Nozzle replacement method, three-dimensional printing equipment and computer readable storage medium

Abstract

The invention provides a nozzle replacement method, three-dimensional printing equipment and a computer readable storage medium, and relates to the field of three-dimensional printing. The method is applied to the three-dimensional printing equipment, the three-dimensional printing equipment comprises a printing head and a nozzle holder, the printing head comprises a printing head base and a nozzle assembly detachably connected with the printing head base, and the method comprises the following steps: responding to an information binding request, binding assembly information of a target nozzle assembly placed on a target station of the nozzle holder with station information of the target station, and updating mapping relation information of the assembly information and the station information; in response to a replacement signal, the nozzle frame is controlled to disassemble the first nozzle assembly on the printing head base; and based on the assembly information corresponding to the replacement signal and the updated mapping relation information, a second nozzle assembly to be installed is determined, and the second nozzle assembly on the nozzle frame is installed to the printing head base.

Description

Technical Field

[0001] This application relates to the field of 3D printing, and in particular to a nozzle replacement method, a 3D printing device, and a computer-readable storage medium. Background Technology

[0002] In practical applications, multi-color 3D printing equipment faces a significant challenge. When switching colors, the remaining, melted printing filament inside the nozzles must be thoroughly cleaned. This means that each color change requires the nozzles to continuously expel a certain amount of filament as waste. This results in direct material wastage and time-consuming cleaning, extending the overall printing cycle and ultimately reducing printing efficiency. The problem of cleaning residual filament during each color change in multi-color printing can be solved by replacing the nozzle assembly. In this nozzle assembly replacement solution, the nozzle assembly to be used is placed on the nozzle holder. Before replacement, the nozzle assembly to be installed needs to be positioned correctly. If the holder is not properly secured to the nozzle assembly, accurate replacement is impossible.

[0003] It should be noted that any discussion of the background art in the entire specification does not imply that the background art is necessarily prior art known to those skilled in the art, and any discussion of the prior art in the entire specification does not imply that the prior art is necessarily widely known or constitutes common knowledge in the field. Summary of the Invention

[0004] In view of this, this application provides a nozzle replacement method, a 3D printing device, and a computer-readable storage medium, which solves the problem in related technologies that the residual consumables in the nozzle need to be cleaned every time a color is switched in multi-color printing.

[0005] In a first aspect, embodiments of this application provide a nozzle replacement method applied to a 3D printing device. The 3D printing device includes a print head and a nozzle holder, the nozzle holder being used to hold a nozzle assembly to be used. The print head includes a print head base and a nozzle assembly detachably connected to the print head base. The method includes: In response to the information binding request, the component information of the target nozzle assembly placed on the target station of the nozzle holder is bound to the station information of the target station, and the mapping relationship information between the component information and the station information is updated. In response to a replacement signal, the nozzle holder is controlled to detach the first nozzle assembly from the printhead base; Based on the component information corresponding to the replacement signal and the updated mapping relationship information, the second nozzle assembly to be installed is determined, and the second nozzle assembly on the nozzle holder is installed onto the printhead base.

[0006] Secondly, embodiments of this application provide a three-dimensional printing device, including: a print head, a nozzle holder, a processor, and a memory; The printhead includes a printhead base and a nozzle assembly detachably connected to the printhead base; The memory stores a program or instructions that run on the processor, which, when executed by the processor, implement the steps of the method as described in the first aspect.

[0007] Thirdly, embodiments of this application provide a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0008] The nozzle replacement method, 3D printing equipment, and computer-readable storage medium of this application embodiment, in response to an information binding request, bind the component information of a target nozzle assembly placed on a target station of the nozzle holder with the station information of the target station, and update the mapping relationship information between the component information and the station information through the bound component information and station information. In response to a replacement signal, the first nozzle assembly currently installed on the printhead base can be removed after completing its current printing action. The second nozzle assembly to be installed is determined based on the component information corresponding to the replacement signal, and the station of the second nozzle assembly on the nozzle holder is determined based on the updated mapping relationship information, and the second nozzle assembly is installed onto the printhead base.

[0009] This application embodiment enables automatic replacement of nozzle assemblies. This allows for the use of nozzle assemblies containing the same color and material when using consumables of the same type and material, eliminating the need to clean residual consumables from the nozzles each time consumables are switched, thus reducing waste and increasing printing speed. Furthermore, this application embodiment, based on an information binding request, binds the component information of the target nozzle assembly placed at the target station of the nozzle holder with the station information of the target station. This ensures accurate positioning of the nozzle assembly to be installed during replacement, improving the accuracy of the replacement process.

[0010] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A schematic diagram of the print head of a 3D printing device according to one embodiment of this application is shown; Figure 2 A schematic flowchart of a nozzle replacement method according to one embodiment of this application is shown. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0013] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0014] The nozzle replacement method, 3D printing equipment, and computer-readable storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0015] This application provides a nozzle replacement method applied to a 3D printing device. The 3D printing device includes a print head and a nozzle holder. The print head includes a print head base and a nozzle assembly detachably connected to the print head base.

[0016] In one embodiment, the 3D printing device further includes multiple cartridges, each connected to a print head. Each cartridge holds consumables of different colors or materials. After the consumables enter the print head, they are melted and a model is formed on the printing platform of the 3D printing device. It is understood that the multiple cartridges can also be integrated together, i.e., a large cartridge can contain consumables of various colors and / or materials.

[0017] In one embodiment, such as Figure 1 As shown, the nozzle assembly includes a nozzle 101, a heated portion 102, a heat sink 103, and an electronic control component (not shown). The nozzle 101 is connected to the heated portion 102, which can be integrally formed or separately connected. The heated portion 102 is used to heat and melt the consumable material therein, and the molten consumable material can be ejected from the nozzle 101 for printing. In one embodiment, the heated portion 102 can be a contact heating element or a remote induction heating element, such as electromagnetic induction heating or resistance heating. Correspondingly, the printhead base includes an active heating element, which is used for contact heating or remote heating of the heated portion 102.

