structure being a lower section of consumable. The end of the upper section of consumable is pulled back to a first preset position in the first feeding channel of the multi-pass element, the first feeding channel being a channel for conveying the first consumable, that is, the upper section of consumable is retreated from the outlet channel to the feeding channel, so that the upper section of consumable does not block the outlet channel of the multi-pass element, and the second consumable in the second feeding channel of the multi-pass element is pushed to a second preset position in the guide channel of the base assembly, the second feeding channel being a channel for conveying the second consumable. In this way, the pulling back of the first consumable and the conveying of the second consumable are realized.

[0042] In an embodiment of the present application, the inlet end of the guide channel is in communication with the outlet channel, and the outlet end of the guide channel is used to communicate with the nozzle structure; The first preset position is close to the outlet end of the first feeding channel; The second preset position is close to the outlet end of the guide channel.

[0043] In this embodiment, the inlet end of the guide channel of the base assembly is communicated with the outlet channel of the multi-way piece, and the guide channel and the outlet channel can be an integrally formed structure. When the consumable is retracted, from the outlet channel of the multi-way piece to the inlet channel, and to the first preset position of the inlet channel, the first preset position is close to the outlet end of the first inlet channel, so that the end of the upper section of the consumable is retracted into the inlet channel and is close to the outlet end of the inlet channel, that is, while ensuring that the outlet channel is not blocked, the second consumable can be quickly pushed into the outlet channel for next use.

[0044] When the consumable is conveyed, from the inlet channel of the multi-way piece to the outlet channel, from the outlet channel to the guide channel, from the guide channel to the nozzle structure, and finally extruded from the nozzle structure. When the consumable is conveyed, the second consumable is pushed into the second preset position in the guide channel of the base assembly, and the second preset position is close to the outlet end of the guide channel. When the second consumable is continuously pushed after the nozzle structure is replaced, the second consumable can quickly enter the second nozzle structure, and the printing speed is accelerated.

[0045] In an embodiment of the present application, the three-dimensional printer further comprises a consumable extrusion structure for driving the consumable to move, the consumable extrusion structure comprises: controlling the upper section of the consumable to be retracted, and if the number of motor pulses of the consumable extrusion structure reaches a first set number, it is determined that the upper section of the consumable reaches the first preset position and the retraction of the upper section of the consumable is stopped; pushing the second consumable to the guide channel, and if the number of motor pulses of the consumable extrusion structure reaches a second set number, it is determined that the second consumable reaches the second preset position and the pushing of the second consumable is stopped; or The three-dimensional printer further comprises a first position sensor at the first preset position and a second position sensor at the second preset position, the consumable extrusion structure comprises: controlling the upper section of the consumable to be retracted, and if a first position signal of the first position sensor is obtained, it is determined that the upper section of the consumable reaches the first preset position and the retraction of the upper section of the consumable is stopped; pushing the second consumable to the guide channel, and if a second position signal of the second position sensor is obtained, it is determined that the second consumable reaches the second preset position and the pushing of the second consumable is stopped.

[0046] In this embodiment, various embodiments for determining whether the upper consumable is retracted to a position or the second consumable is pushed to a position are provided.

[0047] In one embodiment, the three-dimensional printer further comprises a consumable extrusion structure for driving the consumable to move, for retracting or pushing the consumable. In the process of retracting the upper consumable, the starting position of the retraction is the cutting-off position, the number of motor pulses of the consumable extrusion structure is recorded, the number of motor pulses of the consumable extrusion structure corresponds to the moving distance of the consumable, when the number of motor pulses reaches a first set number, the upper consumable has been retracted by a corresponding distance, the distance makes the end of the upper consumable reach a first preset position in the first feeding channel, at this time, the retraction of the upper consumable is stopped. In the process of pushing the second consumable to the feeding channel, the position where the end of the second consumable is located when the second consumable is not pushed is the starting position, the number of motor pulses of the consumable extrusion structure is recorded, when the number of motor pulses reaches a second set number, the second consumable has been pushed by a corresponding distance, the distance makes the end of the second consumable reach a second preset position in the feeding channel of the base assembly, at this time, the pushing of the second consumable is stopped.

[0048] In another embodiment, the three-dimensional printer comprises a first position sensor at the first preset position and a second position sensor at the second set position, the first position sensor and the second position sensor can detect the position information of the consumable, specifically, the first position sensor is used to detect whether the upper consumable is retracted to the position, and the second position sensor is used to detect whether the second consumable is pushed to the position.

