A head changing and overturning device and a three-dimensional printing equipment

Abstract

The present specification provides a head turnover device and a three-dimensional printing equipment, and relates to the technical field of three-dimensional printing. The head turnover device comprises a rack and a turnover mechanism. The rack is provided with a turnover guide structure. The turnover mechanism is slidably arranged on the rack. The turnover mechanism is provided with a turnover assembly. The turnover assembly is rotatable relative to the turnover mechanism. The turnover assembly comprises an assembly part for mounting a hot end of a printing head and a guide swing arm. When the turnover mechanism is at the upper end of the turnover guide structure, the assembly part faces upward, so that the assembly part can be docked with a printing head assembly of the three-dimensional printing equipment through the hot end of the printing head. When the turnover mechanism is at the lower end of the turnover guide structure, the assembly part faces downward, so that the assembly part can be docked with a hot end storage mechanism of the three-dimensional printing equipment through the hot end of the printing head. The assembly part can accurately grasp different hot ends of the printing head at the lower end, and the turnover can be completed synchronously when rising to the upper end, thereby improving the efficiency of replacing the printing head.

Description

[0001] This application claims priority to Chinese Patent Application No. 2025111051772, filed with the Chinese Patent Office on August 6, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This specification relates to the field of 3D printing technology, and in particular to a head-changing and flipping device and a 3D printing equipment. Background Technology

[0003] A 3D printer (also known as a three-dimensional printer) is a device that builds three-dimensional objects by depositing printing materials layer by layer. As users' demands for printing quality continue to upgrade, multi-color printing and multi-type consumable composite printing have become important development directions. This requires the equipment to have the ability to process multiple consumables simultaneously (such as different materials or colors) and flexibly switch between outputs.

[0004] Currently, filament switching in multi-filament printing mainly relies on two technical solutions. One is a single-printhead 3D printer that prints multiple filaments using a single printhead assembly. When a filament needs to be replaced, the cutting assembly first cuts off the currently fed filament. Then, the unmelted residual filament is retracted, and simultaneously, cleaning filament or gas is introduced into the printhead assembly to flush out any remaining old filament, preventing mixing of different filaments from affecting print quality. After flushing, new filament is fed into the printhead assembly, and flow calibration and temperature matching are performed. This switching process involves multiple steps, including cutting, retraction, flushing, feeding, and calibration, resulting in a long switching time and severely impacting printing efficiency. Furthermore, the flushing process consumes a large amount of cleaning filament, and the flushed residual filament cannot be recovered, leading to material waste and significantly increasing printing costs.

[0005] Another approach is to use a multi-head 3D printer, which is equipped with multiple independent printhead assemblies, each corresponding to a type of filament. A robotic arm or moving mechanism switches different printhead assemblies to their working positions to replace the filament. However, in this approach, the printhead assembly integrates precision components such as heating modules, temperature sensors, and nozzles, resulting in a significant overall weight. Precise control of the movement trajectory is required during switching to avoid collisions, leading to slow switching actions. Furthermore, the flow characteristics and nozzle wear levels of different printhead assemblies vary, necessitating flow calibration and height compensation after switching. Additionally, the issue of filament solidification inside the printhead assembly when idle cannot be avoided, requiring regular flushing and maintenance. This results in low efficiency and the problem of filament waste remains unresolved. Utility Model Content

[0006] To overcome the problems existing in related technologies, this specification provides a printhead flipping device and a 3D printing equipment. By optimizing the switching structure and action logic of the hot end of the printhead, the hot end of the printhead can be flipped and docked and accurately positioned, eliminating redundant steps in the traditional switching process, thereby shortening the switching time, reducing consumable waste, simplifying the debugging process, and improving the efficiency and economy of multi-consumable printing.

[0007] According to a first aspect of the embodiments of this specification, a head-changing and flipping device is provided, comprising:

[0008] The frame is equipped with a flipping guide structure, which has an upper end and a lower end arranged in a vertical direction;

[0009] A flipping mechanism is slidably disposed on the frame, and the flipping mechanism is movable between the upper end and the lower end of the flipping guide structure;

[0010] The flipping mechanism is provided with a flipping component, which is rotatable relative to the flipping mechanism and has a rotation axis on the flipping mechanism. The flipping component includes an assembly for mounting the hot end of the printhead and a guide arm. The geometric center of the guide arm is offset from the rotation axis. The guide arm has a rotating end and a swinging end. The guide arm is connected to the assembly through the rotating end. The flipping component is guided and engaged with the flipping guide structure through the swinging end of the guide arm.

[0011] The flipping guide structure also has a flipping guide part, which is radially offset from the flipping assembly along the rotation axis. The flipping guide part has a symmetrical radial offset profile, which is guided and engaged with the swing end of the guide arm to guide the swing end of the guide arm to rotate around the rotation axis, so that the guide arm can drive the assembly component to rotate.

[0012] The center of symmetry of the radial offset profile is offset from the movement trajectory of the rotating end of the guide arm in the radial direction, and both ends of the radial offset profile are set in the vertical direction; and

[0013] When the flipping mechanism is at the upper end of the flipping guide structure, the assembly component faces upward, so that the assembly component can dock with the printhead assembly of the 3D printing device through the hot end of the printhead; when the flipping mechanism is at the lower end of the flipping guide structure, the assembly component faces downward, so that the assembly component can dock with the hot end storage mechanism of the 3D printing device through the hot end of the printhead.

[0014] In this type of embodiment, the liftable design of the flipping mechanism and the rotatable function of the flipping component, together with the flipping guide structure (including the upper end, lower end, and flipping guide part) distributed vertically on the frame, form an integrated printhead hot end replacement system for position transfer and posture switching. In this system, the radial offset of the flipping guide part and the eccentricity of the guide arm are adjustable parameters, allowing the flipping angle and lifting stroke of the mounting component to flexibly adapt to different specifications of printhead hot ends. The lifting motion of the flipping mechanism and the rotational motion of the flipping component are independent of each other, but are linked through the cooperation of the guide arm and the flipping guide part, improving the adaptability to different 3D printing equipment and multi-color / multi-type consumable printing scenarios.

[0015] By driving the flipping mechanism to rise and fall between the upper and lower ends, and coordinating with the flipping guide unit to guide the guide arm, the assembly component can accurately grasp the hot ends of different printheads at the lower end, and simultaneously flip up to the upper end, so that the nozzle faces upward to align with the cold end of the printhead assembly, enabling continuous printing of multiple consumables from a single printhead. When a nozzle becomes clogged and needs to be replaced, simply control the flipping mechanism to descend to the hot end storage mechanism to replace the corresponding hot end of the printhead; the switching process for the hot ends of other printheads remains unaffected, ensuring the continuity of the printing process. Furthermore, when it is necessary to switch consumable types, the hot end of the printhead to be switched can be moved to the pre-replacement station in advance through the hot end storage mechanism. After the original hot end of the printhead is disassembled and descends to the lower end with the flipping mechanism, the hot end of the new printhead can be quickly grasped by the assembly component and flipped up, significantly shortening the printhead switching interval and reducing the switching time from the traditional 30-60 seconds to 5-10 seconds, significantly improving the printhead refill efficiency.

[0016] Secondly, the connection design between the guide arm and the assembly components, combined with the compatibility between the flipping guide structure and the frame, forms a standardized replacement link for universal components. This ensures the interchangeability of flipping components adapted to different hot ends within the device, significantly improving component reusability. In 3D printing applications, the unified structural design allows for flexible connection to printhead assemblies and hot end storage mechanisms of different specifications. For example, in a four-color printing system, the device can sequentially replace the hot ends of the four color printheads by switching the receiving section of the hot end storage mechanism, eliminating the need for a separate dedicated switching structure for each color printhead. When expanding printing colors or material types, only the number of receiving sections in the hot end storage mechanism needs to be increased, avoiding the need to replace the entire equipment due to structural incompatibility, significantly reducing the cost of equipment expansion, and solving the problem of device versatility.

[0017] Furthermore, the flipping assembly's design, which achieves precise rotation through the guiding cooperation of the guide arm and the flipping guide structure, also enhances the device's maintenance efficiency. During the installation, commissioning, and component replacement of the printhead flipping device, operators do not need to perform complex parameter calibrations. They only need to ensure the assembly accuracy of each component to guarantee the precise alignment of the printhead hot end with the printhead assembly and the hot end storage mechanism. No additional dedicated calibration components are required, significantly shortening the maintenance cycle. Simultaneously, since the solution only replaces the printhead hot end, unmelted consumables in the printhead assembly can be retrieved and reused. Compared to the full-flow-channel flushing of traditional single-head equipment and the overall replacement of multi-head equipment, this reduces consumable waste by more than 90%, significantly lowering printing costs and material consumption.

[0018] The symmetrical radial offset profile ensures that the movement path of the swing end of the guide arm is perfectly mirrored on both sides of the center of symmetry (e.g., when moving from the bottom to the top and from the top to the bottom, the upper and lower halves of the trajectory of the swing end along the profile are symmetrical). The radial offset between the center of symmetry and the movement trajectory of the rotating end provides a stable rotational driving force for the guide arm. When the swing end moves along the symmetrical profile, the radial offset is converted into a uniform torque, causing the guide arm to rotate symmetrically around the rotation axis. The flipping angle, speed change, and final posture of the assembled parts from top to bottom or from bottom to top remain highly consistent, without deviation due to different directions of movement.

[0019] Specifically, the symmetrical radial offset profile, through a mirror trajectory design, can control the angular deviation of the back-and-forth flipping within a preset range (such as ±0.5°). At the same time, the radial offset setting makes the rotational driving force of the guide arm more uniform, avoiding posture jitter caused by sudden force changes during flipping, and ensuring that the hot end of the printhead will not accidentally interfere with other components during flipping.

[0020] Furthermore, due to the symmetry of the reciprocating motion, in 3D printing applications, the control unit does not need to set separate compensation parameters for the rising and falling processes. Only one set of control logic is required to achieve precise attitude control, simplifying the attitude control logic of the flipping component and reducing debugging difficulty. For the high-frequency nozzle flipping requirements in multi-color / multi-material printing, the consistency of motion brought by this symmetry can significantly improve the long-term stability of the equipment, reduce printing failures caused by attitude deviations, and further reduce maintenance costs.

[0021] In some example embodiments of this disclosure, the flipping guide structure further includes an advance / retreat guide portion, which is disposed at at least one end of the flipping guide portion;

[0022] The forward and backward guiding part is arranged in the vertical direction and is used to guide the swing end of the guide arm to move in the vertical direction together with the flipping mechanism when the flipping mechanism moves relative to the frame, thereby restricting the rotation of the flipping assembly.

[0023] In this type of embodiment, the newly added forward and backward guiding section of the flipping guide structure serves as a straight section of the flipping guide structure, connecting and cooperating with the flipping guide section, which serves as a turning section. This allows the swing end of the guide arm to switch between simple lifting and rotating movements simultaneously, depending on the section it is on. When the swing end is within the forward and backward guiding section, it only moves vertically with the flipping mechanism, and the flipping component maintains a fixed posture due to the lack of radial driving force. Only when the swing end enters the flipping guide section does it rotate under the guidance of a radial offset trajectory. This ensures that when the swing end of the guide arm approaches the printhead assembly and / or the hot end storage mechanism, it only moves vertically, while the flipping component maintains a fixed posture under the drive of the guide arm, avoiding the superposition of "moving and flipping simultaneously" actions.

