Control method for additive printing tool head, additive printing tool head, and printer

Abstract

A control method for an additive printing tool head. The tool head comprises a first nozzle, a second nozzle, an extrusion mechanism, a switching mechanism and a filament limiting mechanism. The method comprises: causing the filament limiting mechanism to abut against a current filament of a target nozzle so as to limit the retraction of the current filament; controlling the switching mechanism to cooperate with the extrusion mechanism, such that the extrusion mechanism releases the clamping of the current filament; and before the switching mechanism and the extrusion mechanism clamp the filament again for printing, causing the filament limiting mechanism to release the abutment against the current filament.

Description

Additive printing tool head control method, additive printing tool head and printer

[0001] Priority information

[0002] This application claims priority to PCT patent application PCT / CN2025 / 072614 filed on January 15, 2025, and patent application 202510343929.2 filed with the China National Intellectual Property Administration on March 22, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of printing technology, and in particular to a control method for an additive printing tool head, an additive printing tool head, and an additive printer. Background Technology

[0004] With the rapid development and widespread application of additive printers, dual-head printing assemblies are common printing components. For example, US2024 / 0009927A1 and CN115091750B both provide a dual-head printing assembly. Driven by a drive mechanism and in conjunction with a transmission structure, the first printhead can move up and down relative to the second printhead. Thus, when the working printhead is in use, the idle printhead will not interfere with or collide with the printed model. At the same time, the extrusion mechanism is driven to switch the extrusion position of the filament to correspond with the first or second printhead.

[0005] However, the current solution has technical problems such as unstable printing and easy failure when switching printheads, especially when the additive printer prints materials with high elasticity such as TPU, experiments have shown that the failure rate is high. Summary of the Invention

[0006] This application provides a control method for an additive printing tool head, an additive printing tool head, and an additive printer.

[0007] This application provides a method for controlling an additive printing tool head, the tool head including a first nozzle, a second nozzle, an extrusion mechanism, a switching mechanism, and a filament limiting mechanism, the method comprising:

[0008] The wire limiting mechanism is brought into contact with the current wire of the target nozzle to restrict the retraction of the current wire, wherein the target nozzle is the first nozzle or the second nozzle;

[0009] The switching mechanism is controlled to cooperate with the extrusion mechanism, so that the extrusion mechanism releases its clamping grip on the current wire.

[0010] Before the switching mechanism and the extrusion mechanism clamp the filament together again for printing, the filament limiting mechanism releases its contact with the current filament.

[0011] Thus, in this embodiment, the filament limiting mechanism can abut against the current filament of the target printhead to restrict the retraction of the current filament, and the switching mechanism can cooperate with the extrusion mechanism to loosen the clamping of the current filament. Before the switching mechanism and the extrusion mechanism clamp the filament again for printing, the filament limiting mechanism loosens its abutment against the current filament. Therefore, from the time the current filament of the target printhead is released until the target printhead and the extrusion mechanism are clamped again for printing, the movement of the current filament is restricted by the filament limiting mechanism, thereby preventing the current filament from retracting into the throat and causing a clogging.

[0012] In this embodiment of the application, when the wire of one of the first and second nozzles is brought into contact, the wire of the other nozzle is released.

[0013] Thus, in this embodiment of the application, when the filament of one of the first and second printheads is engaged, the filament of the other printhead is disengaged, thereby ensuring the stability of the dual printheads during printing operations.

[0014] In some embodiments of this application, the step of bringing the wire limiting mechanism into contact with the current wire of the target nozzle to limit the retraction of the current wire includes:

[0015] Control the wire limiting mechanism or the tool head to move to the first position so that the wire limiting mechanism abuts against the current wire;

[0016] Before clamping the filament with the switching mechanism and the extrusion mechanism again for printing, the step of releasing the filament limiting mechanism from contact with the current filament includes:

[0017] Before the switching mechanism and the extrusion mechanism clamp the filament again for printing, the filament limiting mechanism or the tool head is controlled to move to the second position, so that the filament limiting mechanism releases its resistance to the current filament.

[0018] Thus, in this embodiment, the wire limiting mechanism or tool head can be controlled to move to a first position so that the wire limiting mechanism abuts against the current wire, and the wire limiting mechanism or tool head can be moved to a second position so that the wire limiting mechanism releases its abutment against the current wire, thereby realizing the current wire abutment or release based on position movement.

[0019] In some embodiments of this application, the wire limiting mechanism includes a drive member and a wire limiting member, and the step of bringing the wire limiting mechanism into contact with the current wire of the target nozzle to limit the retraction of the current wire includes:

[0020] The driving component is controlled to drive the wire limiting component to a first position so that the wire limiting component abuts against the current wire;

[0021] Before clamping the filament with the switching mechanism and the extrusion mechanism again for printing, the step of releasing the filament limiting mechanism from contact with the current filament includes:

[0022] Before the switching mechanism clamps the filament with the extrusion mechanism again for printing, the drive unit is controlled to drive the filament limiting member to the second position, so that the filament limiting member releases its contact with the current filament.

[0023] Thus, in this embodiment, the driving component can be controlled to drive the wire limiting component to a first position so that the wire limiting component abuts against the current wire. Before the switching mechanism and the extrusion mechanism clamp the wire again for printing, the driving component can be controlled to drive the wire limiting component to a second position so that the wire limiting component releases its abutment against the current wire. This allows the abutment and release of the current wire against the wire limiting component to be achieved based on the driving component, thereby ensuring the robust execution of the abutment or release of the current wire against the wire limiting component.

[0024] In some embodiments of this application, the driving component includes a wire limiting drive motor, which is directly connected to the wire limiting component; or,

[0025] The driving component includes a wire limiting drive motor and a transmission component, which are sequentially connected in a transmission manner.

[0026] Thus, in the embodiments of this application, the driving component can be implemented based on a wire limit drive motor, or based on a wire limit drive motor and a transmission component, thereby ensuring robust control of the wire limit component by the driving component.

[0027] In some embodiments of this application, the wire limiting mechanism can move to the first position or the second position under the action of an external force.

[0028] Thus, in this embodiment of the application, the wire limiting mechanism can move to the first position or the second position under the action of external force, thereby ensuring the stable control of the position of the wire limiting mechanism.

[0029] In some embodiments of this application, the wire limiting mechanism includes an abutment mechanism and a wire limiting device, a tool head switching mechanism and a first cover, the wire limiting device being disposed on the switching mechanism, and the first cover having an abutment portion, wherein the step of abutting the wire limiting mechanism against the current wire of the target nozzle to limit the retraction of the current wire includes:

[0030] The contact mechanism is controlled to move to a first position so that it contacts the current wire of the target nozzle to limit the retraction of the current wire;

[0031] The control mechanism that coordinates with the extrusion mechanism to release the clamping force on the current wire includes:

[0032] The switching mechanism is controlled to cooperate with the extrusion mechanism, so that the extrusion mechanism releases the clamping of the current wire and the wire limiting device contacts the abutment to clamp the current wire.

[0033] Thus, in this embodiment, the cutting mechanism can be controlled to travel to the first position so that the cutting mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire. If the current wire is difficult to retract due to the abutment of the cutting mechanism, the switching mechanism is controlled to cooperate with the extrusion mechanism to release the clamping of the current wire and to make the wire limiting device contact the abutment part to clamp the current wire. This forms two abutments. Between the switching mechanism from the switching start point to the switching end point where the wire limiting device abuts against the wire, the wire is also in an abutment state, ensuring that the wire is abutted throughout the switching process, which can prevent the current wire from retracting into the throat and causing a blockage.

[0034] In some embodiments of this application, the method further includes:

[0035] Control the abutment mechanism to move to the second position and release the abutment on the current wire.

[0036] Thus, in this embodiment, the abutment mechanism can be controlled to move to the second position while the wire limiting device is in contact with the abutment portion to clamp the current wire, so that the abutment mechanism releases its contact with the current wire.

[0037] In some embodiments of this application, controlling the abutment mechanism to travel to the second position and release the abutment against the current wire includes:

[0038] Before controlling the abutting mechanism to move to the second position and release the abutment on the current wire, control the abutting mechanism to move to the third position to cut off the current wire.

[0039] Thus, in this embodiment, when the wire limiting device of the switching mechanism and the first cover abutment part are in contact with each other to clamp the current wire, the abutment mechanism is first controlled to move to the third position to cut the current wire, and then the abutment mechanism is controlled to move to the second position to release the abutment on the current wire, thereby completing the cutting operation of the current wire. At the same time, because the current wire is clamped due to the contact between the wire limiting device of the switching mechanism and the first cover abutment part during the cutting process of the abutment mechanism, the cut end of the current wire is unlikely to spring back to the throat or other components, thereby ensuring the stable execution of the cutting operation of the current wire.

[0040] In some embodiments of this application, the extrusion mechanism includes an extrusion wheel, and the switching mechanism includes a second drive device and a pressure wheel. Controlling the switching mechanism to cooperate with the extrusion mechanism to loosen the clamping of the current wire and to contact the wire limiting device with the abutment portion to clamp the current wire includes:

[0041] The second drive device is controlled to drive the pressure roller away from the extrusion roller, thereby causing the extrusion mechanism to release the clamping of the current wire and causing the wire limiting device to contact the abutment portion to clamp the current wire.

[0042] Thus, in this embodiment, when the abutting mechanism abuts against the current wire of the target nozzle, thereby restricting the retraction of the current wire, the second drive device is controlled to drive the pressure roller and the extrusion roller away, so that the extrusion mechanism releases the clamping of the current wire, and the wire limiting device contacts the abutting part to clamp the current wire, thereby maintaining the clamped state of the current wire.

[0043] In some embodiments of this application, the pressure roller includes a first pressure roller and a second pressure roller. Controlling the second driving device to drive the pressure roller away from the extrusion roller, thereby releasing the clamping of the current wire by the extrusion mechanism, and causing the wire limiting device to contact the abutment portion to clamp the current wire, includes:

[0044] When the target nozzle is the first nozzle, the second drive device is controlled to drive the first pressure roller away from the extrusion roller, causing the extrusion mechanism to release its clamping grip on the current wire, and causing the wire limiting device to contact the abutment portion to clamp the current wire; or,

[0045] When the target nozzle is the second nozzle, the second drive device is controlled to drive the second pressure roller away from the extrusion roller, so that the extrusion mechanism releases the clamping of the current wire and the wire limiting device contacts the abutment to clamp the current wire.

[0046] Thus, in this embodiment, when the target nozzle is the first nozzle, the second drive device is controlled to drive the first pressure roller away from the extrusion roller, causing the extrusion mechanism to loosen its clamping of the current wire and causing the wire limiting device to contact the abutment portion to clamp the current wire; or when the target nozzle is the second nozzle, the second drive device is controlled to drive the second pressure roller away from the extrusion roller, causing the extrusion mechanism to loosen its clamping of the current wire and causing the wire limiting device to contact the abutment portion to clamp the current wire, thereby realizing the extrusion mechanism loosening its clamping of the current wire.

