Additive manufacturing tool head and control method therefor, and additive printer

Abstract

The present application relates to an additive manufacturing tool head and a control method therefor, and an additive printer. The additive manufacturing tool head comprises a mounting body, a first nozzle, a second nozzle, and a filament channel. The mounting body is provided with an extrusion mechanism, a switching mechanism, a lifting mechanism, a linear rail mounting portion, the first nozzle, and the second nozzle. The extrusion mechanism comprises an extrusion wheel and an extrusion motor. The switching mechanism comprises a switching motor, a first pressure roller, and a second pressure roller. The lifting mechanism comprises a lifting motor and a lifting motor deceleration mechanism, and the lifting motor drives the first nozzle to ascend or descend. A process for switching the first nozzle from an operating state to a standby state is as follows: the switching motor first drives the first pressure roller to disengage from the extrusion wheel, and then the lifting motor drives the first nozzle to ascend, so as to prevent continued downward extrusion of the filament caused by the first pressure roller failing to disengage from the extrusion wheel during the ascending of the first nozzle; or, while the lifting motor drives the first nozzle to ascend, the extrusion mechanism is controlled to pull the filament to ascend synchronously, so as to maintain the filament in a relatively stationary state within the first nozzle.

Description

An additive printing tool head and its control method, and an additive printer.

[0001] This application claims priority to PCT patent application 2025 / 072614, filed on January 15, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of printing technology, and more specifically, to a printing tool head and its control method, and an additive printer. Background Technology

[0003] In recent years, additive printers have developed rapidly. Among them, additive printers with multiple printheads can meet users' needs for printing color models.

[0004] With the development of 3D printers, multi-nozzle printers have become an important development direction. Taking dual-nozzle 3D printers as an example, the transmission structure allows the first nozzle to move up and down relative to the second nozzle. Thus, when the working nozzle is used, the idle nozzle will not interfere with or collide with the printed model. At the same time, it drives the extrusion mechanism to switch the extrusion position of the filament to correspond with the first or second nozzle.

[0005] In existing technologies, a single drive mechanism and a complex transmission structure are used to simultaneously drive the extrusion mechanism and the filament switching mechanism, resulting in a large size of the drive mechanism and transmission structure. Since a single drive mechanism is used to drive the raising and lowering of the print head, the extrusion of the filament, and the switching, this operating method usually directly acts on the raising and lowering of the print head, which results in a lack of flexible and precise control. Summary of the Invention

[0006] Based on the aforementioned technical problems, this application proposes an additive printing tool head and its control method, as well as an additive printer. The tool head is driven by three motors to lift and lower the print head, extrude and switch the filament, thereby decoupling the lifting and lowering of the print head from the extrusion and switching of the filament and avoiding unwanted filament overflow.

[0007] One method for controlling an additive printing tool head includes a first printhead, a second printhead, and an extrusion mechanism that are vertically adjustable. The extrusion mechanism is used to feed filament into the first printhead or retract filament from the first printhead. The first printhead is in a working state when it is in a lower position and in a standby state when it is in a higher position. The control method includes the following steps:

[0008] At least during the partial ascent of the first nozzle, the extrusion mechanism is controlled to simultaneously retract the wire from the first nozzle, and / or, at least during the partial descent of the first nozzle, the extrusion mechanism is controlled to simultaneously feed the wire into the first nozzle.

[0009] or,

[0010] First, control the extrusion mechanism to loosen the clamp on the wire, and then control the first nozzle to rise or fall.

[0011] The control method includes:

[0012] If the tool head is in the first state, then:

[0013] During the upward movement of the first nozzle, the extrusion mechanism is controlled to simultaneously retract the wire from the first nozzle, and / or, during the downward movement of the first nozzle, the extrusion mechanism is controlled to simultaneously feed the wire into the first nozzle.

[0014] If the tool head is in the second state, then:

[0015] First, control the extrusion mechanism to loosen the clamp on the wire, and then control the first nozzle to rise or fall.

[0016] The first state includes a continuous printing state during the printing phase; the second state includes one of a printing preparation phase, an idle phase, and a paused state during the printing phase.

[0017] The printing preparation stage includes at least one of the following stages: a leveling stage between the first printhead, the second printhead, and the heated bed; and an alignment stage between the first printhead and the second printhead.

[0018] During the paused state of the printing phase and the idle state, the user can switch printheads by tapping on the screen.

[0019] In the first state, the wire temperature is between 180°C and 360°C; in the second state, the wire temperature is less than 180°C for at least a preset time.

[0020] In the second state, the temperature of the wire is between 120°C and 160°C for at least a preset time.

[0021] The tool head also includes a switching mechanism, which is used to cooperate with the extrusion mechanism to make the first wire in the first wire channel and the second wire in the second wire channel work alternately.

[0022] During the descent of the first nozzle, controlling the extrusion mechanism to simultaneously feed the wire into the first nozzle includes:

[0023] First, control the switching mechanism to cooperate with the extrusion mechanism to put the first wire into working state. Then, control the first nozzle to descend, and during the descent, control the extrusion mechanism 3 to simultaneously feed the wire into the first nozzle.

[0024] in,

[0025] During the rising process of the first nozzle, the rising displacement of the first nozzle is detected, and the extrusion mechanism 3 is controlled to synchronously pull the wire back from the first nozzle based on the rising displacement of the first nozzle.

[0026] And / or,

[0027] During the descent of the first nozzle, the descent displacement of the first nozzle is detected, and the extrusion mechanism 3 is controlled to synchronously feed the wire into the first nozzle based on the descent displacement of the first nozzle.

[0028] The tool head further includes a lifting mechanism, which includes a lifting motor and an angle measuring sensor. The lifting motor is a brushed motor or a brushless motor, used to drive the first nozzle to rise and fall. The angle measuring sensor is used to measure the rotation angle of the output shaft of the lifting motor.

[0029] During the upward movement of the first nozzle, the rotation angle output by the angle measurement sensor is detected, and the upward displacement of the first nozzle is determined based on the rotation angle.

[0030] During the descent of the first nozzle, the rotation angle output by the angle measurement sensor is detected, and the descent displacement of the first nozzle is determined based on the rotation angle.

[0031] The tool head further includes a lifting mechanism, which includes a lifting motor, which is a stepper motor, used to drive the first nozzle to rise and fall.

[0032] During the upward movement of the first nozzle, the number of steps the stepper motor rotates is calculated, and the upward displacement of the first nozzle is determined based on the number of steps.

[0033] During the descent of the first nozzle, the number of steps the stepper motor rotates is calculated, and the descent displacement of the first nozzle is determined based on the number of steps.

[0034] or,

[0035] The tool head also includes a lifting mechanism, which includes a lifting motor, which is a linear motor, used to drive the first nozzle to lift.

[0036] During the upward movement of the first nozzle, the displacement information of the magnetic scale or optical scale of the linear motor is read, and the upward displacement of the first nozzle is determined based on the displacement information.

[0037] During the descent of the first nozzle, the displacement information of the magnetic scale or optical scale of the linear motor is read, and the descent displacement of the first nozzle is determined based on the displacement information.

[0038] The tool head also includes a switching mechanism, which is used to cooperate with the extrusion mechanism to make the first wire in the first wire channel and the second wire in the second wire channel work alternately.

[0039] The control method further includes:

[0040] If the tool head is in the second state, the extrusion mechanism is first controlled to loosen the clamp on the wire by the switching mechanism, and then the lifting motor is controlled to drive the first nozzle to rise or fall.

[0041] The extrusion mechanism includes an extrusion wheel; the switching mechanism includes a switching drive device, a first pressure wheel, and a second pressure wheel. The switching drive device is used to drive the first pressure wheel and the second pressure wheel to alternately cooperate with the extrusion wheel, so that the first wire in the first wire channel and the second wire in the second wire channel work alternately; the switching drive device includes a switching motor, or the lifting motor can be reused as the switching drive device.

[0042] The step of controlling the switching mechanism to loosen the clamping of the extrusion mechanism on the wire includes:

[0043] The switching drive device is controlled to drive the first pressure roller away from the extrusion roller to release the wire.

[0044] The tool head further includes a first cover, on which an abutment portion is provided; the switching mechanism includes a first limiting mechanism.

[0045] The step of first controlling the switching mechanism to loosen the clamping of the extrusion mechanism on the wire includes:

[0046] The switching mechanism is controlled to separate the first limiting mechanism from the abutting part, thereby releasing the first wire in the first wire channel and causing the extrusion mechanism to release the clamping of the wire.

[0047] The switching mechanism further includes a switching cam.

[0048] The step of first controlling the switching mechanism to loosen the clamping of the extrusion mechanism on the wire includes:

[0049] The switching cam is controlled to drive the first wire limiting mechanism to move, and the rotation angle or displacement of the switching cam is detected so as to determine, based on the rotation angle or displacement, that the first limiting mechanism and the abutment part release the wire, and the extrusion mechanism releases the clamping of the wire.

[0050] The switching cam and the first cover are provided with a magnetic element; the other of the switching cam and the first cover are provided with a first Hall sensor and a second Hall sensor.

[0051] The rotation angle of the switching cam is determined by detecting the detection signals from the first Hall sensor and the second Hall sensor.

[0052] The first Hall sensor and the second Hall sensor are positioned at a 90° angle.

[0053] The tool head further includes a first cover and a switching mechanism, wherein the first cover is provided with an abutment portion; the switching mechanism is used to cooperate with the extrusion mechanism to allow the wires in the two wire channels to work alternately, and the switching mechanism includes a limiting mechanism; the control method further includes:

[0054] The switching mechanism is controlled to switch one of the wire channels between the working position, the intermediate position, and the stuck position, wherein,

[0055] In the working position, the switching mechanism cooperates with the extrusion mechanism to clamp the wire, and the abutting part separates from the limiting mechanism, so that the wire is completely released;

[0056] In the intermediate position, the switching mechanism separates from the extrusion mechanism, and the limiting mechanism releases the wire;

[0057] At the locked position, the switching mechanism separates from the extrusion mechanism to release the wire, and the abutting part cooperates with the limiting mechanism to lock the wire.

[0058] The tool head also includes a plugging mechanism, which is used to block the first nozzle located at the upper limit position in the first working position;

[0059] The control method further includes:

[0060] When the first nozzle begins to descend from its upper limit position, first control the nozzle plugging mechanism to disengage from the first nozzle, then control the first nozzle to descend; and / or,

[0061] When controlling the first nozzle to move from the lower limit position to the upper limit position, first control the first nozzle to reach the upper limit position, and then control the nozzle blocking mechanism to reach the first working position.

[0062] The tool head further includes a lifting mechanism, which includes a lifting motor, a drive roller, and a drive block. The drive block is provided with a U-shaped groove, which includes a first curved section and a second curved section. The first nozzle is connected to the drive block. The nozzle plugging mechanism is driven to move by the lifting motor.

[0063] The control method includes:

[0064] The lifting motor is controlled to drive the drive roller to cooperate with the first curved segment to raise and lower the drive block, thereby driving the first nozzle to rise and fall;

[0065] The lifting motor is controlled to drive the drive roller to cooperate with the second curved segment so that the drive block is kept in the original position, thereby keeping the first nozzle in the original position, and the lifting motor drives the nozzle blocking mechanism to move.

[0066] The tool head further includes a cutting mechanism; the control method further includes:

[0067] When the first printhead needs to be replaced, after the first printhead has completed the printing of the current line material at its descent limit position, the cutting mechanism is controlled to cut the current line material and replace it with a new line material.

[0068] The "upper position" of the first printhead refers to the standby position when the second printhead is working; the "lower position" of the first printhead refers to the position where the first printhead is extruding molten material for printing, and its position is lower than that of the second printhead.

[0069] In the vertical direction, the distance between the lower and upper positions of the first nozzle is between 5mm and 15mm.

[0070] One method for controlling an additive printing tool head includes a first printhead, a second printhead, and an extrusion mechanism that are vertically and vertically configurable. The extrusion mechanism is used to feed filament into the first printhead or to retract filament from the first printhead. The first printhead is in a working state when it is at its lower limit position and in a standby state when it is at its upper limit position. The control method includes the following steps:

[0071] First, control the extrusion mechanism to loosen the clamp on the wire, and then control the first nozzle to rise or fall.

[0072] One method for controlling an additive printing tool head includes a nozzle-blocking mechanism and a first nozzle that can be raised and lowered. The first nozzle is in a working state when it is in a lowering limit position and in a standby state when it is in an ascending limit position. The nozzle-blocking mechanism is used to block the first nozzle located in the ascending limit position when it is in the first working position.

[0073] The control method includes:

[0074] When the first nozzle starts to descend from its upper limit position, first control the plugging mechanism to move away from the first nozzle, and then control the first nozzle to descend.

[0075] And / or,

[0076] When controlling the first nozzle to move from the lower limit position to the upper limit position, first control the first nozzle to reach the upper limit position, and then control the nozzle blocking mechanism to reach the first working position.

[0077] One method for controlling an additive printing tool head includes a cutting mechanism and a first nozzle that can be raised and lowered; the first nozzle is in a working state when it is at its lower limit position and in a standby state when it is at its upper limit position; the control method further includes:

[0078] When the first printhead needs to be replaced, after the first printhead has completed the printing of the current line material at its descent limit position, the cutting mechanism is controlled to cut the current line material and replace it with a new line material.

[0079] One method for controlling an additive printing toolhead includes a first cover, a switching mechanism, an extrusion mechanism, and a first nozzle that can be raised and lowered. The first cover has a contact portion. The switching mechanism works in conjunction with the extrusion mechanism to allow filaments in two filament channels to work alternately. The switching mechanism includes a limiting mechanism. The extrusion mechanism feeds filaments into or retracts filaments from a corresponding nozzle. The first nozzle is in a working state when it is at its lower limit position and in a standby state when it is at its upper limit position. The control method includes:

[0080] The switching mechanism is controlled to switch one of the wire channels between the working position, the intermediate position, and the stuck position, wherein,

[0081] In the working position, the switching mechanism cooperates with the extrusion mechanism to clamp the wire, and the abutting part separates from the limiting mechanism, so that the wire is completely released;

[0082] In the intermediate position, the switching mechanism separates from the extrusion mechanism, and the limiting mechanism releases the wire;

[0083] At the locked position, the switching mechanism separates from the extrusion mechanism to release the wire, and the abutting part cooperates with the limiting mechanism to lock the wire.

