CN108136674A

CN108136674A - Multiinjector 3D printing nozzle and Method of printing and 3D printing system

Info

Publication number: CN108136674A
Application number: CN201780002222.9A
Authority: CN
Inventors: 季鹏凯
Original assignee: Yuanzhi Technologies Shanghai Co ltd
Current assignee: Yuanzhi Technologies Shanghai Co ltd
Priority date: 2016-06-17
Filing date: 2017-06-15
Publication date: 2018-06-08
Anticipated expiration: 2037-06-15
Also published as: CN105946233A; WO2017215641A1; CN108136674B

Abstract

A kind of multiinjector 3D printing nozzle and Method of printing and 3D printing system, this method is printed using printing head and print platform (C), the printing head is equipped with multiple nozzles, the printing head includes nozzle boss (A) and nozzle carrier (B), printing head carries out 3D printing on print platform (C), the printing head carries out x with the print platform (C), y, while tri- direction relative motions of z, by the nozzle carrier (B) or nozzle boss (A) respectively with respect to the relative rotation of print platform (C), at least two nozzles is made to be moved respectively along corresponding printing path.It is printed using this method, can effectively improve print speed, promoted the flexibility that multiinjector quickly follows various curvature and different spacing printing paths, disclosure satisfy that a variety of demands in practical application.

Description

Multiinjector 3D printing spray head and Method of printing and 3D printing system

Technical field

The present invention relates to the technical field of 3D printer more particularly to a kind of multiinjector 3D printing spray head and Method of printing and using the 3D printing system of the multiinjector 3D printing spray head or the Method of printing.

Background technique

Existing FDM (abbreviation of " Fused Deposition Modeling ") 3D printer is by the x between spray head and platform, y, z, three linear incoherent relative motions (i.e. three mutually independent directions of motion) allow spray head to reach any position above platform in certain area.Model is divided into several layers, the printing path extrusion that nozzle prolongs every layer is expected on platform, continues to print on next layer after completing one layer of printing, successively stacks and form 3D solid.

There are many implementations for relative motion between spray head and platform, spray head and print platform progress X are such as directly realized by using similar CNC machine, Y, the various structures of Z relative motion, CO-X-Y mode, Delta formula parallel manipulator is arm-type, single or double polar coordinates type structure, manipulator is arm-type, six-axis linkage formula etc..

FDM mode print system based on a nozzle is reached to promote print speed by promoting the movement speed of spray head opposed platforms, and the charging rate of raising material.But the room for promotion of this speed is very limited, such as the power of driving motor, rack and guiding mechanism, driving belt, the limitation of rigidity of structure etc..Due to needing continuous Fast transforms moving direction and speed in print procedure, this process can generate very big acceleration, rack is allowed to shake, and influence printing precision.These aspects limit the further promotion of print speed.

Some multi-jet 3D printers are intended merely to allow unlike material or the material of color to switch progress printing alternate in non-stop-machine situation, cannot promote print speed.Multiinjector printing is such as carried out by way of multiple spray heads, the interference limitation moved between multiple spray heads, so as to the promotion effect greatly discount of print speed.And more spray heads make printer structure is complicated, reliability reduces, cost increase.

Heretofore described FDM mode is not limited only to need the Method of printing of melting process, but refers to the mobile print procedure of the extended fixed printing path of nozzle.

Summary of the invention

The object of the present invention is to provide a kind of multiinjector 3D printing spray head and Method of printing and 3D printing systems, can effectively improve print speed.

Technical solution provided by the invention is as follows:

A kind of multiinjector 3D printing spray head, the printing head are equipped at least two nozzles, comprising:

Nozzle boss；

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

Driving device for driving the nozzle carrier to be moved, and drives the nozzle being arranged on the nozzle carrier to move along the printing path of setting.

In the technical program, by nozzle carrier and nozzle boss be flexibly connected and the nozzle on nozzle carrier is arranged at least one.And then under the drive of the drive, the movement of nozzle carrier is realized, it is therefore an objective to drive the nozzle on nozzle carrier to move along the printing path of setting by the movement of nozzle carrier, to realize 3 D-printing.It can not only be printed simultaneously by two or more nozzles, effectively improve print speed, more optimizedly when printing different models, the change that adjusts can needed according to different situations to the material track spacing of printing, meet a variety of demands in practical application.

Since the different printing paths of the corresponding printing of different spray nozzles may be implemented in the multiinjector 3D printing spray head, the printing path of different layers can be printed simultaneously accordingly, both it can be used for printing the same or different printing path in same layer, it can be used for the printing path on printing different layers, or be provided simultaneously with two kinds of situations.Print speed is improved in two dimensions of printing path and different layers printing path in same layer.