[0049] In the process of retracting the upper consumable, if a first position signal of the first position sensor is obtained, it is determined that the upper consumable reaches the first preset position, at this time, the retraction of the upper consumable is stopped. In the process of pushing the second consumable to the feeding channel, if a second position signal of the second position sensor is obtained, it is determined that the second consumable reaches the second preset position, at this time, the pushing of the second consumable is stopped.

[0050] In one embodiment, the position sensor can include a photoelectric sensor, a pressure sensor, etc., the detection principles of the first position sensor and the second position sensor can be the same or different. The position sensor can be a sensor specially installed for determining whether the consumable is retracted or pushed to the position, or can be an original blockage sensor, the blockage sensor detects whether there is consumable at a certain position of the channel to determine whether the consumable is blocked or not, in this application, it can be used to determine whether the consumable is retracted or pushed to the position. For example, when the blockage sensor senses that there is consumable at the first preset position and there is no consumable at the position before the first preset position, it is confirmed that the upper consumable is retracted to the first preset position; when the blockage sensor senses that there is consumable at the second preset position, it is confirmed that the second consumable is pushed to the second preset position.

[0051] The embodiments of the present application can flexibly determine whether the consumables are retracted or pushed to the position through various ways.

[0052] In an embodiment of the present application, the first consumable in the first printhead structure on the base assembly is cut off, comprising: The first consumable in the first printhead structure is cut off by the cutting device of the printhead, or the printhead is controlled to move to the first position to cut off the first consumable in the first printhead structure by the cutting device of the printhead.

[0053] In this embodiment, the cutting device of the printhead cuts off the consumable in the first printhead structure. The cutting device can be moved as needed to cut off the consumable. In one implementation, the printhead can be moved so that the printhead collides with a specific position on the rack, and the cutting device on the printhead is moved passively to cut off the consumable in the first printhead structure. In another implementation, the printhead is moved to the first position, and the cutting device of the printhead can cut off the consumable in the first printhead structure at the same time. The printhead includes a cutting device, and the rack has a collision position. The printhead is moved to the collision position, and the collision position contacts the cutting device to force the cutting device to move or rotate, so that the consumable is cut off by the cutting device. The embodiments of the present application replace the printhead structure after the consumable in the first printhead structure is cut off, avoiding the consumable from hindering the replacement of the printhead structure.

[0054] In an embodiment of the present application, the second printhead structure on the printhead placement rack is installed to the base assembly, comprising: Among the plurality of printhead structures to be installed, the second printhead structure corresponding to the first information in the replacement signal is determined. The second printhead structure on the printhead placement rack is installed to the base assembly.

[0055] In this embodiment, for the plurality of printhead structures to be installed, the second information corresponding to each printhead structure is compared with the first information in the replacement signal, the target second information matching the first information is determined, and the printhead structure corresponding to the target second information is the second printhead structure. Then, the second printhead structure on the printhead placement rack is installed to the base assembly. In this way, the printhead structure matching the first information in the replacement signal, that is, the required printhead structure, can be found, so that the replacement is performed, ensuring the accuracy of the replacement.

[0056] The first information and the second information can be at least one of a component identifier of the printhead structure and consumable information. The component identifier is an identity code of the printhead structure, which can be an ID, a number, a model number, etc. of the printhead structure. The consumable information can be a color and a material of the consumable extruded by the printhead structure. The first information in the replacement signal refers to the information of the printhead structure that is theoretically required to be replaced to the base assembly.

[0057] In an embodiment of the present application, the three-dimensional printer further comprises a locking structure, and the nozzle placement rack comprises a dismounting structure, the locking structure is configured to unlock or lock the nozzle structure on the base assembly, and the dismounting structure is configured to dismount the unlocked nozzle structure on the base assembly or mount the nozzle structure on the nozzle placement rack to the base assembly. The locking structure and the dismounting structure together realize the replacement of the nozzle structure.

[0058] In an embodiment of the present application, the method for controlling the nozzle placement rack to dismount the first nozzle structure on the base assembly comprises the following steps. controlling the print head to move to a first position and controlling the locking structure to unlock the first nozzle structure on the base assembly; wherein the first nozzle structure is in an incomplete disconnection state with the base assembly after being unlocked; controlling the print head to move to a second position and controlling the dismounting structure to dismount the first nozzle structure; mounting the second nozzle structure on the nozzle placement rack to the base assembly comprises the following steps. controlling the print head to move to a third position corresponding to the placement of the second nozzle structure and controlling the dismounting structure to mount the second nozzle structure to the base assembly.

