CN105946233A - Multi-nozzle 3D spray-head, printing method, and 3D printer - Google Patents

Abstract

The invention discloses a multi-nozzle 3D spray-head, a printing method and a 3D printer. According to the method, a spray-head and a printing platform are adopted for printing, a plurality of nozzles are arranged on the spray-head, the spray-head comprises a spray-head seat and nozzle seats, the spray-head carries out 3D printing on the printing platform, the nozzles carry out relative motions in the x, y, z directions on the printing platform, and through the rotation of the nozzle seats or the spray-head seat relative to the printing platform respectively, at least two nozzles are enabled to move along corresponding printing paths respectively. By adopting the method provided by the invention for printing, the printing efficiency of the printer can be effectively improved, not only the printing of a printing path with small curve radius is facilitated, but also the rotational angles of the nozzle seats are reduced, the speed of the multiply nozzles following various curvature printing paths is increased, the load of a nozzle seat driving device or a driving device for the rotation of the printing platform is reduced, and various requirements in actual application are met.

Description

Multiinjector 3D printing head and Method of printing and 3D printer

Technical field

The present invention relates to the technical field of 3D printer, particularly relate to a kind of multiinjector 3D and print spray Head and Method of printing and use the 3D of described multiinjector 3D printing head or described Method of printing to print Machine.

Background technology

(abbreviation of " Fused Deposition Modeling " is fusion sediment to existing FDM Type) 3D printer is by the x, y, z, three between shower nozzle and platform linear incoherent motion (i.e. three the separate direction of motion) so that shower nozzle can arrive above platform in certain area Optional position.Nozzle on nozzle boss expects the model on platform by suitable speed extrusion simultaneously On correct position, continuing to print after completing the printing of a layer on next layer, successively stacking forms three-dimensional Entity.

Electroforming is sprayed in existing numerical control, or referred to as numerical control selective electrochemical deposition is by electricity by shower nozzle Solve the liquid form injection using high-speed jet to the print platform as negative electrode.Shower nozzle opposed platforms is x, y, Z, the motion in three directions, there iing the local energising of entity, there is no the local power-off of entity.Energising Time electrolyte in metal ion under the effect of electric field, atomic deposition will be reduced at cathode surface Become entity.Continuing deposition after having deposited one layer on next layer, successively stacking forms 3D solid.

The reality of x, y, z, three linear incoherent motion between 3D printing head and platform Existing mode has multiple, such as RepRap (abbreviation of replicating rapid prototyper) structure, The structure of Makerbot company, Ultimaker structure, Delta formula parallel manipulator is arm-type, single or double pole Co-ordinate-type structure, mechanical hand is arm-type, six-axis linkage formula etc..

But above-mentioned having in common that of several structure can only use a nozzle to print.Want Promote print speed, by promoting the translational speed of shower nozzle opposed platforms, and the charging of material can only be improved Speed reaches.But the room for promotion of this speed all has the limit, such as drive the power of motor, Framework and guiding mechanism, driving belt, the restriction of rigidity of structure etc..Owing to print procedure needing not Disconnected Fast transforms moving direction and speed, so this process can produce the biggest acceleration, allow framework tremble Dynamic, affect printing precision.These aspects limit the further lifting of print speed.

At present, though existing multi-jet 3D printer, multiple nozzle is intended merely to allow multiple material exist Again reload in the case of non-stop-machine and carry out printing alternate, print speed can not be promoted at all.As passed through The mode of multiple shower nozzles carries out multiinjector printing, and between multiple shower nozzles, the interference of motion limits so that right The lifting effect greatly discount of print speed.And many shower nozzles makes the structure of printer complicated, reliability Reduce, cost increase.

Being limited by the diameter of material in nozzle arrangements and nozzle, the spacing between multiple nozzles is difficult to simultaneously The distance done is close.Such as plastic wire material, the most carefully can easily break, be difficult to make silk material Very thin, then directly and come in nozzle and extrude.If so carried out after direct for nozzle arranged in parallel If printing, then the diameter that the silk thread printed is expected by silk is limited simultaneously, and nozzle arrangements Constraint and make extrusion material spacing can be the widest.And for example print food (such as chocolate), glue class, mix Solidifying great soil group, electrolyte etc., it is very thin, even if by the spacing of nozzle that the diameter of nozzle often cannot make Manufacture sufficiently closes to, and also tends to do not have good reliability, intensity, ruggedness etc., more cannot Directly application does not the most have practical value.

Summary of the invention

It is an object of the invention to provide a kind of multiinjector 3D printing head and Method of printing and 3D prints Machine, it is possible to effectively both improved print speed, not only contributes to print the printing path that radius of curvature is less, Also can reduce the angle that nozzle carrier rotates, promote multiinjector and quickly follow the speed of various curvature printing path Degree, and reduce the load of the driving means of nozzle carrier driving means or print platform rotation, and more excellent The various demands that disclosure satisfy that in actual application.

The technical scheme that the present invention provides is as follows:

A kind of multiinjector 3D printing head, described printing head is provided with at least two nozzle, including:

Nozzle boss；

Nozzle carrier, it is movably set on described nozzle boss, and at least one described nozzle is arranged on institute State on nozzle carrier；

Driving means, is used for driving described nozzle carrier to move, and drives setting on described nozzle carrier Described nozzle along set printing path move.

In the technical program, by being flexibly connected of nozzle carrier and nozzle boss, and at least one is arranged Nozzle on nozzle carrier.And then under the driving of driving means, it is achieved the motion of nozzle carrier, purpose It is the motion by nozzle carrier, and drives the nozzle on nozzle carrier to move along the printing path set, from And realize 3 D-printing by nozzle.So can not only be carried out by least two nozzle beating simultaneously Print, and then can the most both improve print speed, more optimizedly when printing different model, can be right The material orbit interval printed needs to adjust changes according to different situations, and meet in actual application is various Demand.

Preferably, described nozzle carrier includes first jet seat, second nozzle seat and the 3rd nozzle carrier；

Described first jet seat is provided with at least one first jet, described second nozzle seat be provided with to A few second nozzle, described 3rd nozzle carrier is provided with at least one the 3rd nozzle；

Described driving means includes the first driving means, the second driving means and the 3rd driving means；

Described first jet seat is connected with described first driving means, and is driven by described first driving means Move and move；Described second nozzle seat is connected with described second driving means, and is driven by described second Dynamic device drives and moves；Described 3rd nozzle carrier is connected with described 3rd driving means, and by institute State the 3rd driving means driving to move.

Nozzle carrier is made up of by the technical program three nozzle carriers, respectively first jet seat, second A driving means is connected respectively, it is therefore an objective to pass through on nozzle carrier and the 3rd nozzle carrier, and each nozzle carrier Different driving means drives the rotation of different spray nozzles seat, and then realizes the tune to each nozzle carrier top nozzle Whole so that it is each nozzle is in the intersection of printing path, and prints simultaneously, it is effectively improved and beats Print efficiency.

Preferably, described first jet seat, described second nozzle seat and described 3rd nozzle carrier are set Tubular structure；

It is followed successively by described first jet seat, second nozzle seat and the 3rd nozzle carrier from the inside to the outside；

Described nozzle boss slides sheathed connection with described 3rd nozzle carrier；

Described second nozzle seat slides sheathed connection with described 3rd nozzle carrier；

Described first jet seat slides sheathed connection with described second nozzle seat.

First jet seat, second nozzle seat and the 3rd nozzle carrier are disposed as sleeve-like configuration, simultaneously Three nozzle carriers are sequentially connected with from the inside to the outside, and are entered by sheathed connected mode of sliding each other Row connects, and not only simplifies installation procedure, and more excellent is to make its compact conformation, simplifies whole printing and sprays The structure of head.

Preferably, described first jet seat, described second nozzle seat and described 3rd nozzle carrier are along same Central axis is the most sheathed；

Described first driving means is arranged on described nozzle boss and is connected with described first jet seat, uses In driving described first jet seat around described center axis thereof；

Described second driving means is arranged on described nozzle boss and is connected with described second nozzle seat, uses In drive described second nozzle seat around described center axis thereof so that it is described second nozzle and described in Angle alterable between line and the line of described first jet and described central axis of mandrel line；

Described 3rd driving means is arranged on described nozzle boss and is connected with described 3rd nozzle carrier, uses In drive described 3rd nozzle carrier around described center axis thereof so that it is described 3rd nozzle and described in Angle alterable between line and the line of described second nozzle and described central axis of mandrel line.

The driving means that each nozzle carrier connects is arranged on nozzle boss, it is possible to achieve to each connecting Nozzle carrier be independently controlled so that between different spray nozzles and the line of central axis formed Angle, can adjust to the angle of its angle, and then meets each nozzle and all can be in the friendship of printing path At fork, it is effectively improved the utilization rate of nozzle.

Preferably, described first jet seat, described second nozzle seat and described 3rd nozzle carrier are along same Central axis is the most sheathed；

Described 3rd driving means is arranged on described nozzle boss, is used for driving described 3rd nozzle carrier phase Described nozzle boss is rotated, and by described second driving being arranged on described 3rd nozzle carrier Device, and described first driving means being arranged on described second nozzle seat, drive described second Nozzle carrier and described first jet seat rotate simultaneously；

Described second nozzle seat under the driving of described second driving means around described center axis thereof, And drive described first jet by described first driving means being arranged on described second nozzle seat Seat rotates simultaneously so that it is the line of described second nozzle and described central axis and described 3rd nozzle and Angle alterable between the line of described central axis；

Described first jet seat under the driving of described first driving means around described center axis thereof, Make line and described first jet and the described central shaft of its described second nozzle and described central axis Angle alterable between the line of line.

