技术领域technical field
本发明属于3D打印机技术领域，尤其涉及一种带有多喷头自动转换系统的3D打印机。The invention belongs to the technical field of 3D printers, in particular to a 3D printer with a multi-nozzle automatic switching system.
背景技术Background technique
3D打印技术是一种以3D数字模型文件为基础，运用粉末状金属或塑料等可粘合材料，通过逐层打印的方式来制造物体的技术。目前市场上常见的3D打印机主要以单喷头打印为主，或者将多个喷头集成到一起，其打印动作与单喷头打印类似，所谓的多喷头打印机实际上指的是单个喷头上集成有多个喷嘴，此种方式的缺陷在于，由于多个喷嘴存在位置上的限制，在其中一个喷嘴工作时，另一个喷嘴为了防止剐蹭模型，需要移动以避开模型。在长期使用中，频繁移动会导致连接件的疲劳损耗，从而造成误差。同时，由于喷嘴是集成在喷头上的，受位置以及相对运动的影响，在喷头总体结构不做大的改变的时候，喷嘴的数量有一定的限制，一般是双喷头。同时，每个喷嘴均包括独立的送丝机构、加热机构以及多个传动部件，当多个喷嘴集成到一个喷头上时，喷头的驱动轴需要相当大的驱动力，驱动负载较大。这一方面需要更多的驱动能源，另一方面也提高了发生问题的概率。3D printing technology is a technology based on 3D digital model files, using bondable materials such as powdered metal or plastic, to manufacture objects by layer-by-layer printing. The common 3D printers currently on the market mainly print with a single nozzle, or integrate multiple nozzles together, and its printing action is similar to that of a single nozzle. Nozzles, the defect of this method is that due to the position limitation of multiple nozzles, when one of the nozzles is working, the other nozzle needs to move to avoid the model in order to prevent scratching the model. In long-term use, frequent movement will cause fatigue loss of the connecting parts, resulting in errors. At the same time, since the nozzles are integrated on the nozzle, affected by the position and relative movement, when the overall structure of the nozzle does not change greatly, the number of nozzles is limited to a certain extent, usually double nozzles. At the same time, each nozzle includes an independent wire feeding mechanism, a heating mechanism, and multiple transmission components. When multiple nozzles are integrated into one nozzle, the drive shaft of the nozzle needs a considerable driving force, and the driving load is relatively large. On the one hand, this requires more driving energy, and on the other hand, it also increases the probability of problems.
申请号为201610407343.9的专利申请公开了一种多喷头3D打印机，其包括可升降旋转托盘、在X、Y方向移动打印的喷头组件，以及六个沿支撑臂径向同步伸缩打印喷头，各打印喷头与托盘形成相对旋转，所述多喷头3D打印机特别适合于打印大件回转体，通过滚珠丝杠驱动旋转托盘上下移动，实现产品高度上的堆积，所述打印喷头组件包括：第五驱动电机、驱动轮系、平面上均分的至少六个支撑臂，各支撑臂上悬挂有滑块，所述滑块下固连有打印喷头，所述驱动轮系包括第五驱动电机输出轴主动齿轮和六个从动齿轮，各从动齿轮分别通过同步带轮和同步带，驱动滑块沿支撑臂径向运动，且各打印喷头是同步往复直线运动，即第五驱动电机带动一个大齿轮旋转，六个小齿轮与大齿轮啮合，小齿轮通过同步带、滑块沿径向往复运动，带动各打印喷头同步工作。该种结构的打印机虽然可实现同时打印六件产品或利用六个打印喷头同时打印一件产品，但是其大大增加了喷头的体积，而且每个喷头都连接着相应的打印材料，给打印过程中的三维运动和控制带来诸多不便。The patent application with the application number 201610407343.9 discloses a multi-nozzle 3D printer, which includes a liftable rotating tray, a nozzle assembly that moves and prints in the X and Y directions, and six synchronous telescopic printing nozzles along the radial direction of the support arm. Forming a relative rotation with the tray, the multi-nozzle 3D printer is especially suitable for printing large-scale rotators. The ball screw drives the rotating tray to move up and down to realize the accumulation of products in height. The printing nozzle assembly includes: the fifth drive motor, Drive wheel train, at least six support arms equally divided on the plane, each support arm is suspended with a slider, the print head is fixedly connected under the slider, the drive wheel train includes the fifth drive motor output shaft driving gear and Six driven gears, each driven gear drives the slider to move radially along the support arm through a synchronous pulley and a synchronous belt, and each print nozzle moves in a synchronous reciprocating linear motion, that is, the fifth drive motor drives a large gear to rotate, The six small gears mesh with the large gear, and the small gears reciprocate radially through the timing belt and the slider to drive the printing nozzles to work synchronously. Although the printer with this structure can print six products at the same time or use six print heads to print one product at the same time, it greatly increases the volume of the print head, and each print head is connected to the corresponding printing material, which provides a great guarantee for printing during the printing process. The three-dimensional movement and control bring a lot of inconvenience.
申请号为201310640307.3的专利申请公开了一种3D打印机，其包括打印机平台，所述打印机平台包括支架、及固定于支架上的工作台，支架上连接有喷头抓取装置，所述支架外侧放置有喷头库，喷头库内活动悬挂有至少一个独立喷头，喷头上固定连接有与抓取装置结构匹配的连接装置。该连接装置可以有多种结构形式：(1)连接装置包括喷头两侧开口向下的卡口，抓取装置和喷头库内喷头固定装置均为与卡口配合的卡头件；(2)连接装置包括喷头一侧的挂套、以及喷头另一侧的锥形槽，喷头库上固定有与挂套配合的挂钩，抓取装置为与锥形槽紧密配合的锥形头；(3)连接装置包括喷头一侧的挂套、以及喷头另一侧的卡槽，卡槽内固定有磁性件，喷头库上固定有与挂套配合的挂钩，抓取装置为与卡槽磁吸的卡头；(4)连接装置包括喷头一侧的挂套、以及喷头另一侧的相对设置的两个开口，喷头库上固定有与挂套配合的挂钩，抓取装置为通过两个推杆推动的两个滑杆，滑杆通过推杆推动卡入开口以从喷头库内取出和放回喷头；(5)连接装置包括喷头一侧的T形件，抓取装置为通过电机驱动的两个卡钳，卡钳能够卡住T形件的内侧以从喷头库内取出和放回喷头。上述3D打印机虽然实现了喷头更换，但是其连接装置和抓取装置结构繁琐，喷头移动更换效率低，且不便于实现更换喷头的自动化控制。The patent application with application number 201310640307.3 discloses a 3D printer, which includes a printer platform, the printer platform includes a bracket, and a workbench fixed on the bracket, a nozzle grabbing device is connected to the bracket, and a The nozzle storehouse, at least one independent sprinkler head is movable suspended in the sprinkler head storehouse, and the sprinkler head is fixedly connected with a connecting device matching the structure of the grasping device. The connection device can have various structural forms: (1) the connection device includes bayonets with downward openings on both sides of the nozzle, and the grabbing device and the nozzle fixing device in the nozzle storage are all chuck parts that cooperate with the bayonets; (2) The connection device includes a hanging sleeve on one side of the nozzle and a tapered groove on the other side of the nozzle. A hook matching the hanging sleeve is fixed on the nozzle library, and the grabbing device is a tapered head that closely matches the tapered groove; (3) The connection device includes a hanging sleeve on one side of the nozzle and a card slot on the other side of the nozzle. Magnetic parts are fixed in the card slot, and a hook that matches the hanging sleeve is fixed on the nozzle magazine. The grabbing device is a card that is magnetically attracted to the card slot. (4) The connecting device includes a hanging sleeve on one side of the nozzle and two openings on the other side of the nozzle. Two sliding rods, the sliding rods are pushed into the opening through the push rods to take out and put back the nozzles from the nozzle library; (5) The connecting device includes a T-shaped piece on one side of the nozzle, and the grabbing device is two driven by a motor. The caliper, the caliper can clamp the inside of the T-shaped piece to remove and put the nozzle back into the nozzle magazine. Although the above-mentioned 3D printer realizes nozzle replacement, its connecting device and grasping device have cumbersome structures, the efficiency of nozzle movement and replacement is low, and it is not convenient to realize automatic control of nozzle replacement.