[0018] The heat sink 103 is connected to or adjacent to the heated part 102. The heat sink 103 can be connected to the heated part 102 via a throat. The heat sink 103 is used to dissipate heat from the throat or the consumables in the heat sink 103 to prevent the consumables in the heated part 102 from melting or melting excessively, thereby avoiding material blockage.

[0019] The electronic control assembly includes a first temperature sensor, a second temperature sensor, a power receiving device, a signal transmission device, and a storage device. The first temperature sensor senses the temperature of the nozzle 101, the second temperature sensor senses the temperature of the heated part 102, and the power receiving device wirelessly receives electrical energy to power other devices on the electronic control assembly. The signal transmission device transmits the temperature detected by the temperature sensors to the processor of the 3D printing equipment, allowing it to control the heating power of the active heating element of the printhead base to adjust the temperature of the heated part 102. The signal transmission device also acquires consumable information such as color and material of the consumables stored in the storage device, component identification such as ID, number, and model of the nozzle assembly, and station information, and sends the consumable information, component identification, and station information to the processor of the 3D printing equipment for identification of the consumables and nozzle assembly. The nozzle assembly integrates heating, heat dissipation, temperature detection and control, and wireless communication functions. It is understood that the first temperature sensor can be omitted, and the 3D printing equipment can still adjust the heating power of the active heating element based on the temperature detected by the second temperature sensor.

[0020] In one embodiment, the 3D printing device also includes an interactive interface through which users can set parameters. For example, users can set a multi-color printing mode on the interactive interface. This multi-color printing mode includes changing the nozzle assembly during printing, or printing according to the user-set multi-color printing mode without changing the nozzle assembly. As another example, users can bind the component information of the nozzle assembly placed at the target station to the station information of the target station on the interactive interface. It is understood that the interactive interface is not limited to the 3D printing device; it can also be located on a user terminal communicating with the 3D printing device, such as a mobile terminal, a fixed terminal, or a cloud server. A mobile terminal is a mobile device, such as a mobile phone or tablet; a fixed terminal can be a computer.

[0021] In one embodiment, the 3D printing device further includes a communication module for information transmission. For example, a user can set a multi-color printing mode on a user terminal, which may include changing the nozzle assembly during printing or not changing the nozzle assembly. The communication module receives the multi-color printing mode setting information sent by the user terminal and prints according to the user-set multi-color printing mode. As another example, a user can bind the component information of a nozzle assembly placed at a target workstation to the workstation information on the user terminal. The communication module receives the binding information sent by the user terminal and then binds the nozzle assembly component information to the target workstation information according to the binding information.

[0022] In one embodiment, such as Figure 1 As shown, the printhead also includes a push component 104, which is used to push and retract consumables.

[0023] In one embodiment, such as Figure 1 As shown, the printhead also includes a cutting device 105, such as a cutter, which is used to cut the consumables inside the printhead.

[0024] In one embodiment, the 3D printing equipment further includes a locking structure disposed on the frame of the 3D printing equipment. The locking structure is used to unlock or lock the nozzle assembly on the printhead base. When the nozzle assembly is unlocked, the nozzle assembly on the printhead assembly can be disassembled under external force; when the nozzle assembly is locked, the nozzle assembly cannot be disassembled without damaging the printhead assembly structure. In some embodiments, the printhead may not have a cutting device 105, but the filament is cut while the locking structure unlocks the nozzle assembly. Alternatively, a cutting device 105 can be provided, which can also achieve the effect of unlocking the nozzle assembly while changing the position of the cutting device 105 to cut the filament.

[0025] In one embodiment, the nozzle holder is used to hold a plurality of nozzle assemblies. The nozzle holder includes a disassembly structure for disassembling the nozzle assemblies after they have been unlocked from the printhead base, or for installing the nozzle assemblies on the nozzle holder onto the printhead base.

[0026] In one embodiment, the nozzle holder is further provided with a lifting structure, which can lift and lower the nozzle assembly or the disassembly and assembly structure, thereby facilitating the disassembly and installation of the nozzle assembly.

[0027] In one embodiment, the 3D printing equipment further includes an image acquisition device, which can be a camera, for acquiring image information of the nozzle assembly. This image information can be used to determine whether existing consumables are present in the nozzle assembly. In one possible embodiment, the image acquisition device can be mounted on a nozzle holder and can capture images of the nozzle assembly placed on the nozzle holder.

[0028] To address the issue of needing to clean residual filament from the nozzles after each color switch in multi-color printing, this application proposes an automatic nozzle assembly replacement scheme. Specifically, in response to a replacement signal, the nozzle holder is controlled to disassemble the first nozzle assembly from the printhead base and install the second nozzle assembly from the nozzle holder onto the printhead base. In this nozzle assembly replacement scheme, the nozzle assembly to be used is placed at a station on the nozzle holder. Before replacement, the nozzle assembly to be installed needs to be located, i.e., its specific position needs to be determined, and then the nozzle assembly is installed at that position. If the station is not bound to the nozzle assembly, the nozzle assembly cannot be located, and accurate replacement cannot be performed.

[0029] like Figure 2 As shown, the nozzle replacement method provided in this application can be applied to 3D printing equipment. The nozzle replacement method includes: Step S201: In response to the information binding request, bind the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station, and update the mapping relationship information between the component information and the station information.

[0030] Prior to this step, an information binding request can be obtained. This request instructs the binding of the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station. This information binding request can be triggered by the user on the interactive interface of the 3D printing equipment, or it can be triggered by the user on a user terminal communicating with the 3D printing equipment and then sent to the 3D printing equipment by the user terminal. This application enables the binding of the component information of the nozzle assembly with the station information of the target station based on user interaction. This step can be executed within the 3D printing equipment or on a cloud server communicating with the 3D printing equipment.