[0059] In this embodiment, the print head is controlled to move to the first position, and after the print head reaches the first position, the locking structure is controlled to unlock the first nozzle structure on the base assembly, so that the first nozzle structure is in an incomplete disconnection state with the base assembly.

[0060] It should be noted that the nozzle structure can be the first nozzle structure, and when the nozzle structure is locked to the base assembly, the nozzle structure is connected by clamping fixation, bolt fastening, quick release structure fixation, etc. For example, the base assembly is matched with the clamping groove on the nozzle structure through a buckle, the buckle is elastically deformed under pressure, and the buckle is clamped and fixed after entering the clamping groove to connect the nozzle structure to the base assembly, or the nozzle structure is provided with a threaded structure, and the base assembly is provided with a corresponding threaded hole, the threaded structure is rotated to cooperate with the threaded hole to realize the clamping fixation of the nozzle structure and the base assembly; the nozzle structure can also be fixedly connected to the base assembly through a bolt; the nozzle structure can also be fixedly connected to the base assembly through a buckle plate, a spring and other quick release structures.

[0061] After the nozzle structure is unlocked, it remains partially connected to the base assembly, but the connection method differs from the locked connection method described above. Compared to the locked connection method, the partially disconnected connection is easier to break and disassemble. In one embodiment, when the nozzle structure and base assembly are partially disconnected, they are connected via at least one of mechanical, magnetic, or electromagnetic connections. After the nozzle structure is unlocked, to prevent it from falling off the base assembly, the base assembly remains connected to it, which can be achieved through mechanical, magnetic, or electromagnetic means. For example, the nozzle structure integrates magnetic material, and the base assembly has an electromagnetic coil. When current passes through the coil, a magnetic field is generated in a specific direction, attracting or releasing the magnetic material in the nozzle structure, thus connecting or disconnecting the base assembly from the nozzle structure. While this method allows the nozzle structure to connect to the base assembly, it allows for easy disconnection.

[0062] Furthermore, after the first printhead structure is unlocked from the base assembly, the printhead is moved to the second position. After the printhead reaches the second position, the disassembly and assembly structure is used to completely remove the first printhead structure from the base assembly, and the two are no longer connected.

[0063] In this embodiment, the nozzle structure is gradually removed from the base assembly by unlocking and then disassembling, reducing the risk of the nozzle structure suddenly detaching from the base assembly.

[0064] Furthermore, the printhead is moved to a third position, corresponding to which a second printhead structure to be installed is placed at a fifth position on the printhead holder. The disassembly and assembly mechanism is then used to install the second printhead structure onto the base assembly, thus enabling the replacement of the first printhead structure with the second printhead structure.

[0065] In one embodiment of this application, controlling the printhead to move to a first position and controlling the locking structure to unlock the first printhead structure on the base assembly includes: Control the print head to move to a first position, where the first position contacts the location of the locking structure, or the first position is within a first preset distance from the location of the locking structure; The locking structure and the printhead move relative to each other, and the force generated by the relative movement unlocks the first printhead structure on the base assembly; or, Controlling the printhead to move to the first position and controlling the locking structure to unlock the first printhead structure on the base assembly includes: The printhead is controlled to move to a first position to collide with the locking structure. The force generated by the collision unlocks the first printhead structure on the base assembly, while the locking structure remains stationary.

[0066] In this embodiment, the printhead is controlled to move to a first position, which is a corresponding position of the locking mechanism, for example, a position where the printhead contacts the locking structure, or a position within a first preset distance of the locking structure, where the first preset distance refers to the maximum distance within which the locking structure can perform an unlocking action on the first printhead structure.

[0067] The locking structure unlocks the first printhead structure. The unlocking manner can be that the printhead moves and collides with the locking structure, so that the locking mechanism presses a certain component on the base assembly, for example, a buckle, causing the buckle to elastically deform due to the pressing and disengage from the clamping groove on the first printhead structure, so that the first printhead structure is unlocked from the base assembly. The unlocking manner can also be that the printhead moves to the first position, and then the locking mechanism moves and collides with the printhead, so that the first printhead structure is unlocked from the base assembly. The unlocking manner can also be that the locking structure is fixed, the printhead moves to the first position and collides with the locking structure, and the collision generates a force that unlocks the first printhead structure on the base assembly.