由此可见，现有技术有待于进一步的改进和提高。This shows that the prior art needs to be further improved and improved.
发明内容Contents of the invention
本发明为避免上述现有技术存在的不足之处，提供了一种带有多喷头自动转换系统的3D打印机，其解决了现有的多喷头3D打印机喷头集成所带来的问题，不仅可以实现多喷头、多材料、多色彩的3D打印，而且其移动部分体积较小，运动同单喷头3D打印机一样方便。In order to avoid the disadvantages of the prior art above, the present invention provides a 3D printer with a multi-nozzle automatic conversion system, which solves the problems caused by the integration of existing multi-nozzle 3D printer nozzles, and can not only realize Multi-nozzle, multi-material, multi-color 3D printing, and its moving part is small in size, and its movement is as convenient as that of a single-nozzle 3D printer.
本发明所采用的技术方案为：The technical scheme adopted in the present invention is:
一种带有多喷头自动转换系统的3D打印机，包括机架，所述多喷头自动转换系统设置在机架上，多喷头自动转换系统包括喷头库机构、机械手机构及沿X、Z向运动的移动喷头装置，机械手机构设置在喷头库机构和移动喷头装置之间；所述喷头库机构包括旋转支架及沿旋转支架周向设置的若干个待用喷头，移动喷头装置包括移动支架、打印喷头及设置在移动支架上且对打印喷头进行夹紧定位的夹紧机构，机械手机构包括用于夹取并释放打印喷头、待用喷头的机械手及带动机械手在喷头库机构和移动喷头装置之间进行位置切换的旋转驱动部。A 3D printer with a multi-nozzle automatic switching system, including a frame, the multi-nozzle automatic switching system is arranged on the frame, and the multi-nozzle automatic switching system includes a nozzle library mechanism, a manipulator mechanism, and a machine that moves along the X and Z directions. The mobile nozzle device, the manipulator mechanism is arranged between the nozzle library mechanism and the mobile nozzle device; the nozzle library mechanism includes a rotating bracket and several standby nozzles arranged along the circumference of the rotating bracket, and the mobile nozzle device includes a mobile bracket, a printing nozzle and The clamping mechanism is set on the mobile bracket and clamps and positions the printing nozzle. The manipulator mechanism includes a manipulator for clamping and releasing the printing nozzle and the standby nozzle, and drives the manipulator to position between the nozzle library mechanism and the mobile nozzle device. Switchable rotary drive unit.
所述旋转支架包括相互连接的上盖板和下盖板，上盖板的外轮廓边缘沿其周向开设有若干个上开口槽，下盖板的外轮廓边缘沿其周向开设有若干个与上开口槽位置相对的下开口槽，待用喷头安置在上、下盖板之间，待用喷头的顶端卡在上开口槽内，待用喷头的底端卡在下开口槽内；所述喷头库机构还包括带动旋转支架整体进行旋转的第一步进电机，第一步进电机设置在旋转支架的下方，第一步进电机的电机轴与旋转支架相连。The rotating bracket includes an upper cover plate and a lower cover plate connected to each other, the outer contour edge of the upper cover plate is provided with several upper opening slots along its circumference, and the outer contour edge of the lower cover plate is provided with several opening grooves along its circumference direction. In the lower opening slot opposite to the upper opening slot, the nozzle to be used is placed between the upper and lower cover plates, the top of the nozzle to be used is stuck in the upper opening slot, and the bottom end of the nozzle to be used is stuck in the lower opening slot; The nozzle storage mechanism also includes a first stepping motor that drives the rotating bracket to rotate as a whole. The first stepping motor is arranged under the rotating bracket, and the motor shaft of the first stepping motor is connected with the rotating bracket.
所述喷头库机构还包括带动上、下盖板同步旋转的第一舵机，上、下盖板之间通过联动轴相连；所述喷头库机构还包括待用喷头限位组件，待用喷头限位组件包括上固定盘、下固定盘、沿上固定盘外围周圈设置且与上开口槽数量相等的上限位臂、沿下固定盘外围周圈设置且与下开口槽数量相等的下限位臂，所述上、下限位臂的位置相对，上固定盘设置在上盖板的下方，下固定盘设置在下盖板的上方，第一舵机带动上、下盖板旋转的过程中，上、下固定盘不随上、下盖板旋转，上盖板旋转至上开口槽与上限位臂相对的位置时，上限位臂堵住上开口槽，下限位臂堵住下开口槽。The nozzle storage mechanism also includes a first steering gear that drives the upper and lower cover plates to rotate synchronously, and the upper and lower cover plates are connected through a linkage shaft; The limit assembly includes an upper fixed plate, a lower fixed plate, an upper limit arm arranged along the outer circumference of the upper fixed plate and equal to the number of upper opening slots, and a lower limit arm arranged along the outer circumference of the lower fixed plate and equal to the number of lower opening slots Arm, the position of the upper and lower limit arms is opposite, the upper fixed plate is set under the upper cover plate, the lower fixed plate is set above the lower cover plate, and the upper and lower cover plates are rotated by the first steering gear. 1. The lower fixed disk does not rotate with the upper and lower cover plates. When the upper cover plate rotates to the position where the upper opening slot is relative to the upper limit arm, the upper limit arm blocks the upper opening slot, and the lower limit arm blocks the lower opening slot.
所述机械手机构还包括彼此相连的机械臂和机械臂转轴，所述旋转驱动部包括第二步进电机，第二步进电机的电机轴与机械臂转轴相连；所述机械手设置在机械臂的末端，机械手包括活动部和静止部，活动部和静止部配合形成用于抓取打印喷头、待用喷头的夹持间隙；所述机械臂上设置有带动活动部作直线往复运动的第一直线驱动部；所述第一直线驱动部包括第二舵机及依次相连的曲柄、摇杆和连接板，第二舵机的输出轴与曲柄相连，连接板与活动部相连。The manipulator mechanism also includes a mechanical arm and a mechanical arm shaft connected to each other, and the rotary drive part includes a second stepper motor, and the motor shaft of the second stepper motor is connected with the mechanical arm shaft; the manipulator is arranged on the mechanical arm At the end, the manipulator includes a movable part and a static part, and the movable part and the static part cooperate to form a clamping gap for grabbing the printing nozzle and the nozzle to be used; Line drive part; the first linear drive part includes a second steering gear, a crank, a rocker and a connecting plate connected in sequence, the output shaft of the second steering gear is connected to the crank, and the connecting plate is connected to the movable part.
所述夹紧机构包括动夹持块、静夹持块以及带动动夹持块作直线往复运动的第二直线驱动部，打印时，打印喷头被夹紧在动、静夹持块之间，更换喷头时，动夹持块在第二直线驱动部的带动下向一侧移动以释放打印喷头；所述第二直线驱动部包括四杆机构和第三舵机，四杆机构的一端与第三舵机的输出轴相连、另一端与动夹持块相连，第三舵机设置在移动支架上。The clamping mechanism includes a dynamic clamping block, a static clamping block, and a second linear drive part that drives the dynamic clamping block to perform linear reciprocating motion. When printing, the printing nozzle is clamped between the dynamic and static clamping blocks. When replacing the nozzle, the movable clamping block moves to one side under the drive of the second linear drive part to release the print nozzle; the second linear drive part includes a four-bar mechanism and a third steering gear, one end of the four-bar mechanism is connected to the first The output shafts of the three steering gears are connected, and the other ends are connected with the moving clamping block, and the third steering gear is arranged on the moving bracket.