3rd driving means is arranged on nozzle boss, and be arranged on the 3rd nozzle carrier second drives Dynamic device and the first driving means being arranged on second nozzle seat.Can be made by the 3rd driving means Its three nozzle carriers are on the basis of realizing associating rotation, it is also possible to further by each connection Each nozzle carrier is driven by driving means, and then makes between different spray nozzles and the line of central axis The angle formed, can adjust to the angle of its angle, and then meets each nozzle and all can be in print path The infall in footpath, is effectively improved the utilization rate of nozzle, simultaneously effective reduces the energy of driving means Amount loss, simplifies control mode.

Preferably, described second nozzle seat and described 3rd nozzle carrier are all movably arranged on described first spray On mouth seat, described first driving means is arranged on described nozzle boss and connects with described first jet seat Connect, be used for driving described first jet seat, second nozzle seat and the 3rd nozzle carrier to rotate simultaneously.

Second nozzle seat and the 3rd nozzle carrier are all movably arranged on first jet seat, such three sprays Mouth seat can be able to be driven via storage capacitors simultaneously, effectively by the first driving means being arranged on first jet seat Reduce and drive energy consumption, simplify control program.

Preferably, described second driving means is connected with described second nozzle seat, is used for driving described Two nozzle carriers the most described first jet seat moves linearly so that it is described second nozzle is respectively with described the The angle of the line formation between one nozzle and described 3rd nozzle and/or distance variable；

Described 3rd driving means is connected with described 3rd nozzle carrier, is used for driving described 3rd nozzle carrier The most described first jet seat move linearly so that it is described 3rd nozzle respectively with described first jet and The angle of the line formation between described second nozzle and/or distance variable.

By the second driving dress arranged and the connection of second nozzle seat, and the 3rd driving means and the The connection of three nozzle carriers, and then realize second nozzle seat and the rectilinear movement of the 3rd nozzle carrier so that it is Position between second nozzle and first jet changes, and between the 3rd nozzle and first jet Position change, it is therefore an objective to meet each nozzle and all can be in the infall of printing path, effectively Improve the utilization rate of nozzle.

It is further preferred that further comprises one for detecting described nozzle carrier on the basis of said structure Corner zero point or the sensor of angle position, described sensor be photoelectric sensor, Hall element, One in rotary transformer, travel switch and touch switch.

By the sensor arranged on this printing head, it is achieved to nozzle carrier corner zero point or corner position The detection put.

On the basis of said structure it is further preferred that described driving means be helical gear, bevel gear, One in spur gear, turbine and worm, belt, hollow shaft motor or hydraulic pump.

It is further preferred that described nozzle is the spray being provided with material pore structure on the basis of said structure Mouth, the one do not expected in the nozzle of pore structure, and described nozzle material is metal, electric insulation material Material, one or more materials compound of soluble electrode material, non-metallic conducting material.

It is further preferred that described nozzle is the nozzle being provided with material pore structure on the basis of said structure, This nozzle is provided with the described nozzle of material pore structure and includes conveying passage, and is arranged on described conveying passage The feeding mouth at two ends and spray material port；

Described conveying passage is ramp way, and described ramp way is to spray material port side from described feeding mouth To inclination, and the bore of described spray material port is less than the bore of described feeding mouth；And each described ramp way Each described spray material port between distance less than the distance between each described feeding mouth.

The feeding pipe of nozzle is arranged to ramp way, it is therefore an objective to reduce on adjacent nozzle as far as possible Distance between the spray material port arranged, so not only contributes to print the printing rail that radius of curvature is less Mark, also can reduce the angle that nozzle carrier rotates, and promotes multiinjector and quickly follows various curvature printing path Speed, reduce the load of the driving means that nozzle carrier driving means or print platform rotate, and can Meet the various demands in reality application.

A kind of Method of printing, uses printing head and print platform to print, on described printing head Being provided with at least two nozzle, this printing head includes nozzle boss and nozzle carrier, described printing head and institute State print platform relative motion, comprise the following steps:

A), the three-dimensional data for the treatment of printing objects be analyzed, according to the contour shape of object to be printed, The cross section of each layer of object to be printed divides at least two printing paths；

B) the described printing head each layer to described object to be printed on described print platform, is utilized The printing path divided on cross section prints so that it is at least two nozzle is respectively along corresponding two Described printing path moves.

Present invention also offers another kind of Method of printing, use printing head and print platform to carry out beating Print, described printing head is provided with multiple nozzle, and this printing head includes nozzle boss and nozzle carrier, adopts Carrying out 3D printing on described print platform with described printing head, described printing head is beaten described Print platform carries out x, while tri-direction relative motioies of y, z, by described nozzle carrier or nozzle boss Rotating relative to print platform respectively so that it is nozzle described at least two is beaten along corresponding two respectively Move in print path.

Preferably, described printing head is aforesaid multiinjector 3D printing head.

Preferably, described print platform is rotatable, and described print platform is relative with described printing head to be transported Dynamic so that it is at least two nozzle moves along corresponding printing path respectively.

Present invention also offers a kind of multiinjector 3D printer, including: frame, print platform and beat Printing shower nozzle, described print platform and described printing head are arranged in described frame, and described printing is sprayed Head and described print platform relative to x, tri-direction relative motioies of y, z,

Described printing head is provided with at least two nozzle, and described printing head is also relative to described printing Platform rotates and arranges so that it is at least two nozzle moves along corresponding printing path respectively.

Preferably, described printing head is aforesaid multiinjector 3D printing head.

Preferably, described multiinjector 3D printer is to apply what aforesaid Method of printing carried out printing to beat Print machine.

Preferably, described multiinjector 3D printer is that FDM multiinjector 3D printer, jetting type are many Nozzle numerical control electroforming 3D printer, insoluble anode formula multiinjector numerical control electroforming 3D printer, no One in dissolubility anode jetting type multiinjector numerical control electroforming 3D printer.

A kind of multiinjector 3D printing head provided by the present invention and Method of printing and 3D printer, Can bring at least one beneficial effect following:

1, in the Method of printing of the present invention, the printing head of at least two nozzle is used to carry out 3D printing, Carry out x at printing head and described print platform, while tri-direction relative motioies of y, z, pass through Nozzle carrier or the motion of nozzle boss so that it is each nozzle moves along corresponding printing path, and realize beating Print, can effectively improve the print speed of printer.

2, in the Method of printing of the present invention, by each nozzle carrier or nozzle boss relative print platform respectively Rotation so that nozzle along printing path tangential direction and plane inner projection perpendicular with this direction it Between distance less than realizing in the range of certain value, the most adjustable (the most each nozzle is along corresponding printing Move in path), thus realize multiinjector 3D and print.The most i.e. can meet on shower nozzle multiple In the case of what the spacing of nozzle cannot make sufficiently closes to, and a plurality of printing path spacing is less than certain In the range of individual value, effectively realize any adjustable a plurality of printing path and print simultaneously, also can significantly carry Rise print speed, reduce the various demands that disclosure satisfy that in actual application that production cost is low, more excellent, Promote practical value.

3, the multiinjector 3D printing head of the present invention, plurality of nozzle can be by the driving of driving means Change the angle formed between each nozzle and the line of central axis, and then can ensure that in print procedure and beat Print path is corresponding, so not only contributes to print the printing path that radius of curvature is less, also can reduce The angle that nozzle carrier rotates, promotes multiinjector and quickly follows the speed of various curvature printing path.

4, the multiinjector 3D printing head of the present invention, by the nozzle carrier of three sleeve-like configuration along in same Mandrel line carries out the most sheathed or eccentric sheathed or arranges the connections such as two nozzle carriers on a nozzle carrier simultaneously Mode so that it is the compact conformation of whole printing head.

5, the multiinjector 3D printer of the present invention, has multi-jet printing owing to Method of printing uses Shower nozzle carries out 3D printing, therefore, is likewise supplied with above-mentioned beneficial effect, can be greatly promoted print speed, Also can ensure simplify on the basis of reliability the structure of printer, the most simultaneously but also do not interfere with printing essence Degree, more excellent is to improve the scope of application.

6, the multiinjector 3D printer of the present invention, owing to multiple nozzles are provided on a shower nozzle, For FDM multiinjector 3D printer, the time difference of each extruded stock of multiinjector is the shortest, the material of extrusion Can be close to solidifying simultaneously so that the combination effect between expecting and expecting is more preferable, be conducive to raising to be printed The intensity of object and precision.And for the numerical control electroforming 3D printer of various ways, same tool is above-mentioned Beneficial effect, can be greatly promoted print speed, and more excellent is to improve the scope of application.

Accompanying drawing explanation

Below by the way of the most understandable, accompanying drawings preferred implementation, to a kind of multiinjector 3D Printing head and Method of printing and above-mentioned characteristic, technical characteristic, advantage and the implementation thereof of 3D printer It is further described, wherein, shower nozzle has been made by each structural representation of Fig. 1 to Figure 14 cutting process, So as clearer performance internal structure.