[0031] In response to the information binding request, the component information of the target nozzle assembly placed on the target station of the nozzle holder is bound to the station information of the target station. The mapping relationship between the component information and the station information is then updated using the bound component information and station information. After the mapping relationship is updated, the nozzle assembly can be positioned based on this mapping relationship when it is replaced.

[0032] In one embodiment, if the original nozzle assembly on the nozzle holder is damaged, the nozzle assembly can be repositioned on the nozzle holder; alternatively, the nozzle assembly can be repositioned on the nozzle holder based on printing requirements. The repositioned nozzle assembly is the target nozzle assembly. The target nozzle assembly can be placed on the target workstation by the user or by the machine.

[0033] Workstation information can be the specific location coordinates of the workstation, or it can be the workstation ID, number, etc. associated with the specific location coordinates.

[0034] In one embodiment, before the user triggers the information binding request, placement suggestion information can be displayed on the interactive interface or sent to the user terminal to provide the user with placement suggestions. These suggestions may include workstation information and the suitable component information for placement, such as workstation 1 being suitable for placing the nozzle assembly corresponding to green consumables, and workstation 2 being suitable for placing the nozzle assembly corresponding to red consumables. This allows the user to understand the correct placement method for the nozzle assembly.

[0035] In step S202, in response to the replacement signal, the nozzle holder is controlled to remove the first nozzle assembly from the printhead base.

[0036] In this step, a replacement signal instructs the 3D printing equipment to change the nozzle assembly, switching from the nozzle assembly corresponding to the first consumable to the nozzle assembly corresponding to the second consumable. The first and second consumables can be the same or different in material and color. This replacement signal can be a consumable replacement signal or a nozzle assembly replacement signal. The replacement signal can be a built-in replacement command in the model file, triggered when a consumable switch is needed, or a replacement command sent from another device when a consumable switch is needed, or a replacement command generated by user control. In response to this replacement signal, the first nozzle assembly currently mounted on the printhead base can be detached after completing its current printing action.

[0037] Step S203: Based on the component information corresponding to the replacement signal and the updated mapping relationship information, determine the second nozzle assembly to be installed, and install the second nozzle assembly on the nozzle holder to the printhead base.

[0038] In this step, the second nozzle assembly to be installed is determined based on the component information corresponding to the replacement signal, and the station of the second nozzle assembly on the nozzle holder is determined based on the updated mapping information. The second nozzle assembly is then installed onto the printhead base. The first nozzle assembly is used to extrude the first consumable, and the second nozzle assembly is used to extrude the second consumable. The first and second consumables have different colors and / or materials. The second nozzle assembly can be the target nozzle assembly from step S201, or it can be any other nozzle assembly.

[0039] In one embodiment, the nozzle holder for disassembling the first nozzle assembly and the nozzle holder for installing the second nozzle assembly can be the same assembly or different assemblies.

[0040] In one embodiment, the second nozzle assembly newly installed to the printhead base can be a preheated nozzle assembly, which can quickly melt the filament after installation, improving printing quality. It is understood that the second nozzle assembly newly installed to the printhead base can also be an unpreheated nozzle assembly.

[0041] This application embodiment enables automatic replacement of nozzle assemblies. This allows for the use of nozzle assemblies containing the same color and material when using consumables of the same type and material, eliminating the need to clean residual consumables from the nozzles each time consumables are switched, thus reducing waste and increasing printing speed. Furthermore, this application embodiment, based on an information binding request, binds the component information of the target nozzle assembly placed at the target station of the nozzle holder with the station information of the target station. This ensures accurate positioning of the nozzle assembly to be installed during replacement, improving the accuracy of the replacement process.

[0042] In one embodiment of this application, determining the second nozzle assembly to be installed based on the component information corresponding to the replacement signal and the updated mapping relationship information includes: Among multiple nozzle assemblies to be installed, identify the second nozzle assembly that corresponds to the first assembly information in the replacement signal; Based on the updated mapping information, the position of the second nozzle assembly on the nozzle holder is determined.

[0043] In this embodiment, for multiple nozzle assemblies to be installed, the second component information corresponding to each nozzle assembly is compared with the first component information in the replacement signal to determine the target second component information that matches the first component information. The nozzle assembly corresponding to the target second component information is the second nozzle assembly. Then, based on the updated mapping information, the station information bound to the target second component information is found. The station corresponding to this station information is the station where the second nozzle assembly is located on the nozzle holder. The second nozzle assembly at this station is then installed onto the base assembly. In this way, the required nozzle assembly can be replaced, ensuring the accuracy of the replacement.

[0044] The first component information and the second component information can be at least one of the component identification and consumable information of the nozzle assembly. The component identification is the identification code of the nozzle assembly, which can be the ID, number, model, etc. of the nozzle assembly. The consumable information can be the color, material, etc. of the consumable extruded by the nozzle assembly. The first component information in the replacement signal refers to the information of the nozzle assembly that theoretically needs to be replaced on the base assembly.

[0045] In one embodiment of this application, binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the target station's station information does not contain any bound component information, then bind the target nozzle component's component information to the target station's station information; or Bind the component information of the target nozzle assembly placed on the target station of the nozzle holder to the station information of the target station, including: If it is determined that there is already bound component information in the station information of the target station, then the station information of the target station is unbound from the bound component information. After unbinding, the component information of the target nozzle component is bound to the station information of the target station. The bound component information is either the component information that was bound by default when the station information of the target station was shipped from the factory, or the component information of the nozzle component placed on the target station before the target nozzle component was placed.

[0046] In this embodiment, in response to an information binding request, it is determined whether the target workstation has any bound component information. If it is determined that the target workstation does not have any bound component information, the component information of the target nozzle assembly can be directly bound to the workstation information. It should be noted that "no bound component information" can mean that the target workstation does not have any component information bound by default at the factory, or that it has never been bound to the nozzle assembly since leaving the factory.

