Fast FDM printer with tripod fine positioning and method for its operation

Abstract

Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a tripod (2) and wherein the device comprises an actuator block (3) wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the tripod (2) and wherein the tripod (2) is attached at a second end of the tripod (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) that can be determined using the method of direction vectors and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) which is configured to transmit a first traction force, and that the device comprises a sixth motor (24) which is configured to transmit a second tractive force, and that the device includes a seventh motor (25) which is configured to transmit a third tractive force, and that the actuator block (3) includes a first storage means (1451) for the first tractive force of the fifth motor (23) and that the actuator block (3) includes a second storage medium (1452) for the second tractive force of the sixth motor (24) and that the actuator block (3) includes a third storage medium (1453) for the third traction force of the seventh motor (25) and that the first storage medium (1451) is designed, provided that the first storage medium (1451) has stored energy, to exert a first restoring force which opposes the first pulling force, and that the second storage medium (1452) is designed, provided that the second storage medium (1452) has stored energy, to exert a second restoring force which is directed against the second pulling force, and that the third storage means (1453) is designed, provided that the third storage means (1453) has stored energy, to exert a third restoring force which opposes the third pulling force, and that the fifth motor (23) is attached to the printer frame (21) and that the sixth motor (24) is attached to the printer frame (21) and wherein the seventh motor (25) is attached to the printer frame (21) and that the fifth motor (23) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction (r1) of the extruder path curve (B(p1, p2, p3)), and that, in the case of the use of a tripod (2), the fifth motor (23) is configured to displace the extruder head (1) relative to the tool holder (4) as a function of a control signal from the control device (27) in a first direction (r1) of the extruder path curve (B(p1, p2, p3)) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the sixth motor (24) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction (r2) of the extruder path (B(p1, p2, p3) or B(p1, p2, p3, p4, p5, p6)) depending on a control signal from the control device (27), and that, in the case of the use of a tripod (2), the sixth motor (24) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction (r2) of the extruder path (B(p1, p2, p3)) depending on a control signal from the control device (27) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, does not change substantially, and that the seventh motor (25) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a third direction (r3) of the extruder path (B(p1, p2, p3) or B(p1, p2, p3, p4, p5, p5)) as a function of a control signal from the control device (27), and that, in the case of the use of a tripod (2), the seventh motor (25) is configured to displace the extruder head (1) relative to the tool holder (4) as a function of a control signal from the control device (27) in a third direction (r3) of the extruder path (B(p1, p2, p3)) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the tripod (2) comprises a first positioning rod (1410) of a first positioning group and that the tripod (2) includes a second positioning rod (1415) of the first positioning group and that the actuator block (3) has a first sliding rod (1310) of a first actuator and that the actuator block (3) has a second sliding rod (1315) of the first actuator and that the first actuator comprises the lower first connector (1491) of the first actuator and first sliding rod (1310) of the first actuator and the second sliding rod (1315) of the first actuator and the upper first 10 connector (1461) of the first actuator and that the tripod (2) comprises a first positioning rod (1420) of a second positioning group and that the tripod (2) includes a second positioning rod (1425) of the second positioning group and that the actuator block (3) has a first sliding rod (1320) of a second actuator and that the actuator block (3) has a second sliding rod (1325) of the second actuator and that the second actuator comprises the lower second connector (1492) of the second actuator and the first sliding rod (1320) of the second actuator and the second sliding rod (1325) of the second actuator and the upper second connector (1462) of the second actuator and and the tripod (2) comprises a first positioning rod (1430) of a third positioning group and and the tripod (2) includes a second positioning rod (1435) of the third positioning group and that the actuator block (3) has a first sliding rod (1330) of a third actuator and that the actuator block (3) has a second sliding rod (1335) of the third actuator and that the third actuator comprises the lower third connector (1493) of the third actuator and the first sliding rod (1330) of the third actuator and the second sliding rod (1335) of the third actuator and the upper third connector (1463) of the third actuator and that a first ball joint (1471) of the first positioning rod (1410) of the first positioning linkage group of the first actuator connects the first positioning rod (1410) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a second ball joint (1472) of the second positioning rod (1415) of the first positioning linkage group of the first actuator connects the second positioning rod (1415) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a first ball joint (1473) of the first positioning rod (1420) of the second positioning linkage group of the second actuator connects the first positioning rod (1420) of the second positioning linkage group of the second actuator to the lower second connector (1492) of the second actuator and that a second ball joint (1474) of the second positioning rod (1425) of the second positioning linkage group of the second actuator connects the second positioning rod (1425) of the second positioning linkage group of the second actuator to the lower second connector (1493) of the second actuator and that a first ball joint (1475) of the first positioning rod (1430) of the third positioning linkage group of the third actuator connects the first positioning rod (1430) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that a second ball joint (1476) of the second positioning rod (1435) of the third positioning linkage group of the third actuator connects the second positioning rod (1435) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that the second direction is different from the first direction and that the third direction is different from the first direction and that the second direction is different from the third direction.

Description

Field of invention

[0001] The invention relates to an extruder device comprising an extruder head 1, an additional positioning linkage 2 in the form of a tripod with an actuator block 3 and a tool holder 4, and the force transmission 5 for the exemplary, proposed extruder device 1010. The extruder is positioned relative to the workpiece and the heated bed by a conventional XY positioning device. General Introduction

[0002] The speed of 3D printing is one of the factors that limit its industrial usability. State of the art

[0003] From patent CN 104 669 624 A, a delta-3D (three-dimensional) printer is known, comprising an upper support structure and a lower support structure. The upper support structure of CN 104 669 624 A includes an upper support seat connected to support columns and equipped with a material feed mechanism. The device of CN 104 669 624 A includes horizontal support blocks arranged on the support columns. A third aluminum profile connector is arranged on each horizontal support block of CN 104 669 624 A and is provided with a dowel pin. The dowel pin of CN 104 669 624 A is equipped with a bearing. The device of CN 104 669 624 A has a drive belt arranged on the outer ring of the bearing and connected to a print head via a slide and a ball joint. The lower support structure of the CN 104 669 624 A comprises a lower fixing platform and a base platform.The outer surface of the CN 104 669 624 A's fixing platform is connected to the lower sections of the support columns. A stepper motor of the CN 104 669 624 A is located at the upper end face of the fixing platform, near the support columns. The lower end face of the CN 104 669 624 A's fixing platform is connected to a switching power supply. The center of the upper end face of the CN 104 669 624 A's fixing platform is connected to a controller. The base platform is connected to the CN 104 669 624 A's fixing platform. According to the authors of CN 104 669 624 A, the Delta 3D printer has a compact structure, a low center of gravity, is easy to assemble and disassemble, and is widely suitable for small 3D printers.

[0004] Utility model CN ​​20 7842 056 U relates to a type of magnetic modularization using delta parallel connections for a 3-arm configuration for 3D printers. The 3D printer of utility model CN ​​20 7842 056 U comprises: a rack, base, heated print bed, guide rail, execution module, support rod, power module, and a sliding block. The execution module of CN 20 7842 056 U includes an actuator and a print head. The sliding block of CN 20 7842 056 U is magnetically connected to the upper part of the support rod. The actuator of CN 20 7842 056 U is connected to the end section of the support rod on the guide rail. The modularization using magnets and the delta-parallel connections of the tripod construction of the CN 20 7842 056 U 3D printer have the advantages that the modularization automatically leads to a simplification of the assembly / disassembly and after-sales service of the 3D printer and is convenient for the user.Furthermore, according to CN 20 7842 056 U, the printing precision and efficiency of the printed product are improved.

[0005] The KR 101 782 397 B1 refers to a delta-type 3D printer device for driving a print module to obtain raw material for creating a 3D sculpture. The KR 101 782 397 B1 device comprises a main body that provides a build chamber. The workpiece is formed within this main body. The KR 101 782 397 B1 device includes a rod drive unit coupled to the main body and connected to the rod unit via a magnetic ball joint to drive the rod unit. The KR 101 782 397 B1 device also includes a first connection unit, installed on an upper surface of the module, which connects the print module to the rod unit. The device of KR 101 782 397 B1 includes a second connecting unit, the rod driver and the rod unit.A delta-type 3D printer assembly with a magnetic ball joint is a technical feature of the KR 101 782 397 B1. By connecting the print module and the rod section using the magnetic ball joint, it is possible to attach and detach the print module of the KR 101 782 397 B1 simply by removing and reconnecting the magnetic force, which simplifies maintenance and replacement of the heating nozzle.

[0006] From NL 1 043 229 B1, a 3D printer is known which is equipped with a print head suspended by arms. The arms of the device of NL 1 043 229 B1 are connected to the print head in such a way that they form a parallelogram structure. The parallelogram structure of NL 1 043 229 B1 is deflectable in its plane and angularly movable relative to the print head via a hemispherical ball joint. The ball is connected to the end of an arm of NL 1 043 229 B1 and is received by a joint held by the print head. The technical teaching of NL 1 043 229 B1 is characterized in that the ball of NL 1 043 229 B1 is received at a radial distance from the arm of NL 1 043 229 B1. The opposite end of the arm of NL 1 043 229 B1 can be accommodated in the printer in the corresponding manner according to NL 1 043 229 B1.According to NL 1 043 229 B1, the ball of NL 1 043 229 B1 is located at the opposite end of the arm on a radially opposite side of the arm.

[0007] US Patent 9,931,784 B2 discloses a system and method for producing a three-dimensional object. The patent provides a build platform that defines a build area and includes a print bed within that area. Furthermore, the patent provides an extruder for extruding build material. An ejector with at least one arm and at least two opposing ends is used to remove the printed object. According to the patent, the first end of the ejector moves vertically, while the second end moves horizontally.A scraper portion of the device of US 9 931 784 B2 extends horizontally, parallel to the print bed, from a retracted position to an extended position as the first end moves in a vertical direction to the print bed.

[0008] US Patent 10,046,523 B2 discloses a calibration method for a delta 3D printer in which a vertical calibration mechanism is arranged in a vertical direction, a horizontal calibration mechanism is arranged in a horizontal direction, and a print platform calibration mechanism is located under the 3D printer's print platform. Before a new print job is executed, according to US Patent 10,046,523 B2, the 3D printer first controls three sliding components to move vertically and performs a calibration on the Z-axis via the vertical calibration mechanism. Next, according to US Patent 10,046,523 B2, the nozzle is controlled to move horizontally, and a calibration on the X-axis and Y-axis is performed via the horizontal calibration mechanism.After the X, Y, and Z axes are calibrated, the 3D printer performs a tilt calibration of the print platform via the print platform calibration mechanism, in accordance with US 10 046 523 B2. Once all calibration operations are complete, the 3D printer begins executing the new print job, also in accordance with US 10 046 523 B2.

[0009] From US patent 10,987,859 B2, a method and apparatus for forming three-dimensional objects by light-curing a light-curing liquid polymer exposed to radiation in a space between a radiation-transparent base and a support plate are known. The support plate of US patent 10,987,859 B2 moves progressively, in some cases continuously, away from the transparent base during the printing process. According to US patent 10,987,859 B2, this movement is characterized by tilting, oscillating, rotating, and / or swirling in three-dimensional space, based on the printing geometry, to accelerate the printing speed and the spread of the resin throughout the build area. In one embodiment of the technical teaching of US patent 10,987,859 B2, the movement, from the perspective of points around its circumference, can resemble a spiral or a helical path.

[0010] US patent number 11 503 717 B2 describes a multidirectional, high-speed 3D printer. This printer comprises two opposing delta 3D printers arranged in a counter-rotating configuration. The printer features a modified frame that allows the two delta 3D printers to slide back and forth. It includes two horizontal / outward-facing print extruders and a sliding / locking core substrate holder with adhesive for gravity-fed printing.

[0011] US Patent 2016 271 871 A1 discloses a 3D printer comprising a printing robot with a carrier, a control module that regulates the carrier's movement by controlling the printing robot, and a print head that is detachably connected to the carrier. The print head of US Patent 2016 271 871 A1 includes a housing, a nozzle for dispensing printing material to print a 3D object, and a button on the housing that is electrically connected to the control module. According to the patent application US Patent 2016 271 871 A1, the printing material is dispensed when the button is pressed.

[0012] The patent US 2016 332 378 A1 specifies systems and techniques relating to three-dimensional (3D) delta printers, such as fused filament fabrication (FFF) 3D delta printers. The devices described in US 2016 332 378 A1 comprise, in at least one aspect, a 3D delta printer, which includes a build platform, a 3D printer delta motion system, and a space frame configured and arranged to support the 3D printer delta motion system as it moves relative to the build platform. The space frame described in US 2016 332 378 A1 comprises several triangular units surrounding a build volume above the build platform.

[0013] The patent US 2017 312 980 A1 describes a system for manufacturing 3D objects, equipped with a layering sheet or a 3D reference object and a 3D manufacturing device. The layering sheet of US 2017 312 980 A1 contains information relating to the 3D object and serves as an element used in the object's layering process. Additionally, the 3D reference object of US 2017 312 980 A1 serves as a 3D reference object, containing information about the 3D object. The 3D object manufacturing device of US 2017 312 980 A1 reads the 3D object information from the layering sheet or the 3D reference object and layers and shapes the 3D object based on this information.

[0014] Patent application US 2021 162 664 A1 describes a 3D printer comprising a housing with a pressure chamber, a liquid printhead movable within the housing for dispensing a liquid, a print bed at the bottom of the pressure chamber for receiving an object to be fully or partially filled by the liquid printhead, and one or more openings for extracting air from the object using a vacuum pump. According to US 2021 162 664 A1, this method allows for more efficient filling of an object with printed liquid than relying solely on gravity, and it also reduces the number of air bubbles.

[0015] The document US 2017 232 549 A1 describes the construction of a complete ship hull, including many internal components (bulkheads, cargo holds), as a single 3D-printed device. For rough positioning, the technical doctrine of US 2017 232 549 A1 uses a Stewart crane, while for finer positioning, a variety of beam support arms can be employed. According to US 2017 232 549 A1, this means that in shipbuilding, the hull, floors, main lines, tanks, accommodations, stairs, doors, etc., can be printed on-site in a multi-stage process.

[0016] A design for a 3D printer with a Cartesian positioning device and multiple delta robots for positioning several extruders relative to a heated bed and / or a workpiece is known from WO 2018 069 749 A1. Document WO 2018 069 749 A1 describes a 3D printer for additive manufacturing, specifically extrusion-based three-dimensional 3D printers with a multitude of print heads. The 3D printer described in WO 2018 069 749 A1 comprises a frame structure, a work platform (the heated bed), a Z-axis guide, a horizontal support, and at least two delta robots.At least two delta robots of WO 2018 069 749 A1 are positioned such that a linkage of at least one delta robot of WO 2018 069 749 A1 is positioned in a space between the two linkages of adjacent delta robots, thereby allowing the working areas of at least two printheads of at least two delta robots to overlap and enabling simultaneous operation of at least two printheads in a working area of ​​at least one printhead.

[0017] The technical teaching of WO 2018 069 749 A1 has some disadvantages.

[0018] Firstly, the technical teaching of WO 2018 069 749 A1 utilizes delta robots with rotary input (revolute-input delta robot). Each delta robot has three actuators, which, by rotating their actuator arms, change the position of the extruder platform with the extruder relative to the work platform (heated bed). The actuator arms pivot around an axis parallel to the plane of the work platform. This results in the actuator arms extending very far. This increases the risk of collisions between the various printheads of the device described in WO 2018 069 749 A1. The technical teaching of WO 2018 069 749 A1 addresses this problem by nesting the printhead linkages. Ultimately, however, this shifts the problem to the software, which must employ considerably more complex collision avoidance algorithms for the printheads.

[0019] During the development of the technical teaching presented in this document, it was recognized that a significant problem with the technical teaching of WO 2018 069 749 A1 is that the actuator motors in WO 2018 069 749 A1 must be moved along with the xy-positioning device. This considerably slows down the 3D printing process, as their masses must also be accelerated.

[0020] A double Bowden cable is known, for example, from DE 10 2011 101 206 A1. DE 10 2011 101 206 A1 discloses the actuation of a movable element (reference numeral 2 of DE 10 2011 101 206 A1) on the usage platform of a tripod of the device of DE 10 2011 101 206 A1 by means of two Bowden cables and the placement of the motor for actuating these two Bowden cables.

[0021] None of these techniques increase printing speed.

[0022] The same applies to the technical teaching of US 2018 / 0001558A1. US 2018 / 0001558A1 describes, according to its own statement, a high-throughput machine for the production of large-format 3D objects. The machine described in US 2018 / 0001558A1 uses a combination of a large-format main material dispensing head and a lightweight satellite material dispensing head. A motion system of the device described in US 2018 / 0001558A1 can move each material dispensing head along a path identical to that of the other dispensing head or along a path different from that of the other material dispensing head. According to US 2018 / 0001558A1, such complementary motion supports the increase of machine throughput.

[0023] In developing the technical teaching of the document presented here, it was recognized that the technical teaching of US 2018 / 0001558A1 does not yet offer the optimum in terms of speed increase and handling. In particular, it uses an overdetermined system with four actuators (four rods).

[0024] Chinese patent document CN 1 10 315 511 A describes a cable robot design with passively tensioned cables for parallel movement, used as a sorting machine. The mechanism comprises a base platform ("silent flatform"), a drive unit, a tensioning device, pulleys, and a movable platform. According to CN 1 10 315 511 A, the tensioning device uses springs and rigid rods to ensure constant cable tension for the entire system. The drive units of the device described in CN 1 10 315 511 A include servo motors that control cable movement via drums and pulleys. Several parallel cable groups of CN 110 315 511 A are evenly distributed around the base platform to enable precise movement of the movable platform.According to CN 1 10 315 511 A, the design of the CN 110 315 511 A ensures three degrees of translational freedom without rotation, supported by the parallel arrangement of the cables and the positioning of attachment points that form a parallelogram. Applications include the precise sorting, gripping, and moving of objects.

[0025] German patent document DE 10 2021 205 514 A1 describes a printing system for forming a strand of building material for the 3D printing of structural components. A key component of the device described in DE 10 2021 205 514 A1 is a parallel robot, in particular a delta robot, which is used for the fine positioning of a print head. The parallel robot of DE 10 2021 205 514 A1 has at least three robot arms arranged symmetrically around a central axis, with an obtuse angle between adjacent arms enabling precise control. The coarse movement of the printing system of DE 10 2021 205 514 A1 is achieved by a coarse movement device, e.g., a serial robot or a distribution mast that carries the parallel robot. According to the patent, the parallel robot of DE 10 2021 205 514 A1 is

[0026] DE 10 2021 205 514 A1 is designed to execute movements without any degree of freedom for tilting, in order to ensure stable positioning of the printhead. According to DE 10 2021 205 514 A1, a combination of inertial sensors and external position and orientation detection systems is used for controlling and dynamically adjusting the position. The system of DE 10 2021 205 514 A1 combines fine and coarse kinematics to enable precise processing of large loads and quantities of building material. US20130297046A1

[0027] US patent document US 2013 / 0297046A1 describes a machine with a precisely controllable end effector. The system of US 2013 / 0297046A1 comprises two control units, a primary and a secondary unit, which control different kinematics. The primary control unit of US 2013 / 0297046A1 controls a coarse kinematic system, consisting of a boom, a dipper stick, and hydraulic or electronic cylinders, to roughly move the end effector toward a target position. The secondary control unit of US 2013 / 0297046A1 controls a fine kinematic system with multiple degrees of freedom, such as a Stewart platform, to precisely move the end effector from its current position to the desired position. The fine kinematics of the US 2013 / 0 297 046 A1 offer six degrees of freedom and enable highly precise adjustments independent of the coarse kinematics.A position detection system, such as an optical system or a total station, measures the actual position of the end effector and, according to US 2013 / 0297046A1, provides this information to the controller to compensate for deviations between the target and actual position.

[0028] US patent document US 2020 / 0 246 967 A1 describes an automated construction system comprising an excavator with hydraulically controlled kinematics and a hydraulic robot. The robot of US 2020 / 0 246 967 A1 has multiple arms extending from a central base element, each equipped with a hydraulic motor. The movements of the arms of US 2020 / 0 246 967 A1 are controlled by a robotic system that enables precise control through regulation of hydraulic pressure. The arms of US 2020 / 0 246 967 A1 move an end effector platform, which can be positioned by rotating the arms. The hydraulic motors of the arms of US 2020 / 0 246 967 A1 are connected to a valve block controlled by variable solenoids.Sensors, such as encoders, provide feedback on the position and angle of the arms relative to the base, according to US 2020 / 0 246 967 A1. The controller, according to the technical teaching of US 2020 / 0 246 967 A1, calculates the speed, acceleration, and pressure for the arms based on desired motion parameters to precisely move the end effector platform. Applications of the technical teaching of US 2020 / 0 246 967 A1 include additive manufacturing, gripping tools, and other construction tools.

[0029] Chinese patent document CN 1 10 315 511 A describes a sorting machine that uses a passively tensioned cable system to enable parallel movements. The system of CN 110 315 511 A comprises a base platform, a drive unit, a tensioning system, pulleys, and a movable platform. The movable platform of CN 110 315 511 A is controlled by cables held under tension by a combination of springs and rigid rods. The cable system of CN 110 315 511 A allows for precise positioning of the platform with three degrees of freedom in translation, with the arrangement of the cables ensuring consistent parallelism between the movable and base platforms. The drive unit of CN 110 315 511 A includes servo motors that move cables over pulleys and drums.A clamping mechanism, according to the technical teaching of CN 1 10 315 511 A, ensures the stability and rigidity of the overall system through adjustable spring forces. Applications, according to CN 110 315 511 A, include gripping and sorting tasks, and the platform can be equipped with gripping tools or other end effectors. Task

[0030] The proposal is therefore based on the task of providing a solution for faster FDM printing.

[0031] This task is solved by an independent claim. Further embodiments are the subject of dependent claims. Solution to the task

[0032] The invention relates to a device for accelerated FDM printing.

[0033] The device according to the invention comprises an extruder head attached to a first end of a tripod. According to the invention, the tripod is attached at a second end to an actuator block. The actuator block, in turn, is attached to a tool holder. Furthermore, according to the invention, the device is equipped with a printer frame to which a first motor and a second motor are attached. According to the invention, these two motors serve to move the tool holder in an X-direction and a Y-direction, respectively. According to the invention, the X-direction and the Y-direction are distinct from one another. According to the invention, the actuator block has an actuator block axis, while the extruder head has an extruder block axis. According to the invention, an angle exists between these two axes that can be determined using the method of direction vectors.The device is controlled by a control unit that transmits motion control signals to the motors. According to the invention, the first motor is configured to move the tool holder in the X-direction, while the second motor moves the tool holder in the Y-direction. Furthermore, according to the invention, the device comprises a fifth, a sixth, and a seventh motor. These motors are each configured to transmit a tensile force. According to the invention, the fifth motor transmits a first tensile force, the sixth motor a second tensile force, and the seventh motor a third tensile force. These motors are also attached to the printer frame according to the invention.According to the invention, the actuator block is additionally equipped with a first return spring as a first storage element, a second return spring as a second storage element, and a third return spring as a third storage element. These return springs are arranged parallel to one another. According to the invention, the first storage element, provided it has stored energy, exerts a first return force that opposes the first tensile force. Similarly, according to the invention, the second storage element, provided it has stored energy, exerts a second return force that opposes the second tensile force. According to the invention, the third storage element, provided it has stored energy, exerts a third return force that opposes the third tensile force.According to the invention, the fifth motor is configured to move the extruder head relative to the tool holder in a first direction along the extruder path curve by means of the tripod. When a tripod is used, the fifth motor ensures that the extruder head is moved such that the angle between the extruder block axis and the actuator block axis, which can be determined using the direction vector method, remains essentially unchanged. According to the invention, the sixth motor is configured to move the extruder head in a second direction along the extruder path curve. When a tripod is used, the extruder head is moved such that, again, the angle between the extruder block axis and the actuator block axis, which can be determined using the direction vector method, remains essentially unchanged.According to the invention, the seventh motor is designed to move the extruder head in a third direction along the extruder path. Here too, according to the invention, the motor ensures that, in the case of the use of a tripod, the angle between the extruder block axis and the actuator block axis does not change significantly. According to the invention, the fifth motor is additionally configured to transmit the movement of the extruder head in the first direction along the extruder path by means of a first Bowden cable. Similarly, according to the invention, the sixth motor transmits the movement of the extruder head in the second direction along the extruder path by means of a second Bowden cable. According to the invention, the seventh motor moves the extruder head in the third direction along the extruder path via a third Bowden cable. The first, second, and third directions along the extruder path are each distinct from one another according to the invention.According to the invention, the fifth, sixth and seventh motors operate independently of each other to precisely position the extruder head in the three different directions.