[0047] In some embodiments of this application, the switching mechanism is used to cooperate with the extrusion mechanism to allow the wire in the first wire channel and the wire in the second wire channel to work alternately. Controlling the switching mechanism to cooperate with the extrusion mechanism to release the clamping of the current wire and to contact the wire limiting device with the abutment portion to clamp the current wire includes:

[0048] The switching mechanism is controlled to switch either the first wire channel or the second wire channel to the jammed position, wherein, in the jammed position, the switching mechanism separates from the extrusion mechanism to release the current wire, and the abutting part cooperates with the wire limiting device to jam the current wire.

[0049] Thus, in this embodiment, the switching mechanism can be controlled to switch the first wire channel or the second wire channel to the jamming position, so that the switching mechanism and the extrusion mechanism are separated to release the current wire, and the abutting part cooperates with the wire limiting device to jam the current wire, thereby preventing the current wire from retracting.

[0050] In some embodiments of this application, the method further includes:

[0051] The switching mechanism is controlled to switch one of the first or second wire channels between the working position, the intermediate position, and the jammed position.

[0052] In the working position, the switching mechanism cooperates with the extrusion mechanism to clamp the wire, and the abutting part separates from the wire limiting device, so that the wire is completely released.

[0053] In the intermediate position, the switching mechanism separates from the extrusion mechanism, and the wire limiting device releases the wire.

[0054] Thus, in this embodiment of the application, the controllable switching mechanism can switch one of the wire channels in the first wire channel or the second wire channel between the working position, the intermediate position, and the stuck position.

[0055] In some embodiments of this application, when one of the first or second wire channels is in the working position, the other wire channel is in the locked position; when one of the first or second wire channels is in the intermediate position, the other wire channel is also in the intermediate position.

[0056] Thus, in this embodiment, when one of the first or second wire channels is in the working position, the other wire channel is in the locked position, and when one of the first or second wire channels is in the intermediate position, the other wire channel is also in the intermediate position. This allows the wires in the first and second wire channels to be used alternately in a stable manner.

[0057] In some embodiments of this application, the switching mechanism further includes a switching cam, wherein controlling the switching mechanism to cooperate with the extrusion mechanism to release the clamping of the current wire by the extrusion mechanism, and to contact the wire limiting device with the abutment portion to clamp the current wire, includes:

[0058] The switching cam is controlled to drive the wire limiting device to move, and the rotation angle or displacement of the switching cam is detected. Based on the rotation angle or displacement, the switching mechanism is controlled to cooperate with the extrusion mechanism, so that the extrusion mechanism releases the clamping of the current wire and the wire limiting device contacts the abutment part to clamp the current wire.

[0059] Thus, in this embodiment, the switching cam can be controlled to drive the wire limiting device to move, and the rotation angle or displacement of the switching cam can be detected. Based on the rotation angle or displacement, the switching mechanism can be controlled to cooperate with the extrusion mechanism, so that the extrusion mechanism can loosen the clamping of the current wire, and the wire limiting device can contact the abutment part to clamp the current wire.

[0060] In some embodiments of this application, the abutting portion includes a first limiting member and a second limiting member, and the wire limiting device includes a first wire limiting mechanism and a second wire limiting mechanism. The first limiting member includes a first steel ball, and the second limiting member includes a second steel ball. The first wire limiting mechanism includes a first movable limiting member and a first limiting structure, and the second wire limiting mechanism includes a second movable limiting member and a second limiting structure. When the first wire channel is in at least one non-working position, the first steel ball abuts against the first movable limiting member, causing the first limiting structure to at least partially enter the first wire channel and compress the wire in the first wire channel. When the second wire channel is in at least one non-working position, the second steel ball abuts against the second movable limiting member, causing the second limiting structure to at least partially enter the second wire channel and compress the wire in the first wire channel.

[0061] Thus, in this embodiment of the application, the wire in the first wire channel can be squeezed by the cooperation of the first limiting member and the first wire limiting mechanism, thereby clamping the wire in the first wire channel; and the wire in the second wire channel can be squeezed by the cooperation of the second limiting member and the second wire limiting mechanism, thereby clamping the wire in the second wire channel.

[0062] In some embodiments of this application, the method further includes:

[0063] At least during the partial ascent of the first nozzle, the extrusion mechanism is controlled to simultaneously retract the current 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;

[0064] or,

[0065] First, control the extrusion mechanism to loosen the clamp on the current wire, and then control the first nozzle to rise or fall.

[0066] Thus, in this embodiment, at least during the partial upward movement of the first nozzle, the extrusion mechanism can be controlled to simultaneously retract the current wire from the first nozzle, and / or, at least during the partial downward movement of the first nozzle, the extrusion mechanism can be controlled to simultaneously feed the wire into the first nozzle, or the extrusion mechanism can be first controlled to loosen the clamp on the current wire, and then the first nozzle can be controlled to rise or fall, thereby realizing that the current wire moves with the first nozzle and keeping the current wire relatively stationary within the first nozzle, thereby avoiding waste of the current wire and ensuring the stable use of the current wire by the first nozzle.

[0067] In some embodiments of this application, the first nozzle is movable, and the second nozzle is fixedly mounted on the tool head.

[0068] Thus, in this embodiment of the application, the printing operation can be completed by a liftable first printhead and a fixed second printhead.

[0069] In some embodiments of this application, the target nozzle is either the first nozzle in a lower position or a working position, or the second nozzle.

[0070] Thus, in the embodiments of this application, the second nozzle or the first nozzle in a lower or working position can be identified as the target nozzle.

[0071] In some embodiments of this application, the method further includes:

[0072] If the current wire is a flexible wire, the second nozzle is identified as the target nozzle.

[0073] Thus, in this embodiment of the application, when the current wire is a flexible wire, the second nozzle can be identified as the target nozzle, thereby ensuring the safe use of the flexible wire.

[0074] In some embodiments of this application, the tool head further includes a lifting mechanism, which includes a first driving device for driving the first nozzle to rise and fall.

[0075] Thus, in this embodiment of the application, the first nozzle can be driven to rise and fall based on the lifting mechanism.

[0076] In some embodiments of this application, controlling the cutting mechanism to travel to a first position to bring the cutting mechanism into contact with the current wire of the target nozzle to limit the retraction of the current wire includes:

[0077] Upon receiving or executing a nozzle switching command, if the current wire in the target nozzle is a flexible wire, the cutting mechanism is controlled to move to a first position so that the cutting mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire.

[0078] Thus, in this embodiment of the application, a nozzle switching command can be accepted or executed to control the cutting mechanism to travel to a first position when the current wire in the target nozzle is a flexible wire, so that the cutting mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire, and subsequent steps are performed to complete the switching between the first nozzle and the second nozzle.

[0079] This application provides an additive printing tool head, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described control method for the additive printing tool head.

[0080] This application provides an additive printer, which includes the additive printing tool head described above.

[0081] The additive printing tool head and additive printer provided in this application embodiment can make the filament limiting mechanism abut against the current filament of the target printhead to limit the retraction of the current filament, and control the switching mechanism to cooperate with the extrusion mechanism to make the extrusion mechanism release the clamping of the current filament, and before the switching mechanism and the extrusion mechanism clamp the filament again for printing, the filament limiting mechanism releases the abutment of the current filament. Thus, from the time the current filament of the target printhead is released to the time the target printhead and the extrusion mechanism are controlled to clamp the filament again for printing, the movement of the current filament is restricted by the filament limiting mechanism, thereby avoiding the current filament retracting into the throat and causing a blockage.

[0082] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0083] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0084] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0085] Figure 1 is a schematic diagram of the motor layout of an additive printing tool head according to an embodiment of this application;

[0086] Figure 2 is a front view of an additive printing tool head according to an embodiment of this application;

[0087] Figure 3 is a schematic diagram of the first fan of an additive printing tool head according to an embodiment of this application;

[0088] Figure 4 is a schematic diagram of the second cooling mechanism of an additive printing tool head according to an embodiment of this application;

[0089] Figure 5 is a side view of an additive printing tool head according to an embodiment of this application;

[0090] Figure 6 is a schematic diagram of the overall layout of an additive printing tool head according to an embodiment of this application;

[0091] Figure 7 is an exploded view of the overall structure of an additive printing tool head according to an embodiment of this application;

[0092] Figure 8 is a schematic diagram of an extrusion and switching mechanism for an additive printing tool head according to an embodiment of this application;

[0093] Figure 9 is a front view of an extrusion and switching mechanism of an additive printing tool head according to an embodiment of this application;

[0094] Figures 10a, 10b, and 10c are schematic diagrams of the operation of a switching mechanism for an additive printing tool head according to an embodiment of this application;

[0095] Figure 11 is an exploded view of the extrusion mechanism, switching mechanism, and cutting mechanism of an additive printing tool head according to an embodiment of this application;

[0096] Figure 12 is a schematic diagram of the first side wall of the drive block of a lifting mechanism for an additive printing tool head according to an embodiment of this application;

[0097] Figure 13 is a schematic diagram of the third side of the drive block of a lifting mechanism for an additive printing tool head according to an embodiment of this application;

[0098] Figure 14 is a schematic diagram of the second sidewall of the drive block of an additive printing tool head according to an embodiment of this application and its lifting transmission with the first nozzle;

[0099] Figure 15 is a front view of an extrusion, switching and cutting mechanism of an additive printing tool head according to an embodiment of this application;

[0100] Figure 16 is a schematic diagram of the first cutting mechanism of an additive printing tool head in the working position according to an embodiment of this application;

[0101] Figure 17 is a schematic diagram of the first cutting mechanism of an additive printing tool head according to an embodiment of this application;

[0102] Figure 18 is a schematic diagram of the first cutting mechanism of an additive printing tool head in a non-working position according to an embodiment of this application;

[0103] 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 an embodiment of this application;

[0104] Figure 20 is a partial schematic diagram of a lifting mechanism for an additive printing tool head according to an embodiment of this application;

[0105] Figure 21 is a schematic diagram of the drive block of the lifting mechanism of an additive printing tool head according to an embodiment of this application;

[0106] Figure 22 is a schematic diagram of the metal foil coil of the lifting mechanism of an additive printing tool head according to an embodiment of this application;

[0107] Figure 23 is a schematic diagram of a lifting motor reduction mechanism and a nozzle plugging mechanism for an additive printing tool head according to an embodiment of this application;

[0108] Figure 24 is a schematic diagram of a nozzle-blocking mechanism for an additive printing tool head according to an embodiment of this application, which blocks the second nozzle.

[0109] Figure 25 is a schematic diagram of the sealing movement process of the plugging mechanism of an additive printing tool head according to an embodiment of this application;

[0110] Figure 26 is a schematic diagram of a nozzle-blocking mechanism for an additive printing tool head according to an embodiment of this application, which blocks the first nozzle.