[0047] If it is determined that the target workstation has bound component information, the workstation information must first be unbound from the bound component information. After unbinding, the workstation information must be bound again. Bound component information can refer to the component information that is factory-bound to the target workstation, or it can be the component information of a nozzle component that was placed on the target workstation before the target nozzle component was placed. Replacing the bound component information of the target workstation with the component information of the target nozzle component can be understood as one scenario of unbinding the workstation information from the bound component information.

[0048] In this embodiment, before binding the target station to the target nozzle assembly, it is first checked whether the target station already has bound component information. If it does not exist, binding can be performed directly; if it exists, it needs to be unbound and then bound. This effectively avoids the situation where the same station is associated with multiple nozzle assembly information at the same time, ensuring that the binding relationship between each station and the nozzle assembly is unique and accurate.

[0049] In one embodiment of this application, binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target station has bound component information, then determine whether the component information of the target nozzle component is consistent with the bound component information. If the component information of the target nozzle assembly is inconsistent with the bound component information, the station information of the target station will be unbound from the bound component information. After unbinding, the component information of the target nozzle assembly will be bound to the station information of the target station.

[0050] In this embodiment, in response to an information binding request, it is determined whether there is already bound component information in the target workstation's workstation information. If it is determined that there is no already bound component information in the target workstation, the component information of the target nozzle assembly can be directly bound to the workstation information of the target workstation.

[0051] If it is determined that there is already bound component information at the target workstation, then it is further determined whether the component information of the target nozzle component is consistent with the bound component information. If the component information of the target nozzle component is inconsistent with the bound component information, then the workstation information of the target workstation needs to be unbound from the bound component information first, and then the workstation information of the target workstation needs to be bound to the workstation information of the target workstation.

[0052] In this embodiment, when the component information of the target nozzle assembly is inconsistent with the bound component information of the target station, the target station is unbound from the bound component information and then rebound to the target nozzle assembly. This ensures that the correspondence between the station information and the nozzle assembly information is accurate and provides a basis for accurate replacement of the nozzle assembly in the future.

[0053] In one embodiment of this application, binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target station has bound component information, then it is determined whether the component information of the target nozzle component is consistent with the bound component information; if the component information of the target nozzle component is inconsistent with the bound component information, then a second prompt message is issued, which is used to indicate that the target nozzle component and the target station do not match; in response to the confirmation binding signal, the station information of the target station is unbound from the bound component information, and after unbinding, the component information of the target nozzle component is bound to the station information of the target station.

[0054] In this embodiment, in response to an information binding request, it is determined whether there is already bound component information in the target workstation's workstation information. If it is determined that there is no already bound component information in the target workstation, the component information of the target nozzle assembly can be directly bound to the workstation information of the target workstation.

[0055] If it is determined that the target workstation has already bound component information, the system continues to check whether the component information of the target nozzle component is consistent with the bound component information. If the component information of the target nozzle component is inconsistent with the bound component information, it indicates that the target nozzle component and the target workstation are mismatched, and a second prompt message is issued to indicate the mismatch. This second prompt message can be displayed on the interactive interface or sent to the user's terminal. By issuing the second prompt message, the user is informed of the mismatch between the target nozzle component and the target workstation, allowing the user to determine whether to continue binding the target nozzle component and the target workstation.

[0056] After the user learns from the second prompt that the target nozzle assembly and the target workstation are incompatible, they can trigger an unbinding signal or a confirm binding signal through the interactive interface or user terminal. In one embodiment, if the unbinding signal is triggered, the binding between the target workstation and the target nozzle assembly is canceled.

[0057] If a confirmation binding signal is triggered, the workstation information of the target workstation will be unbound from the bound component information first. After unbinding, the workstation information of the target workstation will be bound to the workstation information of the target workstation.

[0058] In this embodiment, when the component information of the target nozzle assembly is inconsistent with the bound component information of the target workstation, a prompt message can be issued, allowing the user to promptly understand the information during the binding process. Furthermore, through user interaction, the target workstation can be unbound from the bound component information and then rebound to the target nozzle assembly, ensuring the accurate correspondence between the workstation information and the nozzle assembly information, thus providing a foundation for accurate nozzle assembly replacement in the future.

[0059] In one embodiment of this application, the method further includes: if the component information of the target nozzle assembly is consistent with the bound component information, then issuing a first prompt message, the first prompt message being used to indicate that the component information of the target nozzle assembly is consistent with the bound component information, and there is no need to rebind.

[0060] In this embodiment, if it is determined that the component information of the target nozzle assembly is consistent with the bound component information, a first prompt message is issued to indicate that the component information of the target nozzle assembly is consistent with the bound component information and no rebinding is required. No binding operation is performed, and no binding time is spent, thus improving the efficiency of replacing the nozzle assembly.

[0061] In one embodiment of this application, before controlling the nozzle holder to detach the first nozzle assembly from the printhead base, the method further includes: The consumable in the first nozzle assembly is cut off by the cutting device of the printhead, or the printhead is controlled to move to a first position so as to cut off the consumable in the first nozzle assembly by the cutting device of the printhead.

[0062] In this embodiment, before the first nozzle assembly is removed from the printhead base, in response to a replacement signal, the printhead cutting device cuts the filament in the first nozzle assembly, allowing the nozzle assembly to be replaced. In one embodiment, the printhead can be moved so that it collides with a specific location on the frame, causing the cutting device on the printhead to move passively and cut the filament in the first nozzle assembly. In another embodiment, the printhead moves to a first position, where the cutting device can simultaneously cut the filament in the first nozzle assembly. The printhead includes a cutting device, and the frame has a collision point. When the printhead moves to the collision point, the collision point contacts the cutting device, forcing the cutting device to move or rotate, thereby cutting the filament. In this embodiment, replacing the nozzle assembly after the filament in the first nozzle assembly has been cut off avoids the filament obstructing the nozzle assembly replacement.