[0024] The flipping guide structure is designed in segments, ensuring that the rotation of the flipping component only occurs during the intermediate stroke before docking (when the hot end of the printhead on the assembled component is detached from the printhead assembly and the hot end storage mechanism). It maintains stable posture in the upper and lower regions near the printhead assembly or hot end storage mechanism (within the guide section), thus avoiding the impact of rotational inertia on docking accuracy. For example, in a structure without a guide section, the flipping component may still have slight rotation at the moment of docking, causing misalignment between the hot end of the printhead and the assembled component. However, the constraint of the guide section allows the docking deviation to be controlled within a preset range, while eliminating the redundant time reserved for waiting for posture stabilization, improving single-switch efficiency by more than 30%.

[0025] Furthermore, the vertical guidance of the forward and backward guide section provides a certain degree of rigid constraint on the assembled components during the docking process. Even if there are minor installation errors in the printhead assembly or hot end storage mechanism, the resulting lateral force will be absorbed by the forward and backward guide section (the swing end cannot generate radial displacement on a straight section), preventing wear on the hot end of the printhead caused by accidental rotation of the flipping component due to external forces, and significantly improving the durability of the device. When it is necessary to adapt to hot ends of printheads of different specifications (such as nozzles of different lengths), only the length of the forward and backward guide section or the offset of the flipping guide section needs to be adjusted, without modifying the overall structure, further enhancing the adaptability to diverse printing scenarios.

[0026] In some example embodiments of this disclosure, the advance / retreat guide includes an upper advance / retreat guide and a lower advance / retreat guide;

[0027] The upper end of the flipping guide is provided with the upper side advance and retreat guide, and the lower end of the flipping guide is provided with the lower side advance and retreat guide. The upper side advance and retreat guide and the lower side advance and retreat guide are arranged collinearly in the vertical direction.

[0028] In this type of embodiment, the upper forward and backward guide section receives the upper trajectory of the flipping guide section, and the lower forward and backward guide section connects to the lower trajectory of the flipping guide section. The three form a three-segment guide path of "straight line segment - turning segment - straight line segment". The vertical straight lines of the upper forward and backward guide section and the lower forward and backward guide section completely overlap, so that the swing end of the guide arm follows the symmetrical motion logic of "vertical rise - flipping and turning - vertical fall" or "vertical fall - flipping and turning - vertical rise" throughout the entire movement, avoiding motion disorder caused by guide path deviation.

[0029] The collinear arrangement of the upper and lower guide sections ensures that the "insertion and removal" action of the flipping component when in contact with the printhead assembly or hot-end storage mechanism is entirely along the same vertical line. This avoids lateral forces caused by path deviation and completely eliminates the risk of scraping between the hot end of the printhead and the assembly components, printhead assembly, and hot-end storage mechanism. Furthermore, due to the perfectly symmetrical movement trajectory of the flipping component on the flipping guide structure, the consistency of the flipping component's posture during each movement is significantly higher, greatly reducing the frequency of adjustments caused by movement deviations and further shortening the single-change time (efficiency is improved by 15%-20% compared to designs with only a single-sided guide section).

[0030] In addition, the collinear design of the upper and lower guide sections simplifies the assembly and debugging of the frame and the flipping mechanism. High-precision docking can be achieved simply by ensuring that the vertical lines of the upper and lower guide sections coincide with the central axis of the printhead assembly interface and the hot end storage mechanism. There is no need to calibrate the guide paths of the upper and lower ends separately, which significantly reduces production and maintenance costs.

[0031] In some example embodiments of this disclosure, the frame is provided with a first limiting part above the upper advancing and retreating guide part, and the frame is also provided with a second limiting part below the lower advancing and retreating guide part. The first limiting part, the second limiting part, the upper advancing and retreating guide part, and the lower advancing and retreating guide part are all arranged collinearly along the vertical direction.

[0032] The rotating end of the guide arm is provided with a mating part that can cooperate with the first limiting part and the second limiting part. When the flipping mechanism moves to the upper end of the flipping guide structure, the mating part abuts against the first limiting part. When the flipping mechanism moves to the lower end of the flipping guide structure, the mating part abuts against the second limiting part.

[0033] The first limiting part and the second limiting part are used to restrict the rotation of the guide arm through the mating part.

[0034] In this type of embodiment, when the flipping mechanism moves to the upper end of the flipping guide structure, the mating part of the guide arm abuts against the first limiting part; when it moves to the lower end, the mating part abuts against the second limiting part, directly restricting the rotation of the guide arm through mechanical abutment, thereby fixing the posture of the flipping assembly and the assembled parts. Furthermore, the first limiting part, the second limiting part, the upper forward / backward guide part, and the lower forward / backward guide part are all collinear along the vertical direction, ensuring that the abutment positions of the mating part and the first and second limiting parts correspond precisely.

[0035] The first and second limiting parts, through rigid contact with the mating parts, directly lock the rotational freedom of the guide arm. Even if the assembly parts drive the hot end of the print head to be "inserted" or "removed" from the print head assembly or hot end storage mechanism and are subjected to instantaneous impact force, the posture of the flipping assembly and the assembly parts can be kept stable, thus structurally avoiding the risk of deflection caused by impact.

[0036] The collinear arrangement of all features ensures the accuracy of the limiting function. Regardless of any slight positional deviations after multiple reciprocating movements of the flipping mechanism, because the first limiting part, the second limiting part, and the forward / backward guide part are collinear, the mating part can always accurately abut against the limiting parts (the first and second limiting parts), preventing limiting failure due to misalignment. This is especially suitable for high-frequency head-changing scenarios, maintaining the stability of head-changing operations over a long period, reducing downtime for maintenance due to posture deviations, and further enhancing the continuous working capability of 3D printing equipment.

[0037] In some example embodiments of this disclosure, the flipping guide structure is configured to be formed in a guide groove in the frame, and the swing end of the guide arm is provided with a guide slider, which is movably disposed in the guide groove;

[0038] The guide groove includes a first groove segment and a second groove segment, which are connected to each other. The first groove segment is close to the upper side of the frame and gradually deviates from the movement trajectory of the rotating end of the guide arm in a radial direction from top to bottom. The second groove segment is close to the lower side of the frame and gradually approaches the movement trajectory of the rotating end of the guide arm in a radial direction from top to bottom.

[0039] In this type of embodiment, the cooperation between the guide groove and the guide slider is the core carrier of motion transmission. As part of the frame, the guide groove directly provides rigid constraints for the guide slider, replacing the function of the traditional independent guide rail. When the flipping mechanism drives the guide arm to rise and fall, the guide slider slides along the first groove section and will generate radial displacement as it deviates from the trajectory, driving the guide arm to rotate around the rotating end. When the guide slider slides to the second groove section, it moves radially in the opposite direction as it approaches the trajectory, driving the guide arm to rotate in the opposite direction and reset, ensuring that the movement of the guide slider is smooth and forms a continuous trajectory closed loop of deviation and approach, making the rotation action of the flipping component coherent and controllable.

[0040] The integrated flip-guide structure into the frame's guide slot design eliminates the need for separate guide rails, reducing the number of parts and simplifying the production process by eliminating the need for guide rail and frame assembly. This also reduces the overall weight and size of the equipment, better meeting the compact design requirements of 3D printing equipment. The guide slider's fit within the guide slot constrains movement in multiple directions, significantly reducing lateral swaying of the guide arm. During high-frequency switching of the printhead's hot end, this prevents printhead hot end misalignment due to vibration, ensuring precise insertion and removal.

[0041] Furthermore, the connection between the first and second groove segments allows the guide slider to move smoothly along the first and second groove segments, eliminating the jamming problem that may occur in segmented structures, ensuring a smooth and continuous rotation process of the flipping component, and further shortening the single switching time; and the end of the guide groove can directly form a limiting part (such as the first and second limiting parts mentioned above), which can limit the range of movement of the slider without additional parts, thus enhancing the reliability of the head changing process.

[0042] In some exemplary embodiments of this disclosure, the flipping mechanism further includes:

[0043] A connecting frame is slidably disposed on the frame, a flipping component is rotatably disposed on the connecting frame, the assembly component is disposed on a first side of the connecting frame, and a guide swing arm is disposed on a second side of the connecting frame;

[0044] The first and second sides of the connecting frame are located on two opposite sides of the connecting frame, respectively.

[0045] In this type of embodiment, the assembly component is located on the first side of the connecting frame, and the guide arm is located on the second side of the connecting frame. The first and second sides are two opposing sides of the connecting frame, forming a "back-to-back" spatial layout. This two-sided distribution design physically separates the functional realization and motion constraints of the flipping component. The first side of the connecting frame (assembly component side) focuses on the installation and docking of the hot end of the printhead, directly facing the printhead assembly or hot end storage mechanism; the second side (guide arm side) focuses on motion guidance, converting the lifting motion into a flipping action through the cooperation of the guide arm and the flipping guide structure. The sliding characteristics of the connecting frame provide a basis for synchronous position transfer of the two side components, while the rotational characteristics of the flipping component ensure that the two side components maintain posture linkage during movement (e.g., the assembly component flips synchronously when the guide arm swings).

[0046] The assembly components and guide arms are positioned on opposite sides of the connecting frame, increasing the distance between the assembly components (and the hot end of the mounted printhead) and fixed components such as the frame and the flipping guide structure. This avoids the problem of mutual obstruction between the working side and the guide side components that may occur in a layout on the same side. In the compact internal space of a 3D printing device, this layout effectively prevents the assembly components from interfering with the frame, hot end storage mechanism, etc., when flipping or raising / lowering, eliminating the risk of interference from a spatial planning perspective.

[0047] Secondly, the arrangement of assembly components and guide arms on both sides optimizes the force balance of the connecting frame. With the assembly components and guide arms located symmetrically on both sides of the connecting frame, they can offset some of the radial torque, reducing bending deformation caused by excessive force on one side and shortening the effective lever arm length. This makes the sliding trajectory of the flipping mechanism more stable during high-frequency lifting and flipping processes (such as hot-end switching of the printhead in multi-color printing), avoiding printhead hot-end misalignment caused by structural deformation, and further improving the accuracy and reliability of printhead changing operations.

[0048] In some example embodiments of this disclosure, the connecting frame is provided with a first support portion on its first side, and the connecting frame is provided with a second support portion on its second side, wherein the first support portion and the second support portion are provided with mounting grooves spaced apart on the connecting frame;

[0049] The assembly component is rotatably disposed on the first support portion, the rotating end of the guide arm is rotatably connected to the second support portion, and the assembly component and the rotating end of the guide arm are coaxially connected.

[0050] In this type of embodiment, the first and second support portions are the core fulcrums of the connecting frame that support the flipping assembly. The spacing between the two side supports forms a stable clamping structure, providing symmetrical rotational constraints for the assembly components and the guide arm. The mounting slot is located between the two side supports, reserving space for the connection of the guide structure on the back of the connecting frame and the installation of the drive device, avoiding spatial interference between these components and the assembly components and guide arm on the front. The coaxial design of the assembly components and the guide arm ensures that the swing of the guide arm can be directly converted into the synchronous flipping of the assembly components, making the power link from the force on the guide arm to the attitude adjustment of the assembly components more direct and efficient.

[0051] Secondly, the dual-sided support structure distributes the radial force of the flipping assembly through the first and second support sections, avoiding the cantilever effect that may occur with single-sided support (such as deformation of the support section due to single-point force after long-term use), thus keeping the radial runout of the assembled component within a reasonable range during the flipping process. The coaxial connection ensures that every indexing swing of the guide arm is accurately transmitted to the assembled component, eliminating idle spinning or lag caused by axial deviation, and making the flipping angle of the printhead's hot end more controllable.

[0052] Furthermore, the mounting slot optimizes the overall force balance of the connector frame. When the back of the connector frame connects to the guide structure and drive device via the mounting slot, the assembly components on the front and the guide arm transmit force through the supports on both sides, dispersing the torque borne by the connector frame from both sides and reducing the risk of tilting during sliding. In the head-changing scenario of 3D printing equipment, this balanced design can reduce docking deviations caused by structural deformation, ensuring that the hot end insertion and removal of the print head is always accurate, while extending the service life of core components such as the connector frame and reducing maintenance frequency.