[0084] The switching mechanism allows the two wire channels to switch between the working position, the intermediate position, and the jammed position.

[0085] When one of the wire channels is in the working position, the other wire channel is in the locked position;

[0086] When one of the wire channels is in the middle position, the other wire channel is also in the middle position at the same time.

[0087] One additive printing tool head includes a mounting body, a first printhead, a second printhead, and a filament channel. The mounting body is equipped with an extrusion mechanism, a switching mechanism, a lifting mechanism, a filament rail mounting section, the first printhead, and the second printhead. The extrusion mechanism includes an extrusion wheel and an extrusion motor. The switching mechanism includes a switching motor, a first pressure roller, and a second pressure roller. The lifting mechanism includes a lifting motor and a lifting motor reduction mechanism, wherein the lifting motor drives the first printhead to rise and fall. The process of switching the first printhead from the printing state to the lifting state includes: the switching motor first drives the first pressure roller to disengage from the extrusion wheel, and then the lifting motor drives the first printhead to rise, so as to avoid the first pressure roller not disengaging from the extrusion wheel and continuing to extrude filament downward when the first printhead rises; or, while the lifting motor drives the first printhead to rise, the extrusion mechanism is controlled to pull the filament to rise synchronously, so as to keep the filament relatively stationary within the first printhead.

[0088] The installation body includes a first installation part and a second installation part. The first installation part is at least partially fixed to the upper part of the second installation part. The extrusion mechanism and the switching mechanism are disposed on the first installation part. The lifting mechanism, the first nozzle and the second nozzle are disposed on the second installation part. The guide rail installation part is disposed on the first installation part or the second installation part.

[0089] The extrusion mechanism includes an extrusion motor reduction mechanism, and the switching mechanism includes a switching cam, a first swing mechanism, a second swing mechanism, and an elastic element. The first swing mechanism and the second swing mechanism are symmetrically arranged on both sides of the switching cam. The extrusion motor and the switching motor are installed side by side on the first side of the first mounting part and are located above the linear guide mounting part. The lifting motor is installed on the first side of the second mounting part. The first swing mechanism, the second swing mechanism, and the elastic element are arranged on the second side of the first mounting part, which is the side opposite to the first side.

[0090] The first swing mechanism includes a first switching part, a first hinge part, a first pressure roller, and a first swing pivot part arranged sequentially from top to bottom; the second swing mechanism includes a second switching part, a second hinge part, a second pressure roller, and a second swing pivot part arranged sequentially from top to bottom; one end of the elastic element is connected to the first hinge part, and the other end is connected to the second hinge part; when the switching cam applies a biasing force to the second switching part, the second pressure roller moves away from the extrusion roller, and the first pressure roller moves closer to the extrusion roller, thus cooperating in conveying the first wire; when the switching cam applies a biasing force to the first switching part, the first pressure roller moves away from the extrusion roller, and the second pressure roller moves closer to the extrusion roller, thus cooperating in conveying the second wire.

[0091] The extrusion motor reduction mechanism includes a first reduction gear, which is centrally located on the second side of the first mounting part; and it adopts a single-stage reduction transmission with the output shaft of the extrusion motor, with the extrusion wheel and the first reduction gear being coaxially arranged.

[0092] The switching mechanism further includes a first transmission gear, a second transmission gear, and a switching motor reduction mechanism; the switching motor reduction mechanism is connected to the first transmission gear, and the first transmission gear and the second transmission gear are disposed on the second side of the first mounting part; the first transmission gear and the second transmission gear are meshed and connected, and the second transmission gear drives the switching cam to swing; the switching cam is disposed above the first reduction gear.

[0093] The device also includes a first cover, which is disposed on the second side of the first mounting portion; the first cover is provided with a first limiting member and a second limiting member; the first swing mechanism is provided with a first wire limiting mechanism, and the second swing mechanism is provided with a second wire limiting mechanism; when the first wire channel is in at least one non-working position, the first limiting member and the first wire limiting mechanism cooperate to restrict the upward movement of the first wire in the first wire channel; when the second wire channel is in at least one non-working position, the second limiting member and the second wire limiting mechanism cooperate to restrict the upward movement of the second wire in the second wire channel.

[0094] The first limiting member includes a first steel ball and a first mounting groove, and the second limiting member includes a second steel ball and a second mounting groove; the first mounting groove and the second mounting groove are disposed on the first cover.

[0095] The first wire limiting mechanism includes a first movable limiting component and a first limiting structure, and the second wire limiting mechanism includes a second movable limiting component and a second limiting structure.

[0096] The first wire limiting mechanism further includes a first elastic reset member disposed on the first swing mechanism, and the second wire limiting mechanism further includes a second elastic reset member disposed on the second swing mechanism.

[0097] One end of the first elastic reset member is connected to the first movable limiting member, and the other end is connected to the first swing mechanism. When the first wire channel is in the working state or between the working state and the end position of the non-working state, the first movable limiting member moves away from the wire under the action of the first elastic reset member.

[0098] One end of the second elastic reset member is connected to the second movable limit member, and the other end is connected to the second swing mechanism. When the second wire channel is in the working state or between the working state and the end position of the non-working state, the second movable limit member moves away from the wire under the action of the second elastic reset member.

[0099] Wherein, when the first limiting member cooperates with the first wire limiting mechanism to limit the first wire in the first wire channel, it is recorded as the limiting position; when the first wire is in the working state, it is recorded as the working position; wherein, between the limiting position and the working position, the switching motor first drives the first pressure roller to disengage from the extrusion roller, and then the lifting motor drives the first nozzle to rise.

[0100] The switching cam is provided with a trapezoidal positioning block, and the trapezoidal positioning block is provided with a magnetic element; the first cover or the mounting body is provided with a first Hall sensor and a second Hall sensor to detect the swing angle of the switching cam or to detect the swing position of the first swing mechanism and the second swing mechanism; the first cover or the mounting body is also provided with a first positioning boss and a second positioning boss to limit the swing range of the trapezoidal positioning block.

[0101] The elastic element is a spring. When the switching action of the switching cam is in the middle state, the spring tension is large. When the switching cam acts on the first switching part or the second switching part, the spring is in a non-horizontal state and the tension is small.

[0102] The first swing pivot and the second swing pivot are respectively located near the lower ends of the first swing mechanism and the second swing mechanism.

[0103] [Corrected according to Rule 91, 13.05.2025] The lifting mechanism further includes a drive rocker, a drive roller, a drive block, a drive slider, and a drive rail; the drive rocker and drive roller are disposed on the second side of the second mounting part, the second side being the side opposite to the first side; one end of the drive rocker is driven or directly connected to the output shaft of the lifting motor, and the other end is provided with a drive roller; the drive rail is disposed on the second side of the second mounting part, and the drive slider is slidably disposed on the drive rail; the drive block is disposed on the first, second, and third sides of the second mounting part, and the second sidewall of the drive block on the second side of the second mounting part is fixedly connected to the drive slider; one side of the drive slider is provided with a first nozzle, and the first sidewall of the drive block on the first side of the second mounting part is provided with a groove that cooperates with the drive roller.

[0104] The slide is a U-shaped slide, which has a closed side and an open side along the horizontal direction of the drive block. The drive roller can be installed into the U-shaped slide from the open side. When the lifting motor drives the drive rocker to rotate, the drive roller moves along the wall of the U-shaped slide, causing the drive block to drive the drive slider to move up and down along the drive rail.

[0105] The width of the U-shaped chute in the vertical direction is larger than that of the drive roller, so that the drive roller fits into the upper wall of the U-shaped chute.

[0106] It also includes a limiting part for limiting the range of motion of the drive roller. The limiting part is the groove wall on the closed side of the U-shaped chute; or the limiting part is a protruding structure set on the mounting body or on a structural member fixed relative to the mounting body; or the limiting part is a limiting block set on the gearbox side of the lifting and deceleration mechanism.

[0107] It also includes a nozzle-closing mechanism; the lifting motor drives the first nozzle and the nozzle-closing mechanism to move. When the first nozzle begins to descend from the upper limit position, the nozzle-closing mechanism moves before the first nozzle. When the first nozzle moves from the lower limit position toward the upper limit position, the first nozzle reaches the upper limit position first, and then the nozzle-closing mechanism reaches the first working position.

[0108] The second nozzle is fixedly mounted on the second side of the second mounting part and is arranged adjacent to the first nozzle.

[0109] The lifting motor is either a brushed motor or a brushless motor; it also includes an angle measuring sensor for measuring the rotation angle of the output shaft of the lifting motor or the transmission shaft of the lifting motor reduction mechanism; the angle measuring sensor includes a magnetic ring and a dual linear Hall sensor, or includes a magnetic ring and a magnetic encoder.

[0110] The lifting speed or position signal of the first nozzle, obtained based on the measurement data from the angle measuring sensor, is used to control the speed at which the extrusion mechanism pulls the wire upward synchronously.

[0111] This application also provides an additive printer that uses the additive printing toolhead described above.

[0112] Other beneficial effects of this application will be explained in detail through the introduction of specific technical features and technical solutions in the specific embodiments. Those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions through the introduction of these technical features and technical solutions. Attached Figure Description

[0113] The preferred embodiments of this application will now be described with reference to the accompanying drawings.

[0114] Figure 1 is a schematic diagram of the motor layout of an additive printing tool head according to this application;

[0115] Figure 2 is a front view of an additive printing tool head according to this application;

[0116] Figure 3 is a schematic diagram of the first fan of an additive printing tool head according to this application;

[0117] Figure 4 is a schematic diagram of the second cooling mechanism of an additive printing tool head according to this application;

[0118] Figure 5 is a side view of an additive printing tool head according to this application;

[0119] Figure 6 is a schematic diagram of the overall layout of an additive printing tool head according to this application;

[0120] Figure 7 is an exploded view of the overall structure of an additive printing tool head according to this application;

[0121] Figure 8 is a schematic diagram of an extrusion and switching mechanism for an additive printing tool head according to this application;

[0122] Figure 9 is a front view of the extrusion and switching mechanism of an additive printing tool head according to this application;

[0123] Figures 10a, 10b, and 10c are schematic diagrams of the operation of a switching mechanism for an additive printing tool head according to this application;

[0124] Figure 11 is an exploded view of the extrusion mechanism, switching mechanism, and cutting mechanism of an additive printing tool head according to this application;

[0125] Figure 12 is a schematic diagram of the first side wall of the drive block of the lifting mechanism of an additive printing tool head according to this application;

[0126] Figure 13 is a schematic diagram of the third side of the drive block of the lifting mechanism of an additive printing tool head according to this application;

[0127] Figure 14 is a schematic diagram of the second sidewall of the drive block of an additive printing tool head according to this application and its lifting transmission with the first nozzle;

[0128] Figure 15 is a front view of an extrusion, switching and cutting mechanism of an additive printing tool head according to this application;

[0129] Figure 16 is a schematic diagram of the first cutter mechanism of an additive printing tool head in the working position according to this application;

[0130] Figure 17 is a schematic diagram of the first cutting mechanism of an additive printing tool head according to this application;

[0131] Figure 18 is a schematic diagram of the first cutter mechanism of an additive printing tool head in the non-working position according to this application;

[0132] Figure 19 is a schematic diagram of the inner structure of the first cover and the material guide cover of an additive printing tool head according to this application;

[0133] Figure 20 is a partial schematic diagram of a lifting mechanism for an additive printing tool head according to this application;

[0134] Figure 21 is a schematic diagram of the drive block of the lifting mechanism of an additive printing tool head according to this application;

[0135] Figure 22 is a schematic diagram of the metal foil coil of the lifting mechanism of an additive printing tool head according to this application;

[0136] Figure 23 is a schematic diagram of the lifting motor reduction mechanism and the nozzle plugging mechanism of an additive printing tool head according to this application;

[0137] Figure 24 is a schematic diagram of a nozzle-blocking mechanism for an additive printing tool head according to this application, which blocks the second nozzle.

[0138] Figure 25 is a schematic diagram of the sealing movement process of the plugging mechanism of an additive printing tool head according to this application;

[0139] Figure 26 is a schematic diagram of a nozzle-blocking mechanism for an additive printing tool head according to this application, which blocks the first nozzle.

[0140] Figure 27 is a schematic diagram of the lowering position of the drive block of the lifting mechanism of an additive printing tool head according to this application;

[0141] Figure 28 is a schematic diagram of the intermediate state of the drive block rising and falling in the lifting mechanism of an additive printing tool head according to this application;

[0142] Figure 29 is a schematic diagram of the rising position of the drive block of the lifting mechanism of an additive printing tool head according to this application;

[0143] Figure 30 is a top view of a limiting component and a wire limiting mechanism for an additive printing tool head according to this application;

[0144] Figure 31 is a schematic diagram of a limiting component and a wire limiting mechanism for an additive printing tool head according to this application;

[0145] Figure 32 is a partial schematic diagram of the first limiting member and the first wire limiting mechanism of an additive printing tool head according to this application;

[0146] Figure 33 is a partial schematic diagram of the second limiting member of an additive printing tool head according to this application;

[0147] Figure 34 is a partial schematic diagram of the first limiting member of an additive printing tool head according to this application;

[0148] Figure 35 is a partial schematic diagram of a wire limiting mechanism for an additive printing tool head according to this application;

[0149] Figure 36 is a schematic diagram of the positioning block and Hall element of an additive printing tool head according to this application;

[0150] Figure 37 is a schematic diagram of a cable fixing structure and a follower baffle of an additive printing tool head according to this application;

[0151] Figure 38 is a partially enlarged schematic diagram of the cable fixing structure and the follower baffle in Figure 37;

[0152] Figure 39 is a partially enlarged schematic diagram of the driving block in Figure 29;

[0153] Figure 40 is a schematic diagram of one working state of the follower baffle in Figure 37;

[0154] Figure 41 is a schematic diagram of another working state of the follower baffle in Figure 37. Detailed Implementation

[0155] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0156] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0157] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0158] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0159] Regarding the prior art mentioned in the background section, after extensive experimentation and analysis, this application has also identified the following further technical problems:

[0160] The arrangement of the extrusion mechanism, switching mechanism, cutting mechanism, lifting mechanism and cooling mechanism of the tool head in the existing technology is not compact enough, and the force applied by each mechanism component is not optimized, resulting in a large tool head size and the cutter being detachable, which may cause safety problems.