所述机架上还设置有送丝装置，送丝装置包括设置在打印喷头上方的料丝导向定位机构，料丝导向定位机构包括凸轮轴、凸轮轴安装座、带动凸轮轴旋转的第三步进电机、电磁铁安装板以及沿电磁铁安装板长度方向依次排布的若干个电磁铁，电磁铁安装板与凸轮轴安装座之间通过复位弹簧相连，各所述电磁铁上均开设有供料丝穿过的豁口，第三步进电机带动凸轮轴转动，凸轮轴上的凸轮外轮廓推动电磁铁安装板实现Y向进给，所述凸轮轴上凸轮的尺寸使得当电磁铁沿Y轴方向运动至极限位时，电磁铁所夹持的料丝的中心线、打印喷头的中心线以及X轴处于同一平面内。The frame is also provided with a wire feeding device. The wire feeding device includes a wire guiding and positioning mechanism arranged above the printing nozzle. The wire guiding and positioning mechanism includes a camshaft, a camshaft mounting seat, and a third step for driving the camshaft to rotate. Enter the motor, the electromagnet mounting plate and several electromagnets arranged in sequence along the length direction of the electromagnet mounting plate. The electromagnet mounting plate and the camshaft mounting seat are connected by a return spring. The third stepping motor drives the camshaft to rotate through the gap where the material wire passes. The cam outline on the camshaft pushes the electromagnet mounting plate to realize the Y-direction feed. The size of the cam on the camshaft makes the electromagnet move along the Y-axis When the direction moves to the limit position, the centerline of the filament held by the electromagnet, the centerline of the printing head and the X axis are in the same plane.
所述料丝导向定位机构还包括设置在移动支架上的上导料槽和下导料槽，上导料槽的中心线与下导料槽的中心线位于同一条直线上，下导料槽位于打印喷头的正上方。The wire guiding and positioning mechanism also includes an upper material guide groove and a lower material guide groove arranged on the mobile support, the center line of the upper material guide groove and the center line of the lower material guide groove are located on the same straight line, and the lower material guide groove Located directly above the print head.
所述送丝装置还包括料丝输送机构，料丝输送机构包括第四步进电机、主动滚轮和从动滚轮，第四步进电机、主动滚轮和从动滚轮均设置在移动支架上，主动滚轮由第四步进电机驱动，主动滚轮和从动滚轮之间配合形成给料间隙。The wire feeding device also includes a wire conveying mechanism, the wire conveying mechanism includes a fourth stepping motor, a driving roller and a driven roller, the fourth stepping motor, the driving roller and a driven roller are all arranged on the mobile bracket, and the driving The roller is driven by the fourth stepping motor, and the driving roller and the driven roller cooperate to form a feeding gap.
所述送丝装置还包括给料机构，给料机构位于料丝导向定位机构的上方，给料机构包括料丝安装座和中心轴，中心轴固定在料丝安装座上，沿中心轴轴向设置有若干个能够绕中心轴相对转动的套筒，各个套筒上均缠绕有料丝，且不同颜色的料丝缠绕在不同的套筒上，各套筒绕中心轴转动时，各套筒均无轴向移位。The wire feeding device also includes a feeding mechanism, which is located above the wire guiding and positioning mechanism. The feeding mechanism includes a wire mounting seat and a central shaft. There are several sleeves that can rotate relatively around the central axis, each sleeve is wound with material filaments, and different colors of material filaments are wound on different sleeves, when each sleeve rotates around the central axis, each sleeve No axial displacement.
所述机架上还设置有带动移动支架作升降运动的Z向驱动机构以及带动移动支架作横向运动的X向驱动机构，所述机架上还设置有托盘，托盘位于打印喷头的下方，机架上还设置有带动托盘作纵向运动的Y向驱动机构。The frame is also provided with a Z-direction driving mechanism that drives the mobile bracket to move up and down and an X-direction drive mechanism that drives the mobile bracket to move laterally. The rack is also provided with a Y-direction driving mechanism that drives the tray to move longitudinally.
由于采用了上述技术方案，本发明所取得的有益效果为：Owing to adopting above-mentioned technical scheme, the beneficial effect that the present invention obtains is:
本发明运用喷头库技术，实现了多喷头的打印功能；相对于现有的单喷头3D打印机而言，本发明实现了多喷头、多原料、多色彩的3D打印；相对于现有的多喷头3D打印机而言，本发明中的移动喷头装置体积小，结构简单，其三维运动同单喷头3D打印机一样方便，且易于控制。此外，本发明中旋转支架、上开口槽、下开口槽的设置方便了机械手对待用喷头的抓取，提高了更换效率，进而提高了打印效率。The present invention utilizes the nozzle bank technology to realize the printing function of multiple nozzles; compared with the existing single nozzle 3D printer, the present invention realizes the 3D printing of multiple nozzles, multi-materials, and multi-colors; compared with the existing multi-nozzle For 3D printers, the mobile nozzle device in the present invention is small in size and simple in structure, and its three-dimensional movement is as convenient as that of a single nozzle 3D printer, and is easy to control. In addition, the setting of the rotating bracket, the upper opening slot, and the lower opening slot in the present invention facilitates the gripping of the nozzle to be used by the manipulator, improves the replacement efficiency, and further improves the printing efficiency.
附图说明Description of drawings
图1为本发明的整体装配图。Fig. 1 is the overall assembly drawing of the present invention.
图2为本发明中移动支架及其上各部件的装配关系示意图。Fig. 2 is a schematic diagram of the assembly relationship of the mobile bracket and its components in the present invention.
图3为本发明中旋转支架及其上各部件的装配关系示意图。Fig. 3 is a schematic diagram of the assembly relationship of the rotating bracket and its components in the present invention.
图4为本发明中机械手机构的结构示意图。Fig. 4 is a structural schematic diagram of the manipulator mechanism in the present invention.
图5为本发明中给料机构的结构示意图。Fig. 5 is a structural schematic diagram of the feeding mechanism in the present invention.
图6为本发明中料丝导向定位机构的部分结构示意图。Fig. 6 is a partial structural schematic diagram of the filament guiding and positioning mechanism in the present invention.
图7为利用本发明进行喷头更换的工作流程图。Fig. 7 is a work flow chart of replacing the nozzles by using the present invention.
其中，in,
1、移动喷头装置 101、移动支架 102、第四步进电机 103、主动滚轮 104、从动滚轮 105、打印喷头 106、动夹持块 107、静夹持块 108、四杆机构 109、第三舵机的输出轴2、喷头库机构 201、第一舵机 202、上盖板 203、上开口槽 204、上限位臂 205、连接柱206、下盖板 207、下限位臂 208、下固定盘 209、下开口槽 210、联动轴 211、第一步进电机212、喷头库底座 3、机械手机构 301、静止部 302、活动部 303、夹持间隙 304、连接板305、摇杆 306、曲柄 307、第二舵机 308、机械臂 309、机械臂转轴 310、第二步进电机311、机械手底座 4、料丝导向定位机构 401、凸轮轴安装座 402、凸轮轴 403、复位弹簧404、第三步进电机 405、电磁铁安装板 406、电磁铁 407、豁口 408、上导料槽 409、下导料槽 5、给料机构 501、料丝 502、中心轴 503、料丝安装座 504、套筒 6、机架 7、托盘 8、云台 9、滚珠丝杠副 10、竖向导向杆 11、X向同步传送带 12、横向导向杆 13、Y向同步带 14、V型导向槽1. Mobile nozzle device 101, mobile bracket 102, fourth stepper motor 103, driving roller 104, driven roller 105, printing nozzle 106, dynamic clamping block 107, static clamping block 108, four-bar mechanism 109, third The output shaft 2 of the steering gear, the nozzle storage mechanism 201, the first steering gear 202, the upper cover plate 203, the upper opening groove 204, the upper limit arm 205, the connecting column 206, the lower cover plate 207, the lower limit arm 208, and the lower fixed plate 209, lower opening slot 210, linkage shaft 211, first stepper motor 212, nozzle base 3, manipulator mechanism 301, stationary part 302, movable part 303, clamping gap 304, connecting plate 305, rocker 306, crank 307 , the second steering gear 308, the mechanical arm 309, the mechanical arm shaft 310, the second stepper motor 311, the manipulator base 4, the wire guide positioning mechanism 401, the camshaft mounting seat 402, the camshaft 403, the return spring 404, the third Stepper motor 405, electromagnet mounting plate 406, electromagnet 407, gap 408, upper material guide trough 409, lower material guide trough 5, feeding mechanism 501, material wire 502, central shaft 503, material wire mounting seat 504, sleeve Cylinder 6, frame 7, tray 8, pan/tilt 9, ball screw pair 10, vertical guide rod 11, X-direction synchronous conveyor belt 12, horizontal guide rod 13, Y-direction synchronous belt 14, V-shaped guide groove
具体实施方式detailed description
下面结合附图和具体的实施例对本发明作进一步的详细说明，但本发明并不限于这些实施例。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to these embodiments.