[0053] In some example embodiments of this disclosure, the assembly component is provided with a first rotating shaft rotatably connected to the first support portion, and the rotating end of the guide arm is provided with a second rotating shaft rotatably connected to the second support portion;

[0054] A connecting shaft is provided in the mounting slot, and the first rotating shaft and the second rotating shaft are connected through the connecting shaft.

[0055] In this type of embodiment, the first rotating shaft provides rotational support for the assembled component, the second rotating shaft provides rotational support for the guide arm, and the connecting shaft acts as a power transmission bridge, ensuring that the rotational movements of both are completely synchronized. Together, these three form an integrated transmission chain rotating around the same axis. When the guide arm rotates via the second rotating shaft under the action of the flipping guide structure, the torque is directly transmitted to the first rotating shaft via the connecting shaft, causing the assembled component to rotate synchronously. This avoids bending deformation caused by excessive span of a single rotating shaft. Simultaneously, the connecting shaft achieves a rigid connection within the mounting groove, maintaining the coaxiality of the first and second rotating shafts while utilizing the spatial isolation of the mounting groove to prevent interference between the transmission component and the guide structure and drive device on the back of the connecting frame.

[0056] The first and second rotating shafts are rigidly connected by a connecting shaft, eliminating the backlash or lag that may exist in flexible transmissions (such as gear meshing and belt drives), and ensuring that the rotation angle of the guide arm and the assembly component is completely synchronized. During the replacement of the hot end of the printhead, this synchronization ensures that the assembly component is accurately flipped from "up" to "down" and avoids misalignment between the hot end of the printhead and the printhead assembly and hot end storage mechanism due to angular deviations.

[0057] Secondly, the separate design of the first and second rotating shafts allows the assembly components and guide arms to be independently installed on the two side supports of the connecting frame, and then finally connected via the connecting shaft. This is easier to operate than a single long shaft (which needs to run from one side to the other), especially in the confined internal space of 3D printing equipment, significantly reducing assembly time (by more than 40%). Furthermore, when a component (such as a worn guide arm or a deformed assembly component) needs to be replaced, the corresponding rotating shaft can be disassembled individually without overall disassembly, significantly reducing maintenance costs.

[0058] In addition, the design of the connecting shaft provides flexibility for adapting to different usage scenarios. When it is necessary to replace assembly parts or guide arms of different sizes, or to adjust the synchronization between assembly parts and guide arms, it is only necessary to replace the corresponding side of the rotating shaft or adjust the corresponding side of the rotating shaft. There is no need to adjust the overall structure, which further enhances the adaptability of the device to diverse printing scenarios.

[0059] In some example embodiments of this disclosure, a third support portion is further provided on the side of the connecting frame opposite to the mounting groove;

[0060] The third support is used to connect the guide structure, and / or the third support is used to drive the drive device.

[0061] In this type of embodiment, the third support portion serves as the connection hub between the connecting frame and external functional components, and can simultaneously or independently achieve connection with the guide structure and transmission connection with the drive device. The third support portion, together with the first and second support portions on the connecting frame, forms a complementary distribution in space, which neither occupies the transmission space in the mounting slot, nor obstructs the connection frame. Instead, the multi-support layout provides comprehensive rigid support for the connecting frame, allowing the connecting frame to stably receive driving force and move along a preset trajectory while bearing the flipping component.

[0062] The core function of the third support section is to optimize the force transmission path. When connected to the guide structure, it forms a cooperative constraint with the sliding parts of the connecting frame, further limiting the unnecessary degrees of freedom of the connecting frame (such as horizontal swing) and ensuring that the tilting mechanism only moves in a straight line in the vertical direction. When connected to the drive device, its connection position is usually close to the center of gravity of the connecting frame, so that the driving force acts directly on the force balance area, avoiding additional torque caused by the offset of the driving force. By allowing the various functional modules of the connecting frame (bearing the tilting component, docking the guide structure, and receiving the driving force) to cooperate through different support sections, both functional independence and motion coordination are ensured.

[0063] The connection point between the third support and the guide structure is closer to the direction of the driving force, which greatly shortens the lever arm length and effectively avoids lateral displacement of the flipping mechanism during the lifting process, ensuring the accuracy of the hot end docking position of the printhead.

[0064] In some example embodiments of this disclosure, the first side of the third support portion is used to connect to the guide structure, and the second side of the third support portion is used to drive the drive device.

[0065] The first side of the third support portion faces the same direction as the first side of the connecting frame, and the second side of the third support portion faces the same direction as the second side of the connecting frame.

[0066] In this type of embodiment, the first and second sides of the third support part respectively serve as the connecting guide structure and the transmission connecting drive device, and the first side faces the same direction as the first side of the connecting frame, and the second side faces the same direction as the second side of the connecting frame, forming a layout design with functional partitions and directions corresponding to each other, which is equivalent to extending this "double-sided separation" logic to the connection of external components.

[0067] By distributing the guide structure and drive unit to both sides of the connecting frame, the space stacking of the two in the same direction is avoided. If the two are installed on the same side, the size of the equipment in that direction may increase significantly due to the superposition of component thickness. This solution, by separating the directions, can make the overall volume of the 3D printing equipment more compact, especially suitable for printing scenarios with limited internal space.

[0068] Secondly, the distribution on both sides makes the force transmission path more balanced. The driving force of the drive device and the constraint reaction force of the guide structure act on both sides of the connecting frame respectively, reducing the deformation of the connecting frame caused by excessive force on one side. This reduces the swaying amplitude of the flipping mechanism during the lifting process, indirectly improving the accuracy of the hot end docking of the print head.

[0069] In addition, this layout facilitates assembly and maintenance. The independent space for the components on both sides allows for installation without having to avoid obstacles, and can also be operated independently during maintenance, which greatly shortens the equipment's debugging and maintenance time and further enhances the device's practicality.

[0070] In some exemplary embodiments of this disclosure, it also includes:

[0071] A drive unit is mounted on the frame via its fixed end, and the drive end of the drive unit is connected to the tilting mechanism via a synchronous belt drive assembly.

[0072] The synchronous belt drive assembly includes at least two synchronous pulleys spaced apart in a vertical direction, and a synchronous belt wound around each of the synchronous pulleys in a vertical direction. Each of the synchronous pulleys is rotatably mounted on the frame, and one of the synchronous pulleys is connected to the output end of the drive device. The flipping mechanism is fixed to the synchronous belt. The drive device can drive one of the synchronous pulleys, causing the synchronous belt and the flipping mechanism to reciprocate in a vertical direction.

[0073] In this type of embodiment, the drive device acts as a power source, transmitting the rotational motion to the synchronous pulley through the output end. The synchronous pulley, through tooth meshing with the synchronous belt, converts the rotational motion into the linear motion (vertical direction) of the synchronous belt. The synchronous belt, through its fixed connection with the flipping mechanism, directly drives the flipping mechanism to complete the lifting and lowering action. The vertical spacing of the synchronous pulleys ensures that the movement trajectory of the synchronous belt is strictly along the vertical direction, providing a stable guiding reference for the flipping mechanism and realizing the position transfer of the flipping mechanism between the upper and lower ends of the flipping guide structure.

[0074] Specifically, the synchronous belt has a certain elastic modulus, which can absorb the instantaneous impact vibration of the motor output (such as the rigid impact that is prone to occur in lead screw drives) when the drive device starts, stops, or changes speed. This makes the lifting and lowering movement of the flipping mechanism smoother and avoids the misalignment of the hot end of the printhead caused by vibration. Especially in high-frequency printhead changing scenarios, it can maintain the consistency of hot end insertion and removal of the printhead. At the same time, the synchronous pulley, synchronous belt, and drive device can be pre-integrated into the side of the frame to form an independent module. During assembly, it is only necessary to fix the module as a whole and connect it to the flipping mechanism, eliminating the complicated alignment and calibration steps in traditional transmission structures and improving assembly efficiency.

[0075] In addition, the toothed meshing transmission of the synchronous belt ensures the accuracy of the lifting stroke of the flipping mechanism. Combined with the guidance of the flipping guide structure, it enhances the accuracy of the docking of the hot end of the printhead at the upper and lower workstations, reducing printing failures caused by transmission errors.

[0076] In some exemplary embodiments of this disclosure, it also includes:

[0077] A drive device is mounted on the frame via its fixed end, and the drive end of the drive device is connected to the tilting mechanism via a lead screw transmission assembly.

[0078] The lead screw drive assembly includes two support seats spaced apart vertically on the frame, and a lead screw rotatably mounted on the two support seats in a vertical direction. The lead screw is connected to the drive device, and the flipping mechanism cooperates with the lead screw through a lead screw nut. The drive device can drive the lead screw to rotate, so that the lead screw drives the lead screw nut and the flipping mechanism to reciprocate in a vertical direction.

[0079] In this type of embodiment, the frame provides fixed rotational support for the lead screw at both ends through the support base, ensuring that the lead screw has no radial offset when under force. The rotational power of the drive device is directly transmitted to the lead screw. By utilizing the helical pair characteristics of the lead screw and nut, the power is efficiently converted into the vertical driving force required by the flipping mechanism. The fixed connection between the lead screw nut and the flipping mechanism allows the linear motion to be directly transmitted. In conjunction with the spacing design of the support base, the motion stroke and trajectory accuracy of the flipping mechanism are limited, realizing its position switching between the upper and lower ends of the flipping guide structure.

[0080] The helical engagement of the lead screw and lead screw nut provides high transmission precision, making it suitable for printhead hot-end docking scenarios with extremely high positional accuracy requirements. This ensures consistent stopping positions of the flipping mechanism at both the upper and lower workstations, preventing nozzle and interface misalignment due to transmission errors. Simultaneously, the lead screw drive boasts high rigidity, capable of withstanding greater axial loads. It is less prone to deformation or gaps after prolonged use, maintaining a stable motion trajectory, especially during frequent replacement of heavy-duty printhead hot ends, minimizing wobbling caused by load variations.

[0081] In addition, the self-locking characteristic of the lead screw drive (the lead screw nut will not slip due to gravity when not in a driving state) also improves the safety of the equipment and avoids damage to components caused by accidental falls.

[0082] In some example embodiments of this disclosure, the frame is further provided with a first guide structure, which is disposed on the frame in a vertical direction;

[0083] The flipping mechanism is provided with a second guide structure, which matches the first guide structure and is slidably disposed on the first guide structure.

[0084] In this type of embodiment, the first guide structure serves as a reference guide, providing a rigid constraint trajectory for the flipping mechanism. The second guide structure serves as a follower component, precisely matching the first guide structure to ensure the smooth sliding process. Together, they constitute the trajectory reference for the movement of the flipping mechanism.

[0085] The rigid fit between the first and second guide structures can control the lateral offset of the flipping mechanism within a preset range, avoiding the risk of interference between the flipping component and components such as the frame and storage mechanism during the lifting and lowering process, suppressing the swaying of the flipping mechanism due to inertia, improving the posture stability of the assembled components (and the hot end of the print head), and ensuring the consistency of position during each docking.

[0086] Furthermore, since the fitting accuracy between the first and second guide structures is guaranteed by the manufacturing process, there is no need to repeatedly calibrate the movement trajectory of the flipping mechanism during assembly; only ensuring that the two are correctly engaged is required. This significantly shortens the installation and debugging time of the equipment. At the same time, the presence of the guide structures reduces the load requirements of the drive unit (e.g., the timing belt or lead screw does not need to simultaneously bear the guiding function), extends the service life of the transmission components, and further improves the overall reliability of the 3D printing equipment.