Fig. 1 is the sectional view of multiinjector 3D printing head embodiment one of the present invention；

Fig. 2 is the another kind of structural representation of multiinjector 3D printing head in Fig. 1；

Fig. 3 is the third structural representation of nozzle multiinjector 3D printing head in Fig. 1；

Fig. 4 is the upward view of nozzle carrier in Fig. 3；

Fig. 5 is the sectional view of multiinjector 3D printing head embodiment two of the present invention；

Fig. 6 is the explosive view of Fig. 5；

Fig. 7 is the another kind of arrangement figure of driving means in Fig. 5；

Fig. 8 is the biopsy cavity marker devices structural representation of multiinjector 3D printing head embodiment three of the present invention；

Fig. 9 is the biopsy cavity marker devices structural representation of multiinjector 3D printing head embodiment four of the present invention；

Figure 10 is the biopsy cavity marker devices structural representation of nozzle carrier part in multiinjector 3D printing head of the present invention Figure；

Figure 11 is the cross section view in Figure 10；

Figure 12 is that in multiinjector 3D printing head of the present invention, driving means is the structural representation of bevel gear pair Figure；

Figure 13 is that in multiinjector 3D printing head of the present invention, driving means is that rotor is straight with nozzle carrier The structural representation even driven；

Figure 14 is that in multiinjector 3D printing head of the present invention, driving means is that the structure of toothed belt transmission is shown It is intended to；

Figure 15 is Method of printing of the present invention schematic diagram generally；

Figure 16 is Equidistant parallel lines situation, nozzle carrier or nozzle boss and the relative rotation of print platform formation and print path The relation schematic diagram of footpath spacing；

Figure 17 is Between donut situation, nozzle carrier or nozzle boss and the relative rotation of print platform formation and printing path Away from relation schematic diagram；

Figure 18 is Method of printing embodiment of the present invention three (as a example by three nozzle carriers, and separate rotation) In with printing path be the relative rotation that parallel lines situation, nozzle carrier or nozzle boss and print platform are formed Respectively with the relation schematic diagram of each printing path spacing；

Figure 19 is Method of printing embodiment of the present invention four (as a example by three nozzle carriers, and separate rotation) In be equidistant donut situation, each nozzle carrier or nozzle boss with printing path and print platform is formed The relation schematic diagram of relative rotation and printing path spacing；

Figure 20 is Method of printing embodiment of the present invention five (as a example by three nozzle carriers, and separate rotation) In with printing path for donut situation, each nozzle carrier or nozzle boss are relative with what print platform was formed Corner and the relation schematic diagram of each printing path spacing；

Figure 21 is Method of printing embodiment six (as a example by three nozzle carriers, and unidirectional association rotates) of the present invention In with printing path for parallel lines situation, each nozzle carrier or nozzle boss formed with print platform relative turn Angle and the relation schematic diagram of each printing path spacing；

Figure 22 is Method of printing embodiment seven (as a example by three nozzle carriers, and unidirectional association rotates) of the present invention In be equidistant donut situation, each nozzle carrier or nozzle boss with printing path and print platform is formed The relation schematic diagram of relative rotation and printing path spacing；

Figure 23 is Method of printing embodiment eight (as a example by three nozzle carriers, and unidirectional association rotates) of the present invention In with printing path for donut situation, each nozzle carrier or nozzle boss are relative with what print platform was formed Corner and the relation schematic diagram of each printing path spacing；

Figure 24 be Method of printing embodiment of the present invention nine (as a example by three nozzle carriers, a rotation, another two Individual by previous association drive and can relatively independent move along a straight line, and three's conllinear all the time) in set printing Path is plurality of parallel lines, each nozzle carrier or nozzle boss and the relative rotation of print platform formation and spray Mouth seat opposing showerhead displacement and the relation schematic diagram of each printing path spacing；

Figure 25 be Method of printing embodiment of the present invention ten (as a example by three nozzle carriers, a rotation, another two Individual by previous association drive and can relatively independent move along a straight line, and three's conllinear all the time) in print path Footpath is donut situation, each nozzle carrier or nozzle boss and the relative rotation of print platform formation and spray Mouth seat opposing showerhead displacement and the relation schematic diagram of each printing path spacing；

Figure 26 be Method of printing embodiment of the present invention 11 (as a example by three nozzle carriers, a rotation, separately Two by previous association drive and can relatively independent move by the rectilinear orbit of oneself) in printing path The relative rotation formed with print platform for donut situation, each nozzle carrier or nozzle boss and nozzle Seat opposing showerhead displacement and the relation schematic diagram of printing path spacing；

Figure 27 is explanation of symbols table in Figure 15-26；

Figure 28 is that the structural representation between multiinjector 3D printing head of the present invention and print platform is (in figure Being illustrated as shower nozzle above print platform, in other embodiments, shower nozzle can also be under print platform Side).

Drawing reference numeral illustrates:

A-nozzle boss；

B-nozzle carrier；B1-first jet seat；B2-second nozzle seat；B3-the 3rd nozzle carrier；

C-print platform；

D-driving means；D1-the first driving means；D2-the second driving means；D3-the 3rd driving means；

NA-is arranged on the nozzle on nozzle boss；N01, N02, N03, N04-nozzle；

N1, N1 ＇-first jet；N2, N2 ＇-second nozzle；N3, N3 ＇ the-the three nozzle；

11-bearing；

21-conveying passage；22-feeding mouth；23-spray material port；

30-sensor；31-first sensor；32-the second sensor；33-the 3rd sensor.

Detailed description of the invention

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, will compare attached below The detailed description of the invention of the figure explanation present invention.It should be evident that the accompanying drawing in describing below is only the present invention Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, Other accompanying drawing be can also obtain according to these accompanying drawings, and other embodiment, these embodiments obtained All should be contained in the scope of patent protection of the present invention.

Multiinjector 3D printing head embodiment one:

Referring to shown in Fig. 1, the sectional view of multiinjector 3D printing head, the present embodiment specifically provides one Plant printing head, including nozzle boss A, nozzle carrier B, driving means D.Wherein, printing head is provided with At least two nozzle, nozzle carrier B is movably arranged on nozzle boss A, and at least one nozzle N is arranged on On nozzle carrier B.As shown in Figure 1, nozzle carrier B arranges two nozzles N01, N02；See Fig. 2 institute Show, nozzle carrier B arranges two nozzles N01, N02, nozzle boss A arranges a nozzle NA. During use, driving means D drives nozzle carrier B to move, and printing head drives two nozzles N01, N02 Move along the printing path set and complete to print.

It should be noted that nozzle carrier B in FIG is the inner side of nozzle boss A of being slidably located in, and preferably Allow the central axes of midpoint and nozzle carrier B of line of two nozzle N；Nozzle carrier B in fig. 2 It is the outside of nozzle boss A of being slidably located in, and preferably by the nozzle NA being arranged on nozzle boss and nozzle The central axes of seat B.

Of coursing in other embodiments, multiple nozzle N can be arranged on nozzle carrier B with at least one, and one Individual or multiple be arranged on nozzle boss A.Such as Fig. 3, shown in 4, it is preferable that arrange four on nozzle carrier B Individual nozzle N01, N02, N03, N04, wherein, the midpoint of two middle nozzle N02, N03 lines Central axes with nozzle carrier B.So can drive under the rotation of nozzle carrier B nozzle N01, N02, N03, N04 opposing showerhead seat A moves, and each nozzle N01, N02, N03, N04 are formed One track, the tracks that this track is determined in nozzle boss A by nozzle carrier B is formed, and it should be noted that In the present embodiment, the track of each nozzle (refer to nozzle boss and the moving line under nozzle carrier compound motion result, Should be printing path under normal circumstances).And the tracks that nozzle carrier B determines in nozzle boss A is spray The track of mouth seat, in the application, the track of nozzle carrier is integrally fixed at the circle of the different radii on nozzle boss A.

It should be noted that wherein further, nozzle N arranges quantity and arrangement mode all in accordance with reality life Production. art does reasonably adjustment.Preferably nozzle arrangement mode is the arrangement of all nozzle conllinear.Examples hereinafter In, the arrangement mode of preferred nozzle is the nozzle row that can be realized all nozzle conllinear by the rotation of nozzle carrier Row mode.

Multiinjector 3D printing head embodiment two:

The present embodiment two is essentially identical with the structure of embodiment one and operation principle, referring to shown in Fig. 5, distinguishes It is only that: nozzle carrier includes first jet seat B1, second nozzle seat B2 and the 3rd nozzle carrier B3, and First jet seat B1 is provided with at least one first jet N1, second nozzle seat B2 is arranged at least One second nozzle N2, the 3rd nozzle carrier B3 arranges at least one the 3rd nozzle N3.Simultaneously drive dress Put D and include the first driving means D1, the second driving means D2, and the 3rd driving means D3.Its In, first jet seat B1 and the first driving means D1 connect, and are carried out by the first driving means D1 driving Motion；Second nozzle seat B2 and the second driving means D2 connect, and by the second driving means D2 drive into Row motion；3rd nozzle carrier B3 and the 3rd driving means D3 connect, and are driven by the 3rd driving means D3 Move.