如图1至图7所示，一种带有多喷头自动转换系统的3D打印机，包括机架6，所述多喷头自动转换系统设置在机架6上，为描述方便，将横向定义为X轴，将纵向定义为Y轴，将竖向定义为Z轴。所述多喷头自动转换系统包括喷头库机构2、机械手机构3及沿X、Z向运动的移动喷头装置1，机械手机构3设置在喷头库机构2和移动喷头装置1之间。As shown in Figures 1 to 7, a 3D printer with a multi-nozzle automatic switching system includes a frame 6, and the multi-nozzle automatic switching system is arranged on the frame 6. For the convenience of description, the horizontal direction is defined as X Axis, define the longitudinal direction as the Y axis, and the vertical direction as the Z axis. The multi-nozzle automatic conversion system includes a nozzle storage mechanism 2, a manipulator mechanism 3 and a mobile nozzle device 1 moving along the X and Z directions. The manipulator mechanism 3 is arranged between the nozzle warehouse mechanism 2 and the mobile nozzle device 1.
如图1和图3所示，所述喷头库机构2包括旋转支架及沿旋转支架周向设置的若干个待用喷头。所述旋转支架包括相互连接的上盖板202和下盖板206，上盖板202的外轮廓边缘沿其周向开设有若干个上开口槽203，下盖板206的外轮廓边缘沿其周向开设有若干个与上开口槽203位置相对的下开口槽209，待用喷头安置在上、下盖板之间，待用喷头的顶端卡在上开口槽203内，待用喷头的底端卡在下开口槽209内。优选的，所述上、下开口槽的截面均呈U型。所述上、下盖板之间通过多根竖向设置的连接柱205相互连接。所述喷头库机构还包括带动旋转支架整体进行旋转的第一步进电机211，第一步进电机211设置在旋转支架的下方，第一步进电机211的电机轴与旋转支架相连。所述喷头库机构还包括喷头库底座212，第一步进电机211设置在喷头库底座212上。As shown in FIG. 1 and FIG. 3 , the nozzle storage mechanism 2 includes a rotating bracket and several standby nozzles arranged along the circumference of the rotating bracket. The rotating bracket includes an upper cover plate 202 and a lower cover plate 206 connected to each other. The outer contour edge of the upper cover plate 202 is provided with several upper opening grooves 203 along its circumference, and the outer contour edge of the lower cover plate 206 is formed along its circumference. There are several lower opening grooves 209 opposite to the position of the upper opening groove 203. The nozzles to be used are placed between the upper and lower cover plates. The top of the nozzles to be used is stuck in the upper opening grooves 203. The bottom of the nozzles to be used is Clamped in the lower opening groove 209. Preferably, the cross-sections of the upper and lower opening grooves are both U-shaped. The upper and lower cover plates are connected to each other through a plurality of vertically arranged connecting columns 205 . The nozzle storage mechanism also includes a first stepping motor 211 that drives the rotating bracket to rotate as a whole. The first stepping motor 211 is arranged below the rotating bracket, and the motor shaft of the first stepping motor 211 is connected with the rotating bracket. The shower head storage mechanism also includes a shower head storage base 212 on which the first stepping motor 211 is arranged.
如图1和图3所示，所述喷头库机构还包括带动上、下盖板同步旋转的第一舵机201，上、下盖板之间通过联动轴210相连；所述喷头库机构还包括待用喷头限位组件，待用喷头限位组件包括上固定盘、下固定盘208、沿上固定盘外围周圈设置且与上开口槽203数量相等的上限位臂204、沿下固定盘208外围周圈设置且与下开口槽209数量相等的下限位臂207，所述上、下限位臂的位置相对。优选的，所述上、下限位臂的截面均呈L型。上固定盘设置在上盖板202的下方，下固定盘208设置在下盖板206的上方。第一舵机201带动上、下盖板旋转的过程中，上、下固定盘不随上、下盖板旋转；上盖板202旋转至上开口槽203与上限位臂204相对的位置时，上限位臂204堵住上开口槽203，下限位臂207堵住下开口槽209，实现对待用喷头的定位；当上盖板202旋转至上开口槽203与上限位臂204位置不相对应时，上限位臂204不再堵住开口槽203，下限位臂207不再堵住下开口槽209，方便了下述机械手方便地夹取待用喷头。As shown in Figures 1 and 3, the nozzle storage mechanism also includes a first steering gear 201 that drives the upper and lower cover plates to rotate synchronously, and the upper and lower cover plates are connected by a linkage shaft 210; the nozzle storage mechanism also includes Including the nozzle limit assembly to be used, the nozzle limit assembly to be used includes an upper fixed plate, a lower fixed plate 208, an upper limit arm 204 arranged along the outer circumference of the upper fixed plate and equal to the number of upper opening slots 203, and an upper limit arm 204 along the lower fixed plate. 208 is provided with lower limit arms 207 on the outer circumference and the same number as the lower opening slots 209, and the positions of the upper and lower limit arms are opposite. Preferably, the cross-sections of the upper and lower limiting arms are both L-shaped. The upper fixed plate is disposed below the upper cover plate 202 , and the lower fixed plate 208 is disposed above the lower cover plate 206 . When the first steering gear 201 drives the upper and lower cover plates to rotate, the upper and lower fixed plates do not rotate with the upper and lower cover plates; when the upper cover plate 202 rotates to the position where the upper opening groove 203 is opposite to the upper limit arm 204, the upper limit The arm 204 blocks the upper opening groove 203, and the lower limit arm 207 blocks the lower opening groove 209 to realize the positioning of the nozzle to be used; The arm 204 no longer blocks the opening slot 203, and the lower limit arm 207 no longer blocks the lower opening slot 209, which facilitates the below-mentioned manipulator to conveniently grab the spray head to be used.