[0161] In the prior art, when one of the wires in the tool head is not in operation, the wire may be pulled as the tool head moves, which may lead to inaccurate control of the next flush volume of the nozzle, or may pull some melted but not completely solidified wire into the throat of the hot end, thus clogging the nozzle.

[0162] The existing tool head lifting nozzle's movable hot end still has the problem of low heat dissipation efficiency. If the air outlet is aimed at the position where the movable hot end is below, there will be a misalignment between the air outlet and the heat sink of the movable hot end when the movable hot end is above, meaning that some air will not reach the heat sink.

[0163] Based on the discovery of the above-mentioned technical problems, this application proposes a series of technical solutions to solve the problems of the prior art discovered in this application one by one.

[0164] Layout of the tool head components and extrusion mechanism

[0165] As shown in Figures 1-7, the additive printing tool head of this application includes a mounting body, a first printhead 51, a second printhead 52, and a filament channel. The mounting body is equipped with an extrusion mechanism 3, a guide rail mounting part 101, a lifting mechanism 5, the first printhead 51, and the second printhead 52. The extrusion mechanism 3 includes an extrusion motor 301, and the lifting mechanism 5 includes a lifting motor 501. The extrusion motor 301 is mounted on the first side of the mounting body and located above the guide rail mounting part 101, while the lifting motor 501 is mounted on the first side of the mounting body and located below the guide rail mounting part 101. The application also includes a switching mechanism 4, which includes a switching motor 401, arranged side-by-side on one side of the extrusion motor 301. The separately configured extrusion motor, lifting motor, and switching motor execute actions according to control commands, effectively preventing interference between printhead lifting, filament extrusion, and switching operations. This prevents unwanted filament overflow from printheads that have finished printing, and decouples the lifting, filament extrusion, and switching operations, allowing for independent control and monitoring of different processes. This improves the automation level of the equipment and enables more functions. The extrusion motor is located above the guide rail mounting section, while the lifting motor is below. This ensures the lifting motor is closer to the printhead, shortening the transmission chain, improving transmission accuracy, reducing the size of transmission components, and balancing the tool head's center of gravity, minimizing "nodding" deformation when moving along the guide rail.

[0166] The mounting body includes a first mounting part 1 and a second mounting part 2. The first mounting part 1 is at least partially fixed to the upper part of the second mounting part 2. The extrusion mechanism 3 and the switching mechanism 4 are disposed on the first mounting part 1, and the lifting mechanism 5, the first nozzle 51, and the second nozzle 52 are disposed on the second mounting part 2. The guide rail mounting part 101 is disposed on either the first mounting part 1 or the second mounting part 2. The mounting body can be manufactured as a single piece or constructed by connecting multiple parts. It is used to support the various components of the tool head. For example, a high-strength metal mounting body can be formed by integral die casting, and the installation positions of each component can be precisely machined through subtractive manufacturing. This can achieve a shorter relative positional dimension chain of each component, thereby improving the installation accuracy.

[0167] The switching mechanism 4 also includes a switching motor reduction mechanism 402. The switching motor 401 and the switching motor reduction mechanism 402 are stacked, with their stacked axial height being flush with or similar to the axial height of the extrusion motor 301. The power and size of the extrusion motor 301 are greater than those of the switching motor 401. The switching motor reduction mechanism 402 is a planetary reduction transmission mechanism, such as a double planetary reducer. The extrusion motor 301 is a permanent magnet synchronous motor. In this layout, the extrusion motor can use a relatively large size and operating power, enabling high-speed filament extrusion, thereby improving printing speed and efficiency. The switching motor is smaller, and the use of a planetary reducer ensures that the stacked axial height of the switching motor 401 and the switching motor reduction mechanism 402 is flush with or similar to the height of the extrusion motor, thus preventing the print head size from undesirably increasing due to the increased number of motors.

[0168] One or more linear guides are installed in the guide rail mounting part 101 and are located in the middle area of ​​the extrusion motor 301, the switching motor 401, the lifting motor 501, the first fan 601 and the second fan 701. The tool head is mounted on the linear rail via a guide rail mounting part and can move in the X direction, while the linear rail can move in the Y direction. The switching mechanism 4 also includes a switching motor reduction mechanism 402, and the lifting mechanism 5 also includes a lifting motor reduction mechanism 507. The centroid of the tool head's projection in the XY plane or the projection of the tool head's center of gravity in the XY plane coincides with the projection of the linear rail, and / or, at least one of the extrusion motor 301 and the switching motor 401 or the switching motor reduction mechanism 402, and at least one of the lifting motor 501 or the lifting motor reduction mechanism, all have projections in the XY plane that at least partially overlap with the projection of the linear rail. It is understood that the extrusion motor 301 and the switching motor 401 or the switching motor reduction mechanism 402 have high mass, which has a significant impact on the centroid distribution of the tool head. By distributing the motors up and down around the linear rail, the centroid of the tool head is closer to the linear rail in the height direction, thereby reducing the acceleration and deceleration torque of the tool head in the Y-axis direction, reducing the nozzle deformation introduced during the processing motion, and thus improving the printing quality.

[0169] When there are two or more linear guides, the centroid of the tool head's projection in the XY plane, or the center of gravity of the tool head, is located in the area between at least the two outermost linear guides. The tool head also includes a control plate. The tool head is connected to the additive manufacturing equipment via a cable chain, one end of which is mounted to the tool head via a cable chain connector. At least a portion of the projections of the first nozzle 51, the second nozzle 52, and the wire channel in the XY plane are located on the first side of the linear guide's projection in the XY plane. At least a portion of the cooling mechanism, the control plate, and at least one of the cable chain or cable chain connector have projections in the XY plane located on the second side of the linear guide's projection in the XY plane, opposite to the first side. This arrangement ensures that the components surround the linear guides, guaranteeing a stable center of gravity, stable operation, and high overall strength of the tool head. In this application, the linear guide can be fixedly installed on the support profile, which can move together with the linear guide along the Y direction. When referring to the projection of the linear guide, it can refer to the projection of the whole formed by the support profile and the linear guide, or more precisely, the projection of the linear guide on the support profile.

[0170] The extrusion mechanism includes an extrusion motor reduction mechanism 302 and an extrusion wheel 303. The extrusion motor reduction mechanism 302 includes a first reduction gear 304, which is centrally located on the second side of the mounting body, opposite to the first side. The extrusion wheel 303 and the output shaft of the extrusion motor are connected by a single-stage reduction transmission, and the extrusion wheel 303 and the first reduction gear 304 are coaxially arranged. The diameter of the extrusion wheel can be set to match the position of the wire channel, ensuring that the wire is transported as straight as possible. The extrusion motor is distributed on both sides of the centerline of the mounting body through transmission gears, which can fully utilize the installation space of the tool head, allowing for a larger size of the extrusion motor's reduction gears, thereby achieving greater driving force and single-stage reduction. The single-stage reduction transmission between the extrusion motor's reduction gears and the extrusion motor effectively reduces the number of gear transmission stages, improves transmission accuracy, facilitates closed-loop control, and thus has greater power and extrusion speed, enabling high-speed printing.

[0171] The second nozzle 52 is fixedly disposed on the second side of the second mounting part 2 and is disposed adjacent to the first nozzle 51.

[0172] Switching mechanism

[0173] As shown in Figures 8-11 and 36, the switching mechanism 4 includes a switching motor 401, a switching motor reduction mechanism 402, a first transmission gear 403, a second transmission gear 404, a switching cam 405, a first swing mechanism 406, a second swing mechanism 407, and an elastic element 408. The switching motor reduction mechanism 402 is connected to the first transmission gear 403. The first swing mechanism 406, the second swing mechanism 407, and the elastic element 408 are all located on the second side of the mounting body. The first transmission gear 403 is meshed with the second transmission gear 404, and the second transmission gear 404 drives the switching cam 405 to swing. The switching cam 405 is centrally located on the mounting body and above the first reduction gear 304. The first swing mechanism 406 and the second swing mechanism 407 are symmetrically arranged on both sides of the switching cam 405. The first swing mechanism 406 includes a first switching part 411, a first pressure roller 413, and a first swing pivot part 414 arranged sequentially from top to bottom; the second swing mechanism 407 includes a second switching part 421, a second pressure roller 423, and a second swing pivot part 424 arranged sequentially from top to bottom; when the switching cam 405 applies a biasing force to the second switching part 421, the second switching part 421 moves away from the cam axis, and the first switching part 411 moves towards the cam axis under the action of the elastic element 408, the second pressure roller 423 moves away from the extrusion roller 303, and the first pressure roller 413 moves towards the extrusion roller 303, cooperating to transport the first wire; when the switching cam 405 applies a biasing force to the first switching part 411, the first switching part 411 moves away from the cam axis, and the second switching part 421 moves towards the cam axis under the action of the elastic element 408, the first pressure roller 413 moves away from the extrusion roller 303, and the second pressure roller 423 moves towards the extrusion roller 303, cooperating to transport the second wire.

[0174] The first swing pivot 414 and the second swing pivot 424 are respectively located near the lower ends of the first swing mechanism 406 and the second swing mechanism 407. The switching cam is located at the upper end, while the swing pivot is located at the lower end. The switching cam is positioned away from the swing pivot, which ensures that the bias force between the switching cam and the switching part is small, thereby reducing the wear of the cam and improving its service life.

[0175] Along the top-to-bottom direction of the first swing mechanism 406, a first hinge portion 412 is provided between the first switching portion 411 and the first pressure roller 413; along the top-to-bottom direction of the second swing mechanism 407, a second hinge portion 422 is provided between the second switching portion 421 and the second pressure roller 423; the first swing mechanism 406 and the second swing mechanism 407 are symmetrically arranged on both sides of the switching cam 405. The two ends of the elastic element 408 are respectively connected to the first hinge portion 412 and the second hinge portion 422; or, the elastic element 408 includes two elastic elements, the first ends of which are both fixed ends, and the second ends are respectively connected to one of the first hinge portion 412 and the second hinge portion 422. The elastic element 408 is a tension spring connected at both ends to the first hinge portion 412 and the second hinge portion 422 respectively. In the intermediate state of the switching action of the switching cam 405, the spring tension is relatively large. When the switching cam 405 drives the first switching portion 411 or the second switching portion 421 to the working position, the spring is in a non-horizontal state and the tension is relatively small. Thus, the first switching portion 411 or the second switching portion 421 can have a bistable position in the working positions on both sides, and an unstable position in the intermediate state, which helps improve the reliability of the switching action. It should be noted that the extrusion wheel is centrally located, and the two switching portions are symmetrically arranged on both sides of the extrusion wheel. More specifically, the extrusion wheel 303 is located between the first swing pivot portion 414, the second swing pivot portion 424, and the elastic element 408, and the switching cam is located above the extrusion wheel, allowing for a reasonable arrangement of the tool head space. The two swing mechanisms are identical in shape and symmetrically arranged. When in the working position on either side, the spring is in a non-horizontal state, and the spring force is less than the spring force when the connection point of the two springs is in a horizontal state. This can form a "bistable" switching, which is beneficial to improving the reliability of the switching action.

[0176] Since the distance between the elastic element and the pivot is greater than the distance between the extrusion wheel and the pivot, the force acting on the extrusion wheel will be greater than the tension of the elastic element. This allows the size of the elastic element to be set smaller, which is beneficial for miniaturization and weight reduction of the tool head.

[0177] It also includes a first cover 11, which provides pivot support for at least one of the first swing pivot 414 and the second swing pivot 424 or the extrusion wheel. The first cover 11 is disposed on the second side of the mounting body. A cam positioning block 409 is provided on the switching cam 405, and a magnetic element 4091 is provided on the cam positioning block 409. A first Hall sensor 4092 and a second Hall sensor 4093 (see FIG. 36) are provided on the first cover or the mounting body (e.g., the first mounting part) to detect the swing angle of the switching cam 405 or to detect the swing position of the first swing mechanism 406 and the second swing mechanism 407. A first positioning boss 111 and a second positioning boss 112 are also provided on the first cover 11 or the mounting body (e.g., the first mounting part) to limit the swing range of the cam positioning block 409. The cam positioning block 409 has a trapezoidal structure. The magnetic element 4091 is a ring magnet. The first Hall sensor 4092 and the second Hall sensor 4093 are arranged on the first cover 11 or the mounting body at a 90° angle to the line connecting the cam shaft, and are in the same plane as the ring magnet. The ring magnet also has a D-shaped hole. The switching cam cooperates with the switching parts of the swing mechanism on the left and right sides. The plane of the trapezoidal positioning block, which is coaxial with the switching cam, contacts the positioning boss on the first cover to form a limit and position. The switching cam and the trapezoidal positioning block can be integrally formed. A magnet can be set on the outside of the trapezoidal positioning block. Hall sensors arranged at right angles are provided on the first cover at the corresponding positions of the magnets to detect the position angle of the switching cam.