During practice, the nozzle carrier of each connection is driven to move respectively by each driving means, and then Realize the adjustment to each nozzle.It should be noted that, the set-up mode of driving means has multiple, Fig. 5,6 The gear shaft of middle driving means is parallel relation, and gives the another kind of driving means in Fig. 7 Arrangement, is set to vertical relation by the gear shaft of adjacent driven device, the most advantageously In the spacing reducing driving means on nozzle carrier axial direction.

Exemplary, in multiinjector 3D printing head embodiment two, the first jet seat B1 of setting, Second nozzle seat B2 and the 3rd nozzle carrier B3 is sleeve-like configuration；Referring to Fig. 6, shown in 7, by interior Outside be followed successively by first jet seat B1, second nozzle seat B2 and the 3rd nozzle carrier B3.When specifically installing Available by nozzle boss A and the 3rd nozzle carrier B3 sheathed connection of slip, by second nozzle seat B2 and the Three nozzle carrier B3 slide sheathed connections, and then first jet seat B1 and second nozzle seat B2 slip cap If connecting.

It should be noted that certainly in other multiinjectors 3D printing head embodiment, the 3rd nozzle carrier B3 can be slidably located in outside nozzle boss A, and second nozzle seat B2 and first jet seat B1 is again The most sheathed, concrete sheathed order is not construed as limiting.3rd nozzle carrier B3 can also pass through simultaneously Bearing 10 is connected with nozzle boss A, such as Fig. 1, shown in 3, of courses and can also adopt to enter in other ways Row connects, and repeats the most one by one in the application.

Exemplary, by same to first jet seat B1, second nozzle seat B2 and the 3rd nozzle carrier B3 edge One central axis is the most sheathed.Referring to shown in Fig. 5,6,7, concrete by the first driving means D1 It is arranged on nozzle boss A and is connected with first jet seat B1, so can drive first jet seat B1 rotates around central axis, so that two first jet arranged on first jet seat B1 N1, N1 ＇ is around center axis thereof；Second driving means D2 is also disposed on nozzle boss A simultaneously And be connected with second nozzle seat B2, second nozzle seat B2 can be driven by the second driving means D2 Around center axis thereof, so that second nozzle N2, N2 ＇ and the line of central axis and first Angle alterable between nozzle N1, N1 ＇ and the line of central axis；And then drive dress by the 3rd Put D3 to be also disposed at being connected on nozzle boss A and with the 3rd nozzle carrier B3, so can be by the 3rd Driving means D3 drive the 3rd nozzle carrier B3 opposing showerhead seat A around center axis thereof so that Obtain line and second nozzle N2, N2 ＇ and the central axis of the 3rd nozzle N3, N3 ＇ and central axis Line between angle alterable.

It should be noted that first jet seat B1, second nozzle seat B2 and the 3rd nozzle carrier B3 are at it His multiinjector 3D printing head embodiment can certainly be off sheathed, concrete connected mode also Reasonably design can be done with rhizosphere actual demand.In the application all as a example by concentric, remaining connected mode Illustrate the most one by one.

In multiinjector 3D printing head embodiment two, driven by different each driving means and each connect The nozzle carrier connect moves along respective track, thus realizes each nozzle arranged on each nozzle carrier along beating Print path tangential direction and the distance between the perpendicular plane inner projection of this direction are (i.e. less than certain In the range of individual value) it is adjusted, meet each nozzle and print along each self-corresponding printing path, It is effectively improved print speed.

In this enforcement, the track of each nozzle carrier is the circle that the radius being fixed on nozzle boss A is different.Certainly The track of nozzle carrier is can be fixed on nozzle boss A, it is also possible to be fixed therein a nozzle carrier B On, the track of nozzle carrier both can be a curve, it is also possible to be a point.In the application the most another One repeats.

Multiinjector 3D printing head embodiment three:

The present embodiment three is essentially identical with the structure of embodiment two and operation principle, by first jet seat B1, Second nozzle seat B2 and the 3rd nozzle carrier B3 is the most sheathed along same central axis.Referring to shown in Fig. 8, Differing only in: the 3rd driving means D3 is arranged on nozzle boss A, the second driving means D2 is fixed on On 3rd nozzle carrier B3, the first driving means D1 is fixed on second nozzle seat B2.The most permissible Drive the 3rd nozzle carrier B3 opposing showerhead seat A to rotate by the 3rd driving means D3, pass through simultaneously The second driving means D2 being connected with the 3rd nozzle carrier B3 drives second nozzle seat B2 to rotate, and The first driving means D1 being connected with second nozzle seat B2 drives first jet seat B1 to rotate, and then Realize single-way linkage function (when the i.e. the 3rd driving means D3 drives, by the second driving means D2 and the One driving means D1 drives second nozzle seat B2 and first jet seat B1 to rotate simultaneously, the second driving means When D2 drives, drive first jet seat B1 to rotate by the first driving means D1 simultaneously), can be effectively Reduce the second driving means D2 and the corner of the first driving means D1 needs driving.

Certainly the second driving means D2 can also be passed through the most again after realizing overall single-way linkage control Drive second nozzle seat B2 around center axis thereof, and by be arranged on second nozzle seat B2 the One driving means D1 drives first jet seat B1 to rotate simultaneously, so that second nozzle N2, N2 ＇ With the angle between the line of central axis and the 3rd nozzle N3, N3 ＇ and the line of central axis can Change；Simultaneously can also by the first driving means D1 drive first jet seat B1 around center axis thereof, So that the line of second nozzle N2, N2 ＇ and central axis and first jet N1, N1 ＇ and in Angle alterable between the line of mandrel line.So again by each connecting on the basis of single-way linkage Under the driving means connect independently drives so that it is different nozzles prints along different printing paths simultaneously.

It should be noted that in the present embodiment, the track of first jet seat B1 is integrally fixed at second nozzle seat B2 On circle, the track of second nozzle seat B2 is integrally fixed at the circle on the 3rd nozzle carrier B3, the 3rd nozzle carrier The track of B3 is integrally fixed at the circle on nozzle boss A.

Multiinjector 3D printing head embodiment four:

Referring to shown in Fig. 9, second nozzle seat B2 and the 3rd nozzle carrier B3 is all movably arranged on the first spray On mouth seat B1.Wherein, the first driving means D1 be arranged on nozzle boss A and with first jet seat B1 connects, and so can drive first jet seat B1, second nozzle seat B2 and the 3rd nozzle carrier B3 Rotate simultaneously.

Exemplary, in multiinjector 3D printing head embodiment four, preferably at second nozzle seat B2 On the second driving means D2 is set, so drive first jet seat B1 to carry out turning when the first driving means D1 Rotate second nozzle seat B2 time dynamic simultaneously, and second nozzle seat B2 can driving in the second driving means D2 Under Dong, relative first jet seat B1 moves linearly, and can efficiently control second nozzle N2 and by movement The angle of the line formation between one nozzle N1 and the 3rd nozzle N3 and/or distance.

Exemplary, further preferably the 3rd driving means D3 is set on the 3rd nozzle carrier B3, so When the first driving means D1 drives first jet seat B1 to rotate the 3rd nozzle carrier B3 when rotating simultaneously, And the 3rd nozzle carrier B3 can do straight line by relative first jet seat B1 under the driving of the 3rd driving means D3 Mobile, can be efficiently controlled between the 3rd nozzle N3 and first jet N1 and second nozzle N2 by movement Line formed angle and/or distance.

It should be noted that in the present embodiment, the track of first jet seat B1 is integrally fixed on nozzle boss A Circle, the track of second nozzle seat B2 is integrally fixed at the straightway on first jet seat B1, the 3rd nozzle carrier The track of B3 is also integrally fixed at the straightway on first jet seat B1.

In aforementioned four multiinjector 3D printing head embodiment, the driving means of setting is helical gear or whirlpool Worm and gear transmission.As shown in Figure 12, driving means is that Bevel Gear Transmission is secondary, as shown in Figure 13, The mode that driving means uses rotor direct-connected with nozzle carrier is driven, and Figure 14 uses toothed belt transmission Mode is driven.Certainly in other multiinjectors 3D printing head embodiment, driving means may be used without directly One in gear or hydraulic pump, concrete can select according to actual needs, repeats the most one by one.

Further in aforementioned four multiinjector 3D printing head embodiment, the track of nozzle carrier is preferred For circle or straight line, in other embodiments, the track of nozzle carrier can also is that other curve form.

In aforementioned four multiinjector 3D printing head embodiment, in printing head, the structure of nozzle is for setting The nozzle that has material pore structure, the nozzle not expecting pore structure are a kind of, and the material of described nozzle be metal, Insulating material, soluble electrode material, the answering of one or more materials of non-metallic conducting material Close.