[0034] The basic idea of ​​the proposal described in this document is to supplement a 3D printer with a Cartesian positioning device with a delta robot, which is positioned relative to the heated bed or the workpiece located on the heated bed using the Cartesian positioning device.

[0035] A design for a 3D printer with a Cartesian positioning device and multiple delta robots for positioning several extruders relative to a heated bed and / or a workpiece is known from WO 2018 069 749 A1. Document WO 2018 069 749 A1 describes a 3D printer for additive manufacturing, specifically extrusion-based three-dimensional 3D printers with a multitude of print heads. The 3D printer described in WO 2018 069 749 A1 comprises a frame structure, a work platform (the heated bed), a Z-axis guide, a horizontal support, and at least two delta robots.At least two delta robots of WO 2018 069 749 A1 are positioned such that a linkage of at least one delta robot of WO 2018 069 749 A1 is positioned in a space between the two linkages of adjacent delta robots, thereby allowing the working areas of at least two printheads of at least two delta robots to overlap and enabling simultaneous operation of at least two printheads in a working area of ​​at least one printhead.

[0036] The technical teaching of WO 2018 069 749 A1 has some disadvantages.

[0037] Firstly, the technical teaching of WO 2018 069 749 A1 utilizes delta robots with rotary input (revolute-input delta robot). Each delta robot has three actuators, which, by rotating their actuator arms, change the position of the extruder platform with the extruder relative to the work platform (heated bed). The actuator arms pivot around an axis parallel to the plane of the work platform. This results in the actuator arms extending very far. This increases the risk of collisions between the various printheads of the device described in WO 2018 069 749 A1. The technical teaching of WO 2018 069 749 A1 addresses this problem by nesting the printhead linkages. Ultimately, however, this shifts the problem to the software, which must employ considerably more complex collision avoidance algorithms for the printheads.

[0038] During the development of the technical teaching presented in this document, it was recognized that a significant problem with the technical teaching of WO 2018 069 749 A1 is that the actuator motors in WO 2018 069 749 A1 must be moved along with the xy-positioning device. This considerably slows down the 3D printing process, as their masses must also be accelerated.

[0039] This document therefore proposes using delta robots with a prismatic input instead of the revolute-input delta robots used in WO 2018 069 749 A1.

[0040] The necessary inverse kinematics are described, for example, in the document Robert L. Williams II, “The Delta Parallel Robot: Kinematics Solutions” Mechanical Engineering, Ohio University, October 2016, access path https: / / www.ohio.edu / mechanical-faculty / williams / html / PDF / DeltaKin.pdf.

[0041] Using a prismatic input delta robot only reduces the difficulty of software creation complexity when using multiple printheads, as this reduces the diameter of the printheads.

[0042] Another idea of ​​the proposal presented here is the removal of the masses of the motors for the three actuators from the Prismatic-Input Delta robot, which is now arranged on the xy-positioning device. For this purpose, the document presented here proposes the use of a Bowden cable for each actuator. The respective motor of each actuator is then fixed to the printer frame. Each motor actuates the respective Bowden cable of the respective actuator, for example, by means of a pulley or a functionally equivalent sub-device. The Bowden cable can only transmit a tensile force. A second Bowden cable for each actuator would be necessary for the restoring force. However, this second Bowden cable represents an additional weight and an additional parasitic spring force. Such a double Bowden cable is known, for example, from DE 10 2011 101 206 A1.

[0043] DE 10 2011 101 206 A1 discloses the actuation of a movable element (reference numeral 2 of DE 10 2011 101 206 A1) on the usage platform of a tripod of the device of DE 10 2011 101 206 A1 by means of two Bowden cables and the placement of the motor for the actuation of these two Bowden cables.

[0044] The document presented here proposes that, instead of actuating a rotary moving functional element on the tripod platform, the tripod drives, in the form of the three actuators of the actuator block, be actuated by means of three Bowden cables. This is an entirely new purpose, affecting a different part of the tripod, and is not yet disclosed in DE 10 2011 101 206 A1 and WO 2018 069 749 A1. Furthermore, in the case of using a hexapod, the document presented here proposes that, instead of actuating a rotary moving functional element on the tripod platform, the tripod drives, in the form of the six actuators of the actuator block, be actuated by means of six Bowden cables.

[0045] The document presented here therefore proposes, going beyond the technical teaching of DE 10 2011 101 206 A1, that, in the case of using a tripod, the tripod kinematics should also be actuated by means of these three Bowden cables and that the associated three motors should be fixed in place. The document presented here therefore proposes, going beyond the technical teaching of DE 10 2011 101 206 A1, that, in the case of using a hexapod, the hexapod kinematics should also be actuated by means of the aforementioned six Bowden cables and that the associated six motors should be fixed in place.

[0046] To further reduce the weight of the printhead, this document proposes, instead of the second Bowden cable of each actuator as described in DE 10 2011 101 206 A1, a mechanical storage element in each actuator. This storage element stores the mechanical energy of the tensile force of the individual Bowden cable of each actuator and makes it available to the actuator as a restoring force when the tensile force of the Bowden cable decreases. This design saves one Bowden cable per actuator, and thus weight, compared to the design in DE 10 2011 101 206 A1 for the transmission of mechanical energy within a delta robot system.

[0047] In the case of a tripod, the actuator block (3) typically comprises three actuators. Three Bowden cables transmit three tensile forces to these three actuators. The three actuators adjust the positioning device (the kinematics) of the tripod. The three actuators of the tripod device preferably comprise three storage means that generate three restoring forces, which are preferably directed opposite to the three tensile forces and preferably store the mechanical energy of the three tensile forces. Preferably, the storage means of the actuators of the tripod device are three restoring springs. The design of the tripod's kinematics limits the degrees of freedom of movement of the extruder head to three.

[0048] In the case of a hexapod, the actuator block (3) typically comprises six actuators. Six Bowden cables transmit six tensile forces to these six actuators. The six actuators adjust the positioning device (the kinematics) of the hexapod. The six actuators of the hexapod preferably include six storage elements that generate six restoring forces, which are preferably directed opposite to the six tensile forces and preferably store the mechanical energy of each of the six tensile forces. Preferably, the six storage elements of the six actuators of the hexapod are six restoring springs. In contrast to the tripod, the design of the hexapod allows six degrees of freedom.

[0049] The proposed device therefore comprises an extruder head, a tripod or hexapod, an actuator block, a first motor, a second motor, a tool holder, and a control device. The extruder head is preferably attached to a first end of the tripod or hexapod. The tripod or hexapod is preferably attached to the actuator block at a second end. The tripod also distinguishes the present design, for example, from the technical teaching of US 2018 / 0001558 A1, which does not use a tripod. The actuator block, in turn, is preferably attached to a tool holder. The actuator block preferably has an actuator block axis. The extruder head also has an extruder block axis. The extruder block axis preferably has an angle to the actuator block axis.

[0050] The reader might object that the actuator block axis and the extruder block axis are typically parallel to each other and, unless they are extensions of each other, do not intersect. Such lines are referred to in mathematical literature as "skew lines."

[0051] The Encyclopedia of Mathematics gives the angle between skew lines at the URL https: / / encyclopediaofmath.org / wiki / Skew_lines as follows: ϕ12=arccos[±(a,b) / (|a|⋅|b|)] Here, a and b are the direction vectors of the vector equations of the lines corresponding to the extensions of the skew lines to infinity. (a,b) is the dot product of these vectors. In this case, these equations are the equations of the extruder block axis and the actuator block axis.

[0052] When this document refers to angles between lines and / or straight lines, it is not necessary to find an intersection point to determine an angle. In the case of parallel lines, an angle of 0° can be obtained by considering the limit.

[0053] To determine the angle between actuator block axis 1205 and extruder block axis 1530, the expert will describe actuator block axis 1205 by a vector linear equation with an actuator block axis direction vector and describe extruder block axis by a vector linear equation with an extruder block axis direction vector, and then, using the actuator block axis direction vector and the extruder block axis direction vector, determine the angle between extruder block axis 1530 and actuator block axis 1205 according to the rules given above for determining angles for skew lines.

[0054] The first motor moves the tool holder in an X-direction depending on a control signal from the control device. The second motor moves the tool holder in a Y-direction depending on a control signal from the control device. The X-direction is preferably different from the Y-direction. TRIPOD

[0055] Preferably, the device comprises a fifth motor (23). Preferably, the fifth motor (23) is not located on the extruder. Better yet, the fifth motor (23) is attached to the printer frame. For the purposes of this document, this means that the fifth motor (23) is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. The fifth motor (23) can therefore also be placed next to the printer to be attached to the printer frame, as described in this document. Preferably, the fifth motor (23) moves the extruder head relative to the tool holder by means of the tripod in a first direction (r1, 5701) as a function of a control signal from the control device, such that the angle between the extruder block axis and the actuator block axis, which can be determined using the direction vector method, remains essentially unchanged.As long as the angles are determined in the same way, the ambiguity of 0° and 180° is not a problem, since the angles do not change abruptly. Only one variant needs to be selected and maintained. Essentially, this means that small deviations of, for example, less than + / - 10%, better than + / - 5%, better than + / - 2%, better than + / - 1% for the angle are conceivable due to manufacturing tolerances of the tripod kinematics. The tripod kinematics should therefore be manufactured as precisely as possible.

[0056] Furthermore, the device can also include a sixth motor (24), wherein the sixth motor moves the extruder head relative to the tool holder in a second direction via the tripod, depending on a control signal from the control device, such that the angle between the extruder block axis and the actuator block axis, which can be determined using the direction vector method, remains essentially unchanged. As long as the angles are determined in the same way, the ambiguity of 0° and 180° is not a problem, since the angles do not change abruptly. Only one variant needs to be selected and maintained. "Essentially" here means that small deviations of, for example, less than + / - 10%, preferably less than + / - 5%, preferably + / - 2%, preferably less than + / - 1% for the angle are conceivable due to manufacturing tolerances of the tripod kinematics. The tripod kinematics should therefore be manufactured as precisely as possible.The second direction is preferably different from the first. Preferably, the sixth motor is not located on the extruder. It is preferable for the sixth motor to be attached to the printer frame. In the context of this document, this means that the sixth motor is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. Therefore, the sixth motor can also be placed next to the printer to be attached to the printer frame, as described in this document.

[0057] Furthermore, the device can also include a seventh motor, which moves the extruder head relative to the tool holder in a third direction via the tripod, depending on a control signal from the control device, such that the angle between the extruder block axis and the actuator block axis, which can be determined using the direction vector method, remains essentially unchanged. As long as the angles are determined in the same way, the ambiguity of 0° and 180° is not a problem, since the angles do not change abruptly. Only one variant needs to be selected and maintained. "Essentially" here means that small deviations of, for example, less than + / - 10%, preferably less than + / - 5%, preferably + / - 2%, preferably less than + / - 1% for the angle are conceivable due to manufacturing tolerances of the tripod kinematics. The tripod kinematics should therefore be manufactured as precisely as possible.The third direction is preferably different from the first direction, the second direction is preferably different from the first direction, and the third direction is preferably different from the second direction. Preferably, the seventh motor is not located on the extruder. Better yet, the seventh motor is attached to the printer frame. For the purposes of this document, this means that the seventh motor is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. The seventh motor can therefore also be placed next to the printer to be attached to the printer frame, as described in this document.

[0058] The extruder head moves along an extruder path curve. The extruder path curve B(p1, p2, p3) can be parameterized with a first space curve parameter p1, a second space curve parameter p2, and a third space curve parameter p3.

[0059] For example, the first space curve parameter p1 can be an intervalwise bijective mapping of the angle of the rotor position of the fifth motor relative to a starting position onto the extruder path curve B(p1, p2, p3).

[0060] For example, the second space curve parameter p2 can be an intervalwise bijective mapping of the angle of the rotor position of the sixth motor relative to a starting position onto the extruder path curve B(p1, p2, p3).

[0061] For example, the third space curve parameter p3 can be an intervalwise bijective mapping of the angle of the rotor position of the seventh motor relative to a starting position onto the extruder path curve B(p1, p2, p3).

[0062] The extruder path curve B(p1, p2, p3), along which the extruder head moves, can be described by a three-dimensional vector function with reference to a coordinate origin in the actuator block of the print head.

[0063] This three-dimensional vector function (extruder path curve B(p1, p2, p3) ) depends on the first space curve parameter p1, the second space curve parameter p2, and the third space curve parameter p3.

[0064] This three-dimensional vector function (extruder path curve B(p1, p2, p3)) therefore depends on the rotor position of the fifth motor, the rotor position of the sixth motor, and the rotor position of the seventh motor.

[0065] The extruder path curve B(p1, p2, p3), along which the extruder head moves, thus depends on the first space curve parameter p1, the second space curve parameter p2, and the third space curve parameter p3.

[0066] The extruder path curve B(p1, p2, p3), along which the extruder head moves, therefore also depends on the time course of the rotor position of the fifth motor, the time course of the rotor position of the sixth motor, and the time course of the rotor position of the seventh motor.

[0067] The first direction r1, in the sense of the document presented here, is the direction vector R1 normalized to a length of 1, which is obtained by the partial derivative of the vectorial extruder path curve B(p1,p2,p3) with respect to the first space curve parameter p1, and thus, for example, with respect to the angle of the rotor position of the fifth motor 23, and subsequent division by the magnitude of its length.

[0068] The second direction r2, in the sense of the document presented here, is the direction vector R2 normalized to a length of 1, which is obtained by the partial derivative of the vectorial extruder path curve B(p1,p2,p3) with respect to the second space curve parameter p2, and thus, for example, with respect to the angle of the rotor position of the sixth motor 24, and subsequent division by the magnitude of its length.

[0069] The third direction r3, in the sense of the document presented here, is the direction vector R3 normalized to a length of 1, which is obtained by the partial derivative of the vectorial extruder path curve B(p1,p2,p3) with respect to the third space curve parameter p3, and thus, for example, with respect to the angle of the rotor position of the seventh motor 25, and subsequent division by the magnitude of its length.

[0070] The necessary inverse kinematics for such prismatic-input delta robots is described, for example, in the document Robert L. Williams II, “The Delta Parallel Robot: Kinematics Solutions” Mechanical Engineering, Ohio University, October 2016, access path https: / / www.ohio.edu / mechanicalfaculty / williams / html / PDF / DeltaKin.pdf.

[0071] To determine the angles between the direction vectors of these directions, we refer to the equations for determining the angles between vectors, which are well known from school lessons and correspond to those for skew lines.

[0072] The angle between the first direction (r1, 5701) and the second direction (r2, 5702) is preferably close to 120°. The angle between the first direction (r1, 5701) and the third direction (r3, 5703) is preferably close to 120°. The angle between the second direction (r2, 5702) and the third direction (r3, 5703) is preferably close to 120°.

[0073] The total mass value, as defined in this document, refers to the sum of the mass values ​​of the tool holder, the actuator block, any necessary force transmission components (e.g., Bowden cables), the filament feed (without filament advance), and a third rail for moving the tool carrier, along with the tool holder, extruder head, tripod, and actuator block, in the X-direction. This total mass is preferably greater than three, five, ten, or fifteen times the mass value of the extruder head (1) plus the mass value of the tripod.

[0074] Preferably, the device is configured so that the acceleration value of the maximum acceleration with which the first motor and the second motor maximally accelerate the tool holder is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head with which the fifth motor maximally accelerates the extruder head relative to the actuator block.

[0075] Preferably, the device is configured such that the acceleration value of the maximum acceleration with which the first motor and the second motor maximally accelerate the tool holder is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head with which the fifth motor and the sixth motor maximally accelerate the extruder head (1) relative to the actuator block.

[0076] Preferably, the device is configured so that the acceleration value of the maximum acceleration, with which the first motor and the second motor maximally accelerate the tool holder, is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head, with which the fifth motor and the sixth motor and the seventh motor maximally accelerate the extruder head relative to the actuator block.

[0077] Furthermore, the document presented here proposes a method for accelerated FDM printing with the following steps: • Provide a device as described above; • Providing first print data to control the first motor, providing second print data to control the second motor, and providing fifth print data to control the fifth motor, whereby the first print data, the second print data, and the fifth print data may be in a common file; • Controlling the first motor based on the first pressure data, controlling the second motor based on the second pressure data, and controlling the fifth motor based on the fifth pressure data.

[0078] The method is characterized by the fact that the acceleration value of the maximum acceleration with which the first motor and the second motor maximally accelerate the tool holder is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head with which the fifth motor maximally accelerates the extruder head relative to the actuator block.

[0079] Furthermore, the document presented here proposes a method for accelerated FDM printing with the following steps: • Provide a device as described above; • Providing first pressure data for controlling the first motor, providing second pressure data for controlling the second motor, providing fifth pressure data for controlling the fifth motor, and providing sixth pressure data for controlling the sixth motor (24), wherein the first pressure data, the second pressure data, the fifth pressure data, and the sixth pressure data may be in a common file; • Controlling the first motor depending on the first pressure data, controlling the second motor depending on the second pressure data, controlling the fifth motor depending on the fifth pressure data, and controlling the sixth motor depending on the sixth pressure data.

[0080] The proposed method is characterized in that the acceleration value of the maximum acceleration with which the first motor and the second motor maximally accelerate the tool holder is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head with which the fifth motor and the sixth motor maximally accelerate the extruder head relative to the actuator block.

[0081] Furthermore, the document presented here proposes a method for accelerated FDM printing with the following steps: • Provide a device as described above; • Providing first print data to control the first motor, providing second print data to control the second motor, providing fifth print data to control the fifth motor, providing sixth print data to control the sixth motor, and providing seventh print data to control the seventh motor, wherein the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data may be in a common file; • Controlling the first motor depending on the first pressure data, controlling the second motor depending on the second pressure data, controlling the fifth motor depending on the fifth pressure data, controlling the sixth motor depending on the sixth pressure data, and controlling the seventh motor depending on the seventh pressure data; characterized by

[0082] The proposed method is characterized in that the acceleration value of the maximum acceleration with which the first motor and the second motor maximally accelerate the tool holder is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head with which the fifth motor and the sixth motor and the seventh motor maximally accelerate the extruder head relative to the actuator block. HEXAPOD

[0083] The proposal also relates to a device for accelerated FDM printing when using a hexapod. The proposed device comprises an extruder head, a hexapod, an actuator block, a first motor, a second motor, a tool holder, and a control device. The extruder head is preferably attached to a first end of the hexapod. The hexapod is preferably attached to the actuator block at a second end. The actuator block, in turn, is preferably attached to a tool holder. The actuator block preferably has an actuator block axis. The extruder head also has an extruder block axis. The extruder block axis preferably has an angle to the actuator block axis, which can again be determined using the method of direction vectors for skew lines.

[0084] The first motor moves the tool holder in an X-direction depending on a control signal from the control device. The second motor moves the tool holder in a Y-direction depending on a control signal from the control device. The X-direction is preferably different from the Y-direction.

[0085] Preferably, the device comprises a fifth motor (23). Preferably, the fifth motor (23) is not located on the extruder. Better yet, the fifth motor (23) is attached to the printer frame. For the purposes of this document, this means that the fifth motor (23) is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. The fifth motor (23) can therefore also be placed next to the printer to be attached to the printer frame, as described in this document. Preferably, the fifth motor (23) moves the extruder head relative to the tool holder in a first direction (r1) by means of the hexapod, depending on a control signal from the control device.

[0086] Furthermore, the device preferably also includes a sixth motor (24), wherein the sixth motor moves the extruder head relative to the tool holder in a second direction via the hexapod, depending on a control signal from the control device. The second direction (r1) is preferably different from the first direction (r2). Preferably, the sixth motor (24) is not located on the extruder. Even better, the sixth motor (24) is attached to the printer frame. For the purposes of this document, this means that the sixth motor (24) is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. The sixth motor (24) can therefore also be placed next to the printer to be attached to the printer frame, as described in this document.

[0087] Furthermore, the device preferably also includes a seventh motor (25), wherein the seventh motor (25) displaces the extruder head relative to the tool holder in a third direction (r3) by means of the hexapod, depending on a control signal from the control device. The third direction (r3) is preferably different from the first direction (r1), the second direction (r2) is preferably different from the first direction (r1), and the third direction (r3) is preferably different from the second direction (r2). Preferably, the seventh motor (25) is not located on the extruder. Better yet, the seventh motor is attached to the printer frame. This means, for the purposes of this document, that the seventh motor (25) is positioned in a substantially fixed position relative to the printer and does not need to move with the extruder.The seventh motor (25) can therefore also be placed next to the printer in order to be attached to the printer frame in accordance with the document presented here.

[0088] Furthermore, the device preferably also includes an eighth motor (33), wherein the eighth motor (33) displaces the extruder head relative to the tool holder in a fourth direction (r4) by means of the hexapod, depending on a control signal from the control device. The fourth direction (r4) is preferably different from the first direction (r1), the second direction (r2), and the third direction (r3). Preferably, the eighth motor (33) is not located on the extruder. Better yet, the eighth motor (33) is attached to the printer frame. This means, for the purposes of this document, that the eighth motor (33) is preferably positioned in a substantially fixed position relative to the printer and does not need to move with the extruder.The eighth motor (33) can therefore also be placed next to the printer in order to be attached to the printer frame in accordance with the document presented here.

[0089] Furthermore, the device preferably also includes a ninth motor (34), wherein the ninth motor (33) displaces the extruder head relative to the tool holder in a fifth direction (r5) by means of the hexapod, depending on a control signal from the control device. The fifth direction (r5) is preferably different from the first direction (r1), the second direction (r2), the third direction (r3), and the fourth direction (r4). Preferably, the ninth motor (34) is not located on the extruder. Better yet, the ninth motor (34) is attached to the printer frame. This means, for the purposes of this document, that the ninth motor (34) is preferably positioned in a substantially fixed position relative to the printer and does not need to move with the extruder.The ninth motor (34) can therefore also be placed next to the printer in order to be attached to the printer frame in accordance with the document presented here.

[0090] Furthermore, the device preferably also includes a tenth motor (35), wherein the tenth motor (35) displaces the extruder head (1) relative to the tool holder in a sixth direction (r5) by means of the hexapod, depending on a control signal from the control device. The sixth direction (r6) is preferably different from the first direction (r1), the second direction (r2), the third direction (r3), the fourth direction (r4), and the fifth direction (r5). Preferably, the tenth motor (35) is not located on the extruder (1). Better yet, the tenth motor (35) is attached to the printer frame.This means, in the context of this document, that the tenth motor (35) is preferably positioned in a substantially fixed position relative to the printer and does not need to move with the extruder. The tenth motor (35) can therefore also be placed next to the printer in order to be attached to the printer frame, as described in this document.

[0091] Furthermore, regarding the hexapod, reference is made to the description of the tripod concerning the possible construction and arrangement of the actuators. The document presented here also refers to the description of the Fig. 40 and the following list of features. The features of the hexapod construction are particularly highlighted.

[0092] This document therefore proposes a device for accelerated FDM printing when using a hexapod, comprising an extruder head (1), a hexapod instead of a tripod (2), and an actuator block (3). For slow XY coarse positioning, this device, like the tripod device, includes a first motor (14) and a second motor (15). This hexapod device is also to include a tool holder (4), a control device (27), and a printer frame (21). As with the tripod device, the first motor (14) and the second motor (15) of the hexapod device are to be attached to the printer frame (21). The extruder head (1) is attached to a first end of the hexapod in the case of the hexapod device. The hexapod is preferably attached to the actuator block (3) at a second end. As with the tripod device, the actuator block (3) of the hexapod device is to be attached to a tool holder (4).As with the tripod device, the actuator block (3) of the hexapod device preferably has an actuator block axis (1205) and the extruder head (1) an extruder block axis (1550). The extruder block axis (1550) again has an angle to the actuator block axis (1205), which is now adjustable in a hexapod device. As with the tripod device, the first motor (14) is configured to move the tool holder (4) in an X-direction depending on a control signal from the control device (27), and the second motor (15) is configured to move the tool holder (4) in a Y-direction depending on a control signal from the control device (27). Here again, the X-direction is preferably different from the Y-direction.