[0063] In one embodiment of this application, the 3D printing apparatus further includes a locking structure located on the frame of the 3D printing apparatus. The nozzle holder includes a disassembly and assembly structure. The locking structure is used to unlock or lock the nozzle assembly on the printhead base, and the disassembly and assembly structure is used to disassemble the unlocked nozzle assembly on the printhead base, or to install the nozzle assembly on the nozzle holder onto the printhead base. The locking structure and the disassembly and assembly structure together enable the replacement of the nozzle assembly.

[0064] In one embodiment of this application, controlling the nozzle holder to disassemble the first nozzle assembly on the printhead base includes: The printhead is controlled to move to the first position, and the locking structure is controlled to unlock the first nozzle assembly on the printhead base; wherein, after the first nozzle assembly is unlocked, the first nozzle assembly is not completely disconnected from the printhead base; Control the printhead to move to the second position, and control the disassembly structure to disassemble the first nozzle assembly; Install the second nozzle assembly from the nozzle holder to the printhead base, including: The printhead is moved to the third position, where the second nozzle assembly is placed. The disassembly and assembly structure is then used to install the second nozzle assembly onto the printhead base.

[0065] In this embodiment, the printhead is controlled to move to a first position. 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 not completely disconnected from the printhead base.

[0066] The nozzle assembly, which can be a first nozzle assembly, is connected to the printhead base via methods such as snap-fit, bolt fastening, or quick-release structure when locked onto it. For example, the printhead base can engage with a snap-fit ​​groove on the nozzle assembly using a snap-fit ​​mechanism. The snap-fit ​​deforms elastically under pressure and enters the groove to achieve snap-fit ​​fixation, thus connecting the nozzle assembly to the printhead base. Alternatively, the nozzle assembly can have a threaded structure, and the printhead base can have a corresponding threaded hole. By rotating the threaded structure to engage with the threaded hole, the nozzle assembly can be snap-fitted to the printhead base. The nozzle assembly can also be fixed to the printhead base using bolts. Furthermore, the nozzle assembly can be fixed to the printhead base using quick-release structures such as clip plates or springs.

[0067] After the nozzle assembly is unlocked, it remains partially connected to the printhead base, 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 assembly and printhead base are partially disconnected, they are connected via at least one of mechanical, magnetic, or electromagnetic connections. After the nozzle assembly is unlocked, to prevent it from falling off the printhead base, the printhead base remains connected to the nozzle assembly, which can be achieved through mechanical, magnetic, or electromagnetic connections. For example, the nozzle assembly integrates magnetic material, and an electromagnetic coil is placed on the printhead base. When current passes through the coil, a magnetic field is generated in a specific direction, attracting or releasing the magnetic material in the nozzle assembly, thus connecting or disconnecting the printhead base from the nozzle assembly. While this method also allows the nozzle assembly to connect to the printhead base, disconnection can be achieved in a simpler way.

[0068] Furthermore, after the first nozzle assembly is unlocked from the printhead base, the printhead is controlled to move to the second position. After the printhead reaches the second position, the disassembly and assembly structure is controlled to completely remove the first nozzle assembly from the printhead base, and the two are no longer connected.

[0069] In this embodiment, the nozzle assembly is gradually removed from the printhead base by unlocking and then disassembling, reducing the risk of the nozzle assembly suddenly detaching from the printhead base.

[0070] Furthermore, the printhead is moved to a third position, corresponding to which a second nozzle assembly to be installed is placed at a fifth position on the nozzle holder. The disassembly and assembly mechanism is then used to install the second nozzle assembly onto the printhead base, thus enabling the replacement of the first nozzle assembly with the second nozzle assembly.

[0071] In one embodiment of this application, controlling the printhead to move to a first position and controlling the locking structure to unlock the first nozzle assembly on the printhead base 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 control lock structure and the printhead move relative to each other, and the force generated by the relative movement unlocks the first nozzle assembly on the printhead base; 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 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 nozzle assembly on the printhead base, while the locking structure remains stationary.

[0072] In this embodiment, the print head is controlled to move to a first position, which is the corresponding position of the locking mechanism. For example, it can be the position where the print head contacts the position of the locking structure, or it can be a position within a first preset distance of the position of the locking structure. This first preset distance refers to the maximum distance at which the locking structure can unlock the first nozzle assembly.

[0073] The locking structure unlocks the first nozzle assembly. Unlocking can be achieved by the printhead moving and colliding with the locking structure, causing the locking mechanism to press against a component on the printhead base, such as a latch. This causes the latch to elastically deform and disengage from the slot on the first nozzle assembly, thus unlocking the first nozzle assembly from the printhead base. Alternatively, after the printhead moves to the first position, the locking mechanism moves and collides with the printhead, unlocking the first nozzle assembly from the printhead base. Another unlocking method is that the locking structure remains stationary, and when the printhead moves to the first position, it collides with the locking structure; the force generated by the collision unlocks the first nozzle assembly from the printhead base.

[0074] In one embodiment of this application, controlling the printhead to move to a second position and controlling the disassembly structure to disassemble the first nozzle assembly includes: The system controls the printhead to move to the second position, and controls the disassembly structure to connect with the first nozzle assembly, and controls the disassembly structure to move to detach the first nozzle assembly from the printhead base to the fourth position.