[0087] According to a second aspect of the embodiments of this specification, a three-dimensional printing apparatus is provided, characterized in that it comprises:

[0088] As described in the first aspect, the printing head flipping device is provided with a hot end clamping component on the assembly component, which is used to disassemble and install the hot end of the print head.

[0089] The printhead assembly has a gripping part on its lower side for gripping the hot end of the printhead. The printhead assembly can drive the gripping part to move relative to the printhead flipping device to the upper end of the flipping guide structure.

[0090] A hot end storage mechanism is movably connected to the frame. The hot end storage mechanism has multiple receptacles for storing the hot end of the printhead. The hot end storage mechanism is movable relative to the frame so that one of the receptacles on the hot end storage mechanism can selectively move to the lower end of the flip guide structure.

[0091] In this type of embodiment, the printhead flipping device serves as the core transfer mechanism. It connects with the receiving portion of the hot-end storage mechanism at its lower end (for picking up and placing the hot end of the printhead) via a hot-end clamping component, and cooperates with the gripping portion of the printhead assembly at its upper end (for transferring the hot end). The gripping portion of the printhead assembly can precisely grasp the hot end of the printhead after it has been transported to the upper end by the printhead flipping device, and then perform the printing operation. After completion, the hot end is returned to the printhead flipping device. The hot-end storage mechanism, through its adjustable mechanism, can transfer different types of hot ends of printheads to the lower station for use by the printhead flipping device. These three components form a closed-loop process of storage, transfer, and printing.

[0092] The printhead switching and flipping device, through precise docking of the upper and lower ends and coordinated movement of the printhead assembly and hot end storage mechanism, can significantly shorten the time for a single printhead hot end replacement. For example, when it is necessary to switch consumable types, the hot end storage mechanism moves the first printhead hot end (corresponding receiving part) to the lower end of the flipping guide structure. After the printhead switching and flipping device grasps it, it moves the first printhead hot end to the upper end of the flipping guide structure. The clamping part of the printhead assembly completes the handover, and printing can begin immediately without waiting for flow channel cleaning, greatly improving the efficiency of multi-material printing.

[0093] Secondly, since only the hot end of the printhead needs to be replaced, residual filament in the printhead assembly's flow channel can be recirculated and reused, avoiding material loss caused by the full-flow channel flushing of traditional equipment (reducing it by more than 90%). Simultaneously, the multiple compartments of the hot end storage mechanism can store hot ends of different specifications separately, eliminating the need for a complete printhead assembly for each type of filament, thus reducing initial investment and maintenance costs. The multiple compartments of the hot end storage mechanism are also compatible with hot ends of different diameters and materials. The universal design of the printhead flipping device ensures stable transfer of various hot ends, and combined with the adaptive gripping of the printhead assembly, the equipment can easily handle printing needs ranging from intricate models to large components.

[0094] In some example embodiments of this disclosure, the printhead assembly is further provided with an image acquisition unit, which is disposed on the side of the printhead assembly near the gripping part, and is used to acquire image information of the hot end of the printhead clamped by the gripping part;

[0095] The 3D printing equipment also includes:

[0096] A control unit, electrically connected to the printhead assembly, is used to determine whether the printhead assembly has moved to the upper end of the flip guide structure based on the image information.

[0097] In this type of embodiment, the image acquisition unit is responsible for acquiring image information of the hot end of the printhead held by the gripper in real time. The control unit is electrically connected to the printhead assembly and analyzes this image information to determine whether the printhead assembly has moved to the upper end of the flipping guide structure. This achieves precise control of the hot end connection position, ensuring that the gripper and the printhead flipping device accurately align through the hot end of the printhead, avoiding the hot end of the printhead from falling off or colliding due to positional deviation. When printing multiple batches or replacing hot ends of different printhead specifications, the control unit can also adapt to the image characteristics of different hot ends without the need for manual recalibration of the mechanical limit, significantly reducing debugging time.

[0098] In addition, the image acquisition unit can also simultaneously detect the installation status of the hot end of the printhead (such as whether it is installed backwards or whether it is damaged). If the control unit detects an abnormality, it can immediately stop the operation and sound an alarm to prevent unqualified hot ends of the printhead from entering the printing process and causing printing failure. This further improves the automation and intelligence level of the equipment, making the 3D printing equipment more reliable and adaptable in multi-material and multi-specification printing scenarios.

[0099] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0100] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0101] Figure 1 This is a schematic diagram of the overall structure of the head-changing and flipping device shown in the embodiments of this specification;

[0102] Figure 2 This is a front view of the head-changing and flipping device shown in the embodiments of this specification;

[0103] Figure 3 This is a right view of the head-changing and flipping device shown in the embodiments of this specification;

[0104] Figure 4This is one of the schematic diagrams of a partial structure of a 3D printing device shown in the embodiments of this specification (the flipping mechanism is located at the upper end of the flipping guide structure);

[0105] Figure 5 This is one of the main structural views of a 3D printing device shown in the embodiments of this specification (the flipping mechanism is located at the upper end of the flipping guide structure);

[0106] Figure 6 This is one of the right views of a partial structure of the 3D printing device shown in the embodiments of this specification (the flipping mechanism is located at the upper end of the flipping guide structure);

[0107] Figure 7 This is the second schematic diagram of a partial structure of a 3D printing device shown in the embodiments of this specification (the flipping mechanism is located in the flipping guide section);

[0108] Figure 8 This is the second main view of a partial structure of the 3D printing equipment shown in the embodiments of this specification (the flipping mechanism is located in the flipping guide section);

[0109] Figure 9 This is the second right view of a partial structure of the 3D printing device shown in the embodiments of this specification (the flipping mechanism is located in the flipping guide section);

[0110] Figure 10 This is the third schematic diagram of the partial structure of the 3D printing equipment shown in the embodiments of this specification (the flipping mechanism is located at the lower end of the flipping guide structure);

[0111] Figure 11 This is the third main view of a partial structure of the 3D printing device shown in the embodiments of this specification (the flipping mechanism is located at the lower end of the flipping guide structure);

[0112] Figure 12 This is the third right view of a partial structure of the 3D printing device shown in the embodiments of this specification (the flipping mechanism is located at the lower end of the flipping guide structure);

[0113] Figure 13 This is one of the exploded views of the flipping mechanism shown in the embodiments of this specification;

[0114] Figure 14 This is the second exploded view of the flipping mechanism shown in the embodiments of this specification;

[0115] Figure 15 This is the third exploded view of the flipping mechanism shown in the embodiments of this specification.

[0116] Explanation of reference numerals in the attached figures

[0117] 10. Frame; 11. Tilting guide structure; 111. Tilting guide part; 1111. First slot section; 1112. Second slot section; 112. Upper side forward / backward guide part; 113. Lower side forward / backward guide part; 12. First limiting part; 13. Second limiting part; 14. First guide structure; 20. Tilting mechanism; 21. Tilting assembly; 2111. Assembly part; 2111. First rotating shaft; 2112. Hot end clamping part; 212. Guide swing arm; 2121. Rotating end; 2122. Swinging end; 2123. Mating part; 2124. Second rotating shaft; 2125. Guide slider; 22. Connecting frame; 221. First support part; 222. Second support part; 223. Mounting groove; 224. Third support part; 23. Connecting shaft; 24. Second guide structure; 25. Clamping plate; 30. Drive device; 40. Synchronous belt drive assembly; 41. Synchronous pulley; 42. Synchronous belt; 50. Print head assembly; 51. Clamping part; 52. Image acquisition unit; 60. Hot end storage mechanism; 61. Receiving part. Detailed Implementation

[0118] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0119] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0120] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0121] In this disclosure, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the range of process error, not absolute perpendicularity and equality. Process error can be within ±10% or ±5%. For example, if two directions are perpendicular, it can be understood that the angle between the two directions can be 90° ± 5°.

[0122] This disclosure provides a head-changing and flipping device, which can be applied to 3D printing equipment. 3D printing equipment is a device that constructs objects through layer-by-layer printing, enabling the rapid molding of complex structures and finding wide application in industrial design, aerospace, medical, education, and other fields. In specific application scenarios, this device serves as the core mechanism for rapidly changing the hot end of the print head in a 3D printing equipment. Its design revolves around efficiently and accurately achieving the conversion of the hot end's attitude and the transfer of its position.

[0123] Please refer to the instruction manual attached. Figures 1-3 , Figures 13-15 The aforementioned head-changing and flipping device includes a frame 10 and a flipping mechanism 20. The frame 10, serving as the overall supporting foundation of the device, must possess sufficient rigidity. It can be made of high-strength aluminum alloy machined integrally using CNC (Computerized Numerical Control) technology, or welded from steel. The specific material can be determined according to the equipment's load requirements. The frame 10 is equipped with a flipping guide structure 11, which has two key working positions distributed vertically: an upper position and a lower position. In the specific application scenario of the 3D printing equipment, the upper end of the flipping guide structure 11 is close to the print head assembly 50 of the 3D printing equipment, while its lower end is close to the hot-end storage mechanism 60. In this embodiment, there is no specific limitation on the distance between the upper and lower ends of the flipping guide structure 11; its specific value can be set according to the overall layout requirements of the equipment.

[0124] The flipping guide structure 11 can take various forms, including guide grooves on the frame 10, guide rails protruding from the surface of the frame 10, and even guide paths composed of multiple guide wheels, to achieve precise guidance of the flipping mechanism 20. Its cross-sectional shape can be rectangular, T-shaped, or dovetail-shaped, forming an anti-detachment structure with the swing end 2122 of the guide arm 212, suitable for high-speed motion scenarios.

[0125] Specifically, the flipping mechanism 20 is slidably mounted on the frame 10 and can move between the upper and lower ends of the flipping guide structure 11. Furthermore, the flipping mechanism 20 is provided with a flipping component 21, which is rotatable relative to the flipping mechanism 20 and has a rotation axis L1 on the flipping mechanism 20. The flipping component 21 includes an assembly part 211 for mounting the hot end of the printhead and a guide arm 212 that guides and cooperates with the flipping guide structure 11. The structure of the assembly part 211 can be designed according to the structure of the hot end of the printhead, and can, but is not limited to, using clamping claws, magnetic structures, or threaded interfaces to achieve detachable mounting of the hot end of the printhead. Of course, the assembly part 211 is not limited to being a component for clamping the hot end of the printhead; it can also serve as a component for providing a mounting platform for the hot end clamping component 2112. That is to say, in this embodiment of the printhead flipping device, it is not necessarily necessary to include a component for clamping the hot end of the printhead. The geometric center of the guide arm 212 is offset from its rotation axis L1. This can be understood as the centerline L2 of the guide arm 212 being perpendicular to its rotation axis L1. Based on the rotation axis L1 of the flipping assembly 21 being set along its axial direction, the guide arm 212 extends along the radial direction of the flipping assembly 21.

[0126] Please continue to refer to the instruction manual appendix. Figures 13-15 For ease of understanding, in this embodiment, one end of the guide arm 212 is defined as the rotating end 2121 connected to the assembly component 211, and the other end is defined as the swing end 2122 that is guided and engaged with the flipping guide structure 11. The flipping guide part 111 is radially offset from the flipping assembly 21 along the rotation axis L1. Of course, it can also be understood that the flipping guide part 111 is offset from the movement trajectory of the rotating end 2121 of the guide arm 212 between its upper and lower ends. Thus, during the reciprocating motion of the flipping mechanism 20 between the upper and lower ends of the flipping guide structure 11 in the vertical direction, the eccentric design of the flipping guide part 111 (the flipping guide part 111 is not coaxial with the rotation axis L1) can guide the swing end 2122 of the guide arm 212 to be displaced in the radial direction of the rotation axis L1, so that the rotating end 2121 of the guide arm 212 generates torque under the movement of its swing end 2122. The rotational motion is transmitted to the assembly part 211 through the rotating end 2121, so that the assembly part 211 rotates synchronously with the guide arm 212, and finally achieves the effect of driving the assembly part 211 to rotate.