如图1和图2所示，所述移动喷头装置1包括移动支架101、打印喷头105及设置在移动支架101上且对打印喷头105进行夹紧定位的夹紧机构。所述夹紧机构包括动夹持块106、静夹持块107以及带动动夹持块106作直线往复运动的第二直线驱动部，打印时，打印喷头105被夹紧在动、静夹持块之间，需要更换喷头时，动夹持块106在第二直线驱动部的带动下向一侧移动以释放打印喷头105。所述第二直线驱动部包括四杆机构108和第三舵机，四杆机构108的一端与第三舵机的输出轴109相连、另一端与动夹持块106相连，第三舵机设置在移动支架101上。需要说明的是，所述第二直线驱动部并不仅仅局限于所述的四杆机构108与第三舵机的组合驱动形式，还可以是其它的驱动形式，例如，电机与滚珠丝杠副的结构形式(滚珠丝杠副与动夹持块106相连，电机驱动滚珠丝杠副，从而带动动夹持块106往复运动以实现对打印喷头105的夹紧或释放)，还可以是液压缸驱动的形式(液压缸的活塞杆与动夹持块106相连，用活塞杆的伸缩带动动夹持块106往复运动以实现对打印喷头105的夹紧或释放)，因此，任何可以带动动夹持块106作直线往复运动的驱动形式都可以满足要求，而并不仅仅局限于图2和上述实施例所述的驱动结构形式。As shown in FIG. 1 and FIG. 2 , the moving nozzle device 1 includes a moving bracket 101 , a printing nozzle 105 and a clamping mechanism arranged on the moving bracket 101 and clamping and positioning the printing nozzle 105 . The clamping mechanism includes a dynamic clamping block 106, a static clamping block 107, and a second linear drive part that drives the dynamic clamping block 106 to perform linear reciprocating motion. When printing, the printing nozzle 105 is clamped between the dynamic and static clamping Between the blocks, when the nozzle needs to be replaced, the movable clamping block 106 is driven by the second linear drive part to move to one side to release the printing nozzle 105 . Described second linear drive portion comprises four-bar mechanism 108 and the 3rd steering gear, and one end of four-bar mechanism 108 links to each other with the output shaft 109 of the 3rd steering gear, and the other end links to each other with moving clamp block 106, and the 3rd steering gear is provided with On the mobile stand 101. It should be noted that the second linear drive part is not limited to the combined driving form of the four-bar mechanism 108 and the third steering gear, but can also be other driving forms, for example, a motor and a ball screw pair The structural form (the ball screw pair is connected with the movable clamping block 106, and the motor drives the ball screw pair, thereby driving the movable clamping block 106 to reciprocate to realize the clamping or releasing of the printing nozzle 105), it can also be a hydraulic cylinder The form of driving (the piston rod of the hydraulic cylinder is connected with the movable clamping block 106, and the moving clamping block 106 is driven to reciprocate by the expansion and contraction of the piston rod to realize the clamping or releasing of the printing nozzle 105), therefore, any The driving forms of the linear reciprocating motion of the holding block 106 can meet the requirements, and are not limited to the driving structures described in FIG. 2 and the above-mentioned embodiments.
如图1和图4所示，所述机械手机构3包括用于夹取并释放打印喷头105、待用喷头的机械手及带动机械手在喷头库机构2和移动喷头装置1之间进行位置切换的旋转驱动部。所述机械手机构还包括机械手底座311，下述第二步进电机310设置在机械手底座311上。As shown in FIGS. 1 and 4 , the manipulator mechanism 3 includes a manipulator for clamping and releasing the printing nozzle 105, a standby nozzle, and a rotating mechanism that drives the manipulator to switch positions between the nozzle library mechanism 2 and the mobile nozzle device 1. drive unit. The manipulator mechanism also includes a manipulator base 311 on which a second stepping motor 310 described below is disposed.
如图4所示，所述机械手机构还包括彼此相连的机械臂308和机械臂转轴309，所述旋转驱动部包括第二步进电机310，第二步进电机310的电机轴与机械臂转轴309相连；所述机械手设置在机械臂308的末端，机械手包括活动部302和静止部301，活动部302和静止部301配合形成用于抓取打印喷头105、待用喷头的夹持间隙303；所述机械臂308上设置有带动活动部302作直线往复运动的第一直线驱动部。所述第一直线驱动部包括第二舵机307及依次相连的曲柄306、摇杆305和连接板304，第二舵机307的输出轴与曲柄306相连，连接板304与活动部302相连。所述机械臂308上还设置有用于保证连接板304做直线运动的导向槽，该导向槽以罩壳312的形式覆盖在机械臂308上。需要说明的是，所述第一直线驱动部并不仅仅局限于所述的曲柄摇杆与第二舵机307的组合驱动形式，还可以是其它的驱动形式，例如，电机与滚珠丝杠副的结构形式(滚珠丝杠副与活动部302相连，电机驱动滚珠丝杠副，从而带动活动部302往复运动以实现对打印喷头105及待用喷头的夹紧或释放)，还可以是液压缸驱动的形式(液压缸的活塞杆与活动部302相连，用活塞杆的伸缩带动活动部302往复运动以实现对打印喷头105及待用喷头的夹紧或释放)，因此，任何可以带动活动部作直线往复运动的驱动形式都可以满足要求，而并不仅仅局限于图4和上述实施例所述的驱动结构形式。As shown in Fig. 4, described manipulator mechanism also comprises the mechanical arm 308 that is connected with each other and mechanical arm shaft 309, and described rotary drive part comprises second stepper motor 310, and the motor shaft of second stepper motor 310 is connected with the mechanical arm shaft 309 connected; the manipulator is arranged at the end of the manipulator 308, and the manipulator includes a movable part 302 and a stationary part 301, and the movable part 302 and the stationary part 301 cooperate to form a clamping gap 303 for grabbing the printing nozzle 105 and the nozzle to be used; The mechanical arm 308 is provided with a first linear driving part that drives the movable part 302 to perform linear reciprocating motion. The first linear drive part includes a second steering gear 307 and a crank 306, a rocker 305 and a connecting plate 304 connected in sequence, the output shaft of the second steering gear 307 is connected to the crank 306, and the connecting plate 304 is connected to the movable part 302 . The mechanical arm 308 is also provided with a guide groove for ensuring the linear movement of the connecting plate 304 , and the guide groove is covered on the mechanical arm 308 in the form of a cover 312 . It should be noted that the first linear drive part is not limited to the combined drive form of the crank rocker and the second steering gear 307, but can also be other drive forms, for example, a motor and a ball screw The structural form of the pair (the ball screw pair is connected with the movable part 302, and the motor drives the ball screw pair, thereby driving the movable part 302 to reciprocate to realize the clamping or releasing of the printing nozzle 105 and the nozzle to be used), it can also be hydraulic The form of cylinder drive (the piston rod of the hydraulic cylinder is connected with the movable part 302, and the movable part 302 is driven to reciprocate by the expansion and contraction of the piston rod to realize the clamping or releasing of the printing nozzle 105 and the standby nozzle), so any Any drive form that performs linear reciprocating motion can meet the requirements, and is not limited to the drive structure described in FIG. 4 and the above-mentioned embodiments.
如图1和图6所示，所述机架上还设置有送丝装置，送丝装置包括设置在打印喷头上方的料丝导向定位机构4，料丝导向定位机构4包括凸轮轴402、凸轮轴安装座401、带动凸轮轴402旋转的第三步进电机404、电磁铁安装板405以及沿电磁铁安装板405长度方向依次排布的若干个电磁铁406，电磁铁安装板405与凸轮轴安装座401之间通过复位弹簧403相连，各所述电磁铁406上均开设有供料丝501穿过的豁口407，第三步进电机404带动凸轮轴402转动，凸轮轴402上的凸轮外轮廓推动电磁铁安装板405实现Y向进给，所述凸轮轴402上凸轮的尺寸使得当电磁铁406沿Y轴方向运动至极限位时，电磁铁406所夹持的料丝501的中心线、打印喷头105的中心线以及X轴处于同一平面内。所述料丝导向定位机构4还包括设置在移动支架101上的上导料槽408和下导料槽409，上导料槽408的中心线与下导料槽409的中心线位于同一条直线上，下导料槽409位于打印喷头105的正上方。As shown in Figures 1 and 6, a wire feeding device is also provided on the frame, and the wire feeding device includes a wire guiding and positioning mechanism 4 arranged above the print head, and the wire guiding and positioning mechanism 4 includes a camshaft 402, a cam Shaft mounting seat 401, the third stepper motor 404 that drives camshaft 402 to rotate, electromagnet mounting plate 405 and several electromagnets 406 arranged in sequence along the length direction of electromagnet mounting plate 405, electromagnet mounting plate 405 and camshaft The mounting bases 401 are connected by return springs 403, each of the electromagnets 406 is provided with a gap 407 through which the feed wire 501 passes, and the third stepper motor 404 drives the camshaft 402 to rotate, and the camshaft 402 on the camshaft 402 rotates. The contour pushes the electromagnet mounting plate 405 to realize Y-feeding, and the size of the cam on the camshaft 402 is such that when the electromagnet 406 moves to the limit position along the Y-axis direction, the center line of the material wire 501 clamped by the electromagnet 406 , the centerline of the printing nozzle 105 and the X-axis are in the same plane. The wire guiding and positioning mechanism 4 also includes an upper material guide groove 408 and a lower material guide groove 409 arranged on the moving bracket 101, and the center line of the upper material guide groove 408 and the lower material guide groove 409 are located on the same straight line The upper and lower material guide grooves 409 are located directly above the print head 105 .