[0075] In this embodiment, the printhead is moved to a second position. At this second position, or at a position corresponding to the second position, a disassembly / removal structure disassembles the first nozzle assembly, thereby removing the first nozzle assembly from the printhead base and placing it in a fourth position. The fourth position is a location on the nozzle holder, also known as a workstation, used to place the replaced nozzle assembly, i.e., the first nozzle assembly. This position can be empty when the first nozzle assembly is not unloaded and placed in the fourth position. Specifically, after the first nozzle assembly is unlocked, it remains connected to the printhead base via mechanical connection, magnetic force, or electromagnetic force. In one embodiment, the disassembly / removal structure can be a clamping structure, a magnetic attraction structure, or an electromagnetic attraction structure, capable of connecting to the first nozzle assembly via clamping, magnetic attraction, or electromagnetic attraction. Then, it descends, separating the first nozzle assembly from the printhead base, thus disassembling the first nozzle assembly and placing it in the fourth position. For example, the first nozzle assembly integrates magnetic material, and an electromagnetic coil is provided on the printhead base. After the first nozzle assembly is unlocked, it connects to the printhead base via electromagnetic force. The disassembly / assembly structure is an electromagnetic attraction structure. The attraction force of the disassembly / assembly structure on the first nozzle assembly is greater than the attraction force of the printhead base on the first nozzle assembly, causing the disassembly / assembly structure to attract the first nozzle assembly, or the printhead base can be controlled to actively release the first nozzle assembly, causing the disassembly / assembly structure to attract the first nozzle assembly. After the disassembly / assembly structure attracts the first nozzle assembly, it descends and releases the first nozzle assembly, causing it to fall into the fourth position, thus achieving disassembly of the first nozzle assembly. Alternatively, after the first nozzle assembly is unlocked, it is connected to the printhead base via a slider and a groove. The disassembly / assembly structure is a clamping structure. By clamping the first nozzle assembly and then descending, a pulling force is generated on the first nozzle assembly, causing the slider to disengage from the groove, causing the first nozzle assembly to fall into the fourth position, thus achieving disassembly of the first nozzle assembly. In one embodiment, since the heat sink protrudes more than the heated part and the nozzle, the disassembly / assembly structure can clamp the heat sink, facilitating the clamping action of the disassembly / assembly structure. It is also understood that the first nozzle assembly can move to the fourth position along with the disassembly / assembly structure.

[0076] In one embodiment of this application, the control disassembly structure is connected to the first nozzle assembly, including: The control assembly / disassembly structure is directly connected to the first nozzle assembly; or... The disassembly and assembly structure is controlled to move, and after movement, the disassembly and assembly structure is connected to the first nozzle assembly.

[0077] In this embodiment, the print head is moved to a second position. If the distance between the disassembly / assembly structure and the first nozzle assembly is within a second preset distance (the maximum distance at which the disassembly / assembly structure can disassemble / assemble the first nozzle assembly), the disassembly / assembly structure is directly connected to the first nozzle assembly to disassemble it. If the distance between the disassembly / assembly structure and the first nozzle assembly is not within the second preset distance, the disassembly / assembly structure is moved closer to the first nozzle assembly, for example, by raising the disassembly / assembly structure to bring it closer to the first nozzle assembly, thereby connecting it to the first nozzle assembly and disassembling it.

[0078] In this application, the disassembly and assembly structure is directly connected to the first nozzle assembly, or the disassembly and assembly structure is moved and then connected to the first nozzle assembly, so as to ensure the reliability of disassembling the first nozzle assembly.

[0079] In one embodiment of this application, the control disassembly structure installs the second nozzle assembly to the printhead base, including: Based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is fixedly installed to the printhead base; or, based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is pre-connected to the printhead base, and 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.

[0080] In this embodiment, based on the fact that the disassembly structure and the second nozzle assembly are already connected, the disassembly structure is controlled to move towards the printhead base. This movement can be upward or downward to install the second nozzle assembly onto the printhead base. It should be noted that this installation can be a fixed installation, meaning that after the second nozzle assembly is installed onto the printhead base, no locking operation is required; or it can be a pre-connection, meaning that the second nozzle assembly and the printhead base are not completely disconnected. In this case, the printhead is controlled to move to the first position, and the locking structure is controlled to lock the second nozzle assembly and the printhead base, thereby achieving a fixed connection between the second nozzle assembly and the printhead base.

[0081] It is worth noting that the disassembly and assembly structure and the second nozzle assembly can be already connected, or the disassembly and assembly structure can be connected to the second nozzle assembly placed in the fifth position after the print head has been moved to the third position. The disassembly and assembly structure can be connected to the second nozzle assembly by clamping, magnetic attraction, or electromagnetic attraction.

[0082] In one embodiment of this application, after controlling the movement of the disassembly and assembly structure to fix the second nozzle assembly to the printhead base, the method further includes: Control the movement of the disassembly / removal mechanism to detach it from the second nozzle assembly; or, After controlling the movement of the disassembly and assembly structure and pre-connecting the second nozzle assembly to the printhead base, the method further includes: Control the movement of the disassembly / assembly structure to detach it from the second nozzle assembly.

[0083] In this embodiment, after the second nozzle assembly is installed, the disassembly structure can be moved, for example, downwards, to detach from the second nozzle assembly. Then, the printhead moves to the printing position, thereby preventing the disassembly structure from obstructing the printhead's movement and potentially damaging it.

[0084] This application also provides a three-dimensional printing device, including: a print head, a nozzle holder, a processor, and a memory; The printhead includes a printhead base and a nozzle assembly detachably connected to the printhead base; The memory stores a program or instructions that run on the processor. When the program or instructions are executed by the processor, they implement the various steps of the nozzle replacement method in the above embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0085] Memory can be used to store software programs and various data. Memory can primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area can store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, memory can include volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (Synchlink DRAM, SLDRAM), and direct memory bus RAM (DRRAM). The memory in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0086] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly handles operations related to the operating system, user interface, and applications, while the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor.

[0087] In one embodiment of this application, a nozzle holder is used to hold a nozzle assembly to be used; The nozzle holder includes a detachable structure; The 3D printing equipment also includes a locking structure, which is located on the frame of the 3D printing equipment and is used to lock or unlock the nozzle assembly mounted on the printhead base.