[0068] In an embodiment of the present application, the printhead is controlled to move to a second position, and the dismounting structure is controlled to dismount the first printhead structure, including: The printhead is controlled to move to a second position, and the dismounting structure is controlled to dismount the first printhead structure, including:

[0069] In this embodiment, the printhead is controlled to move to a second position, and the first ejection structure is disassembled at or corresponding to the second position by the disassembling structure, so as to disassemble the first ejection structure from the base assembly and place it at a fourth position. The fourth position is a position on the ejection structure placing rack, i.e., a station, for placing the disassembled first ejection structure. When the first ejection structure is not disassembled and placed at the fourth position, the fourth position can be empty. Specifically, after the first ejection structure is unlocked, the first ejection structure is connected to the base assembly 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 ejection structure by clamping, magnetic attraction or electromagnetic attraction, and then lowered to separate the first ejection structure from the base assembly, thereby disassembling the first ejection structure and placing it at the fourth position. For example, the first ejection structure is integrated with a magnetic material, and the base assembly is provided with an electromagnetic coil. After the first ejection structure is unlocked, the first ejection structure is connected to the base assembly by electromagnetic force. The disassembling structure is an electromagnetic structure, and the attraction force of the disassembling structure to the first ejection structure is greater than the attraction force of the base assembly to the first ejection structure, so that the disassembling structure attracts the first ejection structure, or the base assembly actively releases the first ejection structure, so that the disassembling structure attracts the first ejection structure. After the disassembling structure is attracted to the first ejection structure, it is lowered and releases the first ejection structure, so that the first ejection structure falls at the fourth position, thereby disassembling the first ejection structure. For another example, after the first ejection structure is unlocked, the first ejection structure is connected to the base assembly by a sliding block and a sliding groove. The disassembling structure is a clamping structure, which clamps the first ejection structure and then lowers it to generate a pulling force on the first ejection structure, so that the sliding block falls out of the sliding groove, and the first ejection structure falls at the fourth position, thereby disassembling the first ejection structure. 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 clamping action of the disassembling structure. It can be understood that the first ejection structure can also be moved to the fourth position with the disassembling structure.

[0070] In an embodiment of the present application, the disassembling structure is connected to the first ejection structure, including: the disassembling structure is directly connected to the first ejection structure; or the disassembling structure is moved, and then connected to the first ejection structure.

[0071] In this embodiment, the control head is controlled to move to a second position. If the position of the dismounting structure is within a second preset distance from the first nozzle structure, the second preset distance is the maximum distance in which the dismounting structure can perform the dismounting operation on the first nozzle structure, the dismounting structure is directly connected to the first nozzle structure to dismount the first nozzle structure. If the position of the dismounting structure is not within the second preset distance from the first nozzle structure, the dismounting structure is moved to be close to the first nozzle structure, for example, the dismounting structure is raised to be close to the first nozzle structure, and then the dismounting structure is connected to the first nozzle structure to dismount the first nozzle structure.

[0072] In this application, by controlling the dismounting structure to be directly connected to the first nozzle structure or controlling the dismounting structure to be connected to the first nozzle structure after moving, the dismounting structure is connected to the first nozzle structure to ensure the reliability of dismounting the first nozzle structure.

[0073] In an embodiment of the present application, the control of the dismounting structure to install the second nozzle structure to the base assembly comprises: Based on the connection of the dismounting structure and the second nozzle structure, the dismounting structure is controlled to move to fix the second nozzle structure to the base assembly; or, based on the connection of the dismounting structure and the second nozzle structure, the dismounting structure is controlled to move to pre-connect the second nozzle structure to the base assembly, the control head is controlled to move to the first position, and the locking structure is controlled to lock the second nozzle structure to the base assembly.

[0074] In this embodiment, based on the connection of the dismounting structure and the second nozzle structure, the dismounting structure is controlled to move to the base assembly, which can be upward or downward movement, to install the second nozzle structure to the base assembly. It should be noted that the installation can be fixed installation, that is, after the second nozzle structure is installed to the base assembly, no locking operation is required; the installation can also be pre-connection, that is, the second nozzle structure and the base assembly are in an incomplete disconnected state, in which case the control head is controlled to move to the first position, and the locking structure is controlled to lock the second nozzle structure to the base assembly, thereby realizing the fixed connection of the second nozzle structure to the base assembly.

[0075] It is worth noting that the dismounting structure and the second nozzle structure can be originally in a connected state, or the dismounting structure can be connected to the second nozzle structure placed in the fifth position after the control head is controlled to move to the third position. The dismounting structure can be connected to the second nozzle structure by clamping, magnetic attraction or electromagnetic attraction.