[0127] When the flipping mechanism 20 moves to the upper end of the flipping guide structure 11, the assembly component 211 provided on the guide arm 212 can dock with the printhead assembly 50 in the 3D printing device through the hot end of the printhead; and when the flipping mechanism 20 moves to the lower end of the flipping guide structure 11, the assembly component 211 rotates to a downward state under the drive of the flipping assembly 21 (guide arm 212), so that the assembly component 211 can dock with the hot end storage mechanism 60 in the 3D printing device through the hot end of the printhead.

[0128] It should be noted that the upper and lower ends of the flipping guide structure 11 correspond to the extreme positions of the flipping mechanism 20, respectively. Combined with the trajectory design of the flipping guide part 111, this ensures that "when the flipping mechanism 20 reaches the upper end, the swing end 2122 of the guide arm 212 moves along the flipping guide part 111 to the extreme position, such as..." Figures 4-6 As shown, assembly component 211 is facing upwards (the hot end of the printhead is aligned with the printhead assembly 50); when the flipping mechanism 20 reaches the lower end, the swing end 2122 moves to another extreme position, as shown. Figures 10-12 As shown, the assembly component 211 is facing downwards (hot end docking with hot end storage mechanism 60) to achieve the effect.

[0129] In summary, this embodiment, through the coordinated design of the flipping guide structure 11, eccentric swing arm transmission, and precise attitude control, fundamentally breaks through the technical bottleneck and achieves rapid, low-consumption, and stable switching of the hot end of the print head, providing core technical support for improving the performance of multi-color / multi-material 3D printing equipment.

[0130] Please continue to refer to the instruction manual appendix. Figure 3 , Figures 13-15 In some embodiments, the flipping guide structure 11 further includes a forward and backward guide portion, which is disposed at at least one end (upper end and / or lower end) of the flipping guide portion 111. Whether the forward and backward guide portion is specifically disposed at the upper end or lower end of the flipping guide portion 111 in a specific application scenario of the 3D printing equipment depends on the equipment requirements of the head-changing flipping device in that specific application scenario.

[0131] Continuing with the example of a head-changing and flipping device applied to a 3D printing equipment, in the normal placement state of the 3D printing equipment, the forward and backward guide is set along the vertical direction (which can also be understood as the height direction of the 3D printing equipment). The forward and backward guide can also form a guiding relationship with the swing end 2122 of the guide arm 212. When the flipping mechanism 20 moves relative to the frame 10 to the forward and backward guide, the forward and backward guide can guide the swing end 2122 of the guide arm 212 to move together in the vertical direction, thereby avoiding the guide arm 212 from generating torque on the assembly component 211, achieving the effect of limiting the rotation of the flipping component 21. The flipping component 21 maintains its current posture, which facilitates the docking of the assembly component 211 with other components.

[0132] To facilitate a more comprehensive understanding of this embodiment, when both the upper and lower ends of the flipping guide 111 are provided with forward and backward guides, the forward and backward guide located at the upper end of the flipping guide 111 is defined as the upper forward and backward guide 112, while the forward and backward guide located at the lower end of the flipping guide 111 is defined as the lower forward and backward guide 113. The upper forward and backward guide 112 and the lower forward and backward guide 113 are arranged collinearly in the vertical direction, and their lengths can be designed according to the distance requirements of the 3D printing equipment for approaching a specific workstation (the hot end of the printhead docks with the printhead assembly 50 or the hot end storage mechanism 60). When the flipping mechanism 20 (the swing end 2122 of the guide arm 212) enters the forward and backward guide, the swing end 2122 moves in the vertical direction. Since the guide has no radial offset, the guide arm 212 does not generate torque, and the flipping assembly 21 maintains its current posture, facilitating the docking of the assembly component 211 with other components. This configuration ensures that the swing end 2122 of the guide arm 212 always moves along the same vertical line when entering and leaving the flipping guide part 111, ultimately allowing the assembly part 211 to dock with the printhead assembly 50 and the hot end storage mechanism 60 in a stable posture. This collinear design allows the pure lifting action at the upper and lower ends to form a strictly symmetrical connection with the flipping action in the middle, avoiding motion disorder caused by guide path deviation.

[0133] Taking the flip guide section 111 as an example where both the upper and lower ends are provided with forward and backward guide sections, when the flip mechanism 20 moves from the lower end of the flip guide structure 11 to its upper end, the swing end 2122 of the guide arm 212 first moves vertically upward along the lower forward and backward guide section 113 (at this time, the assembly component 211 maintains a downward posture so that the hot end of the print head on it can stably detach from the hot end storage mechanism 60). Subsequently, the swing end 2122 of the guide arm 212 enters the flip guide section 111, and under the action of radial force, its rotating end 2121 rotates, driving the assembly component 211 to rotate to an upward state. Finally, it enters the upper forward and backward guide section 112 at the upper end of the flip guide structure 11 and moves vertically upward (maintaining an upward posture so that the hot end of the print head on the assembly component 211 can accurately connect with the print head assembly 50). Conversely, when the flipping mechanism 20 moves from the upper end to the lower end of the flipping guide structure 11, the swing end 2122 of the guide arm 212 first descends vertically along the upper forward and backward guide 112 (maintaining an upward posture to allow the hot end of the print head to smoothly detach from the print head assembly 50). After the swing end 2122 of the guide arm 212 passes the flipping guide 111, it drives its rotating end 2121 to rotate until the assembly part 211 faces downward. Then, the swing end 2122 of the guide arm 212 descends vertically along the lower forward and backward guide 113 (maintaining a downward posture to allow the hot end of the print head to smoothly connect with the hot end storage mechanism 60).

[0134] Please refer to the instruction manual attached. Figures 1-12 The frame 10 is provided with a first limiting part 12 above the upper forward and backward guide part 112, and a second limiting part 13 is provided below the lower forward and backward guide part 113. The first limiting part 12, the second limiting part 13, the upper forward and backward guide part 112, and the lower forward and backward guide part 113 are all collinear in the vertical direction. Correspondingly, the rotating end 2121 of the guide arm 212 is provided with a mating part 2123 that can cooperate with the first limiting part 12 and the second limiting part 13. When the flipping mechanism 20 moves to the upper end of the flipping guide structure 11, the mating part 2123 abuts against the first limiting part 12. When the flipping mechanism 20 moves to the lower end of the flipping guide structure 11, the mating part 2123 abuts against the second limiting part 13. In this embodiment, the first limiting part 12 and the second limiting part 13 are used to restrict the rotation of the guide arm 212 through the mating part 2123. That is, when the rotating end 2121 of the guide arm 212 abuts against the first limiting part 12 through the mating part 2123, and when the rotating end 2121 of the guide arm 212 abuts against the second limiting part 13 through the mating part 2123, the flipping mechanism 20 is correspondingly located at the two extreme positions (workstations) of the flipping guide structure 11, preventing the flipping mechanism 20 from continuing to rise and fall in the vertical direction, thus playing a limiting role and preventing the guide arm 212 from continuing to move.

[0135] It should be understood that the mating part 2123 can be designed as a flange, pin, or roller. This mechanical hard limit can further eliminate micro-rotation caused by vibration or impact, ensuring the posture accuracy when the hot end of the printhead mates with the printhead assembly 50 and the hot end storage mechanism 60. At the same time, it can also absorb the impact force generated when either of them mates, preventing the force from being transmitted to the flipping assembly 21 and causing deformation. In addition, the surfaces of the first limiting part 12, the second limiting part 13, and the mating part 2123 can be fitted with rubber pads or springs so that the mating part 2123 can absorb the impact energy of the corresponding limiting parts (first limiting part 12, second limiting part 13) when it comes into contact with them.

[0136] In this embodiment, the first limiting part 12 and the second limiting part 13 are both limiting protrusions provided on the frame 10, while the mating part 2123 is a slot opened at the rotating end 2121 of the guide arm 212. When the flipping mechanism 20 moves to the upper or lower end of the flipping guide structure 11, the corresponding limiting protrusion can be locked in the slot, thereby achieving the effect of limiting and buffering.

[0137] Based on the above-described implementation of the forward and backward guiding section, from the perspective of feature cooperation, the first limiting part 12 and the second limiting part 13 do not function independently, but rather form a dual protection with the forward and backward guiding section. The forward and backward guiding section uses guiding constraints to ensure that the guide arm 212 moves purely vertically at its upper and lower ends (avoiding simultaneous movement and flipping), while the first limiting part 12 and the second limiting part 13 further restrict the rotational freedom of the guide arm 212 by abutting during docking operations. This cooperation ensures that the posture of the assembly component 211 is completely fixed during critical stages of head-changing operations (such as hot-end insertion and removal of the printhead), preventing rotation due to the radial force of the flipping guiding section 111 or deflection due to external impact forces, thus forming a closed loop of guiding interference prevention and limiting impact resistance.

[0138] In some embodiments, the flipping guide 111, as the core section of the flipping guide structure 11, has a symmetrical radial offset profile. The radial offset profile guides and engages with the swing end 2122 of the guide arm 212 to guide the swing end 2122 of the guide arm 212 to rotate around the rotation axis, so that the guide arm 212 can drive the assembly component 211 to rotate. This profile can be arc-shaped, V-shaped, or smoothly transitioned by multiple broken lines. The center of symmetry of the radial offset profile is radially offset from the movement trajectory of the rotating end 2121 of the guide arm 212. The offset amount can be determined according to the torque required by the flipping assembly 21 during the flipping process. When the swing end 2122 of the guide arm 212 moves along this profile, the radial offset amount is converted into torque around the rotation axis, driving the flipping assembly 21 to rotate. For example, when moving from the upper end to the lower end of the flipping guide structure 11, it can drive the assembly component 211 to complete the flipping, from facing up to facing down.

[0139] It should be understood that the offset distance of the center of symmetry of the radial offset profile relative to the flipping mechanism 20 is consistent with the swing radius of the guide arm 212, ensuring that the guide arm 212 will not interfere with the flipping guide structure 11.

[0140] In addition, the two ends of the radial offset profile are set in the vertical direction to ensure that when the guide arm 212 moves to the radial offset profile, the assembly part 211 is in the upward and downward state respectively.

[0141] like Figures 1-12 As shown, from the perspective of feature coordination, the radial offset profile ensures that the displacement and force direction of the swing end 2122 of the guide arm 212 are completely symmetrical in the reciprocating rotational motion, while the radial offset ensures that this symmetrical motion can be transformed into the symmetrical rotation of the flipping component 21 (such as the angle change of rotating 180° when rising and rotating 180° in the opposite direction when falling are completely consistent). The two work together to make the rotation process of the flipping component 21 have strict mirror symmetry. No matter which direction the movement is from, the flipping angle, speed change, and final posture of the assembly component 211 from facing up to facing down or from facing down to facing up remain highly consistent and will not deviate due to different directions of movement.

[0142] In some embodiments, the form of the flipping guide structure 11 can be diverse. It can be a guide groove formed on the frame 10, a guide rail protruding from the surface of the frame 10, or even a guide path composed of multiple guide wheels. Taking the flipping guide structure 11 (which may include a forward / backward guide part and a flipping guide part 111) as a guide groove as an example, designing the flipping guide structure 11 as a guide groove on the frame 10 eliminates the need to install additional guide rails or other guide structures on the frame 10, thereby reducing the number of parts and simplifying the assembly process. In 3D printing equipment, the guide groove can be directly machined on the frame 10, which reduces the overall weight and volume of the equipment and is beneficial to the compact design requirements of 3D printing equipment.