[0111] 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 an embodiment of this application;

[0112] Figure 28 is a schematic diagram of the intermediate state of the drive block rising and falling of the lifting mechanism of an additive printing tool head according to an embodiment of this application;

[0113] 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 an embodiment of this application;

[0114] Figure 30 is a top view of a limiting member and a wire limiting mechanism for an additive printing tool head according to an embodiment of this application;

[0115] Figure 31 is a schematic diagram of a limiting member and a wire limiting mechanism for an additive printing tool head according to an embodiment of this application;

[0116] 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 an embodiment of this application;

[0117] Figure 33 is a partial schematic diagram of the second limiting member of an additive printing tool head according to an embodiment of this application;

[0118] Figure 34 is a partial schematic diagram of the first limiting member of an additive printing tool head according to an embodiment of this application;

[0119] Figure 35 is a partial schematic diagram of a wire limiting mechanism for an additive printing tool head according to an embodiment of this application;

[0120] Figure 36 is a schematic diagram of a positioning block and Hall element of an additive printing tool head according to an embodiment of this application;

[0121] Figure 37 is a schematic diagram of a cable fixing structure and a follower baffle of an additive printing tool head according to an embodiment of this application;

[0122] Figure 38 is a partially enlarged schematic diagram of the cable fixing structure and the follower baffle in Figure 37;

[0123] Figure 39 is a partially enlarged schematic diagram of the driving block in Figure 29;

[0124] Figure 40 is a schematic diagram of one working state of the follower baffle in Figure 37;

[0125] Figure 41 is a schematic diagram of another working state of the follower baffle in Figure 37;

[0126] Figure 42 is a flowchart illustrating the control method of the additive printing tool head in some embodiments of this application;

[0127] Figure 43 is a schematic diagram of application scenarios in some embodiments of this application;

[0128] Figure 44 is a schematic diagram of application scenarios in some embodiments of this application;

[0129] Figure 45 is a schematic diagram of application scenarios in some embodiments of this application;

[0130] Figure 46 is a schematic diagram of application scenarios in some embodiments of this application;

[0131] Figure 47 is a schematic diagram of application scenarios in some embodiments of this application;

[0132] Figure 48 is a schematic diagram of application scenarios in some embodiments of this application;

[0133] Figure 49 is a schematic diagram of application scenarios in some embodiments of this application;

[0134] Figure 50 is a schematic diagram of application scenarios in some embodiments of this application;

[0135] Figure 51 is a schematic diagram of application scenarios in some embodiments of this application;

[0136] Figure 52 is a schematic diagram of application scenarios in some embodiments of this application. Detailed Implementation

[0137] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0138] This application provides an additive printing tool head. The layout of the tool head components and the related structure and working principle of the extrusion mechanism are as follows:

[0139] As shown in Figures 1-7, the additive printing tool head of this embodiment 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 device 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] The extrusion mechanism 3 further 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, the second side being the side opposite to the first side. The extrusion wheel 303 and the output shaft of the extrusion motor employ 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 be consistent with the position of the wire channel, so 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 make full use of the tool head mounting space, allowing for a larger size of the extrusion motor reduction gear, thereby achieving greater driving force and single-stage reduction. The single-stage reduction transmission between the extrusion motor reduction gear 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, achieving high-speed printing.

[0145] 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.

[0146] The relevant structure and working principle of the switching mechanism are as follows:

[0147] 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.

[0148] 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.

[0149] 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.

[0150] Since the distance between the elastic element 408 and the pivot is greater than the distance between the extrusion wheel 303 and the pivot, the force acting on the extrusion wheel 303 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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, respectively. 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.

[0155] 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.

[0156] 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.

[0157] The relevant structure and working principle of the cutting mechanism are as follows:

[0158] 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 embodiment, 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 position for the extrusion wheel and the cutter, thereby 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), achieving effortless cutting. Simultaneously, the cutter shaft is positioned close to the pivot of the swing mechanism, avoiding 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.

[0159] 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.

[0160] 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.

[0161] When the switching mechanism is running, 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, thus cooperating to convey 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, thus cooperating to convey the second wire.

[0162] In the process of printing a target object using an additive printer with an additive printing toolhead as described above, the consumables typically refer to the materials used in the process, that is, the basic raw materials that are built up layer by layer to form a three-dimensional object through specific techniques. The type and characteristics of the consumables directly affect the performance, accuracy, and application scenarios of the printed product. Therefore, users can comprehensively select consumables based on printing technology, functional requirements, and cost budget to ensure that the printed items are suitable for the application scenarios.

[0163] For example, fused deposition modeling (FDM) additive printers typically use filaments, also known as filaments, with diameters of 1.75 mm or 2.85 mm. Furthermore, to ensure the stability of the object, filaments made of PLA (Polylactic Acid) can be used to print objects such as models, educational supplies, and household items.

[0164] However, after extensive experimentation and summarization, the inventors discovered that in intermittently clamped dual-nozzle or multi-nozzle printers, when the printed filament is released by the extrusion mechanism, the filament end usually retracts due to its own elasticity, shaking, and filament friction as the tool head moves. During the printing process, along the filament transport direction, there is generally at least an extrusion mechanism, a heat dissipation end, a throat, and a nozzle. The filament is heated in the nozzle to keep it in a molten state. If the extrusion mechanism releases the filament, the molten filament in the nozzle below the extrusion mechanism may retract to the throat (heat break) to cool and solidify, forming a hard lump that blocks the throat channel, leading to clogging and preventing subsequent printing jobs. Understandably, clogging requires operators to stop the machine to clean the throat or replace the heat break, resulting in printing job failures, consuming significant maintenance time, and affecting the lifespan of the additive printer, representing a serious printing malfunction.

[0165] The aforementioned issues can further increase the probability of printhead clogging when using elastic materials for printing. For example, when printing wear-resistant, impact-resistant, and flexible features, TPU (Thermoplastic Polyurethane) filaments can be used to print objects such as shock-absorbing pads, soft rubber parts, watch straps, joint models, and springs.

[0166] For filaments made of elastic materials such as TPU, these filaments have high elasticity. After the extrusion mechanism releases the filament, the end of the filament will usually experience a large pullback due to its own elasticity. This will have a certain probability of causing the molten filament in the nozzle below the extrusion mechanism to retract to the throat (heat break) to cool and solidify, forming a hard lump, which will then block the throat channel.

[0167] Based on the aforementioned potential problems, please refer to Figure 42. This application provides a method for controlling an additive printing toolhead. The toolhead includes a first nozzle 51, a second nozzle 52, an extrusion mechanism 3, a switching mechanism 4, and a filament limiting mechanism. The method includes:

[0168] 01: The wire limiting mechanism abuts against the current wire of the target nozzle to restrict the retraction of the current wire, wherein the target nozzle is the first nozzle 51 or the second nozzle 52;

[0169] 02: Control switching mechanism 4 cooperates with extrusion mechanism 3 to make extrusion mechanism 3 loosen its clamping on the current wire;

[0170] 03: Before clamping the filament with the switching mechanism 4 and the extrusion mechanism 3 again for printing, release the filament limiting mechanism from contact with the current filament.

[0171] This application also provides an additive printing tool head, which includes a memory and a processor. The control method of the additive printing tool head of this application can be implemented by the additive printing tool head of this application. Specifically, the memory stores a computer program, and the processor is used to cause the filament limiting mechanism to abut against the current filament of the target nozzle to limit the retraction of the current filament, and to control the switching mechanism 4 to cooperate with the extrusion mechanism 3 to cause the extrusion mechanism 3 to release the clamping of the current filament, and to cause the filament limiting mechanism to release the abutment of the current filament before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, wherein the target nozzle is a first nozzle 51 or a second nozzle 52.

[0172] Specifically, to prevent the molten filament from retracting to the heat break in the throat and solidifying into a hard lump when printing with elastic materials, thereby blocking the throat channel, in this embodiment, the tool head can use a pre-set filament limiting mechanism to abut against the current filament of the target printhead, so that the filament limiting mechanism hinders the movement of the current filament and thus prevents the current filament from retracting into the throat.

[0173] More specifically, in the embodiments of this application, the tool head can cause the wire limiting mechanism to abut against the current wire of the target nozzle to restrict the movement of the current wire.

[0174] Next, when the wire limiting mechanism comes into contact with the current wire of the target nozzle, making it difficult for the current wire to move, the tool head can control the switching mechanism 4 to operate so that the extrusion mechanism 3 can release the clamp on the current wire.

[0175] Before the tool head can control the switching mechanism 4 to operate so that the extrusion mechanism 3 releases its clamp on the current wire, the tool head can control the first cutter 811 and the second cutter 821 to perform actions, such as controlling the first cutter 811 or the second cutter 821 to cut the current wire. It can be understood that when the extrusion mechanism 3 clamps the current wire, the current wire is difficult to move. After the first cutter 811 or the second cutter 821 cuts the current wire, the extruder releasing its clamp on the current wire will no longer cause the wire to retract and thus prevent clogging.

[0176] In one example, the target printhead is the printhead that is performing a printing job in the first printhead 51 and the second printhead 52.

[0177] In one example, the current filament refers to the filament used by the target printhead for the printing job.

[0178] In one example, the filament limiting mechanism is a device independent of the additive printing tool. For instance, if the cover of the additive printing tool head has two through holes, one of which allows the filament in the first nozzle to pass through and the other of which allows the filament in the second nozzle to pass through, then the filament limiting mechanism can be a device independent of the additive printing tool that can pass through the through holes to abut against the filament, thereby limiting the movement of the filament.

[0179] In one example, the wire limiting mechanism can be a cutting edge, tip, protrusion, or downward-extending toothed, hooked, or claw-like structure that abuts the wire.

[0180] Thus, in this embodiment, the filament limiting mechanism can abut against the current filament of the target printhead to restrict the retraction of the current filament, and the switching mechanism 4 can cooperate with the extrusion mechanism 3 to loosen the clamping of the current filament. Before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, the filament limiting mechanism loosens its abutment against the current filament. Therefore, from the time the current filament of the target printhead is loosened until the target printhead and the extrusion mechanism 3 are clamped again for printing, the movement of the current filament is restricted by the filament limiting mechanism, thereby preventing the current filament from retracting into the throat and causing a clogging.

[0181] Furthermore, it should be noted that in the embodiments of this application, at least one of the memory and processor in the tool head can be disposed on the outside of the tool head or integrated inside the tool head, depending on the actual situation.

[0182] In some embodiments of this application, when the wire of one of the first nozzles 51 and the second nozzle 52 is brought into contact, the wire of the other nozzle is released.

[0183] Specifically, in this embodiment, when the filament of the first printhead 51 is engaged, the filament of the second printhead 52 is disengaged. For example, when the filament limiting mechanism engages with the filament of the first printhead 51 to restrict the retraction of the filament in the first printhead 51, the filament in the second printhead 52 is not engaged with the filament limiting mechanism. Conversely, when the filament limiting mechanism engages with the filament of the second printhead 52 to restrict the retraction of the filament in the second printhead 52, the filament in the first printhead 51 is not engaged with the filament limiting mechanism. Thus, while one printhead is performing a printing operation using the current filament, the other printhead remains relatively stationary relative to the filament in that printhead.

[0184] Thus, in this embodiment of the application, when the wire of one of the first printhead 51 and the second printhead 52 is engaged, the wire of the other printhead is disengaged, thereby ensuring the stability of the dual printheads during printing operations.