[0093] The hexapod device is characterized by the fact that the hexapod device includes a fifth motor (23) that can transmit a first tractive force to a first actuator of the actuator block, and that the hexapod device includes a sixth motor (24) that can transmit a second tractive force to a second actuator of the actuator block, and that the hexapod device includes a seventh motor (25) that can transmit a third tractive force to a third actuator of the actuator block, and that the hexapod device includes an eighth motor (33) that can transmit a fourth tractive force to a fourth actuator of the actuator block, and that the hexapod device includes an eighth motor (34) that can transmit a fifth tractive force to a fifth actuator of the actuator block, and that the hexapod device includes a tenth motor (35) that can transmit a sixth tractive force to a sixth actuator of the actuator block.

[0094] As proposed, the actuator block (3) comprises a first storage medium (1451) for the first traction force of the first motor (23), a second storage medium (1452) for the second traction force of the second motor (24), a third storage medium (1453) for the third traction force of the third motor (25), a fourth storage medium for the fourth traction force of the eighth motor (33), a fifth storage medium for the fifth traction force of the ninth motor (34), and a sixth storage medium for the sixth traction force of the tenth motor (35).

[0095] The first storage medium (1451), provided that the first storage medium (1451) has stored energy, exerts a first restoring force, a tensile force, which is directed opposite to the first tensile force.

[0096] The second storage medium (1452), provided that the second storage medium (1452) has stored energy, exerts a second restoring force which is directed against the second tensile force.

[0097] The third storage medium (1453), provided that the third storage medium (1453) has stored energy, exerts a third restoring force which is directed against the third tensile force.

[0098] The fourth storage medium, provided it has stored energy, exerts a fourth restoring force that opposes the fourth tensile force.

[0099] The fifth storage medium, provided it has stored energy, exerts a fifth restoring force that opposes the fifth tensile force. <<<< that the fifth motor (23) is attached to the printer frame (21) and that the sixth motor (24) is attached to the printer frame (21) and wherein the seventh motor (25) is attached to the printer frame (21) and that the fifth motor (23) displaces the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction of the spatial curve of the extruder head (1) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the sixth motor (24) displaces the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a second direction of the spatial curve of the extruder head (1), such that the angle between extruder block axis (1550) and actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the seventh motor (25) displaces the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a third direction of the spatial curve of the extruder head (1), such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the second direction is different from the first direction and that the third direction is different from the first direction and that the second direction is different from the third direction.

[0100] 2. Device according to claim 1 where the angle between the first direction and the second direction is 120° and / or where the angle between the first direction and the third direction is 120° and / or where the angle between the second direction and the third direction is 120°.

[0101] 3. Device according to one of claims 1 to 2 wherein the total mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the tripod (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the total mass of the extruder head (1) plus the mass of the tripod (2).

[0102] 4. Device according to one of claims 1 to 3; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0103] 5. Device according to one of claims 1 to 4, wherein the fifth motor (23) moves the extruder head (1) relative to the tool holder (4) in the first direction by means of the tripod (2) and by means of a first Bowden cable (1010) depending on the control signal of the control device (27) and wherein the sixth motor (24) moves the extruder head (1) relative to the tool holder (4) in the second direction by means of the tripod (2) and by means of a second Bowden cable (1020) depending on the control signal of the control device (27) and wherein the seventh motor (25) moves the extruder head (1) relative to the tool holder (4) in the third direction by means of the tripod (2) and by means of a third Bowden cable (1030) depending on the control signal of the control device (27).

[0104] Ultimately, the device presented here is a robot with an extruder head as a tool head. Advantage

[0105] Such an extruder 1010 enables faster printing of three-dimensional objects. When using hexapods, printing on inclined surfaces is possible. Printing can also be done with uneven object surfaces without necessarily having to move the heated bed 16. However, the advantages are not limited to these features. Features of the proposal

[0106] The following list of features describes the features of the proposal. These features and their sub-features can be combined with each other, with other features and sub-features of this proposal, and with features in the description, as long as the result of this combination is meaningful. It is not necessary to include all sub-features of a feature in a single feature when combining them.

[0107] The features are therefore only preferred combinations of characteristics from different examples. The feature references can thus be explicitly changed if appropriate. They simplify the revision of the proposal. The claims arise from the respective applicable claims. Features I

[0108] Feature 1.1. Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a tripod (2) and wherein the device comprises an actuator block (3) wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the tripod (2) and wherein the tripod (2) is attached at a second end of the tripod (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) and wherein the fifth motor (23) is attached to the printer frame (21) and that the fifth motor (23) displaces the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction, that the angle between extruder block axis (1550) and actuator block axis (1205) does not change.

[0109] Feature 1.2. Device according to feature 1.1 characterized by that the device includes a sixth motor (24) and wherein the sixth motor (24) is attached to the printer frame (21) and that the sixth motor (24) moves the extruder head (1) relative to the tool holder (4) in a second direction by means of the tripod (2) depending on a control signal from the control device (27), that the angle between extruder block axis (1550) and actuator block axis (1205) does not change, and that the second direction is different from the first direction.

[0110] Feature 1.3. Device according to feature 1.2 characterized by that the device includes a seventh motor (25) and wherein the seventh motor (25) is attached to the printer frame (21) and wherein the seventh motor (25) moves the extruder head (1) relative to the tool holder (4) in a third direction by means of the tripod (2) depending on a control signal from the control device (27), that the angle between extruder block axis (1550) and actuator block axis (1205) does not change, and that the third direction is different from the first direction and that the second direction is different from the second direction.

[0111] Feature 1.4. Device according to feature 1.2 or 1.3 where the angle between the first direction and the second direction is 120° and / or where the angle between the first direction and the third direction is 120° and / or where the angle between the second direction and the third direction is 120°.

[0112] Feature 1.5. Device according to one of features 1.1 to 1.4 wherein the total mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, for example Bowden cables, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the tripod (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the total mass of the extruder head (1) plus the mass of the tripod (2).

[0113] Feature 1.6. Device according to one of features 1.1 to 1.5; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0114] Feature 1.7. Device according to one of features 1.1 to 1.5; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0115] Feature 1.8. Device according to one of features 1.1 to 1.5; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0116] Feature 1.9. Device according to one of features 1.1 to 1.8, wherein the fifth motor (23) moves the extruder head (1) relative to the tool holder (4) in the first direction by means of the tripod (2) and by means of a first Bowden cable (1010) depending on the control signal of the control device (27).

[0117] Feature 1.10. Device according to one of features 1.2 to 1.8 and feature 1.9, wherein the sixth motor (24) moves the extruder head (1) relative to the tool holder (4) in the second direction by means of the tripod (2) and by means of a second Bowden cable (1020) depending on the control signal of the control device (27).

[0118] Feature 1.11. Device according to one of features 1.3 to 1.8 and feature 1.10, wherein the seventh motor (25) moves the extruder head (1) relative to the tool holder (4) in the third direction by means of the tripod (2) and by means of a third Bowden cable (1030) depending on the control signal of the control device (27).

[0119] Feature 1.12. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.1 to 1.11; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0120] Feature 1.13. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.2 to 1.5 or 1.7 to 1.11; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), Providing sixth pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0121] Feature 1.14. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.3 to 1.5 or 1.8 to 1.11; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), Providing sixth pressure data for controlling the sixth motor (24), Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0122] Feature 1.15. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.1 to 1.11; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0123] Feature 1.16. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.2 to 1.5 or 1.7 to 1.11; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0124] Feature 1.17. Method for accelerated FDM printing with the steps Providing a device according to one of features 1.3 to 1.5 or 1.8 to 1.11; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). Features II

[0125] Feature 2.1. Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a positioning linkage (2) and wherein the device comprises an actuator block (3) for actuating the positioning linkage and wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the positioning linkage (2) and wherein the positioning linkage (2) is attached at a second end of the positioning linkage (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) and that the fifth motor (23) can move the extruder head (1) relative to the tool holder (4) in a first direction by means of the positioning linkage (2) depending on a control signal from the control device (27), wherein the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by at least one translational degree of freedom of the extruder head (1) along this first direction and wherein the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) does not allow a displacement of the extruder head (1) relative to the tool holder (4) by one rotational degree of freedom of the extruder head (1).

[0126] Feature 2.2. Device according to feature 2.1 where the angle between extruder block axis (1550) and actuator block axis (1205) does not change during the shift,

[0127] Feature 2.3. Device according to feature 2.1 or 2.2 characterized by that the device includes a sixth motor (24) and that the sixth motor (24) is attached to the printer frame (21) and that the sixth motor (24) can move the extruder head (1) relative to the tool holder (4) in a second direction by means of the positioning linkage (2) depending on a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a second translational degree of freedom of the extruder head (1) in this second direction and that the second direction is different from the first direction.

[0128] Feature 2.4. Device according to one of feature 2.3 characterized by that the device includes a seventh motor (25) and that the seventh motor (25) is attached to the printer frame (21) and that the seventh motor (25) can move the extruder head (1) relative to the tool holder (4) in a third direction by means of the positioning linkage (2) depending on a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a third translational degree of freedom of the extruder head (1) in this third direction and that the third direction is different from the first direction and that the third direction is different from the second direction.

[0129] Feature 2.5. Device according to feature 2.3 or 2.4 where the angle between the first direction and the second direction is 120° and / or where the angle between the first direction and the third direction is 120° and / or where the angle between the second direction and the third direction is 120°.

[0130] Feature 2.6. Device according to one of features 2.1 to 2.5 wherein the total mass of the mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, for example Bowden cables, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for a displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the positioning linkage (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the sum of the mass of the extruder head (1) plus the mass of the positioning linkage (2).

[0131] Feature 2.7. Device according to one of features 2.1 to 2.6; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0132] Feature 2.8. Device according to one of features 2.3 to 2.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0133] Feature 2.9. Device according to one of features 2.4 to 2.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0134] Feature 2.10. Device according to one of features 2.1 to 2.9, wherein the fifth motor (23) moves the extruder head (1) relative to the tool holder (4) in the first direction by means of the tripod (2) and by means of a first Bowden cable (1010) depending on the control signal of the control device (27).

[0135] Feature 2.11. Device according to one of features 2.2 to 2.9 and feature 2.10, wherein the sixth motor (24) moves the extruder head (1) relative to the tool holder (4) in the second direction by means of the tripod (2) and by means of a second Bowden cable (1020) depending on the control signal of the control device (27).

[0136] Feature 2.12. Device according to one of features 2.3 to 2.9 and feature 2.11, wherein the seventh motor (25) moves the extruder head (1) relative to the tool holder (4) in the third direction by means of the tripod (2) and by means of a third Bowden cable (1030) depending on the control signal of the control device (27).

[0137] Feature 2.13. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.1 to 2.12; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0138] Feature 2.14. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.2 to 2.6 or 2.8 to 2.12; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), Providing sixth pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0139] Feature 2.15. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.4 to 2.6 or 2.9 to 2.12; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), Providing sixth pressure data for controlling the sixth motor (24), Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0140] Feature 2.16. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.1 to 2.15; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0141] Feature 2.17. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.2 to 2.6 or 2.8 to 2.12 or 2.14 to 2.15; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0142] Feature 2.18. Method for accelerated FDM printing with the steps Providing a device according to one of features 2.4 to 2.6 or 2.9 to 2.12 or 2.15; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). Features III

[0143] Feature 3.1. Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a hexapod (2) and wherein the device comprises an actuator block (3) wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the hexapod (2) and wherein the hexapod (2) is attached at a second end of the hexapod (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) and wherein the fifth motor (23) is attached to the printer frame (21) and that the fifth motor (23) moves the extruder head (1) relative to the tool holder (4) in a first direction by means of the hexapod (2) depending on a control signal from the control device (27).

[0144] Feature 3.2. Device according to feature 3.1 characterized by that the device includes a sixth motor (24) and wherein the sixth motor (24) is attached to the printer frame (21) and that the sixth motor (24) moves the extruder head (1) relative to the tool holder (4) in a second direction by means of the hexapod (2) depending on a control signal from the control device (27) and that the second direction is different from the first direction.

[0145] Feature 3.3. Device according to Feature 2 characterized by that the device includes a seventh motor (25) and wherein the seventh motor (25) is attached to the printer frame (21) and wherein the seventh motor (25) moves the extruder head (1) relative to the tool holder (4) in a third direction by means of the hexapod (2) depending on a control signal from the control device (27) and that the third direction is different from the first direction and that the third direction is different from the second direction.

[0146] Feature 3.4. Device according to feature 3.3 characterized by that the device includes an eighth motor (33) and wherein the eighth motor (33) is attached to the printer frame (21) and wherein the eighth motor (33) moves the extruder head (1) relative to the tool holder (4) in a fourth direction by means of the hexapod (2) depending on a control signal from the control device (27) and that the fourth direction is different from the first direction and that the fourth direction is different from the second direction and that the fourth direction is different from the third direction.

[0147] Feature 3.5. Device according to feature 3.4 characterized by that the device includes a ninth motor (34) and wherein the ninth motor (34) is attached to the printer frame (21) and wherein the ninth motor (34) moves the extruder head (1) relative to the tool holder (4) in a fifth direction by means of the hexapod (2) depending on a control signal from the control device (27) and that the fifth direction is different from the first direction and that the fifth direction is different from the second direction and that the fifth direction is different from the third direction and that the fifth direction is different from the fourth direction.

[0148] Feature 3.6. Device according to feature 3.5 characterized by that the device includes a tenth motor (35) and wherein the tenth motor (35) is attached to the printer frame (21) and wherein the tenth motor (35) displaces the extruder head (1) relative to the tool holder (4) in a sixth direction by means of the hexapod (2) depending on a control signal from the control device (27) and that the sixth direction is different from the first direction and that the sixth direction is different from the second direction and that the sixth direction is different from the third direction and that the sixth direction is different from the fourth direction and that the sixth direction is different from the fifth direction.

[0149] Feature 3.7. Device according to one of features 3.1 to 3.6 wherein the total mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, for example Bowden cables, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for a displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the hexapod (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the total mass of the extruder head (1) plus the mass of the hexapod (2).

[0150] Feature 3.8. Device according to one of features 3.1 to 3.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0151] Feature 3.9. Device according to one of features 3.1 to 3.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0152] Feature 3.10. Device according to one of features 3.1 to 3.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0153] Feature 3.11. Device according to one of features 3.1 to 3.6; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0154] Feature 3.12. Device according to one of features 3.1 to 3.6; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0155] Feature 3.13. Device according to one of features 3.1 to 3.6; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0156] Feature 3.14. Device according to one of features 3.1 to 3.13, wherein the fifth motor (23) moves the extruder head (1) in the first direction by means of the hexapod (2) and by means of a first Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0157] Feature 3.15. Device according to one of features 3.2 to 3.7 and 3.9 to 3.13, wherein the sixth motor (24) moves the extruder head (1) in the second direction by means of the hexapod (2) and by means of a second Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0158] Feature 3.16. Device according to one of features 3.2 to 3.7 and 3.10 to 3.13, wherein the seventh motor (25) moves the extruder head (1) in the third direction relative to the tool holder (4) by means of the hexapod (2) and by means of a third Bowden cable depending on the control signal of the control device (27).

[0159] Feature 3.17. Device according to one of features 3.2 to 3.7 and 3.11 to 3.13, wherein the eighth motor (33) moves the extruder head (1) in the fourth direction by means of the hexapod (2) and by means of a fourth Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0160] Feature 3.18. Device according to one of features 3.2 to 3.7 and 3.12 to 3.13, wherein the ninth motor (34) moves the extruder head (1) in the fifth direction relative to the tool holder (4) by means of the hexapod (2) and by means of a fifth Bowden cable depending on the control signal of the control device (27).

[0161] Feature 3.19. Device according to one of features 3.2 to 3.7 and 3.13, wherein the tenth motor (35) moves the extruder head (1) in the sixth direction relative to the tool holder (4) by means of the hexapod (2) and by means of a sixth Bowden cable depending on the control signal of the control device (27).

[0162] Feature 3.20. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.1 to 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0163] Feature 3.21. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.2 to 3.7 or 3.9 to 3.13 or 3.15 to 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0164] Feature 3.22. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.3 to 3.7 or 3.10 to 3.13 or 3.16 to 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0165] Feature 3.23. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.4 to 3.7 or 3.11 to 3.13 or 3.17 to 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, and the eighth print data can be in a single file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0166] Feature 3.24. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.5 to 3.7 or 3.12 to 3.13 or 3.18 to 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33) and Providing ninth pressure data for controlling the ninth motor (34), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, and the ninth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0167] Feature 3.25. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.6 to 3.7 or 3.13 or 3.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33) and Providing ninth pressure data for controlling the ninth motor (34) and Providing tenth pressure data for controlling the tenth motor (35), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, the ninth print data, and the tenth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data and Control of the tenth motor (35) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0168] Feature 3.26. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.1 to 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0169] Feature 3.27. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.2 to 3.7 or 3.9 to 3.13 or 3.15 to 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0170] Feature 3.28. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.3 to 3.7 or 3.10 to 3.13 or 3.16 to 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0171] Feature 3.29. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.4 to 3.7 or 3.11 to 3.13 or 3.17 to 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, and the eighth print data can be in a single file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0172] Feature 3.30. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.4 to 3.7 or 3.12 to 3.13 or 3.18 to 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33) and Providing ninth pressure data based on the differential pressure data for controlling the ninth motor (34), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, and the ninth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0173] Feature 3.31. Method for accelerated FDM printing with the steps Providing a device according to one of features 3.6 to 3.7 or 3.13 or 3.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33) and Providing ninth pressure data based on the differential pressure data for controlling the ninth motor (34) and Providing tenth pressure data based on the differential pressure data for controlling the tenth motor (34), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, the ninth print data, and the tenth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data and Control of the tenth motor (35) depending on the tenth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3). Features IV

[0174] Feature 4.1. Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a positioning linkage (2) and wherein the device comprises an actuator block (3) for actuating the positioning linkage and wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the positioning linkage (2) and wherein the positioning linkage (2) is attached at a second end of the positioning linkage (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) and that the fifth motor (23) can move the extruder head (1) relative to the tool holder (4) in a first direction (r1, 5701) along an extruder path curve (B(p1, p2, p3)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), wherein the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by at least one degree of freedom of the extruder head (1) along this first direction (r1, 5701).

[0175] Feature 4.2. Device according to feature 4.1 characterized by that the device includes a sixth motor (24) and that the sixth motor (24) is attached to the printer frame (21) and that the sixth motor (24) can move the extruder head (1) relative to the tool holder (4) in a second direction (r2, 5702) along an extruder path curve (B(p1, p2, p3)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a second degree of freedom of the extruder head (1) in this second direction (r2, 5702) and that the second direction (r2, 5702) is different from the first direction (r1, 5701).

[0176] Feature 4.3. Device according to feature 4.2 characterized by that the device includes a seventh motor (25) and that the seventh motor (25) is attached to the printer frame (21) and that the seventh motor (25) can move the extruder head (1) relative to the tool holder (4) in a third direction (r3, 5703) along an extruder path curve (B(p1, p2, p3)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a third degree of freedom of the extruder head (1) in this third direction (r3, 5703) and that the first direction (r1, 5701) is different from the third direction (r3, 5703) and that the second direction (r2, 5702) is different from the third direction (r3, 5703).

[0177] Feature 4.4. Device according to feature 4.3 characterized by that the device includes an eighth motor (33) and that the eighth motor (33) is attached to the printer frame (21) and that the eighth motor (33) can move the extruder head (1) relative to the tool holder (4) in a fourth direction (r4) along an extruder path curve (B(p1, p2, p3, p4, p5, p6)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a fourth degree of freedom of the extruder head (1) in this fourth direction (r4) and that the first direction (r1, 5701) is different from the fourth direction (r4) and that the second direction (r2, 5702) is different from the fourth direction (p4) and that the third direction (r3, 5703) is different from the fourth direction (r4).

[0178] Feature 4.5. Device according to feature 4.4 characterized by that the device includes a ninth motor (34) and that the ninth motor (34) is attached to the printer frame (21) and that the ninth motor (34) can move the extruder head (1) relative to the tool holder (4) in a fifth direction (r5) along an extruder path curve (B(p1, p2, p3, p4, p5, p6)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a fifth degree of freedom of the extruder head (1) in this fifth direction (r5) and that the first direction (r1, 5701) is different from the fifth direction (r5) and that the second direction (r2, 5702) is different from the fifth direction (r5) and that the third direction (r3, 5703) is different from the fifth direction (r5) and that the fourth direction (r4, 5704) is different from the fifth direction (r5).

[0179] Feature 4.6. Device according to feature 4.5 characterized by that the device includes a tenth motor (35) and that the tenth motor (35) is attached to the printer frame (21) and that the tenth motor (35) can move the extruder head (1) relative to the tool holder (4) in a sixth direction (r6) along an extruder path curve (B(p1, p2, p3, p4, p5, p6)) by means of the positioning linkage (2) as a function of a control signal from the control device (27), and that the positioning linkage (2) in conjunction with the actuator block (3) and the extruder head (1) allows a displacement of the extruder head (1) relative to the tool holder (4) by a sixth degree of freedom of the extruder head (1) in this sixth direction (r5) and that the first direction (r1, 5701) is different from the sixth direction (r5) and that the second direction (r2, 5702) is different from the sixth direction (r5) and that the third direction (r3, 5703) is different from the sixth direction (r6) and that the fourth direction (r4) is different from the sixth direction (r5) and that the fifth direction (r5) is different from the sixth direction (r5).

[0180] Feature 4.7. Device according to one of features 4.1 to 4.6 wherein the total mass of the mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, for example Bowden cables, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for a displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the positioning linkage (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the sum of the mass of the extruder head (1) plus the mass of the positioning linkage (2).

[0181] Feature 4.8. Device according to one of features 4.1 to 4.7; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0182] Feature 4.9. Device according to one of features 4.2 to 4.7; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0183] Feature 4.10. Device according to one of features 4.3 to 4.7; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0184] Feature 4.11. Device according to one of features 4.4 to 4.7; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0185] Feature 4.12. Device according to one of features 4.5 to 4.7; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0186] Feature 4.13. Device according to one of features 4.6 to 4.7; wherein the device is configured such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0187] Feature 4.14. Device according to one of features 4.1 to 4.13, wherein the fifth motor (23) moves the extruder head (1) in the first direction by means of the hexapod (2) and by means of a first Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0188] Feature 4.15. Device according to one of features 4.2 to 4.7 or 4.9 to 4.13 and feature 4.14, wherein the sixth motor (24) moves the extruder head (1) in the second direction by means of the hexapod (2) and by means of a second Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0189] Feature 4.16. Device according to one of features 4.3 to 4.7 or 4.10 to 4.13 and feature 4.15, wherein the seventh motor (25) moves the extruder head (1) in the third direction relative to the tool holder (4) by means of the hexapod (2) and by means of a third Bowden cable depending on the control signal of the control device (27).

[0190] Feature 4.17. Device according to one of features 4.4 to 4.7 or 4.11 to 4.13 and feature 4.16, wherein the eighth motor (33) moves the extruder head (1) in the fourth direction by means of the hexapod (2) and by means of a fourth Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0191] Feature 4.18. Device according to one of features 4.5 to 4.7 or 4.12 to 4.13 and feature 4.17, wherein the ninth motor (34) moves the extruder head (1) in the fifth direction by means of the hexapod (2) and by means of a fourth Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0192] Feature 4.19. Device according to one of features 4.6 to 4.7 or 4.13 and feature 4.18, wherein the tenth motor (35) displaces the extruder head (1) in the sixth direction by means of the hexapod (2) and by means of a fourth Bowden cable relative to the tool holder (4) depending on the control signal of the control device (27).

[0193] Feature 4.20. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.1 to 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0194] Feature 4.21. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.2 to 4.7 or 4.9 to 4.13 or 4.15 to 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0195] Feature 4.22. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.3 to 4.7 or 4.10 to 4.13 or 4.16 to 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0196] Feature 4.23. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.4 to 4.7 or 4.11 to 4.13 or 4.17 to 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, and the eighth print data can be in a single file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0197] Feature 4.24. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.5 to 4.7 or 4.12 to 4.13 or 4.18 to 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33) and Providing ninth pressure data for controlling the ninth motor (34), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, and the ninth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0198] Feature 4.25. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.6 to 4.7 or 4.13 or 4.19; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25) and Providing eight pressure data for controlling the eighth motor (33) and Providing ninth pressure data for controlling the ninth motor (34), Providing tenth pressure data for controlling the tenth motor (35), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, the ninth print data, and the tenth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the eighth pressure data and Control of the ninth motor (34) depending on the ninth pressure data, Control of the tenth motor (35) depending on the tenth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0199] Feature 4.26. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.1 to 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), where the first print data, the second print data, and the fifth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) maximally accelerates the extruder head (1) relative to the actuator block (3).