[0143] Correspondingly, when the flipping guide structure 11 is a guide groove, the swing end 2122 of the guide arm 212 is provided with a guide slider 2125. The guide slider 2125 is movably disposed within the guide groove. Thus, during the vertical movement of the flipping mechanism 20 between the upper and lower ends of the flipping guide structure 11, the guide slider 2125 moves within the guide groove along the direction in which the guide groove is opened. Guided by the direction of the guide groove's extension and the walls of the guide groove (such as the two walls on opposite sides in the direction of the guide groove's extension), the guide slider 2125 can make radial displacement relative to the flipping mechanism 20 during its vertical movement. The design of the guide slider 2125 sliding within the guide groove provides more stable motion constraints, reduces lateral swaying, and effectively avoids printing position deviations caused by vibration during frequent switching of the printhead's hot end.

[0144] In this embodiment, the flipping guide 111 specifically includes a first groove segment 1111 and a second groove segment 1112. Taking the flipping guide 111 as an example where only the flipping guide 111 is provided, the first groove segment 1111 and the second groove segment 1112 are smoothly connected to form a guide groove for the flipping guide 111. The first groove segment 1111 is close to the upper side of the frame 10 and gradually deviates from the movement trajectory of the rotating end 2121 of the guide swing arm 212 in a radial direction from top to bottom. The second groove segment 1112 is close to the lower side of the frame 10 and gradually approaches the movement trajectory in a radial direction from top to bottom. The curve of the groove segment can be an involute, an arc, or a polynomial curve to ensure continuous acceleration when the swing end 2122 moves, avoiding impact.

[0145] During the movement of the flipping mechanism 20 from the upper end to the lower end of the flipping guide section 111, the guide slider 2125 of the guide arm 212 moves from the first slot 1111 to the second slot 1112. As the guide slider 2125 passes through the first slot 1111, it gradually moves away from the rotation center of the guide arm 212, causing the guide arm 212 to rotate 90° clockwise. As the guide slider 2125 passes through the second slot 1112, it gradually moves closer to the rotation center of the guide arm 212, allowing the guide arm 212 to continue rotating 90° clockwise, ultimately completing the positional switch of the assembled component 211 from facing up to facing down. During the movement of the flipping mechanism 20 from the lower end to the upper end of the flipping guide part 111, the guide slider 2125 of the guide arm 212 moves from the second groove segment 1112 to the first groove segment 1111. As the guide slider 2125 passes through the second groove segment 1112, it gradually moves away from the rotation center of the guide arm 212, causing the guide arm 212 to reverse 90°. As the guide slider 2125 passes through the first groove segment 1111, it gradually moves closer to the rotation center of the guide arm 212, causing the guide arm 212 to continue to reverse 90°, thus completing the position switch of the assembled part 211 from facing down to facing up.

[0146] Please refer to the instruction manual attached. Figures 13-15 As can be seen from the above, the flipping mechanism 20 is slidably mounted on the frame 10 and can move between the upper and lower ends of the flipping guide structure 11. Based on the flipping component 21, the flipping mechanism 20 specifically includes a connecting frame 22. The connecting frame 22 serves as the mounting carrier for the flipping component 21 and is slidably mounted on the frame 10. Its sliding direction is consistent with the flipping guide structure 11 of the frame 10. The flipping component 21 is rotatably mounted on the connecting frame 22. The connecting frame 22 has a first side and a second side (e.g., inner and outer sides) that are opposite to each other. The aforementioned assembly component 211 is located on the first side of the connecting frame 22, and the guide arm 212 is located on the second side of the connecting frame 22.

[0147] In this embodiment, by placing the guide arm 212 and the assembly component 211 on opposite sides of the connecting frame 22, the distance between the assembly component 211 and the frame 10 can be effectively increased. This also optimizes the stress on the connecting frame 22, reduces the lever arm length formed by the connecting frame 22 on the frame 10, and makes the overall movement of the flipping mechanism 20 more stable. In specific application scenarios of 3D printing equipment, placing the assembly component 211 and the guide arm 212 on the first and second sides of the connecting frame 22 respectively can effectively prevent interference between the assembly component 211 and the frame 10, or other components on the frame 10, ensuring smooth operation of the head-changing flipping device.

[0148] To provide a more concrete understanding of the specific structure of the connecting frame 22, in one embodiment, a first support portion 221 is provided on the first side of the connecting frame 22, and a second support portion 222 is provided on the second side of the connecting frame 22. The first support portion 221 and the second support portion 222 are symmetrically distributed along the rotation axis L1, forming support for both ends of the flipping assembly 21, which can reduce its deflection compared to cantilever support. In this embodiment, the first support portion 221 and the second support portion 222 are key structures on the connecting frame 22 that support the rotation of the flipping assembly 21. Their specific forms can be flexibly designed according to the load, accuracy requirements, and assembly method of the head-changing flipping device. From a structural perspective, the first support portion 221 and the second support portion 222 can adopt a protruding support, that is, a support structure protruding from the body of the connecting frame 22 is integrally formed on the first and second sides of the connecting frame 22 or fixed by bolts. The support is machined with a through hole for installing the bearing. The inner diameter of the through hole is interference-fitted with the outer ring of the bearing to ensure that the bearing is stably installed. This structure boasts high rigidity and load-bearing capacity, making it suitable for scenarios where the flip-up component 21 is heavy (such as supporting the hot end of a metal printhead). Furthermore, the height of the support can be adjusted according to the installation space of the flip-up component 21, avoiding interference with other components such as the connecting frame 22. In terms of materials and processing, if the connecting frame 22 is made of a single piece of aluminum alloy, the first support 221 and the second support 222 can be directly formed by CNC milling, becoming a single unit with the connecting frame 22 without additional assembly, maximizing the coaxiality of both ends of the flip-up component 21. Alternatively, the first support 221 and the second support 222 can also be forged from steel and then welded or bolted to the connecting frame 22, preventing deformation after long-term use.

[0149] The first support portion 221 and the second support portion 222 are spaced apart to cooperate with the body of the connecting frame 22 to form a mounting groove 223. The assembly component 211 is rotatably disposed on the first support portion 221, and the guide arm 212 is rotatably connected to the second support portion 222. The rotating ends 2121 of the assembly component 211 and the guide arm 212 are coaxially connected through the space reserved for the shaft component in the mounting groove 223. In this embodiment, the shaft system component ensures that the assembly component 211 and the guide arm 212 rotate synchronously. The assembly component 211 is provided with a first rotating shaft 2111 that rotatably passes through the first support part 221. The rotating end 2121 of the guide arm 212 is provided with a second rotating shaft 2124 that rotatably passes through the second support part 222. The mounting groove 223 is provided with a connecting shaft 23, which serves as the aforementioned shaft system component. The two ends of the connecting shaft 23 are respectively connected to the first rotating shaft 2111 and the second rotating shaft 2124. The three (first rotating shaft 2111, connecting shaft 23, and second rotating shaft 2124) can form a rigid transmission chain by means of key, interference fit, or expansion sleeve connection.

[0150] like Figures 13-15 As shown, based on the above-mentioned embodiment where the connecting frame 22 is provided with a first support 221 and a second support 222, a third support 224 is provided on the side of the connecting frame 22 away from the mounting groove 223. In one embodiment, the head-changing and flipping device is also provided with a guide structure for guiding the movement direction of the flipping mechanism 20 and a drive device 30 for driving the flipping mechanism 20 to move. The third support 224 is used to connect with the guide structure, or to drive the drive device 30, or to connect the guide structure and the drive device 30 at the same time.

[0151] Understandably, the third support 224 can cooperate with the guide structure of the frame 10 through components such as guide rail sliders and guide bushings, thereby restricting the vertical freedom of movement of the flipping mechanism 20, making it move only in a straight line in the vertical direction. This prevents the flipping mechanism 20 from lateral swaying or twisting during lifting and lowering, ensuring that the guide arm 212 always moves along the preset trajectory of the flipping guide structure 11, laying the foundation for the precise posture conversion of the flipping component 21. At the same time, the guide connection can distribute the weight of the flipping mechanism 20 and the weight of the hot end of the print head to the entire frame 10, preventing the drive device 30 from bearing the corresponding load alone. Taking the lead screw drive as an example, without a guide structure, the lead screw must bear both axial driving force and radial load at the same time, which can easily lead to lead screw bending or nut wear. However, the connection between the third support 224 and the guide structure can effectively extend the service life of the lead screw. As for the synchronous belt 42 drive, the guide structure can prevent the synchronous belt 42 from becoming skewed due to unilateral force, reduce the meshing error between the belt teeth and the synchronous pulley 41, and reduce the risk of slippage. In addition, the guide structure (such as the slider of the linear guide) usually adopts a rolling friction pair, which, together with the pre-tightening design, can absorb the small vibrations during the movement of the flipping mechanism 20, so that the acceleration fluctuation during the lifting process is controlled within a reasonable range, and the hot end of the print head is prevented from dripping material or shifting position due to bumps.

[0152] The third support 224 can also be rigidly connected to the drive device 30 (the transmission component) via connecting parts such as the timing belt 42 clamp 25 and the lead screw nut seat, which can efficiently transmit the driving torque or thrust to the tilting mechanism 20. For example, the clamping connection between the timing belt 42 and the third support 224 can ensure that the rotational speed of the drive device 30 (such as a motor) can be converted into the lifting speed of the tilting mechanism 20 in real time; the rigid fixation between the lead screw nut and the third support 224 can avoid transmission gaps and meet the speed requirements of high-frequency head-changing scenarios. Secondly, since the third support 224 is located on the side of the connecting frame 22 away from the mounting groove 223, the specific position of the third support 224 can be understood as being roughly between the first support 221 and the second support 222. Its position is relatively close to the center of gravity of the connecting frame 22. Thus, the connection point between the third support 224 and the drive device 30 can make the line of action of the driving force pass through the center of gravity of the connecting frame 22 as much as possible, thereby reducing the additional torque when the tilting mechanism 20 moves and ensuring the smooth rotation of the tilting component 21.

[0153] Understandably, the third support 224, serving as the interface between the connecting frame 22 and the drive system and guide structure, requires flexible design based on the power transmission method, guidance requirements, and spatial layout of the head-changing and tilting device. Structurally, the third support 224 can be an integrated boss structure, where a raised platform is milled directly onto the side of the connecting frame 22 facing away from the mounting groove 223 to connect the drive connector and guide structure. Alternatively, it can be a separate modular structure, consisting of independent plates fixed to the connecting frame 22 with bolts. For space-constrained scenarios, the third support 224 can be designed as an L-shaped bracket structure, with the transverse section fixed to the connecting frame 22 and the longitudinal section extending outwards from the connecting frame 22, forming two mutually perpendicular mounting surfaces. Connections to the drive device 30 and guide structure are achieved through the opposite sides of the longitudinal section. From a functional adaptation perspective, when using synchronous belt 42 transmission, the third support part 224 needs to be equipped with a synchronous belt 42 clamping structure, such as a clamp-type design composed of two clamping plates 25, which tightly fits the tooth surface of the synchronous belt 42 with the clamping plates 25 through bolts; if using screw transmission, the third support part 224 needs to integrate a screw nut, and the screw nut and the third support part 224 can be rigidly connected by bolts to achieve meshing transmission with the screw.

[0154] To optimize the layout of the connecting frame 22 with the drive device 30 and / or the guide structure, in one embodiment, the first side of the third support 224 is used to connect to the guide structure, and the second side of the third support 224 is used for transmission connection with the drive device 30. The first side of the third support 224 faces the same direction as the first side of the connecting frame 22, and the second side of the third support 224 faces the same direction as the second side of the connecting frame 22. In this embodiment, the first side of the third support 224 connected to the guide structure can be fitted with a guide rail slider or guide hole, while the second side connected to the drive device 30 can be fitted with components such as the timing belt 42 clamp 25 and the lead screw nut. This avoids the spatial stacking of the guide structure and the drive device 30 at the same position on the connecting frame 22, and also makes the arrangement of the flipping guide structure 11 and the guide structure, which also serve a guiding function, on the frame 10 and the flipping mechanism 20 more reasonable, reducing interference between the guiding structural parts and the drive device 30.

[0155] Please refer to the instruction manual attached. Figures 1-3 In an embodiment where the head-changing and flipping device also includes a drive device 30, the drive device 30 has a fixed end and a drive end that can output a driving torque relative to its fixed end. The drive device 30 is mounted on the frame 10 via the fixed end, and the drive end of the drive device 30 is connected to the connecting frame 22 (the third support 224) via a transmission assembly.

[0156] The drive unit 30 serves as the power source for the head-changing and tilting device. Its selection can be determined comprehensively based on factors such as the device's load size, movement speed, accuracy requirements, and working environment. For example, in terms of power type, the drive unit 30 can be, but is not limited to, a servo motor or a stepper motor. For heavy-load scenarios where speed requirements are not high, a hydraulic motor can be used as the drive unit 30.

[0157] From the perspective of installation and transmission adaptation, the drive unit 30 can be directly connected to the transmission component via a coupling. In some scenarios, the drive unit 30 can indirectly drive the transmission component via a gearbox. These drive unit 30 solutions, through their adaptation connection with the third support part 224, can provide stable power for the tilting mechanism 20 and meet the accuracy, speed, and load requirements in different scenarios.

[0158] The drive unit 30 provides power for the lifting and lowering movement of the tilting mechanism 20 and is connected to the tilting mechanism 20 through a transmission assembly. As can be roughly understood from the above, the transmission assembly can be, but is not limited to, a synchronous belt drive assembly 40 and a lead screw drive assembly.

[0159] In the synchronous belt drive assembly 40, the synchronous belt drive assembly 40 includes at least two synchronous pulleys 41 spaced apart in the vertical direction, and a synchronous belt 42 wound around each synchronous pulley 41 in the vertical direction. Each synchronous pulley 41 is rotatably mounted on the frame 10, and one of the synchronous pulleys 41 is connected to the output end of the drive device 30. The flipping mechanism 20 is fixed to the synchronous belt 42. The drive device 30 can drive one of the synchronous pulleys 41, causing the synchronous belt 42 and the flipping mechanism 20 to reciprocate in the vertical direction. The center distance of each synchronous pulley 41 can be determined according to the stroke of the flipping mechanism 20. The synchronous pulley 41 located at the drive end is connected to the output shaft of the drive device 30 through a coupling to ensure concentricity. The synchronous belt 42 is rigidly fixed to the third support part 224 of the flipping mechanism 20 through a clamping plate 25, and the tension can be adjusted by a tensioning wheel.

[0160] In the lead screw drive assembly, the lead screw drive assembly includes two support seats arranged vertically spaced apart on the frame 10, and a lead screw arranged vertically and rotatably on the two support seats. The lead screw is connected to the drive device 30, and the tilting mechanism 20 cooperates with the lead screw through a lead screw nut. The drive device 30 can drive the lead screw to rotate, so that the lead screw drives the lead screw nut and the tilting mechanism 20 to reciprocate in the vertical direction. The two ends of the lead screw are positioned by bearings on the support seats, and the lead screw nut is rigidly connected to the third support part 224. The drive device 30 can increase the torque by being directly connected to the lead screw by a servo motor or connected through a reduction gearbox.

[0161] In embodiments where the head-changing and flipping device is equipped with a guide structure, such as Figures 1-3As shown, the frame 10 is provided with a first guide structure 14 in the vertical direction, and the flipping mechanism 20 is provided with a matching second guide structure 24 (not shown). The first guide structure 14 can be a linear guide rail or a guide post, and the second guide structure 24 is a corresponding slider or bushing, ensuring that the flipping mechanism 20 moves only in the vertical direction. The length of the guide structure covers the entire stroke of the flipping mechanism 20, and buffer devices (such as springs, sponge pads, etc.) can be set at both ends to avoid hard collisions between the first guide structure 14 and the second guide structure 24.

[0162] Please refer to the instruction manual attached. Figures 4-6 This is a partial structural diagram of a 3D printing device including the aforementioned head-changing and flipping device. Based on this, this disclosure also provides a 3D printing device that, in addition to including the head-changing and flipping device as described in any of the above embodiments, further includes a printhead assembly 50 and a hot-end storage mechanism 60. In this embodiment, the assembly component 211 of the head-changing and flipping device is provided with a hot-end clamping component 2112, which is used to disassemble and install the hot end of the printhead. The lower side of the printhead assembly 50 is provided with a clamping part 51, which is also used to clamp the hot end of the printhead. The clamping methods of the hot-end clamping component 2112 and the clamping part 51 can be, but are not limited to, pneumatic clamping, electric clamping, or magnetic clamping, to adapt to different specific application scenarios. The printhead assembly 50 can drive the clamping part 51 to move to the upper end of the flipping guide structure 11 and dock with the hot-end clamping component 2112 through the hot end of the printhead. The hot-end storage mechanism 60 is movably connected to the frame 10 and has multiple accommodating portions 61 for storing the hot ends of the printhead. The specific structure of the accommodating portions 61 can be determined according to the type and number of hot ends of the printhead and the space requirements of the 3D printing equipment. This embodiment does not have specific limitations or requirements on it. The hot-end storage mechanism 60 is movable relative to the frame 10, so that one of the accommodating portions 61 on the hot-end storage mechanism 60 can selectively move to the lower end of the flip guide structure 11.

[0163] It should be noted that the motion of the hot-end storage mechanism 60 can be adapted to the spatial layout of the 3D printing equipment and the number of receiving parts 61. From a basic motion perspective, the hot-end storage mechanism 60 can adopt a rotary motion mode. In this mode, the hot-end storage mechanism 60 can be designed as a disc-shaped turntable, with multiple receiving parts 61 evenly distributed along the circumference of the turntable (e.g., 8-12). The center of the turntable is connected to the frame 10 via a rotating shaft, and its rotation can be driven by a servo motor or other device. The rotation angle of the turntable is precisely controlled by an encoder, and a reduction gearbox can be used to achieve low-speed, high-torque output, ensuring smooth rotation. Secondly, the hot-end storage mechanism 60 can also adopt a translational motion mode. In this mode, the hot-end storage mechanism 60 can be designed with sliders on a slide rail. The receiving parts 61 are arranged in a straight line and fixed on the sliders, and are driven by a cylinder or lead screw to translate along the slide rail, so that the corresponding receiving parts 61 can be moved to the corresponding positions by the sliders.

[0164] Furthermore, for scenarios with limited space or requiring compatibility with hot ends of multiple printheads, the hot end storage mechanism 60 can also achieve relative movement between multiple receiving sections 61 and the frame 10 through a folding motion. The hot end storage mechanism 60 can be composed of multiple foldable storage units, each with a preset number of receiving sections 61, connected in a chain shape by hinges. When not in use, it is folded and stored on the side of the frame 10, and unfolded to the working position when in use. The driving method can adopt a pull rope or linkage mechanism, with a motor driving the pull rope to achieve folding and unfolding. After unfolding, it is positioned by rigid support to ensure the stability of the receiving section 61.

[0165] Based on the above embodiments, an image acquisition unit 52 is provided on the side of the printhead assembly 50 near the gripping part 51. The image acquisition unit 52 may be, but is not limited to, an industrial camera. The image acquisition unit 52 is located on the side of the printhead assembly 50 near the gripping part 51 and is used to acquire image information of the hot end of the printhead clamped by the gripping part 51.

[0166] In order for the 3D printing device to perform corresponding actions based on the image information of the hot end of the print head, the 3D printing device also includes a control unit. The control unit is electrically connected to the print head assembly 50 and is used to determine whether the print head assembly 50 has reached the target position based on the image information. The image recognition algorithm may be, but is not limited to, template matching, feature point matching or deep learning recognition. The communication method may be, but is not limited to, CAN bus (Controller Area Network, a serial communication protocol bus for real-time applications), Ethernet or serial port.

[0167] like Figures 1-12As shown, this disclosure also provides a method for replacing the hot end of the printhead in any of the above-described 3D printing devices. This method includes steps such as installation, disassembly, storage, and retrieval. Below, based on the structural features of the 3D printing device and using the installation, disassembly, storage, and retrieval steps as the core framework, the specific implementation of the printhead hot end replacement method will be described in detail:

[0168] I. For example Figures 4-6 As shown, the installation of the hot end of the printhead is the process of transferring the hot end of the printhead on the flipping mechanism 20 to the printhead assembly 50, which requires docking between the printhead assembly 50 and the flipping mechanism 20. Specifically, the control unit first issues an installation command, driving the printhead assembly 50 to move along the device to the upper region of the flipping guide structure 11. During the movement, the image acquisition unit 52 mounted on the printhead assembly 50 can capture real-time images of the positioning marks (such as reference dots or QR codes) on the upper end of the flipping mechanism 20. The control unit calculates the deviation between the current position and the target position using a feature point matching algorithm and dynamically adjusts the motion parameters to ensure that the coaxiality of the gripping part 51 and the axis of the mounting component 211 of the flipping mechanism 20 is controlled within a preset range. At this time, the gripping part 51 is in a downward-facing state. Meanwhile, the flipping mechanism 20 moves along the first guide structure 14 of the frame 10 under the drive of the drive device 30, eventually causing the swing end 2122 of the guide arm 212 to stop at the upper end of the flipping guide structure 11, so that the assembly component 211 together with the hot end clamping component 2112 is in an upward posture. When the flipping mechanism 20 reaches the upper station, the mating part 2123 abuts against the first limiting part 12. At this time, the hot end of the first print head (pre-clamped) on the assembly component 211 (hot end clamping component 2112) faces upward and mates with the clamping part 51 of the print head assembly 50, so that the hot end of the first print head can be clamped in the clamping part 51. Then the print head assembly 50 drives the hot end of the first print head to leave the upper end of the flipping guide structure 11 and enter the printing preparation state.

[0169] II. Figures 4-7As shown, the method for removing the hot end of the printhead is to transfer the hot end of the printhead on the printhead assembly 50 to the flipping mechanism 20, which can form a closed-loop action with the above-mentioned installation steps. Specifically, when the printing task is completed or the hot end of the printhead needs to be replaced, the control unit drives the printhead assembly 50 to move the first hot end of the printhead to be removed to the upper end of the flipping guide structure 11. The motion control logic is consistent with the installation stage, and the clamping part 51 (facing downwards) and the assembly component 211 (hot end clamping component 2112 facing upwards) are coaxially connected through image recognition and encoder feedback. At this time, the flipping mechanism 20 has already stopped at the work position at the upper end of the flipping guide structure 11, and the hot end clamping component 2112 of the assembly component 211 is in a ready-to-clamp state. The clamping part 51 connects with the assembly component 211 (hot end clamping component 2112) through the first hot end of the printhead facing downwards. Subsequently, the gripping part 51 of the printhead assembly 50 is released. The release action and the gripping action of the assembly component 211 (hot end clamping component 2112) can be synchronous or asynchronous. After release, the hot end clamping component 2112 clamps the first hot end of the printhead on the gripping part 51, and the printhead assembly 50 disengages from the first hot end of the printhead. The control unit confirms through the image acquisition unit 52 that the gripping part 51 is unloaded, determines that disassembly is complete, and the flipping mechanism 20 waits to execute the storage step.

[0170] III. Figures 10-12As shown, the method for storing the hot end of the printhead involves transferring the hot end of the printhead from the flipping mechanism 20 to the hot end storage mechanism 60. This is achieved through the flipping action of the flipping mechanism 20 and the switching cooperation between the receiving portion 61 of the storage mechanism. Specifically, when the hot end clamping component 2112 holds the first hot end of the printhead, the control unit sends a command to the hot end storage mechanism 60, driving it to move to the target station, causing the unloaded receiving portion 61 corresponding to the first hot end of the printhead to move to the lower end of the flipping guide structure 11. Subsequently, the flipping mechanism 20 moves downward along the flipping guide structure 11 under the drive of the drive device 30, and the swing end 2122 of the guide arm 212 enters the flipping guide section 111 from the upper inward / outward guide section 112. As the movement height decreases, the swing end 2122 slides along the first groove segment 1111 (radially deviating from the trajectory) and the second groove segment 1112 (radially approaching the trajectory). The torque generated by the eccentric design drives the flipping assembly 21 to rotate, causing the assembly component 211 (along with the hot end clamping component 2112) to gradually turn from facing upwards to facing downwards (flipping angle 180°). When the swing end 2122 enters the lower advance and retreat guide part 113, the flipping action stops, the assembly component 211 abuts against the second limiting part 13, and the hot end of the first printhead, clamped on the hot end clamping component 2112, also maintains a downward orientation, docking with the empty receiving part 61 below. The clamping structure of the hot end clamping component 2112 loosens, the hot end of the first printhead is released and placed in the corresponding receiving part 61, the flipping mechanism 20 moves upwards to disengage from the receiving part 61, and the hot end storage mechanism 60 resets (rotates or translates to the initial position), completing the storage.

[0171] IV. The method for retrieving the hot end of the printhead involves transferring the hot end of the printhead from the hot end storage mechanism 60 to the flipping mechanism 20 and then installing it into the printhead assembly 50. This process requires the switching of the receiving portion 61 of the hot end storage mechanism 60 and the flipping action of the flipping mechanism 20. Specifically, the control unit first drives the hot end storage mechanism 60 to move, causing the receiving portion 61, which contains the second hot end of the printhead (to distinguish it from the first hot end of the printhead; the terms "first" and "second" do not have a specific defining function), to move to the lower end of the flipping guide structure 11. The motion control is the same as the storage method. Subsequently, the flipping mechanism 20 (at this time, the assembly component 211 and the hot end clamping component 2112 are facing downwards) moves downwards along the lower advance and retreat guide 113. The hot end clamping component 2112 aligns with the hot end of the second print head until the hot end clamping component 2112 docks with the corresponding receiving part 61 through the hot end of the second print head. The receiving part 61 releases the hot end of the second print head, and the hot end clamping component 2112 also performs a clamping action on the hot end of the second print head, completing the transfer of the hot end of the second print head. The flipping mechanism 20 moves upward, and the swing end 2122 of the guide arm 212 moves along the lower forward and backward guide part 113, causing the hot end clamping component 2112 to disengage from the receiving part 61. When the swing end 2122 of the guide arm 212 passes the flipping guide part 111, the assembly component 211 and the hot end clamping component 2112 are flipped 180° through its rotating end 2121, which drives the hot end of the second print head to turn from facing down to facing up, and finally stops at the upper position of the flipping guide structure 11 (upper forward and backward guide part 112), and the mating part 2123 abuts against the first limiting part 12.

[0172] Finally, the same docking logic as the installation steps is executed. The printhead assembly 50 moves to the upper end of the flip guide structure 11, and the gripping part 51 docks with the hot end of the second printhead on the hot end clamping part 2112. The transfer of the hot end of the second printhead to the printhead assembly 50 is completed when the gripping part 51 grips the hot end of the second printhead and the hot end clamping part 2112 releases the hot end of the second printhead.

[0173] Using the above methods, 3D printing equipment can achieve fully automatic replacement of the hot end of the print head, which improves the efficiency of print head replacement and the accuracy of docking, and can meet the needs of multi-material and multi-color printing scenarios.

[0174] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0175] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0176] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0177] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A head changing and inverting device, characterized by comprising: include: The frame is equipped with a flipping guide structure, which has an upper end and a lower end arranged in a vertical direction; A flipping mechanism is slidably disposed on the frame, and the flipping mechanism is movable between the upper end and the lower end of the flipping guide structure; The flipping mechanism is provided with a flipping component, which is rotatable relative to the flipping mechanism and has a rotation axis on the flipping mechanism. The flipping component includes an assembly for mounting the hot end of the printhead and a guide arm. The geometric center of the guide arm is offset from the rotation axis. The guide arm has a rotating end and a swinging end. The guide arm is connected to the assembly through the rotating end. The flipping component is guided and engaged with the flipping guide structure through the swinging end of the guide arm. The flipping guide structure also has a flipping guide part, which is radially offset from the flipping assembly along the rotation axis. The flipping guide part has a symmetrical radial offset profile, which is guided and engaged with the swing end of the guide arm to guide the swing end of the guide arm to rotate around the rotation axis, so that the guide arm can drive the assembly component to rotate. The center of symmetry of the radial offset profile is offset from the movement trajectory of the rotating end of the guide arm in the radial direction, and both ends of the radial offset profile are set in the vertical direction; and When the flipping mechanism is at the upper end of the flipping guide structure, the assembly component faces upward, so that the assembly component can dock with the printhead assembly of the 3D printing device through the hot end of the printhead. When the flipping mechanism is at the lower end of the flipping guide structure, the assembly component faces downwards, so that the assembly component can dock with the hot end storage mechanism of the 3D printing device through the hot end of the print head.

2. The head-changing and flipping device according to claim 1, characterized in that, The flipping guide structure also has an advance / retreat guide section, which is disposed at at least one end of the flipping guide section; The forward and backward guiding part is arranged in the vertical direction and is used to guide the swing end of the guide arm to move in the vertical direction together with the flipping mechanism when the flipping mechanism moves relative to the frame, thereby restricting the rotation of the flipping assembly.

3. The head-changing and flipping device according to claim 2, characterized in that, The advance and retreat guide includes an upper advance and retreat guide and a lower advance and retreat guide; The upper end of the flipping guide is provided with the upper side advance and retreat guide, and the lower end of the flipping guide is provided with the lower side advance and retreat guide. The upper side advance and retreat guide and the lower side advance and retreat guide are arranged collinearly in the vertical direction.

4. The head-changing and flipping device according to claim 3, characterized in that, The frame is provided with a first limiting part above the upper advancing and retreating guide part, and the frame is also provided with a second limiting part below the lower advancing and retreating guide part. The first limiting part, the second limiting part, the upper advancing and retreating guide part, and the lower advancing and retreating guide part are all arranged collinearly in the vertical direction. The rotating end of the guide arm is provided with a mating part that can cooperate with the first limiting part and the second limiting part. When the flipping mechanism moves to the upper end of the flipping guide structure, the mating part abuts against the first limiting part. When the flipping mechanism moves to the lower end of the flipping guide structure, the mating part abuts against the second limiting part. The first limiting part and the second limiting part are used to restrict the rotation of the guide arm through the mating part.

5. The head-changing and flipping device according to any one of claims 1-4, characterized in that, The flipping guide structure is configured to be a guide groove opened in the frame, and the swing end of the guide arm is provided with a guide slider, which is movably disposed in the guide groove. The guide groove includes a first groove segment and a second groove segment, which are connected to each other. The first groove segment is close to the upper side of the frame and gradually deviates from the movement trajectory of the rotating end of the guide arm in a radial direction from top to bottom. The second groove segment is close to the lower side of the frame and gradually approaches the movement trajectory of the rotating end of the guide arm in a radial direction from top to bottom.

6. The head-changing and flipping device according to any one of claims 1-4, characterized in that, The flipping mechanism also includes: A connecting frame is slidably disposed on the frame, a flipping component is rotatably disposed on the connecting frame, the assembly component is disposed on a first side of the connecting frame, and a guide swing arm is disposed on a second side of the connecting frame; The first and second sides of the connecting frame are located on two opposite sides of the connecting frame, respectively.

7. The head-changing and flipping device according to claim 6, characterized in that, The connecting frame is provided with a first support part on its first side and a second support part on its second side. The first support part and the second support part are provided with mounting grooves at intervals on the connecting frame. The assembly component is rotatably disposed on the first support portion, the rotating end of the guide arm is rotatably connected to the second support portion, and the assembly component and the rotating end of the guide arm are coaxially connected.

8. The head-changing and flipping device according to claim 7, characterized in that, The assembly component is provided with a first rotating shaft that is rotatably connected to the first support portion, and the rotating end of the guide arm is provided with a second rotating shaft that is rotatably connected to the second support portion. A connecting shaft is provided in the mounting slot, and the first rotating shaft and the second rotating shaft are connected through the connecting shaft.

9. The head-changing and flipping device according to claim 8, characterized in that, The assembly component is provided with a first rotating shaft that is rotatably connected to the first support portion, and the rotating end of the guide arm is provided with a second rotating shaft that is rotatably connected to the second support portion. A connecting shaft is provided in the mounting slot, and the first rotating shaft and the second rotating shaft are connected through the connecting shaft.

10. The head-changing and flipping device according to claim 8, characterized in that, The connecting frame is also provided with a third support on the side opposite to the mounting groove; The third support is used to connect the guide structure, and / or the third support is used to drive the drive device.

11. The head-changing and flipping device according to any one of claims 1-4, characterized in that, Also includes: A drive unit is mounted on the frame via its fixed end, and the drive end of the drive unit is connected to the tilting mechanism via a synchronous belt drive assembly. The synchronous belt drive assembly includes at least two synchronous pulleys spaced apart in a vertical direction, and a synchronous belt wound around each of the synchronous pulleys in a vertical direction. Each of the synchronous pulleys is rotatably mounted on the frame, and one of the synchronous pulleys is connected to the output end of the drive device. The flipping mechanism is fixed to the synchronous belt. The drive device can drive one of the synchronous pulleys, causing the synchronous belt and the flipping mechanism to reciprocate in a vertical direction.

12. The head-changing and flipping device according to any one of claims 1-4, characterized in that, Also includes: A drive device is mounted on the frame via its fixed end, and the drive end of the drive device is connected to the tilting mechanism via a lead screw transmission assembly. The lead screw drive assembly includes two support seats spaced apart vertically on the frame, and a lead screw rotatably mounted on the two support seats in a vertical direction. The lead screw is connected to the drive device, and the flipping mechanism cooperates with the lead screw through a lead screw nut. The drive device can drive the lead screw to rotate, so that the lead screw drives the lead screw nut and the flipping mechanism to reciprocate in a vertical direction.

13. The head-changing and flipping device according to any one of claims 1-4, characterized in that, The frame is also provided with a first guide structure, which is arranged vertically on the frame; The flipping mechanism is provided with a second guide structure, which matches the first guide structure and is slidably disposed on the first guide structure.

14. A three-dimensional printing device, characterized in that, include: The printhead flipping device as described in any one of claims 1-13, wherein the assembly component is provided with a hot end clamping component, the hot end clamping component being used for disassembling and installing the hot end of the printhead; The printhead assembly has a gripping part on its lower side for gripping the hot end of the printhead. The printhead assembly can drive the gripping part to move relative to the printhead flipping device to the upper end of the flipping guide structure. A hot end storage mechanism is movably connected to the frame. The hot end storage mechanism has multiple receptacles for storing the hot end of the printhead. The hot end storage mechanism is movable relative to the frame so that one of the receptacles on the hot end storage mechanism can selectively move to the lower end of the flip guide structure.

15. The three-dimensional printing device according to claim 14, characterized in that, The printhead assembly is also provided with an image acquisition unit, which is located on the side of the printhead assembly near the gripping part, and is used to acquire image information of the hot end of the printhead clamped by the gripping part; The 3D printing equipment also includes: A control unit, electrically connected to the printhead assembly, is used to determine whether the printhead assembly has moved to the upper end of the flip guide structure based on the image information.

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