[0178] As shown in Figures 30-35, the wire channel includes a first wire channel and a second wire channel; the switching mechanism and the extrusion mechanism cooperate to allow the first wire in the first wire channel and the second wire in the second wire channel to work alternately; it also includes a first cover 11, which is disposed on the mounting body; the first cover 11 is provided with a first limiting member 431 and a second limiting member 432; the first swing mechanism 406 is provided with a first wire limiting mechanism 441, and the second swing mechanism 407 is provided with a second wire limiting mechanism 442; when the first wire channel is in at least one non-working position, the first limiting member 431 cooperates with the first wire limiting mechanism 441 to restrict the upward movement of the first wire in the first wire channel; when the second wire channel is in at least one non-working position, the second limiting member 432 cooperates with the second wire limiting mechanism 442 to restrict the upward movement of the second wire in the second wire channel. The first limiting member 431 includes a first steel ball 4311 and a first mounting groove 4313, and the second limiting member 432 includes a second steel ball 4321 and a second mounting groove 4323. The first wire limiting mechanism 441 includes a first movable limiting member 4411 and a first limiting structure 4412, and the second wire limiting mechanism 442 includes a second movable limiting member 4421 and a second limiting structure 4422. The first movable limiting member 4411 and the first limiting structure 4412 can be integrally formed or separately formed; the second movable limiting member 4421 and the second limiting structure 4422 can be integrally formed or separately formed. The first mounting groove 4313 and the second mounting groove 4323 are disposed on the first cover 11; the first limiting member 431 is disposed opposite to the first wire channel, and the second limiting member 432 is disposed opposite to the second wire channel; the first wire limiting mechanism 441 is disposed on the first swing mechanism 406, and the second wire limiting mechanism 442 is disposed on the second swing mechanism 407; when the first wire channel is at the end position of the non-working state, the first limiting member 431 abuts against the first wire limiting mechanism 441; when the second wire channel is at the end position of the non-working state, the second limiting member 432 abuts against the second wire limiting mechanism 442. When the first wire channel or the second wire channel is in the working state, the first wire limiting mechanism 441 or the second wire limiting mechanism 442 returns to the position that does not restrict the upward movement of the wire under the action of the wire or elastic element.

[0179] Specifically, the first limiting structure 4412 or the second limiting structure 4422 is a cutting edge, tip, protrusion, or other structure disposed at the end of the first movable limiting member 4411 or the second movable limiting member 4421, capable of engaging the wire, used to restrict the upward movement of the wire at the end position in the non-working state. In one embodiment, the first limiting structure 4412 or the second limiting structure 4422 is a one-way limiting structure. Specifically, the first limiting structure 4412 and the second limiting structure 4422 are downwardly extending tooth-like, hook-like, or claw-like structures. The first limiting structure 4412 or the second limiting structure 4422 has a slope or arc surface and a cutting edge or tip for engaging the wire. When the wire moves from top to bottom, it can act on the slope or arc surface, causing the one-way limiting structure to move away from the wire. When the wire moves from bottom to top, the wire is engaged by the cutting edge or tip for engaging the wire, restricting its movement.

[0180] It also includes a first elastic mechanism 4312 and a second elastic mechanism 4322. ， One end of the first elastic mechanism 4312 is disposed in the first mounting groove 4313, and the other end is connected to a first steel ball 4311. One end of the second elastic mechanism 4322 is disposed in the second mounting groove 4323, and the other end is connected to a second steel ball 4321. The first steel ball 4311 and the second steel ball 4321 both protrude at least partially from the first mounting groove 4313 and the second steel ball 4321. When the first wire channel is in at least one non-working position, the first steel ball 4311 abuts against the first movable limiting member 4411, causing the first limiting structure 4412 to at least partially enter the first wire channel and compress the first wire. When the second wire channel is in at least one non-working position, the second steel ball 4321 abuts against the second movable limiting member 4421, causing the second limiting structure 4422 to at least partially enter the second wire channel and compress the second wire. The first elastic mechanism 4312 and the second elastic mechanism 4322 are springs. By setting an elastic mechanism, the force applied during the pushing process can be made gentler, reducing the chance of jamming and increasing the service life of the first wire limiting mechanism 441 or the second wire limiting mechanism 442.

[0181] It also includes a first elastic reset member 4413 disposed on the first swing mechanism 406, and a second elastic reset member 4423 disposed on the second swing mechanism 407; one end of the first elastic reset member 4413 is connected to the first movable limiting member 4411, and the other end is connected to the first swing mechanism 406. When the first wire channel is in the working state or between the working state and the end position of the non-working state, the first movable limiting member 4411 moves away from the wire under the action of the first elastic reset member 4413; one end of the second elastic reset member 4423 is connected to the second movable limiting member 4421, and the other end is connected to the second swing mechanism 406. When the second wire channel is in the working state or between the working state and the end position of the non-working state, the second movable limiting member 4421 moves away from the wire under the action of the second elastic reset member 4423.

[0182] It should be noted that, through the limiting function of the wire limiting mechanism, the wire in the non-working state will be reliably fixed and will not be pulled by external forces (such as tool head movement, wire guide tube shaking, etc.). This avoids inaccurate control of the spray volume in the next spray and also prevents the problem of some melted but not completely solidified wire being pulled into the throat of the hot end and thus clogging the spray head.

[0183] Lifting mechanism

[0184] [Corrected according to Rule 91, 13.05.2025] As shown in Figures 12-14, 19-23, and 36, the lifting mechanism 5 includes a lifting motor 501, a drive rocker arm 502, a drive roller 503, a drive block 504, a drive slider 505, a drive slide rail 506, and a lifting motor reduction mechanism 507; the drive rocker arm 502 and the drive roller 503 are located on the first side of the mounting body; one end of the drive rocker arm 502 is connected to the output shaft of the lifting motor 501 via transmission or direct connection, and the other end is provided with the drive roller 503; the drive slide rail 506 is located on the second side of the mounting body, and the drive slider 505 slides... The drive block 504 is mounted on the drive slide rail 506. The cross-sectional shape of the drive block 504 is U-shaped, I-shaped, or U-shaped, and it is located on at least the first, second, and third sides of the mounting body. The second side is the side opposite to the first side, and the third side is the side connecting the first and second sides. The second sidewall 5041 of the drive block 504 on the second side of the mounting body is fixedly connected to the drive slider 505. A first nozzle 51 is provided on one side of the drive slider 505. A groove is provided on the first sidewall 5042 of the drive block 504 on the first side of the mounting body. The groove is preferably a U-shaped groove 5043, which cooperates with the drive roller 503. The U-shaped slide 5043 has a closed side and an open side along the horizontal direction of the drive block 504. The drive roller 503 can be inserted into the U-shaped slide 5043 from the open side. When the lifting motor 501 drives the drive rocker arm 502 to rotate, the drive roller 503 moves towards the open side of the U-shaped slide 5043, causing the drive block 504 to drive the drive slider 505 to move up and down along the drive rail 506. The width of the U-shaped slide 5043 in the vertical direction is larger than the size of the drive roller 503, so that the drive roller 503 fits with the upper wall of the U-shaped slide 5043. Preferably, the closed side of the U-shaped slide 5043 has a self-locking angle of 5°-15°. The U-shaped slide is slightly larger than the drive roller, so that the drive roller can be inserted into the U-shaped slide from the open side during assembly, which is convenient for assembly. The rotation angle of the drive roller can be 200°, meaning it will rotate an additional 5° or 10° in both the vertical and horizontal positions. In another embodiment, the U-shaped chute can be replaced with a closed chute without an open side. In this embodiment, except that the open side of the U-shaped chute is set to be closed, the cooperation method between the chute and the drive roller and the working process are the same as in the embodiment of the U-shaped chute.

[0185] It also includes a limiting part for limiting the range of motion of the drive roller. The limiting part is the groove wall on the closed side of the U-shaped chute; or the limiting part is a protruding structure set on the mounting body or on a structural member fixed relative to the mounting body; or the limiting part is a limiting block set on the gearbox side of the lifting and deceleration mechanism.

[0186] Referring to Figure 36, a positioning block 5051 is provided on the mounting body at a position opposite to the bottom of the drive slider 505 or drive block 504. The upper surface of the positioning block 5051 is a plane, preferably a finely ground plane. In one embodiment, the positioning block 5051 is a screw, which coincides with the central axis of the drive slider 505. The center line of the upper surface of the positioning block 5051 in the left-right direction is aligned with the center line of the drive slider 505 in the left-right direction. Matching pairs of pre-tightening magnetic elements 5052 are provided at relative positions on the mounting body and the drive slider 505 (or the first nozzle 51). At least one of the pre-tightening magnetic elements 5052 is a magnetic element, and the other is a mutually attracting magnetic element or a ferromagnetic material. When the drive block moves downward, the pre-tightening magnetic element 5052 applies a downward magnetic attraction force to the drive slider 505 (or the first nozzle 51). When the drive slider 505 contacts the positioning block 5051, or when the drive block 504 moves downward to its lowest position, there is a gap between the drive block 504 and the pre-tightening magnetic element 5052. The magnetic attraction force is to provide a positioning force to prevent the nozzle from shifting due to scratches or other reasons.

[0187] The drive block 504, located on the first sidewall 5042 of the first side of the mounting body, is also provided with a metal foil 5044, such as copper foil, aluminum foil, or iron foil, with copper foil being the most preferred. On the mounting body, on the opposite side of the final descending position of the drive block 504, a coil 5045 is provided to cooperate with the metal foil 5044 to detect the degree of sway of the first nozzle 51; alternatively, the positions of the metal foil 5044 and the coil 5045 can be interchanged. The metal foil and coil cooperate to detect whether the first nozzle is in position.

[0188] Alternatively, the drive block 504 itself can be made of aluminum or copper. In this case, there is no need to set the metal foil 5044. The coil 5045 can cooperate with the drive block 504 to detect the degree of sway of the first nozzle 51.

[0189] As shown in Figure 23, the lifting motor reduction mechanism includes: gear one, gear two, gear three, gear four, gear five, gear shaft, and sector gear. Gear one is mounted on the output shaft of the lifting motor and meshes with gear two. Gear two is mounted on a gear shaft, and gear three is mounted on the gear shaft coaxially with gear two. Gear three meshes with gear four. Gear four is mounted on a first transmission shaft 5071, and gear five is mounted on the first transmission shaft 5071 coaxially with gear four. Gears one to five are for reduction transmission. Gear five meshes with sector gear, and a second transmission shaft 5072 is mounted on sector gear.

[0190] The second drive shaft 5072 is used to drive the movement of the plugging mechanism, which will be described later. The lifting electrode reduction mechanism includes a lifting reduction gearbox, on the outside of which a pair of Hall sensors can be mounted. The pair of Hall sensors are arranged at 90° with the axis of the second drive shaft 5072 as the center. At the same time, magnets are arranged on the sector gear. By cooperating with the Hall sensors, the working state of the plugging mechanism can be detected, such as the rotation angle of the plugging rod, which will be mentioned later.

[0191] As shown in Figures 37-38, the system also includes a cable fixing structure 16, which is fixed relative to the first nozzle 51 or the lifting mechanism. The cable extending from the first nozzle 51 is fixed by the cable fixing structure 16. The cable has a connector located between the first nozzle 51 and the position where the cable fixing structure 16 fixes the cable. Preferably, the cable fixing structure is a plate-like structure with a cable receiving portion 161 at its lower end for fixing the cable. The cable receiving portion 161 has an opening 162 for placing the cable into it. During the lifting and lowering process of the first nozzle 51, the cable fixing structure 16 remains fixed relative to the first nozzle 51, with no relative displacement between them. Therefore, the cable connector is not subjected to external force pulling caused by the lifting and lowering process, thus preventing the connector from loosening and ensuring reliability.

[0192] Cutting mechanism

[0193] As shown in Figures 15-19, the cutting mechanism includes a first cutting mechanism 81 and a second cutting mechanism 82; the first cutting mechanism includes a first cutting blade 811, a first cutting blade rod 812, and a first cutting blade shaft 813; the second cutting mechanism 82 includes a second cutting blade 821, a second cutting blade rod 822, and a second cutting blade shaft 823; a first swing pivot 414 is disposed adjacent to the first cutting blade shaft 813; and a second swing pivot 424 is disposed adjacent to the second cutting blade shaft 823. The first cutting bar 812 and the second cutting bar 822 are located on the second side of the mounting body, and are arranged opposite to each other. The first cutting bar 812 is provided with a first cutting trigger point 8121, a first cutting shaft mounting part 8122, and a first cutting mounting part 8123 in sequence from top to bottom. The second cutting bar 822 is provided with a second cutting trigger point 8221, a second cutting shaft mounting part 8222, and a second cutting mounting part 8223 in sequence from top to bottom. The distance between the first cutting trigger point 8121 and the first cutting shaft mounting part 8122 is greater than the distance between the first cutting shaft mounting part 8123 and the first cutting shaft mounting part 8122, and the distance between the second cutting trigger point 8221 and the second cutting shaft mounting part 8222 is greater than the distance between the second cutting shaft mounting part 8223 and the second cutting shaft mounting part 8222. The first cutter 811 includes a first blade 8111, a first blade holder 8112, and a first pulling rod 8113. The second cutter 821 includes a second blade 8211, a second blade holder 8212, and a second pulling rod 8213. The first blade 8111 is disposed inside the first blade holder 8112, with its cutting edge facing the first cutter rod 812. The second blade 8211 is disposed inside the second blade holder 8212, with its cutting edge facing the second cutter rod 822. The first cutter is located between the first cutter shaft and the first nozzle, and the second cutter is located between the second cutter shaft and the second nozzle. It should be noted that in the layout of the extrusion mechanism, switching mechanism, and cutting mechanism in this application, due to the need to achieve switching and lifting of the dual nozzles, as well as the arrangement of the cutter, and considering the multiple requirements of not wanting wire overflow from the nozzle after operation, the switching cam is positioned close to the switching motor and at the top, while the pivot of the swing mechanism is positioned at the bottom, leaving the middle space for the extrusion wheel and cutter, thus achieving near-end extrusion and near-end cutting. The shorter the distance from the extrusion wheel to the hot end of the nozzle, the better. If the distance is longer, the control of the extrusion volume is more easily affected by wire deformation. The farther the cutter position is, the more material is wasted during material change. The distance between the cutter trigger point and the cutter shaft is greater than the distance between the cutter and the cutter shaft (force amplification effect), making cutting easier. At the same time, positioning the cutter shaft close to the pivot of the swing mechanism avoids the cutter occupying space in the lower hot-end air duct, which is beneficial for heat dissipation. Furthermore, the blade being encased inside the cutter is also safer.