[0200] Feature 4.27. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.2 to 4.7 or 4.9 to 4.13 or 4.15 to 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), where the first print data, the second print data, the fifth print data, and the sixth print data can be located in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the maximum acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0201] Feature 4.28. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.3 to 4.7 or 4.10 to 4.13 or 4.16 to 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0202] Feature 4.29. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.4 to 4.7 or 4.11 to 4.13 or 4.17 to 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, and the eighth print data can be in a single file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the seventh pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0203] Feature 4.30. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.5 to 4.7 or 4.12 to 4.13 or 4.18 to 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33) and Providing ninth pressure data based on the differential pressure data for controlling the ninth motor (34), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, and the ninth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the seventh pressure data and Control of the ninth motor (34) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) maximally accelerate the extruder head (1) relative to the actuator block (3).

[0204] Feature 4.31. Method for accelerated FDM printing with the steps Providing a device according to one of features 4.6 to 4.7 or 4.13 or 4.19; Providing print data and, in particular, providing a data processing system if necessary; Processing the print data, in particular in the data processing system, and generating low-pass filtered print data from the print data, in particular by means of the data processing system, and generating differential print data based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and Providing eighth pressure data based on the differential pressure data for controlling the eighth motor (33) and Providing ninth pressure data based on the differential pressure data for controlling the ninth motor (34) and Providing tenth pressure data based on the differential pressure data for controlling the tenth motor (35), where the first print data, the second print data, the fifth print data, the sixth print data, the seventh print data, the eighth print data, the ninth print data, and the tenth print data can be in a common file; Control of the first motor (14) depending on the first pressure data and Control of the second motor (15) depending on the second pressure data and Control of the fifth motor (23) depending on the fifth pressure data and Control of the sixth motor (24) depending on the sixth pressure data and Control of the seventh motor (25) depending on the seventh pressure data and Control of the eighth motor (33) depending on the seventh pressure data and Control of the ninth motor (34) depending on the ninth pressure data and Control of the tenth motor (35) depending on the ninth pressure data, characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) and the eighth motor (33) and the ninth motor (34) and the tenth motor (35) maximally accelerate the extruder head (1) relative to the actuator block (3). - with List of characters Fig. 1 corresponds to the Fig. 70 of WO 2021 143 982 A2, which explains the state of the art and which WO 2021 143 982 A2 describes, among other things, an FDM printer for inserting functional fibers into a workpiece during 3D printing. Fig. 2 corresponds to the Fig. Article 68 of WO 2021 143 982 A2 serves to explain the state of the art, whereby the Fig. 2a, Fig. 2b and Fig. 2c Different views of the tool changing device 200 of the Fig. Show 1. Fig. 3 corresponds to the Fig. 69 of WO 2021 143 982 A2 and serves to explain the state of the art, whereby it is incorporated into the Fig. 3a and Fig. 3b is subdivided and shows a single aluminium profile of the printer frame 21 with two exemplary tool placement devices (160, 170). Fig. Figure 4 shows schematically and in a simplified manner the control system of a proposed device. Fig. Figure 5 shows a drawing of an exemplary, proposed extruder device 1010, as is the subject of the document presented here. Fig. Figure 6 shows an overview of the exemplary, proposed extruder device 1010. Fig. 7 represents area A of the Fig. 6 enlarged. Fig. Figure 8 shows the section through the proposed extruder 1010. Fig. 7 along the intersection line BB in the Fig. 6 and Fig. 7. Fig. 9 corresponds to the Fig. 6, wherein the Fig. 9 the back of the proposed extruder 1010 the Fig. Shows 6 to 8. Fig. 10 Fig. 10 shows the one in Fig. 9. Area marked with the circle and the letter C in enlarged view. Fig. Figure 11 shows the section through the proposed extruder 1010 of the Fig. 10 along the intersection line CC in Fig. 10. Fig. 12 Fig. Figure 12 shows the section through the proposed extruder 1010 of the Fig. 10 along the angled section line DD in Fig. 11. Fig. 13 essentially corresponds to the Fig. 6. Fig. 14 essentially corresponds to the Fig. 7. Fig. Figure 15 shows the section through the proposed extruder 1010 of the Fig. 10 and Fig. 14 along the now intersection line CC in Fig. 10. Fig. Figure 16 shows the section through the proposed extruder 1010 of the Fig. 14 along the straight section line EE in Fig. 15. Fig. Figure 17 shows the proposed extruder 1010 of the Fig. 6 to 16 from a first angled perspective. Fig. Figure 18 shows the proposed extruder 1010 of the Fig. 6 to 17 from a second angled perspective. Fig. 19 Fig. Figure 19 shows the proposed extruder 1010 of the Fig. 6 to 18 from a third angled perspective. Fig. Figure 20 shows the proposed extruder 1010 of the Fig. 6 to 19 from a fourth angled perspective. Fig. Figure 21 shows the proposed extruder 1010 of the Fig. 6 to 20 from a fifth angled perspective. Fig. Figure 22 shows the proposed extruder 1010. Fig. 6 to 21 from another perspective. Fig. Figure 23 represents the section along the section line from I to I. Fig. Figure 24 represents the section along the intersection line from F to F. Fig. 25 25 represents the section along the intersection line from G to G. Fig. Figure 26 represents the section along the section line from H to H. Fig. 27 again presents the proposed extruder 1010 of the Fig. 17 to 19 and 21 to 26 are shown on one sheet with a uniform scale. Fig. 28 represents the three actuators of the proposed extruder 1010 of the Fig. Figures 6 to 27 are shown separately to better illustrate the structure. Fig. 29 represents the three actuators of the proposed extruder 1010 of the Fig. Figures 6 to 27 are shown separately to better illustrate the structure. Fig. Figure 30 shows the arrangement of the upper retaining star 1441 and the lower retaining star 1443 and the three spacer bolts 1460 and the first tension lever 1454 of the first return spring 1451 of the first actuator and the second tension lever 1455 of the second return spring 1452 of the second actuator and the third tension lever 1456 of the third return spring 1453 of the third actuator in isolation. Fig. 31 essentially corresponds to the Fig. 1 in the overhead view, with the extruder 30 of the Fig. 1 is replaced by the proposed extruder 1010 from the state of the art. Fig. 32 essentially corresponds to the Fig. 1 where the figure shows a proposed device for 3D printing from an oblique perspective. Fig. 33 shows the sub-device of the Fig. 32, which shows the proposed extruder 1010, the Bowden cables 1110, 1120, 1130, the filament feed 1040, the filament drive 22 and the actuator actuation 1600 with the first actuator actuation 1611 and the second actuator actuation 1612 and the third actuator actuation 1613. Fig. Figure 34b shows the actuator actuation 1600 with attached cover plate 1670 for the actuator actuation 1600 and with attached support bracket 1671 for the drive wheels 1651, 1652 and 1653 of the actuator actuation 1600. Fig. Figure 34a shows the actuator actuation 1600 with the cover plate 1670 removed for the actuator actuation 1600 and with the support bracket 1671 removed for the drive wheels 1651, 1652 and 1653 of the actuator actuation 1600. Fig. Section 35 illustrates the procedures for generating the tax data. Fig. Figure 36 serves to illustrate step B.4, which will be explained later. Fig. Figure 37 serves to illustrate step B.6, which will be explained later. Fig. 38 is an explanation of the section “Further explanations on Fig. 35 and Fig. 38". Fig. 39 describes the procedure for processing the G-code (see Fig. 35) to illustrate in a simplified and abstract way. Fig. Figure 40 shows schematically and in a simplified manner the control system of another proposed device with a hexapod. Fig. Figure 41 shows the xy positioning device of the proposed 3D printer and the proposed extruder tool 1010 shown here. Fig. 42 shows reductions of the Fig. 43, Fig. 44 and Fig. 45. Fig. 43 corresponds to the Fig. 41 from a different perspective, with further reference symbols shown here as well. Fig. Figure 44 further illustrates the low-pass filtering of the Fig. 39. Fig. Figure 45 shows the exemplary 3D FDM printing of an exemplary test specimen 4510 using the proposed device of a proposed FDM printer. Fig. 46 corresponds to the Fig. 41 and Fig. 43 from a different perspective, with further reference symbols shown here as well. Fig. 47 corresponds to the Fig. 41, Fig. 43 and Fig. 46 from a different perspective, with further reference symbols shown here as well. Fig. Figure 48 shows a detail of the proposed device according to the preceding figures. Fig. Figure 49 shows a detail of the proposed device according to the preceding figures. Fig. Figure 50 shows a detail of the proposed device according to the preceding figures. Fig. Figure 52 shows a detail of the proposed device according to the preceding figures. Fig. Figure 53 shows a detail of the proposed device according to the preceding figures. Fig. Figure 54 shows a detail of the proposed device according to the preceding figures. Fig. Figure 55 shows a comparison of printing speeds using the Tri-Pod acceleration function ( Fig. 55b) and without Tri-Pod acceleration function ( Fig. 55a) during the printing of the test specimen 4510 with a proposed device in accordance with the preceding figures. Fig. Figure 56 shows the exemplary printing of test specimen 5610 with a proposed device according to the preceding figures, wherein the slicing planes of the test specimen 5610 are corrugated surfaces. Fig. 57 corresponds to the right part of the Fig. 18, where the first direction 5701, the second direction 5702 and the third direction 5703 are shown for clarification. Description of the characters

[0205] The figures illustrate the proposal schematically and in a simplified manner. The disclosure of the text presented here is not limited to the figures and also includes other combinations. Figure 1

[0206] The Fig. 1 corresponds to the Fig. 70 of WO 2021 143 982 A2. It serves to explain the state of the art. WO 2021 143 982 A2 describes, among other things, an FDM printer for embedding functional fibers into a workpiece during 3D printing. The basic framework of the Fig. The FDM printer shown in WO 2021 143 982 A2 consists of a frame 21 made of aluminum profiles. These aluminum profiles form the printer frame 21. A first rail 11 and a second rail 12 are attached to the upper third of the printer frame. The first rail 11 and the second rail 12 are parallel to each other. A third rail 19, for repositioning the tool carrier 210 with the respective tool (30, 40) in the X-direction, is attached to the first rail 11 and the second rail 12, and is slidable in the Y-direction. The coordinate system of the Fig. Figure 1 is intended to clarify the directions x, y, and z as defined in this document. A first electric motor 14 and a second electric motor 15 move the tool carrier 210 with its respective tool (30, 40) in the X and Y directions by means of a toothed belt 13. If the first electric motor 14 and the second electric motor 15 run synchronously, the position of the third rail 19 with the tool carrier 210 and its respective tool (30, 40) moves in the Y direction. If the first electric motor 14 and the second electric motor 15 run synchronously, the position of the tool carrier 210 with its respective tool (30, 40) does not move in the X direction. If one of the two electric motors 14, 15 is stationary and the other of the two electric motors 14, 15 is running, the position of the third rail 19 with the tool carrier 210 with the respective tool (30, 40) does not shift in the Y direction.If one of the two electric motors 14, 15 is stationary and the other of the two electric motors 14, 15 is running, the position of the tool carrier 210 with the respective tool (30, 40) shifts in the X direction on the third rail 19 with the tool carrier 210 with the respective tool (30, 40) in the X direction.

[0207] The tool carrier 210 comprises a tool changing device 200. An actuating device 10 for the clamping device of the tool changing device 200 transmits the actuating forces from the actuating device 10 by means of a seventh Bowden cable 1141 of the device and an eighth Bowden cable 1142 of the device. Fig. Figure 1 omits the seventh Bowden cable 1141 and the eighth Bowden cable 1142 of the device for clarity. However, a person skilled in the art can readily understand this arrangement of the seventh Bowden cable 1141 and the eighth Bowden cable 1142 of the device. Fig. 33. The evidence of this document presented here, which shows a proposed device, can be deduced by analogy.

[0208] The seventh Bowden cable 1141 of the device is, within the meaning of this document, the first Bowden cable of the actuating device 10. The eighth Bowden cable 1142 of the device is, within the meaning of this document, the second Bowden cable of the actuating device 10.

[0209] The exemplary actuating device 10 can now, for example, be operated via the Fig. 1 not shown Bowden cables 1141, 1142 and by means of the turntable 20 (see Fig. 2c) the locking pin 150 (see Fig. 2a, Fig. 2b and Fig. 2c) rotate in its position around its axis so that the transverse bolt of the locking pin 150 is no longer positioned in such a way that it engages the slot 130 (See Fig. 3b) in the locking plate 140 (See Fig. 3b) of tool 185 ( Fig. 3b) can happen. In the example of the Fig. 3 and Fig. 1 The exemplary tool 185 is a fiber insertion device 40 as described in WO 2021 143 982 A2.

[0210] The exemplary actuating device 10 of the figure can now, for example, be operated via the Fig. 1 not shown Bowden cables 1141 and 1142 and by means of the turntable 20 ( Fig. 2b and Fig. 2c) the locking pin 150 ( Fig. 21, Fig. 2b, Fig. 2c) rotate the tool changing device 200 in its position around its axis in the opposite direction so that the transverse bolt of the locking pin 150 is positioned so that it cannot pass through the slot 130 in the locking plate 140 and the tool changing device 200 ( Fig. 2) for example with the functional fiber insertion device 40 ( Fig. 1 and Fig. 3) or is firmly clamped together with the extruder 1010, which is the subject of this discussion and will be explained in more detail below. The actuating device 10 typically includes a fourth motor 9 ( Fig. 4) for actuating the actuating device 10.

[0211] In the example of the Fig. 1. The exemplary FDM printer features, by way of example, a first tool placement device 160 and a second tool placement device 170. This enables the exemplary device of WO 2021 143 982 A2 to use two different tools during the production of a workpiece. In the example of the Fig. Examples include a conventional extruder 30 and a functional fiber insertion tool 40. Devices with more than two tool placement devices 160, 170 and more than two tools 30, 40 are conceivable.

[0212] The movement of the tools, namely the exemplary extruder 30 and / or the exemplary functional fiber insertion device 40, relative to the workpiece in the Z-direction, is realized by the device of Fig. 1. A spindle 18 is used to lower or raise the heated bed 16 in the Z-direction. During FDM printing, the heated bed 16 supports the workpiece and heats it to the process temperature ϑ. Preferably, a control device 27 controls a heating device 32 of the heated bed 16. The heating device 32 preferably uses a temperature sensor to detect the current temperature of the heated bed 16 and regulates the current temperature to the process temperature ϑ as the target temperature of the control method performed by the heating device 32.

[0213] Preferably, the printer frame 21 is clad with sheet metal or plates to prevent drafts and thus fluctuations in the workpiece's process temperature ϑ. This allows the device to preferably include a process chamber 90. Optionally, the device may have an additional heating device that heats the process chamber 90 to a process chamber temperature. Preferably, the control device 27 controls this additional heating device via the data bus 28 ( Fig. 4) and thus the process chamber temperature that this additional heating device sets in process chamber 90. Figure 2

[0214] The Fig. 2 corresponds to the Fig. 68 of WO 2021 143 982 A2. It serves to explain the state of the art. Fig. 2 is in the Fig. 2a, Fig. 2b and Fig. subdivided into 2c. Fig. 2a, Fig. 2b and Fig. Figures 2c show different views of the tool changing device 200. Fig. 1. Therefore, the document presented here provides a common description of the Fig. 2a, Fig. 2b and Fig. 2c on.

[0215] Fig. Figure 2a shows the tool changing device 200 of the Fig. 1 with a view of the bearing plate 80.

[0216] Fig. Figure 2b shows the tool changing device 200 of the Fig. 1 from the side.

[0217] Fig. Figure 2c shows the tool changing device 200 of the Fig. 1 from an oblique view.

[0218] In accordance with the document presented here, the Fig. 2a , Fig. 2b and Fig. 2c a detail of the Fig. 1.

[0219] The bearing plate 80 has three adjustment bearings 70 as recesses in the adjustment plate 80. In each of these recesses of the adjustment bearings 70, there are two parallel, preferably ground, adjustment bolts 50 at preferably equal intervals. The recesses of the three adjustment bearings 70 form a triangle on the surface of the bearing plate 80. This allows the corresponding counterparts of the tools 30, 40, 1010 in the form of three adjustment ball segments 1250, 1270, 1280 (see e.g. also Fig. 7), if they are like the following example of the Fig. Seven objects arranged in the same triangular shape with equal spacing define a precisely defined plane. In the example of the Fig. The three adjusting bearings 70 form an isosceles triangle. An axis for rotating the locking pin 150 is located at the centroid of this isosceles triangle.

[0220] A ball bearing 81 mounts the tool changing device 200 so as to be displaceable in the x-direction on the third rail 19 for the displacement of the tool carrier 210 with the respective tool (30, 40) in the X-direction. The tool changing device 200 is rigidly connected to the toothed belt 13 for displacement of the tool carrier 210 with the respective tool (30, 40, 185) in the X and Y directions, so that this toothed belt 13 determines and fixes the position of the tool changing device 200 on the third rail 19.

[0221] The actuating device 10 for the clamping device of the tool changing device 200 rotates the axis with the locking pin 150. Preferably, the fourth motor 9 rotates ( Fig. 4) for actuating the actuating device 10 ( Fig. 1) the turntable 20 by means of the, in which Fig. 1 not shown, Bowden cables 1141, 1142 and by means of the turntable 20.

[0222] The locking pin 150 corresponds to a slot 130 in the locking plate 140 ( Fig. 3b) of the respective tool 30, 40, 185. The tool 1010 presented here also comprises such a locking plate 1265 and a corresponding slot 1260 of the locking plate 1265 (e.g. Fig. 7);

[0223] Preferably, the locking plates 140, 1265 are provided with a wedge structure on the surface opposite the bearing, such that the rotation of the locking pin 150 after its insertion into the respective slot 130, 1260 of the respective locking plate 140, 1260 exerts a force on the respective locking plate 140, 1265, which engages the adjusting ball segments 1250, 1270, 1280 (see, e.g., also Fig. 7) of the respective tool (e.g., 1010) is pressed into the adjustment bearings 70 of the tool changing device 200. This ensures that the bearing plate 80 positions the respective tools 30, 40, 185, 1010 in a unique and reproducible manner relative to the tool changing device 200 and thus ultimately relative to the workpiece on the heated bed 16. This is particularly important when the device changes and uses the tools 30, 40, 185, 1010 multiple times during the printing of a workpiece. Figure 3

[0224] The Fig. 3 corresponds to the Fig. 69 of WO 2021 143 982 A2. It serves to explain the state of the art. Fig. 3 is in the Fig. 3a and Fig. subdivided into 3b.

[0225] Fig. Figure 3a shows a single aluminium profile of the printer frame 21 with two exemplary tool placement devices (160, 170). Fig. Figure 1 also shows these two tool setting devices (160, 170). In the context of the document presented here, this shows Fig. 3a also a detail of the Fig. 1. It is conceivable that a proposed device has more than two tool placement devices (160, 170) and more than two tools 1250, 1270, 1280.

[0226] In the example of the Fig. 3a The proposed device has a first tool placement device 160 for a first tool. For example, the proposed device can use the first tool placement device 160 to place a conventional extruder 30 when the proposed device is to use a different tool, for example a fiber insertion device 40.

[0227] In the example of the Fig. 3a The proposed device has a second tool placement device 170 for the second tool. For example, the proposed device can use the second tool placement device 170 to place the fiber insertion device 40 when the proposed device is to use the other tool, for example, the conventional extruder 30.

[0228] In the example of the Fig. 3 Each of the exemplary tool setting devices 160, 170 has, by way of example, two tool support bolts 190, preferably aligned parallel and horizontally.

[0229] To place a tool onto a tool placement device of the exemplary tool placement devices 160, 170, the device uses the tool changing device 200 to push the tool onto the tool support bolts 190. For this purpose, each tool preferably has a tool clamp 180 on each tool support bolt 190 of the tool placement device. To place a tool onto a tool placement device of the exemplary tool placement devices 160, 170, the device uses the tool changing device 200 to push the tool clamps 180 of the tool onto the tool support bolts 190. The device then activates the fourth motor 9 to actuate the actuating device 10. In doing so, the device actuates the actuating device 10 ( Fig. 1) by means of the, in the Fig. 1. Bowden cables 1141, 1142 (not shown) and by means of the rotary disc 20. This causes the locking pin 150 to rotate preferably into a horizontal position or a position in which the locking pin 150 can pass through the slot 130, 1260 in the locking plate 130, 1265. When the locking pin is in this position, the device can reset the tool changing device 200 and the locking pin 150 leaves the slot 130, 1260 in the locking plate 130, 1265. The tool that was just removed then remains on the respective tool removal device.

[0230] The device then moves the tool-changing device 200 to another tool-setting device of the tool-setting devices 160, 170, on which another tool is placed. Preferably, the locking pin 150 is in the position in which it can pass through the slot 130, 1260 in the locking plate 130, 1265 of the tool placed there. If this is not the case, the device preferably first moves the locking pin 150 into this position, in which it can pass through the slot 130, 1260 in the locking plate 130, 1265 of the tool placed there. The device can then advance the tool-changing device 200 and allow the locking pin 150 to pass through the slot 130, 1260 in the locking plate 130, 1265. After passing through the slot 130, 1260 in the locking plate 130, 1265, the device rotates the locking pin 150.This rotation of the locking pin 150 after the insertion of the locking pin 150 into the respective slot 130, 1260 of the respective locking plate 140, 1260 exerts a force on this locking plate 140, 1265 due to the wedge structure of the respective locking plate 140, 1260, which affects the adjusting ball segments 1250, 1270, 1280 (see e.g. also . Fig. 7) the tool (e.g., 1010) located on the tool resting device of the tool resting devices 160, 170 is pressed into the adjusting bearings 70 of the tool changing device 200. This firmly couples the tool (e.g., 1010) located on the tool resting device of the tool resting devices 160, 170 to the tool changing device 200. The device can then reset the tool changing device 200 and thus pull the tool, with its tool clamps 180, down from the tool support bolts 190 of the respective tool resting device 170, 160. This completes the tool changing process. Figure 4

[0231] Fig. Figure 4 schematically and in a simplified manner shows the control system of a proposed device. A control device 27 can preferably communicate and exchange data with the outside world, for example with another or higher-level computer system, via an external data connection 31.

[0232] Preferably, the control device 27 stores print and control data, for example via a storage data bus 29, which may be identical to the data bus 28, in a data and program memory 26. The data and program memory 26 may comprise multiple memory locations. The data and program memory 26 may include volatile and non-volatile memory locations. The data and program memory 26 may include read / write memory locations and read-only memory locations. The data and program memory 26 may include connection devices for connecting removable storage media such as hard disk drives and / or SD cards.

[0233] The control system preferably comprises at least one data bus or at least one functionally equivalent data transmission device with which the control device 27 controls one or more, preferably all, sub-devices of the proposed device and, if necessary, acquires sensor data for control processes.

[0234] Preferably, the proposed device includes sensors such as reference switches 1294, 1295, 1296, temperature sensors, position sensors, filament presence sensors, etc.

[0235] Preferably, the control device 27 can acquire measured values ​​from one or more or all sensors of the proposed device, preferably via the data bus 28. Preferably, the control device 27 uses the acquired measured values ​​to control the processes carried out by the device, in particular the printing processes carried out by the proposed device.

[0236] Preferably, the control device 27 uses one or more temperature sensors and a temperature control device 32 to detect the temperature of the heated bed 16, which forms the base for 3D FDM printing. Preferably, the control device 27 regulates the temperature of the heated bed 16 by means of heating elements within the heated bed 16 and the temperature control device 32. For this purpose, the control device 27 and / or the temperature control device 32 preferably employ a temperature control method that regulates the temperature of the heated bed 16 to a predetermined process temperature ϑ.