Preferably, the quantity of the nozzle carrier is one, and the nozzle carrier is equipped at least one nozzle；The nozzle carrier is connect with the driving device, and is moved by driving device driving.

Preferably, the driving device is arranged on the nozzle boss and connect with the nozzle carrier, for driving the nozzle carrier to rotate around the axis parallel with the center line of the nozzle.

Preferably, the multiinjector 3D printing spray head includes at least two nozzle carriers, and the driving device is identical as the nozzle carrier quantity, and each driving device drives a nozzle carrier movement.Rotation refers to that the angle that the line between nozzle is formed or the angle formed between nozzle boss are changed Process prolongs the rotary motion of some central axis rather than just finger nozzle carrier or print platform.

The technical program, each nozzle carrier is by a driving device driving rotation, namely do not increase a nozzle base system and increase one degree of freedom, then a certain nozzle being arranged on nozzle carrier can be adjusted by the movement of nozzle boss and nozzle carrier to corresponding printing path.

Preferably, the multiinjector 3D printing spray head includes the nozzle carrier of telescoping structure, the successively suit setting from inside to outside of several nozzle carriers, and at least one described nozzle carrier setting on the nozzle boss,

Each driving device drives corresponding nozzle carrier to move, and makes it that can relatively rotate with other nozzle carriers or the nozzle boss；A nozzle is included at least on each nozzle carrier.

The technical program sets sleeve-like configuration for nozzle carrier, while three nozzle carriers being sequentially connected from the inside to the outside, and it is attached between each other by the connection type that sliding is arranged, not only simplify installation procedure, more excellent is that its can be made compact-sized, simplifies the structure of entire printing head.It should be noted is that and not all nozzle carrier is telescoping structure, whether the innermost nozzle carrier of sleeve structure is telescoping structure.

Preferably, the nozzle carrier is set with along same central axis and is arranged；The corresponding driving device is arranged on the nozzle boss.

The technical program, the driving device that each nozzle carrier is connected is arranged on nozzle boss, each driving device may be implemented to be independently controlled the nozzle carrier respectively connected, so that forming angle between different spray nozzles and the line of central axis, it can adjust to the angle of its angle, meeting each nozzle in turn can effectively improve the utilization rate of nozzle on printing path.

Preferably, the driving device of the outermost nozzle carrier is arranged on the nozzle boss, the driving device of remaining nozzle carrier is arranged on another nozzle carrier adjacent with the nozzle carrier on the outside, and any driving device drives the corresponding nozzle carrier and the nozzle carrier rotation on the inside of it.

Preferably, the driving device of the innermost nozzle carrier is arranged on the nozzle boss, the driving device of remaining nozzle carrier sets within it on another nozzle carrier adjacent with the nozzle carrier of side, and any driving device drives the corresponding nozzle carrier and the nozzle carrier rotation on the outside of it.

The driving device of the technical program, the outermost nozzle carrier is arranged on the nozzle boss, and another nozzle adjacent with the nozzle carrier on the outside is arranged in the driving device of remaining nozzle carrier On seat, any driving device drives the corresponding nozzle carrier and the nozzle carrier rotation on the inside of it.

The movement of each nozzle carrier is determined by the drive actions coupling of the driving device in its outside or inside, is effectively raised the utilization rate of nozzle, is reduced the energy loss of driving device, simplify control mode.

Preferably, the nozzle carrier includes at least one swivel nozzle seat and several translation nozzle carriers, and the driving device includes at least one rotation drive device and several translation driving devices, and the corresponding translation nozzle carrier of translation driving device driving is mobile；

At least one described swivel nozzle seat activity is installed on the nozzle boss, and several translation nozzle carrier activities are installed on the swivel nozzle seat；

The rotation drive device drives the swivel nozzle seat rotation, and then drives several translation nozzle carrier movements on swivel nozzle seat；Each translation driving device drives the relatively described swivel nozzle seat of the corresponding translation nozzle carrier to move in a straight line；

Each translation nozzle carrier is equipped at least one nozzle.

The technical program, other than the operation form for the nozzle carrier being connected directly with nozzle boss is rotation, the forms of motion of remaining nozzle carrier is linear motion.Its object is to be adjusted nozzle disposed thereon to corresponding printing path by being rotatably assorted linear motion.The effective utilization rate for improving nozzle.

Preferably, the nozzle carrier includes at least one diplopore nozzle carrier and at least two general nozzle carriers；Wherein, a cylindrical hole and/or at least one nozzle are provided on the general nozzle carrier；It include two cylindrical holes on the diplopore nozzle carrier, the cylindrical hole is to install nozzle carrier；

The driving device drives the diplopore nozzle carrier, and then drives the nozzle carrier movement being installed on the diplopore nozzle carrier；And the driving device drives the general nozzle carrier around its own center axis thereof.

The technical program is not arranged nozzle on diplopore nozzle carrier directly, but nozzle carrier is arranged, and at least increases two rotary freedoms in the space occupied by the nozzle carrier.Compare its pass through the every nozzle carrier for increasing a single sleeve-shaped of the structure that is arranged layer by layer can only add 1 can be with the nozzle of self contained function, and space gradually becomes larger.The taking up space of the technical program can control smaller, and utilization rate is also higher, Advantageously reduce the size and structural complexity of multiinjector 3D printing spray head.It is equally compared to the structure being arranged layer by layer., can not be more limited in the spacing of horizontal plane projection between nozzle since nozzle is arranged on general nozzle carrier in the technical program, what can be designed is closer, is conducive to save space and precise controlling；What can also be designed simultaneously is more uniform, simplifies design, and simplified control simplifies manufacture, promotion printing effect.

Specifically, the number of the diplopore nozzle carrier is one, the number of the general nozzle carrier is two；Two general nozzle carriers are respectively installed in a cylindrical hole of the diplopore nozzle carrier；Each general nozzle carrier is equipped at least two nozzles.

Specifically, the number of the diplopore nozzle carrier is at least two, all the diplopore nozzle carrier is successively set with setting by cylindrical hole ecto-entad, is respectively equipped with general nozzle carrier in two cylindrical holes of the innermost diplopore nozzle carrier；One is equipped with general nozzle carrier in two cylindrical holes of remaining diplopore nozzle carrier, another is arranged with diplopore nozzle carrier；Each general nozzle carrier is equipped at least two nozzles.

Specifically, the number of the diplopore nozzle carrier is one；Several described general nozzle carrier ecto-entads are successively arranged to form general nozzle carrier group；Wherein, two general nozzle carrier groups are respectively installed in two cylindrical holes of the diplopore nozzle carrier；Or；One general nozzle carrier group is installed in a cylindrical hole of the diplopore nozzle carrier, and a general nozzle carrier is installed in another cylindrical hole.

Preferably, the number of the diplopore nozzle carrier is at least two；A general nozzle carrier is installed respectively on two cylindrical holes of the diplopore nozzle carrier；It is rotatably connected between every two diplopore nozzle carrier by general nozzle carrier, which wears each cylindrical hole of two diplopore nozzle carriers.

General nozzle carrier is plugged in simultaneously as rotary shaft at least two diplopore nozzle carriers, so that two diplopore nozzle carriers are rotatably connected.When diplopore nozzle carrier is successively connected in order, namely general nozzle carrier is all as two diplopore nozzle seat rotating axis, the chain structure of line style can be formed.If general nozzle carrier is as three diplopore nozzle seat rotating axis, original chain structure can be extended to network structure.

Preferably, at least two diplopore nozzle carriers are successively connected is connected by general nozzle carrier, forms chain structure, and the general nozzle carrier of the adjacent diplopore nozzle carrier is main connecting shaft in the chain structure, in which:

Separately there is at least one described diplopore nozzle carrier to be rotatably connected to main connecting shaft；

And/or；

Separately there are several diplopore nozzle carriers to form another chain structure to be rotatably connected to the main connecting shaft.

The technical program further connects upper diplopore nozzle carrier, then its structure is changed into network structure from chain structure on the basis of chain structure in its main connecting shaft.It is able to the quantity of extension nozzle in a plurality of directions.

Preferably, the nozzle carrier includes mounting plate and lug boss；Wherein, the lug boss is fixedly arranged on the mounting plate, and nozzle is arranged in the lug boss, and the cross-sectional area of the lug boss is less than the cross-sectional area of the mounting plate；The mounting plate of different spray nozzles seat is rotatably connected.

The technical program, nozzle carrier is made of the different mounting plate of cross-sectional area and lug boss, namely there are also other spaces other than mounting boss on mounting plate, the underface that then mounting plate can be inserted in another mounting plate is rotatably connected by common Rotatable mechanism with it, both it can also be connected by not installing the rotational structure of the spatial design of lug boss on mounting plate using lug boss as rotary shaft.Compared to general sleeve structure, the mode of this extension nozzle carrier extremely saves space.In addition, can not be more limited in the spacing of horizontal plane projection between nozzle, the spacing for being easy design is more uniform.

Further, the mounting plate of at least two nozzle carriers, which is successively connected, is rotatably connected, and forms chain structure, and the rotation junction of the adjacent nozzle carrier is main connecting shaft in the chain structure, in which:

Separately there is at least one described nozzle carrier to be rotatably connected to main connecting shaft；

And/or；

Separately there are several nozzle carriers to form another chain structure to be rotatably connected to the main connecting shaft.

The technical program further connects top nozzle seat in its main connecting shaft, then its structure is changed into network structure from chain structure on the basis of chain structure.It is able to the quantity of extension nozzle in a plurality of directions.

Preferably, at least two nozzle carriers are successively connected is rotatably connected by rotary shaft, forms chain structure, is main connecting shaft at the rotary shaft setting of the adjacent nozzle carrier in the chain structure, in which:

And/or；

The technical program further connects top nozzle seat in its main connecting shaft, then its structure is just changed into network structure from chain structure on the basis of chain structure.It is able to be able to the quantity of extension nozzle in a plurality of directions.

Further, multiinjector 3D printing spray head further includes height adjustable structure, and the setting of the nozzle carrier slip is on the nozzle boss or other nozzle carriers；

The height regulating mechanism can drive the nozzle carrier to slide, to adjust the height of the nozzle on nozzle carrier.

Height adjustable structure can be by changing the height of nozzle carrier to adjust the height of nozzle, realize the variation of difference in height between nozzle, when suitable for printing the printing path on different layers respectively, it is adjustable make each nozzle both relative to the optimum distance of its printable layer at.When printing different layers printing path simultaneously, being equidistant for its printable layer of the nozzle distance of different layers is printed, the time that printed material can be made to fall on printable layer is identical, easily facilitates control.

Further, the nozzle is arranged in identical height or is arranged in two height.

When suitable for printing the printing path on different layers respectively so that each nozzle both relative to the optimum distance of its printable layer at.For height regulating mechanism, nozzle fixed design can directly be reduced to the complexity of structure in corresponding height.

Further, the multiinjector 3D printing spray head includes:

At least one continuous extruded type nozzle；

And/or；

At least one discrete Jetspray nozzle；

And/or；

At least one light-source type nozzle；

And/or；

At least one heat source type nozzle；

And/or；

At least one electric pole type nozzle；

And/or；

At least one magnetic pole type nozzle.

It is printed using discrete jetting material, it is more more accurate than the FDM of continuous extruded stock mode printing, it is easier to implementation model details.Conducive to the surface smoothness and structural strength for promoting printer model.For example, due to the traction effect for squeezing out silk, so that silk is not easy precise Printing at the wedge angle position of model.

Using continuous extruded type file printing, the time difference of each extruded stock of multiinjector is very short, and the material of extrusion can be close to while solidify, so that the combination effect between material and material is more preferable, is conducive to improve by the intensity and precision of printing objects.Method of printing and nozzle structure of the invention can also use a variety of different printing materials for needing to heat or do not need heating, have wide application adaptability.

Light-source type nozzle implies that nozzle is light-source structure, can provide specific illumination, heat source type nozzle implies that nozzle for heat source configurations, can provide heat source；Electric pole type nozzle implies that nozzle is electrode structure, can provide electric field；Magnetic pole type nozzle implies that nozzle is field structure, can provide magnetic field.

Further, multiinjector 3D printing spray head further comprises one for detecting the sensor of the nozzle carrier corner zero point or angular position.

By the sensor being arranged on the printing head, the detection to nozzle carrier corner zero point or angular position is realized, to control the rotational angle of nozzle carrier, so that the respective nozzle dynamic following printing path on nozzle carrier, it is ensured that multiinjector printing effectively carries out.

Specifically, the sensor is one or more of photoelectric sensor, Hall sensor, rotary transformer, travel switch and touch switch.

Specifically, the driving device is one or more of helical gear, bevel gear, spur gear, turbine and worm, belt, hollow shaft motor or hydraulic motor.

Specifically, the nozzle is nozzle equipped with material pore structure, without one of nozzle of material pore structure, and the nozzle material be metal, electrical insulating material, insoluble electrode material, non-metallic conducting material one or more of materials it is compound.

Preferably, the nozzle is equipped with the nozzle of material pore structure, which includes conveying channel, and the feeding inlet and spray material port at conveying channel both ends is arranged in；

The conveying channel is ramp way, and the ramp way is to tilt from the feeding inlet to spray material port direction, and the distance between each described spray material port of each ramp way is less than the distance between each described feeding inlet.

The conveying channel is ramp way, and the ramp way is to tilt from the feeding inlet to spray material port direction, and the bore of the spray material port is less than the bore of the feeding inlet；And the distance between each described spray material port of each ramp way is less than the distance between each described feeding inlet.

The feeding pipe of nozzle is arranged to ramp way, the case where compared to straight type (coaxial arrangement), it can reduce the distance between the spray material port being arranged on adjacent nozzle, the printing smaller print track of radius of curvature is not only contributed in this way, the angle of nozzle carrier rotation can also be reduced, the speed that multiinjector quickly follows various curvature printing paths is promoted, the load of the driving device of nozzle carrier driving device or print platform rotation is reduced, and can satisfy a variety of demands in practical application.

Invention additionally discloses a kind of Method of printings, it is printed using printing head and print platform, the printing head is equipped at least two nozzles, which includes nozzle boss and nozzle carrier, the printing head and the print platform relative motion, comprising the following steps:

A), the three-dimensional data for treating printing objects is analyzed, and at least two printing paths are generated on each layer of object to be printed；

B), the printing path generated on each layer of the object to be printed is printed on the print platform using the printing head, moves at least two nozzles along the corresponding printing path respectively.

In the technical program, by nozzle carrier and nozzle boss be flexibly connected and the nozzle on nozzle carrier is arranged at least one.And then under the drive of the drive, the movement of nozzle carrier is realized, it is therefore an objective to drive the nozzle on nozzle carrier to move along the printing path of setting by the movement of nozzle carrier, to realize 3 D-printing by nozzle.It can not only be printed simultaneously by two or more nozzles, effectively improve print speed, more optimizedly when printing different models, the change that adjusts can needed according to different situations to the material track spacing of printing, meet a variety of demands in practical application.

Invention additionally discloses a kind of Method of printings, are printed using printing head and print platform, and the printing head is equipped with multiple nozzles, which includes nozzle boss and nozzle carrier.

3D printing is carried out on the print platform using the printing head, the printing head and the print platform carry out x, y, while tri- direction relative motions of z, by the nozzle carrier or nozzle boss respectively relative to the rotation of print platform, move at least two nozzles along corresponding printing path respectively.

Preferably, the printing head is multiinjector 3D printing spray head above-mentioned.

Preferably, the print platform can be rotated, the print platform and the printing head relative motion, so that at least two nozzles are moved along corresponding printing path respectively.

The technical program, print platform can replace the rotation of a nozzle carrier.

Preferably, printing path of at least two nozzles simultaneously respectively at least two layers is moved.Both the different layers carried out simultaneously printing can be completed.

Preferably, the direction of the nozzle output printing material and print platform surface out of plumb.

Preferably, it before at least one nozzle has not printed a printing path, is transferred to another printing path and is printed.

Preferably, the three-dimensional data of the object to be printed with colored or pattern-information is analyzed, printing path is divided into several units, corresponding mass-tone is distributed on each unit, form mass-tone unit；Several nozzles print corresponding mass-tone material respectively；When the nozzle reaches one position of printing path, printed in the position according to the nozzle that the control of the mass-tone cell colors information of the position prints corresponding mass-tone material.

Full-color printing can be realized by the way of halftoning on three-dimensional or space curved surface, and the details of color is showed preferably, suitable for the printing type of continuous extruded type and discrete injecting type, be particularly suitable for the printing type of discrete injecting type.

Preferably, nozzle is made at least to spray the printing material of two kinds of sizes；Any layer for controlling the nozzle print object to be printed of the injection large scale printing material, the nozzle for controlling the injection smaller size printing material corresponds to be printed between two layers of object to be printed.

Large scale printing material is used for a certain layer of object to be printed, and small size printing material is used to be printed upon the interlayer of large scale printing material printing, promotes the material of caking property between layers by increasing the contact area expected between layers or printing come the intensity and sealing performance of lift scheme.The size for controlling small size printing material can also be filled into dimpled grain reason between layers, reduce the concave-convex degree of surface texture, lift scheme surface smoothness.

Preferably, the nozzle boss and the nozzle carrier are connected.

Invention additionally discloses a kind of multiinjector 3D printing systems, comprising: rack, print platform and printing head, the printing head are arranged in the rack, and the printing head and the print platform are relative to x, tri- direction relative motions of y, z；

The printing head is equipped at least two nozzles, and the printing head is rotated also relative to the print platform to be arranged, and moves at least two nozzles along corresponding printing path respectively.

Preferably, the print platform is arranged in the rack.

Preferably, the multiinjector 3D printing system is the print system printed using Method of printing above-mentioned.

A kind of multiinjector 3D printing spray head and Method of printing and 3D printing system provided through the invention, can bring it is following at least one the utility model has the advantages that

1, it by the movement of nozzle boss and nozzle carrier opposing showerhead seat, realizes that the nozzle matches on printing head device correspond at least two printing paths, can effectively promote print speed.The corresponding printing path for allowing the nozzle in identical height or different height correspond to different layers moves, it can be achieved that printing while a plurality of printing path on different layers, in the vertical direction further at double improve print speed.At the same time it can also print different printing paths on same layer simultaneously, this from it is aforementioned while printing different layers on different printing paths match, the print speed realized under vertically and horizontally two dimensions is promoted.

2, nozzle carrier, which is movably arranged on nozzle boss, relative motion occurs with nozzle boss, for example it rotates or moves along a straight line, so that the relative position of nozzle and nozzle boss thereon can adjust on XY horizontal plane, it is final that nozzle is made to realize any adjustable (i.e. each nozzle is moved along corresponding printing path) in the range of being less than some value along printing path tangential direction and at a distance from the perpendicular plane in this direction between projection in fact.And it can control nozzle carrier to move in a straight line along nozzle boss and then change the height between nozzle It is poor to spend.The printing demand for being able to adapt under different operating conditions namely the different spacing between printing path, the different layers height of 3D printing two-dimensional section etc..

3, multilayer prints simultaneously, since multiple nozzles are arranged on a spray head, for FDM multiinjector 3D printer, the time difference of each extruded stock of multiinjector is very short, the material of extrusion can be close to while solidify, so that the combination effect between material and material is more preferable, be conducive to improve by the intensity and precision of printing objects.Method of printing and nozzle structure of the invention can also use a variety of different printing materials for needing to heat or do not need heating, have wide application adaptability.

4, by dimension printing type, for example, small-size materials print between large scale printing material, by increasing the contact area expected between layers or printing the material for promoting caking property between layers in fractional layer come the intensity and sealing performance of lift scheme.For the fractional layer printing material of model surface, suitable material diameter is controlled, can be filled into dimpled grain reason between layers, reduce the concave-convex degree of surface texture, lift scheme surface smoothness.

5, it is printed using discrete jetting material, it is more more accurate than the FDM of continuous extruded stock mode printing, it is easier to implementation model details.Conducive to the surface smoothness and structural strength for promoting printer model.For example, due to the traction effect for squeezing out silk, so that silk is not easy precise Printing at the wedge angle position of model.

6, it is printed using discrete jetting material, full-color printing easy to accomplish.Such as dripped by the colorant of combination printing CMYK, full-color printing can be realized by the way of halftoning on three-dimensional or space curved surface, and the details of color is showed preferable.Colour print also may be implemented by the way of the zonal cooling extruded stock of combination CMYK.

7, it is printed using discrete jetting material, compares " ink jet type " 3 D-printing, can realize printing precision quite or more preferably printing effect with seldom nozzle." ink jet type " although 3 D-printing nozzle quantity is numerous, utilization rate is not high, and the nozzle only above model can just work, and other nozzles are all in idle state.And the discrete jetting material Method of printing of multiinjector of this method, nozzle quantity are relatively fewer, but utilization rate is high, almost 100% or most nozzle be all in spray regime simultaneously.

8, this Method of printing has a wide range of applications, and is such as applied to biological medicine, medical technology, food technology, Building technology, the composite material exploitation of composite material or specific function with certain characteristic.Nozzle is set as electrode or jet electrolytic liquid, then can be used for numerical control galvanoplastics.Nozzle is set as to the injection of illumination source and sensitive liquid, can be used for photosensitive resin molding.

9, the nozzle carrier of three sleeve-like configurations is arranged with one heart along same central axis or bias is arranged or on a nozzle carrier while the connection types such as two nozzle carriers is arranged, makes the compact-sized of entire printing head by multiinjector 3D printing spray head of the invention.

10, chain structure nozzle structure is conducive to extend more nozzles on spray head.If 1 (or 2) nozzle is typically only arranged in every layer of annular sleeve, when nozzle quantity is more, outer layer ring diameter becomes larger, and utilization rate is lower, and overall structure size is big, and structure is complicated by the way of nested layer by layer." chain type " structure, when increasing new nozzle, if one " chain joint " of duplicate increase, and can at least increase by 2 nozzles on one " joint ".Conducive to the size and structural complexity for reducing nozzle cluster.Chain type nozzle structure can also realize net formula nozzle structure.The quantity of nozzle can be extended up 2 dimension sides.

Detailed description of the invention

It below will be in clearly understandable mode, preferred embodiment is described with reference to the drawings, above-mentioned characteristic, technical characteristic, advantage and its implementation of a kind of multiinjector 3D printing spray head and Method of printing and 3D printing system are further described, wherein, some spray heads have made cutting processing in each structural schematic diagram of Fig. 1 to Figure 16, so as to clearer performance internal structure.

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

Fig. 2 is another structural schematic diagram of multiinjector 3D printing spray head in Fig. 1；

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

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

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

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

Fig. 7 is another arragement construction figure of driving device in Fig. 5；

Fig. 8 is the local cutting structural schematic diagram of multiinjector 3D printing spray head embodiment three of the present invention；

Fig. 9 is the local cutting structural schematic diagram of multiinjector 3D printing spray head example IV of the present invention；

Figure 10-a is the schematic perspective view of multiinjector 3D printing spray head embodiment five of the present invention；

Figure 10-b is the sectional view of multiinjector 3D printing spray head in Figure 10-a；

Figure 11 is another structural schematic diagram of multiinjector 3D printing spray head embodiment five of the present invention；

Figure 12-a is the schematic perspective view of multiinjector 3D printing spray head embodiment six of the present invention；

Figure 12-b is another structural schematic diagram of multiinjector 3D printing spray head embodiment six of the present invention.

The third structural schematic diagram of Figure 13 multiinjector 3D printing spray head embodiment six of the present invention.

Figure 14-a is the local cutting structural schematic diagram of nozzle seating portion in multiinjector 3D printing spray head of the present invention；

Figure 14-b is the cross section view of Figure 14-a；

Figure 15-a is a kind of structural schematic diagram of height regulating mechanism.

Figure 15-b is the structural schematic diagram of another height regulating mechanism.

Figure 16-a is the structural schematic diagram that driving device is bevel gear pair in multiinjector 3D printing spray head of the present invention；

Figure 16-b is the structural schematic diagram that driving device is rotor and the direct-connected driving of nozzle carrier in multiinjector 3D printing spray head of the present invention；

Figure 16-c is the structural schematic diagram that driving device is toothed belt transmission in multiinjector 3D printing spray head of the present invention；

Figure 17-a is the schematic diagram of Method of printing of the present invention under normal circumstances.

When Figure 17-b is that printing path is one group of parallel lines in Method of printing embodiment one of the present invention, the relation schematic diagram of nozzle carrier or nozzle boss and the print platform relative rotation formed and printing path spacing；

Another situation that Figure 17-c is one printing path of Method of printing embodiment of the present invention when being one group of parallel lines, the relation schematic diagram of nozzle carrier or nozzle boss and the print platform relative rotation formed and printing path spacing；

When Figure 17-d is that printing path is one group of concentric loop in Method of printing embodiment one of the present invention, the relation schematic diagram of nozzle carrier or nozzle boss and the print platform relative rotation formed and printing path spacing；

Another situation that Figure 17-e is one printing path of Method of printing embodiment of the present invention when being one group of concentric loop, the relation schematic diagram of nozzle carrier or nozzle boss and the print platform relative rotation formed and printing path spacing；

[correcting 07.07.2017 according to detailed rules and regulations 91] Figure 18 is nozzle carrier or nozzle boss and print platform are formed in the Method of printing embodiment two of the present invention relative rotation relation schematic diagram with each printing path spacing respectively；

When Figure 19 is another situation of Method of printing embodiment of the present invention two, the relative rotation that nozzle carrier or nozzle boss and print platform the are formed relation schematic diagram with each printing path spacing respectively；

Figure 20-a is Method of printing embodiment two of the present invention, and continuous extruded type multiinjector stacks printing multilayer printing path schematic diagram simultaneously；

When Figure 20-b is using Method of printing embodiment three of the present invention, the schematic cross-section of the printing interlayer structure of formation.

Figure 21-a is discrete injecting type multiinjector while the schematic diagram for stacking printing multilayer printing path.

Figure 21-b is the schematic diagram of another discrete injecting type Method of printing and color printing.

Figure 21-c is the schematic diagram for realizing discrete injecting type printing and colour print using different structures from Figure 21-b.

Figure 21-d is the schematic diagram of continuous extruded type Method of printing and another color printing.

Method of printing schematic diagram when the center line and print platform that Figure 22 is nozzle are in the angle β.

Figure 23 is the schematic perspective view of multiinjector 3D printing system.