[0194] The system also includes a guide cover 12, a follower slider 53, and a guide rail 54. The follower slider 53 has a sliding groove 531 on one side and slides in cooperation with the guide rail 54. The guide rail 54 is mounted on the guide cover 12, which is at least partially located below the extrusion wheel. The follower slider 53 has a sliding cavity 532 in a horizontal direction, and the first cutter 811 is slidably disposed in the sliding cavity 532. The first cutter mounting portion 8123 includes a receiving portion 8000 movably connected to the first pulling protrusion 8113. When the first pulling protrusion 8113 is in the first working position, it is located within the receiving portion 8000, and the first cutter 811 can be pulled by the first cutter rod 812. When the first pulling protrusion 8113 is at least in the second working position, it is located outside the receiving part 8000, and the first cutting rod 812 cannot pull the first cutting blade 811. The receiving part 8000 has an upper opening structure, and the first pulling protrusion 8113 enters or leaves the receiving part 8000 through the upper opening. The receiving part is a component that drives the first pulling protrusion to move. The receiving part 8000 can be a U-shaped opening groove, or it can be a structure with a wall thickness that decreases from bottom to top. The thicker lower wall can block the first pulling protrusion, so that the receiving part can drive the first pulling protrusion to move. The thinner upper wall can avoid the first pulling protrusion, so as to ensure that the first pulling protrusion can disengage from the receiving part.

[0195] The sliding groove 531 is a dovetail groove. It also includes a first guide member 55 and a second guide member 56, which are fixedly mounted on the guide cover 12 and used to guide the first wire and the second wire, respectively. The guide cover 12 also has a sliding positioning part 121, which guides the sliding of the second cutter 821. The follower slider 53 has a sliding channel 533, and the first guide member 55 slides in conjunction with the sliding channel 533 of the follower slider 53. It also includes a compression spring 57, which has a compression spring mounting part 534 on the follower slider 53. One end of the compression spring 57 is fixed or abuts against the guide cover 12, and the other end is located within the compression spring mounting part 534. The compression spring on the follower slider keeps it pressed against the movable hot end. This ensures the cutter can move up and down with the hot end and also keeps it pressed in place, preventing the drive slider from failing to fall smoothly due to unforeseen circumstances. This would prevent the preload magnetic element from suddenly attracting the drive block, reducing the impact noise when the drive slider contacts the positioning block at the bottom working position. Furthermore, by positioning the cutter's pivot above the cutter, the cutter moves up and down with the first nozzle, ensuring the cutting point is as close as possible to the hot end of the nozzle. Positioning the pivot above the cutter also ensures the cutter can move downwards relative to the cutter rod without being obstructed by the pivot.

[0196] gagging mechanism

[0197] As shown in Figures 23-29, the nozzle-closing mechanism includes a swing rod 901, a nozzle, a positioning magnetic element 905, a first guiding magnetic element 908, and a second guiding magnetic element 906. One end of the swing rod 901 is connected to the output shaft of the lifting motor 501, and the other end is rotatably connected to the nozzle. A positioning mounting part 9032 is provided on the nozzle, and the positioning magnetic element 905 is mounted on the positioning mounting part 9032. The nozzle switches between the first nozzle 51 and the second nozzle 52, and the orientation of the nozzle is maintained by the cooperation of the first guiding magnetic element 908, the second guiding magnetic element, and the positioning magnetic element 905. The nozzle only seals the first nozzle 51 or the second nozzle 52 when it is not in operation. Preferably, the nozzle-closing mechanism also includes an intermediate guiding magnetic element 907, which is arranged between the first guiding magnetic element 908 and the second guiding magnetic element 906. This intermediate guiding magnetic element 907 is used to change the orientation of the nozzle when the positioning magnetic element 905 passes through the intermediate guiding magnetic element 907 during the switching process between the first nozzle 51 and the second nozzle 52. Preferably, the nozzle plug includes a nozzle plug mounting base 903 and a nozzle plug baffle 904, with the nozzle plug baffle 904 fixedly installed to the nozzle plug mounting base 903. The nozzle plug baffle 904 is an elastic metal sheet, and elastic or flexible nozzle plug layers are provided at positions corresponding to the first and second nozzles on the nozzle plug baffle 904, with the elastic or flexible nozzle plug layers annularly sleeved on the nozzle plug baffle 904.

[0198] The nozzle baffle 904 has a first working position and a second working position, and the first nozzle 51 has an upward limit position and a downward limit position. The first working position of the nozzle baffle 904 corresponds to the upward limit position of the first nozzle 51, and the second working position of the nozzle baffle 904 corresponds to the second nozzle 52. A bending plate 909 is provided below the lifting motor 501. The bending plate 909 has a first horizontal part, a bending part, and a second horizontal part. A first guiding magnetic element 908 is provided on the first horizontal part, a middle guiding magnetic element 907 is inclinedly provided on the bending part, and a second guiding magnetic element 906 is provided on the second horizontal part. The distance between the first guiding magnetic element 908 and the middle guiding magnetic element 907 is greater than the distance between the middle guiding magnetic element 907 and the second guiding magnetic element 906. By setting the bending angle of the bending part, the orientation of the middle guiding magnetic element 907 can be adjusted, thereby adjusting the orientation of the nozzle during the nozzle switching process. When the nozzle-blocking baffle 904 is in the first working position, the positioning magnetic element 905 and the first guiding magnetic element 908 attract each other, and the nozzle-blocking baffle 904 is in a horizontal position, blocking the first nozzle 51. When the nozzle-blocking baffle 904 is in the second working position, the positioning magnetic element 905 and the second guiding magnetic element 906 attract each other, and the nozzle-blocking baffle 904 is in a horizontal position, blocking the second nozzle 52. When the positioning magnetic element 905 is in a position relative to the intermediate guiding magnetic element 907, the nozzle-blocking baffle 904 is tilted, so that when the nozzle-blocking baffle moves to the second working position, it moves at an angle tilted towards the second nozzle 52. The lifting motor 501 drives the first nozzle 51 and the nozzle-blocking mechanism 9 to move. When the first nozzle begins to descend from its upper limit position, the nozzle-blocking baffle moves before the first nozzle. When the first nozzle moves from its lower limit position towards its upper limit position, the first nozzle reaches the upper limit position first, and then the nozzle-blocking baffle reaches the first working position. The first and second guiding magnetic elements are horizontally positioned magnets, ensuring that the nozzle baffle horizontally blocks the first and second nozzles; the middle guiding magnetic element is an angled magnet, ensuring that the nozzle baffle cuts in at an angle, reducing the chance of the nozzle baffle getting stuck.

[0199] The swing arm 901 is a bent or arc-shaped rod, and it bends away from the drive slider 505. This arrangement ensures that the swing arm avoids the linear guide, and a gap is provided on the rear side of the fixed hot end to accommodate the movement of the swing arm.

[0200] The output shaft of the lifting motor is connected to the first drive shaft 5071 and the second drive shaft 5072 via the lifting motor reduction mechanism 507. The first drive shaft 5071 drives the first nozzle 51 to rise and fall. The second drive shaft 5072 is connected to one end of the swing rod 901. The shaft hole through which the drive rocker arm 502 engages with the first drive shaft 5071 can be a D-shaped hole or a flat hole. The first drive shaft can be a D-shaped shaft or a flat shaft. The sector gear has a D-shaped hole or a flat hole, and the second drive shaft is a D-shaped shaft or a flat shaft. The straight portion of the D-shaped shaft or flat shaft has a gap with the straight portion of the D-shaped hole or flat hole. This configuration of the D-shaped shaft ensures that the swing of the swing rod and the rise and fall of the first nozzle are decoupled within a certain range, thus making it less likely for the nozzle baffle to get stuck.

[0201] As mentioned above, the lifting electrode deceleration mechanism includes a lifting deceleration gearbox. A pair of Hall sensors can be installed on the outside of the gearbox. The pair of Hall sensors are arranged at 90° with the axis of the second transmission shaft 5072 as the center. At the same time, magnets are arranged on the sector gear. By cooperating with the Hall sensors, the rotation angle of the swing rod 901 can be detected.

[0202] Additionally, a pair of Hall sensors may be included for detecting the rotation angle of the drive rocker arm 502. The pair of Hall sensors are arranged at 90° around the axis of rotation of the drive rocker arm 502 and fixed relative to the mounting body, for example, also mounted outside the gearbox.

[0203] Tool head control method

[0204] If the filament inside the first printhead remains stationary during its ascent, or in the hot end, the equivalent filament will be squeezed downwards, leading to material leakage and affecting print quality. In this application, the following control method enables the first printhead and the filament inside it to rise and fall synchronously. That is, whether the first printhead is rising or falling, the filament inside it is kept stationary relative to the first printhead, thereby solving the problems of material leakage and hot end blockage that may be caused by asynchronous filament movement inside the first printhead.

[0205] This application provides a control method for a wind-based additive manufacturing tool head, which can be used to control the tool head in the above embodiments. The tool head includes a first nozzle 51 and a second nozzle 52 that can be raised and lowered, and an extrusion mechanism 3. The extrusion mechanism is used to feed filament into the first nozzle 51 or to retract filament from the first nozzle 51. The first nozzle 51 is in a working state when it is in a lower position and in a standby state when it is in a higher position. The control method includes the following steps:

[0206] S10: At least during the partial upward movement of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously retract the wire from the first nozzle 51, and / or, at least during the partial downward movement of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously feed the wire into the first nozzle 51.

[0207] or,

[0208] S20: First, control the extrusion mechanism 3 to loosen the clamp on the wire, and then control the first nozzle 51 to rise or fall.

[0209] Specifically, the first nozzle 51 is liftable, also known as a lifting nozzle, and can be driven to rise and fall by a lifting motor. The second nozzle 52 can be fixed relative to the base of the tool head. The extrusion mechanism can feed the first wire downward into the first nozzle 51 through the first wire channel, or it can pull the first wire upward from the first nozzle 51. Understandably, the extrusion mechanism can also feed the second wire downward into the second nozzle 52 through the second channel, or it can pull the second wire upward from the second nozzle 52. It should be noted that the above-mentioned extrusion mechanism can be a single mechanism, that is, the same extrusion mechanism can be used for feeding and pulling in the first nozzle 51 and the second nozzle 52. Wire can be fed into the first nozzle 51 and the second nozzle 52 simultaneously through the same extrusion mechanism, or the wire corresponding to the second nozzle can remain stationary when the same extrusion mechanism is used to feed wire into the first nozzle 51. There can also be multiple extrusion mechanisms, such as two, that is, the first wire is fed into the first nozzle 51 or drawn back from the first nozzle 51 through one extrusion mechanism, and the second wire is fed into the second nozzle 52 or drawn back from the second nozzle 52 through the other extrusion mechanism.

[0210] Among them, the first nozzle 51 being liftable refers to the first nozzle being able to change its position in the vertical direction, such as changing between the working position and the standby position. Its lifting process can be linear, can swing along an arc, or can be lifted under the action of a cam, which also falls into the category of being liftable.

[0211] In step S10, control can be performed in the following ways: First, the extrusion mechanism 3 can be controlled to simultaneously retract the wire from the first nozzle 51 only during a portion of the first nozzle 51's upward movement; second, the extrusion mechanism 3 can be controlled to simultaneously retract the wire from the first nozzle 51 throughout the entire upward movement of the first nozzle 51; third, the extrusion mechanism 3 can be controlled to simultaneously feed the wire into the first nozzle 51 only during a portion of the first nozzle 51's downward movement; fourth, the extrusion mechanism 3 can also be controlled to simultaneously feed the wire into the first nozzle 51 throughout the entire downward movement of the first nozzle 51. In specific implementations, the control method may include only one of these methods, or it may include the first and third methods, or the first and fourth methods, or the second and third methods, or the second and fourth methods.

[0212] In step S20, the above control method includes first controlling the extrusion mechanism 3 to loosen the clamp on the wire, and then controlling the first nozzle 51 to rise or fall.

[0213] The "synchronization" mentioned above and below can refer to a slightly delayed or advanced motion process. For example, synchronized motion can involve one component having a self-locking or decoupling segment. The other component begins motion only after the first component enters or leaves the self-locking or decoupling segment, and the starting or ending points of the self-locking or decoupling segment may have slight positional differences. Alternatively, the two components moving synchronously can have identical or slightly different speeds. Sometimes, the slight speed difference is due to differences in their respective transmission mechanisms. For instance, one component might drive a rack and pinion in linear motion via a motor, while the other might drive a slider, cam, crank, rocker arm, etc., via a motor to achieve circular motion, resulting in a slight speed difference in the same vertical direction.

[0214] The "upper position" of the first printhead refers to its standby position when the second printhead is working; the "lower position" refers to its position when it is extruded molten material for printing, and its position is lower than that of the second printhead. In other words, the "upper position" of the first printhead 51 refers to its standby position, which can be the upper limit position during the lifting process. At this time, the other fixed printhead (second printhead 52) is in working condition, and the second printhead is in the process of extruded molten material. The standby position of the first printhead 51 is higher than that of the second printhead, thus preventing scratching of the printed model. The "lower position" of the first printhead refers to its position when it is extruded molten material for printing, which can be the lower limit position during the lifting process, and its position is lower than that of the second printhead, to prevent the second printhead from scratching the printed model.

[0215] The control method of this application may include only step S10 or step S20, or it may include both steps S10 and S20. Specifically, different steps may be executed depending on the state of the tool head. For example, step S10 may be executed when the tool head is in the first state, and step S20 may be executed when the tool head is in the second state. In some embodiments, the control method includes:

[0216] If the tool head is in the first state, then:

[0217] During the upward movement of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously retract the wire from the first nozzle 51, and / or, during the downward movement of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously feed the wire into the first nozzle 51.

[0218] If the tool head is in the second state, then:

[0219] First, control the extrusion mechanism 3 to loosen the clamp on the wire, and then control the first nozzle 51 to rise or fall.