所述电磁铁406运动到最远位置时，由于凸轮轴402上的凸轮具有一定的远休止角，因此电磁铁406会在一定时间段内保持静止不动，此时，运动到位的移动喷头装置在下述Z向驱动机构的带动下沿Z向上升，使得料丝501经上导料槽408进入下述给料间隙，再经过下述主、从动滚轮的摩擦带动，经下导料槽409即可实现料丝501与打印喷头105的精准对接，同时，也可以控制第三步进电机404在这一段时间内停止运转，以便于料丝501与打印喷头105的对接运动可以更加平稳地进行。随着第三步进电机404的继续转动，当凸轮轴402上的凸轮转过远休止角后，电磁铁安装板405连同安装在其上面的电磁铁406在复位弹簧403的带动下返回原点，等候指令，以便于进行下一次的换料动作。When the electromagnet 406 moves to the farthest position, because the cam on the camshaft 402 has a certain far angle of repose, the electromagnet 406 will remain stationary for a certain period of time. Driven by the following Z-direction drive mechanism, it rises along the Z direction, so that the material filament 501 enters the following feeding gap through the upper guide groove 408, and then is driven by the friction of the following main and driven rollers, and passes through the lower guide groove 409. The precise docking of the filament 501 and the printing nozzle 105 can be realized, and at the same time, the third stepper motor 404 can also be controlled to stop running during this period of time, so that the docking movement of the filament 501 and the printing nozzle 105 can be carried out more smoothly . Along with the continuation of rotation of the 3rd stepper motor 404, after the cam on the camshaft 402 turned over the far angle of repose, the electromagnet mounting plate 405 returns to the origin together with the electromagnet 406 installed on it under the drive of the back-moving spring 403, Waiting for instructions to carry out the next refueling action.
如图2所示，所述送丝装置还包括料丝输送机构，料丝输送机构包括第四步进电机102、主动滚轮103和从动滚轮104，第四步进电机102、主动滚轮103和从动滚轮104均设置在移动支架101上，主动滚轮103由第四步进电机102驱动，主动滚轮103和从动滚轮104之间配合形成给料间隙。所述主、从动滚轮设置在上、下导料槽之间。所述移动支架101上还设置有加热机构，加热用于加热并融化料丝501。As shown in Figure 2, the wire feeding device also includes a wire delivery mechanism, the wire delivery mechanism includes a fourth stepping motor 102, a driving roller 103 and a driven roller 104, the fourth stepping motor 102, a driving roller 103 and The driven rollers 104 are all arranged on the mobile bracket 101, the driving rollers 103 are driven by the fourth stepping motor 102, and the driving rollers 103 and the driven rollers 104 cooperate to form a feeding gap. The main and driven rollers are arranged between the upper and lower guide grooves. The moving support 101 is also provided with a heating mechanism for heating and melting the filament 501 .
如图1和图5所示，所述送丝装置还包括给料机构5，给料机构5位于料丝导向定位机构4的上方，给料机构5包括料丝安装座503和中心轴502，中心轴502固定在料丝安装座503上，沿中心轴502轴向设置有若干个能够绕中心轴502相对转动的套筒504，各个套筒504上均缠绕有料丝501，且不同颜色的料丝501缠绕在不同的套筒504上，各套筒504绕中心轴502转动时，各套筒504均无轴向移位。当料丝501受到主动滚轮103和从动滚轮104的摩擦带动时，就会和套筒504一起绕中心轴502转动，实现料丝的供给。料丝501经套筒504抽出，依次经电磁铁406上的豁口407、上导料槽408、给料间隙、下导料槽409后进入打印喷头105，然后经打印喷头105喷出用于打印物品。As shown in Figures 1 and 5, the wire feeding device also includes a feeding mechanism 5, which is located above the wire guiding and positioning mechanism 4, and the feeding mechanism 5 includes a wire mounting seat 503 and a central shaft 502, The central shaft 502 is fixed on the filament mounting base 503, along the axial direction of the central shaft 502 there are several sleeves 504 which can rotate relatively around the central shaft 502, each sleeve 504 is wound with a filament 501, and the filaments of different colors The wire 501 is wound on different sleeves 504, and when each sleeve 504 rotates around the central axis 502, each sleeve 504 has no axial displacement. When the material filament 501 is driven by the friction of the driving roller 103 and the driven roller 104, it will rotate around the central axis 502 together with the sleeve 504 to realize the supply of the material filament. The filament 501 is pulled out through the sleeve 504, and then enters the printing nozzle 105 through the gap 407 on the electromagnet 406, the upper material guide groove 408, the feeding gap, and the lower material guide groove 409, and then is ejected through the printing nozzle 105 for printing. thing.
如图1所示，所述机架6上还设置有带动移动支架101作升降运动的Z向驱动机构以及带动移动支架101作横向运动的X向驱动机构。为方便驱动移动支架101，可在移动支架101的下方设置与其相连的云台8。As shown in FIG. 1 , the frame 6 is also provided with a Z-direction driving mechanism that drives the mobile bracket 101 to move up and down and an X-direction drive mechanism that drives the mobile bracket 101 to perform lateral movement. In order to drive the mobile support 101 conveniently, a pan-tilt 8 connected thereto can be arranged below the mobile support 101 .
用于实现驱动移动支架101作升降运动的Z向驱动机构可以有多种结构形式，例如，可以是如图1所示的电机+滚珠丝杠副9+竖向导向杆10的组合形式，也可以是液压缸+竖向导向杆的组合形式，当然，Z向驱动机构并不局限于上述实施例，只要能够实现带动移动支架101作竖直方向的升降运动即可。The Z-direction drive mechanism that is used to realize driving mobile support 101 to do lifting motion can have multiple structural forms, for example, can be the combined form of motor+ball screw pair 9+vertical guide bar 10 as shown in Figure 1, also can It can be a combined form of hydraulic cylinder + vertical guide rod. Of course, the Z-direction driving mechanism is not limited to the above-mentioned embodiment, as long as it can drive the mobile bracket 101 to move vertically.
用于实现驱动移动支架101作横向运动的X向驱动机构也可以有多种结构形式，例如，可以是如图1所示的电机+X向同步传送带11+横向导向杆12的组合形式，也可以是电机+滚珠丝杠副+横向导向杆12的组合形式。当然，X向驱动机构并不局限于上述实施例，只要能够实现带动移动支架101作横向运动的驱动结构都可以满足要求。The X-direction driving mechanism that is used to realize driving mobile support 101 to do lateral movement also can have multiple structural forms, for example, can be the combined form of motor+X as shown in Figure 1 to synchronous conveyor belt 11+transverse guide rod 12, also can Can be the combined form of motor+ball screw pair+transverse guide rod 12. Of course, the X-direction driving mechanism is not limited to the above-mentioned embodiments, as long as the driving structure that can drive the moving bracket 101 to move laterally can meet the requirements.