[0076] In an embodiment of the present application, after the control of the dismounting structure to move to fix the second nozzle structure to the base assembly, the method further comprises: The dismounting structure is controlled to move to disengage the dismounting structure from the second nozzle structure; or, controlling the movement of the dismounting structure to disengage the second nozzle structure from the base assembly. controlling the movement of the dismounting structure to disengage the second nozzle structure from the base assembly.

[0077] In this embodiment, after the second nozzle structure is installed, the dismounting structure can move, for example, can move downward, to disengage the second nozzle structure. Then, the print head moves to the position to be printed, so as to avoid the dismounting structure blocking the movement of the print head to cause damage to the print head.

[0078] The embodiments of the present application also provide a three-dimensional printer, comprising a print head, a nozzle placing rack, a processor and a memory. The print head comprises a base assembly and a nozzle structure which is detachably connected with the base assembly. 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 three-dimensional printing method of the above-mentioned embodiments is implemented, and the same technical effects can be achieved. To avoid repetition, here is not described again.

[0079] 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. 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.

[0080] 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.

[0081] In an embodiment of the present application, the nozzle placing rack is used to place the nozzle structure to be used; The nozzle placing rack includes a dismounting structure; The three-dimensional printer further includes a locking structure, which is arranged on the rack of the three-dimensional printer and is used to lock or unlock the nozzle structure mounted on the base assembly.

[0082] In the embodiment, the three-dimensional printer further comprises a locking structure for unlocking or locking the nozzle structure on the base assembly. The nozzle holder comprises a dismounting structure for dismounting the unlocked nozzle structure on the base assembly or mounting the nozzle structure on the nozzle holder to the base assembly.

[0083] 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.

[0084] In an embodiment of the present application, the three-dimensional printer further comprises: a multi-pass element comprising a plurality of feed channels and an outlet channel, the outlet channel being connected to the print head.

[0085] In an embodiment of the present application, the base assembly comprises a guide channel, an inlet end of the guide channel being connected to the outlet channel, and an outlet end of the guide channel being used for connecting the nozzle structure.

[0086] In an embodiment of the present application, the nozzle structure comprises a nozzle, a heated part, a heat dissipation block and an electric control assembly, the heated part being used for heating the nozzle. The base assembly comprises an active heating part, which 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 being used for powering the first temperature sensor and the second temperature sensor, and the signal transmission device being used for remotely transmitting signals of the first temperature sensor and the second temperature sensor, the first temperature sensor being used for sensing the temperature of the nozzle, and the second temperature sensor being used for sensing the temperature of the heated part.

[0087] The present application also provides a computer readable storage medium, which stores a program or instructions, the program or instructions being executed by a processor to implement the processes of the three-dimensional printing method embodiments and achieve the same technical effects. For the sake of brevity, the same will not be described here.

[0088] The present application also provides the following embodiments: Embodiment 1: A three-dimensional printing method applied to a three-dimensional printer, the three-dimensional printer comprising a print head and a nozzle holder, the print head comprising a base assembly and a nozzle structure detachably connected to the base assembly, the method comprising: in response to a replacement signal, cutting off a first consumable in a first nozzle structure on the base assembly; controlling the nozzle holder to dismount the first nozzle structure on the base assembly and mount a second nozzle structure on the nozzle holder to the base assembly; wherein, after the first consumable is cut off, a part of the first consumable remaining in the base assembly is pulled back, and a second consumable to be used is pushed into the base assembly.

[0089] In embodiment 2, based on embodiment 1, after the first consumable is cut off, the method further comprises: during the process of controlling the nozzle holder to dismount the first nozzle structure on the base assembly, or during the process of mounting a second nozzle structure on the nozzle holder to the base assembly.

[0090] In embodiment 3, based on embodiment 1, the three-dimensional printer further comprises a multi-pass element, the multi-pass element comprising a plurality of feeding channels and one discharging channel, the discharging channel being in communication with the material guide channel of the base assembly; the pulling back of the part of the first consumable remaining in the base assembly and the pushing of the second consumable to be used into the base assembly comprises: pulling back an end of the upper consumable to a first preset position in a first feeding channel of the multi-pass element, and pushing the second consumable in a second feeding channel of the multi-pass element to a second preset position in the material guide channel of the base assembly, the first consumable being cut off into the upper consumable remaining in the material guide channel of the base assembly and the lower consumable remaining in the first nozzle structure.

[0091] In embodiment 4, based on embodiment 3, an inlet end of the material guide channel is in communication with the discharging channel, and an outlet end of the material guide channel is configured to be in communication with the nozzle structure. the first preset position is close to an outlet end of the first feeding channel; the second preset position is close to an outlet end of the material guide channel.

[0092] In embodiment 5, based on embodiment 3, the three-dimensional printer further comprises a consumable extrusion structure for driving the consumable to move, the pulling back of the end of the upper consumable to the first preset position in the first feeding channel of the multi-pass element and the pushing of the second consumable in the second feeding channel of the multi-pass element to the second preset position in the material guide channel of the base assembly comprises: controlling the pulling back of the upper consumable, if the number of motor pulses of the consumable extrusion structure reaches a first set number, determining that the upper consumable reaches the first preset position and stopping the pulling back of the upper consumable; pushing the second consumable to the material guiding channel, if the motor pulse number of the consumable extrusion structure reaches a second set number, determining that the second consumable reaches a second preset position and stopping pushing the second consumable; or, The three-dimensional printer further comprises a first position sensor at the first preset position and a second position sensor at the second preset position, the first preset position being the position at which the end of the upper segment consumable is pulled back into the first material feeding channel of the multi-channel component, and the second preset position being the position at which the second consumable in the second material feeding channel of the multi-channel component is pushed into the material guiding channel of the base assembly, and the method comprises: controlling the pulling back of the upper segment consumable, and if a first position signal of the first position sensor is obtained, determining that the upper segment consumable reaches the first preset position and stopping pulling back the upper segment consumable; pushing the second consumable to the material guiding channel, and if a second position signal of the second position sensor is obtained, determining that the second consumable reaches the second preset position and stopping pushing the second consumable.

[0093] In embodiment 6, on the basis of embodiment 1, the cutting off of the first consumable in the first nozzle structure on the base assembly comprises: cutting off the first consumable in the first nozzle structure by the cutting device of the print head, or controlling the print head to move to a first position to cut off the first consumable in the first nozzle structure by the cutting device of the print head.

[0094] In embodiment 7, on the basis of any one of embodiments 1 to 6, the three-dimensional printer further comprises a locking structure, and the nozzle placing rack comprises a dismounting structure; the method of controlling the nozzle placing rack to dismount the first nozzle structure on the base assembly comprises: controlling the print head to move to a first position and controlling the locking structure to unlock the first nozzle structure on the base assembly; wherein, after the first nozzle structure is unlocked, the first nozzle structure and the base assembly 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 structure; The method of mounting the second nozzle structure on the nozzle placing rack to the base assembly comprises: controlling the print head to move to a third position, a second nozzle structure being placed at the third position, and controlling the dismounting structure to mount the second nozzle structure to the base assembly.

[0095] In embodiment 8, on the basis of embodiment 7, the method of controlling the print head to move to a first position and controlling the locking structure to unlock the first nozzle structure on the base assembly comprises: 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 relative movement between the locking structure and the printhead, and unlocking the first printhead structure on the base assembly by the 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 printhead structure on the base assembly, comprising: controlling the printhead to move to a first position to collide with the locking structure, the collision generating a force to unlock the first printhead structure on the base assembly, wherein the locking structure is fixed.

[0096] Embodiment 9, based on Embodiment 7, the controlling the printhead to move to a second position, and controlling the dismounting structure to dismount the first printhead structure, comprising: controlling the printhead to move to a second position, and controlling the dismounting structure to connect with the first printhead structure, and controlling the dismounting structure to move to dismount the first printhead structure from the base assembly to a fourth position.

[0097] Embodiment 10, based on Embodiment 7, the controlling the dismounting structure to mount the second printhead structure to the base assembly, comprising: based on the dismounting structure connecting with the second printhead structure, controlling the dismounting structure to move to fixedly mount the second printhead structure to the base assembly; or, based on the dismounting structure connecting with the second printhead structure, controlling the dismounting structure to move to pre-connect the second printhead structure with the base assembly, and controlling the printhead to move to a first position, and controlling the locking structure to lock the second printhead structure with the base assembly.

[0098] Embodiment 11, based on Embodiment 10, after the controlling the dismounting structure to move to fixedly mount the second printhead structure to the base assembly, the method further comprising: controlling the dismounting structure to move to disengage the dismounting structure from the second printhead structure; or, after the controlling the dismounting structure to move to pre-connect the second printhead structure with the base assembly, the method further comprising: controlling the dismounting structure to move to disengage the dismounting structure from the second printhead structure.

[0099] The application also provides the following embodiments: Embodiment 12, a three-dimensional printer, comprising: a printhead, a printhead placing rack, a processor, and a memory. The printhead comprises a base assembly and a nozzle structure detachably connected with the base assembly. The memory stores a program or instructions for running on the processor, and the program or instructions, when executed by the processor, implement the steps of the three-dimensional printing method according to any one of embodiments 1 to 11.

[0100] In embodiment 13, based on embodiment 12, the nozzle placing rack is used for placing the nozzle structure to be used. The nozzle placing rack comprises a detachable structure. The three-dimensional printer further comprises a locking structure arranged on the rack of the three-dimensional printer, and the locking structure is used for locking or unlocking the nozzle structure mounted on the base assembly.

[0101] In embodiment 14, based on embodiment 12, the three-dimensional printer further comprises: A multi-pass element, which comprises a plurality of feeding channels and one discharging channel, and the discharging channel is connected with the printhead.

[0102] In embodiment 15, based on embodiment 14, the base assembly comprises a material guiding channel, the inlet end of the material guiding channel is connected with the discharging channel, and the outlet end of the material guiding channel is used for connecting the nozzle structure.

[0103] In embodiment 16, based on any one of embodiments 12 to 15, the nozzle structure 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 base assembly comprises an active heating part, which 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 supplying power to the first temperature sensor and the second temperature sensor, the signal transmission device is used for remotely transmitting the 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.

[0104] The application also provides the following embodiments: In embodiment 17, a computer readable storage medium stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the three-dimensional printing method according to any one of embodiments 1 to 11.

[0105] 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.

[0106] 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 method of three-dimensional printing, characterized by, The application is applied to a three-dimensional printer, which comprises a printing head and a nozzle placing rack, the printing head comprises a base assembly and a nozzle structure detachably connected with the base assembly, and the method comprises: in response to a replacement signal, cutting off a first consumable in a first nozzle structure on the base assembly; controlling the nozzle placing rack to detach the first nozzle structure on the base assembly and install a second nozzle structure on the nozzle placing rack to the base assembly; wherein, after the first consumable is cut off, part of the first consumable remaining in the base assembly is pulled back, and a second consumable to be used is pushed into the base assembly.

2. The three-dimensional printing method according to claim 1, characterized by, after the first consumable is cut off, comprising: in the process of controlling the nozzle placing rack to detach the first nozzle structure on the base assembly, or in the process of installing a second nozzle structure on the nozzle placing rack to the base assembly.

3. The three-dimensional printing method according to claim 1, wherein The three-dimensional printer further comprises a multi-pass piece, which comprises a plurality of feeding channels and an outlet channel, the outlet channel communicates with a guide channel of the base assembly; the pulling back of part of the first consumable remaining in the base assembly and the pushing of the second consumable to be used into the base assembly comprise: pulling back the end of the upper segment consumable to a first preset position in the first feeding channel of the multi-pass piece, and pushing the second consumable in the second feeding channel of the multi-pass piece to a second preset position in the guide channel of the base assembly, the first consumable being cut off is divided into the upper segment consumable remaining in the guide channel of the base assembly and the lower segment consumable remaining in the first nozzle structure.

4. The three-dimensional printing method according to claim 3, characterized by, The inlet end of the guide channel communicates with the outlet channel, and the outlet end of the guide channel is used for communicating with the nozzle structure; The first preset position is close to the outlet end of the first feeding channel; The second preset position is close to the outlet end of the guide channel.

5. The three-dimensional printing method according to claim 3, wherein The three-dimensional printer further comprises a consumable extrusion structure for driving the movement of the consumable, the pulling back of the end of the upper segment consumable to the first preset position in the first feeding channel of the multi-pass piece and the pushing of the second consumable in the second feeding channel of the multi-pass piece to the second preset position in the guide channel of the base assembly comprise: controlling the pulling back of the upper segment consumable, if the motor pulse number of the consumable extrusion structure reaches a first set number, it is determined that the upper segment consumable reaches the first preset position and the pulling back of the upper segment consumable is stopped; the pushing of the second consumable to the guide channel, if the motor pulse number of the consumable extrusion structure reaches a second set number, it is determined that the second consumable reaches the second preset position and the pushing of the second consumable is stopped; or The three-dimensional printer further comprises a first position sensor at the first preset position and a second position sensor at the second set preset, the pulling back of the end of the upper segment consumable to the first preset position in the first feeding channel of the multi-pass piece and the pushing of the second consumable in the second feeding channel of the multi-pass piece to the second preset position in the guide channel of the base assembly comprise: controlling the upper section of consumables to be retracted, if a first position signal of the first position sensor is obtained, it is determined that the upper section of consumables reaches a first preset position and the retraction of the upper section of consumables is stopped; the second position signal of the second position sensor is obtained, it is determined that the second consumables reach a second preset position and the pushing of the second consumables is stopped.