[0220] In the above embodiments, the first state may include a continuous printing state during the printing stage, in which the first or second nozzle is in the state of extruding molten material; the second state may include one of a printing preparation stage, an idle stage, and a paused state during the printing stage. The printing preparation stage includes at least one of the following: a leveling stage between the first and second nozzles and the heated bed, and an alignment stage between the first and second nozzles. That is, the printing preparation stage may only include the leveling stage between the first and second nozzles and the heated bed, or only the alignment stage, or both the leveling and alignment stages. During the pause and idle phases of printing, users can switch printheads by clicking on the screen. In either of these phases, users can manually switch the first printhead to be active or the second printhead to be active. For example, by clicking the switch key (including icons, buttons, etc.) on the screen, the first printhead can be raised to the standby position, which is higher than the second printhead, thus putting the second printhead into active mode. Alternatively, the first printhead can be lowered to the active position, which is lower than the second printhead, thus putting the first printhead into active mode.

[0221] In some embodiments, in the first state, the filament temperature is between 180°C and 360°C. That is, in the first state, the temperature of the first filament and the second filament can be 180°C, 200°C, 230°C, 260°C, 300°C, 330°C, 350°C, or 360°C, etc. At this temperature, the filament is in a molten state and can be ejected from the first nozzle or the second nozzle to print the part to be printed. Specifically, the temperature of the first-state wire varies depending on the wire material. For PLA, the preferred temperature in the first state is between 190℃ and 240℃; for PETG, it is between 230℃ and 270℃; for ABS and ASA, it is between 240℃ and 280℃; for TPU, it is between 200℃ and 250℃; for PC, PA, and PET, it is between 260℃ and 300℃; and for PPA and PPS, it is between 285℃ and 340℃.

[0222] In the second state, the filament temperature is less than 180℃ for at least a preset time. That is to say, in the second state, the temperature of the first and second filaments is less than 180℃, such as 170℃, 160℃, 150℃, 140℃, 130℃ or 120℃, etc. In this state, the filament is basically not ready for printing, and the first or second printhead is generally in standby mode or in the preparation stage before printing. Preferably, in the second state, the wire temperature is at least between 120°C and 160°C for a preset time period. That is, in the second state, the wire temperature is maintained at 120°C to 160°C for at least a certain period of time, such as 120°C, 130°C, 140°C, 150°C, or 160°C within the preset time period. More preferably, the wire temperature is at least around 140°C for the preset time period, such as between 135°C and 145°C, such as 135°C, 138°C, 139°C, 140°C, 142°C, 144°C, or 145°C.

[0223] In some embodiments of this application, the tool head further includes a switching mechanism 4. The switching mechanism 4 is used to cooperate with the extrusion mechanism 3 to allow the first wire in the first wire channel and the second wire in the second wire channel to work alternately. In step S10 above, during the descent of the first nozzle 51, controlling the extrusion mechanism 3 to synchronously feed the wire into the first nozzle 51 includes:

[0224] S11: First, control the switching mechanism 401 to cooperate with the extrusion mechanism to put the first wire into a working state, or in other words, put the first wire into a clamping state;

[0225] S12: Control the first nozzle 51 to descend, and during the descent, control the extrusion mechanism 3 to simultaneously feed the wire into the first nozzle 51.

[0226] In other words, during the descent of the first nozzle, after the first wire is clamped by controlling the switching mechanism and the extrusion mechanism, the first nozzle 51 is then controlled to descend. Thus, in step S12, the wire can be synchronously fed into the first nozzle 51 through the action of the extrusion mechanism, so that the descent distance of the first nozzle 51 is basically consistent with the length of the wire fed downward by the extrusion mechanism, thereby better avoiding displacement between the wire and the first nozzle and preventing pulling on the wire.

[0227] To ensure synchronized movement of the wire within the first nozzle during its raising and lowering process, preventing relative displacement and avoiding issues such as the wire being pulled, some embodiments detect the upward or downward displacement of the first nozzle and control the extrusion mechanism to synchronously retract or feed the wire. Specifically,

[0228] During the upward movement of the first nozzle 51, the upward displacement of the first nozzle is detected, and the extrusion mechanism 3 is controlled to simultaneously pull the wire back from the first nozzle 51 based on the upward displacement of the first nozzle 51.

[0229] During the descent of the first nozzle 51, the descent displacement of the first nozzle 51 is detected, and the extrusion mechanism 3 is controlled to synchronously feed the wire into the first nozzle 51 based on the descent displacement of the first nozzle 51.

[0230] Understandably, the extrusion mechanism can be controlled by detecting the displacement of the first nozzle during both the rising and falling of the first nozzle, or the extrusion mechanism can be controlled by detecting the displacement only during the rising or falling of the first nozzle.

[0231] The tool head also includes a lifting mechanism 5, which includes a lifting motor for driving the first nozzle 51 to rise and fall.

[0232] In one embodiment, the lifting motor is a brushed motor or a brushless motor, and the lifting mechanism 5 further includes an angle measuring sensor for measuring the rotation angle of the output shaft of the lifting motor. In this embodiment, the upward displacement in step S11 and the downward displacement in step S12 can be determined by the detection value of the angle measuring sensor. Specifically, during the upward movement of the first nozzle 51, the rotation angle output by the angle measuring sensor is detected, and the upward displacement of the first nozzle 51 is determined based on the rotation angle; during the downward movement of the first nozzle 51, the rotation angle output by the angle measuring sensor is detected, and the downward displacement of the first nozzle 51 is determined based on the rotation angle.

[0233] In another embodiment, the lifting motor is a stepper motor. In this embodiment, the upward displacement in step S11 and the downward displacement in step S12 can be determined by the number of steps of the stepper motor. Specifically, during the upward movement of the first nozzle 51, the number of steps of the stepper motor is calculated, and the upward displacement of the first nozzle 51 is determined based on the number of steps; during the downward movement of the first nozzle 51, the number of steps of the stepper motor is calculated, and the downward displacement of the first nozzle 51 is determined based on the number of steps.

[0234] In another embodiment, the lifting motor is a linear motor. In this embodiment, the upward displacement in step S11 and the downward displacement in step S12 can be determined by the displacement information of the magnetic scale or optical scale of the linear motor. Specifically, during the upward movement of the first nozzle 51, the displacement information of the magnetic scale or optical scale of the linear motor is read, and the upward displacement of the first nozzle 51 is determined based on the displacement information; during the downward movement of the first nozzle 51, the displacement information of the magnetic scale or optical scale of the linear motor is read, and the downward displacement of the first nozzle 51 is determined based on the displacement information.

[0235] In an embodiment that includes a switching mechanism, in step S20 above, if the tool head is in the second state, the extrusion mechanism 3 is first loosened from the wire by controlling the switching mechanism, and then the lifting motor is controlled to drive the first nozzle 51 to rise or fall.

[0236] The extrusion mechanism 3 includes an extrusion wheel, and an extrusion motor drives the extrusion wheel to rotate. The switching mechanism 4 includes a switching drive device, a first pressure roller 413, and a second pressure roller 423. The second drive device drives the first pressure roller 413 and the second pressure roller 423 to alternately cooperate with the extrusion wheel, so that the first wire in the first wire channel and the second wire in the second wire channel work alternately. That is, the switching drive device can drive the first pressure roller to move closer to the extrusion wheel, thereby clamping the first wire and putting the first wire in a working state, or drive the first pressure roller away from the extrusion wheel, thereby releasing the first wire and putting the first wire in a non-working state. The switching drive device can also drive the second pressure roller to move closer to the extrusion wheel, thereby clamping the second wire and putting the second wire in a working state; or drive the second pressure roller away from the extrusion wheel, thereby releasing the second wire and putting the second wire in a non-working state. In this embodiment, controlling the switching mechanism to release the clamping of the wire by the extrusion mechanism 3 includes controlling the switching drive device to drive the first pressure roller away from the extrusion wheel to release the wire.

[0237] The switching drive device can be a different power unit from the lifting motor, meaning the switching drive device includes a switching motor, which is an independent drive unit from the lifting motor. Alternatively, the switching drive device and the lifting motor can be the same drive unit, meaning the lifting motor is reused as the switching drive device.

[0238] In some embodiments, controlling the switching mechanism to loosen or clamp the wire can be achieved through the first abutment portion and the first limiting mechanism 441. Specifically, the tool head also includes a first cover, on which an abutment portion is provided. For ease of description below, the abutment portion that cooperates with the first limiting mechanism is referred to as the first abutment portion. The switching mechanism 4 includes the first limiting mechanism 441. In this embodiment, the aforementioned control of the switching mechanism to loosen the clamping of the extrusion mechanism 3 on the wire includes: controlling the switching mechanism 4 to separate the first limiting mechanism 441 from the first abutment portion to loosen the first wire in the first wire channel, and loosening the clamping of the extrusion mechanism 3 on the wire.

[0239] The switching drive device of the switching mechanism 4 can bring the first limiting mechanism 441 close to the first abutting part through various transmission methods to limit the first wire in the first wire channel, or separate the first limiting mechanism 441 from the first abutting part to release the wire in the first wire channel.

[0240] Furthermore, the switching mechanism 4 also includes a switching cam 405. The switching mechanism 4 drives the first limiting mechanism 441 to move through the switching cam 405, and determines whether to loosen or tighten the wire by detecting the rotation angle or displacement of the switching cam 405. The switching drive device can drive the switching cam 405 to rotate through the transmission of a reduction gear or a reduction gear set. In this embodiment, the above-mentioned method of controlling the switching mechanism to loosen the clamping of the wire by the extrusion mechanism 3 includes:

[0241] The control switching cam 405 drives the first limiting mechanism 441 to move, and detects the rotation angle or displacement of the switching cam 405, so as to determine the first limiting mechanism 441 and the first abutment part to release the wire according to the rotation angle or displacement, and cause the extrusion mechanism 3 to release the clamping of the wire.

[0242] Specifically, the rotation angle or displacement of the switching cam 405 can be achieved in the following way: a magnetic element 4091 is provided on one of the switching cam 405 and the first cover; a first Hall sensor 4092 and a second Hall sensor 4093 are provided on the other of the switching cam 405 and the first cover. The rotation angle of the switching cam 405 is determined by detecting the detection signals of the first Hall sensor 4092 and the second Hall sensor 4093. Preferably, the first Hall sensor 4092 and the second Hall sensor 4093 are arranged at 90° to improve the detection accuracy of the rotation angle or displacement of the switching cam and enhance the control accuracy of the wire condition through the Hall sensors and their arrangement.

[0243] It is worth noting that the loosening and clamping of the wire in the second wire channel can also be achieved by switching cam 405. Correspondingly, the second abutment switching mechanism on the first cover also includes a second limiting mechanism 442. The switching cam 405 can drive the second limiting mechanism 442 to approach the second abutment to clamp the second wire, or to separate from the second abutment to loosen the second wire.

[0244] Both the first abutment and the second abutment can be part of the first cover, meaning the abutment and the first cover are integrally formed. For example, if the first cover is a casting, then the first cover and the abutment are integrally formed; alternatively, the first abutment may include a first limiting member 431, and the second abutment may include a second limiting member 432, meaning the first cover and the abutment are separate structures. Of course, the first abutment and the second abutment can be the same structural part or component, or they can be different and independent structural parts or components.

[0245] In embodiments where the tool head also includes a first cover 11 and a switching mechanism 4, and the first cover 11 is provided with an abutment portion (i.e., a first abutment portion and a second abutment portion), the switching mechanism 4 is used to cooperate with the extrusion mechanism 3 to allow the wires in the two wire channels to work alternately. The switching mechanism 4 includes a limiting mechanism, i.e., a first limiting mechanism and a second limiting mechanism. The above control method also includes the following steps:

[0246] S30: The control switching mechanism switches one of the wire channels between the working position, the intermediate position, and the locked position. In the working position, the switching mechanism 4 and the extrusion mechanism 3 cooperate to clamp the wire, and the abutment part separates from the limiting mechanism to completely release the wire. In the intermediate position, the switching mechanism 4 and the extrusion mechanism 3 separate, and the limiting mechanism releases the wire. In the locked position, the switching mechanism 4 and the extrusion mechanism 3 separate to release the wire, and the abutment part cooperates with the limiting mechanism to lock the wire.

[0247] Specifically, by controlling the switching mechanism, any wire channel can be switched between the working position, the intermediate position, and the locked position, that is, any wire channel can be placed in a certain position in step S30. If the first wire channel is controlled to switch between the working position, the intermediate position, and the locked position, the first abutting part and the first limiting mechanism will separate or move closer together. If the second wire channel is controlled to switch between the working position, the intermediate position, and the locked position, the second abutting part and the second limiting mechanism will separate or move closer together.

[0248] In a preferred embodiment, the switching mechanism enables the two wire channels (i.e., the first wire channel and the second wire channel) to switch between the working position, the intermediate position, and the stuck position. Both wire channels can be in the intermediate position simultaneously, but only one can be in the working position or the stuck position at a time. Specifically,

[0249] When one cable channel is in the working position, the other cable channel is in the blocked position;

[0250] When one cable channel is in the middle position, the other cable channel is also in the middle position at the same time.

[0251] In some embodiments, the tool head further includes a nozzle-blocking mechanism 9, which is used to block the first nozzle 51 located at the upper limit position in a first working position. In embodiments where the nozzle-blocking mechanism 9 includes a nozzle-blocking baffle 904, the first working position of the nozzle-blocking mechanism 9 is also the first working position of the nozzle-blocking baffle 904. In this position, the nozzle-blocking mechanism 9 blocks the first nozzle 51 located at the upper limit position. The control method of this application further includes the following steps:

[0252] S40: When the first nozzle 51 begins to descend from its upper limit position, first control the nozzle plugging mechanism 9 to disengage from the first nozzle 51, then control the first nozzle 51 to descend; and / or,

[0253] S50: When controlling the first nozzle 51 to move from the lower limit position to the upper limit position, first control the first nozzle 51 to reach the upper limit position, and then control the nozzle blocking mechanism 9 to reach the first working position.

[0254] When the first nozzle 51 is at its upper limit position, the first nozzle 51 is in a standby state, and the nozzle blocking mechanism 9 is in the first working position. At this time, the nozzle blocking mechanism 9 (specifically, the nozzle blocking baffle 904) blocks the first nozzle 51. If the first nozzle 51 is directly controlled to descend, or if the descent of the first nozzle 51 and the removal of the nozzle blocking mechanism 9 from the first working position are carried out simultaneously, it may cause friction or interference between the first nozzle 51 and the nozzle blocking mechanism 9, or even damage to both. However, through the above-mentioned step S40 of this application, the nozzle blocking mechanism 9 is made to act before the first nozzle, thereby effectively protecting each component.