如图1所示，所述机架6上还设置有托盘7，托盘7位于打印喷头105的下方，机架6上还设置有带动托盘7作纵向运动的Y向驱动机构。用于实现驱动托盘7作纵向运动的Y向驱动机构也可以有多种结构形式，例如，可以是如图1所示的电机+Y向同步传送带11+纵向导向杆的组合形式，也可以是电机+滚珠丝杠副+纵向导向杆的组合形式，甚至可以是液压缸+纵向导向杆的组合形式。当然，Y向驱动机构并不局限于上述实施例，只要能够实现带动托盘7作纵向运动的驱动结构都可以满足要求。需要说明的是，本发明中的喷头库机构2与托盘7相连，托盘7的纵向运动会导致喷头库机构2的纵向运动，为方便喷头库机构2的移动，可在机架6上设置V型导向槽14，并在喷头库底座212的下方设置与喷头库底座212相连的导向块15，导向块15的结构与V型导向槽14的结构相适配。As shown in FIG. 1 , a tray 7 is provided on the frame 6 , and the tray 7 is located below the print head 105 . The frame 6 is also provided with a Y-direction driving mechanism that drives the tray 7 to move longitudinally. The Y-direction drive mechanism that is used to realize the drive pallet 7 to move longitudinally also can have multiple structural forms, for example, can be the combined form of motor+Y as shown in Figure 1 to synchronous conveyor belt 11+longitudinal guide bar, also can be The combined form of motor + ball screw pair + longitudinal guide rod can even be the combined form of hydraulic cylinder + longitudinal guide rod. Of course, the Y-direction driving mechanism is not limited to the above-mentioned embodiments, as long as the driving structure that can drive the tray 7 to move longitudinally can meet the requirements. It should be noted that the nozzle storage mechanism 2 in the present invention is connected with the tray 7, and the longitudinal movement of the tray 7 will cause the longitudinal movement of the nozzle storage mechanism 2. In order to facilitate the movement of the nozzle storage mechanism 2, a V-shaped guide groove 14, and a guide block 15 connected to the nozzle base 212 is arranged below the nozzle base 212, and the structure of the guide block 15 is adapted to the structure of the V-shaped guide groove 14.
本发明所述的3D打印机还包括用于控制各电机和舵机的控制系统。如图7所示，打印机在打印过程中接收到来自控制系统的更换喷头的指令之后，首先暂停打印作业，并控制移动喷头装置1和机械手机构3运动到相应的位置，第四步进电机102驱动主动滚轮103反转，使料丝501与打印喷头105分离，第三舵机驱动四杆机构108转动，使动、静夹持块放开对打印喷头105的夹持，此时，控制系统控制机械手机构3运动，将打印喷头105取下并放置在喷头库机构2上的空闲位置处；之后，第一步进电机211驱动旋转支架整体转动，使得另一位置上的待用喷头转至机械手机构容易抓取的位置处，第一舵机201驱动上、下盖板旋转，使上、下限位臂不再堵住上、下开口槽，机械手机构抓取喷头库机构2上的待用喷头并将其运送到动、静夹持块之间，第三舵机动作驱动丝杆机构108动作，使动、静夹持块夹紧刚刚取来的待用喷头使之成为打印喷头；然后，控制第三步进电机404转动，使凸轮轴402上的凸轮转至远休止角，控制Z向驱动机构带动移动喷头装置沿Z向运动，使料丝501经上导料槽408进入给料间隙，第四步进电机102驱动主动滚轮103正转，使料丝501经下导料槽409进入打印喷头105，完成喷头的更换工作。The 3D printer described in the present invention also includes a control system for controlling each motor and steering gear. As shown in Figure 7, after the printer receives an instruction to replace the nozzle from the control system during the printing process, it first suspends the printing operation, and controls the mobile nozzle device 1 and the manipulator mechanism 3 to move to the corresponding position, and the fourth stepping motor 102 Drive the active roller 103 to reverse to separate the filament 501 from the printing nozzle 105, and the third steering gear drives the four-bar mechanism 108 to rotate, so that the dynamic and static clamping blocks release the clamping of the printing nozzle 105. At this time, the control system Control the movement of the manipulator mechanism 3, remove the printing nozzle 105 and place it at an idle position on the nozzle library mechanism 2; after that, the first stepping motor 211 drives the rotating bracket to rotate as a whole, so that the standby nozzle at another position turns to At the position where the manipulator mechanism is easy to grab, the first steering gear 201 drives the upper and lower cover plates to rotate, so that the upper and lower limit arms no longer block the upper and lower opening slots, and the manipulator mechanism grabs the stand-by on the nozzle library mechanism 2. The nozzle is transported between the dynamic and static clamping blocks, and the third steering gear moves to drive the screw mechanism 108, so that the dynamic and static clamping blocks clamp the standby nozzle just taken to make it a printing nozzle; then , control the rotation of the third stepping motor 404, so that the cam on the camshaft 402 turns to the far angle of repose, and control the Z-direction driving mechanism to drive the mobile nozzle device to move along the Z-direction, so that the material filament 501 enters the feeding material through the upper guide groove 408 In the gap, the fourth stepping motor 102 drives the driving roller 103 to rotate forward, so that the filament 501 enters the printing nozzle 105 through the lower guide groove 409, and the replacement of the nozzle is completed.
本发明中未述及的部分采用或借鉴已有技术即可实现。The parts not mentioned in the present invention can be realized by adopting or referring to the prior art.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying Describes, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate in a specific orientation, and therefore should not be construed as limiting the invention.
此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.
本文中所描述的具体实施例仅仅是对本发明的精神所作的举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113664.4ACN106493944B (en) | 2016-12-07 | 2016-12-07 | A kind of 3D printer with more nozzle automated conversion systems |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113664.4ACN106493944B (en) | 2016-12-07 | 2016-12-07 | A kind of 3D printer with more nozzle automated conversion systems |
| Publication Number | Publication Date |
|---|---|
| CN106493944Atrue CN106493944A (en) | 2017-03-15 |
| CN106493944B CN106493944B (en) | 2018-10-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611113664.4AActiveCN106493944B (en) | 2016-12-07 | 2016-12-07 | A kind of 3D printer with more nozzle automated conversion systems |
| Country | Link |
|---|---|
| CN (1) | CN106493944B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106827534A (en)* | 2017-03-17 | 2017-06-13 | 黄泽 | A kind of 3D printer of many shower nozzles |
| CN107214948A (en)* | 2017-07-21 | 2017-09-29 | 佛山市正略信息科技有限公司 | It is a kind of that the 3D printer that two kinds of materials are printed simultaneously can be achieved |
| CN108189399A (en)* | 2018-02-13 | 2018-06-22 | 大连派思益科技有限公司 | 3D printer can be switched in a kind of more nozzles of composite gradient material |
| CN108511146A (en)* | 2018-02-11 | 2018-09-07 | 山东科技大学 | A kind of novel double-direction control proportion electro-magnet device and its control method |
| CN109203470A (en)* | 2018-10-17 | 2019-01-15 | 苏州市职业大学 | A kind of colorful fusion 3D printer |
| CN110253887A (en)* | 2019-06-21 | 2019-09-20 | 金陵科技学院 | A kind of full-color 3D printer and printing method |
| EP3560687A1 (en)* | 2018-04-23 | 2019-10-30 | Bond high performance 3D technology B.V. | System for additive manufacturing |
| US20200276668A1 (en)* | 2017-09-07 | 2020-09-03 | Sauer Gmbh | Exchangeable optical module for a laser machining machine |
| CN113844030A (en)* | 2021-11-01 | 2021-12-28 | 深圳拓竹科技有限公司 | Method for 3D printer and 3D printer device |
| US20220009169A1 (en)* | 2020-07-09 | 2022-01-13 | Em Emo Solutions Ab | Three-dimensional imaging apparatus having multiple passive nozzles for modeling a multi material three-dimensional object |