[0185] In some embodiments of this application, step 01 includes:

[0186] Control the wire limiting mechanism or tool head to move to the first position so that the wire limiting mechanism abuts against the current wire;

[0187] And, step 03 includes:

[0188] Before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, control the filament limiting mechanism or the tool head to move to the second position or move back to the first position, so that the filament limiting mechanism releases its contact with the current filament.

[0189] The processor in this embodiment is also used to control the wire limiting mechanism or the tool head to travel to a first position so that the wire limiting mechanism abuts against the current wire, and to control the wire limiting mechanism or the tool head to travel to a second position or to travel to the first position again before the switching mechanism 4 and the extrusion mechanism 3 clamp the wire again for printing, so that the wire limiting mechanism releases its abutment against the current wire.

[0190] Specifically, in this embodiment, the wire limiting mechanism or tool head can be controlled to travel to a first position so that the wire limiting mechanism abuts against the current wire, thereby restricting the current limit from moving, such as retracting. Furthermore, the wire limiting mechanism or tool head can be controlled to move to a second position, or to move from the first position to another position, or to make a reciprocating motion based on the first position, thereby releasing the wire limiting mechanism from abutting the current wire.

[0191] In one example, when the wire limiting mechanism is engaged with the current wire, if the wire limiting mechanism or the tool head moves once, the wire limiting mechanism can release its engagement with the current wire after the movement. Conversely, when the wire limiting mechanism releases its engagement with the current wire, if the wire limiting mechanism or the tool head moves once, it will engage with the current wire again after the movement.

[0192] In one example, the wire limiting mechanism includes the first cutter 811, the first cutter bar 812, the second cutter 821, and the second cutter bar 822 described above. The first cutter bar 812 and the second cutter bar 822 can change their stroke as the tool head moves. Furthermore, if the stroke of the cutter bar is small, the stroke by which the cutter bar drives the cutter to move is also small, thereby causing part of the cutter to enter the consumable to abut against the current wire without cutting it.

[0193] In one example, the wire limiting mechanism is a spring-loaded latching mechanism that uses an insertion and ejection locking mechanism (or push-push mechanism) to actuate the wire with one trigger / displacement and release the wire with another trigger / displacement.

[0194] Thus, in this embodiment, the wire limiting mechanism or tool head can be controlled to move to a first position so that the wire limiting mechanism abuts against the current wire, and the wire limiting mechanism or tool head can be moved to a second position so that the wire limiting mechanism releases its abutment against the current wire, thereby realizing the current wire abutment or release based on position movement.

[0195] In some embodiments of this application, the wire limiting mechanism includes a drive member and a wire limiting member, causing the wire limiting mechanism to abut against the current wire of the target nozzle to limit the retraction of the current wire, including:

[0196] The control drive unit drives the wire limiting member to the first position so that the wire limiting member abuts against the current wire;

[0197] Before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, the filament limiting mechanism releases its contact with the current filament, including:

[0198] Before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, the control drive drives the filament limiter to the second position, causing the filament limiter to release its contact with the current filament.

[0199] The processor in this embodiment is also configured to control the drive member to drive the wire limiting member to a first position so that the wire limiting member abuts against the current wire, and to control the drive member to drive the wire limiting member to a second position before the switching mechanism 4 and the extrusion mechanism 3 clamp the wire again for printing, so that the wire limiting member releases its abutment against the current wire.

[0200] Specifically, in the embodiments of this application, the wire limiting mechanism includes a driving member and a wire limiting member. The driving member can drive the wire limiting member to move to a first position or a second position, so that the wire limiting member abuts against the current wire, or the wire limiting member releases its abutment against the current wire.

[0201] In one example, the driving element includes a power source such as a motor or electromagnet, which can transmit power to the wire limiting member to cause displacement of the wire limiting member. For example, when the driving element includes an electromagnet, the electromagnet can drive a transmission mechanism such as a crank or slider to switch between two positions, or the electromagnet can attract and reset under other elastic forces, gravity, or magnetic forces, thereby causing the transmission mechanism such as the crank or slider to drive the wire limiting member to abut against the current wire, or to release the abutment against the current wire. As another example, when the driving element includes a drive motor, the drive motor can drive the wire limiting member to perform linear or rotational motion, thereby abutting against the current wire, or releasing the abutment against the current wire.

[0202] In one example, the driving component includes switching devices such as electronic switches, which can change the position state of the wire limit component according to its own opening and closing state.

[0203] Thus, in this embodiment, the driving component can be controlled to drive the wire limiting component to the first position so that the wire limiting component abuts against the current wire. Before the switching mechanism 4 and the extrusion mechanism 3 clamp the wire again for printing, the driving component can be controlled to drive the wire limiting component to the second position so that the wire limiting mechanism releases its abutment against the current wire. This allows the abutment and release of the current wire and the wire limiting component to be achieved based on the driving component, thereby ensuring the robust execution of the abutment or release of the current wire and the wire limiting component.

[0204] In some embodiments of this application, the driving component includes a wire limiting drive motor, which is directly connected to the wire limiting member; or, the driving component includes a wire limiting drive motor and a transmission member, which are sequentially connected in a transmission manner.

[0205] Specifically, in the embodiments of this application, the driving component of the wire limiting mechanism may include a wire limiting drive motor. Furthermore, the wire limiting drive motor may be directly connected to the wire limiting component, so that the wire limiting drive motor can directly transmit power to the wire limiting component to cause the wire limiting component to move, thereby ensuring efficient power transmission between the wire limiting drive motor and the wire limiting component to a certain extent.

[0206] Furthermore, in the embodiments of this application, the driving component of the wire limiting mechanism may include a wire limiting drive motor and a transmission component. The wire limiting drive motor can be connected to the wire limiting component through the transmission component. Therefore, the wire limiting drive motor can control the movement of the wire limiting component through the transmission component, which can ensure transmission accuracy to a certain extent, facilitate closed-loop control, and thus ensure the accuracy of the displacement of the wire limiting component.

[0207] Thus, in the embodiments of this application, the driving component can be implemented based on a wire limit drive motor, or based on a wire limit drive motor and a transmission component, thereby ensuring robust control of the wire limit component by the driving component.

[0208] In some embodiments of this application, the wire limiting mechanism can move to a first position or a second position under the action of an external force.

[0209] Specifically, in the embodiments of this application, the wire limiting mechanism can be moved to a first position or a second position under the action of external force. For example, in one example, the wire limiting mechanism is an object shaped like a cutter, which can be set on the side or rear of the tool head, and can, after rotation or sliding, make part of itself engage with the wire to prevent the wire from retracting.

[0210] For example, in one instance, the wire limiting mechanism is a conical sleeve spring structure. When the conical sleeve is driven, it can partially engage the wire to prevent it from retracting.

[0211] For example, the cable limiting mechanism is a spring-loaded latch structure, which can use an insertion and ejection locking mechanism, or push-push mechanism, to lock the cable with a single trigger and unlock it with a second trigger.

[0212] Thus, in this embodiment of the application, the wire limiting mechanism can move to the first position or the second position under the action of external force, thereby ensuring the stable control of the position of the wire limiting mechanism.

[0213] To more clearly illustrate the embodiments of this application, please refer to Figures 43 to 50, which are schematic diagrams of application scenarios in some embodiments of this application.

[0214] As shown in Figures 43 and 44, in this embodiment of the application, the wire limiting mechanism 410 can be driven by an external force, such as driving the rack above the wire limiting mechanism 410, or the wire limiting mechanism 410 can be triggered by an external force to slide or rotate, thereby causing part of the wire limiting mechanism 410 to be stuck inside the left or right wire to restrict the wire from retracting, or to be pulled out from inside the left or right wire.

[0215] As shown in Figures 45 and 46, in this embodiment, the wire limiting mechanism 410 can move along the axial direction of the wire under the influence of external force. Furthermore, as shown in the left side of Figure 45 and the left side of Figure 46, when the left wire limiting mechanism 410 moves upward, its sides are no longer abutted by the structures on the left and right sides. Under its own elasticity, the left wire limiting mechanism 410 returns to a state where it has released its abutment against the left-side wire. Conversely, as shown in the right side of Figures 45 and 46, when the right wire limiting mechanism 410 moves downward, after its sides are abutted by the structures on the left and right sides, the right wire limiting mechanism 410 abuts against the right-side wire.

[0216] As shown in Figures 47, 48, and 49, in this embodiment, the wire limiting mechanism 410 can rotate under the influence of external force, thereby abutting against or releasing the wire. For example, as shown in Figures 49 and 47 (left side) and Figure 48 (left side), Figures 47 to 48 show that after the left wire limiting mechanism 410 rotates or slides along a first direction, the left wire limiting mechanism 410 releases its contact with the left-side wire. Similarly, as shown in Figures 49 and 47 (right side) and Figure 48 (right side), Figures 47 to 48 show that after the right wire limiting mechanism 410 rotates or slides along a second direction, the right wire limiting mechanism 410 abuts against the right-side wire.

[0217] Furthermore, as shown in Figure 50, in this embodiment of the application, the wire limiting mechanism 410 can be located at a distance from the pivot. In other words, the distance between the wire limiting mechanism 410 and the first swing pivot 414 and the second swing pivot 424 is greater than the distance between the first pressure roller 413 and the first swing pivot 414, and the distance between the second pressure roller 413 and the second swing pivot 424. In other words, the pivot of the wire limiting mechanism 410 is longer than the pivot of the first pressure roller or the second pressure roller. Thus, when the swing mechanism swings at the same swing angle, the distance the wire moves relative to the wire limiting mechanism is longer than the distance the wire moves relative to the pressure roller. Therefore, the wire limiting mechanism 410 can abut against the wire even when the first pressure roller or the second pressure roller is not completely separated from the wire.

[0218] In some embodiments of this application, the wire limiting mechanism includes an abutment mechanism and a wire limiting device, a tool head switching mechanism 4 and a first cover 11, the wire limiting device is disposed on the switching mechanism 4, and the first cover 11 is provided with an abutment portion. Step 01 includes:

[0219] The contact mechanism is controlled to move to the first position so that it contacts the current wire of the target nozzle to limit the retraction of the current wire, wherein the target nozzle is the first nozzle 51 or the second nozzle 52;

[0220] And, step 02 includes:

[0221] The control switching mechanism 4 cooperates with the extrusion mechanism 3 to loosen the clamping of the current wire by the extrusion mechanism 3, and to make the wire limiting device contact the abutment part to clamp the current wire.

[0222] Specifically, in the embodiments of this application, the wire limiting mechanism may include an abutting mechanism and a wire limiting device disposed on the switching mechanism 4. The additive printing tool head may utilize the abutting mechanism, the switching mechanism 4 and the extrusion mechanism 3 in sequence, so that the wire currently in use in the additive printing tool head is first abutted by the abutting mechanism to prevent the current wire from moving.