Being provided with the nozzle of material pore structure, see Figure 10, in 11, nozzle carrier includes conveying passage 21, with And the feeding mouth 22 being arranged on conveying passage two ends (i.e. to the mouth printing relevant material entrance, actual makes Used time is connected with feeder), with spray material port 23 (i.e. for the mouth by the material ejection relevant to printing). Wherein, conveying passage 21 is set to ramp way so that the spray material port of the conveying passage 21 of nozzle carrier Distance between 23 is less than the distance between feeding mouth 22, so that the distance between nozzle is permissible Feeding mouth 22 spacing need not near in the case of and realize reduce, the nozzle arrangements of this form has It is beneficial to the object to printing path curvatures less and carries out multiinjector printing, it is possible at identical printing path Reduce nozzle carrier angle in relative rotation in the case of radius of curvature, be conducive to promoting print speed.See figure Shown in 2, spray material port 23 is connected with the straight type of conveying passage 21 of top, the spray material port 23 of this sample loading mode Little with the flow resistance of conveying passage 21 structure.Certainly conveying can also be led in other embodiments Road 21 is arranged to other types, belongs within the scope of the application protection.

In aforementioned four multiinjector 3D printing head embodiment, during practice, it is therefore preferable to allow Spacing between nozzle is less, allows nozzle draw on same boss, and shower nozzle is provided with inspection nozzle carrier phase To nozzle boss angle position or the sensor 30 of corner zero point information, as shown in Figure 3.Particularly pass through The nozzle carrier angle position obtained is corresponding with the deviation of expectation angle position controls nozzle in real time The motion on its track of seat, and combine the X of nozzle boss and print platform, Y, Z relative motion, It is finally reached multiple nozzle N to print along the most corresponding printing path.As shown in Figure 5, Each nozzle carrier B is all by respective first sensor the 31, second sensor 32 and the 3rd sensing Device 33 obtains corner zero point or the angle position information of each nozzle carrier.

Wherein, the sensor of setting can be photoelectric sensor, Hall element, rotary transformer, One in travel switch and touch switch, sensor can also be arranged on printing head seat A simultaneously On, or on each nozzle carrier B, only need to meet nozzle carrier B corner zero point or angle position Detect.Concrete mounting means is the most further limited, all can be according to actual need Ask to do and reasonably install meter.

Present invention also offers a kind of Method of printing, use printing head and print platform to print, print Shower nozzle is provided with at least two nozzle, and this printing head includes nozzle boss and nozzle carrier, printing head and printing Platform relative motion, comprises the following steps:

A), the three-dimensional data for the treatment of printing objects be analyzed, according to the contour shape of object to be printed, At least two printing paths are divided on the cross section of each layer of object to be printed；

B) printing head, is utilized to draw on each layer cross section of described object to be printed on described print platform The printing path divided prints so that it is at least two nozzle is carried out along two corresponding printing paths respectively Motion.

Present invention also offers another kind of Method of printing, Method of printing uses the spray with multiple nozzle Head, is carrying out x along with shower nozzle and print platform, while tri-direction relative motioies of y, z, is passing through Each nozzle carrier or nozzle boss rotating relative to print platform respectively so that nozzle is along printing path tangent line side To and distance between the perpendicular plane inner projection of this direction real less than in the range of certain value Incumbent meaning is adjustable (even if its at least two nozzle moves along corresponding printing path respectively), Thus realize multiinjector 3D and print.The most i.e. can the spacing of multiple nozzles cannot on printing head Make sufficiently close in the case of, and a plurality of printing path spacing having less than in the range of certain value Effect realizes any adjustable a plurality of printing path and prints simultaneously.

Exemplary, in aforementioned two kinds of Method of printings, printing head can be with aforementioned four multiinjector 3D Multiinjector 3D printing head in printing head embodiment.

Generally print, as follows:

Referring to Figure 15, shown in 27, nozzle boss is provided with a nozzle NA, and sets the former of its printing head Point overlaps with this nozzle, and nozzle boss A drives its initial point and print platform C relative motion, makes initial point It moves to relative to the starting point of printing path on print platform C.Nozzle boss A drives nozzle NA moves along printing path L1 in X, Y plane.First jet N1 moves along track T1, Stop moving along its track T1 on printing path L2 until first jet N1 arrives, if phase after Yi Dong Angle to initial position is α 1, and after moving, the distance to NA is d1；Second nozzle N2 is along its rail Road T2 moves, and stops moving along track T2 on printing path L3 until second nozzle N2 arrives, If the angle of relative initial position is α 2 after Yi Dong, after moving, the distance to NA is d2, the 3rd spray Mouth N3 moves along its track T3, until the 3rd nozzle N3 arrives stops edge on printing path L4 Track T3 moves, if the angle of relative initial position is α 3 after Yi Dong, to the distance of NA after moving For d3.It should be noted that in the present embodiment preferably, three nozzle carriers are set, on each nozzle carrier Respectively arranging a nozzle, the quantity of concrete nozzle carrier and nozzle arranges and sets according to the actual requirements Fixed, the application does not limits.

In Method of printing in detail below, several conventional Method of printing is introduced in detailed annotation, in order to understand, real Border is done as required when printing and is reasonably adjusted, and is not limited in the printing in the embodiment provided Method:

Concrete Method of printing embodiment one:

Use multiinjector 3D printing head embodiment one to carry out the Method of printing that prints, in conjunction with Figure 16, Shown in 27, it is as a example by equidistant parallel lines situation by printing path L, nozzle carrier corner and print path The relation of footpath spacing.Concrete arranges four nozzles on a nozzle carrier simultaneously, if nozzle carrier B Central axis overlaps with one of them nozzle N01, makes d3=3 × d, d2=2 × d, d1=d.Optimum , four nozzle N01, N02, N03, N04 lines of centres can form straight line.If it is initial This straight line of state is vertical with printing path, and nozzle N01 is on printing path L1.T1、T2、 T3 is the track of nozzle N02, N03, N04 respectively, is circle in this example.

Adjacent two nozzles are along printing path tangential direction and at plane inner projection perpendicular with this direction Between the calculating of distance: p=d × cos (α), needed for obtaining the parallel printing path that spacing is P The relative rotation that nozzle carrier B or nozzle boss A becomes with print platform C-shaped is: α=arccos (p/d).

Concrete Method of printing embodiment two:

Referring to Figure 17, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment one, Differing only in, printing path is donut situation.Concrete is arranged on a nozzle carrier simultaneously Four nozzles, if the central axis of nozzle carrier B overlaps with nozzle N01.Optimum, nozzle N01, N02, N03, N04 line of centres forms straight line.If this straight line of original state and printing path Radius of curvature is parallel, and nozzle N01 is on printing path L1.Other two nozzle N03, N04 Possibly cannot be adjusted to the printing path of its correspondence up, (when d2 and d3 and p2 and p3 meets spy During different relation, even if there being nozzle N02 may be transferred on printing path, only special case situation), spray The calculation of the relative initial corner that mouth seat B or nozzle boss A becomes with print platform C-shaped is as follows:

$\mathrm{\α}=\mathrm{arc}cos\[\frac{p_1}{d_1}+\frac{1}{2}\frac{1}{d_{1}r}({p_1}^2-{d_1}^2)\]$

Show from concrete Method of printing embodiment one and concrete Method of printing embodiment two, use and preferably arrange The unnecessary nozzle of row may be used for printing parallel lines (filler as within model), is conducive to promoting printing Speed.In concrete Method of printing embodiment two, if less demanding to printing path L3 and L4 Time, with remaining nozzle, printing path L3 and L4 approximation can be followed and printed.

Concrete Method of printing embodiment three:

Use multiinjector 3D printing head embodiment two to carry out the Method of printing that prints, in conjunction with Figure 18, Shown in 27, a nozzle boss A has three nozzle carriers, and three separate rotations of nozzle carrier, Printing path is parallel lines situation.Wherein, first jet N1 and first jet N1 ＇ is fixed on first On nozzle carrier B1 (i.e. two first jet N1, N1 ＇ are set on first jet seat B1), second Nozzle N2 is fixed on second nozzle seat B2, and the 3rd nozzle N3 is fixed on the 3rd nozzle carrier B3, T1, T2, T3 are the track of nozzle N1 ＇, N2, N3 respectively, are circle in this example.Nozzle carrier Or the calculation of relative rotation that nozzle boss is formed with print platform is as follows:

The initial corner of first jet seat B1: α 1=arccos (p1/d1)；

The initial corner of second nozzle seat B2: α 2=arccos [(p2+p1)/d2]；

The 3rd initial corner of nozzle carrier B3: α 3=arccos [(p3+p2+p1)/d3].

If d3=3 × d1, d2=2 × d1, d1=d, p1=p2=p3=p, this embodiment deteriorates to tool Body Method of printing embodiment one.

Concrete Method of printing embodiment four:

Referring to Figure 19, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment three, Differing only in, printing path is equidistant donut situation.Nozzle carrier or nozzle boss A and printing The calculation of the relative rotation that platform C-shaped becomes is as follows:

If the central axis of nozzle carrier overlaps with first jet N1, if d3=3xd, d2=2xd, d1=d

The initial corner of first jet seat B1:

The initial corner of second nozzle seat B2:

The initial corner of the 3rd nozzle carrier B3:

When r is infinitely great, donut printing path becomes parallel lines printing path, reality now Execute example identical with concrete Method of printing embodiment one.

As d=p, the initial corner of nozzle is all 0, and only ω angle is incremented by.

Concrete Method of printing embodiment five:

Referring to Figure 20, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment four, Differing only in, printing path is donut situation.Nozzle carrier or nozzle boss A and print platform C The calculation of the relative rotation formed:

If the central axis of nozzle carrier overlaps with first jet N1, misaligned situation is derived cumbersome, But principle is identical.