| US20220080656A1 (en)* | 2019-01-09 | 2022-03-17 | Am Design E.U. | Tool unit |
| CN114701167A (en)* | 2022-03-30 | 2022-07-05 | 无锡市检验检测认证研究院 | Automatic 3D printing device reloads |
| CN115625888A (en)* | 2022-09-22 | 2023-01-20 | 河北智取科技有限公司 | Three-dimensional feeding 3D printing equipment without powder laying and printing method thereof |
| WO2024012282A1 (en)* | 2022-07-13 | 2024-01-18 | 深圳市创想三维科技股份有限公司 | Dual-spray-head device, and 3d printing apparatus |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640217A (en)* | 2013-12-04 | 2014-03-19 | 北京太尔时代科技有限公司 | Platform for 3D (three dimensional) printer and 3D printer formed by platform |
| CN104129079A (en)* | 2014-08-07 | 2014-11-05 | 北京汇天威科技有限公司 | Novel 3D (3-dimentional) printer |
| US20140363532A1 (en)* | 2013-06-10 | 2014-12-11 | Kirk W. Wolfgram | Multiple color extrusion type three dimensional printer |
| CN204997998U (en)* | 2015-08-31 | 2016-01-27 | 东莞市瑞迪三维电子科技有限公司 | Multi-head 3D printer with automatic print head replacement |
| CN206273588U (en)* | 2016-12-07 | 2017-06-23 | 山东科技大学 | A kind of 3D printer with many shower nozzle automated conversion systems |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140363532A1 (en)* | 2013-06-10 | 2014-12-11 | Kirk W. Wolfgram | Multiple color extrusion type three dimensional printer |
| CN103640217A (en)* | 2013-12-04 | 2014-03-19 | 北京太尔时代科技有限公司 | Platform for 3D (three dimensional) printer and 3D printer formed by platform |
| CN104129079A (en)* | 2014-08-07 | 2014-11-05 | 北京汇天威科技有限公司 | Novel 3D (3-dimentional) printer |
| CN204997998U (en)* | 2015-08-31 | 2016-01-27 | 东莞市瑞迪三维电子科技有限公司 | Multi-head 3D printer with automatic print head replacement |
| CN206273588U (en)* | 2016-12-07 | 2017-06-23 | 山东科技大学 | A kind of 3D printer with many shower nozzle automated conversion systems |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106827534A (en)* | 2017-03-17 | 2017-06-13 | 黄泽 | A kind of 3D printer of many shower nozzles |
| CN107214948A (en)* | 2017-07-21 | 2017-09-29 | 佛山市正略信息科技有限公司 | It is a kind of that the 3D printer that two kinds of materials are printed simultaneously can be achieved |
| US20200276668A1 (en)* | 2017-09-07 | 2020-09-03 | Sauer Gmbh | Exchangeable optical module for a laser machining machine |
| US11927825B2 (en)* | 2017-09-07 | 2024-03-12 | Sauer Gmbh | Exchangeable optical module for a laser machining machine |
| CN108511146A (en)* | 2018-02-11 | 2018-09-07 | 山东科技大学 | A kind of novel double-direction control proportion electro-magnet device and its control method |
| CN108511146B (en)* | 2018-02-11 | 2023-05-26 | 山东科技大学 | A new bidirectional control proportional electromagnet device and its control method |
| CN108189399A (en)* | 2018-02-13 | 2018-06-22 | 大连派思益科技有限公司 | 3D printer can be switched in a kind of more nozzles of composite gradient material |
| EP3560687A1 (en)* | 2018-04-23 | 2019-10-30 | Bond high performance 3D technology B.V. | System for additive manufacturing |
| WO2019206868A1 (en)* | 2018-04-23 | 2019-10-31 | Bond High Performance 3D Technology B.V. | System for additive manufacturing |
| CN112041151A (en)* | 2018-04-23 | 2020-12-04 | 联结高性能3D技术有限公司 | System for additive manufacturing |
| US11167488B2 (en) | 2018-04-23 | 2021-11-09 | Bond High Performance 3D Technology B.V. | System for additive manufacturing |
| CN109203470B (en)* | 2018-10-17 | 2024-03-26 | 苏州市职业大学 | Colorful melting type 3D printer |
| CN109203470A (en)* | 2018-10-17 | 2019-01-15 | 苏州市职业大学 | A kind of colorful fusion 3D printer |
| US20220080656A1 (en)* | 2019-01-09 | 2022-03-17 | Am Design E.U. | Tool unit |
| CN110253887A (en)* | 2019-06-21 | 2019-09-20 | 金陵科技学院 | A kind of full-color 3D printer and printing method |
| US11826960B2 (en)* | 2020-07-09 | 2023-11-28 | Ememo Solutions Ab | Three-dimensional imaging apparatus having multiple passive nozzles for modeling a multi material three-dimensional object |
| US20220009169A1 (en)* | 2020-07-09 | 2022-01-13 | Em Emo Solutions Ab | Three-dimensional imaging apparatus having multiple passive nozzles for modeling a multi material three-dimensional object |
| CN113844030A (en)* | 2021-11-01 | 2021-12-28 | 深圳拓竹科技有限公司 | Method for 3D printer and 3D printer device |
| CN114701167A (en)* | 2022-03-30 | 2022-07-05 | 无锡市检验检测认证研究院 | Automatic 3D printing device reloads |
| CN114701167B (en)* | 2022-03-30 | 2023-07-21 | 无锡市检验检测认证研究院 | Automatic reloading 3D printing device |
| WO2024012282A1 (en)* | 2022-07-13 | 2024-01-18 | 深圳市创想三维科技股份有限公司 | Dual-spray-head device, and 3d printing apparatus |
| CN115625888A (en)* | 2022-09-22 | 2023-01-20 | 河北智取科技有限公司 | Three-dimensional feeding 3D printing equipment without powder laying and printing method thereof |
| Publication number | Publication date |
|---|---|
| CN106493944B (en) | 2018-10-02 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106493944B (en) | A kind of 3D printer with more nozzle automated conversion systems | |
| CN206273588U (en) | A kind of 3D printer with many shower nozzle automated conversion systems | |
| KR930010310B1 (en) | Transfer device and transfer system for transfer press | |
| CN107297693B (en) | The flexibility of a kind of automobile stamping-welding production line part and assembly embraces tool | |
| CN103754806B (en) | Inline type cap rotating machine | |
| WO2017219418A1 (en) | Multi-path bead feeding device for embroidery machine | |
| JP6516288B2 (en) | In-mold molding system and in-mold molding method | |
| CN103878980A (en) | Three-dimensional printer with replaceable nozzle | |
| CN104525431A (en) | Automatic equipment for coating surfaces of iron rings by glue | |
| CN104476194A (en) | Equipment and method for automatically installing filter disk of electronic cigarette liquid storage cup | |
| CN103008790B (en) | Automatic pipe end flattening machine | |
| CN105773984B (en) | A 3D printer with curved surface processing characteristics | |
| CN107803998A (en) | A kind of automatic riveting nut equipment of plastics cap | |
| KR20120130562A (en) | Sewing frame changer, driving method and sewing machine having the same | |
| CN114180330A (en) | Flat cantilever loading attachment | |
| US6692686B1 (en) | Blow molding method and apparatus | |
| CN108466511A (en) | Glass carving machine assembly line | |
| CN106181379B (en) | Precision positioning hardware is punched automation production flow line | |
| CA2882087C (en) | Machine tool | |
| US4380868A (en) | Tube loading apparatus | |
| US4203514A (en) | Apparatus for feeding workpieces intermittently | |
| CN109514252B (en) | Jig strip circulating mechanism of puncture needle assembling machine | |
| CN202087960U (en) | Automatic assembling machine for loudspeaker magnetic sheets | |
| CN221059476U (en) | 3D printer with automatic reloading function | |
| CN110125817B (en) | Guide device for adjusting automobile part hangers of different models |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |