Multi-nozzle-switchable 3D printer, nozzle grabbing and butt-jointing method, nozzle separation method and control method

Abstract

A multi-nozzle-switchable 3D printer, a nozzle grabbing and butt-jointing method, a nozzle separation method and a control method. The 3D printer comprises a movement mechanism (4), a nozzle seat (1), and a plurality of nozzle bodies (2), the plurality of nozzle bodies (2) being positioned on a base (5) of the 3D printer, and the movement mechanism (4) being connected to the nozzle seat (1). The nozzle seat (1) is provided with a driving mechanism (11) and a female connector (12), the female connector (12) being transmissively connected to the driving mechanism (11). Each nozzle body (2) is provided with a male connector (21) and an extrusion mechanism (22), each male connector (21) being transmissively connected to an extrusion mechanism (22). Each male connector (21) can be plugged into the female connector (12) such that the female connector (12) is transmissively connected to the male connector (21), so as to achieve butt jointing between the nozzle seat (1) and a nozzle body (2) and enable the nozzle body (2) to leave the base (5).

Description

Multi-nozzle switching 3D printer, nozzle grabbing docking and separating method and control method

[0001] This application claims priority to Chinese Patent Application No. 202410477504.6, filed on April 19, 2024, and to Chinese Patent Application No. 202510395901.3, filed on March 31, 2025, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of three-dimensional (3D) printing equipment, for example, to a multi-nozzle switching 3D printer, a nozzle grabbing docking method, a nozzle separating method and a control method. BACKGROUND

[0003] A fused deposition modeling (FDM) 3D printer melts and deposits a printing material to a printing platform by heating a printing nozzle at a high temperature, and the melted printing material quickly solidifies when it contacts the printing platform. The printing nozzle deposits the printing material layer by layer along a set printing path to construct a model with a three-dimensional structure.

[0004] A nozzle assembly generally includes a driving mechanism, an extrusion mechanism and a hot end assembly, the hot end assembly includes a throat, a heating block and a nozzle, the extrusion mechanism is configured to deliver a filament downward, the driving mechanism provides power for the extrusion mechanism, the heating block is configured to heat the filament delivered by the extrusion mechanism, and the nozzle is configured to extrude the melted filament to the printing platform. The nozzle assembly is generally fixed on an X / Y slider to move in the X or Y direction.

[0005] To achieve multi-color / multi-material printing, two schemes can be used: (1) single nozzle plus material station, which has low efficiency in filament changing, and the original filament in the single nozzle needs to be completely discharged before the new filament is introduced, resulting in serious filament waste and long printing time; (2) multi-nozzle grabbing, each independent nozzle has a complete filament delivery mechanism and hot end assembly, where the filament delivery mechanism refers to the extrusion mechanism and the driving mechanism that drives the extrusion mechanism to move, which is heavy and costly. It is a technical problem to be improved to provide a printing system and a printing method that can quickly change color / material and reduce cost and weight. SUMMARY

[0006] The present application provides a multi-nozzle switching 3D printer, a nozzle grabbing docking method, a nozzle separating method and a control method, which can efficiently change filaments and reduce cost and weight.

[0007] The application provides a multi-nozzle switching 3D printer, comprising a motion mechanism and a nozzle assembly, wherein the nozzle assembly comprises a nozzle seat and a nozzle body, a plurality of replaceable nozzle bodies are hung on the base of the 3D printer, the motion mechanism is connected with the nozzle seat, the nozzle seat is provided with a driving mechanism and a female head, and the female head is in transmission connection with the driving mechanism.

[0008] The nozzle body is provided with a male head and an extrusion mechanism, and the male head is in transmission connection with the extrusion mechanism.

[0009] The female head can be inserted into the male head to realize transmission connection between the female head and the male head, docking between the nozzle seat and the nozzle body and making the nozzle body leave the base, or the female head can be separated from the male head to realize disconnection between the female head and the male head, separation between the nozzle seat and the nozzle body and making the nozzle body return to the base.

[0010] The application also provides a nozzle grabbing and docking method for multi-nozzle switching, which is applied to the multi-nozzle switching 3D printer.

[0011] The motion mechanism is used for controlling the nozzle seat to move to the front of the pre-grabbed nozzle body, the first matching part of the nozzle seat is matched and positioned with the first positioning part of the nozzle body, and the female head of the nozzle seat is inserted into the male head of the nozzle body.

[0012] After detecting that the nozzle seat grabs the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, the nozzle fixing position and the nozzle body are separated, and the nozzle grabbing is completed.

[0013] The application also provides a nozzle separation method for multi-nozzle switching, which is applied to the multi-nozzle switching 3D printer.

[0014] The motion mechanism is used for controlling the nozzle seat to move to the original nozzle fixing position, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body.

[0015] The power mechanism is controlled to work to drive the lock catch to move to the unlocking position and disengage the locking groove.

[0016] The first magnet of the nozzle fixing position is attracted to the second magnet of the nozzle body, the nozzle seat is controlled to move away from the nozzle body, and the separation between the nozzle body and the nozzle seat is realized.

[0017] The application also provides a control method for multi-nozzle switching, which is applied to the multi-nozzle switching 3D printer.

[0018] When the control system of the 3D printer issues a printing instruction, and a certain nozzle body needs to work, the nozzle seat is moved to the front of the pre-grabbed nozzle body through the motion mechanism, and the first matching part of the nozzle seat is positioned with the first positioning part of the nozzle body through cooperation, the female head of the nozzle seat is inserted with the male head of the nozzle body, and the power mechanism is controlled to work to drive the lock catch to the locking position and the locking slot to be clamped;

[0019] After detecting that the nozzle seat grabs the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, the positioning between the nozzle fixing position and the nozzle body is released, the nozzle is grabbed, and the printing task is executed;

[0020] When the printing task of the current nozzle body needs to be ended, the nozzle seat is moved to the original nozzle fixing position through the motion mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body;

[0021] The power mechanism is controlled to work to drive the lock catch to the unlocking position and the locking slot to be uncoupled;

[0022] The first magnet of the nozzle fixing position is attracted to the second magnet of the nozzle body, the nozzle seat is controlled to move away from the nozzle body, and the separation of the nozzle body and the nozzle seat is realized.

[0023] The application also provides a nozzle grabbing and docking method for a multi-nozzle switching 3D printer.

[0024] The nozzle seat is moved to the front of the pre-grabbed nozzle body through the motion mechanism, the first matching part of the nozzle seat is positioned with the first positioning part of the nozzle body through cooperation, and the female head of the nozzle seat is inserted with the male head of the nozzle body.

[0025] The locking mechanism of the nozzle seat is controlled to be locked with the nozzle body.

[0026] After detecting that the nozzle seat grabs the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, the positioning between the nozzle fixing position and the nozzle body is released, and the nozzle is grabbed.

[0027] The application also provides a nozzle separation method for a multi-nozzle switching 3D printer.

[0028] The nozzle seat is moved to the original nozzle fixing position through the motion mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body.

[0029] The locking mechanism of the nozzle seat is controlled to be unlocked with the nozzle body.

[0030] The first magnet of the nozzle fixed position and the second magnet of the nozzle body are attracted to each other, the nozzle seat is controlled to move away from the nozzle body, and separation of the nozzle body and the nozzle seat is realized.

[0031] The application also provides a control method for multi-nozzle switching, which is applied to the 3D printer for multi-nozzle switching.

[0032] When the control system of the 3D printer issues a printing instruction and a certain nozzle body needs to work, the nozzle seat is controlled to move to the front of the pre-grabbed nozzle body through the movement mechanism, the first matching part of the nozzle seat is matched and positioned with the first positioning part of the nozzle body, the female head of the nozzle seat is inserted with the male head of the nozzle body, and the locking mechanism of the nozzle seat is controlled to be locked with the nozzle body.

[0033] After it is detected that the nozzle seat grabs the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixed position, the positioning between the nozzle fixed position and the nozzle body is released, the grabbing of the nozzle is completed, and a printing task is executed.

[0034] When it is needed to end the printing task of the current nozzle body, the nozzle seat is controlled to move to the original nozzle fixed position through the movement mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body.

[0035] The locking mechanism of the nozzle seat is controlled to be unlocked with the nozzle body.

[0036] The first magnet of the nozzle fixed position and the second magnet of the nozzle body are attracted to each other, the nozzle seat is controlled to move away from the nozzle body, and separation of the nozzle body and the nozzle seat is realized. BRIEF DESCRIPTION OF DRAWINGS

[0037] Fig. 1 is a structural schematic view of the nozzle assembly of the application after butt joint and hanging on the X-axis beam;

[0038] Fig. 2 is an exploded structural schematic view of the nozzle assembly shown in Fig. 1 from one angle;

[0039] Fig. 3 is an exploded structural schematic view of the nozzle assembly shown in Fig. 1 from another angle;

[0040] Fig. 4 is a structural schematic view of the nozzle seat of the application;

[0041] Fig. 5 is a structural schematic view of the nozzle seat shown in Fig. 4 without a shell, and at this time, the lock catch is in an unlocked position;

[0042] Fig. 6 is a rear view of the nozzle body of the application;

[0043] Fig. 7 is a sectional view along A-A shown in Fig. 6;

[0044] FIG8 is a schematic diagram of the structure of the nozzle body of the present application excluding the front cover, the second elastic member, the steel ball, and the second bearing from a front view;

[0045] FIG9 is a schematic diagram of the three-dimensional structure of the nozzle body and the front cover separated from each other;

[0046] FIG10 is a schematic diagram of the structure of the nozzle assembly of the present application after docking (excluding the housing of the nozzle base), at which time the lock is in the locked position;

[0047] FIG11 is a schematic structural diagram of the transmission shaft and active wire feeding wheel of the present application;

[0048] FIG12 is a schematic structural diagram of the front cover of the present application from another angle;

[0049] FIG13 is a schematic structural diagram of a multi-nozzle switching 3D printer according to the present application;

[0050] FIG14 is a schematic structural diagram of the nozzle fixing position of the multi-nozzle switching 3D printer shown in FIG13 ;

[0051] FIG15 is a schematic structural diagram of a nozzle body according to a second embodiment of the present application;

[0052] FIG16 is a schematic structural diagram of a second locking mechanism according to a second embodiment of the present application;

[0053] FIG17 is an exploded view of the second locking mechanism of the second embodiment of the present application;

[0054] FIG18 is a schematic structural diagram of a locking ring in a locking position according to a second embodiment of the present application;

[0055] FIG19 is a schematic structural diagram of a locking ring in an unlocked position according to a second embodiment of the present application;

[0056] FIG20 is a schematic diagram of a first structure of a locking ring according to a second embodiment of the present application;

[0057] FIG21 is a second structural schematic diagram of a locking ring according to a second embodiment of the present application;

[0058] FIG22 is a schematic structural diagram of a planetary gear set according to a second embodiment of the present application;

[0059] FIG23 is an exploded view of a second locking mechanism according to a third embodiment of the present application;

[0060] FIG24 is a schematic structural diagram of a locking ring according to a third embodiment of the present application;

[0061] FIG25 is a front view of a fixing housing according to a third embodiment of the present application;

[0062] FIG26 is a front view of the fixing shell, the locking ring and the locking member according to the third embodiment of the present application.

[0063] In the figure: 100, 3D printer; 1, nozzle seat; 11, driving mechanism; 111, driving motor; 112, PCB circuit board; 12, female head; 13, shell; 131, first matching part; 1311, first positioning slope; 1312, second positioning slope; 1313, top surface; 132, butt joint hole; 14, base; 141, support; 142, opening; 15, lock catch; 16, first PCB circuit board; 17, second heat dissipation fan; 18, steering engine; 19, photoelectric sensor; 2, nozzle main body; 21, male head; 22, extrusion mechanism; 221, active wire feeding wheel; 2211, gear hob; 222, passive wire feeding wheel; 223, first elastic member; 224, jacking block; 23, hot end assembly; 231, nozzle; 232, throat; 233, heating block; 234, heat dissipation fin; 235, first heat dissipation fan; 24, front cover; 241, first positioning hole; 242, second positioning hole; 243, second magnet; 244, third magnet; 25, rear cover; 251, rotating shaft; 252, protruding part; 253, first positioning part; 26, transmission shaft; 27, positioning wheel; 271, locking groove; 281, second elastic member; 282, steel ball; 283, sleeve; 291, first bearing; 292, second bearing; 3, wire material; 4, movement mechanism; 41, linear guide rail; 42, X-axis beam; 43, sliding block; 44, X-axis sliding block; 5, base; 51, nozzle fixing position; 511, first positioning pin; 512, second positioning pin; 513, first magnet; 52, Hall sensor; 6, second locking mechanism; 61, locking joint; 611, locking boss; 62, locking ring; 621, abutting part; 622, driving tooth segment; 63, driving member; 631, driving gear; 632, speed reduction motor; 64, fixed shell; 641, annular locking frame; 6411, sliding groove; 6412, locking hole; 6413, limiting edge; 651, locking plate; 652, first locking slope; 66, retaining ring; 67, sliding bearing; 68, locking member; 7, planetary gear set; 71, outer gear ring; 72, output gear; 73, planet carrier; 731, first limiting protrusion; 74, planet wheel; 8, elastic mechanism; 81, spring; 82, spring base; 821, limiting part; 822, large diameter part; 823, small diameter part. DETAILED DESCRIPTION

[0064] In order to understand the technical scheme of the present application, the following will be described in combination with the drawings and examples.

[0065] In the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0066] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0067] First embodiment

[0068] Referring to FIGS. 1-12, the structure of an embodiment of the present application comprising a quick-dockable nozzle assembly is shown. The 3D printer comprises a motion mechanism 4 and a nozzle assembly. A plurality of nozzle bodies 2 are positioned on the base 5 of the 3D printer. The quick-dockable nozzle assembly comprises a nozzle seat 1 and at least one nozzle body 2. The base 5 of the 3D printer is provided with a plurality of replaceable nozzle bodies 2. The nozzle seat 1 can be provided on the motion mechanism 4 of the 3D printer, which can be an X-axis, Y-axis or Z-axis motion mechanism, etc. The motion mechanism 4 is connected with the nozzle seat 1. The nozzle body 2 comprises a male head 21 and an extrusion mechanism 22. The nozzle seat 1 has a driving mechanism 11 and a female head 12, which is in driving connection with the driving mechanism 11; the nozzle body 2 comprises a male head 21, an extrusion mechanism 22 and a hot end assembly 23, the male head 21 is in driving connection with the extrusion mechanism 22, and the extrusion mechanism 22 is arranged to extrude the filament 3 to the hot end assembly 23. The female head 12 can be quickly inserted with the male head 21 to drive the female head 12 and the male head 21, so that the nozzle seat 1 and the nozzle body 2 are docked; the female head 12 and the male head 21 can also be quickly separated to disconnect the driving connection between the female head 12 and the male head 21, so that the nozzle seat 1 and the nozzle body 2 are separated. The female head 12 can be inserted with the male head 21 to drive the female head 12 and the male head 21, so that the nozzle seat 1 and the nozzle body 2 are docked to make the nozzle body 2 leave the base 5; or the female head 12 can be separated from the male head 21 to disconnect the driving connection between the female head 12 and the male head 21, so that the nozzle seat 1 and the nozzle body 2 are separated to make the nozzle body 2 return to the base 5.

[0069] The structure of the nozzle seat 1 and the nozzle body 2 is described below.

[0070] As shown in FIG. 4 and FIG. 5, the nozzle base 1 comprises a shell 13 and a base 14, the shell 13 and the base 14 are buckled to form a containing space. The drive mechanism 11 comprises a drive motor 111 and a PCB circuit board 112, the drive motor 111 and the PCB circuit board 112 are arranged in the containing space, the PCB circuit board 112 is arranged to control the drive motor 111, and the output shaft of the drive motor 111 is fixedly connected with the female head 12. The shape of the female head 12 is not limited, and the female head 12 can be complementary to the male head 21 to realize the mating connection, in the embodiment, the female head 12 is a recessed star-shaped key, and the male head 21 arranged on the nozzle body 2 is a protruding star-shaped structure, the star-shaped key and the star-shaped structure are inserted and matched to transmit the power of the drive motor 111 to the extrusion mechanism 22 through the male head 21.

[0071] As shown in FIG. 6 to FIG. 9, the nozzle body 2 comprises a front cover 24 and a rear cover 25, the front cover 24 and the rear cover 25 are buckled to form a containing space. The rear cover 25 is arranged closer to the nozzle base 1 than the front cover 24. The nozzle body 2 further comprises a transmission shaft 26, one end of the transmission shaft 26 has a protruding star-shaped structure, i.e. the male head 21. The star-shaped structure is located outside the containing space, protrudes from the rear cover 25 and is arranged towards the female head 12 of the nozzle base 1, and the remaining part of the transmission shaft 26 is located in the containing space. When the male head 21 is inserted into the female head 12, the male head 21 is at least partially located in the nozzle base 1. The female head 12 can also protrude from the shell 13 of the nozzle base 1, and the male head 21 is located in the nozzle body 2, when the male head 21 is inserted into the female head 12, the female head 12 is located in the nozzle body 2. The male head 21 protrudes from the rear cover 25, when the male head 21 is inserted into the female head 12, the male head 21 is at least partially located in the nozzle base 1, or the female head 12 protrudes from the shell 13 of the nozzle base 1, when the male head 21 is inserted into the female head 12, the female head 12 is at least partially located in the nozzle body 2.

[0072] As shown in FIG. 8, FIG. 9 and FIG. 11, the extrusion mechanism 22 comprises a driving godet 221 and a driven godet 222, the driving godet 221 is sleeved on the outer periphery of the shaft body of the transmission shaft 26 without the star structure, and the driving godet 221 can rotate with the transmission shaft 26. One circle of the outer periphery of the driving godet 221 is provided with an inner recessed gear 2211, and the wire material 3 is extruded downward from the gap between the gear 2211 of the driving godet 221 and the driven godet 222. The driven godet 222 is a top tight bearing in this embodiment, and the top tight bearing is tightly pressed between the top tight bearing and the driving godet 221 by a top tight mechanism. The top tight mechanism comprises a first elastic member 223 and a top tight block 224, the top tight bearing is arranged at one end of the top tight block 224, a rotating shaft 251 is arranged on the inner side of the rear cover 25, the middle part of the top tight block 224 is fixed on the rotating shaft 251 and can rotate around the rotating shaft 251, the other end of the top tight block 224 is provided with a limiting groove, one end of the first elastic member 223 is located in the limiting groove, and the other end of the first elastic member 223 abuts against the protruding part 252 on the inner side of the rear cover 25. The first elastic member 223 can make the one end of the top tight block 224 provided with the top tight bearing close to the driving godet 221, so that the top tight bearing cooperates with the gear 2211 of the driving godet 221 to complete the extrusion of the wire material 3. As another embodiment, the driven godet 222 can also be a gear with a gear 2211, and the driving godet 221 and the driven godet 222 are in meshing transmission, and the wire material 3 is extruded from the gap between the gear 2211 of the driving godet 221 and the gear 2211 of the driven godet 222.

[0073] The hot end assembly 23 is a conventional accessory of the FDM printer, and its function structure will not be described in detail here. Generally, the hot end assembly 23 comprises a nozzle 231, a throat pipe 232, a heating block 233, a heat sink 234 and a first heat dissipation fan 235, the wire material 3 after being extruded from the extrusion mechanism 22 enters the throat pipe 232, the heating block 233 heats and melts the wire material, and then the wire material is extruded from the nozzle 231 and accumulated layer by layer on the printing platform (not shown in the figure) of the 3D printer to manufacture a 3D object. The heat sink 234 and the first heat dissipation fan 235 are arranged to timely remove the heat transferred to the upper part of the throat pipe 232 by the heating block 233.

[0074] In order to realize the quick plug-in positioning of the male head 21 and the female head 12, the nozzle assembly is further provided with a first positioning structure. The first positioning structure comprises a first positioning part 253 and a first matching part 131.

[0075] The first positioning part 253 is arranged on the nozzle body 2, for example, on the outside of the rear cover 25. In this embodiment, the inside of the rear cover 25 refers to the side relatively close to the front cover 24, and the outside of the rear cover 25 refers to the side relatively far from the front cover 24. The first matching part 131 is arranged on the side of the shell 13 of the nozzle seat 1 close to the rear cover 25. The shape of the first positioning part 253 is not limited, and in principle, as long as it is complementary to the shape of the first matching part 131. In this embodiment, the side of the shell 13 of the nozzle seat 1 close to the rear cover 25 is provided with a docking hole 132, which is arranged to allow the male head 21 of the nozzle assembly to pass through the shell 13 and dock with the female head 12 inside the shell 13. A plurality of first matching parts 131 are circumferentially distributed around the docking hole 132, and the first matching parts 131 protrude outward / inward, and the width of the first matching parts 131 gradually decreases along the protruding direction / recess direction of the first matching parts 131. The number, shape, and position of the first positioning part 253 are matched with the first matching part 131, and the first positioning part 253 is recessed inward / protrudes outward. As shown in FIG. 4, four first matching parts 131 are uniformly distributed around the docking hole 132 in a circumferential direction, the first matching parts 131 protrude outward, and the width of the first matching parts 131 gradually decreases along the protruding direction of the first matching parts 131. Such design facilitates quick positioning with the first positioning part 253. In addition, in order to facilitate quick positioning with the first positioning part 253, the first matching part 131 has a first positioning slope 1311, a second positioning slope 1312, and a top surface 1313. The first positioning slope 1311 is arranged at an angle of 20-80° with the shell 13 of the nozzle seat 1, the second positioning slope 1312 is arranged at an angle of 20-80° with the shell 13 of the nozzle seat 1, and the top surface 1313 connects the first positioning slope 1311 and the second positioning slope 1312. The number, shape, and position of the first positioning part 253 are matched with the first matching part 131, and the first positioning part 253 has a recessed groove structure. The two sets of slopes can accurately ensure the combination and separation of the nozzle seat 1 and the nozzle body 2. The first positioning part 253 is located on the side of the rear cover 25 relatively close to the nozzle seat 1, the first matching part 131 is located on the side of the shell of the nozzle seat 1 relatively close to the nozzle body 2, and the first positioning part 253 and the first matching part 131 are complementarily matched and positioned.

[0076] The shape of the first matching part 131 is not limited to that shown in FIG. 4, and can also be other shapes; the first matching part 131 can be a recessed structure, and the first positioning part 253 is a protruding structure; the number of first matching parts 131 is not limited, for example, two or more; the first matching parts 131 can also be unevenly distributed around the docking hole 132, and the distribution of the first positioning part 253 is consistent therewith.

[0077] The spray head assembly further comprises a locking mechanism, one part of the locking mechanism is arranged in the spray head seat 1, the other part of the locking mechanism is arranged in the spray head body 2, the locking mechanism has a locked position and an unlocked position; when the female head 12 is inserted with the male head 21, the locking mechanism is in the locked position, when the locking mechanism is in the unlocked position, the female head 12 can be separated from the male head 21. The locking mechanism comprises the following first locking mechanism or second locking mechanism.