[0255] When the first nozzle 51 is at its lower limit position, it is in the working position, and the plugging mechanism 9 is in the second working position, blocking the second nozzle 52. When the first nozzle 51 is moved from its lower limit position to its upper limit position, the first nozzle 51 is controlled to act before the plugging mechanism 9 through the above step S50. That is, the first nozzle 51 reaches the upper limit position first, thus putting it into a standby state, and then the plugging mechanism 9 is controlled to reach the first working position to block the first nozzle 51. This prevents material leakage from the first nozzle 51 in the standby state.

[0256] In some embodiments, the tool head further includes a lifting mechanism 5, which includes a lifting motor, a drive roller 503, and a drive block 504. The drive block 504 is provided with a U-shaped groove, which includes a first curved segment 5043a and a second curved segment 5043b. The first nozzle is connected to the drive block 504, and the nozzle-closing mechanism 9 is driven to move by the lifting motor. That is, both the first nozzle and the nozzle-closing mechanism 9 are driven by the lifting motor. When the lifting motor works, it drives the drive block 504 to move, thereby lifting the first nozzle 51. During the operation of the lifting motor, the nozzle-closing mechanism 9 is also driven to move. Using the same drive device, namely the lifting motor, to drive the first nozzle and the nozzle-closing mechanism can reduce the number of parts and is more conducive to precise control of their coordinated action. Specifically, in the above control method,

[0257] Step S40 includes: controlling the lifting motor to drive the drive roller 503 to cooperate with the first curved segment 5043a to make the drive block 504 rise and fall, so as to drive the first nozzle to rise and fall;

[0258] Step S50 includes: controlling the lifting motor to drive the drive roller 503 to cooperate with the second curved segment 5043b so that the drive block 504 is kept in the original position, so as to keep the first nozzle 51 in the original position, and the lifting motor drives the nozzle blocking mechanism 9 to move.

[0259] In some embodiments, the tool head further includes a cutting mechanism. When the first printhead is at its descent limit position and has completed printing the current filament, the filament can be replaced when the first printhead rises from its descent limit position to its ascending limit position. In a preferred embodiment of this application, the filament is replaced at the descent limit position. Specifically, the above control method further includes the following steps:

[0260] S60: When the first printhead needs to be replaced, after the first printhead has completed the printing of the current line material at the lower limit position, the cutting mechanism is controlled to cut the current line material and replace it with a new line material.

[0261] In another embodiment of this application, a control method for an additive printing tool head is provided. The tool head includes a first nozzle 51, a second nozzle 52, and an extrusion mechanism 3 that can be raised and lowered. The extrusion mechanism is used to feed filament into the first nozzle 51 or to retract filament from the first nozzle 51. The first nozzle 51 is in a working state when it is at its lower limit position and in a standby state when it is at its upper limit position. The control method includes the above-mentioned step S20, which includes: first controlling the extrusion mechanism 3 to loosen the clamp on the filament, and then controlling the first nozzle 51 to rise or fall. In this embodiment, the control methods of the various embodiments of the aforementioned step S20 can be used.

[0262] In another embodiment of this application, a control method for an additive printing tool head is provided. The tool head includes a nozzle-blocking mechanism 9 and a first nozzle 51 that can be raised and lowered. The first nozzle 51 is in a working state when it is in the lowering limit position and in a standby state when it is in the rising limit position. The nozzle-blocking mechanism 9 is used to block the first nozzle located in the rising limit position when it is in the first working position. The control method includes the above-described steps S40 and / or S50, that is, the control method includes:

[0263] When the first nozzle 51 is controlled to descend from its upper limit position, the nozzle plugging mechanism 9 is first controlled to leave the first nozzle 51, and then the first nozzle 51 is controlled to descend.

[0264] And / or,

[0265] When controlling the first nozzle 51 to move from the lower limit position to the upper limit position, first control the first nozzle 51 to reach the upper limit position, and then control the nozzle blocking mechanism 9 to reach the first working position.

[0266] In this embodiment, the control methods of the aforementioned steps S40 and S50 can be used.

[0267] This application also provides another method for controlling an additive printing tool head. The tool head includes a cutting mechanism and a first printhead 51 that can be raised and lowered. The first printhead 51 is in a working state when it is at its lower limit position and in a standby state when it is at its upper limit position. The control method includes the above-mentioned step S60, that is, the control method includes: when the first printhead needs to change material, after the first printhead completes the printing work of the current filament at its lower limit position, controlling the cutting mechanism to cut the current filament and replace it with a new filament. In this embodiment, the control methods of the various embodiments of the aforementioned step S60 can be used.

[0268] This application also provides another method for controlling an additive printing tool head. The tool head includes a first cover 11, a switching mechanism 4, an extrusion mechanism 3, and a first nozzle 51 that can be raised and lowered. The first cover 11 is provided with an abutment portion. The switching mechanism 4 is used to cooperate with the extrusion mechanism 3 to allow the filaments in the two filament channels to work alternately. The switching mechanism 4 includes a limiting mechanism. The extrusion mechanism is used to feed the filament into the corresponding nozzle 51 or to retract the filament from the corresponding nozzle 51. The first nozzle 51 is in a working state when it is in the lower limit position and in a standby state when it is in the upper limit position. In this embodiment, the control method further includes the above-mentioned step S30, that is, the control method includes:

[0269] The control switching mechanism switches one of the wire channels between the working position, the intermediate position, and the jammed position.

[0270] In the working position, the switching mechanism 4 cooperates with the extrusion mechanism 3 to clamp the wire, and the abutting part separates from the limiting mechanism, so that the wire is completely released;

[0271] In the middle position, the switching mechanism 4 separates from the extrusion mechanism 3, and the limiting mechanism releases the wire;

[0272] In the locked position, the switching mechanism 4 separates from the extrusion mechanism 3 to release the wire, and the abutting part cooperates with the limiting mechanism to lock the wire.

[0273] In this embodiment, the control methods of the various embodiments of step S30 described above can be used.

[0274] In the above embodiments, in the height direction, the distance between the lower position and the upper position of the liftable nozzle, i.e., the first nozzle 51, is between 5mm and 15mm, such as 5mm, 8mm, 10mm, 12mm or 15mm.

[0275] It should be noted that the numbering of each step in the control method is merely for ease of description and does not represent the specific execution order. Whether there is an execution order is determined by the logic of the actual content in each step. The components and mechanisms of the tool head (including extrusion mechanism, switching mechanism, cutting mechanism, plugging mechanism, etc.) involved in the various embodiments of the control method in this application, as well as the layout between these components and mechanisms, can all adopt the structures of the corresponding embodiments in the tool head structure section, unless there is a conflict. Similarly, the working processes and control methods of some mechanisms involved in the tool head structure section of this application can also adopt the embodiments provided in the control method section, unless there is a conflict.

[0276] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0277] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control method for an additive printing tool head, the tool head comprising a first nozzle (51) and a second nozzle (52) that are vertically and vertically configured, and an extrusion mechanism (3), the extrusion mechanism being used to feed filament into the first nozzle (51) or to retract filament from the first nozzle (51); characterized in that, The first nozzle (51) is in working condition when it is in the lower position and in standby condition when it is in the upper position; the control method includes the following steps: At least during the partial ascent of the first nozzle (51), the extrusion mechanism (3) is controlled to simultaneously retract the wire from the first nozzle (51), and / or, at least during the partial descent of the first nozzle (51), the extrusion mechanism (3) is controlled to simultaneously feed the wire into the first nozzle (51). or, First, control the extrusion mechanism (3) to loosen the clamp on the wire, and then control the first nozzle (51) to rise or fall.

2. The control method as described in claim 1, characterized in that: The control method includes: If the tool head is in the first state, then: During the rising process of the first nozzle (51), the extrusion mechanism (3) is controlled to simultaneously pull the wire back from the first nozzle (51), and / or, during the falling process of the first nozzle (51), the extrusion mechanism (3) is controlled to simultaneously feed the wire into the first nozzle (51). If the tool head is in the second state, then: First, control the extrusion mechanism (3) to loosen the clamp on the wire, and then control the first nozzle (51) to rise or fall.

3. The control method as described in claim 2, characterized in that: The first state includes the continuous printing state during the printing phase; the second state includes one of the printing preparation phase, the idle phase, and the paused state during the printing phase.

4. The control method as described in claim 3, characterized in that: The printing preparation stage includes at least one of the following stages: a leveling stage between the first printhead, the second printhead, and the heated bed; and an alignment stage between the first printhead and the second printhead.

5. The control method as described in claim 3, characterized in that: During the paused state of the printing phase and the idle state, the user can switch printheads by tapping on the screen.

6. The control method as described in claim 2, characterized in that: In the first state, the wire temperature is between 180°C and 360°C; in the second state, the wire temperature is less than 180°C for at least a preset time.

7. The control method as described in claim 6, characterized in that: In the second state, the temperature of the wire is at least between 120°C and 160°C for a preset time.

8. The control method as described in claim 1, characterized in that: The tool head also includes a switching mechanism (4), which is used to cooperate with the extrusion mechanism (3) to make the first wire in the first wire channel and the second wire in the second wire channel work alternately; During the descent of the first nozzle (51), controlling the extrusion mechanism (3) to simultaneously feed the wire into the first nozzle (51) includes: First, control the switching mechanism (401) to cooperate with the extrusion mechanism to put the first wire into working state, then control the first nozzle (51) to descend, and during the descent, control the extrusion mechanism (3) to simultaneously feed the wire into the first nozzle (51).

9. The control method as described in claim 1, characterized in that: During the rising process of the first nozzle (51), the rising displacement of the first nozzle is detected, and the extrusion mechanism (3) is controlled to synchronously pull the wire back from the first nozzle (51) based on the rising displacement of the first nozzle (51). And / or, During the descent of the first nozzle (51), the descent displacement of the first nozzle is detected, and the extrusion mechanism (3) is controlled to synchronously feed the wire into the first nozzle (51) based on the descent displacement of the first nozzle (51).

10. The control method as described in claim 9, characterized in that: The tool head also includes a lifting mechanism (5), which includes a lifting motor and an angle measuring sensor. The lifting motor is a brushed motor or a brushless motor, used to drive the first nozzle (51) to rise and fall. The angle measuring sensor is used to measure the rotation angle of the output shaft of the lifting motor. During the upward movement of the first nozzle (51), the rotation angle output by the angle measurement sensor is detected, and the upward displacement of the first nozzle (51) is determined based on the rotation angle. During the descent of the first nozzle (51), the rotation angle output by the angle measurement sensor is detected, and the descent displacement of the first nozzle (51) is determined based on the rotation angle.

11. The control method as described in claim 9, characterized in that: The tool head also includes a lifting mechanism (5), which includes a lifting motor, which is a stepper motor, used to drive the first nozzle (51) to lift. During the upward movement of the first nozzle (51), the number of steps the stepper motor rotates is calculated, and the upward displacement of the first nozzle (51) is determined based on the number of steps. During the descent of the first nozzle (51), the number of steps the stepper motor rotates is calculated, and the descent displacement of the first nozzle (51) is determined based on the number of steps. or, The tool head also includes a lifting mechanism (5), which includes a lifting motor, which is a linear motor, used to drive the first nozzle (51) to rise and fall; During the upward movement of the first nozzle (51), the displacement information of the magnetic grating ruler or optical grating ruler of the linear motor is read, and the upward displacement of the first nozzle (51) is determined based on the displacement information. During the descent of the first nozzle (51), the displacement information of the magnetic grating ruler or optical grating ruler of the linear motor is read, and the descent displacement of the first nozzle (51) is determined based on the displacement information.

12. The control method as described in claim 2, characterized in that: The tool head also includes a switching mechanism (4), which is used to cooperate with the extrusion mechanism (3) to make the first wire in the first wire channel and the second wire in the second wire channel work alternately; The control method further includes: If the tool head is in the second state, the extrusion mechanism (3) is first loosened by controlling the switching mechanism, and then the lifting motor is controlled to drive the first nozzle (51) to rise or fall.

13. The control method as described in claim 12, characterized in that: The extrusion mechanism (3) includes an extrusion wheel; the switching mechanism (4) includes a switching drive device, a first pressure wheel (413), and a second pressure wheel (423). The switching drive device is used to drive the first pressure wheel (413) and the second pressure wheel (423) to alternately cooperate with the extrusion wheel, so that the first wire in the first wire channel and the second wire in the second wire channel work alternately; wherein, the switching drive device includes a switching motor, or the lifting motor is reused as the switching drive device; The step of controlling the switching mechanism to loosen the clamping of the extrusion mechanism (3) on the wire includes: The switching drive device is controlled to drive the first pressure roller away from the extrusion roller to release the wire.

14. The control method as described in claim 12, characterized in that: The tool head also includes a first cover, on which an abutment portion is provided; the switching mechanism (4) includes a first limiting mechanism (441); The step of first controlling the switching mechanism to loosen the clamping of the extrusion mechanism (3) on the wire includes: Control the switching mechanism (4) to separate the first limiting mechanism (441) from the abutting part, so as to release the first wire in the first wire channel and to release the clamping of the wire by the extrusion mechanism (3).

15. The control method as described in claim 14, characterized in that: The switching mechanism (4) further includes a switching cam (405). The step of first controlling the switching mechanism to loosen the clamping of the extrusion mechanism (3) on the wire includes: The switching cam (405) is controlled to drive the first wire limiting mechanism (441) to move, and the rotation angle or displacement of the switching cam (405) is detected so as to determine that the first limiting mechanism (441) and the abutment part release the wire according to the rotation angle or displacement, and the extrusion mechanism (3) releases the clamping of the wire.

16. The control method as described in claim 15, characterized in that: A magnetic element (4091) is provided on one of the switching cam (405) and the first cover; a first Hall sensor (4092) and a second Hall sensor (4093) are provided on the other of the switching cam (405) and the first cover. The rotation angle of the switching cam (405) is determined by detecting the detection signals of the first Hall sensor (4092) and the second Hall sensor (4093).

17. The control method as described in claim 16, characterized in that: The first Hall sensor (4092) and the second Hall sensor (4093) are positioned at 90°.

18. The control method as described in claim 1, characterized in that: The tool head further includes a first cover (11) and a switching mechanism (4), wherein the first cover (11) is provided with an abutment portion; the switching mechanism (4) is used to cooperate with the extrusion mechanism (3) to make the wires in the two wire channels work alternately, and the switching mechanism (4) includes a limiting mechanism; the control method further includes: The switching mechanism is controlled to switch one of the wire channels between the working position, the intermediate position, and the stuck position, wherein, In the working position, the switching mechanism (4) cooperates with the extrusion mechanism (3) to clamp the wire, and the abutting part separates from the limiting mechanism, so that the wire is completely released; At the intermediate position, the switching mechanism (4) separates from the extrusion mechanism (3), and the limiting mechanism releases the wire; At the locked position, the switching mechanism (4) separates from the extrusion mechanism (3) to release the wire, and the abutting part cooperates with the limiting mechanism to lock the wire.

19. The control method as described in claim 1, characterized in that: The tool head also includes a plugging mechanism (9), which is used to block the first nozzle (51) located at the upper limit position in the first working position; The control method further includes: When the first nozzle (51) begins to descend from its upper limit position, first control the plugging mechanism (9) to move away from the first nozzle (51), then control the first nozzle (51) to descend; and / or, When the first nozzle (51) is controlled to move from the lower limit position to the upper limit position, the first nozzle (51) is first controlled to reach the upper limit position, and then the nozzle plugging mechanism (9) is controlled to reach the first working position.

20. The control method as described in claim 19, characterized in that: The tool head also includes a lifting mechanism (5), which includes a lifting motor, a drive roller (503), and a drive block (504). The drive block is provided with a U-shaped groove, which includes a first curved section (5043a) and a second curved section (5043b). The first nozzle is connected to the drive block (504). The nozzle plugging mechanism (9) is driven to move by the lifting motor. The control method includes: The lifting motor is controlled to drive the drive roller (503) to cooperate with the first curved segment (5043a) to make the drive block (504) rise and fall, thereby driving the first nozzle to rise and fall; The lifting motor is controlled to drive the drive roller (503) to cooperate with the second curved segment (5043b) so that the drive block (504) is kept in the original position, so as to keep the first nozzle (51) in the original position, and the lifting motor drives the nozzle blocking mechanism (9) to move.

21. The control method as described in claim 1, characterized in that: The tool head further includes a cutting mechanism; the control method further includes: When the first printhead needs to be replaced, after the first printhead has completed the printing of the current line material at its descent limit position, the cutting mechanism is controlled to cut the current line material and replace it with a new line material.

22. The control method as described in claim 1, characterized in that: The upper position of the first printhead refers to the standby position when the second printhead is working; the lower position of the first printhead refers to the position where the first printhead is extruding molten material for printing, and its position is lower than that of the second printhead.

23. The control method as described in claim 1, characterized in that: In the height direction, the distance between the lower and upper positions of the first nozzle (51) is between 5mm and 15mm.

24. A method for controlling an additive printing tool head, the tool head comprising a first nozzle (51) and a second nozzle (52) that are vertically and vertically configured, and an extrusion mechanism (3), the extrusion mechanism being used to feed filament into the first nozzle (51) or to retract filament from the first nozzle (51); characterized in that, The first nozzle (51) is in working condition when it is at its lower limit position and in standby condition when it is at its upper limit position; the control method includes the following steps: First, control the extrusion mechanism (3) to loosen the clamp on the wire, and then control the first nozzle (51) to rise or fall.

25. A method for controlling an additive printing tool head, characterized in that, The tool head includes a plugging mechanism (9) and a first nozzle (51) that can be raised and lowered. The first nozzle (51) is in working state when it is in the lower limit position and in standby state when it is in the upper limit position. The plugging mechanism (9) is used to plug the first nozzle located at the upper limit position in the first working position; The control method includes: When the first nozzle (51) is controlled to descend from the upper limit position, the plugging mechanism (9) is first controlled to leave the first nozzle (51), and then the first nozzle (51) is controlled to descend. And / or, When the first nozzle (51) is controlled to move from the lower limit position to the upper limit position, the first nozzle (51) is first controlled to reach the upper limit position, and then the nozzle plugging mechanism (9) is controlled to reach the first working position.

26. A method for controlling an additive printing tool head, characterized in that, The tool head includes a cutting mechanism and a first nozzle (51) that can be raised and lowered; the first nozzle (51) is in working state when it is in the lower limit position and in standby state when it is in the upper limit position. The control method further includes: When the first printhead needs to be replaced, after the first printhead has completed the printing of the current line material at its descent limit position, the cutting mechanism is controlled to cut the current line material and replace it with a new line material.

27. A method for controlling an additive printing tool head, characterized in that, The tool head includes a first cover (11), a switching mechanism (4), an extrusion mechanism (3), and a first nozzle (51) that can be raised and lowered. The first cover (11) is provided with an abutment part. The switching mechanism (4) is used to cooperate with the extrusion mechanism (3) to make the wires in the two wire channels work alternately. The switching mechanism (4) includes a limiting mechanism. The extrusion mechanism is used to feed the wire into the corresponding nozzle (51) or to pull the wire back from the corresponding nozzle (51). The first nozzle (51) is in working state when it is in the lower limit position and in standby state when it is in the upper limit position; The control method includes: The switching mechanism is controlled to switch one of the wire channels between the working position, the intermediate position, and the stuck position, wherein, In the working position, the switching mechanism (4) cooperates with the extrusion mechanism (3) to clamp the wire, and the abutting part separates from the limiting mechanism, so that the wire is completely released; At the intermediate position, the switching mechanism (4) separates from the extrusion mechanism (3), and the limiting mechanism releases the wire; At the locked position, the switching mechanism (4) separates from the extrusion mechanism (3) to release the wire, and the abutting part cooperates with the limiting mechanism to lock the wire.

28. The control method as described in claim 27, characterized in that: By controlling the switching mechanism, the two wire channels can be switched between the working position, the intermediate position, and the jammed position. When one of the wire channels is in the working position, the other wire channel is in the locked position; When one of the wire channels is in the middle position, the other wire channel is also in the middle position at the same time.

29. An additive printing tool head, comprising a mounting body, a first nozzle (51), a second nozzle (52), and a filament channel; characterized in that: The main body of the installation is equipped with an extrusion mechanism (3), a switching mechanism (4), a lifting mechanism (5), a linear guide mounting part (101), a first nozzle (51), and a second nozzle (52); the extrusion mechanism (3) includes an extrusion wheel (303) and an extrusion motor (301); the switching mechanism (4) includes a switching motor (401), a first pressure roller (413), and a second pressure roller (423); the lifting mechanism (5) includes a lifting motor (501) and a lifting motor reduction mechanism (507), the lifting motor driving the first nozzle to rise and fall; In the process of switching the first printhead (51) from the printing state to the lifting state, the switching motor (401) first drives the first pressure roller (413) to disengage from the extrusion roller (303), and then the lifting motor (501) drives the first printhead (51) to rise, so as to avoid the first pressure roller not disengaging from the extrusion roller and continuing to extrude the wire downward when the first printhead rises; or, while the lifting motor (501) drives the first printhead (51) to rise, the extrusion mechanism is controlled to pull the wire to rise synchronously, so as to keep the wire relatively stationary in the first printhead.

30. The additive printing tool head as described in claim 29, characterized in that: The mounting body includes a first mounting part (1) and a second mounting part (2); the extrusion mechanism (3) also includes an extrusion motor reduction mechanism (302); the switching mechanism (4) also includes a switching cam (405), a first swing mechanism (406), a second swing mechanism (407), and an elastic element (408); the first swing mechanism (406) and the second swing mechanism (407) are symmetrically arranged on both sides of the switching cam; the extrusion motor (301) and the switching motor (401) are mounted side by side on the first side of the first mounting part (1) and located above the linear guide mounting part (101); the lifting motor (501) is mounted on the first side of the second mounting part (2); the first swing mechanism (406), the second swing mechanism (407), and the elastic element (408) are arranged on the second side of the first mounting part (1), and the second side is the side opposite to the first side.

31. The additive printing tool head as described in claim 30, characterized in that: The first swing mechanism (406) includes a first switching part (411), a first hinge part (412), a first pressure roller (413), and a first swing pivot part (414) arranged sequentially from top to bottom; the second swing mechanism (407) includes a second switching part (421), a second hinge part (422), a second pressure roller (423), and a second swing pivot part (424) arranged sequentially from top to bottom; one end of the elastic element (408) is connected to the first hinge part (412), and the other end is connected to the first hinge part (413). Two hinged parts (422); when the switching cam (405) applies a biasing force to the second switching part (421), the second pressure roller (423) moves away from the extrusion roller (303) and the first pressure roller (413) moves closer to the extrusion roller (303), cooperating to transport the first wire; when the switching cam (405) applies a biasing force to the first switching part (411), the first pressure roller (413) moves away from the extrusion roller (303) and the second pressure roller (423) moves closer to the extrusion roller (303), cooperating to transport the second wire.

32. The additive printing tool head as described in claim 31, characterized in that: It also includes a first cover (11), which is disposed on the second side of the first mounting part (1); the first cover (11) is provided with a first limiting member (431) and a second limiting member (432); the first swing mechanism (406) is provided with a first wire limiting mechanism (441), and the second swing mechanism (407) is provided with a second wire limiting mechanism (442); when the first wire channel is in at least one non-working position, the first limiting member (431) and the first wire limiting mechanism (441) cooperate to restrict the first wire in the first wire channel from moving upward; when the second wire channel is in at least one non-working position, the second limiting member (432) and the second wire limiting mechanism (442) cooperate to restrict the second wire in the second wire channel from moving upward.

33. The additive printing tool head as described in claim 32, characterized in that: The first limiting member (431) includes a first steel ball (4311) and a first mounting groove (4313), and the second limiting member (432) includes a second steel ball (4321) and a second mounting groove (4323); the first mounting groove (4313) and the second mounting groove (4323) are disposed on the first cover (11).

34. The additive printing tool head as described in claim 33, characterized in that: The first wire limiting mechanism (441) includes a first movable limiting member (4411) and a first limiting structure (4412), and the second wire limiting mechanism (442) includes a second movable limiting member (4421) and a second limiting structure (4422). The first wire limiting mechanism (441) further includes a first elastic reset member (4413) disposed on the first swing mechanism (406), and the second wire limiting mechanism (442) further includes a second elastic reset member (4423) disposed on the second swing mechanism (407); One end of the first elastic reset member (4413) is connected to the first movable limit member (4411), and the other end is connected to the first swing mechanism (406). When the first wire channel is in the working state or between the working state and the end position of the non-working state, the first movable limit member (4411) moves away from the wire under the action of the first elastic reset member (4413). One end of the second elastic reset member (4423) is connected to the second movable limit member (4421), and the other end is connected to the second swing mechanism (406). When the second wire channel is in the working state or between the working state and the end position of the non-working state, the second movable limit member (4421) moves away from the wire under the action of the second elastic reset member (4423).

35. The additive printing tool head as described in claim 32, characterized in that: When the first limiting member (431) cooperates with the first wire limiting mechanism (441) to limit the first wire in the first wire channel, it is recorded as the limiting position; when the first wire is in the working state, it is recorded as the working position; wherein, between the limiting position and the working position, the switching motor (401) first drives the first pressure roller (413) to disengage from the extrusion roller (303), and then the lifting motor (501) drives the first nozzle (51) to rise.

36. [Correction 13.05.2025 according to Rule 91] The additive printing toolhead as described in claim 29, characterized in that: The lifting mechanism (5) also includes a drive rocker arm (502), a drive roller (503), a drive block (504), a drive slider (505), and a drive slide rail (506); the drive rocker arm (502) and the drive roller (503) are located on the second side of the second mounting part (2), which is the side opposite to the first side; one end of the drive rocker arm (502) is connected to the output shaft of the lifting motor (501) via transmission or direct connection, and the other end is provided with a drive roller (503); the drive slide rail (506) is located on the second mounting part (2). On the second side, the drive slider (505) is slidably mounted on the drive slide rail (506); the drive block (504) is mounted on the first, second and third sides of the second mounting part (2), and the second side wall (5041) of the drive block (504) on the second side of the second mounting part (2) is fixedly connected to the drive slider (505); a first nozzle (51) is provided on one side of the drive slider (505), and the first side wall (5042) of the drive block (504) on the first side of the second mounting part (2) is provided with a groove that cooperates with the drive roller (503).

37. The additive printing tool head as described in claim 36, characterized in that: The slide is a U-shaped slide (5043), which has a closed side and an open side along the horizontal direction of the drive block (504). The drive roller (503) can be installed into the U-shaped slide (5043) from the open side. When the lifting motor (501) drives the drive rocker (502) to rotate, the drive roller (503) moves along the groove wall of the U-shaped slide (5043), so that the drive block (504) drives the drive slider (505) to move up and down along the drive rail (506). The width of the U-shaped chute (5043) in the vertical direction is larger than that of the drive roller (503), so that the drive roller fits into the upper wall of the U-shaped chute (5043).

38. The additive printing tool head as described in claim 29, characterized in that: The second nozzle (52) is fixedly installed on the second side of the second mounting part (2) and is arranged adjacent to the first nozzle (51).

39. The additive printing tool head as described in claim 29, characterized in that: The lifting motor is a brushed motor or a brushless motor; it also includes an angle measuring sensor for measuring the rotation angle of the output shaft of the lifting motor or the transmission shaft of the lifting motor reduction mechanism (507); the angle measuring sensor includes a magnetic ring and a dual linear Hall sensor, or includes a magnetic ring and a magnetic encoder; The lifting speed or position signal of the first nozzle, obtained from the measurement data of the angle measuring sensor, is used to control the speed at which the extrusion mechanism pulls the wire upward synchronously.

40. An additive printer, characterized in that: It uses the additive printing tool head as described in any one of claims 29-39.

Images