The initial corner of first jet seat B1:

${\mathrm{\α}}_1=arc\cos \[\frac{p_1}{d_1}+\frac{1}{2}\frac{1}{L_{1}r}({p_1}^2-{d_1}^2)\]$

The initial corner of second nozzle seat B2:

${\mathrm{\α}}_2=\mathrm{arc}cos\[\frac{(p_1+p_2)}{d_2}+\frac{1}{2d_{2}r}({\left(p_1+p_2\right)}^2-{d_2}^2)\]$

The initial corner of the 3rd nozzle carrier B3:

${\mathrm{\α}}_3=\mathrm{arc}cos\[\frac{p_1+p_2+p_3}{d_3}+\frac{1}{2\×d_3\×r}({\left(p_1+p_2+p_3\right)}^2-{d_3}^2)\]$

If d3=3 × d1, d2=2 × d1, d1=d, p1=p2=p3=p, this embodiment deteriorates to tool Body Method of printing embodiment four.

When r is infinitely great, deteriorate to the ordinary circumstance of concrete Method of printing embodiment three.

Concrete Method of printing embodiment six:

Use multiinjector 3D printing head embodiment three to carry out the Method of printing that prints, in conjunction with Figure 21, Shown in 27, a nozzle boss A is provided with three nozzle carriers, and three unidirectional associations of nozzle carrier rotate, Printing path is parallel lines situation.First jet N1, N1 ＇ is fixed on first jet seat B1, the Two nozzle N2 are fixed on second nozzle seat B2, and the 3rd nozzle N3 is fixed on the 3rd nozzle carrier B3 On, T1, T2, T3 are first jet N1 ＇, second nozzle N2, the track of the 3rd nozzle N3. Wherein, the tracks of first jet seat B1 is fixed on second nozzle seat B2, second nozzle seat The tracks of B2 is fixed on the 3rd nozzle carrier B3, and the tracks of the 3rd nozzle carrier B3 is fixed On nozzle boss A, in this example, track is circle.The relatively initial corner calculation of each nozzle carrier:

The initial corner of the 3rd nozzle carrier B3:

α 3=arcos [(p3+p2+p1)/d3]

The initial corner of second nozzle seat B2:

α 2=α 2`-α 3

Wherein: α 2`=arccos [(p2+p1)/d2]

The initial corner of first jet seat B1:

α 1=α 1`-α 2-α 3

Wherein, α 1`=arccos (p1/d1)

Concrete Method of printing embodiment seven:

Referring to Figure 22, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment six, Differing only in, printing path is equidistant donut situation.If d3=3 × d, d2=2 × d, D1=d, each nozzle carrier initial corner calculation:

The relatively initial corner of the 3rd nozzle carrier B3:

${\mathrm{\α}}_3=arccos\[\frac{p}{d}+\frac{3}{2}\frac{1}{dr}(p^2-d^2)\]$

The relatively initial corner of second nozzle seat B2:

α₂=α₂`-α₃

Wherein:

${{\mathrm{\α}}_2}^{`}=arccos\[\frac{p}{d}+\frac{1}{dr}(p^2-d^2)\]$

The relatively initial corner of first jet seat B1:

α₁=α₁`-α₂-α₃

Wherein:

${{\mathrm{\α}}_1}^{`}=arccos\[\frac{p}{d}+\frac{1}{2}\frac{1}{dr}(p^2-d^2)\]$

Concrete Method of printing embodiment eight:

Referring to Figure 23, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment six, Differing only in, printing path is donut situation.The relatively initial corner calculation of each nozzle carrier:

The relatively initial corner of the 3rd nozzle carrier B3:

${\mathrm{\α}}_3=arccos\[\frac{p_1+p_2+p_3}{d_3}+\frac{1}{2\×d_3\×r}({\left(p_1+p_2+p_3\right)}^2-{d_3}^2)\]$

Relatively initial corner: the α of second nozzle seat B2₂=α₂`-α₃

Wherein:

Relatively initial corner: the α of first jet seat B1₁=α₁`-α₂-α₃

Wherein:

${{\mathrm{\α}}_1}^{`}=arccos\[\frac{p_1}{d_1}+\frac{1}{2}\frac{1}{L_{1}r}({p_1}^2-{d_1}^2)\]$

Concrete Method of printing embodiment nine:

Use multiinjector 3D printing head embodiment four to carry out the Method of printing that prints, in conjunction with Figure 24, Shown in 27, a nozzle boss A is provided with three nozzle carriers, first jet seat B1 and nozzle boss A Connecting, second nozzle seat B2, the 3rd nozzle carrier B3 are arranged on first jet seat B1, and first The track of nozzle carrier B1 is the circle being fixed on nozzle boss, the track and the 3rd of second nozzle seat B2 The track of nozzle carrier B3 is fixed on first jet seat B1, and the line segment of conllinear.First jet N1, N1 ＇ is fixed on first jet seat B1, and second nozzle N2 is fixed on second nozzle seat B2, the Three nozzle N3 are fixed on the 3rd nozzle carrier B3, and T1, T2, T3 are respectively first jet N1 ＇ Second nozzle N2 and the track of the 3rd nozzle N3, and set printing path L as plurality of parallel lines.

The calculating side of the relative rotation that first jet seat B1 or nozzle boss A becomes with print platform C-shaped Formula:

Relatively initial corner: the α=arccos (p1/d1) of first jet seat B1

Second nozzle N2 to the distance of first jet N1: d2=(p1+p2)/cos (α)

The distance of the 3rd nozzle N3 to first jet N1: d3=(p1+p2+p3)/cos (α)

If d3=3 × d1, d2=2 × d1, d1=d, p1=p2=p3=p, this embodiment deteriorates to tool Body Method of printing embodiment one.

Concrete Method of printing embodiment ten:

Referring to Figure 25, shown in 27, this embodiment is essentially identical with concrete Method of printing embodiment nine, Differing only in, printing path is donut situation,

The relatively initial corner of first jet seat B1:

$\mathrm{\α}=arccos\[\frac{p_1}{d_1}+\frac{1}{2}\frac{1}{d_{1}r}({p_1}^2-{d_1}^2)\]$

Second nozzle N2 is to the distance of first jet N1:

$d_2=\sqrt{r^2\×{\cos }^2\left(\mathrm{\α}\right)+2r(p_1+p_2)+{(p_1+p_2)}^2}-r\×cos\left(\mathrm{\α}\right)$

The distance of the 3rd nozzle N3 to first jet N1:

$d_3=\sqrt{r^2\×{\cos }^2\left(\mathrm{\α}\right)+2r(p_1+p_2+p_2)+{(p_1+p_2+p_2)}^2}-r\×cos\left(\mathrm{\α}\right)$

Concrete Method of printing embodiment 11:

Use multiinjector 3D printing head embodiment four to carry out the Method of printing that prints, in conjunction with Figure 26, Shown in 27, a nozzle boss A is provided with three nozzle carriers, first jet seat B1 and nozzle boss A Connecting, second nozzle seat B2, the 3rd nozzle carrier B3 are arranged on first jet seat B1, and first The track of nozzle carrier B1 is the circle being fixed on nozzle boss A, the track of second nozzle seat B2 and The track of three nozzle carrier B3 is all fixed on first jet seat B1, and is one section of line segment respectively.The One nozzle N1, N1 ＇ is fixed on first jet seat B1, and second nozzle N2 is fixed on second nozzle On seat B2, the 3rd nozzle N3 is fixed on the 3rd nozzle carrier B3, and T1, T2, T3 are respectively the One nozzle N1 ＇ second nozzle N2 and the track of the 3rd nozzle N3, printing path L is concentric Annulus situation.

If the central axis of first jet seat B1 overlaps with first jet N1, first jet seat B1's Relatively initial corner:

$\mathrm{\α}=arccos\[\frac{p_1}{d_1}+\frac{1}{2}\frac{1}{d_{1}r}({p_1}^2-{d_1}^2)\]$

In figure, second nozzle N2, along track T1 moving displacement q1, arrives on printing path L3.With Manage the 3rd nozzle N3 along track T2 moving displacement q2, arrive on printing path L4.Due to nozzle rail (example in figure, with the x-axis of nozzle boss for the line of road T2, T3 and first jet N1 and N1 ＇ Overlap) between angle be θ 1, θ 2 respectively.So second nozzle N2, the 3rd nozzle N3 are dividing In rectilinear orbit moving process, can not produce relative rotation yet.

Q1 and q2 can be obtained by derivation, but can be more cumbersome than calculating above.Such as, pin Q1 can be obtained equation below group, 5 equation group of 5 unknown quantitys, q1 can be obtained,

d₂ ²=q₁ ²+f²-2×q₁×f×cos(θ₁)

B²=r²+f²-2×r×f×cos(π-α)

$f=\frac{h_1}{cos\left({\mathrm{\θ}}_1\right)}$

If θ is 1=θ 2=0, q1=q2=0, this embodiment deteriorates to concrete Method of printing embodiment ten

Concrete Method of printing embodiment 12:

When print platform C is rotatable, the rotation of print platform C can substitute aforementioned multiinjector 3D and beat Print shower nozzle enters the rotation of a nozzle carrier of a dozen India and China.I.e. can be solid with nozzle boss by a nozzle carrier Together with, and save corresponding driving means, nozzle structure can be simplified.Also cocoa is by a nozzle carrier Tracks omit, or a nozzle carrier with rotary track is directly affixed to nozzle boss On, simplify structure.