[0237] Preferably, the control device 27 controls the filament feed through a filament feeder 22 via at least one data bus 28. Preferably, the filament feeder 22 includes a fourth motor, which is controlled by the control device 27. Preferably, the filament feeder 22, as defined in this document, includes a filament supply from which the filament feeder 22 draws the filament based on control data received by the filament feeder 22 from the control device 27 via the data bus 28. Preferably, the control device 27 controls the filament feeder 22 and the fourth motor of the filament feeder 22 based on control data received by the filament feeder 22 from the control device 27 via the data bus 28. Typically, the filament feeder 22 feeds the filament drawn from the filament supply into a filament tube 1140.The filament tube 1140 transports the filament, depending on the feed rate through the filament drive 22, to the proposed extruder tool 1010. The feed through the filament drive 22 transports the filament within the proposed extruder tool 1010 to the extruder head 1. The extruder head 1 melts the filament and deposits the molten filament material onto the workpiece on the heated bed 16.

[0238] The proposed extruder tool 1010 comprises a tool holder 4, an actuator block 3, a positioning linkage 2, and the extruder head 1. The positioning linkage 2 can be, in particular, a tripod or a hexapod. In the case of a tripod as the positioning linkage 2, the positioning linkage 2 comprises three positioning linkage groups.

[0239] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a first positioning rod 1410 of the first positioning linkage group of the first actuator.

[0240] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a second positioning rod 1415 of the first positioning linkage group of the first actuator.

[0241] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a first positioning rod 1420 of the second positioning linkage group of the second actuator.

[0242] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a second positioning rod 1425 of the second positioning linkage group of the second actuator.

[0243] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a first positioning rod 1430 of the third positioning linkage group of the third actuator.

[0244] In the case of a tripod as positioning linkage 2, a first positioning linkage group comprises a second positioning rod 1435 of the third positioning linkage group of the third actuator.

[0245] In the case of a tripod as the positioning linkage 2, the first actuator of the actuator block 3 moves the first anchor point of the first positioning rod 1410 of the first positioning linkage group and the second anchor point of the second positioning rod 1415 of the first positioning linkage group in the same manner depending on control signals from the control device 27. In the case of a tripod as the positioning linkage 2, a fifth motor 23 actuates the first actuator of the actuator block 3 depending on control signals from the control device 27, which the fifth motor 23 receives from the control device 27 via the data bus 28. In the case of a tripod as the positioning linkage 2, the fifth motor 23 exerts a first tensile force on the adjustable sub-devices of the first actuator of the actuator block 3 depending on control signals from the control device 27.which the fifth motor 23 receives from the control device 27 via the data bus 28. In the case of a tripod as a positioning linkage 2, for example, within the meaning of the document presented here, the first actuator comprises, as the first adjustable sub-actuator of the first actuator by means of the tensile force, which is preferably adjustable relative to the first non-adjustable sub-actuator of the first actuator, particularly depending on the first tensile force of the fifth motor 23, the first sliding rod of the first actuator 1310, the second sliding rod of the first actuator 1315, the lower first connector 1491 of the first actuator, the upper first connector 1461 of the first actuator, the first stop 1445, the first return spring of the first actuator as the first storage element 1451, the first ball joint 1472 of the second positioning rod 1415 of the first positioning linkage group of the first actuator, the first ball joint 1471 of the first positioning rod 1410 of the first positioning linkage group of the first actuator,the first positioning rod 1410 of the first positioning linkage group of the first actuator, the second positioning rod 1415 of the first positioning linkage group of the first actuator, the second ball joint 1481 of the first positioning rod 1410 of the first positioning linkage group of the first actuator and the second ball joint 1482 of the second positioning rod 1415 of the first positioning linkage group of the first actuator.

[0246] In the case of a tripod as a positioning linkage 2, for example, in the sense of the document presented here, the first actuator comprises as sub-devices of the first non-adjustable sub-actuator of the first actuator, the first return spring of the first actuator as the first storage element 1451, the first tension lever 1454 of the first return spring 1451 of the first actuator, the first adjusting screw 1457 for the first tension lever 1454 of the first return spring 1451 of the first actuator, a spacer bolt 1460 and preferably together with the other two actuators, for example, an upper retaining ring 1440, an upper retaining star 1441, a lower retaining ring 1442, and a lower retaining star 1443.

[0247] For the purposes of this document, the fifth motor 23 also includes the necessary driver circuits for driving the fifth motor 23. These driver circuits may also be part of the control device 27, in which case, for the purposes of this document, the control lines between the control device 27 and the fifth electric motor 23 constitute a data bus 28, regardless of whether the signaling is analog or digital.

[0248] In the case of a tripod as the positioning linkage 2, the second actuator of the actuator block 3 moves the first anchor point of the first positioning rod 1420 of the second positioning linkage group and the second anchor point of the second positioning rod 1425 of the second positioning linkage group in the same manner depending on control signals from the control device 27. In the case of a tripod as the positioning linkage 2, a sixth motor 24 actuates the second actuator of the actuator block 3 depending on control signals from the control device 27, which the sixth motor 24 receives from the control device 27 via the data bus 28. In the case of a tripod as the positioning linkage 2, the sixth motor 24 exerts a second tensile force on the adjustable sub-devices of the second actuator of the actuator block 3 depending on control signals from the control device 27.which the sixth motor 24 receives from the control device 27 via the data bus 28. In the case of a tripod as a positioning linkage 2, for example, in the sense of the document presented here, the second actuator comprises, as the second adjustable sub-actuator of the second actuator, which is preferably adjustable relative to the second non-adjustable sub-actuator of the second actuator, particularly depending on the second pulling force of the sixth motor 24, the first sliding rod of the second actuator 1320, the second sliding rod of the second actuator 1325, the lower second connector 1492 of the second actuator, the upper second connector 1462 of the second actuator, the second stop 1446, the second return spring of the second actuator as a second storage element 1452, the first ball joint 1474 of the second positioning rod 1425 of the second positioning linkage group of the second actuator,the first ball joint 1473 of the first positioning rod 1420 of the second positioning linkage group of the second actuator, the first positioning rod 1420 of the second positioning linkage group of the second actuator, the second positioning rod 1425 of the second positioning linkage group of the second actuator, the second ball joint 1483 of the first positioning rod 1420 of the second positioning linkage group of the second actuator, and the second ball joint 1484 of the second positioning rod 1415 of the second positioning linkage group of the second actuator.

[0249] In the case of a tripod as a positioning linkage 2, for example, in the sense of the document presented here, the second actuator comprises as sub-devices of the second non-adjustable sub-actuator of the second actuator, the second return spring of the second actuator as a second storage element 1452, the second tension lever 1455 of the second return spring 1452 of the second actuator, the second adjusting screw 1458 for the second tension lever 1455 of the second return spring 1452 of the second actuator, a spacer bolt 1460 and preferably together with the other two actuators, for example, the upper retaining ring 1440, the upper retaining star 1441, the lower retaining ring 1442, and the lower retaining star 1443.

[0250] For the purposes of this document, the sixth motor 24 also includes the necessary driver circuits for driving the sixth motor 24. These driver circuits may also be part of the control device 27, in which case, for the purposes of this document, the control lines between the control device 27 and the sixth electric motor 24 constitute a data bus 28, regardless of whether the signaling is analog or digital.

[0251] In the case of a tripod as positioning linkage 2, the third actuator of the actuator block 3 moves the first anchor point of the first positioning rod 1430 of the third positioning linkage group and the second anchor point of the second positioning rod 1435 of the third positioning linkage group in the same manner depending on control signals from the control device 27. In the case of a tripod as positioning linkage 2, a seventh motor 25 actuates the third actuator of the actuator block 3 depending on control signals from the control device 27, which the seventh motor 25 receives from the control device 27 via the data bus 28. In the case of a tripod as positioning linkage 2, the seventh motor 25 exerts a third tensile force on the adjustable sub-devices of the third actuator of the actuator block 3 depending on control signals from the control device 27.which the seventh motor 25 receives from the control device 27 via the data bus 28. In the case of a tripod as a positioning linkage 2, for example, in the sense of the document presented here, the third actuator comprises, as the third adjustable sub-actuator of the third actuator, which is preferably adjustable relative to the third non-adjustable sub-actuator of the third actuator, particularly depending on the third pulling force of the seventh motor 27, the first sliding rod of the third actuator 1330, the second sliding rod of the third actuator 1335, the lower third connector of the third actuator 1493, the upper third connector of the third actuator 1463, the third stop 1447, the third return spring of the third actuator as the third storage element 1453, the first ball joint 1476 of the second positioning rod 1435 of the third positioning linkage group of the third actuator,the first ball joint 1475 of the first positioning rod 1430 of the third positioning linkage group of the third actuator, the first positioning rod 1430 of the second positioning linkage group of the third actuator, the second positioning rod 1435 of the second positioning linkage group of the third actuator, the second ball joint 1485 of the first positioning rod 1430 of the third positioning linkage group of the third actuator, and the second ball joint 1486 of the second positioning rod 1435 of the third positioning linkage group of the third actuator.

[0252] In the case of a tripod as a positioning linkage 2, for example, in the sense of the document presented here, the third actuator comprises as sub-devices of the third non-adjustable sub-actuator of the third actuator, the third return spring of the third actuator as a third storage element 1453, the third tension lever 1456 of the third return spring 1453 of the third actuator, the third adjusting screw 1459 for the third tension lever 1456 of the third return spring 1453 of the third actuator, a spacer bolt 1460 and preferably together with the other two actuators, for example, the upper retaining ring 1440, the upper retaining star 1441, the lower retaining ring 1442, and the lower retaining star 1443.

[0253] For the purposes of this document, the seventh motor 25 also includes the necessary driver circuits for driving the seventh motor 25. These driver circuits may also be part of the control device 27, in which case, for the purposes of this document, the control lines between the control device 27 and the seventh electric motor 25 constitute a data bus 28, regardless of whether the signaling is analog or digital.

[0254] The fifth motor 23 transmits a force to the first actuator of the actuator block 3 via a first force transmission means. Preferably, the fifth motor 23 transmits a force to the first actuator of the actuator block 3 via the first force transmission means to cause the first actuator to displace the first anchor point of the first positioning rod 1410 of the first positioning linkage group and the second anchor point of the second positioning rod 1415 of the first positioning linkage group in the same manner in a first direction. Preferably, the first force transmission means is a first Bowden cable 1110 with a first strand 1111 of the first Bowden cable 1110, which can flexibly transmit a tensile force between the first motor 23 and the first actuator. Typically, the first Bowden cable 1110 cannot transmit a compressive force opposite to the tensile force.Therefore, the first actuator preferably has a first storage means 1451, for example, a first return spring 1451 of the first actuator. The first storage means 1451 typically stores energy, preferably as mechanical energy, when the first actuator moves in the first direction in the direction of the first tensile force of the fifth motor 23. Preferably, the first storage means 1451 of the first actuator releases this stored energy again when the fifth motor 23 no longer transmits a first tensile force to the first actuator of the actuator block 3 via the first force transmission means. If the first storage means 1451 has stored energy, for example, as a result of storing the energy of the first tensile force of the fifth motor 23, the first storage means 1451 exerts a first restoring force that opposes the first tensile force and may reduce, compensate for, or even reverse its effect.

[0255] Preferably, the first storage means 1451, for example, the first return spring 1451 of the first actuator, returns the first actuator in a first counter-direction opposite to the first direction, in order to cause the first actuator to move the first anchor point of the first positioning rod 1410 of the first positioning linkage group and the second anchor point of the second positioning rod 1415 of the first positioning linkage group back in the same way in the first counter-direction opposite to the first direction. Preferably, the first storage means 1451 thus exerts a first restoring force on the displaceable first sub-actuator of the first actuator, which is directed opposite to the first tensile force of the fifth motor 23.Preferably, the fifth motor 23 is arranged separately from the extruder device 1010 described here and is fixed within the proposed device in order to avoid unnecessarily increasing the mass of the extruder device 1010 described here. This allows the second motor 15 and the first motor 14 to accelerate the extruder 1010 described here more strongly for moving the tool carrier 210.

[0256] The sixth motor 24 transmits a force to the second actuator of the actuator block 3 via a second force transmission means. Preferably, the sixth motor 24 transmits a force to the second actuator of the actuator block 3 via the second force transmission means to cause the second actuator to move the first anchor point of the first positioning rod 1420 of the second positioning linkage group and the second anchor point of the second positioning rod 1425 of the second positioning linkage group in a second direction in the same manner. Preferably, the second force transmission means is a second Bowden cable 1120 with a second strand 1121 of the second Bowden cable 1120, which can flexibly transmit a tensile force between the second motor 24 and the second actuator. Typically, the second Bowden cable 1120 cannot transmit a compressive force opposite to the tensile force.Therefore, the second actuator preferably has a second storage element 1452, for example, a second return spring 1452 of the second actuator. The second storage element 1452 typically stores energy, preferably as mechanical energy, when the second actuator moves in the second direction in the direction of the second tractive force of the sixth motor 24. Preferably, the second storage element 1452 of the second actuator releases this stored energy again when the sixth motor 24 no longer transmits a second tractive force to the second actuator of the actuator block 3 via the second power transmission element. If the second storage element 1452 has stored energy, for example, as a result of storing the energy of the second tractive force of the sixth motor 24, the second storage element 1452 exerts a second restoring force that opposes the second tractive force and may reduce, compensate for, or even reverse its effect.

[0257] Preferably, the second storage means 1452, for example, the second return spring 1452 of the second actuator, then returns the second actuator in a second counter-direction opposite to the second direction, in order to cause the second actuator to move the second anchor point of the first positioning rod 1420 of the second positioning linkage group and the second anchor point of the second positioning rod 1425 of the second positioning linkage group back in the same way in the second counter-direction opposite to the second direction. Preferably, the second storage means 1452 thus exerts a second restoring force on the displaceable second sub-actuator of the second actuator, which is directed opposite to the second tensile force of the sixth motor 24.Preferably, the sixth motor 24 is arranged separately from the extruder device 1010 described here and is fixed within the proposed device in order to avoid unnecessarily increasing the mass of the extruder device 1010 described here. This allows the second motor 15 and the first motor 14 to accelerate the extruder 1010 described here more strongly for moving the tool carrier 210.

[0258] The seventh motor 25 transmits a force to the third actuator of the actuator block 3 via a third force transmission means. Preferably, the seventh motor 25 transmits a force to the third actuator of the actuator block 3 via the third force transmission means to cause the third actuator to displace the first anchor point of the first positioning rod 1430 of the third positioning linkage group and the second anchor point of the second positioning rod 1435 of the third positioning linkage group in the same manner in a third direction. Preferably, the third force transmission means is a third Bowden cable 1130 with a third strand 1131 of the third Bowden cable 1130, which can flexibly transmit a tensile force between the third motor 25 and the third actuator. Typically, the third Bowden cable 1130 cannot transmit a compressive force opposite to the tensile force.Therefore, the third actuator preferably has a third storage element 1453, for example, a third return spring 1453 of the third actuator. The third storage element 1453 typically stores energy, preferably as mechanical energy, when the third actuator moves in the third direction in the direction of the third tractive force of the seventh motor 253. Preferably, the third storage element 1453 of the third actuator releases this stored energy again when the seventh motor 25 no longer transmits a third tractive force to the third actuator of the actuator block 3 via the third power transmission element. If the third storage element 1453 has stored energy, for example, as a result of storing the energy of the third tractive force of the seventh motor 25, the third storage element 1453 exerts a third restoring force that opposes the third tractive force and may reduce, compensate for, or even reverse its effect.

[0259] Preferably, the third storage means 1453, for example, the third return spring 1453 of the third actuator, then returns the third actuator in a third counter-direction opposite to the third direction, in order to cause the third actuator to displace the second anchor point of the first positioning rod 1430 of the third positioning linkage group and the second anchor point of the second positioning rod 1435 of the third positioning linkage group in the same way in the third counter-direction opposite to the third direction. Preferably, the third storage means 1453 thus exerts a third restoring force on the displaceable third sub-actuator of the third actuator, which is directed opposite to the third tensile force of the seventh motor 25.Preferably, the seventh motor 25 is arranged separately from the extruder device 1010 described here and is fixed within the proposed device in order to avoid unnecessarily increasing the mass of the extruder device 1010 described here. This allows the second motor 15 and the first motor 14 to accelerate the extruder 1010 described here more strongly for moving the tool carrier 210.

[0260] Preferably, the tool holder 4 comprises the tool carrier 210, the tool changing device 200, an upper tool plate 1210, the tool clamps 180, and fixture parts for attaching the three actuators and the three power transmission means, i.e., the Bowden cables 1110, 1120, 1130, and optionally further fixture elements, such as reference switches 1293, 1294, 1295. More on this later.

[0261] Preferably, the control device 27 controls the first electric motor 14 and the second electric motor 15 via the data bus 28. The first electric motor 14 and the second electric motor 15 move the proposed extruder (4,3,2,1) in the X and Y directions by means of the toothed belt 13. For the purposes of this document, the first electric motor 14 and the second electric motor 15 also include the necessary driver circuits for driving the first electric motor 14 and / or the second electric motor 15. These driver circuits may optionally also be part of the control device 27, in which case, for the purposes of this document, the control lines between the control device 27 and the first electric motor 14 or the second electric motor 15 constitute a data bus 28, regardless of whether the signaling is analog or digital.

[0262] Preferably, the control device 27 controls the third electric motor 17 via the data bus 28 to adjust the Z-coordinate by raising or lowering the heated bed 16 using the spindle 18. For the purposes of this document, the third electric motor 17 also includes the necessary driver circuits for driving the third electric motor 17. These driver circuits may optionally also be part of the control device 27, in which case, for the purposes of this document, the control lines between the control device 27 and the third electric motor 17 constitute a data bus 28, regardless of whether the signaling is analog or digital.

[0263] Preferably, the length r1 of the first positioning rod 1410 and the second positioning rod 1415 of the first positioning linkage group of the first actuator is equal to the length r2 of the first positioning rod 1420 and the second positioning rod 1425 of the second positioning linkage group of the second actuator. Preferably, the length r1 of the first positioning rod 1410 and the second positioning rod 1415 of the first positioning linkage group of the first actuator is equal to the length r3 of the first positioning rod 1420 and the second positioning rod 1425 of the third positioning linkage group of the third actuator. Preferably, the length r2 of the first positioning rod 1420 and the length of the second positioning rod 1425 of the second positioning linkage group of the second actuator is equal to the length r3 of the first positioning rod 1420 and the length of the second positioning rod 1425 of the third positioning linkage group of the third actuator. Figures 5 to 31

[0264] The Fig. Figures 5 to 31 serve to illustrate an exemplary, proposed extruder device 1010, as is the subject of this document. The figures show various device components of the same exemplary, proposed extruder device 1010. In some cases, device components, such as the Bowden cables 1110, 1120, and 1130, have been omitted to provide the technically knowledgeable reader of this document with a better overview and understanding of the operation of the exemplary, proposed extruder device 1010. In particular, understanding the operation of hidden device components would otherwise be difficult. The person skilled in the art can easily deduce the omitted device components and add them to the respective drawings, thus ensuring reproducibility. Figure 5

[0265] Fig. Figure 5 shows a drawing of an exemplary, proposed extruder device 1010, as is the subject of this document. The figure illustrates the extruder head 1, the positioning linkage 2, the actuator block 3, the tool holder 4, and the power transmission 5 for the exemplary, proposed extruder device 1010.

[0266] The positioning linkage 2 can, for example, be designed in the form of a tripod. The following figures show such an example. In the case that the positioning linkage 2 is designed as a tripod, the actuator block 3 typically comprises three actuators.

[0267] The positioning linkage 2 can, for example, be designed in the form of a hexapod. Fig. Figure 40 shows such an example. In the case that the positioning linkage 2 is designed as a hexapod, the actuator block 3 typically comprises six actuators.

[0268] The following figures in this document explain in more detail the device components of the exemplary, proposed extruder device 1010. Figure 6

[0269] Fig. Figure 6 shows an overview of the exemplary, proposed extruder device 1010. Fig. Figure 6 shows the first Bowden cable 1110. Fig. Figure 6 shows the second Bowden cable 1120. Fig. Figure 6 shows the third Bowden cable 1130. Fig. Figure 6 shows the filament tube 1140 in which the filament feeder 22 pushes the filament towards the extruder nozzle 1530.

[0270] The figure shows the upper tool plate 1210 with the two tool clamps 180 and the left clamping plate 1220 of the left tool clamp 180 and the right clamping plate 1230 of the right tool clamp 180. The left clamping plate 1220 of the left tool clamp 180 clamps the tool to the left tool support bolt 190 of a tool placement device 160, 170 together with the left tool clamp 180 when the exemplary, proposed extruder device 1010 is in a parked position in a tool placement device 160, 170. The right clamping plate 1230 of the right tool clamp 180 clamps the tool to the right tool support bolt 190 of a tool placement device 160, 170 together with the right tool clamp 180 when the exemplary, proposed extruder device 1010 is in a park position in a tool placement device 160, 170.

[0271] A tool carrier plate 1240 is attached to the upper tool plate 1210. The tool carrier plate 1240 has a first adjusting ball segment 1250, a second adjusting ball segment 1270, and a third adjusting ball segment 1280. In the example shown in these figures, the first adjusting ball segment 1250, the second adjusting ball segment 1270, and the third adjusting ball segment 1280 are arranged in an isosceles triangle. They fit as counterparts to the adjusting bearings 70 of the tool changing device 200.

[0272] To enable the tool changing device 200 to couple the device, the tool carrier plate 1240 has a locking plate 1265 with a slot 1260 in the locking plate 1265. For the coupling process, the exemplary, proposed extruder device 1010 is then typically parked in one of the tool placement devices 160, 170 already described.

[0273] The figure shows the first positioning rod 1410 of the first positioning linkage group of the first actuator.

[0274] The figure shows the second positioning rod 1415 of the first positioning linkage group of the first actuator.

[0275] The figure shows the first positioning rod 1420 of the first positioning linkage group of the second actuator.

[0276] The figure shows the second positioning rod 1425 of the first positioning linkage group of the second actuator.

[0277] The other reference symbols are omitted for clarity.

[0278] The figure shows the fan 1510, which cools the filament with air just above the extruder 1520.

[0279] The extruder 1520 melts the filament so that it can exit the extruder nozzle 1530.

[0280] The area labelled A is in Fig. 7 shown larger. Fig. 8 represents the intersection from B to B. Figure 7

[0281] Fig. 7 represents area A of the Fig. 6 enlarged. The following text describes the Fig. Section 7 describes the proposed extruder 1010 with all parts, even if the corresponding parts are in the Fig. 7 are not recognizable and the corresponding reference symbols are not listed there. Further views and partial views of the proposed extruder and the proposed 3D printer show the Fig. 8 to 35.

[0282] Fig. Figure 7 shows the proposed extruder 1010 from the side of the mechanical coupling with the locking plate 1265 and the slot 1260, with which the tool changing device 200 couples the proposed extruder 1010 when required.

[0283] The Fig. Figure 7 shows the first Bowden cable 1110. Fig. Figure 7 shows the second Bowden cable 1120. Fig. Figure 7 shows the third Bowden cable 1130. Fig. Figure 7 shows the filament tube 1140 in which the filament feeder 22 advances the filament towards the extruder nozzle 1530. The first Bowden cable 1110 is preferably guided through a first bore in the upper tool plate 1210. Preferably, a first screw or adhesive bond of the upper tool plate 1210 secures the first Bowden cable 1110 in this first bore. The second Bowden cable 1120 is preferably guided through a second bore in the upper tool plate 1210. Preferably, a second screw or adhesive bond of the upper tool plate 1210 secures the second Bowden cable 1120 in this second bore. The third Bowden cable 1130 is preferably guided through a third bore in the upper tool plate 1210. Preferably, a third screw or adhesive bond of the upper tool plate 1210 secures the third Bowden cable 1130 in this third bore.The filament tube 1140 is preferably guided through a fourth bore in the upper tool plate 1210. Preferably, a fourth screw connection or a fourth adhesive bond of the upper tool plate 1210 secures the filament tube 1140 in this fourth bore.

[0284] The figure shows the upper tool plate 1210 with the two tool clamps 180 and the left clamping plate 1220 of the left tool clamp 180 and the right clamping plate 1230 of the right tool clamp 180. The left clamping plate 1220 of the left tool clamp 180 clamps the tool to the left tool support bolt 190 of a tool placement device 160, 170 together with the left tool clamp 180 when the exemplary, proposed extruder device 1010 is in a parked position in a tool placement device 160, 170. The right clamping plate 1230 of the right tool clamp 180 clamps the tool to the right tool support bolt 190 of a tool placement device 160, 170 together with the right tool clamp 180 when the exemplary, proposed extruder device 1010 is in a park position in a tool placement device 160, 170.

[0285] The tool carrier plate 1240 is attached to the upper tool plate 1210. The tool carrier plate 1240 has a first adjusting ball segment 1250, a second adjusting ball segment 1270, and a third adjusting ball segment 1280. In the example shown in these figures, the first adjusting ball segment 1250, the second adjusting ball segment 1270, and the third adjusting ball segment 1280 are arranged in an isosceles triangle. They fit as counterparts to the adjusting bearings 70 of the tool changing device 200. To enable the tool changing device 200 to couple to the device, the tool carrier plate 1240 has a locking plate 1265 with a slot 1260 in the locking plate 1265. For the coupling process, the exemplary, proposed extruder device 1010 is then typically parked in one of the tool placement devices 160, 170 already described.

[0286] The first actuator comprises the lower first connector 1491 and the first slide bar 1310 and the second slide bar 1315 of the first actuator, and the upper first connector 1461 of the first actuator. Preferably, the upper first connector 1461 of the first actuator is mechanically fixed to the first slide bar 1310 and the second slide bar 1315 of the first actuator such that the first slide bar 1310 of the first actuator is arranged parallel to the second slide bar 1315 of the first actuator at a predetermined distance between them.Preferably, the lower first connector 1491 of the first actuator is mechanically fixed to the first sliding rod 1310 of the first actuator and the second sliding rod 1315 of the first actuator such that the first sliding rod 1310 of the first actuator is arranged parallel to the second sliding rod 1315 of the first actuator at the specified sliding rod spacing. An upper retaining ring 1440 has two bores at the sliding rod spacing, through which the fifth motor 23 can move the first sliding rod 1310 of the first actuator and the second sliding rod 1315 of the first actuator by means of the first strand 1111 of the first Bowden cable 1110, and through which the first return spring 1451 of the first actuator can move the first sliding rod 1310 of the first actuator and the second sliding rod 1315 of the first actuator back by means of the first strand 1111 of the first Bowden cable 1110.A lower retaining ring 1442 has two bores spaced at the distance between the guide rods, through which the fifth motor 23 can move the first guide rod 1310 and the second guide rod 1315 of the first actuator by means of the first strand 1111 of the first Bowden cable 1110, and through which the first return spring 1451 of the first actuator can move the first guide rod 1310 and the second guide rod 1315 of the first actuator by means of the first strand 1111 of the first Bowden cable 1110. The fifth motor 23 moves in the direction of pull, while the first return spring 1451 of the first actuator moves in the direction of compression. Two clamping screws in the lower connector 1491 of the first actuator connect the first strand 1111 of the first Bowden cable 1110 to the lower connector 1491 of the first actuator.This allows the fifth motor 23 to exert a pulling force to the right via the first Bowden cable 1110, using the first strand 1111 of the first Bowden cable 1110, on the lower first connector 1491 of the first actuator, thus moving the lower first connector 1491 of the first actuator to the right. The first return spring 1451 of the first actuator, not yet visible in this figure, is mechanically connected at one end to the upper connector 1461 of the first actuator. The second end of the first return spring 1451 is mechanically connected via the first tension lever 1454 and the lower retaining star 1443 to the lower retaining ring 1442.If the fifth motor 23 now exerts a tensile force on the lower first connector 1491 of the first actuator, the lower first connector 1491, along with the first and second slide rods 1310 and 1315 of the first actuator, and the upper first connector 1461 of the first actuator, moves to the right (i.e., upwards). This causes the fifth motor 23 to extend the first return spring 1451 of the first actuator, as the distance between the upper first connector 1461 of the first actuator and the lower retaining ring 1442 increases. The first return spring 1451 of the first actuator absorbs corresponding mechanical energy.If the fifth motor 23 exerts no tensile or even a compressive force on the lower first connector 1491 of the first actuator, the lower first connector 1491 of the first actuator, along with the first sliding rod 1310 and the second sliding rod 1315 of the first actuator and the upper first connector 1461 of the first actuator, moves to the left (i.e., downwards) because the first return spring 1451 of the first actuator exerts a return force. As a result, the fifth motor 23 relaxes the first return spring 1451 of the first actuator, since the distance between the upper first connector 1461 of the first actuator and the lower retaining ring 1442 decreases. The first return spring 1451 of the first actuator releases corresponding mechanical energy.

[0287] The second actuator comprises the lower second connector 1492 of the second actuator, the first sliding rod 1320 of the second actuator, the second sliding rod 1325 of the second actuator, and the upper second connector 1462 of the second actuator. Preferably, the upper second connector 1462 of the second actuator is mechanically fixed to the first sliding rod 1320 and the second sliding rod 1325 of the second actuator such that the first sliding rod 1320 of the second actuator is arranged parallel to the second sliding rod 1325 of the second actuator at the predetermined sliding rod spacing.Preferably, the lower second connector 1492 of the second actuator is mechanically fixed to the first sliding rod 1320 and the second sliding rod 1325 of the second actuator such that the first sliding rod 1320 of the second actuator is arranged parallel to the second sliding rod 1325 of the second actuator at the specified sliding rod spacing. The upper retaining ring 1440 has two bores at the sliding rod spacing, through which the sixth motor 24 can move the first sliding rod 1320 and the second sliding rod 1325 of the second actuator by means of the second strand 1121 of the second Bowden cable 1120, and the second return spring 1452 of the second actuator can move the first sliding rod 1320 and the second sliding rod 1325 of the second actuator back. The sixth motor 24 moves in the direction of pull. The second return spring 1452 of the second actuator shifts in the direction of pressure.A lower retaining ring 1442 has two bores spaced at the distance between the guide rods, through which the sixth motor 24 can move the first guide rod 1320 and the second guide rod 1325 of the second actuator by means of the second strand 1121 of the second Bowden cable 1120, and the second return spring 1452 of the second actuator can move the first guide rod 1320 and the second guide rod 1325 of the second actuator back. Two clamping screws in the lower second connector 1492 of the second actuator connect the second strand 1121 of the second Bowden cable 1120 to the lower second connector 1492 of the second actuator. This allows the sixth motor 24 to exert a pulling force to the right via the second Bowden cable 1120 using the second strand 1121 of the second Bowden cable 1120 on the lower second connector 1492 of the second actuator and to move the lower second connector 1492 of the second actuator to the right.The second return spring 1452 of the second actuator, not yet visible in this figure, is mechanically connected at one end to the upper second connector 1462 of the second actuator. The second return spring 1452 of the second actuator is mechanically connected at one end via the second tension lever 1455 and the lower retaining star 1443 to the lower retaining ring 1442. If the sixth motor 24 now exerts a tensile force on the lower second connector 1492 of the second actuator, the lower second connector 1492 of the second actuator, along with the first sliding rod 1320, the second sliding rod 1325, and the upper second connector 1462 of the second actuator, moves to the right (i.e., upwards).As a result, the sixth motor 24 stretches the second return spring 1452 of the second actuator, since the distance between the upper second connector 1462 of the second actuator and the lower retaining ring 1442 increases. The second return spring 1452 of the second actuator absorbs corresponding mechanical energy. If the sixth motor 24 now exerts no tensile or even a compressive force on the lower second connector 1492 of the second actuator, the lower second connector 1492 of the second actuator, along with the second guide rod 1320 and the second guide rod 1325 of the second actuator and the upper second connector 1462 of the second actuator, moves to the left (i.e., downwards), since the second return spring 1452 of the second actuator exerts a restoring force. As a result, the sixth motor 24 relaxes the second return spring 1452 of the second actuator, since the distance between the upper second connector 1462 of the second actuator and the lower retaining ring 1442 decreases.The second return spring 1452 of the second actuator releases corresponding mechanical energy.

[0288] The third actuator comprises the lower third connector 1493 of the third actuator, the first sliding rod 1330 of the third actuator, the second sliding rod 1335 of the third actuator, and the upper third connector 1463 of the third actuator. Preferably, the upper third connector 1463 of the third actuator is mechanically fixed to the first sliding rod 1330 and the second sliding rod 1335 of the third actuator such that the first sliding rod 1330 of the third actuator is arranged parallel to the second sliding rod 1335 of the third actuator at the predetermined sliding rod spacing.Preferably, the lower third connector 1493 of the third actuator is mechanically fixed to the first sliding rod 1330 and the second sliding rod 1335 of the third actuator such that the first sliding rod 1330 of the third actuator is arranged parallel to the second sliding rod 1335 of the third actuator at the predetermined sliding rod spacing. The upper retaining ring 1440 has two bores at the sliding rod spacing, through which the seventh motor 25 can move the first sliding rod 1330 and the second sliding rod 1335 of the third actuator by means of the third strand 1131 of the third Bowden cable 1130, and the third return spring 1453 of the third actuator can move the first sliding rod 1330 and the second sliding rod 1335 of the third actuator back. The seventh motor 25 moves in the direction of pull. The third return spring 1453 of the third actuator shifts in the direction of pressure.A lower retaining ring 1442 has two bores spaced at the distance between the guide rods, through which the seventh motor 25 can move the first guide rod 1330 and the second guide rod 1335 of the third actuator by means of the third strand 1131 of the second Bowden cable 1130, and the third return spring 1453 of the third actuator can move the first guide rod 1330 and the second guide rod 1335 of the third actuator back. Two clamping screws in the lower third connector 1493 of the third actuator connect the third strand 1131 of the third Bowden cable 1130 to the lower third connector 1493 of the third actuator. This allows the seventh motor 25 to exert a pulling force to the right via the third Bowden cable 1130 by means of the third strand 1131 of the third Bowden cable 1130 on the lower third connector 1493 of the third actuator and to move the lower third connector 1493 of the third actuator to the right.The third return spring 1453 of the third actuator, not yet visible in this figure, is mechanically connected at one end to the upper third connector 1463 of the third actuator. The third return spring 1453 of the third actuator is mechanically connected at one end via the third tension lever 1456 and the lower retaining star 1443 to the lower retaining ring 1442. If the seventh motor 25 now exerts a tensile force on the lower third connector 1493 of the third actuator, the lower third connector 1493 of the third actuator, along with the first sliding rod 1330, the second sliding rod 1335, and the upper third connector 1463 of the third actuator, moves to the right (i.e., upwards).As a result, the seventh motor 25 stretches the third return spring 1453 of the third actuator, since the distance between the upper third connector 1463 of the third actuator and the lower retaining ring 1442 increases. The third return spring 1452 of the third actuator absorbs corresponding mechanical energy. If the seventh motor 25 now exerts no tensile or even a compressive force on the lower third connector 1493 of the third actuator, the lower third connector 1493 of the third actuator, along with the second sliding rod 1330 and the second sliding rod 1335 of the third actuator and the upper third connector 1463 of the third actuator, moves to the left (i.e., downwards), since the third return spring 1453 of the third actuator exerts a restoring force. As a result, the seventh motor 25 relaxes the third return spring 1453 of the third actuator, since the distance between the upper third connector 1463 of the third actuator and the lower retaining ring 1442 decreases.The third return spring 1453 of the third actuator releases corresponding mechanical energy.

[0289] The control device 27 can detect, by means of a first reference switch 1294 of the first actuator, when the upper first connector 1461 of the first actuator is in its highest possible position. The control device 27 can, in particular, detect, by means of a first reference switch 1292 of the first actuator, when the first stop 1445 of the first actuator is in its highest possible position. The first stop 1445 is screwed onto the first sliding rod 1315 of the first actuator and actuates the first reference switch 1294 when the first actuator is in its highest position. This allows the control device 27 to calibrate the positions of the first actuator during operation.

[0290] The control device 27 can detect, by means of a second reference switch 1295 of the second actuator, when the upper second connector 1462 of the second actuator is in its highest possible position. In particular, the control device 27 can detect, by means of a second reference switch 1295 of the second actuator, when the second stop 1446 of the second actuator is in its highest possible position. The second stop 1446 is screwed onto the second sliding rod 1325 of the second actuator and actuates the second reference switch 1295 when the second actuator is in its highest position. This allows the control device 27 to calibrate the positions of the second actuator during operation.

[0291] The control device 27 can detect, by means of a third reference switch 1296 of the third actuator, when the upper third connector 1463 of the third actuator is in its highest possible position. In particular, the control device 27 can detect, by means of a third reference switch 1296 of the third actuator, when the third stop 1447 of the third actuator is in its highest possible position. The third stop 1447 is screwed onto the third sliding rod 1335 of the third actuator and actuates the third reference switch 1296 when the third actuator is in its highest position. This allows the control device 27 to calibrate the positions of the third actuator during operation.

[0292] An upper retaining star 1441 is inserted into the upper retaining ring 1440. The upper retaining star 1441 is preferably inserted into the upper retaining ring 1440 and mechanically connected to it by screws. Preferably, the upper retaining star 1441 has rotational symmetry with a periodicity of 120°. A bore is preferably located in the center of the upper retaining star 1441 through which the filament tube 1440 containing the filament is drawn. Preferably, the filament tube 1440 with the filament is secured in this bore by adhesive bonding or screwing.

[0293] The first adjusting screw 1457 for the first tension lever 1454 of the first return spring 1451 of the first actuator pre-tensions the first return spring 1451 of the first actuator.

[0294] The second adjusting screw 1458 for the second tension lever 1455 of the second return spring 1452 of the second actuator pre-tensions the second return spring 1452 of the second actuator.

[0295] The third adjusting screw 1459 for the third tension lever 1456 of the third return spring 1453 of the third actuator pre-tensions the third return spring 1453 of the third actuator.

[0296] Three spacer bolts 1460 connect the upper retaining star 1441 to the lower retaining star 1443.

[0297] The first stop 1445 is screwed onto the first sliding rod 1315 of the first actuator and actuates the first reference switch 1294 when the first actuator is in the uppermost position.

[0298] The second stop 1446 is screwed onto the second sliding rod 1325 of the second actuator and actuates the second reference switch 1295 when the second actuator is in the uppermost position.

[0299] The third stop 1447 is screwed onto the third sliding rod 1335 of the third actuator and actuates the third reference switch 1296 when the third actuator is in the uppermost position.

[0300] A first ball joint 1471 of the first positioning rod 1410 of the first positioning linkage group of the first actuator connects the first positioning rod 1410 of the first positioning linkage group of the first actuator to the lower first connector 1491 of the first actuator.

[0301] A second ball joint 1472 of the second positioning rod 1415 of the first positioning linkage group of the first actuator connects the second positioning rod 1415 of the first positioning linkage group of the first actuator to the lower first connector 1491 of the first actuator.

[0302] A first ball joint 1473 of the first positioning rod 1420 of the second positioning linkage group of the second actuator connects the first positioning rod 1420 of the second positioning linkage group of the second actuator to the lower second connector 1492 of the second actuator.

[0303] A second ball joint 1474 of the second positioning rod 1425 of the second positioning linkage group of the second actuator connects the second positioning rod 1425 of the second positioning linkage group of the second actuator to the lower second connector 1493 of the second actuator.

[0304] A first ball joint 1475 of the first positioning rod 1430 of the third positioning linkage group of the third actuator connects the first positioning rod 1430 of the third positioning linkage group of the third actuator to the lower third connector 1493 of the third actuator.

[0305] A second ball joint 1476 of the second positioning rod 1435 of the third positioning linkage group of the third actuator connects the second positioning rod 1435 of the third positioning linkage group of the third actuator to the lower third connector 1493 of the third actuator.

[0306] A second ball joint 1481 of the first positioning rod 1410 of the first positioning linkage group of the first actuator connects the first positioning rod 1410 of the first positioning linkage group of the first actuator to the heat sink bracket 1490.

[0307] A second ball joint 1482 of the second positioning rod 1415 of the first positioning linkage group of the first actuator connects the second positioning rod 1415 of the first positioning linkage group of the first actuator to the heat sink bracket 1490.

[0308] A second ball joint 1483 of the first positioning rod 1420 of the second positioning linkage group of the second actuator connects the first positioning rod 1420 of the second positioning linkage group of the second actuator to the heat sink bracket 1490.

[0309] A second ball joint 1484 of the second positioning rod 1425 of the second positioning linkage group of the second actuator connects the second positioning rod 1425 of the second positioning linkage group of the second actuator to the heat sink bracket 1490.

[0310] A second ball joint 1485 of the first positioning rod 1430 of the third positioning linkage group of the third actuator connects the first positioning rod 1430 of the third positioning linkage group of the third actuator to the heat sink bracket 1490.

[0311] A second ball joint 1486 of the second positioning rod 1435 of the third positioning linkage group of the third actuator connects the second positioning rod 1435 of the third positioning linkage group of the third actuator to the heat sink bracket 1490.

[0312] Because the positioning rods 1410, 1415, 1420, 1425, 1430, 1435 are of the same length, the heat sink bracket 1490 cannot tilt the extruder block axis 1550 relative to the actuator block axis 1205 when the position of a lower connector 1491, 1492, 1493 of an actuator is changed. The pairing of the first and second positioning rods prevents this tilting.

[0313] The heat sink holder 1490 preferably has an opening in which the heat sink 1540, with the fan 1510 and the heated extruder 1520, is preferably attached by means of a screw connection. The filament tube 1140 containing the filament preferably extends to a channel in the heat sink 1540. This allows the filament tube 1140 to thread the filament into the extruder 1520 and feed the filament to the extruder by means of the filament feed 22.

[0314] The figure shows the first positioning rod 1410 of the first positioning linkage group of the first actuator. The first end of the first positioning rod 1410 of the first positioning linkage group of the first actuator is connected to a first

[0315] The figure shows the second positioning rod 1415 of the first positioning linkage group of the first actuator. The figure shows the first positioning rod 1420 of the first positioning linkage group of the second actuator. The figure shows the second positioning rod 1425 of the first positioning linkage group of the second actuator. The figure shows the first positioning rod 1430 of the first positioning linkage group of the third actuator. The figure shows the second positioning rod 1435 of the first positioning linkage group of the third actuator.

[0316] The figure shows the fan 1510, which cools the filament in the extruder channel just above the extruder 1520 with air. The extruder 1520 melts the filament at the lower end of the extruder channel, allowing the molten filament material to exit the extruder nozzle 1530 onto the workpiece or the heated bed 16, and thus depositing the molten filament material onto the workpiece or the surface of the heated bed 16.

[0317] In Fig. 7 is marked with the line segment BB, the intersection line of the following Fig. 8 is the basis.

[0318] The one with A in Fig. The area designated as 6 is in Fig. 7 shown larger. Fig. Figure 8 represents the section along the intersection line from B to B. Figure 8

[0319] Fig. Figure 8 shows the section through the proposed extruder 1010. Fig. 7 along the intersection line BB in the Fig. 6 and Fig. 7. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 9

[0320] Fig. 9 corresponds to the Fig. 6, wherein the Fig. 9 the back of the proposed extruder 1010 the Fig. Figures 6 to 8 are shown. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference symbol list. The area marked with the circle and the letter C is in Fig. Shown enlarged 10. Figure 10

[0321] Fig. 10 shows the one in Fig. 9. Area marked with the circle and the letter C in an enlarged view. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Fig. Figure 11 represents the section along the section line from C to C. Figure 11

[0322] Fig. Figure 11 shows the section through the proposed extruder 1010 of the Fig. 10 along the intersection line CC in Fig. 10. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Fig. Figure 12 represents the section along the angled section line from D to D. Figure 12

[0323] Fig. Figure 12 shows the section through the proposed extruder 1010 of the Fig. 10 along the angled section line DD in Fig. 11. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 13

[0324] TheFig. 13 essentially corresponds to the Fig. 6. Regarding the description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 14

[0325] The Fig. 14 essentially corresponds to the Fig. 7. Description of the function and the sub-devices: This document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 15

[0326] Fig. Figure 15 shows the section through the proposed extruder 1010 of the Fig. 10 and Fig. 14 along the now intersection line CC in Fig. 10. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Fig. Figure 16 represents the section along the now non-angled section line from E to E. Figure 16

[0327] Fig. Figure 16 shows the section through the proposed extruder 1010 of the Fig. 14 along the straight section line EE in Fig. 15. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 17

[0328] Fig. Figure 17 shows the proposed extruder 1010 of the Fig. Figures 6 to 16 are shown from a first angled perspective. For a description of the function and the sub-devices, this document refers to the description of... Fig. 6 and Fig. 7 and the reference numeral list. Figure 18

[0329] Fig. Figure 18 shows the proposed extruder 1010 of the Fig. Figures 6 to 17 are shown from a second angled perspective. For a description of the function and the sub-devices, this document refers to the description of... Fig. 6 and Fig. 7 and the reference numeral list. Figure 19

[0330] Fig. Figure 19 shows the proposed extruder 1010 of the Fig. 6 to 18 from a third angled perspective. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 20

[0331] Fig. Figure 20 shows the proposed extruder 1010 of the Fig. 6 to 19 from a fourth angled perspective. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 21

[0332] Fig. Figure 21 shows the proposed extruder 1010 of the Fig. 6 to 20 from a fifth angled perspective. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 22

[0333] Fig. Figure 22 shows the proposed extruder 1010. Fig. 6 to 21 from a further perspective. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 23 represents the section along the section line from I to I.

[0334] Fig. Figure 23 shows the section through the proposed extruder 1010. Fig. 14 along the straight section line II in Fig. 22. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 24

[0335] Fig. Figure 24 represents the section along the intersection line from F to F.

[0336] Fig. Figure 24 shows the section through the proposed extruder 1010 of the Fig. 14 along the straight section line FF in Fig. 22. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 25

[0337] Fig. 25 represents the section along the intersection line from G to G.

[0338] Fig. Figure 25 shows the section through the proposed extruder 1010. Fig. 14 along the straight section line GG in Fig. 22. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 26

[0339] Fig. Figure 26 represents the section along the section line from H to H.

[0340] Fig. Figure 26 shows the section through the proposed extruder 1010 of the Fig. 14 along the straight intersection line HH in Fig. 22. For a description of the function and the sub-devices, this document refers to the description of the Fig. 6 and Fig. 7 and the reference numeral list. Figure 27

[0341] Fig. 27 again presents the proposed extruder 1010 of the Fig. Figures 17 to 19 and 21 to 26 are shown on a single sheet with a uniform scale. For a description of the function and the individual components, this document refers to the description of... Fig. 6 and Fig. 7 and the reference numeral list. Figure 28

[0342] Fig. 28 represents the three actuators of the proposed extruder 1010 of the Fig. Figures 6 to 27 are shown separately to better illustrate the structure.

[0343] The upper retaining ring 1440 is connected to a first actuator support 1291. The first actuator support 1291 is arranged between the first actuator and the third actuator. The third actuator comprises the first slide bar 1330 and the second slide bar 1335 of the third actuator, as well as the upper third connector 1463 and the lower third connector 1493 of the third actuator. The first actuator comprises the first slide bar 1310 and the second slide bar 1315 of the first actuator, as well as the upper first connector 1461 and the lower first connector 1491 of the first actuator. The first actuator support 1291 carries the third reference switch 1296. The third reference switch 1296 detects an upper position of the third actuator. In the proposed extruder 1010, the first actuator support 1291 is connected to the upper tool plate 1210, in particular by screwing or gluing or the like.(See also other .) Fig. 5 to 31)

[0344] The upper retaining ring 1440 is connected to a second actuator support 1292. The second actuator support 1292 is positioned between the first and second actuators. The first actuator comprises its first and second guide rods 1310 and 1315, as well as its upper first connector 1461 and lower first connector 1491. The second actuator comprises its first and second guide rods 1320 and 1325, as well as its upper second connector 1462 and lower second connector 1492. The second actuator support 1292 carries the first reference switch 1294. The first reference switch 1294 detects an upper position of the first actuator. In the proposed extruder 1010, the first actuator support 1291 is connected to the upper tool plate 1210, in particular by screwing or gluing or the like.(See also other .) Fig. 5 to 31)

[0345] The upper retaining ring 1440 is connected to a third actuator support 1293. The third actuator support 1293 is arranged between the second and third actuators. The third actuator comprises the first and second guide rods 1330 and 1335, the upper and lower connectors 1463, and the lower connectors 1493. The second actuator comprises the first and second guide rods 1320 and 1325, the upper and lower connectors 1462, and the lower connectors 1492. The third actuator support 1293 carries the second reference switch 1295. The second reference switch 1295 detects the upper position of the second actuator. In the proposed extruder 1010, the third actuator support 1293 is connected to the upper tool plate 1210, in particular by screwing or gluing or the like.(See also other .) Fig. 5 to 31)

[0346] For a description of the function and the sub-devices, this document refers to the description of the Fig. 6, Fig. 7 and Fig. 29 and the reference list. Figure 29

[0347] Fig. 29 represents the three actuators of the proposed extruder 1010 of the Fig. Figures 6 to 27 are shown separately to better illustrate the structure.

[0348] The first actuator comprises the first slide rod 1310 and the second slide rod 1315 of the first actuator, as well as the upper first connector 1461 and the lower first connector 1491 of the first actuator. Preferably, the upper first connector 1461 and the lower first connector 1491 of the first actuator are mechanically connected to the first slide rod 1310 and the second slide rod 1315 of the first actuator such that the first slide rod 1310 of the first actuator is arranged parallel to the second slide rod 1315 of the first actuator at a predetermined distance between the slide rods.

[0349] The second actuator comprises the second slide rod 1320 and the second slide rod 1325 of the second actuator, the upper second connector 1462 of the second actuator, and the lower second connector 1492 of the second actuator. Preferably, the upper second connector 1462 and the lower second connector 1492 of the second actuator are mechanically connected to the first slide rod 1320 and the second slide rod 1325 of the second actuator such that the first slide rod 1320 of the second actuator is arranged parallel to the second slide rod 1325 of the second actuator at a predetermined distance between the slide rods.

[0350] The third actuator comprises the third sliding rod 1330 and the second sliding rod 1335 of the third actuator, as well as the upper third connector 1463 and the lower third connector 1493 of the third actuator. Preferably, the upper third connector 1463 and the lower third connector 1493 of the third actuator are mechanically connected to the first sliding rod 1330 and the third sliding rod 1335 of the third actuator such that the first sliding rod 1330 of the third actuator is arranged parallel to the second sliding rod 1335 of the third actuator at a predetermined distance between the sliding rods.

[0351] Three spacer bolts 1460 connect the upper retaining star 1441 to the lower retaining star 1443.

[0352] The first tension lever 1454 of the first return spring 1451 of the first actuator is attached to a first spacer bolt 1460 of the three spacer bolts 1460, the first spacer bolt 1460 of the three spacer bolts 1460 connecting the upper retaining star 1441 to the lower retaining star 1443. The second tension lever 1455 of the second return spring 1452 of the second actuator is attached to a second spacer bolt 1460 of the three spacer bolts 1460, the second spacer bolt 1460 of the three spacer bolts 1460 connecting the upper retaining star 1441 to the lower retaining star 1443. The first tension lever 1454 of the first return spring 1451 of the first actuator is attached to a first spacer bolt 1460 of the three spacer bolts 1460, wherein the third spacer bolt 1460 of the three spacer bolts 1460 connects the upper retaining star 1441 with the lower retaining star 1443.

[0353] The first adjusting screw 1457 for the first tensioning lever 1454 of the first return spring 1451 of the first actuator is passed through a bore in the first branch of the lower retaining star 1443. The first adjusting screw 1457 for the first tensioning lever 1454 of the first return spring 1451 of the first actuator is screwed into the thread of a bore in the first tensioning lever 1454 of the first return spring 1451 of the first actuator. The first adjusting screw 1457 for the first tensioning lever 1454 of the first return spring 1451 of the first actuator pre-tensions the first return spring 1451 of the first actuator.

[0354] The second adjusting screw 1458 for the second tensioning lever 1455 of the second return spring 1452 of the first actuator is passed through a bore in a second branch of the lower retaining star 1443. The second adjusting screw 1458 for the second tensioning lever 1455 of the second return spring 1452 of the second actuator is screwed into the thread of a bore in the second tensioning lever 1455 of the first return spring 1452 of the second actuator. The second adjusting screw 1458 for the second tensioning lever 1455 of the second return spring 1452 of the second actuator pre-tensions the second return spring 1452 of the second actuator.

[0355] The third adjusting screw 1459 for the third tensioning lever 1456 of the third return spring 1453 of the first actuator is passed through a bore in the third branch of the lower retaining star 1443. The third adjusting screw 1459 for the second tensioning lever 1455 of the third return spring 1453 of the third actuator is screwed into the thread of a bore in the third tensioning lever 1456 of the third return spring 1453 of the third actuator. The third adjusting screw 1459 for the third tensioning lever 1456 of the third return spring 1453 of the third actuator pre-tensions the third return spring 1453 of the third actuator.

[0356] For a further description of the function and the sub-devices, this document refers to the description of the Fig. 6, Fig. 7 and Fig. 28 and the reference list. Figure 30

[0357] Fig. Figure 30 shows the arrangement of the upper retaining star 1441 and the lower retaining star 1443 and the three spacer bolts 1460 and the first tension lever 1454 of the first return spring 1451 of the first actuator and the second tension lever 1455 of the second return spring 1452 of the second actuator and the third tension lever 1456 of the third return spring 1453 of the third actuator in isolation.

[0358] For a further description of the function and the sub-devices, this document refers to the description of the Fig. 6, Fig. 7, Fig. 28 and Fig. 29 and the reference list. Figure 31

[0359] Fig. 31 essentially corresponds to the Fig. 1 in the overhead view, with the extruder 30 of the Fig. 1 is replaced by the proposed extruder 1010 from the state of the art.

[0360] In order to operate the proposed extruder 1010, the device has the following features: Fig. 31 opposite the device of Fig. 1. An additional actuator actuation of 1600.

[0361] The actuator 1600 comprises a first actuator 1611 for actuating the first actuator of the proposed extruder 1010 by means of the first Bowden cable 1110. The first actuator 1611 includes the fifth motor 23 for actuating the first Bowden cable 1110. The first actuator 1611 for actuating the first actuator is fixedly attached to the printer frame 21 in the form of a linkage made of aluminum profiles. The first actuator 1611 for actuating the first actuator therefore does not contribute to the mass that the first motor 14 and the second motor 15 must accelerate during 3D printing. This fixed positioning of the first actuator 1611 on the printer frame 21 thus allows for accelerated 3D printing by the proposed device.

[0362] The actuator 1600 includes a second actuator 1612 for actuating the second actuator of the proposed extruder 1010 by means of the second Bowden cable 1120. The second actuator 1612 includes the sixth motor 25 for actuating the second Bowden cable 1120. The second actuator 1612 for actuating the second actuator is fixedly attached to the printer frame 21 in the form of a linkage made of aluminum profiles. Therefore, the second actuator 1612 for actuating the second actuator does not contribute to the mass that the first motor 14 and the second motor 15 must accelerate during 3D printing. This fixed positioning of the second actuator 1612 on the printer frame 21 thus allows for accelerated 3D printing by the proposed device.

[0363] The actuator 1600 includes a third actuator 1613 for actuating the third actuator of the proposed extruder 1010 by means of the third Bowden cable 1130. The third actuator 1613 includes the seventh motor 26 for actuating the third Bowden cable 1130. The third actuator 1613 for actuating the third actuator is fixedly attached to the printer frame 21 in the form of a linkage made of aluminum profiles. Therefore, the third actuator 1613 for actuating the third actuator does not contribute to the mass that the first motor 14 and the second motor 15 must accelerate during 3D printing. This fixed positioning of the third actuator 1613 on the printer frame 21 thus allows for accelerated 3D printing by the proposed device.

[0364] The actuator 1600, comprising the first actuator 1611, the second actuator 1612, and the third actuator 1613, is fixedly attached to the printer frame 21 by means of a rod made of aluminum profiles. This fixed positioning of the actuator 1600 on the printer frame 21 therefore allows for accelerated 3D printing by the proposed device.

[0365] The actuating device 10 for the clamping device, which is the tool changing device 200, is in Fig. 31 together with the seventh Bowden cable 1141 of the device, the first Bowden cable of the actuating device 10, shown in the Fig. 1 is not shown for clarity. The actuating device 10 for the clamping device, which is the tool changing device 200, is in Fig. 31 together with the eighth Bowden cable 1142 of the device, the second Bowden cable of the actuating device 10, shown in the Fig. Figure 1 is not shown for clarity. This fixed positioning of the actuating device 10 for the clamping device on the printer frame 21 allows for accelerated 3D printing by the proposed device.

[0366] The filament feeder 22 with the fourth motor is attached to the printer frame 21 in the form of a rod made of aluminum profiles. This fixed positioning of the filament feeder on the printer frame 21 allows for accelerated 3D printing by the proposed device.

[0367] In the Fig. Figure 31 shows, for clarity, the heated bed 16 and the third motor 17 for adjusting the Z-coordinate by raising or lowering the heated bed 16 using the spindle 18; the spindle 18 is not shown. The document presented here reveals in the Fig. 31 but expressly these device parts of the Fig. 1 and Fig. 4 also as device parts of the device of Fig. 31. In particular, the technical teaching includes the Fig. 31 all components of the Fig. 4 even if these are not explicitly drawn. Should an examining panel, during the examination of a patent application in a patent application procedure, question the drawing of the Fig. 31 unlisted sub-devices of the Fig. 1 and Fig. 4. If such a supplement is required, then it is deemed to be disclosed here.

[0368] For a further description of the function and the sub-devices of the device of Fig. 31 refers to the description of the document presented here Fig. 6, 7, 28 to 30 and the reference list. Figure 32

[0369] Fig. 32 essentially corresponds to the Fig. 1. It shows a proposed 3D printing device from an oblique perspective. For a further description of the function and the sub-devices of the device, see below. Fig. 31 refers to the description of the document presented here Fig. 6, 7, 28 to 31 and the reference list. Figure 33

[0370] Fig. 33 shows the sub-device of the Fig. 32, which shows the proposed extruder 1010, the Bowden cables 1110, 1120, 1130, the filament feed 1040, the filament drive 22 and the actuator actuation 1600 with the first actuator actuation 1611 and the second actuator actuation 1612 and the third actuator actuation 1613. For a further description of the function and the sub-devices of the device of Fig. 31 refers to the description of the document presented here Fig. 6, 7, 28 to 32 and the reference list. Figure 34

[0371] Fig. Figure 34b shows the actuator actuation 1600 with attached cover plate 1670 for the actuator actuation 1600 and with attached support bracket 1671 for the drive wheels 1651, 1652 and 1653 of the actuator actuation 1600.

[0372] Fig. Figure 34a shows the actuator actuation 1600 with the cover plate 1670 removed for the actuator actuation 1600 and with the support bracket 1671 removed for the drive wheels 1651, 1652 and 1653 of the actuator actuation 1600.

[0373] The first actuator actuation 1611 comprises a first lower deflection pulley 1621 of the first actuator actuation 1611 for the first actuator of the proposed extruder 1010. The first deflection pulley 1621 deflects the first toothed belt 1631 of the first actuator actuation 1611 for the first actuator of the proposed extruder 1010. The first actuator actuation 1611 comprises a first toothed belt 1631 of the first actuator actuation 1611 for the first actuator of the proposed extruder 1010. The first toothed belt 1631 of the first actuator actuation 1611 for the first actuator transmits the power of the fifth motor 23 to the first strand 1111 of the first Bowden cable 1110. The first actuator actuation 1611 comprises a first strand clamp 1641 of the first actuator actuation 1611 for the first actuator of the proposed extruder 1010.The first wire clamp 1641 of the first actuator actuation 1611 firmly fastens the first wire 1111 of the first Bowden cable 1110 to the first toothed belt 1631 of the first actuator actuation 1611. This allows the fifth motor 23, by means of the first actuator drive wheel 1651 of the first actuator actuation 1611, to exert a first tensile force for the first actuator via the first wire 1111 of the first Bowden cable 1110 onto the lower first connector 1491 of the first actuator.

[0374] Simultaneously, the first wire clamp 1641 of the first actuator actuation 1611 provides the abutment for the first wire 1111 of the first Bowden cable 1110, so that the first return spring 1451 of the first actuator can tension the first wire 1111 of the first Bowden cable 1110. The first actuator actuation 1611 includes a first actuator drive wheel 1651 of the first actuator actuation 1611 for the first actuator. The first actuator drive wheel 1651 of the first actuator actuation 1611 for the first actuator couples the fifth motor 23 to the first toothed belt 1631 of the first actuator actuation 1611 and thus to the first wire 1111 of the first Bowden cable 1110 and ultimately to the lower first connector 1491 of the first actuator. The first actuator actuation 1611 includes screws 1661 for positioning the fifth motor 23 and for tensioning the first toothed belt 1631.

[0375] The second actuator actuation 1612 comprises a second lower deflection pulley 1622 of the second actuator actuation 1612 for the second actuator of the proposed extruder 1010. The second deflection pulley 1622 deflects the second toothed belt 1632 of the second actuator actuation 1612 for the second actuator of the proposed extruder 1010. The second actuator actuation 1612 comprises a second toothed belt 1632 of the second actuator actuation 1612 for the second actuator of the proposed extruder 1010. The second toothed belt 1632 of the second actuator actuation 1612 for the second actuator transmits the power of the sixth motor 24 to the second strand 1121 of the second Bowden cable 1120. The second actuator actuation 1612 comprises a second strand clamp 1642 of the second actuator actuation 1612 for the second actuator of the proposed extruder 1010.The second wire clamp 1642 of the second actuator 1612 securely fastens the second wire 1121 of the second Bowden cable 1120 to the second toothed belt 1632 of the second actuator 1612. This allows the sixth motor 24, via the second actuator drive wheel 1652 of the second actuator 1612, to exert a second tensile force on the second actuator via the second wire 1121 of the second Bowden cable 1120 to the lower second connector 1492 of the second actuator. Simultaneously, the second wire clamp 1642 of the second actuator 1612 provides the abutment for the second wire 1121 of the second Bowden cable 1120, enabling the second return spring 1452 of the second actuator to tension the second wire 1121 of the second Bowden cable 1120. The second actuator actuation 1612 comprises a second actuator drive wheel 1652 of the second actuator actuation 1612 for the second actuator.The second actuator drive wheel 1652 of the second actuator actuation 1612 for the second actuator couples the sixth motor 24 to the second toothed belt 1632 of the second actuator actuation 1612 and thus to the second strand 1121 of the second Bowden cable 1120 and ultimately to the lower second connector 1492 of the second actuator. The second actuator actuation 1612 includes screws 1662 for positioning the sixth motor 24 and for tensioning the second toothed belt 1632.

[0376] The third actuator actuation 1613 comprises a third lower deflection pulley 1623 of the third actuator actuation 1613 for the third actuator of the proposed extruder 1010. The third deflection pulley 1623 deflects the third toothed belt 1633 of the third actuator actuation 1613 for the third actuator of the proposed extruder 1010. The third actuator actuation 1613 comprises a third toothed belt 1633 of the third actuator actuation 1613 for the third actuator of the proposed extruder 1010. The third toothed belt 1633 of the third actuator actuation 1613 for the third actuator transmits the power of the seventh motor 25 to the third wire 1131 of the third Bowden cable 1130. The third actuator actuation 1613 comprises a third wire clamp 1643 of the third actuator actuation 1613 for the third actuator of the proposed extruder 1010.The third wire clamp 1643 of the third actuator 1613 securely fastens the third wire 1131 of the third Bowden cable 1130 to the third toothed belt 1633 of the third actuator 1613. This allows the seventh motor 25 to exert a third tensile force on the third actuator via the third wire 1131 of the third Bowden cable 1130 to the lower third connector 1493 of the third actuator by means of the third actuator drive wheel 1653 of the third actuator 1613. Simultaneously, the third wire clamp 1643 of the third actuator 1613 provides the abutment for the third wire 1131 of the third Bowden cable 1130, enabling the third return spring 1453 of the third actuator to tension the third wire 1131 of the third Bowden cable 1130. The third actuator actuation 1613 includes a third actuator drive wheel 1653 of the third actuator actuation 1613 for the third actuator.The third actuator drive wheel 1653 of the third actuator actuation 1613 for the third actuator couples the seventh motor 25 to the third toothed belt 1633 of the third actuator actuation 1613 and thus to the third strand 1131 of the third Bowden cable 1130 and ultimately to the lower third connector 1493 of the third actuator. The third actuator actuation 1613 includes screws 1663 for positioning the seventh motor 25 and for tensioning the third toothed belt 1633.

[0377] For a further description of the function and the sub-devices of the device of Fig. 31 refers to the description of the document presented here Fig. 6, 7, 28 to 33 and the reference list. Figures 35 to 39

[0378] The Fig. Figures 35 to 39 explain the generation of a G-code for controlling the proposed device from a G-code for a conventional FDM printer.

[0379] The G-code represents the print data as described in the document presented here. Figure 35

[0380] The Fig. 35a, Fig. 35b and Fig. Figure 35c illustrates the procedure of the preferably computer-implemented method "Adaptive convolution". It is a highly simplified description of the process of the computer-implemented method. Figure 35a Step A.0

[0381] The proposed computer-implemented method begins in a first step A.0 by providing the G-code and a data processing system. Preferably, the data processing system includes a memory in which the program code of the computer-implemented method presented here is stored. Typically, the data processing system, more precisely one or more processor cores of the data processing system, executes the program code stored in the memory of the data processing system when the computer-implemented method proposed here is executed. Preferably, in step A.0, the data processing system reads the provided G-code into one or more memories of the data processing system. Preferably, in this first step A.0, the data processing system reads the G-code line by line into one or more memories of the data processing system.Typically, G-code is a human-readable string of characters printed on paper, with characters organized into lines. A general description of G-code can be found, for example, at https: / / en.wikipedia.org / wiki / G-code. G-code typically comprises a sequence of G-code lines, each containing characters in a specific order. A G-code line preferably contains fields separated by spaces. A semicolon in a G-code line denotes a comment. Comments are not relevant for processing the G-code. The data processing system preferably stores the lines as strings in a list, for example, named `lines`. The document presented here provides the following example: 32 str 20 G1 X117.537 Y114.882 33 str 6 G1 Z.3 34 str 11 G1 E2 F2400 35 str 24 ;TYPE: External perimeter 36 str 15 ; WIDTH: 0.650167 37 str 7 G1 F960 38 str 28 G1 X117.641 Y114.861 E.00773 39 str 15 ;WIDTH: 0.607274 Step B.1

[0382] In a second step B.1, the data processing system divides the extruder's G-coded movements into equidistant steps using a computer-implemented process step. This process step, whose program code and data are stored in one or more memory locations of the data processing system, is executed by the data processing system when this computer-implemented process step is carried out. This step is referred to as the equidistance step in the following. Thus, in the second step B.1, the data processing system executes this equidistance step using a computer-implemented process step. This process step, whose program code and data are stored in one or more memory locations of the data processing system, is executed by the data processing system when this computer-implemented process step is carried out.This is necessary so that the data processing system can perform meaningful computer-implemented filtering by means of a computer-implemented process step, the program code and data of which are stored in one or more memory locations of the data processing system, and whose program code is executed by the data processing system when this computer-implemented process step of the computer-implemented process is carried out. For this purpose, the data processing system uses, for example, the variable `prev_pt`. The variable `prev_pt` preferably contains the x- and y-coordinates of the point last read into a memory location of the data processing system.The exemplary computer-implemented procedure described in this document, which the data processing system executes by running corresponding program code in its memory, refers in this example exclusively to the x and y coordinates of the motion sequence. In general, however, the data processing system can also consider the z-coordinate, or any other defined axis of motion, when executing the program code of the computer-implemented program in its memory. Therefore, the computer-implemented procedure presented here is only an example.The processing of more than two axes of motion and degrees of freedom by the data processing system using a computer-implemented process step, the program code and data of which are stored in one or more memory locations of the data processing system, and the program code of which is executed by the data processing system when this computer-implemented process step of the computer-implemented process is expressly disclosed herein. This document enables a person skilled in the art to extend the principles disclosed herein to devices and computer-implemented processes with more than two axes of motion and degrees of freedom.The data processing system initializes the variable `prev_pt` with a start value, preferably in the example presented here, by means of a computer-implemented process step whose program code and data are stored in one or more memory locations of the data processing system and whose program code is executed by the data processing system when this computer-implemented process step of the computer-implemented process is carried out. This start value can, for example, be the home position of the tool in question.The data processing system iterates over the list entries (hereinafter referred to as "lines"), i.e., the lines of the G-code, by means of a computer-implemented process step whose program code and data are stored in one or more memory locations of the data processing system and whose program code is executed by the data processing system when this computer-implemented process step of the computer-implemented process is carried out. The data processing system processes the lines of the G-code line by line. Preferably, the data processing system temporarily stores the G-code in a suitable memory location of the data processing system.

[0383] In step B.1, the data processing system reads the next line of the G-code using a computer-implemented procedure step, the program code and data of which are stored in one or more memory locations of the data processing system, and the program code of which is executed by the data processing system when this computer-implemented procedure step of the computer-implemented procedure is executed.

[0384] For each line, the data processing system preferably proceeds by dividing the line, which is stored in a memory location of the data processing system, into fields separated by spaces. Each line therefore typically has one or more fields separated by spaces. Lines without fields can typically be ignored by the data processing system when executing the program code for this computer-implemented process step in its memory. The data processing system then checks, using a computer-implemented process step whose program code and data are stored in one or more memory locations of the data processing system and whose program code is executed by the data processing system when this computer-implemented process step is executed, whether the line contains a valid movement instruction.A valid movement command exists when exactly two conditions are met:

[0385] First, the first, leftmost field begins with "G0," "G1," or another firmware-specific command. For example, a command like "G28" might move the extruder to its home position. However, these commands can be labeled differently depending on the firmware vendor. Therefore, adapting the procedure to the specific circumstances may be necessary when revising this proposal. Furthermore, there are many other movement commands (e.g., "G2" for arcs). The initial draft of this document omitted these. Focusing on the G-code commands "G0" and "G1" proved sufficient for the development of this document. Experience has shown that the "G1" command accounts for 99.99% of all movement commands in a typical G-code file.Many G-code commands can be approximated and replaced by one or more "G1" commands.

[0386] Secondly, at least one other, arbitrary field begins with the letters "X" or "Y". This second condition typically refers to the implementation in the code used during the development process. Generally, the letter "Z" for the Z-axis, or any letter defined as an axis identifier, would also need to be considered here. In the code discussed here, the proposed method simplifies this by considering only X and Y movements as an example. Step Exam B.2

[0387] The data processing system checks, by means of a computer-implemented procedure step, whose program code and data are stored in one or more memory locations of the data processing system and whose program code is executed by the data processing system when this computer-implemented procedure step of the computer-implemented procedure is executed, whether the line stored in its memory is a valid G-code movement instruction.

[0388] If the line is a valid G-code motion instruction, the data processing system executes step B.3 by means of a computer-implemented procedure step, the program code and data of which are stored in one or more memories of the data processing system, and the program code of which the data processing system executes when this computer-implemented procedure step is executed.

[0389] If the line stored in the memory of the data processing system is not a valid G-code motion instruction, the data processing system executes step B.13 by means of a computer-implemented procedure step, the program code and data of which are stored in one or more memories of the data processing system, and the program code of which the data processing system executes when executing this computer-implemented procedure step.

[0390] A corresponding Python code might look like this, for example: `splitted_line = line.split() # check if line of G-Code contains movement in xy direction if LEN(splitted_line)>0 and (splitted_line[0] == 'GO' or splitted_line[0] == 'G1'): if 'X' in line or 'Y' in line:` Step B.3

[0391] Preferably, in step B.3, the data processing system reads the coordinates of the point that is targeted by the movement command recognized by the data processing system in the line (line) of the G-code into the memory of the data processing system by means of a computer-implemented procedure step, the program code and data of which are stored in one or more memory locations of the data processing system and the program code of which is executed by the data processing system when this computer-implemented procedure step of the computer-implemented procedure is executed.The coordinate values ​​x and y describe this point. If the G-code line `line` in the data processing system's memory does not contain new coordinates for each axis of movement, the data processing system typically takes the corresponding coordinate fro...