[0078] On the basis of the first positioning structure, the spray head seat 1 and the spray head body 2 have been accurately positioned and aligned, the male head 21 and the female head 12 can be inserted and connected, but the connection between the spray head seat 1 and the spray head body 2 is still unreliable, when applied to the overall 3D printing system, the positioning action (such as magnetic attraction) between the spray head body 2 and the base 5 of the 3D printer needs to be overcome without disconnection, and the first locking mechanism is also needed. The first locking mechanism comprises a lock catch 15, a positioning wheel 27, and a power mechanism for driving the movement of the lock catch 15, in the present embodiment, the power mechanism is a steering engine 18, the lock catch 15 is connected with the steering engine 18, and the steering engine 18 can drive the lock catch 15 to move between the unlocked position and the locked position. In order to save electrical components and make the 3D printer with multiple spray head bodies 2 share a set of driving mechanism 11, the steering engine 18 and the lock catch 15 are arranged in the shell 13 of the spray head seat 1, and the positioning wheel 27 is arranged in the spray head body 2. The spray head seat 1 is further provided with a detection mechanism and a first PCB circuit board 16, the detection mechanism (including a Hall sensor or a photoelectric sensor) is arranged to monitor the position of the lock catch 15 and to monitor whether the spray head seat 1 is successfully connected with the spray head body 2; the spray head fixing position 51 is provided with a detection device arranged to detect whether there is a spray head body 2 in the spray head fixing position 51. In order to detect the position of the lock catch 15, a detection mechanism can be arranged in the spray head seat 1, such as arranging a magnet on the lock catch 15 and arranging a Hall sensor 52 near the lock catch 15, when the lock catch 15 is in the unlocked position / locked position, the Hall sensor 52 detects the signal of the magnet, thereby detecting the position of the lock catch 15. In addition, in order to detect whether the spray head seat 1 has grasped the spray head body 2, a photoelectric sensor 19 can also be arranged on the spray head seat 1. The first PCB circuit board 16 integrating the photoelectric sensor 19 and the Hall sensor is exemplarily shown in FIG. 5.

[0079] The positioning wheel 27 is located at the center of the first positioning part 253 of the rear cover 25, and the positioning wheel 27 protrudes outward from the rear cover 25. The diameter of the positioning wheel 27 is matched with the docking hole 132. When the male head 21 and the female head 12 are docked, the positioning wheel 27 is at least partially located in the shell 13 of the nozzle seat 1. The positioning wheel 27 has a locking groove 271 in the circumferential direction thereof. When the male head 21 and the female head 12 are docked, the locking groove 271 is located in the shell 13 of the nozzle seat 1. The rudder 18 drives the lock 15 to swing upward from the unlocking position to the locking position. At this time, the lock 15 is clamped with the locking groove 271. When the male head 21 and the female head 12 need to be separated, the rudder 18 drives the lock 15 to move downward from the locking position to the unlocking position. The lock 15 is disengaged from the locking groove 271. The power mechanism and the lock 15 are located in the nozzle seat 1. The locking groove 271 is located in the nozzle body 2. The lock 15 can be driven by the power mechanism to move to the unlocking position and the locking position. In the locking position, the lock 15 is clamped with the locking groove 271. In the unlocking position, the lock 15 is separated from the locking groove 271.

[0080] As shown in FIGS. 7 and 9, the nozzle body 2 further comprises a second elastic member 281, a steel ball 282, and a sleeve 283. The sleeve 283 is arranged on the side of the rear cover 25 close to the front cover 24. The second elastic member 281 is located in the sleeve 283. The steel ball 282 is located between the second elastic member 281 and the transmission shaft 26. The second elastic member 281 and the steel ball 282 make the transmission shaft 26 have a certain elastic extension. If the first docking angle is problematic when the male head 21 and the female head 12 are docked, the transmission shaft 26 can be compressed and retreated to adjust the docking position. The second elastic member 281 and the steel ball 282 provide a buffer space, improve the docking success rate and docking speed. In addition, the nozzle body 2 further comprises a first bearing 291 and a second bearing 292. The first bearing 291 and the second bearing 292 are respectively sleeved on both ends of the driving wire feeding wheel 221, and play a supporting role.

[0081] In addition, as shown in FIG. 10, the nozzle seat 1 can further be provided with a second cooling fan 17. The second cooling fan 17 is arranged below the PCB circuit board 112 and is arranged to cool the PCB circuit board 112. The base 14 is further provided with a support 141. The support 141 extends outward from the base 14. After the nozzle body 2 and the nozzle seat 1 are docked, the support 141 contacts the lower end of the nozzle body 2 and plays a supporting role. The supports 141 have an opening 142 therebetween, which allows the hot end assembly 23 to pass through and does not affect the normal printing work of the hot end assembly 23.

[0082] The quick docking nozzle assembly described above realizes the separation of the electrical elements and the nozzle body 2 by arranging the driving motor 111 and its PCB circuit board 112, the power mechanism rudder 18 in the first locking mechanism, the detection mechanism and its first PCB circuit board 16, etc. in the nozzle seat 1, so that a set of electrical elements can be shared by the multi-nozzle printing system, and there is no need to arrange a corresponding driving mechanism 11 of the extrusion mechanism 22 in each nozzle body 2, which can save costs and reduce the occupied space and weight of the multiple nozzle bodies 2. When a nozzle of a certain color / material is needed, the nozzle seat 1 only needs to be moved in front of the corresponding nozzle body 2 and docked to grab the nozzle of the color / material for printing, thereby improving the printing efficiency.

[0083] In addition, when the nozzle seat 1 is docked with the nozzle body 2, only mechanical docking is involved, and no electrical docking is involved, which can prolong the service life of the electrical elements to a certain extent.

[0084] On the other hand, when the nozzle body 2 is blocked, the hot end assembly 23 without quick disassembly usually needs to be disassembled from the movement mechanism 4 and then disassembled and replaced, which is not convenient for disassembly and reinstallation. However, the embodiment can disassemble and replace the hot end assembly 23 after disassembling the nozzle body 2, which is convenient for maintenance. For users with poor hands-on ability, the old nozzle body 2 can be disassembled and replaced with a new nozzle body 2, thereby reducing the difficulty of user maintenance.

[0085] Referring to FIG. 13, it is a structural schematic diagram of an embodiment of the application of the above-mentioned quick docking nozzle assembly to a multi-nozzle switching 3D printer 100. The multi-nozzle switching 3D printer 100 of the embodiment includes a movement mechanism 4, a nozzle seat 1 and multiple nozzle bodies 2. The 3D printer usually needs X, Y and Z three-axis movement mechanisms. Taking a 3D printer with a printing platform (not shown in the figure) for example, the nozzle seat 1 needs to move in X and Y directions. The 3D printer 100 includes a rectangular base 5, the Y-axis movement mechanism is arranged in the form of a linear guide rail 41 on the parallel sides of the base 5, the X-axis cross beam 42 is slidably connected to the linear guide rail 41 through the sliding blocks 43 at both ends, the X-axis sliding block 44 is fixed above the housing 13 of the nozzle seat 1, the X-axis sliding block 44 is slidably connected to the X-axis cross beam 42, and the movement mechanism 4 (the motor driving the movement mechanism 4 is not shown in the figure) can drive the nozzle seat 1 to move along the X and Y axes.

[0086] As shown in FIG. 14, the base 5 is provided with a plurality of nozzle fixing positions 51 on the side opposite to the first matching part 131 of the nozzle seat 1, and each nozzle fixing position 51 is provided with a second positioning structure. A plurality of replaceable nozzle bodies 2 are hung on the base 5 through the second positioning structure. The plurality of nozzle bodies 2 are of the same structure, and the extruded filaments can be different, such as different colors or different materials. The second positioning structure includes a first positioning pin 511, a second positioning pin 512, and a first magnet 513. Correspondingly, as shown in FIG. 9 and FIG. 12, the front cover 24 of the nozzle body 2 is provided with a corresponding first positioning hole 241, a second positioning hole 242, and a second magnet 243 arranged on the inner side of the front cover 24. Here, the inner side of the front cover 24 refers to the side close to the rear cover 25. The first positioning hole 241 of the nozzle body 2 matches the first positioning pin 511, the second positioning hole 242 matches the second positioning pin 512, and the first magnet 513 is attracted to the second magnet 243, thereby fixing the nozzle body 2 on the base 5. In order to detect whether there is a nozzle body 2 hung at the current position, a Hall sensor 52 can be arranged at the position, and a third magnet 244 is arranged inside the corresponding nozzle body 2. When the nozzle body 2 is hung on the nozzle fixing position 51, the magnetic field of the third magnet 244 can be detected by the Hall sensor 52. The third magnet 244 is only arranged for detection, and its volume can be small. The first magnet 513 and the second magnet 243 are arranged to provide magnetic attraction force, and magnets with larger magnetic force are needed, and the magnetic poles of the first magnet 513 and the second magnet 243 are opposite.

[0087] In order to increase the printing speed, the number of nozzle seats 1 can also be two or more, and two or more nozzles print on the same printing platform.

[0088] Based on the structure of the above-mentioned multi-nozzle switching 3D printer 100, the embodiment provides a nozzle grabbing and docking method for multi-nozzle switching. A plurality of nozzle bodies 2 are hung on respective nozzle fixing positions 51, which includes the following steps:

[0089] When the control system of the 3D printer 100 issues a printing instruction and a certain nozzle body 2 needs to work, the nozzle seat 1 is controlled by the movement mechanism 4 to move to the front of the pre-grabbed nozzle body 2, and the first matching part 131 of the nozzle seat 1 is matched and positioned with the first positioning part 253 of the nozzle body 2, the female head 12 of the nozzle seat 1 is inserted with the male head 21 of the nozzle body 2, the control rudder 18 is controlled to work to drive the lock buckle 15 to move to the locking position and be clamped with the positioning wheel 27;

[0090] After the photoelectric sensor detects that the nozzle seat 1 grabs the corresponding nozzle body 2, the nozzle seat 1 is controlled to move away from the nozzle fixing position 51, overcoming the attraction force between the first magnet 513 of the nozzle fixing position 51 and the second magnet 243 of the nozzle body 2, and completing the grabbing of the nozzle. The nozzle performs a printing task.

[0091] The embodiment also provides a multi-nozzle switching nozzle separation method, comprising the following steps:

[0092] When the control system of the 3D printer 100 issues a printing instruction and needs to end the printing task of the current nozzle body 2, the nozzle base 1 is controlled to move to the original nozzle fixing position 51 by the movement mechanism 4, the first positioning pin 511 is inserted into the first positioning hole 241 of the nozzle body 2, and the second positioning pin 512 is inserted into the second positioning hole 242 of the nozzle body 2.

[0093] The steering mechanism 18 is controlled to work so as to drive the lock buckle 15 to move to the unlocking position and disengage from the positioning wheel 27;

[0094] The first magnet 513 of the nozzle fixing position 51 is attracted to the second magnet 243 of the nozzle body 2, the nozzle base 1 is controlled to move away from the nozzle body 2, and the separation of the nozzle body 2 and the nozzle base 1 is realized.

[0095] The above 3D printer is suitable for multi-color / multi-material printing. The filaments of the plurality of nozzle bodies 2 can be of different colors / materials. When a nozzle of a certain color / material is needed, the nozzle base 1 only needs to be moved in front of the corresponding nozzle body 2 and docked to grasp the nozzle of the color / material for printing. When switching is needed, the original nozzle body 2 is only needed to be placed back to the original position, and then a new nozzle body 2 is grasped to realize color / material switching. The grasping and placing method is simple, the docking speed is fast and reliable. Compared with a single-nozzle multi-filament system, the process of spitting out the filament (the original filament needs to be spit out and then a new filament is entered) is avoided, and the printing speed is greatly improved.

[0096] Compared with a plurality of nozzle bodies 2 each independently provided with an electrical element, the above nozzle grasping and docking method only needs to perform mechanical structure docking and does not need to perform electrical docking, so the docking speed is faster.

[0097] The application provides a multi-nozzle switching control method, which is applied to the above multi-nozzle switching 3D printer and comprises the following steps:

[0098] When the control system of the 3D printer issues a printing instruction and a certain nozzle body is needed to work, the nozzle base is controlled to move to the front of the pre-grasped nozzle body by the movement mechanism, the first positioning part of the nozzle base is positioned by cooperating with the first positioning part of the nozzle body, the female head of the nozzle base is inserted into the male head of the nozzle body, and the power mechanism is controlled to work to drive the lock buckle to move to the locking position and engage with the locking groove.

[0099] After it is detected that the nozzle base grasps the corresponding nozzle body, the nozzle base is controlled to move away from the nozzle fixing position, the positioning between the nozzle fixing position and the nozzle body is released, the grasping of the nozzle is completed, and a printing task is executed.

[0100] When it is needed to end the printing task of the current printhead body, the printhead base is controlled to move to the original printhead fixing position by the movement mechanism, the first positioning pin is inserted into the first positioning hole of the printhead body, and the second positioning pin is inserted into the second positioning hole of the printhead body;

[0101] The power mechanism is controlled to work so as to drive the lock catch to move to the unlocking position and disengage from the locking groove;

[0102] The first magnet of the printhead fixing position is attracted to the second magnet of the printhead body, the printhead base is controlled to move away from the printhead body, and the separation of the printhead body and the printhead base is realized.

[0103] Second embodiment

[0104] In the present embodiment, the first locking mechanism can also be replaced by the second locking mechanism.

[0105] As shown in FIGS. 15-19, the second locking mechanism 6 comprises a locking connector 61, a locking ring 62, a locking structure and a driving member 63. The locking connector 61 is arranged on the printhead body 2 and has a locking boss 611. The driving member 63 and the locking ring 62 are arranged on the printhead base 1. The locking structure is arranged in the locking ring 62. The driving member 63 can drive the locking ring 62 to rotate so as to make the locking ring 62 have a locking position (as shown in FIG. 18) and an unlocking position (as shown in FIG. 19). When the locking ring 62 is in the unlocking position, the locking boss 611 can pass through the locking ring 62. When the locking ring 62 is in the locking position, the locking structure can be clamped between the locking boss 611 and the printhead body 2 and abut against the locking boss 611, so as to lock the printhead body 2 and the printhead base 1.

[0106] In the printhead assembly, the printhead body 2 and the printhead base 1 are connected by the second locking mechanism 6 and are convenient to quickly disassemble and assemble. When the driving member 63 drives the locking ring 62 to be in the unlocking position, the printhead body 2 and the printhead base 1 are connected, the locking boss 611 of the locking connector 61 passes through the locking ring 62, and then the driving member 63 drives the locking ring 62 to rotate to the locking position. At this time, the locking structure arranged in the locking ring 62 can be clamped between the locking boss 611 and the printhead body 2 and abut against the locking boss 611, so as to lock the printhead body 2 and the printhead base 1. When it is needed to replace the printhead body 2, the driving member 63 drives the locking ring 62 to rotate from the locking position to the unlocking position, so that the locking boss 611 exits the locking ring 62, and the separation of the printhead body 2 and the printhead base 1 is completed.

[0107] The printhead assembly which can be quickly connected realizes the locking between the printhead body 2 and the printhead base 1 by the rotation of the locking ring 62. There is no wear in the process, so the use precision is not affected, thereby ensuring the quality of the printed products.

[0108] In the embodiment, the second locking mechanism 6 further comprises a fixed shell 64 detachably arranged in the nozzle seat 1, the locking ring 62 is rotatably arranged in the fixed shell 64, and the locking ring 62 and the fixed shell 64 are connected through a sliding bearing 67 to reduce the friction between the locking ring 62 and the fixed shell 64. The driving member 63 further comprises a speed reducer motor 632 fixedly arranged in the fixed shell 64, and the output shaft of the speed reducer motor 632 is coaxially fixedly connected with the driving gear 631. The fixed shell 64 can make the structures of the second locking mechanism 6 form a module, facilitating maintenance and replacement, and reducing the cost.

[0109] In order to ensure that the locking ring 62 cannot be pulled out of the fixed shell 64, the fixed shell 64 is further provided with a check ring 66 slidingly abutting against one side of the locking ring 62 facing the nozzle body 2, to ensure the integrity of the second locking mechanism 6.

[0110] As shown in FIGS. 16-21, the locking structure comprises a locking plate 651 arranged on the inner wall of the locking ring 62. In the direction of abutting the nozzle body 2 and the nozzle seat 1, when the locking ring 62 is in the unlocked position, the locking plate 651 is offset from the locking boss 611. At this time, when the nozzle seat 1 and the nozzle body 2 are abutted, the locking connector 61 can pass through the locking ring 62, and the locking plate 651 cannot block the locking boss 611. When the locking ring 62 is in the locked position, the locking plate 651 partially overlaps the locking boss 611. If the locking connector 61 passes through the locking ring 62, the locking plate 651 can block the locking boss 611. At this time, the locking connector 61 cannot exit the locking ring 62, thereby achieving locking between the nozzle seat 1 and the nozzle body 2.

[0111] For example, the locking structure comprises two locking plates 651 which are centrally symmetric relative to the axis of the locking ring 62, and the locking connector 61 has two locking bosses 611 corresponding to the two locking plates 651. Through the cooperation between the two locking plates 651 and the two locking bosses 611, the locking force can be evenly distributed on the basis of locking the nozzle seat 1 and the nozzle body 2, so that the nozzle body 2 does not deviate, and the printing accuracy is ensured.

[0112] In order to ensure that the nozzle body 2 can be stably locked on the nozzle seat 1 after being locked, when the locking ring 62 is in the locked position, there cannot be a gap between the locking plate 651 and the locking boss 611, and they need to abut. However, this can easily cause the locking plate 651 to be difficult to be clamped between the locking boss 611 and the nozzle body 2 through the rotation of the locking ring 62. As shown in FIGS. 20 and 21, to solve the above problem, the side of the locking plate 651 away from the nozzle body 2 is provided with a first locking inclined surface 652, which is inclined towards the nozzle body 2 in the rotation direction of the locking ring 62 from the unlocked position to the locked position.

[0113] That is, when the locking ring 62 starts to rotate from the unlocking position to the locking position, there is a gap between the first locking slope 652 and the locking boss 611, which facilitates the first locking slope 652 to be clamped between the locking boss 611 and the nozzle body 2. With the rotation of the locking ring 62, the first locking slope 652 gradually abuts against the locking boss 611, so as to lock the nozzle seat 1 and the nozzle body 2.

[0114] The output shaft of the driving motor 111 has a high rotating speed, which is easy to cause the extrusion mechanism 22 to have a high extrusion rate of the consumable and affect the printing effect. As shown in FIG. 22, to solve the above problem, the nozzle seat 1 further comprises a planetary gear set 7, and the output shaft of the driving motor 111 is in transmission connection with the female head 12 through the planetary gear set 7. The planetary gear set 7 can function as a speed reducer to reduce the high rotating speed of the output shaft of the driving motor 111 to a low rotating speed of the female head 12, so as to ensure the stable work of the extrusion mechanism 22.

[0115] The planetary gear set 7 comprises an outer gear ring 71, an output gear 72 and a planet carrier 73. The outer gear ring 71 is fixedly arranged on the nozzle seat 1. The output gear 72 is rotatably arranged in the outer gear ring 71 and connected with the output shaft of the driving motor 111. The planet carrier 73 is rotatably arranged in the outer gear ring 71 and connected with the female head 12. The planet carrier 73 is rotatably arranged with a planet gear 74, and the planet gear 74 is in mesh with the output gear 72 and the outer gear ring 71.

[0116] The outer gear ring 71 remains stationary. When the output shaft of the driving motor 111 rotates, the output gear 72 drives the planet gear 74 to rotate, and the planet gear 74 drives the planet carrier 73 to rotate through the outer gear ring 71. The planet carrier 73 is a power output structure. Since multiple planet gears 74 in the planetary gear set 7 are simultaneously in mesh with the output gear 72, the load is uniformly distributed, the wear of a single gear is reduced, and the service life is prolonged.

[0117] Further, the elastic mechanism 8 is arranged between the female head 12 and the planetary gear set 7 to provide elastic force. The elastic mechanism 8 includes a spring 81 and a spring base 82. The end of the planet carrier 73 away from the planet gears 74 is hollow and provided with a first limiting protrusion 731 protruding towards the direction of the axis of the planet carrier 73. The spring base 82 is provided with a limiting portion 821 and a columnar portion including a large-diameter portion 822 and a small-diameter portion 823. The limiting portion 821 is connected to the large-diameter portion 822, and the large-diameter portion 822 is connected to the small-diameter portion 823. The spring base 82 is installed in the planet carrier 73. The columnar portion passes through the first limiting protrusion 731, and the limiting portion 821 is limited by the first limiting protrusion 731 away from the end of the female head 12. The end of the female head 12 is located in the planet carrier 73 and is sleeved on the outer periphery of the small-diameter portion 823, and the other end of the female head 12 is located outside the planet carrier 73. The spring 81 is sleeved on the outer periphery of the large-diameter portion 822, and one end of the spring 81 abuts against the end of the first limiting protrusion 731 close to the female head 12, and the other end of the spring 81 abuts against the female head 12.

[0118] When the female head 12 and the male head 21 are docked, the spring 81 provides elastic expansion. If the first docking angle is problematic, the spring 81 can be compressed to retreat and adjust the docking position, provide a buffer space, and improve the docking success rate and docking speed. Further, the spring 81 is arranged at the female head end instead of the male head end with the extrusion mechanism 22, which can solve the problem that the spring 81 has small expansion space and poor buffering effect when the spring 81 is arranged at the male head end and the extrusion mechanism 22 has consumables.

[0119] As shown in FIGS. 18-21, the locking ring 62 includes a driving tooth segment 622, the driving member 63 includes a driving gear 631, and the driving tooth segment 622 and the driving gear 631 are engaged. The driving gear 631 is driven to rotate by a speed reducer motor 632, thereby driving the locking ring 62 to rotate.

[0120] For example, the fixed shell 64 is provided with a limiting gap, the locking ring 62 is provided with a second limiting protrusion, the driving tooth segment 622 is arranged on the second limiting protrusion, the second limiting protrusion is engaged with the driving gear 631 through the limiting gap, the limiting gap can limit the rotation angle of the locking ring 62, and when the second limiting protrusion abuts against one side of the limiting gap, the locking ring 62 is in the unlocked position, and when the second limiting protrusion abuts against the other side of the limiting gap, the locking ring 62 is in the locked position.

[0121] In order to simplify the structure, the driving tooth segment 622 can be arranged on the second limiting protrusion. Since the second limiting protrusion can protrude out of the fixed shell 64, it is convenient to contact and engage with the driving gear 631.

[0122] In order to detect the position of the locking ring 62, a detection mechanism can be arranged in the nozzle seat 1, such as a magnet arranged on the second limiting protrusion and a Hall sensor 52 arranged near the locking ring 62. When the locking ring 62 is in the locked position / unlocked position, the Hall sensor 52 detects the signal of the magnet, thereby detecting the position of the locking ring 62. In addition, in order to detect whether the nozzle seat 1 has grabbed the nozzle body 2, a photoelectric sensor can also be arranged on the nozzle seat 1.

[0123] Third embodiment

[0124] This embodiment changes the structure of the second locking mechanism 6 on the basis of the second embodiment.

[0125] As shown in FIGS. 23-26, in this embodiment, the second locking mechanism 6 further includes an annular locking frame 641, which is provided with a sliding groove 6411 in the circumferential direction, and the sliding groove 6411 penetrates the inner wall of the annular locking frame 641 to form a locking hole 6412. The locking structure includes a locking piece 68 arranged in the sliding groove 6411, and the locking ring 62 surrounds the outer periphery of the annular locking frame 641. When the locking ring 62 is in the unlocked position, the locking piece 68 is located in the sliding groove 6411. At this time, the nozzle seat 1 is butted against the nozzle body 2, and the locking connector 61 can pass through the locking ring 62, and the locking piece 68 will not block the locking boss 611. When the locking ring 62 is in the locked position, if the locking connector 61 passes through the locking ring 62, the locking ring 62 makes the locking piece 68 partially protrude out of the locking hole 6412 to be clamped between the locking boss 611 and the nozzle body 2, so that the locking piece 68 can block the locking boss 611. At this time, the locking connector 61 cannot exit the locking ring 62, thereby realizing the locking between the nozzle seat 1 and the nozzle body 2.

[0126] As shown in FIG. 26, the inner wall of the locking ring 62 is provided with an abutting portion 621. When the locking ring 62 rotates from the unlocked position to the locked position, the size of the abutting portion 621 protruding to the center of the locking ring 62 gradually increases at the position of the locking piece 68. As the locking ring 62 rotates from the unlocked position to the locked position, the abutting portion 621 gradually presses the locking piece 68 out of the locking hole 6412. The side of the abutting portion 621 abutting against the locking piece 68 is a continuous plane or an arc surface, which can avoid the situation that the abutting portion 621 and the locking piece 68 are stuck.

[0127] A plurality of sliding grooves 6411 can be arranged in the annular locking frame 641 in the circumferential direction, and a locking piece 68 is arranged in each sliding groove 6411. Alternatively, the locking boss 611 can be an annular structure surrounding the locking connector 61 in the circumferential direction and connected at the head and tail. In addition, a plurality of sliding grooves 6411 can be arranged in the annular locking frame 641 in the circumferential direction, and a locking piece 68 is arranged in each sliding groove 6411. In addition, the locking boss 611 can be an annular structure surrounding the locking connector 61 in the circumferential direction and connected at the head and tail.

[0128] In the embodiment, the annular locking frame 641 is provided with a plurality of sliding grooves 6411 which are circumferentially spaced, and each sliding groove 6411 is provided with a locking piece 68. That is, when the locking ring 62 is rotated to the locking position, the plurality of locking pieces 68 can be clamped between the locking boss 611 and the nozzle body 2 from a plurality of positions in the circumferential direction. Through the cooperation between the plurality of locking pieces 68 and the corresponding locking boss 611, the locking force can be evenly distributed on the basis of locking the nozzle seat 1 and the nozzle body 2, so that the nozzle body 2 will not be offset, and the printing precision is ensured. The abutting portion 621 in the locking ring 62 corresponds to the sliding groove 6411 and the locking piece 68 one by one.

[0129] In the embodiment, the locking boss 611 is an annular structure which circumferentially surrounds the locking joint 61 and connects the head to the tail. Regardless of the angle at which the locking joint 61 is connected to the nozzle body 2, this structure can ensure that the locking joint 61 is clamped and locked by the plurality of locking pieces 68 when the nozzle body 2 is connected to the nozzle seat 1.

[0130] When the nozzle body 2 is not connected to the nozzle seat 1, the locking piece 68 cannot slide out of the locking hole 6412. As shown in FIG. 25, in order to achieve the above purpose, a limiting edge 6413 is arranged at the locking hole 6412, which can abut against the locking piece 68 to prevent the locking piece 68 from being separated from the sliding groove 6411 through the locking hole 6412.

[0131] Exemplarily, the locking piece 68 is a steel ball 282. The steel ball 282 is used to lock the locking joint 61, so that the contact surface of the steel ball 282 and the locking boss 611 is a curved surface. As the size of the steel ball 282 extending out of the locking hole 6412 increases, the steel ball 282 can achieve the effect of tensioning the locking boss 611, thereby improving the abutting force between the nozzle body 2 and the nozzle seat 1 and improving the stability of the nozzle body 2 relative to the nozzle seat 1. The diameter of the locking hole 6412 is smaller than the diameter of the steel ball 282, which effectively prevents the steel ball 282 from sliding out of the sliding groove 6411.

[0132] The application also provides a nozzle grabbing and connecting method for a multi-nozzle switching 3D printer, which comprises the following steps:

[0133] The nozzle seat is moved to the front of the pre-grabbed nozzle body by the movement mechanism, the first matching part of the nozzle seat is positioned by cooperating with the first positioning part of the nozzle body, and the female head of the nozzle seat is inserted with the male head of the nozzle body.

[0134] The locking mechanism of the nozzle seat is locked with the nozzle body.

[0135] After detecting that the nozzle seat has grabbed the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, thereby disengaging the nozzle fixing position and the nozzle body, and completing the grabbing of the nozzle.

[0136] The application also provides a nozzle separation method for a multi-nozzle switching 3D printer, and the nozzle separation method comprises the following steps:

[0137] The nozzle seat is controlled to move to the original nozzle fixing position by the movement mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body.

[0138] The locking mechanism of the nozzle seat is controlled to be unlocked from the nozzle body.

[0139] The first magnet of the nozzle fixing position is attracted to the second magnet of the nozzle body, the nozzle seat is controlled to move away from the nozzle body, and the separation of the nozzle body and the nozzle seat is realized.

[0140] The application also provides a control method for a multi-nozzle switching 3D printer, and the control method comprises the following steps:

[0141] When the control system of the 3D printer issues a printing instruction and a certain nozzle body needs to work, the nozzle seat is controlled to move to the front of the pre-grabbed nozzle body by the movement mechanism, the first positioning part of the nozzle seat is positioned by cooperating with the first positioning part of the nozzle body, the female head of the nozzle seat is inserted into the male head of the nozzle body, and the locking mechanism of the nozzle seat is controlled to be locked with the nozzle body.

[0142] After detecting that the nozzle seat has grabbed the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, thereby disengaging the nozzle fixing position and the nozzle body, and completing the grabbing of the nozzle, and executing the printing task.

[0143] When the printing task of the current nozzle body needs to be ended, the nozzle seat is controlled to move to the original nozzle fixing position by the movement mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body.

[0144] The locking mechanism of the nozzle seat is controlled to be unlocked from the nozzle body.

[0145] The first magnet of the nozzle fixing position is attracted to the second magnet of the nozzle body, the nozzle seat is controlled to move away from the nozzle body, and the separation of the nozzle body and the nozzle seat is realized.

[0146] The application separates the electrical elements and the nozzle body by arranging the driving mechanism and other electrical elements on the nozzle seat and arranging the transmission mechanism on the nozzle body, so that the multi-nozzle printing system can share a set of electrical elements, which can efficiently change the wire and reduce the cost and weight.

[0147] The present application has the following effects:

[0148] 1. By setting the driving mechanism and other electrical components in the nozzle seat, and setting the transmission mechanism such as the extrusion mechanism in the nozzle body, the separation of the electrical components and the nozzle body is realized, so that the multi-nozzle printing system can share a set of electrical components, and it is not necessary to set the driving mechanism of the corresponding extrusion mechanism in each nozzle body, which can save cost and reduce the space and weight occupied by the multiple nozzle bodies.

[0149] 2. The butt joint transmission of the nozzle body and the nozzle seat is realized by the quick plug-in of the male head and the female head, which is convenient and fast.

[0150] 3. When a nozzle of a certain color / material is needed, the nozzle seat only needs to be moved to the front of the corresponding nozzle body and butt jointed to grab the nozzle of the color / material for printing. When switching is needed, the original nozzle body is only needed to be put back to the original position, and then a new nozzle body is grabbed to realize color / material switching. The grabbing and placing method is simple, the butt joint speed is fast and reliable.

Claims

1. A multi-nozzle switching 3D printer, comprising a motion mechanism and a nozzle assembly, the nozzle assembly comprising a nozzle seat and a nozzle body, the 3D printer having a base with a plurality of replaceable nozzle bodies, the motion mechanism being connected to the nozzle seat, the nozzle seat having a driving mechanism and a female head, the female head being in transmission connection with the driving mechanism; the nozzle body having a male head and an extrusion mechanism, the male head being in transmission connection with the extrusion mechanism; the female head being capable of being inserted into the male head to make the female head in transmission connection with the male head, so as to realize the docking of the nozzle seat and the nozzle body and make the nozzle body leave the base; or the female head being capable of being separated from the male head to make the female head break the transmission connection with the male head, so as to realize the separation of the nozzle seat and the nozzle body and make the nozzle body return to the base. 2.The multi-nozzle switching 3D printer according to claim 1, wherein the nozzle assembly further comprises a locking mechanism, one part of the locking mechanism being arranged on the nozzle seat and the other part of the locking mechanism being arranged on the nozzle body, the locking mechanism having a locking position and an unlocking position; when the female head is inserted into the male head, the locking mechanism is in the locking position, and when the locking mechanism is in the unlocking position, the female head can be separated from the male head. 3.The multi-nozzle switching 3D printer according to claim 1, wherein the nozzle body comprises a front cover, a rear cover and a transmission shaft, the front cover and the rear cover being buckled to form a containing space, the male head being arranged at one end of the transmission shaft; the male head protruding from the rear cover, the male head being at least partially located in the nozzle seat when the male head is inserted into the female head, or the female head protruding from a shell of the nozzle seat, the female head being at least partially located in the nozzle body when the female head is inserted into the male head; the nozzle assembly further comprising a first positioning structure, the first positioning structure comprising a first positioning part and a first matching part, the first positioning part being located on a side of the rear cover close to the nozzle seat, the first matching part being located on a side of the nozzle seat close to the nozzle body, the first positioning part and the first matching part being complementarily matched and positioned.

4. The multi-jet switched 3D printer of claim 3, wherein, a plurality of nozzle fixing positions being arranged on a side of the base opposite to the first matching part, the nozzle fixing position being provided with a first positioning pin, a second positioning pin and a first magnet, the front cover of the nozzle body being provided with a corresponding first positioning hole, a second positioning hole and a second magnet arranged on an inner side of the front cover, the first positioning hole being matched with the first positioning pin, the second positioning hole being matched with the second positioning pin, and the first magnet being attracted to the second magnet, so as to fix the nozzle body on the base.

5. The multi-jet switched 3D printer of claim 4, wherein, The spray head assembly comprises a first locking mechanism, the first locking mechanism comprises a locking catch, a positioning wheel, and a power mechanism driving the locking catch to move, the positioning wheel has a locking groove in the circumferential direction, the power mechanism and the locking catch are located in the spray head base, the locking groove is located in the spray head body, the locking catch can be driven by the power mechanism to move to an unlocked position and a locked position, the locking catch is engaged with the locking groove in the locked position, and the locking catch is separated from the locking groove in the unlocked position.

6. The multi-jet switched 3D printer of claim 1, wherein, The spray head assembly comprises a second locking mechanism, the second locking mechanism comprises a locking connector, a locking ring, a locking structure, and a driving member, the locking connector is arranged on the spray head body, the locking connector has a locking boss, the driving member and the locking ring are arranged on the spray head base, the locking structure is arranged in the locking ring, and the driving member can drive the locking ring to rotate to have a locked position and an unlocked position. When the locking ring is in the unlocked position, the locking boss can pass through the locking ring, and when the locking ring is in the locked position, the locking structure can be clamped into the space between the locking boss and the spray head body and abut against the locking boss to lock the spray head body and the spray head base.

7. The multi-jet switched 3D printer of claim 6, wherein, The locking structure comprises a locking plate arranged on the inner wall of the locking ring, and along the abutting direction of the spray head body and the spray head base, the locking plate is staggered with the locking boss when the locking ring is in the unlocked position, and the locking plate is overlapped with the locking boss when the locking ring is in the locked position.

8. The multi-jet switched 3D printer of claim 7, wherein, The side of the locking plate away from the spray head body is provided with a first locking inclined surface, and along the rotating direction of the locking ring from the unlocked position to the locked position, the first locking inclined surface is inclined to the direction close to the spray head body.

9. The multi-jet switched 3D printer of claim 7, wherein, The locking structure comprises two locking plates which are centrally symmetric relative to the axis of the locking ring, and the locking connector has two locking bosses corresponding to the two locking plates.

10. The multi-jet switched 3D printer of claim 6, wherein, The second locking mechanism further comprises an annular locking frame, the annular locking frame is provided with a sliding groove in the circumferential direction, and the sliding groove penetrates the inner wall of the annular locking frame to form a locking hole, the locking structure comprises a locking member arranged in the sliding groove, the locking ring is arranged around the outer periphery of the annular locking frame, the locking member is located in the sliding groove when the locking ring is in the unlocked position, and the locking ring makes the locking member partially protrude out of the locking hole to be clamped into the space between the locking boss and the spray head body when the locking ring is in the locked position.

11. The multi-jet switched 3D printer of claim 10, wherein, The inner wall of the locking ring is provided with an abutting portion, and when the locking ring rotates from the unlocked position to the locked position, the size of the abutting portion protruding to the center of the locking ring gradually increases at the position of the locking member.

12. The multi-jet switched 3D printer of claim 10, wherein, The annular locking frame is provided with a plurality of sliding grooves in the circumferential direction, and each sliding groove is provided with the locking member; and / or The locking boss is an annular structure surrounding the locking connector in the circumferential direction and connected end to end.

13. The multi-jet switched 3D printer of claim 10, wherein, The locking hole is provided with a limiting edge capable of abutting against the locking piece to prevent the locking piece from being separated from the sliding groove through the locking hole.

14. The multi-jet switched 3D printer of claim 3, wherein, The side of the shell close to the rear cover is provided with a butt joint hole, a plurality of first matching parts are distributed around the butt joint hole in a circumferential direction, the first matching parts are outwardly protruding / inwardly recessed, the width of the first matching parts gradually decreases along the protruding direction / recessing direction of the first matching parts, the number, shape and position of the first positioning parts are matched with the first matching parts, and the first positioning parts are inwardly recessed / outwardly protruding. The first matching part has a first positioning inclined surface and a second positioning inclined surface, the first positioning inclined surface is arranged at an angle of 20-80° with the shell, and the second positioning inclined surface is arranged at an angle of 20-80° with the shell.

15. The multi-jet switching 3D printer of claim 5, wherein, The nozzle seat is further provided with a detection mechanism and a PCB circuit board thereof, the detection mechanism is configured to monitor the position of the lock and monitor whether the nozzle seat is successfully docked with the nozzle body, and the nozzle fixing position is provided with a detection device configured to detect whether the nozzle body is located in the nozzle fixing position.

16. A multi-jet switching nozzle grabbing and docking method applied to the multi-jet switching 3D printer of any one of claims 1-15, the nozzle grabbing and docking method comprising: controlling the nozzle seat to move to the front of the pre-grabbed nozzle body through the motion mechanism, positioning through the cooperation of the first matching part of the nozzle seat and the first positioning part of the nozzle body, and inserting through the female head of the nozzle seat and the male head of the nozzle body; controlling the locking mechanism of the nozzle seat to lock with the nozzle body; after detecting that the nozzle seat grabs the corresponding nozzle body, controlling the nozzle seat to move away from the nozzle fixing position, and separating from the nozzle fixing position and the positioning of the nozzle body, to complete the grabbing of the nozzle.

17. A multi-jet switching nozzle separation method applied to the multi-jet switching 3D printer of any one of claims 1-15, the nozzle separation method comprising: controlling the nozzle seat to move to the original nozzle fixing position through the motion mechanism, controlling the first positioning pin to insert into the first positioning hole of the nozzle body, and controlling the second positioning pin to insert into the second positioning hole of the nozzle body; controlling the locking mechanism of the nozzle seat to unlock with the nozzle body; controlling the first magnet of the nozzle fixing position to attract the second magnet of the nozzle body, and controlling the nozzle seat to move away from the nozzle body to realize the separation of the nozzle body and the nozzle seat.

18. A multi-jet switching control method applied to the multi-jet switching 3D printer of any one of claims 1-15, comprising: In response to the control system of the 3D printer issuing a printing instruction, a nozzle body needs to be worked, the nozzle seat is controlled to move to the front of the pre-grasped nozzle body by a motion mechanism, the first matching part of the nozzle seat is matched and positioned with the first positioning part of the nozzle body, the female head of the nozzle seat is inserted with the male head of the nozzle body, and the locking mechanism of the nozzle seat is locked with the nozzle body; After detecting that the nozzle seat grasps the corresponding nozzle body, the nozzle seat is controlled to move away from the nozzle fixing position, the positioning between the nozzle fixing position and the nozzle body is released, the nozzle is grasped, and the printing task is executed; In response to ending the printing task of the current nozzle body, the nozzle seat is controlled to move to the original nozzle fixing position by the motion mechanism, the first positioning pin is inserted into the first positioning hole of the nozzle body, and the second positioning pin is inserted into the second positioning hole of the nozzle body; The locking mechanism of the nozzle seat is controlled to be unlocked with the nozzle body; The first magnet of the nozzle fixing position is controlled to be attracted to the second magnet of the nozzle body, and the nozzle seat is controlled to move away from the nozzle body to realize the separation of the nozzle body and the nozzle seat.

Images