[0223] In some embodiments, the contact mechanism is the aforementioned cutting mechanism, and the tool head can control the first cutter 811 or the second cutter 821 in the cutting mechanism to travel to a first position so that the cutter reaching the first position can contact the current wire of the target nozzle to restrict the movement of the current wire.

[0224] Next, when the current wire is in contact with the first cutter 811 or the second cutter 821 and thus the wire is difficult to move, the tool head can control the switching mechanism 4 to operate so that the extrusion mechanism 3 releases the clamp on the current wire, and makes the wire limiting device of the switching mechanism 4 contact the contact portion of the first cover 11 to tighten the current wire, thereby restricting the movement of the current wire.

[0225] In one example, the first cutter 811 can abut against the wire in the first nozzle 51 to restrict the movement of the wire in the first nozzle 51, and the second cutter 821 can abut against the wire in the second nozzle 52 to restrict the movement of the wire in the second nozzle 52.

[0226] In one example, the abutting portion of the first cover 11 refers to a part of the body of the first cover 11, such as the convex portion of the body of the first cover 11. In another example, the abutting portion of the first cover 11 refers to a component that is separately disposed from the first cover 11. In some embodiments, the abutting portion of the first cover 11 is the first limiting member 431 or the second limiting member 432 described above, and the wire limiting device is the first wire limiting mechanism 441 or the second wire limiting mechanism 442 described above, which will not be described again here.

[0227] Thus, in this embodiment, the cutting mechanism can be controlled to travel to the first position so that the cutting mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire. If the current wire is difficult to retract due to the abutment of the cutting mechanism, the switching mechanism 4 is controlled to cooperate with the extrusion mechanism 3 so that the extrusion mechanism 3 releases the clamp on the current wire and the wire limiting device contacts the abutment part to clamp the current wire. This forms two abutments. Between the switching mechanism from the switching start point to the switching end point where the wire limiting device abuts against the wire, the wire is also in an abutment state, ensuring that the wire is abutted throughout the switching process, which can prevent the current wire from retracting into the throat and causing a blockage.

[0228] In some embodiments of this application, the control method further includes:

[0229] Control the contact mechanism to move to the second position and release the contact with the current wire.

[0230] The processor in this embodiment is also used to control the contact mechanism to move to a second position and release the contact with the current wire.

[0231] Specifically, in the embodiments of this application, when the wire limiting device contacts the abutment portion to clamp the current wire, the abutment mechanism can be controlled to move to a second position so that the abutment mechanism releases its contact with the current wire, thereby enabling the abutment mechanism to perform other operations, such as returning to the initial position.

[0232] Thus, in this embodiment, the abutment mechanism can be controlled to move to the second position while the wire limiting device is in contact with the abutment portion to clamp the current wire, so that the abutment mechanism releases its contact with the current wire.

[0233] In some embodiments of this application, the step of controlling the contact mechanism to move to the second position and release the contact with the current wire includes:

[0234] Before the contacting mechanism moves to the second position and releases its contact with the current wire, the contacting mechanism moves to the third position to cut off the current wire.

[0235] The processor in this embodiment is further configured to control the abutment mechanism to move to a third position to cut off the current wire before controlling the abutment mechanism to move to a second position and release the abutment on the current wire.

[0236] Specifically, in this embodiment of the application, before the tool head contacts the wire limiting mechanism of the switching mechanism 4 and the abutment part of the first cover 11 to clamp the current wire, the tool head can first control the abutment mechanism to move to the third position to cut the current wire.

[0237] In one example, when the switching mechanism 4 clamps the wire with the extrusion mechanism 3, it can proceed to the third position to cut the current wire.

[0238] Furthermore, after the contacting mechanism moves to the third position to cut the current wire, the tool head can control the contacting mechanism to move to the second position to release the current wire, thereby completing a wire cutting operation.

[0239] Thus, in this embodiment, when the switching mechanism 4 and the extrusion mechanism 3 are clamping the wire, the abutting mechanism is first controlled to move to the third position to cut the current wire, and then the abutting mechanism is controlled to move to the second position to release the abutment on the current wire, thereby completing the cutting operation of the current wire. At the same time, because the current wire is clamped due to the cooperation between the switching mechanism 4 and the extrusion mechanism 3 during the cutting process of the abutting mechanism, the cut end of the current wire is unlikely to spring back to the throat or other components, thereby ensuring the stable execution of the cutting operation of the current wire.

[0240] To more clearly illustrate the working principle of the abutment mechanism in the embodiments of this application, please refer to Figures 51 and 52. Figures 51 and 52 are schematic diagrams of application scenarios in some embodiments of this application. Specifically, as shown in Figures 51 and 52, in the embodiment of this application, the printer includes a nozzle assembly 400 and a trash can 500 arranged within a frame. The cutter triggering device 600 is disposed close to the nozzle assembly 400 and / or the trash can 500, and the three share the space within the frame 110 in the Y-axis direction. In other words, projected along the X-axis direction, the cutter triggering device 600 and the nozzle assembly 400 and / or the trash can 500 have an overlapping area. Thus, in the Y-axis direction, the cutter triggering device 600 and the nozzle assembly 400 and / or the trash can 500 share the space in the Y-axis direction within the frame, thereby further reducing the space occupied in the Y-axis direction and reducing the size of the entire 3D printing equipment in the Y-axis direction.

[0241] Furthermore, in some embodiments of this application, the printer further includes a nozzle assembly 400 and a printing panel, with the nozzle assembly 400 disposed on the inner side of the rear portion 111; the rotation axis of the trigger is perpendicular to the XY plane of the 3D printing device, and projected along the rotation axis of the trigger, the line connecting the trigger point of the trigger and the center point of its rotation support section serves as the center line, which is perpendicular to the Y-axis in the working position. Projected in the X-axis direction, the cutter trigger device 600 is located between the printing panel and the drive motor, and overlaps with the nozzle assembly 400.

[0242] As shown in Figure 52, the tool head slides along the X-axis, causing the cutting mechanism 710 to push against the trigger 621 to cut the wire. Furthermore, when the tool head slides to the point where the cutting mechanism 710 contacts the trigger 621, as the cutting mechanism 710 continues to slide, the rod 6212 will first slide to abut against the base 610 or the frame 110 before it can cut the wire.

[0243] In some embodiments of this application, the extrusion mechanism 3 includes an extrusion wheel, the switching mechanism 4 includes a second drive device and a pressure wheel, and therefore, step 02 includes:

[0244] The second drive device drives the pressure roller away from the extrusion roller 303, causing the extrusion mechanism 3 to loosen its clamping of the current wire, and causing the wire limiting device to contact the abutment part to clamp the current wire.

[0245] The processor in this embodiment is also used to control the second drive device to drive the pressure roller away from the extrusion roller 303, so that the extrusion mechanism 3 releases the clamping of the current wire, and to make the wire limiting device contact the abutment portion to clamp the current wire.

[0246] Specifically, in this embodiment, when the abutting mechanism is controlled to travel to a first position so that it abuts against the current filament of the target nozzle, thereby restricting the retraction of the current filament, the second drive device is controlled to drive the pressure roller to move, so that the pressure roller moves away from the extrusion roller 303. Furthermore, as the pressure roller and the extrusion roller 303 move away from each other, the current filament previously clamped by the pressure roller and the extrusion roller 303 can be released. It is understood that when the pressure roller and the extrusion roller 303 release their clamping of the current filament, the current filament is in a state of contact with the abutting mechanism and is difficult to retract.

[0247] Furthermore, when the current wire is in a state of contact with the abutting mechanism and is difficult to retract, as the pressure roller moves, the wire limiting device of the switching mechanism 4 gradually approaches the abutting part of the first cover 11 until it contacts the abutting part. Then, after the wire limiting device of the switching mechanism 4 contacts the abutting part of the first cover 11, the wire limiting device and the abutting part cooperate to clamp the current wire.

[0248] In one example, the second drive device is part of the switching mechanism 4 body, such as a protruding structure on the switching mechanism 4 body. For example, in one example, the tool head can switch between the first printhead and the second printhead based on the collision between the second drive device of the switching mechanism 4 and the printer frame, or based on the collision between the second drive device of the switching mechanism 4 and the printer bracket.

[0249] In one example, the second drive device is a component with power output in the switching mechanism 4. For details, please refer to Figures 8-11 and 36. That is, the second drive device can be a combination of a switching motor 401, a switching motor reduction mechanism 402, a first transmission gear 403, a second transmission gear 404, and a switching cam 405.

[0250] In one example, the extrusion roller 303 and the pressure roller can cooperate to transport the wire. For example, referring to Figures 8-11 and 36, when the first pressure roller 413 is close to the extrusion roller 303, the first pressure roller 413 and the extrusion roller 303 can clamp the first wire in the first wire channel, and while clamping the first wire, the first wire in the first wire channel is transported by the rotation of the extrusion roller and / or the first pressure roller 413.

[0251] Similarly, when the second pressure roller 423 is close to the extrusion roller 303, the second pressure roller 423 and the extrusion roller 303 can clamp the second wire, and when the second wire in the second wire channel is clamped, the second wire in the second wire channel is conveyed by the rotation of the extrusion roller and / or the second pressure roller 423.

[0252] And, understandably, when the pressure roller moves away from the extrusion roller 303, the previously clamped wire can be released. For example, when the first pressure roller 413 moves away from the extrusion roller 303, the first wire is released. Similarly, when the second pressure roller 423 moves away from the extrusion roller 303, the second wire is released.

[0253] Thus, in this embodiment, when the abutting mechanism abuts against the current wire of the target nozzle, thereby restricting the retraction of the current wire, the second drive device is controlled to drive the pressure roller and the extrusion roller 303 away from each other, so that the extrusion mechanism 3 releases the clamping of the current wire, and the wire limiting device contacts the abutting part to clamp the current wire, thereby maintaining the clamping state of the current wire.

[0254] In some embodiments of this application, the pressure roller includes a first pressure roller 413 and a second pressure roller 423. The steps of controlling the second drive device to drive the pressure roller away from the extrusion roller 303, causing the extrusion mechanism 3 to release the clamping of the current wire, and causing the wire limiting device to contact the abutment portion to clamp the current wire, include:

[0255] When the target nozzle is the first nozzle 51, the second drive device is controlled to drive the first pressure roller away from the extrusion roller 303, causing the extrusion mechanism 3 to release the clamping of the current wire, and causing the wire limiting device to contact the abutment portion to clamp the current wire; or,

[0256] When the target nozzle is the second nozzle 52, the second drive device is controlled to drive the second pressure roller away from the extrusion roller 303, so that the extrusion mechanism 3 releases the clamping of the current wire and the wire limiting device contacts the abutment part to clamp the current wire.

[0257] The processor in this embodiment is further configured to, when the target nozzle is the first nozzle 51, control the second drive device to drive the first pressure roller away from the extrusion roller 303, so that the extrusion mechanism 3 releases its clamping of the current wire, and causes the wire limiting device to contact the abutment portion to clamp the current wire; or, when the target nozzle is the second nozzle 52, control the second drive device to drive the second pressure roller away from the extrusion roller 303, so that the extrusion mechanism 3 releases its clamping of the current wire, and causes the wire limiting device to contact the abutment portion to clamp the current wire.