Claims

[1] Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a tripod (2) and wherein the device comprises an actuator block (3) wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the tripod (2) and wherein the tripod (2) is attached at a second end of the tripod (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) that can be determined using the method of direction vectors and wherein the first motor (14) moves the tool holder (4) in an X-direction depending on a control signal from the control device (27) and; wherein the second motor (15) moves the tool holder (4) in a Y direction depending on a control signal from the control device (27) and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) which is configured to transmit a first traction force, and that the device comprises a sixth motor (24) which is configured to transmit a second tractive force, and that the device includes a seventh motor (25) which is configured to transmit a third tractive force, and that the actuator block (3) includes a first storage means (1451) for the first tractive force of the fifth motor (23) and that the actuator block (3) includes a second storage medium (1452) for the second tractive force of the sixth motor (24) and that the actuator block (3) includes a third storage medium (1453) for the third traction force of the seventh motor (25) and that the first storage medium (1451) is designed, provided that the first storage medium (1451) has stored energy, to exert a first restoring force which opposes the first pulling force, and that the second storage medium (1452) is designed, provided that the second storage medium (1452) has stored energy, to exert a second restoring force which is directed against the second pulling force, and that the third storage means (1453) is designed, provided that the third storage means (1453) has stored energy, to exert a third restoring force which opposes the third pulling force, and that the fifth motor (23) is attached to the printer frame (21) and that the sixth motor (24) is attached to the printer frame (21) and wherein the seventh motor (25) is attached to the printer frame (21) and that the fifth motor (23) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction (r1) of the extruder path curve (B(p1, p2, p3)), and that, in the case of the use of a tripod (2), the fifth motor (23) is configured to displace the extruder head (1) relative to the tool holder (4) as a function of a control signal from the control device (27) in a first direction (r1) of the extruder path curve (B(p1, p2, p3)) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the sixth motor (24) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction (r2) of the extruder path (B(p1, p2, p3) or B(p1, p2, p3, p4, p5, p6)) depending on a control signal from the control device (27), and that, in the case of the use of a tripod (2), the sixth motor (24) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction (r2) of the extruder path (B(p1, p2, p3)) depending on a control signal from the control device (27) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, does not change substantially, and that the seventh motor (25) is configured to displace the extruder head (1) relative to the tool holder (4) by means of the tripod (2) in a third direction (r3) of the extruder path (B(p1, p2, p3) or B(p1, p2, p3, p4, p5, p5)) as a function of a control signal from the control device (27), and that, in the case of the use of a tripod (2), the seventh motor (25) is configured to displace the extruder head (1) relative to the tool holder (4) as a function of a control signal from the control device (27) in a third direction (r3) of the extruder path (B(p1, p2, p3)) such that the angle between the extruder block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the tripod (2) comprises a first positioning rod (1410) of a first positioning group and that the tripod (2) includes a second positioning rod (1415) of the first positioning group and that the actuator block (3) has a first sliding rod (1310) of a first actuator and that the actuator block (3) has a second sliding rod (1315) of the first actuator and that the first actuator comprises the lower first connector (1491) of the first actuator and first sliding rod (1310) of the first actuator and the second sliding rod (1315) of the first actuator and the upper first 10 connector (1461) of the first actuator and that the tripod (2) comprises a first positioning rod (1420) of a second positioning group and that the tripod (2) includes a second positioning rod (1425) of the second positioning group and that the actuator block (3) has a first sliding rod (1320) of a second actuator and that the actuator block (3) has a second sliding rod (1325) of the second actuator and that the second actuator comprises the lower second connector (1492) of the second actuator and the first sliding rod (1320) of the second actuator and the second sliding rod (1325) of the second actuator and the upper second connector (1462) of the second actuator and and the tripod (2) comprises a first positioning rod (1430) of a third positioning group and and the tripod (2) includes a second positioning rod (1435) of the third positioning group and that the actuator block (3) has a first sliding rod (1330) of a third actuator and that the actuator block (3) has a second sliding rod (1335) of the third actuator and that the third actuator comprises the lower third connector (1493) of the third actuator and the first sliding rod (1330) of the third actuator and the second sliding rod (1335) of the third actuator and the upper third connector (1463) of the third actuator and that a first ball joint (1471) of the first positioning rod (1410) of the first positioning linkage group of the first actuator connects the first positioning rod (1410) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a second ball joint (1472) of the second positioning rod (1415) of the first positioning linkage group of the first actuator connects the second positioning rod (1415) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a first ball joint (1473) of the first positioning rod (1420) of the second positioning linkage group of the second actuator connects the first positioning rod (1420) of the second positioning linkage group of the second actuator to the lower second connector (1492) of the second actuator and that a second ball joint (1474) of the second positioning rod (1425) of the second positioning linkage group of the second actuator connects the second positioning rod (1425) of the second positioning linkage group of the second actuator to the lower second connector (1493) of the second actuator and that a first ball joint (1475) of the first positioning rod (1430) of the third positioning linkage group of the third actuator connects the first positioning rod (1430) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that a second ball joint (1476) of the second positioning rod (1435) of the third positioning linkage group of the third actuator connects the second positioning rod (1435) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that the second direction is different from the first direction and that the third direction is different from the first direction and that the second direction is different from the third direction. [2] Device according to claim 1, where the angle between the first direction and the second direction is 120° and / or where the angle between the first direction and the third direction is 120° and / or where the angle between the second direction and the third direction is 120°. [3] Device according to one of claims 1 to 2, wherein the total mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the tripod (2) b and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the total mass of the extruder head (1) plus the mass of the tripod (2). [4] Device according to any one of claims 1 to 3, wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [5] Device according to any one of claims 1 to 4, wherein the fifth motor (23) is configured to move the extruder head (1) relative to the tool holder (4) in the first direction (r1) by means of the tripod (2) and a first Bowden cable (1010) depending on the control signal of the control device (27), and wherein the sixth motor (24) is configured to move the extruder head (1) relative to the tool holder (4) in the second direction (r2) by means of the tripod (2) and a second Bowden cable (1020) depending on the control signal of the control device (27), and wherein the seventh motor (25) is configured to move the extruder head (1) relative to the tool holder (4) in the third direction (r3) by means of the tripod (2) and a third Bowden cable (1030) depending on the control signal of the control device (27). [6] Methods for accelerated FDM printing with the following steps: Providing a device according to any one of claims 1 to 5; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data by means of the control device (27) and Control of the second motor (15) depending on the second pressure data by means of the control device (27) and Control of the fifth motor (23) depending on the fifth pressure data by means of the control device (27) and Control of the sixth motor (24) depending on the sixth pressure data by means of the control device (27) and Control of the seventh motor (25) depending on the seventh pressure data by means of the control device (27), characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [7] Methods for accelerated FDM printing with the steps Providing a device according to any one of claims 1 to 5; Providing print data; Provision of a data processing system; Processing the print data in the data processing system using a computer-implemented method and - Computer-implemented generation of low-pass filtered print data from the print data using the data processing system and - Computer-implemented generation of differential pressure data using the data processing system based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23) and Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24) and Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25) and where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be in a common file; Control of the first motor (14) depending on the first pressure data by means of the control device (27) and Control of the second motor (15) depending on the second pressure data by means of the control device (27) and Control of the fifth motor (23) depending on the fifth pressure data by means of the control device (27) and Control of the sixth motor (24) depending on the sixth pressure data by means of the control device (27) and Control of the seventh motor (25) depending on the seventh pressure data by means of the control device (27), characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [8] Device for accelerated FDM printing wherein the device comprises an extruder head (1) and wherein the device comprises a positioning linkage (2) and wherein the device comprises an actuator block (3) for actuating the positioning linkage and wherein the device comprises a first motor (14) and wherein the device comprises a second motor (15) and wherein the device comprises a tool holder (4) and wherein the device comprises a control device (27) and wherein the device comprises a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein the extruder head (1) is attached to a first end of the positioning linkage (2) and wherein the positioning linkage (2) is attached at a second end of the positioning linkage (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the extruder head (1) has an extruder block axis (1550) and wherein the extruder block axis (1550) has an angle to the actuator block axis (1205) that can be determined using the method of direction vectors and wherein the first motor (14) is configured to move the tool holder (4) in an X-direction depending on a control signal from the control device (27), and wherein the second motor (15) is configured to move the tool holder (4) in a Y direction depending on a control signal from the control device (27), and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) and that the device includes a sixth motor (24) and that the device includes a seventh motor (25) and that the fifth motor (23) is attached to the printer frame (21) and that the sixth motor (24) is attached to the printer frame (21) and that the seventh motor (25) is attached to the printer frame (21) and that the fifth motor (23) is configured to move the extruder head (1) relative to the tool holder (4) by means of the positioning linkage (2) in a first direction (r1) depending on a control signal from the control device (27), wherein the positioning linkage (2) is configured to allow, in conjunction with the actuator block (3) and the extruder head (1), a displacement of the extruder head (1) relative to the tool holder (4) by at least one degree of freedom of the extruder head (1) along this first direction (r1), and that the sixth motor (24) is configured to move the extruder head (1) relative to the tool holder (4) in a second direction (r2) by means of the positioning linkage (2) depending on a control signal from the control device (27), and that the positioning linkage (2) is designed to allow, in conjunction with the actuator block (3) and the extruder head (1), a displacement of the extruder head (1) relative to the tool holder (4) by a second degree of freedom of the extruder head (1) in this second direction (r2), and that the seventh motor (25) is configured to move the extruder head (1) relative to the tool holder (4) in a third direction (r3) by means of the positioning linkage (2) depending on a control signal from the control device (27), and that the positioning linkage (2) is designed to allow, in conjunction with the actuator block (3) and the extruder head (1), a displacement of the extruder head (1) relative to the tool holder (4) by a third degree of freedom of the extruder head (1) in this third direction (r3), and wherein the positioning linkage (2) in the case of a tripod (2) is configured as a positioning linkage (2) to prevent, in conjunction with the actuator block (3) and the extruder head (1), a rotation of the extruder head axis (1530) of the extruder head (1) relative to the actuator block axis (1205) of the actuator block (3), and that the tripod (2) comprises a first positioning rod (1410) of a first positioning group and that the tripod (2) includes a second positioning rod (1415) of the first positioning group and that the actuator block (3) has a first sliding rod (1310) of a first actuator and that the actuator block (3) has a second sliding rod (1315) of the first actuator and that the first actuator comprises the lower first connector (1491) of the first actuator and first sliding rod (1310) of the first actuator and the second sliding rod (1315) of the first actuator and the upper first 10 connector (1461) of the first actuator and that the tripod (2) comprises a first positioning rod (1420) of a second positioning group and that the tripod (2) includes a second positioning rod (1425) of the second positioning group and that the actuator block (3) has a first sliding rod (1320) of a second actuator and that the actuator block (3) has a second sliding rod (1325) of the second actuator and that the second actuator comprises the lower second connector (1492) of the second actuator and the first sliding rod (1320) of the second actuator and the second sliding rod (1325) of the second actuator and the upper second connector (1462) of the second actuator and and the tripod (2) comprises a first positioning rod (1430) of a third positioning group and and the tripod (2) includes a second positioning rod (1435) of the third positioning group and that the actuator block (3) has a first sliding rod (1330) of a third actuator and that the actuator block (3) has a second sliding rod (1335) of the third actuator and that the third actuator comprises the lower third connector (1493) of the third actuator and the first sliding rod (1330) of the third actuator and the second sliding rod (1335) of the third actuator and the upper third connector (1463) of the third actuator and that a first ball joint (1471) of the first positioning rod (1410) of the first positioning linkage group of the first actuator connects the first positioning rod (1410) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a second ball joint (1472) of the second positioning rod (1415) of the first positioning linkage group of the first actuator connects the second positioning rod (1415) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a first ball joint (1473) of the first positioning rod (1420) of the second positioning linkage group of the second actuator connects the first positioning rod (1420) of the second positioning linkage group of the second actuator to the lower second connector (1492) of the second actuator and that a second ball joint (1474) of the second positioning rod (1425) of the second positioning linkage group of the second actuator connects the second positioning rod (1425) of the second positioning linkage group of the second actuator to the lower second connector (1493) of the second actuator and that a first ball joint (1475) of the first positioning rod (1430) of the third positioning linkage group of the third actuator connects the first positioning rod (1430) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that a second ball joint (1476) of the second positioning rod (1435) of the third positioning linkage group of the third actuator connects the second positioning rod (1435) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that the second direction (r2) is different from the first direction (r1) and that the third direction (r3) is different from the first direction (r1) and that the third direction (r3) is different from the second direction (r2) and that the actuator block (3) includes a first storage medium (1451) and that the actuator block (3) includes a second storage medium (1452) and that the actuator block (3) includes a third storage medium (1453) and that the first storage medium (1451) is designed, provided that the first storage medium (1451) has stored energy, to exert a first restoring force which opposes the first pulling force, and that the second storage medium (1452) is designed, provided that the second storage medium (1452) has stored energy, to exert a second restoring force which is directed against the second pulling force, and that the third storage medium (1453) is arranged, provided that the third storage medium (1453) has stored energy, to exert a third restoring force which opposes the third pulling force. [9] Device according to claim 8, in the case of a tripod as positioning linkage (2) the angle between extruder block axis (1550) and actuator block axis (1205) which can be determined by the method of direction vectors does not change during the displacement. [10] Device according to claim 8 or 9, where the angle between the first direction (r1) and the second direction (r2) is 120° and / or where the angle between the first direction (r1) and the third direction (r3) is 120° and / or where the angle between the second direction (r2) and the third direction (r3) is 120°. [11] Device according to any one of claims 8 to 9, wherein the total mass of the mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of necessary means for force transmission plus the mass of the filament feed (1140) plus the mass of a third rail (19) for a displacement of the tool carrier (210) with the tool holder (4) and with the extruder head (1) and with the positioning linkage (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the sum of the mass of the extruder head (1) plus the mass of the positioning linkage (2). [12] Device according to any one of claims 8 to 11; wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [13] Device according to any one of claims 8 to 12, wherein the fifth motor (23) is configured to move the extruder head (1) firstly by means of a tripod (2) and secondly by means of a first Bowden cable (1010) relative to the tool holder (4) depending on the control signal of the control device (27) in the first direction (r1, 5701), and wherein the sixth motor (24) is configured to move the extruder head (1) firstly by means of the tripod (2) and secondly by means of a second Bowden cable (1020) relative to the tool holder (4) depending on the control signal of the control device (27) in the second direction (r2, 5702), and wherein the seventh motor (25) is configured to move the extruder head (1) firstly by means of the tripod (2) and secondly by means of a third Bowden cable (1030) relative to the tool holder (4) depending on the control signal of the control device (27) in the third direction (r3, 5703). [14] Methods for accelerated FDM printing with the steps Providing a device according to any one of claims 8 to 13; Providing initial pressure data for controlling the first motor (14) and Providing second pressure data for controlling the second motor (15) and Providing fifth pressure data for controlling the fifth motor (23) and Providing sixth pressure data for controlling the sixth motor (24) and Providing seventh pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be located in a common file on a common storage medium; Control of the first motor (14) depending on the first pressure data by means of the control device (27) and Control of the second motor (15) depending on the second pressure data by means of the control device (27) and Control of the fifth motor (23) depending on the fifth pressure data by means of the control device (27) and Control of the sixth motor (24) depending on the sixth pressure data by means of the control device (27) and Control of the seventh motor (25) depending on the seventh pressure data by means of the control device (27), characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [15] Methods for accelerated FDM printing with the steps Providing a device according to any one of claims 8 to 13; Providing print data; Provision of a data processing system; Processing the print data in the data processing system using computer-implemented methods, and - Generation of low-pass filtered print data from the print data using the data processing system and a computer-implemented method and - Generation of differential pressure data using the data processing system and a computer-implemented method based on the coordinate differences between the coordinates of the points of the print data minus the coordinates of the points of the low-pass filtered print data; Providing initial pressure data based on the low-pass filtered pressure data for controlling the first motor (14) and Providing second pressure data based on the low-pass filtered pressure data for controlling the second motor (15) and Providing fifth pressure data based on the differential pressure data for controlling the fifth motor (23), Providing sixth pressure data based on the differential pressure data for controlling the sixth motor (24), Providing seventh pressure data based on the differential pressure data for controlling the seventh motor (25), where the first print data, the second print data, the fifth print data, the sixth print data, and the seventh print data can be located in a common file on a common storage medium; Control of the first motor (14) depending on the first pressure data by means of the control device (27) and Control of the second motor (15) depending on the second pressure data by means of the control device (27) and Control of the fifth motor (23) depending on the fifth pressure data by means of the control device (27) and Control of the sixth motor (24) depending on the sixth pressure data by means of the control device (27) and Control of the seventh motor (25) depending on the seventh pressure data by means of the control device (27), characterized by that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the extruder head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the extruder head (1) relative to the actuator block (3). [16] Robots wherein the robot includes a tripod (2) and wherein the robot comprises an actuator block (3) wherein the robot comprises a tool block (1) wherein the robot comprises a first motor (14) and wherein the robot includes a second motor (15) and wherein the robot includes a tool holder (4) and wherein the robot comprises a control device (27) and wherein the robot includes a printer frame (21) and wherein the first motor (14) is attached to the printer frame (21) and wherein the second motor (15) is attached to the printer frame (21) and wherein a tool (11), in particular an extruder head (1), is attached to a first end of the tripod (2) and wherein the tripod (2) is attached at a second end of the tripod (2) to the actuator block (3) and wherein the actuator block (3) is attached to a tool holder (4) and wherein the actuator block (3) has an actuator block axis (1205) and wherein the tool (1), in particular the extruder head (1), has a tool block axis (1550) and wherein the tool block axis (1550) has an angle to the actuator block axis (1205) that can be determined by the method of direction vectors and wherein the first motor (14) is configured to move the tool holder (4) in an X direction depending on a control signal from the control device (27), and; wherein the second motor (15) is configured to move the tool holder (4) in a Y direction depending on a control signal from the control device (27), and where the X direction is different from the Y direction, characterized by that the device includes a fifth motor (23) which is configured to transmit a first traction force, and that the device includes a sixth motor (24) which is configured to transmit a second tractive force, and that the device includes a seventh motor (25) which is configured to transmit a third tractive force, and that the actuator block (3) includes a first storage means (1451) for the first tractive force of the fifth motor (23) and that the actuator block (3) includes a second storage medium (1452) for the second tractive force of the sixth motor (24) and that the actuator block (3) includes a third storage medium (1453) for the third traction force of the seventh motor (25) and that the first storage medium (1451) is designed, provided that the first storage medium (1451) has stored energy, to exert a first restoring force which opposes the first pulling force, and that the second storage medium (1452) is designed, provided that the second storage medium (1452) has stored energy, to exert a second restoring force which is directed against the second pulling force, and that the third storage means (1453) is designed, provided that the third storage means (1453) has stored energy, to exert a third restoring force which opposes the third pulling force, and that the fifth motor (23) is attached to the printer frame (21) and that the sixth motor (24) is attached to the printer frame (21) and wherein the seventh motor (25) is attached to the printer frame (21) and that the fifth motor (23) is configured to move the tool head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction (r1) of the spatial curve of the tool head (1), and that the fifth motor (23) in the case of the use of a tripod is configured to move the tool head (1) relative to the tool holder (4) by means of the tripod (2) as a function of a control signal from the control device (27) in a first direction (r1) of the space curve of the tool head (1) such that the angle between tool block axis (1550) and actuator block axis (1205), which can be determined by the method of direction vectors, does not change substantially, and that the sixth motor (24) is configured to move the tool head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction of the spatial curve of the tool head (1) depending on a control signal from the control device (27), and that the sixth motor (24) in the case of a tripod (2) is configured to displace the tool head (1) relative to the tool holder (4) by means of the tripod (2) in a second direction of the spatial curve of the tool head (1) as a function of a control signal from the control device (27), such that the angle between the tool block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the seventh motor (25) is configured to move the tool head (1) relative to the tool holder (4) by means of the tripod (2) in a third direction of the spatial curve of the tool head (1) depending on a control signal from the control device (27), and that the seventh motor (25) in the case of a tripod (2) is configured to move the tool head (1) relative to the tool holder (4) by means of the tripod (2) in a third direction of the spatial curve of the tool head (1) as a function of a control signal from the control device (27), such that the angle between the tool block axis (1550) and the actuator block axis (1205), which can be determined by the method of direction vectors, remains essentially unchanged, and that the tripod (2) comprises a first positioning rod (1410) of a first positioning group and that the tripod (2) includes a second positioning rod (1415) of the first positioning group and that the actuator block (3) has a first sliding rod (1310) of a first actuator and that the actuator block (3) has a second sliding rod (1315) of the first actuator and that the first actuator comprises the lower first connector (1491) of the first actuator and first sliding rod (1310) of the first actuator and the second sliding rod (1315) of the first actuator and the upper first 10 connector (1461) of the first actuator and that the tripod (2) comprises a first positioning rod (1420) of a second positioning group and that the tripod (2) includes a second positioning rod (1425) of the second positioning group and that the actuator block (3) has a first sliding rod (1320) of a second actuator and that the actuator block (3) has a second sliding rod (1325) of the second actuator and that the second actuator comprises the lower second connector (1492) of the second actuator and the first sliding rod (1320) of the second actuator and the second sliding rod (1325) of the second actuator and the upper second connector (1462) of the second actuator and and the tripod (2) comprises a first positioning rod (1430) of a third positioning group and and the tripod (2) includes a second positioning rod (1435) of the third positioning group and that the actuator block (3) has a first sliding rod (1330) of a third actuator and that the actuator block (3) has a second sliding rod (1335) of the third actuator and that the third actuator comprises the lower third connector (1493) of the third actuator and the first sliding rod (1330) of the third actuator and the second sliding rod (1335) of the third actuator and the upper third connector (1463) of the third actuator and that a first ball joint (1471) of the first positioning rod (1410) of the first positioning linkage group of the first actuator connects the first positioning rod (1410) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a second ball joint (1472) of the second positioning rod (1415) of the first positioning linkage group of the first actuator connects the second positioning rod (1415) of the first positioning linkage group of the first actuator to the lower first connector (1491) of the first actuator and that a first ball joint (1473) of the first positioning rod (1420) of the second positioning linkage group of the second actuator connects the first positioning rod (1420) of the second positioning linkage group of the second actuator to the lower second connector (1492) of the second actuator and that a second ball joint (1474) of the second positioning rod (1425) of the second positioning linkage group of the second actuator connects the second positioning rod (1425) of the second positioning linkage group of the second actuator to the lower second connector (1493) of the second actuator and that a first ball joint (1475) of the first positioning rod (1430) of the third positioning linkage group of the third actuator connects the first positioning rod (1430) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that a second ball joint (1476) of the second positioning rod (1435) of the third positioning linkage group of the third actuator connects the second positioning rod (1435) of the third positioning linkage group of the third actuator to the lower third connector (1493) of the third actuator and that the second direction (r2) is different from the first direction (r1) and that the third direction (r3) is different from the first direction (r1) and that the second direction (r2) is different from the third direction (r3). [17] Robot according to claim 16, where the angle between the first direction (r1) and the second direction (r2) is 120° and / or where the angle between the first direction (r1) and the third direction (r3) is 120° and / or where the angle between the second direction (r2) and the third direction (r3) is 120°. [18] Robot according to one of claims 16 to 17, wherein the total mass of the tool holder (4) plus the mass of the actuator block (3) plus the mass of any necessary means for force transmission, plus the mass of the filament feed (1140) plus the mass of a third rail (19) for displacement of the tool carrier (210) with the tool holder (4) and with the tool head (1) and with the tripod (2) and with the actuator block (3) in the X direction is greater than three times and / or greater than five times and / or greater than ten times and / or greater than fifteen times the total mass of the tool head (1) plus the tripod (2). [19] Robot according to any one of claims 16 to 18, wherein the device is arranged such that the acceleration value of the maximum acceleration with which the first motor (14) and the second motor (15) maximally accelerate the tool holder (4) is no more than 1 / 2 and / or no more than 1 / 3 and / or no more than 1 / 5 and / or no more than 1 / 10 and / or no more than 1 / 20 and / or no more than 1 / 30 and / or no more than 1 / 50 and / or no more than 1 / 100 of the acceleration value of the acceleration of the tool head (1) with which the fifth motor (23) and the sixth motor (24) and the seventh motor (25) maximally accelerate the tool head (1) relative to the actuator block (3). [20] Robot according to any one of claims 16 to 19, wherein the fifth motor (23) is configured to move the tool head (1) relative to the tool holder (4) in the first direction (r1, 5701) by means of the tripod (2) and by means of a first Bowden cable (1010) depending on the control signal of the control device (27), and wherein the sixth motor (24) is configured to move the tool head (1) relative to the tool holder (4) in the second direction (r2, 5702) by means of the tripod (2) and a second Bowden cable (1020) depending on the control signal of the control device (27), and wherein the seventh motor (25) is configured to move the tool head (1) relative to the tool holder (4) in the third direction (r3, 5703) by means of the tripod (2) and by means of a third Bowden cable (1030) depending on the control signal of the control device (27).

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