In other concrete Method of printing embodiments, when the nozzle quantity on a nozzle carrier is more than three Individual, or have the most all more than two of the nozzle on two nozzle carriers, then there may be unnecessary nozzle not Can be adjusted to accurately on printing path, such as Figure 17, described by concrete Method of printing embodiment two. But these special circumstances, as long as these nozzles may be adjusted to same straight line when printing parallel lines On, it is possible to use unnecessary nozzle；Printing path radius of curvature additionally for model is relatively big, and essence Spend less demanding situation, can also be used for beating by the unnecessary nozzle being used only for printing parallel lines Print curve.

It should be noted that the initial point of nozzle boss and a certain spray in above-mentioned each concrete Method of printing embodiment Mouth N overlaps, and this processing method is only used to easy analysis.Actually nozzle boss initial point can set Put the optional position at nozzle boss, and identical result can be reached.

Spacing between the printing path of adjacent nozzle refers to the normal distance between two printing paths.

Each calculated example above is primarily directed to parallel lines and the explanation of concentrically ringed situation, arbitrarily bent The curve of rate may be considered and formed by the independent assortment of circular arc and straight line.So both of these case is entered Row united application just can print arbitrary and discharge track simultaneously.

The various formula analyzed in above-mentioned concrete Method of printing are used to indicate that relevant relation, are not special The necessary control mode that profit is implemented.Because, 1) practice time, formula can be cast aside, and pass through The mode of feedback control realizes nozzle and follows printing path.2) actually a lot of printing paths Curve cannot represent with Formula Parsing, the most just cannot obtain concrete print procedure relational expression.

(i.e. x, y, z, three linear in three-dimensional relative with print platform C for nozzle boss A motion Incoherent motion, or three separate motions.In), use polar coordinate mode, i.e. The situation that swing mode is moved, nozzle boss A can couple a gyration.This gyration is produced During raw angle of revolution ε, nozzle carrier B in the application or nozzle boss A and print platform C relatively rotate Should reversely apply equal corner additional with what counteracting nozzle boss and print platform relative motion introduced The impact that nozzle carrier or nozzle boss corner are brought by corner.

The present invention also provides for a kind of multiinjector 3D printer, and referring to shown in Figure 28, this printer includes machine Frame (not shown), print platform and printing head, and print platform and printing head are arranged at In frame, printing head and print platform relative motion.Printing head is provided with at least two nozzle N, beats During print, printing head and print platform C carry out relative motion (motions on tri-directions of X, Y, Z), And the relatively rotating of nozzle carrier or nozzle boss and print platform, dynamically control nozzle along printing path tangent line side To and distance between the perpendicular plane inner projection of this direction so that its each nozzle N is along beating of setting Print path motion, it is achieved 3 D-printing, is below the embodiment of several conventional multiinjector 3D printer:

Multiinjector 3D printer embodiment one:

Multiinjector 3D printer be multiinjector FDM (Fused Deposition Modeling, the most melted Deposition modeling) 3D printer, wherein, nozzle N is the nozzle being provided with material pore structure, the material of extrusion It can be plastics silk thread, tinsel, the plastics of thawing, the chocolate of thawing, ice cream, edible With powder and the mixture of water, metal dust and the mixture of binding agent, binding agent, conductive silver paste, Tin cream etc..Printing head and print platform C carry out X, the relative motion on tri-directions of Y, Z, and Nozzle carrier or nozzle boss relatively rotate with print platform, dynamically control nozzle along printing path tangential direction and Distance between the perpendicular plane inner projection of this direction, so that its each nozzle N is along the print path set Move in footpath, simultaneously by the fused glass pellet to extruded material.

It should be noted that certain nozzle starts print or close printing is to expect whether extrude realization by control 's.I.e. extruded stock starts to print exactly, and stopping extruded stock being just off printing, and (now printing head is fought each other mutually The relative motion of print platform C may or be normally carried out).

Multiinjector 3D printer embodiment two:

Multiinjector 3D printer is jetting type multiinjector numerical control electroforming 3D printer, and wherein, nozzle N is It is provided with the nozzle of material pore structure.Concrete print platform C is that the metal ion in negative electrode, with electrolyte is The metal derby of same metal is as anode.Metal derby as anode soaks in the electrolytic solution.Printing head with beat Print platform C carries out X, the relative motion on tri-directions of Y, Z, and nozzle carrier or nozzle boss and printing Relatively rotating of platform, dynamically controls nozzle along printing path tangential direction and in plane perpendicular with this direction Distance between inner projection, so that its each nozzle N moves, when the position of nozzle along the printing path set When being on printing path, corresponding nozzle will be containing metal ion electrolyte high fast direction print platform C. The metal ion being in jet is allowed to be moved to cathode surface at electric field action, metal on print platform C Ion reduction separates out and electroplates out a plurality of parallel metal and print lines.

During it should be noted that electroforming, negative electrode connects the negative pole of power supply, and anode connects the positive pole of power supply.For In multiinjector numerical control electroforming print procedure, certain nozzle starts printing or closedown printing is by controlling this nozzle Whether carry out shooting out realization by electrolyte jet.I.e. injection electrolyte starts to print exactly, stops electrolysis Liquid jet is just off printing, and (now the printing head relative motion relative to print platform C may be still just Often carry out).Wherein, the principle of electroforming (electroforming) is basic with plating (electroplating) Unanimously, be all the metal ion realizing in electrolyte by electrolytic process on negative electrode (workpiece) by also Former reaction and precipitating metal.Simply electroforming can the thickest by metal plating, entity component can be manufactured.And Plating is only often to form the thinnest electrodeposited coating, protection or decoration function at surface of the work.

Multiinjector 3D printer embodiment three:

Multiinjector 3D printer is insoluble anode formula multiinjector numerical control electroforming 3D printer, wherein, and spray Mouth N is the nozzle not being provided with material pore structure, and material is insoluble material or surface is coated with insoluble material, Print platform C is negative electrode, and nozzle is electric insulation between insoluble anode, and nozzle.Nozzle is put down with printing Electrolyte it is full of between platform.Printing head and print platform C carry out X, relative on tri-directions of Y, Z Motion, and the relatively rotating of nozzle carrier or nozzle boss and print platform, dynamically control nozzle is along printing path Tangential direction and the distance between the perpendicular plane inner projection of this direction, so that its each nozzle N is along setting Fixed printing path motion, when the position of nozzle is on printing path, by the on-off control phase on circuit Circuit between nozzle and the print platform answered forms closed-loop path with power supply, forms electric field.Allow in electrolyte Metal ion be moved to cathode surface at electric field action, on platform reducing metal ions separate out and electroplate Go out a plurality of parallel metal and print lines.

It should be noted that the nozzle in this printer is only electrode tips (specially insoluble anode), Not having pipeline to be connected with nozzle, nozzle does not has " mouth " pore structure equally yet.Electrode is by a switch even Receive the positive pole of power supply.When starting printing, switch Guan Bi, circuit turn-on, in electric field driven electrolyte Ion moves.When the switches are opened, corresponding electric field disappears.Metal ion stops mobile.During electroforming, Platform as negative electrode connects the negative pole of power supply, connects the positive pole of power supply as the nozzle of anode.It is in nozzle with flat Electrolyte between platform can circulate, in order to the electrolyte reduced by concentration of metal ions is constantly replaced For the electrolyte that concentration of metal ions is high.Certain nozzle starts printing or closedown printing is by controlling this nozzle Contactor whether close or disconnect and realize.I.e. Guan Bi circuit starts to print exactly, and disconnecting circuit is just (now the printing head relative motion relative to print platform C may or be normally carried out to be off printing ).Wherein, so-called insoluble anode refers in electrolytic process, does not occur or seldom occur anodic solution anti- The anode answered.

Multiinjector 3D printer embodiment four:

Multiinjector 3D printer is insoluble anode jetting type multiinjector numerical control electroforming 3D printer, wherein, Nozzle N is the nozzle being provided with material pore structure, and material is insoluble material or surface is coated with insoluble material. Concrete print platform C is negative electrode, and nozzle is electric insulation between insoluble anode, and nozzle, nozzle Nozzle carrier has pipeline and material hole, and nozzle is by the electrolyte high fast direction print platform containing metal ion.Beat Print shower nozzle carries out X, the relative motion on tri-directions of Y, Z, and nozzle carrier or spray with print platform C Headstock relatively rotates with print platform, dynamically control nozzle along printing path tangential direction and with this direction Distance between perpendicular plane inner projection, so that its each nozzle N moves along the printing path set, when When the position of nozzle is on printing path, corresponding nozzle and power on, in corresponding nozzle and printing Electric field is formed between platform C.The metal ion being in jet is allowed to be moved to cathode surface at electric field action, On print platform C, reducing metal ions separates out and electroplates out a plurality of parallel metal and print lines.

It should be noted that certain nozzle starts printing or closedown printing is the contactor by controlling this nozzle Closed and disconnected realizes.This nozzle of place printed i.e. is needed to switch on power, it is not necessary to printing This nozzle deenergization local.

Aforementioned four multiinjector 3D printer is executed in example, it should be noted that relative motion specifically refers to X, Y, the motion of Z-direction.Wherein, X, Y plane refers to the plane parallel with print platform C；Z coordinate axle Refer to the axle vertical with print platform.Of course, in other concrete multiinjector 3D printer embodiments, Frame, print platform can use market to commonly use outsourcing piece, or directly on existing 3D printer Improve, its printing head mechanism is replaced with in aforementioned four multiinjector 3D printing head embodiment Multiinjector 3D printing head structure, and use aforesaid Method of printing to print.

It should be noted that further and the application prints shape when referring to nozzle and print platform relative motion Becoming the process of material track, this material track can be plastics or tinsel, the conductive silver paste of fusing, glue Knot agent, pasty masses (such as tin cream, chocolate), liquid (such as ink, electrolyte), powder, gas State material, it is also possible to carry out the metal of numerical control electroreduction precipitation between nozzle and print platform.Air exercise Whether the control of print is by controlling nozzle whether extruded stock, or control nozzle and be energized and realize.Tool The application of body is not repeating one by one.

Claims (19)

1. a multiinjector 3D printing head, described printing head is provided with at least two nozzle, and its feature exists In, including:

Nozzle boss；

Nozzle carrier, it is movably set on described nozzle boss, and at least one described nozzle is arranged on On described nozzle carrier；

Driving means, is used for driving described nozzle carrier to move, and drives and set on described nozzle carrier The described nozzle put moves along the printing path set.

Multiinjector 3D printing head the most according to claim 1, it is characterised in that:

Described nozzle carrier includes first jet seat, second nozzle seat and the 3rd nozzle carrier；

Described first jet seat is provided with at least one first jet, and described second nozzle seat is provided with At least one second nozzle, described 3rd nozzle carrier is provided with at least one the 3rd nozzle；

Described driving means includes the first driving means, the second driving means and the 3rd driving means；

Described first jet seat is connected with described first driving means, and by described first driving means Driving campaign；Described second nozzle seat is connected with described second driving means, and by described Two driving means drive and move；Described 3rd nozzle carrier is connected with described 3rd driving means, And moved by described 3rd driving means driving.

Multiinjector 3D printing head the most according to claim 2, it is characterised in that:

Described first jet seat, described second nozzle seat and described 3rd nozzle carrier are sleeve-shaped knot Structure；

It is followed successively by described first jet seat, second nozzle seat and the 3rd nozzle carrier from the inside to the outside；

Described nozzle boss slides sheathed connection with described 3rd nozzle carrier；

Described second nozzle seat slides sheathed connection with described 3rd nozzle carrier；

Described first jet seat slides sheathed connection with described second nozzle seat.

Multiinjector 3D printing head the most according to claim 3, it is characterised in that:

Described first jet seat, described second nozzle seat and described 3rd nozzle carrier are along same central shaft Line is the most sheathed；

Described first driving means is arranged on described nozzle boss and is connected with described first jet seat, For driving described first jet seat around described center axis thereof；

Described second driving means is arranged on described nozzle boss and is connected with described second nozzle seat, For driving described second nozzle seat around described center axis thereof so that it is described second nozzle and institute Stating the angle between the line of central axis and the line of described first jet and described central axis can Change；

Described 3rd driving means is arranged on described nozzle boss and is connected with described 3rd nozzle carrier, For driving described 3rd nozzle carrier around described center axis thereof so that it is described 3rd nozzle and institute Stating the angle between the line of central axis and the line of described second nozzle and described central axis can Change.

Multiinjector 3D printing head the most according to claim 3, it is characterised in that:

Described first jet seat, described second nozzle seat and described 3rd nozzle carrier are along same central shaft Line is the most sheathed；

Described 3rd driving means is arranged on described nozzle boss, is used for driving described 3rd nozzle carrier Rotate relative to described nozzle boss, and by being arranged on described second on described 3rd nozzle carrier Driving means, and described first driving means being arranged on described second nozzle seat, drive institute State second nozzle seat and described first jet seat rotates simultaneously；

Described second nozzle seat turns around described central axis under the driving of described second driving means Dynamic, and drive described first by described first driving means being arranged on described second nozzle seat Nozzle carrier rotates simultaneously so that it is the line of described second nozzle and described central axis and the described 3rd Angle alterable between the line of nozzle and described central axis；

Described first jet seat turns around described central axis under the driving of described first driving means Dynamic so that it is the line of described second nozzle and described central axis and described first jet and described in Angle alterable between the line of mandrel line.

Multiinjector 3D printing head the most according to claim 2, it is characterised in that:

Described second nozzle seat and described 3rd nozzle carrier are all movably arranged on described first jet seat On, described first driving means is arranged on described nozzle boss and is connected with described first jet seat, For driving described first jet seat, described second nozzle seat and described 3rd nozzle carrier to rotate simultaneously.

Multiinjector 3D printing head the most according to claim 6, it is characterised in that:

Described second driving means is connected with described second nozzle seat, is used for driving described second nozzle Seat the most described first jet seat rectilinear movement so that it is described second nozzle sprays with described first respectively The angle of the line formation between mouth and described 3rd nozzle and/or distance variable；

Described 3rd driving means is connected with described 3rd nozzle carrier, is used for driving described 3rd nozzle Seat the most described first jet seat rectilinear movement so that it is described 3rd nozzle sprays with described first respectively The angle of the line formation between mouth and described second nozzle and/or distance variable.

8. according to the multiinjector 3D printing head described in any one of claim 1-7, it is characterised in that:

Further comprises one for detecting described nozzle carrier corner zero point or the sensor of angle position, institute Stating sensor is that photoelectric sensor, Hall element, rotary transformer, travel switch and shake-up are opened The one in the Central Shanxi Plain.

9. according to the multiinjector 3D printing head described in any one of claim 1-7, it is characterised in that:

Described driving means is helical gear, bevel gear, spur gear, turbine and worm, belt, hollow One in spindle motor or hydraulic pump.

10. according to the multiinjector 3D printing head described in any one of claim 1-7, it is characterised in that:

Described nozzle is the nozzle being provided with material pore structure, the one do not expected in the nozzle of pore structure, And described nozzle material is metal, insulating material, soluble electrode material, radio frequency Being combined of one or more materials of material.

11. according to the multiinjector 3D printing head described in any one of claim 1-7, it is characterised in that:

Described nozzle is the nozzle being provided with material pore structure, and this nozzle includes conveying passage, and arranges Feeding mouth and spray material port at described conveying passage two ends；

Described conveying passage is ramp way, and described ramp way is to spray material port from described feeding mouth Direction tilts, and the distance between each described spray material port of each described ramp way enters described in each Distance between material mouth.

12. 1 kinds of Method of printings, use printing head and print platform to print, it is characterised in that described Printing head is provided with at least two nozzle, and this printing head includes nozzle boss and nozzle carrier, described printing Shower nozzle and described print platform relative motion, comprise the following steps:

A), the three-dimensional data for the treatment of printing objects be analyzed, according to the contour shape of object to be printed, The cross section of each layer of object to be printed divides at least two printing paths；

B) described printing head, is utilized on described print platform, each layer of described object to be printed to be cut The printing path divided on face prints so that it is at least two nozzle is respectively along two corresponding institutes State printing path to move.

13. 1 kinds of Method of printings, use printing head and print platform to print, described printing head set Having multiple nozzle, this printing head includes nozzle boss and nozzle carrier, it is characterised in that:

Described printing head is used to carry out 3D printing, described printing head on described print platform X is carried out, while tri-direction relative motioies of y, z, by described nozzle at described print platform Seat or nozzle boss rotating relative to print platform respectively so that it is nozzle described at least two is respectively along phase Corresponding printing path moves.

14. according to the Method of printing described in claim 12 or 13, it is characterised in that:

Described printing head is the multiinjector 3D printing head described in any one of claim 1-11.

15. according to the Method of printing described in claim 12 or 13, it is characterised in that:

Described print platform is rotatable, described print platform and described printing head relative motion, makes Its at least two nozzle moves along corresponding printing path respectively.

16. 1 kinds of multiinjector 3D printers, including: frame, print platform and printing head, described printing is put down Platform and described printing head are arranged in described frame, described printing head and described print platform phase For x, tri-direction relative motioies of y, z, it is characterised in that:

Described printing head is provided with at least two nozzle, and described printing head is beaten also relative to described Print platform rotates and arranges so that it is at least two nozzle moves along corresponding printing path respectively.

17. multiinjector 3D printers according to claim 16, it is characterised in that:

Described printing head is the multiinjector 3D printing head described in any one of claim 1-11.

18. multiinjector 3D printers according to claim 16, it is characterised in that:

Described multiinjector 3D printer carries out beating for application claim 12-15 any one Method of printing The printer of print.

19. multiinjector 3D printers according to claim 16, it is characterised in that:

Described multiinjector 3D printer is FDM multiinjector 3D printer, jetting type multiinjector number Control electroforming 3D printer, insoluble anode formula multiinjector numerical control electroforming 3D printer, insoluble anode One in jetting type multiinjector numerical control electroforming 3D printer.