[0088] In this embodiment, the 3D printing equipment further includes a locking structure for unlocking or locking the nozzle assembly on the printhead base. The nozzle holder includes a disassembly / removal structure for disassembling the unlocked nozzle assembly on the printhead base, or for installing the nozzle assembly on the nozzle holder onto the printhead base.

[0089] In one embodiment of this application, the disassembly and assembly structure includes at least one of a clamping structure, a magnetic structure, and an electromagnetic attraction structure.

[0090] In one embodiment of this application, the nozzle assembly includes a nozzle, a heated portion, a heat sink, and an electronic control component, wherein the heated portion is used to heat the nozzle; The printhead base includes an active heating element, which is used 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.

[0091] 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 nozzle replacement method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0092] This application also provides the following embodiments: Example 1: A nozzle replacement method applied to a 3D printing device, the 3D printing device including a print head and a nozzle holder, the nozzle holder for holding a nozzle assembly to be used, 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 the information binding request, the component information of the target nozzle assembly placed on the target station of the nozzle holder is bound to the station information of the target station, and the mapping relationship information between the component information and the station information is updated. In response to a replacement signal, the nozzle holder is controlled to detach the first nozzle assembly from the printhead base; Based on the component information corresponding to the replacement signal and the updated mapping relationship information, the second nozzle assembly to be installed is determined, and the second nozzle assembly on the nozzle holder is installed onto the printhead base.

[0093] Example 2, based on Example 1, further includes binding the component information of the target nozzle assembly placed at the target station of the nozzle holder with the station information of the target station, including: If it is determined that the target station's station information does not contain bound component information, then the component information of the target nozzle assembly is bound to the target station's station information; or The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target station has bound component information, then the station information of the target station is unbound from the bound component information. After unbinding, the component information of the target nozzle assembly is bound to the station information of the target station. The bound component information is either the component information that was bound by default when the station information of the target station was manufactured, or the component information of the nozzle assembly placed on the target station before the target nozzle assembly was placed.

[0094] Example 3, based on Example 1, further includes binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station, including: If it is determined that the station information of the target station contains bound component information, then it is determined whether the component information of the target nozzle component is consistent with the bound component information. If the component information of the target nozzle assembly is inconsistent with the bound component information, then the station information of the target station is unbound from the bound component information. After unbinding, the component information of the target nozzle assembly is bound to the station information of the target station; or, The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target workstation has bound component information, then it is determined whether the component information of the target nozzle assembly is consistent with the bound component information; if the component information of the target nozzle assembly is inconsistent with the bound component information, then a second prompt message is issued, the second prompt message being used to indicate that the target nozzle assembly and the target workstation do not match; in response to the confirmation binding signal, the station information of the target workstation is unbound from the bound component information, and after unbinding, the component information of the target nozzle assembly is bound to the station information of the target workstation.

[0095] Example 4, based on Example 3, further includes: If the component information of the target nozzle assembly is consistent with the information of the already bound component, a first prompt message is issued. The first prompt message is used to indicate that the component information of the target nozzle assembly is consistent with the information of the already bound component, and there is no need to rebind it.

[0096] Example 5, based on Example 1, the 3D printing device further includes a locking structure, and the nozzle holder includes a disassembly and assembly structure; controlling the nozzle holder to disassemble the first nozzle assembly on the print head base includes: 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; wherein, after the first nozzle assembly is unlocked, the first nozzle assembly is not completely disconnected from the printhead base; Control the printhead to move to the second position, and control the disassembly structure to disassemble the first nozzle assembly; The step of mounting the second nozzle assembly on the nozzle holder to the printhead base includes: The printhead is controlled to move to a third position, and a second nozzle assembly is placed at the third position. The disassembly and assembly structure is controlled to install the second nozzle assembly onto the printhead base.

[0097] Example 6, based on Example 5, involves controlling the printhead to move to a first position and controlling the locking structure to unlock the first nozzle assembly on the printhead base, including: The print head is controlled 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. Control the relative movement of the locking structure and the printhead, and use the force generated by the relative movement to unlock the first nozzle assembly on the printhead base; 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 includes: 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 remains stationary.

[0098] Example 7, based on Example 5, involves controlling the printhead to move to the second position and controlling the disassembly / removal structure to disassemble the first nozzle assembly, including: The system controls the printhead to move to a second position, and controls the disassembly structure to connect with the first nozzle assembly, and controls the disassembly structure to move to detach the first nozzle assembly from the printhead base to a fourth position.

[0099] Example 8, based on Example 5, involves controlling the disassembly / assembly structure to install the second nozzle assembly onto the printhead base, including: Based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is fixedly installed to the printhead base; or, based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is pre-connected to the printhead base, and the printhead is controlled to move to a first position, and the locking structure is controlled to lock the second nozzle assembly to the printhead base.

[0100] Example 9, based on Example 8, after controlling the movement of the disassembly and assembly structure to fix the second nozzle assembly to the printhead base, the method further includes: Control the movement of the disassembly / assembly structure to detach it from the second nozzle assembly; or, After controlling the movement of the disassembly and assembly structure to pre-connect the second nozzle assembly to the printhead base, the method further includes: The disassembly structure is controlled to move so that it detaches from the second nozzle assembly.

[0101] This application also provides the following embodiments: Example 10: A three-dimensional printing device, comprising: a print head, a nozzle holder, a processor, and a memory; The printhead includes a printhead base and a nozzle assembly detachably connected to the printhead base; The memory stores a program or instructions that run on the processor, which, when executed by the processor, implement the steps of the nozzle replacement method as described in any one of Examples 1 to 9.

[0102] Example 11, based on Example 10, the nozzle holder is used to hold the nozzle assembly to be used; The nozzle holder includes a detachable structure; The 3D printing equipment further includes a locking structure disposed on the frame of the 3D printing equipment, the locking structure being used to lock or unlock the nozzle assembly mounted on the printhead base.

[0103] Example 12, based on Example 10, the nozzle assembly includes a nozzle, a heated part, a heat sink, and an electronic control component, wherein the heated part is used to heat the nozzle; The printhead base includes an active heating element, which is used 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. 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.