6. The method of three-dimensional printing according to claim 1, wherein, the first consumables in the first nozzle structure on the base assembly are cut off, including: the first consumables in the first nozzle structure are cut off by the cutting device of the print head, or the print head is controlled to move to a first position to cut off the first consumables in the first nozzle structure by the cutting device of the print head.

7. The three-dimensional printing method according to any one of claims 1 to 6, characterized in that, The three-dimensional printer further comprises a locking structure, and the nozzle placing rack comprises a dismounting structure; the control of the nozzle placing rack to dismount the first nozzle structure on the base assembly comprises: the print head is controlled to move to a first position, and the locking structure is controlled to unlock the first nozzle structure on the base assembly; wherein, after the first nozzle structure is unlocked, the first nozzle structure and the base assembly are in an incomplete disconnected state; the print head is controlled to move to a second position, and the dismounting structure is controlled to dismount the first nozzle structure; the second nozzle structure on the nozzle placing rack is mounted to the base assembly, including: the print head is controlled to move to a third position, and the dismounting structure is controlled to mount the second nozzle structure to the base assembly; the control of the print head to move to a first position and the control of the locking structure to unlock the first nozzle structure on the base assembly comprise: the print head is controlled to move to a first position, and the first position is in contact with the position of the locking structure or within a first preset distance from the position of the locking structure; the print head is controlled to move to a first position, and the locking structure is controlled to unlock the first nozzle structure on the base assembly; or, the print head is controlled to move to a first position, and the locking structure is controlled to unlock the first nozzle structure on the base assembly, including: the print head is controlled to move to a first position to collide with the locking structure, and the collision generates a force to unlock the first nozzle structure on the base assembly, wherein the locking structure is fixedly immobile; the control of the print head to move to a second position and the control of the dismounting structure to dismount the first nozzle structure comprise: the print head is controlled to move to a second position, and the dismounting structure is controlled to connect with the first nozzle structure, and the dismounting structure is controlled to move to dismount the first nozzle structure from the base assembly to a fourth position; the control of the dismounting structure to mount the second nozzle structure to the base assembly comprises: based on the dismounting structure being connected with the second nozzle structure, controlling the dismounting structure to move, and fixing the second nozzle structure to the base assembly; or, based on the dismounting structure being connected with the second nozzle structure, controlling the dismounting structure to move, pre-connecting the second nozzle structure with the base assembly, and controlling the print head to move to the first position, and controlling the locking structure to lock the second nozzle structure with the base assembly; after the controlling the dismounting structure to move, and fixing the second nozzle structure to the base assembly, the method further comprises: controlling the dismounting structure to move, so that the dismounting structure is separated from the second nozzle structure; or, after the controlling the dismounting structure to move, and pre-connecting the second nozzle structure with the base assembly, the method further comprises: controlling the dismounting structure to move, so that the dismounting structure is separated from the second nozzle structure.

8. A three-dimensional printer, characterized by comprises: a print head, a nozzle placing rack, a processor, and a memory; the print head comprises a base assembly and a nozzle structure which is detachably connected with the base assembly; the memory stores a program or instructions which are run on the processor, and the program or instructions, when executed by the processor, implement the steps of the three-dimensional printing method according to any one of claims 1 to 7.

9. The three-dimensional printer according to claim 8, characterized in that: the nozzle placing rack is used for placing a nozzle structure to be used; the nozzle placing rack comprises a dismounting structure; the three-dimensional printer further comprises a locking structure which is arranged on a rack of the three-dimensional printer, and is used for locking or unlocking a nozzle structure which is installed on the base assembly; the three-dimensional printer further comprises: a multi-pass element which comprises a plurality of feeding channels and one discharging channel, and the discharging channel is connected with the print head; the base assembly comprises a material guiding channel, an inlet end of the material guiding channel is connected with the discharging channel, and an outlet end of the material guiding channel is used for connecting a nozzle structure; the nozzle structure 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 base assembly comprises an active heating part which 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 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 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 instructions, when executed by the processor, implement the steps of the three-dimensional printing method according to any one of claims 1 to 7.

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