[0258] Specifically, in this embodiment of the application, the tool head includes a first nozzle 51 and a second nozzle 52. Therefore, for the wire in the first nozzle 51 and the wire in the second nozzle 52, the tool head can control the corresponding components to prevent the wire in the first nozzle 51 from retracting into the throat and to prevent the wire in the second nozzle 52 from retracting into the throat.

[0259] To more clearly illustrate the embodiments of this application, please refer to Figures 8-11 and 36. Specifically, in this embodiment, for the first nozzle 51, the second switching device can drive the first pressure roller 413 away from the extrusion roller 303, thereby releasing the first wire jointly held by the first pressure roller 413 and the extrusion roller 303. Similarly, for the second nozzle 51, the second switching device can drive the second pressure roller 423 away from the extrusion roller 303, thereby releasing the second wire jointly held by the second pressure roller 423 and the extrusion roller 303.

[0260] Therefore, in this embodiment, when the target nozzle is the first nozzle 51, the tool head can drive the first pressure roller 413 away from the extrusion roller 303 via the second driving device, thereby releasing the current wire held by the first pressure roller 413 and the extrusion roller 303, that is, releasing the first wire. Similarly, when the target nozzle is the first nozzle 51, the tool head can drive the second pressure roller 423 away from the extrusion roller 303 via the second driving device, thereby releasing the current wire held by the second pressure roller 423 and the extrusion roller 303, that is, releasing the second wire.

[0261] Understandably, when the target nozzle is the first nozzle 51, the current wire is the first wire. Similarly, when the target nozzle is the second nozzle 52, the current wire is the second wire.

[0262] Thus, in this embodiment, when the target nozzle is the first nozzle 51, the second drive device is controlled to drive the first pressure roller away from the extrusion roller 303, causing the extrusion mechanism 3 to loosen its clamping of the current wire and causing the wire limiting device to contact the abutment portion to clamp the current wire; or when the target nozzle is the second nozzle 52, the second drive device is controlled to drive the second pressure roller away from the extrusion roller 303, causing the extrusion mechanism 3 to loosen its clamping of the current wire and causing the wire limiting device to contact the abutment portion to clamp the current wire, thereby realizing that the extrusion mechanism 3 loosens its clamping of the current wire.

[0263] In some embodiments of this application, the switching mechanism 4 is used in conjunction with the extrusion mechanism 3 to allow the wire in the first wire channel and the wire in the second wire channel to work alternately. Therefore, step 02 includes:

[0264] The control switching mechanism 4 switches the first wire channel or the second wire channel to the jamming position. In the jamming position, the switching mechanism 4 separates from the extrusion mechanism 3 to release the current wire, and the abutment part cooperates with the wire limiting device to jam the current wire.

[0265] The processor in this embodiment is also used to control the switching mechanism 4 to switch the first wire channel or the second wire channel to the stuck position. In the stuck position, the switching mechanism 4 separates from the extrusion mechanism 3 to release the current wire, and the abutting part cooperates with the wire limiting device to lock the current wire.

[0266] Specifically, in this embodiment of the application, the switching mechanism 4 can change the position of the first wire channel and the position of the second wire channel. Furthermore, in this embodiment, as the position of the wire channel changes, the wire in the channel can switch between a clamped and an unclamped state.

[0267] More specifically, in the embodiments of this application, when the abutting mechanism is controlled to move to the first position so that the abutting mechanism abuts against the current wire of the target nozzle, thereby restricting the retraction of the current wire, the tool head can switch the first wire channel or the second wire channel to the jamming position through the switching mechanism 4.

[0268] Furthermore, when the first wire channel is in the jammed position, the switching mechanism 4 separates from the extrusion mechanism 3 to release the current wire in the first wire channel, and the abutting part cooperates with the wire limiting device to jam the current wire in the first wire channel.

[0269] Similarly, when the second wire channel is in the stuck position, the switching mechanism 4 separates from the extrusion mechanism 3 to release the current wire in the second wire channel, and the abutment part cooperates with the wire limiting device to lock the current wire in the second wire channel.

[0270] In one example, when the target nozzle is the first nozzle 51, the tool head can drive the first pressure roller 413 away from the extrusion roller 303 via the switching mechanism 4 to put the first wire channel in a jammed position. When the first wire channel is in the jammed position, the current wire held by the first pressure roller 413 and the extrusion roller 303 is released, that is, the first wire is released.

[0271] In one example, when the target nozzle is the second nozzle 52, the tool head can use the switching mechanism 4 to drive the second pressure roller 423 away from the extrusion roller 303 and put the second wire channel in a jammed position. When the second wire channel is in the jammed position, the current wire held by the second pressure roller 423 and the extrusion roller 303 is released, that is, the second wire is released.

[0272] Thus, in this embodiment, the switching mechanism 4 can be controlled to switch the first wire channel or the second wire channel to the jamming position, so that the switching mechanism 4 separates from the extrusion mechanism 3 to release the current wire, and the abutting part cooperates with the wire limiting device to jam the current wire, thereby preventing the current wire from retracting.

[0273] In some embodiments of this application, the method for controlling the additive printing tool head further includes:

[0274] The control switching mechanism 4 switches one of the wire channels in the first wire channel or the second wire channel between the working position, the intermediate position and the jammed position. In the working position, the switching mechanism 4 cooperates with the extrusion mechanism 3 to clamp the wire, and the contact part separates from the wire limiting device, so that the wire is completely released. In the intermediate position, the switching mechanism 4 separates from the extrusion mechanism 3, and the wire limiting device releases the wire.

[0275] The processor in this embodiment is also used to control the switching mechanism 4 to switch one of the wire channels in the first wire channel or the second wire channel between a working position, an intermediate position and a stuck position. 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 wire limiting device to completely release the wire. In the intermediate position, the switching mechanism 4 separates from the extrusion mechanism 3, and the wire limiting device releases the wire.

[0276] Specifically, in the embodiments of this application, the wire channel can switch between three positions: working position, intermediate position, and jammed position.

[0277] In one example, when the wire channel is in the working position, the target nozzle operates based on the wire in that wire channel. In other words, when the wire channel is in the working position, the nozzle connected to that wire channel is the target nozzle, and the wire in that wire channel is the current wire.

[0278] In one example, the cable channel changes position in the following order: working position, intermediate position, and stuck position.

[0279] For example, when the first wire channel is in the working position, the first pressure roller 413 approaches the extrusion roller 303. The first pressure roller 413 and the extrusion roller 303 can clamp the first wire in the first wire channel. While clamping the first wire, the first wire in the first wire channel is conveyed by the rotation of the extrusion roller and / or the first pressure roller 413. It can be understood that when the first wire channel is in the working position, the abutting part of the first cover plate is separated from the wire limiting device of the switching device. Therefore, the abutting part and the wire limiting device do not clamp the first wire, and the first wire can be conveyed by the rotation of the extrusion roller and / or the first pressure roller 413.

[0280] Next, after the first nozzle 51 completes the current stage of the operation, the tool head can control the first cutter 811 in the contact mechanism to move to the first position to contact the first wire, thereby restricting the movement of the first wire.

[0281] Next, when the first cutter 811 moves to the first position to abut against the first wire, thereby restricting the movement of the first wire, the switching mechanism 4 controls the first wire channel to drive the first pressure roller 413 away from the extrusion roller 303, so that the first wire limiting mechanism 441 of the switching device gradually moves closer to the abutment portion of the first cover plate. It can be understood that before the first wire limiting mechanism 441 can work together with the abutment portion of the first cover plate to clamp the first wire, the first wire channel is in an intermediate position.

[0282] Then, as the first wire limiting mechanism 441 of the switching device gradually approaches the abutting part of the first cover plate, until the first wire limiting mechanism 441 of the switching device can interact with the abutting part of the first cover plate to clamp the first wire, the first wire channel is in the stuck position.

[0283] Finally, with the first wire channel in the jammed position, the tool head can control the first cutter 811 in the abutment mechanism to move to the second position to release the first wire.

[0284] Thus, in this embodiment of the application, the switching mechanism 4 can be controlled to switch one of the wire channels in the first wire channel or the second wire channel between the working position, the intermediate position and the stuck position.

[0285] In some embodiments of this application, when one of the first or second wire channels is in the working position, the other wire channel is in the locked position; when one of the first or second wire channels is in the intermediate position, the other wire channel is also in the intermediate position.

[0286] Specifically, in order to achieve the alternating use of the wires in the first wire channel and the second wire channel, in this embodiment of the application, when one of the wire channels is in the working position, the other wire channel is in the locked position, thereby ensuring that the wire in one of the wire channels can be used for printing, while the wire in the other wire channel is clamped due to the interaction between the wire limiting device and the abutment of the first cover plate, and thus cannot be used for printing.

[0287] Furthermore, when one of the wire channels, the first or the second, is in the middle position, the other wire channel is also in the middle position at the same time. Consequently, since both wire channels are in the middle position, the wire in both wire channels cannot be transported by the extrusion roller and the pressure roller, and the wire in both wire channels cannot be used for printing operations.

[0288] Thus, in this embodiment, when one of the first or second wire channels is in the working position, the other wire channel is in the locked position, and when one of the first or second wire channels is in the intermediate position, the other wire channel is also in the intermediate position. This allows the wires in the first and second wire channels to be used alternately in a stable manner.

[0289] In some embodiments of this application, the switching mechanism 4 further includes a switching cam 405, and therefore, step 02 includes:

[0290] The control switching cam 405 drives the wire limiting device to move, and detects the rotation angle or displacement of the switching cam 405. Based on the rotation angle or displacement, the control switching mechanism 4 cooperates with the extrusion mechanism 3 to make the extrusion mechanism 3 loosen the clamping of the current wire and make the wire limiting device contact the abutment part to clamp the current wire.

[0291] The processor in this embodiment is also used to control the switching cam 405 to drive the wire limiting device to move, and to detect the rotation angle or displacement of the switching cam 405, so as to control the switching mechanism 4 to cooperate with the extrusion mechanism 3 according to the rotation angle or displacement, so that the extrusion mechanism 3 loosens the clamping of the current wire, and the wire limiting device contacts the abutment part to clamp the current wire.

[0292] Specifically, in this embodiment of the application, the tool head can change and detect the rotation angle or displacement of the switching cam 405 in real time, so as to ensure that the wire limiting device can contact the abutment part of the first cover 11 to clamp the current wire during the process of the wire limiting device being driven by the switching cam 405.

[0293] In one example, the rotation angle or displacement of the switching cam 405 can be detected by a Hall sensor.

[0294] It is understandable that the specific principle of the rotation angle or displacement of the switching cam 405 can be found in the aforementioned section on the relevant structure and working principle of the switching mechanism. To avoid repetition, it will not be repeated here.

[0295] Thus, in this embodiment, the switching cam 405 can be controlled to drive the wire limiting device to move, and the rotation angle or displacement of the switching cam 405 can be detected. Based on the rotation angle or displacement, the switching mechanism 4 can be controlled to cooperate with the extrusion mechanism 3, so that the extrusion mechanism 3 can loosen the clamping of the current wire, and the wire limiting device can contact the abutment part to clamp the current wire.