[0104] This application also provides the following embodiments: Example 13: A computer-readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the nozzle replacement method as described in any one of Examples 1 to 9.

[0105] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0106] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A nozzle replacement method, characterized in that, A method applicable to a 3D printing device, the 3D printing device including a print head and a nozzle holder, the nozzle holder for holding a nozzle assembly to be used, the print head including a print head base and a nozzle assembly detachably connected to the print head base, the method comprising: In response to the information binding request, the component information of the target nozzle assembly placed on the target station of the nozzle holder is bound to the station information of the target station, and the mapping relationship information between the component information and the station information is updated. In response to a replacement signal, the nozzle holder is controlled to detach the first nozzle assembly from the printhead base; Based on the component information corresponding to the replacement signal and the updated mapping relationship information, the second nozzle assembly to be installed is determined, and the second nozzle assembly on the nozzle holder is installed onto the printhead base.

2. The nozzle replacement method according to claim 1, characterized in that, The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the target station's station information does not contain bound component information, then the component information of the target nozzle assembly is bound to the target station's station information; or The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target station has bound component information, then the station information of the target station is unbound from the bound component information. After unbinding, the component information of the target nozzle assembly is bound to the station information of the target station. The bound component information is either the component information that was bound by default when the station information of the target station was manufactured, or the component information of the nozzle assembly placed on the target station before the target nozzle assembly was placed.

3. The nozzle replacement method according to claim 1, characterized in that, The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target station contains bound component information, then it is determined whether the component information of the target nozzle component is consistent with the bound component information. If the component information of the target nozzle assembly is inconsistent with the bound component information, then the station information of the target station is unbound from the bound component information. After unbinding, the component information of the target nozzle assembly is bound to the station information of the target station; or, The step of binding the component information of the target nozzle assembly placed on the target station of the nozzle holder with the station information of the target station includes: If it is determined that the station information of the target workstation has bound component information, then it is determined whether the component information of the target nozzle assembly is consistent with the bound component information; if the component information of the target nozzle assembly is inconsistent with the bound component information, then a second prompt message is issued, the second prompt message being used to indicate that the target nozzle assembly and the target workstation do not match; in response to the confirmation binding signal, the station information of the target workstation is unbound from the bound component information, and after unbinding, the component information of the target nozzle assembly is bound to the station information of the target workstation.

4. The nozzle replacement method according to claim 3, characterized in that, The method further includes: If the component information of the target nozzle assembly is consistent with the information of the already bound component, a first prompt message is issued. The first prompt message is used to indicate that the component information of the target nozzle assembly is consistent with the information of the already bound component, and there is no need to rebind it.

5. The nozzle replacement method according to claim 1, characterized in that, The 3D printing equipment further includes a locking structure, and the nozzle holder includes a disassembly and assembly structure; controlling the nozzle holder to disassemble the first nozzle assembly on the print head base includes: 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; wherein, after the first nozzle assembly is unlocked, the first nozzle assembly is not completely disconnected from the printhead base; Control the printhead to move to the second position, and control the disassembly structure to disassemble the first nozzle assembly; The step of mounting the second nozzle assembly on the nozzle holder to the printhead base includes: The printhead is controlled to move to a third position, and a second nozzle assembly is placed at the third position. The disassembly and assembly structure is controlled to install the second nozzle assembly onto the printhead base.

6. The nozzle replacement method according to claim 5, characterized in that, The step of controlling the printhead to move to a first position and controlling the locking structure to unlock the first nozzle assembly on the printhead base includes: The print head is controlled 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. Control the relative movement of the locking structure and the printhead, and use the force generated by the relative movement to unlock the first nozzle assembly on the printhead base; 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 includes: 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 remains stationary.

7. The nozzle replacement method according to claim 5, characterized in that, The control of moving the printhead to the second position and controlling the disassembly structure to disassemble the first nozzle assembly includes: The printhead is controlled to move to a second position, and the disassembly and assembly structure is controlled to connect with the first nozzle assembly, and the disassembly and assembly structure is controlled to move to detach the first nozzle assembly from the printhead base to a fourth position; The control mechanism for mounting the second nozzle assembly to the printhead base includes: Based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is fixedly installed to the printhead base; or, based on the connection between the disassembly and assembly structure and the second nozzle assembly, the disassembly and assembly structure is controlled to move, and the second nozzle assembly is pre-connected to the printhead base, and the printhead is controlled to move to a first position, and the locking structure is controlled to lock the second nozzle assembly to the printhead base. After controlling the movement of the disassembly and assembly structure to fix the second nozzle assembly to the printhead base, the method further includes: Control the movement of the disassembly / assembly structure to detach it from the second nozzle assembly; or, After controlling the movement of the disassembly and assembly structure to pre-connect the second nozzle assembly to the printhead base, the method further includes: The disassembly structure is controlled to move so that it detaches from the second nozzle assembly.

8. A three-dimensional printing device, characterized in that, include: Printhead, nozzle holder, processor, and memory; The printhead includes a printhead base and a nozzle assembly detachably connected to the printhead base; The memory stores a program or instructions that run on the processor, which, when executed by the processor, implement the steps of the nozzle replacement method as described in any one of claims 1 to 7.

9. The three-dimensional printing equipment according to claim 8, characterized in that, The nozzle holder is used to hold nozzle assemblies to be used; The nozzle holder includes a detachable structure; The 3D printing equipment further includes a locking structure, which is disposed on the frame of the 3D printing equipment and is used to lock or unlock the nozzle assembly mounted on the printhead base. The nozzle assembly includes a nozzle, a heated part, a heat sink, and an electronic control component, wherein the heated part is used to heat the nozzle. The printhead base includes an active heating element, which is used 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. 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.

10. A computer-readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the nozzle replacement method as described in any one of claims 1 to 7.

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