[0296] In some embodiments of this application, the abutting portion includes a first limiting member 431 and a second limiting member 432, and the wire limiting device includes a first wire limiting mechanism 441 and a second wire limiting mechanism 442. The first limiting member 431 includes a first steel ball 4311, and the second limiting member 432 includes a second steel ball 4321. 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 4321. Position structure 4422: 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 squeeze the wire in the first wire channel; 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 squeeze the wire in the first wire channel.

[0297] It is understandable that this part can be found in the aforementioned section on the structure and working principle of the switching mechanism, and will not be repeated here to avoid repetition.

[0298] Thus, in this embodiment of the application, the wire in the first wire channel can be squeezed by the cooperation between the first limiting member 431 and the first wire limiting mechanism 441, thereby clamping the wire in the first wire channel. Similarly, the wire in the second wire channel can be squeezed by the cooperation between the second limiting member 432 and the second wire limiting mechanism 442, thereby clamping the wire in the second wire channel.

[0299] In some embodiments of this application, the method for controlling the additive printing tool head further includes:

[0300] During at least a portion of the rising process of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously retract the current wire from the first nozzle 51, and / or, during at least a portion of the falling process of the first nozzle 51, the extrusion mechanism 3 is controlled to simultaneously feed the wire into the first nozzle 51.

[0301] or,

[0302] First, control the extrusion mechanism 3 to loosen the clamp on the current wire, and then control the first nozzle 51 to rise or fall.

[0303] The processor in this embodiment is also configured to control the extrusion mechanism 3 to synchronously retract the current wire from the first nozzle 51 during at least a partial upward movement of the first nozzle 51, and / or, during at least a partial downward movement of the first nozzle 51, control the extrusion mechanism 3 to synchronously feed the wire into the first nozzle 51. Alternatively, it can be configured to first control the extrusion mechanism 3 to release the clamp on the current wire, and then control the first nozzle 51 to rise or fall.

[0304] Specifically, to avoid continuous extrusion of the current wire during the upward movement of the first nozzle, which would lead to wire waste, this embodiment allows the current wire to move with the first nozzle. That is, as the first nozzle partially rises, the extrusion mechanism simultaneously retracts the current wire from the first nozzle. Conversely, as the first nozzle partially descends, the extrusion mechanism simultaneously feeds the current wire into the first nozzle. This achieves both the movement of the current wire with the first nozzle and maintaining relative stillness of the current wire within the first nozzle.

[0305] Alternatively, the extrusion mechanism 3 can be controlled to loosen the clamp on the current wire first, and then the first nozzle can be controlled to rise, so as to avoid the extrusion mechanism continuing to extrude the wire downward when the first nozzle rises, which would lead to waste of the wire.

[0306] In one example, there may be a certain delay or advance between the "wire extraction and wire feeding actions of the extrusion mechanism" and the "rising and falling actions of the first nozzle". In other words, there is a sequence between the "wire extraction and wire feeding actions of the extrusion mechanism" and the "rising and falling actions of the first nozzle". For example, the first nozzle begins to rise after the extrusion mechanism starts extracting the current wire, or the extrusion mechanism begins to feed the current wire after the first nozzle begins to fall.

[0307] In one example, either the "wire extraction and feeding action of the extrusion mechanism" or the "rising and falling action of the first nozzle" involves a movement with a self-locking or decoupling section. Therefore, the other only begins to move after one of them has entered or left the self-locking or decoupling section. It is understandable that there may be slight differences in the starting or ending points of the self-locking or decoupling section.

[0308] It is also understandable that, due to factors such as hardware structure, code logic, and the aging of various components within the tool head, there may be differences in execution speed between the "wire extraction and wire feeding actions of the extrusion mechanism" and the "rising and falling actions of the first nozzle." This includes, but is not limited to, the speed difference caused by the linear motion of the rack driven by the drive motor versus the circular motion brought about by the motor driving the slider, cam, crank, rocker arm, etc.

[0309] Thus, in this embodiment, at least during the partial upward movement of the first nozzle 51, the extrusion mechanism 3 can be controlled to simultaneously retract the current wire from the first nozzle 51, and / or, at least during the partial downward movement of the first nozzle 51, the extrusion mechanism 3 can be controlled to simultaneously feed the wire into the first nozzle 51, or the extrusion mechanism 3 can be controlled to first loosen the clamp on the current wire, and then the first nozzle 51 can be controlled to rise or fall, thereby realizing that the current wire moves with the first nozzle and keeping the current wire relatively stationary within the first nozzle, thereby avoiding waste of the current wire and ensuring the stable use of the current wire by the first nozzle.

[0310] Furthermore, in some embodiments of this application, consistent with the foregoing embodiments, the wire limiting mechanism may be disposed before the extrusion mechanism 3 along the wire feeding direction (or wire moving direction). In other embodiments of this application, the wire limiting mechanism is disposed after the extrusion mechanism 3 along the wire feeding direction (or wire moving direction). For example, the first cutter 811 and / or the second cutter 812 in the foregoing embodiments may be replaced with a wire limiting mechanism that can restrict the movement of the wire. The wire limiting mechanism can be any of the wire limiting mechanisms described in the foregoing embodiments, and can be either a passive or active mechanism.

[0311] In some implementations, the wire limiting mechanism can perform corresponding actions based on changes in the tool head's operating progress during tool head operation to restrict or release the current wire. For example, during or before tool head operation, the controller within the tool head (or printer) can trigger control commands to control the wire limiting mechanism, causing the mechanism to perform corresponding actions to restrict or release the current wire. Alternatively, the wire limiting mechanism can perform corresponding actions under the action of external force to restrict or release the current wire.

[0312] Understandably, when the wire limiting mechanism is located after the extrusion mechanism 3 along the wire feeding direction (or wire moving direction), the extrusion mechanism 3 can stop extruding the wire and fix it without affecting the wire's position. This prevents the wire from retracting from the heating chamber due to not being extruded by the extrusion mechanism, thereby reducing the risk of the wire blocking the throat. In addition, the wire limiting mechanism can also restrict the wire from further entering the heating chamber, thereby reducing the amount of wire entering the heating chamber and reducing the amount of molten wire, thus reducing wire overflow.

[0313] In some embodiments of this application, the first nozzle 51 is movable, and the second nozzle 52 is fixedly mounted on the tool head.

[0314] Specifically, in this embodiment, the first printhead 51 is movable up and down, while the second printhead 52 is fixedly mounted on the tool head. Thus, the first printhead 51 moves up and down relative to the second printhead 52 to cooperate with the second printhead 52 to complete the printing operation.

[0315] Thus, in this embodiment of the application, the printing operation can be completed by the liftable first printhead 51 and the fixed second printhead 52.

[0316] In some embodiments of this application, the target nozzle is a first nozzle 51 in a lower position or a working position, or a second nozzle 52.

[0317] Specifically, in the embodiments of this application, when the first printhead 51 is in a lower position or working position, the first printhead 51 can perform printing operations according to the current filament. In other words, when the first printhead 51 is in a lower position or working position and has completed the current printing operation, the current filament of the first printhead 51 can be clamped by the cutting structure, the extrusion mechanism 3, the switching mechanism 4, the first cover 11, etc.

[0318] Furthermore, in this embodiment, since the second nozzle 52 is fixedly mounted on the tool head, the second nozzle 52 can be used for printing at any time. Therefore, after the second nozzle 52 completes the current printing operation, the current filament of the second nozzle 51 can be clamped by the cutting structure, the extrusion mechanism 3, the switching mechanism 4, the first cover 11, etc.

[0319] In one example, the working position of the first nozzle 51 is the descent limit position of the first nozzle 51.

[0320] Thus, in this embodiment of the application, the second nozzle or the first nozzle 51 in a lower or working position can be identified as the target nozzle.

[0321] In some embodiments of this application, the method for controlling the additive printing tool head further includes:

[0322] Given that the current wire is a flexible wire, the second nozzle 52 is designated as the target nozzle.

[0323] The processor in this embodiment is also configured to determine the second nozzle 52 as the target nozzle when the current wire is a flexible wire.

[0324] Specifically, in order to ensure the safe use of flexible filaments, such as those made of TPU, in this embodiment of the application, when the filament currently used for printing is a flexible filament, or in other words, when the current filament is a flexible filament, the second printhead 52 fixedly mounted on the tool head can be designated as the target printhead, and then the second printhead 52 can perform printing operations based on the flexible filament.

[0325] Thus, in this embodiment of the application, when the current wire is a flexible wire, the second nozzle 52 can be identified as the target nozzle, thereby ensuring the safe use of the flexible wire.

[0326] In some embodiments of this application, the tool head further includes a lifting mechanism 5, which includes a first driving device for driving the first nozzle 51 to rise and fall.

[0327] Understandably, the lifting mechanism 5 can be found in the aforementioned section on the structure and working principle of the lifting mechanism. To avoid repetition, it will not be described again here.

[0328] In one example, the first drive unit includes the aforementioned lifting motor 501.

[0329] Thus, in this embodiment of the application, the first nozzle 51 can be driven to rise and fall based on the lifting mechanism 5.

[0330] In some embodiments of this application, step 01 includes:

[0331] Upon receiving or executing a nozzle switching command, if the current wire in the target nozzle is a flexible wire, the contact mechanism is controlled to move to the first position so that the contact mechanism contacts the current wire of the target nozzle to limit the retraction of the current wire.

[0332] The processor in this application embodiment is also used to receive or execute a nozzle switching command. When the current wire in the target nozzle is a flexible wire, the processor controls the abutment mechanism to move to a first position so that the abutment mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire.

[0333] Specifically, in the embodiments of this application, the tool head can respond to the nozzle switching command to control the abutment mechanism to travel to the first position when the current wire in the target nozzle is an elastic wire, so that the abutment mechanism abuts against the current wire of the target nozzle, thereby restricting the retraction of the current wire.

[0334] In one example, the tool head can switch from a first state to a second state, or from a second state to a first state, according to the nozzle switching command.

[0335] In one example, when the tool head is in the first state, the current cable temperature is between 180℃ and 360℃. When the tool head is in the second state, the current cable temperature is between 120℃ and 160℃ for at least a preset time.

[0336] In one example, when the tool head is in the second state, the temperature of the current wire is less than 180°C for at least a preset time.

[0337] In one example, the first state includes the continuous printing state of the printing phase, and the second state includes one of the printing preparation phase, the idle phase, and the paused state of the printing phase.

[0338] In one example, the print preparation stage includes at least one of the following stages: a leveling stage of the first printhead, the second printhead, and the heated bed; and an alignment stage of the first printhead and the second printhead.

[0339] In one example, the printhead switching command is generated autonomously by the tool head, or in other words, the printhead switching command is actively generated by the program code logic of the tool head or printer and the hardware operating status.

[0340] In one example, the printhead switching command is triggered by the user. For instance, the printer includes a touchscreen display, allowing the user to trigger the printhead switching command by clicking on the touchscreen. Alternatively, the user can trigger the printhead switching command by clicking on the touchscreen display during pauses and idle periods in the printing process.

[0341] Thus, in this embodiment of the application, a nozzle switching command can be accepted or executed to control the abutment mechanism to move to a first position when the current wire in the target nozzle is a flexible wire, so that the abutment mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire, and subsequent steps are performed to complete the switching between the first nozzle and the second nozzle.

[0342] Furthermore, it is understood that in some embodiments of this application, the additive printing tool head may include only a single nozzle, or the additive printing tool head may be configured to include only a first nozzle (51) or a second nozzle (52).

[0343] It is also understood that the aforementioned embodiments can be applied to additive printing toolheads that include only a single printhead. For example, the filament limiting mechanism abuts against the current filament of the printhead in the additive printing toolhead to limit the retraction of the current filament. The control switching mechanism 4 cooperates with the extrusion mechanism 3 to release the clamping of the current filament by the extrusion mechanism 3. Before the switching mechanism 4 and the extrusion mechanism 3 clamp the filament again for printing, the filament limiting mechanism releases its abutment against the current filament. To avoid repetition, further details are omitted here.

[0344] It is also understandable that in embodiments where the additive printing tool head includes only a single printhead, the printhead can be detachably installed in the additive printing tool head, and thus, the old printhead can be replaced by removing the printhead already installed in the additive printing tool head and installing a new printhead.

[0345] In some implementations, an installed nozzle can be removed by moving the tool head to the placement rack, and the tool head can then pick up and install a new nozzle to be installed.

[0346] In some implementations, the current filament is made of a material with high elasticity, such as TPU. Therefore, during the disassembly (or replacement) of the nozzle, the extrusion wheel 303 can loosen the filament, that is, the extrusion wheel 303 moves away from the pressure wheel in the extrusion mechanism 3, thereby causing the extrusion mechanism 3 to loosen its clamping on the current filament. This avoids the current filament from being pulled back during the nozzle disassembly process, which could lead to nozzle blockage.

[0347] This application also provides an additive printer that includes the additive printing tool head described above.

[0348] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0349] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0350] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling an additive printing tool head, wherein, The tool head includes a first nozzle (51), a second nozzle (52), an extrusion mechanism (3), a switching mechanism (4), and a wire limiting mechanism. The method includes: The wire limiting mechanism is brought into contact with the current wire of the target nozzle to restrict the retraction of the current wire, wherein the target nozzle is the first nozzle (51) or the second nozzle (52). Control the switching mechanism (4) to cooperate with the extrusion mechanism (3) so that the extrusion mechanism (3) releases its clamping on the current wire; Before the switching mechanism (4) and the extrusion mechanism (3) clamp the wire again for printing, the wire limiting mechanism releases its contact with the current wire.

2. The method according to claim 1, wherein, When the wire of one of the first nozzles (51) and the second nozzle (52) is brought into contact, the wire of the other nozzle is released.

3. The method according to claim 1, wherein, The step of bringing the wire limiting mechanism into contact with the current wire of the target nozzle to restrict the retraction of the current wire includes: Control the wire limiting mechanism or the tool head to move to the first position so that the wire limiting mechanism abuts against the current wire; Before clamping the wire between the switching mechanism (4) and the extrusion mechanism (3) again for printing, the step of releasing the wire limiting mechanism from contact with the current wire includes: Before the switching mechanism (4) and the extrusion mechanism (3) clamp the wire again for printing, control the wire limiting mechanism or the tool head to move to the second position or move back to the first position, so that the wire limiting mechanism releases its contact with the current wire.

4. The method according to claim 3, wherein, The wire limiting mechanism includes a driving component and a wire limiting component. The step of engaging the wire limiting mechanism with the current wire of the target nozzle to limit the retraction of the current wire includes: The driving component is controlled to drive the wire limiting component to a first position so that the wire limiting component abuts against the current wire; Before clamping the wire between the switching mechanism (4) and the extrusion mechanism (3) again for printing, the step of releasing the wire limiting mechanism from contact with the current wire includes: Before the switching mechanism (4) and the extrusion mechanism (3) clamp the wire again for printing, the drive unit is controlled to drive the wire limiting member to the second position, so that the wire limiting member releases its contact with the current wire.

5. The method according to claim 4, wherein, The driving component includes a wire limiting drive motor, which is directly connected to the wire limiting component; or... The driving component includes a wire limiting drive motor and a transmission component, which are sequentially connected in a transmission manner.

6. The method according to claim 3, wherein, The wire limiting mechanism can move to the first position or the second position under the action of external force.

7. The method according to claim 1, wherein, The wire limiting mechanism includes an abutment mechanism and a wire limiting device, a tool head switching mechanism (4) and a first cover (11), the wire limiting device is disposed on the switching mechanism (4), and the first cover (11) is provided with an abutment portion. The step of abutting the wire limiting mechanism against the current wire of the target nozzle to limit the retraction of the current wire includes: The contact mechanism is controlled to move to a first position so that it contacts the current wire of the target nozzle to limit the retraction of the current wire; The control mechanism (4) cooperates with the extrusion mechanism (3) to release the clamping of the current wire by the extrusion mechanism (3), including: The switching mechanism (4) is controlled to cooperate with the extrusion mechanism (3) to loosen the clamping of the current wire and to make the wire limiting device contact the abutment to clamp the current wire.

8. The method according to claim 7, wherein, The method further includes: Control the abutment mechanism to move to the second position and release the abutment on the current wire.

9. The method according to claim 8, wherein, The step of controlling the abutment mechanism to move to the second position and release the abutment on the current wire includes: Before controlling the abutting mechanism to move to the second position and release the abutment on the current wire, control the abutting mechanism to move to the third position to cut off the current wire.

10. The control method according to claim 7, wherein, The extrusion mechanism (3) includes an extrusion roller (303), and the switching mechanism (4) includes a second drive device and a pressure roller. Controlling the switching mechanism (4) to cooperate with the extrusion mechanism (3) to loosen the clamping of the current wire by the extrusion mechanism (3) and to make the wire limiting device contact the abutment portion to clamp the current wire includes: The second drive device is controlled to drive the pressure roller away from the extrusion roller (303), so that the extrusion mechanism (3) releases the clamping of the current wire and the wire limiting device contacts the abutment to clamp the current wire.

11. The control method according to claim 10, wherein, The pressure rollers include a first pressure roller (413) and a second pressure roller (423). Controlling the second driving device to drive the pressure rollers away from the extrusion roller (303), causing the extrusion mechanism (3) to release its clamping of the current wire, and causing the wire limiting device to contact the abutment portion to clamp the current wire, includes: When the target nozzle is the first nozzle (51), the second drive device is controlled to drive the first pressure roller away from the extrusion roller (303), causing the extrusion mechanism (3) to release the clamping of the current wire, and causing the wire limiting device to contact the abutment portion to clamp the current wire; or, When the target nozzle is the second nozzle (52), the second drive device is controlled to drive the second pressure roller away from the extrusion roller (303), so that the extrusion mechanism (3) releases the clamping of the current wire and the wire limiting device contacts the abutment to clamp the current wire.

12. The method according to claim 7, wherein, The switching mechanism (4) is used to cooperate with the extrusion mechanism (3) to allow the wire in the first wire channel and the wire in the second wire channel to work alternately. Controlling the switching mechanism (4) to cooperate with the extrusion mechanism (3) to cause the extrusion mechanism (3) to release the clamping of the current wire and to cause the wire limiting device to contact the abutment portion to clamp the current wire includes: The switching mechanism (4) is controlled to switch the first wire channel or the second wire channel to the jamming position. In the jamming position, the switching mechanism (4) separates from the extrusion mechanism (3) to release the current wire, and the abutting part cooperates with the wire limiting device to jam the current wire.

13. The method according to claim 12, wherein, The method further includes: Controlling the switching mechanism (4) causes one of the first wire channel or the second wire channel to switch between the working position, the intermediate position, and the jammed position; 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 wire limiting device, so that the wire is completely released; In the intermediate position, the switching mechanism (4) separates from the extrusion mechanism (3), and the wire limiting device releases the wire.

14. The control method as described in claim 13, wherein, When one of the first or second wire channels is in the working position, the other wire channel is in the locked position; when one of the first or second wire channels is in the intermediate position, the other wire channel is also in the intermediate position.

15. The control method according to claim 7, wherein, The switching mechanism (4) further includes a switching cam (405). Controlling the switching mechanism (4) to cooperate with the extrusion mechanism (3) to loosen the clamping of the current wire by the extrusion mechanism (3), and to contact the wire limiting device with the abutment portion to clamp the current wire, includes: The switching cam (405) is controlled to drive the wire limiting device (441) to move, and the rotation angle or displacement of the switching cam (405) is detected. Based on the rotation angle or displacement, the switching mechanism (4) is controlled to cooperate with the extrusion mechanism (3) so that the extrusion mechanism (3) releases the clamping of the current wire and the wire limiting device contacts the abutment to clamp the current wire.

16. The method according to claim 7, wherein, The abutting part includes a first limiting member (431) and a second limiting member (432). The wire limiting device includes a first wire limiting mechanism (441) and a second wire limiting mechanism (442). The first limiting member (431) includes a first steel ball (4311), and the second limiting member (432) includes a second steel ball (4321). The first wire limiting mechanism (441) includes a first movable limiting member (4411) and a first limiting structure (4412). The second wire limiting mechanism (442) includes a second movable limiting member (4421) and a second limiting structure (4422). 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) so that the first limiting structure (4412) at least partially enters the first wire channel and squeezes the wire in the first wire channel. 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) so that the second limiting structure (4422) at least partially enters the second wire channel and squeezes the wire in the first wire channel.

17. The method according to claim 7, wherein, The method further includes: At least during the partial ascent of the first nozzle (51), the extrusion mechanism (3) is controlled to simultaneously retract the current 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 current wire, and then control the first nozzle (51) to rise or fall.

18. The method according to claim 7, wherein, The first nozzle (51) is movable, and the second nozzle (52) is fixedly mounted on the tool head.

19. The method according to claim 18, wherein, The target nozzle is either the first nozzle (51) in a lower position or in a working position, or the second nozzle (52).

20. The method according to claim 18, wherein, The method further includes: If the current wire is a flexible wire, the second nozzle (52) is determined as the target nozzle.

21. The method according to claim 18, wherein, The tool head also includes a lifting mechanism (5), which includes a first driving device for driving the first nozzle (51) to rise and fall.

22. The method according to claim 7, wherein, The step of controlling the abutting mechanism to travel to the third position, so that the abutting mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire, includes: Upon receiving or executing a nozzle switching command, if the current wire in the target nozzle is a flexible wire, the abutment mechanism is controlled to move to a third position so that the abutment mechanism abuts against the current wire of the target nozzle to limit the retraction of the current wire.

23. An additive printing tool head, wherein, The method includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-22.

24. An additive printer, wherein, The additive printer includes the additive printing tool head as described in claim 23.

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