Figure 24 is explanation of symbols table in-a~19 Figure 17；

Drawing reference numeral explanation:

A- nozzle boss；

B- nozzle carrier；B1- first jet seat；B2- second nozzle seat；B3- third nozzle carrier；

B01- the first diplopore nozzle carrier；B02- the second diplopore nozzle carrier；B03- third diplopore nozzle carrier；The 4th diplopore nozzle carrier of B04-；The 5th diplopore nozzle carrier of B04-；The general nozzle carrier of B01 '-the first；The general nozzle carrier of B02 '-the second；B03 '-general the nozzle carrier of third；

C- print platform；

D- driving device；D1- first driving device；The second driving device of D2-；D3- third driving device；

F- rack；

The nozzle that NA- is arranged on nozzle boss and (is connected with nozzle boss)；N01, N02, N03, N04- nozzle；

N1, N1 '-first jet；N2, N2 '-second nozzle；N3, N3 '-third nozzle；Four nozzle of N4, N4 '-the；

11- bearing；

21- conveying channel；22- feeding inlet；23- spray material port；

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

41- screw rod；42- screw；43- locating slot, 44- locating rod；

51- mounting plate；52- lug boss；

Specific embodiment

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention a specific embodiment of the invention will be compareed below.Apparently; drawings in the following description are only some embodiments of the invention; for those of ordinary skill in the art; without creative efforts; it is also possible to obtain other drawings based on these drawings; and other embodiments are obtained, these embodiments should be all contained in scope of patent protection of the invention.

Multiinjector 3D printing spray head embodiment one, referring to shown in Fig. 1, the three-dimensional cutaway view of multiinjector 3D printing spray head, the present embodiment specifically provides a kind of printing head, including nozzle boss A, nozzle carrier B, driving device D.Wherein, printing head is equipped at least two nozzles, and nozzle carrier B is movably arranged on nozzle boss A, and at least one nozzle N is arranged on nozzle carrier B.As shown in Figure 1, two nozzles N01, N02 are set on nozzle carrier B；As shown in Figure 2, two nozzles N01, N02 are set on nozzle carrier B, a nozzle NA is set on nozzle boss A.Driving device D drives nozzle carrier B to be moved when use, and printing head drives two nozzles N01, N02 to move along the track being set on spray head.It should be noted that nozzle carrier B is the inside of nozzle boss A of being slidably located in Fig. 1, and preferably the midpoint of the line of two nozzle N is allowed to be overlapped with the central axis of nozzle carrier B；Nozzle carrier B is the outside of nozzle boss A of being slidably located in Fig. 2, and is preferably overlapped the nozzle NA being arranged on nozzle boss with the central axis of nozzle carrier B.

Certainly in other embodiments, multiple nozzle N can be arranged on nozzle carrier B at least one, and one or more is arranged on nozzle boss A.As shown in Fig. 3,4, it is preferable that four nozzles N01, N02, N03, N04 are set on nozzle carrier B, wherein the midpoint of two intermediate nozzle N02, N03 lines is overlapped with the central axis of nozzle carrier B.Nozzle N01, N02, N03, N04 opposing showerhead seat A can be driven to move under the rotation of nozzle carrier B in this way, each nozzle N01, N02, N03, N04 form a track, the track is formed by the tracks that nozzle carrier B is determined in nozzle boss A, it should be noted that spray head Seat movement and the moving line under nozzle carrier motion synthesis motion result, should be the printing path of nozzle under normal circumstances.And the tracks that nozzle carrier B is determined in nozzle boss A are the track of nozzle carrier, the track of nozzle carrier is the circle for the different radii being fixed on nozzle boss A in the application.

Further it should be noted that the setting quantity of nozzle N and arrangement mode do reasonable adjustment all in accordance with actual needs.Preferred nozzle arrangement mode is that nozzle collinearly arranges.In Examples hereinafter, preferred nozzle arrangement mode is that the conllinear nozzle arrangement mode of nozzle may be implemented by the rotation of nozzle carrier.

Further, since the every nozzle carrier for increasing an activity setting of multiinjector 3D printing spray head can mean that the nozzle added and be arranged on one degree of freedom namely the nozzle carrier added can be by being driven by nozzle carrier to a printing path.And the degree of freedom in system compared to multiinjector 3D printing spray head further increases nozzle number, its significance lies in that can choose some in plurality of nozzle on corresponding printing path, for example it can choose a nearest nozzle, the kinetic equation loss of driving device can be reduced, or it can choose the nozzle for printing certain material, or can choose the nozzle for printing certain color, to promote the flexibility of application.Illustratively, can be arranged multiple nozzles on nozzle carrier with rectangle or circular array.

Multiinjector 3D printing spray head embodiment two, the present embodiment two and the structure and working principle of embodiment one are essentially identical, referring to shown in Fig. 5, difference is only that: nozzle carrier includes first jet seat B1, second nozzle seat B2 and third nozzle carrier B3, and at least one first jet N1 is provided on first jet seat B1, at least one second nozzle N2 is set on second nozzle seat B2, at least one third nozzle N3 is set on third nozzle carrier B3.Driving device D includes first driving device D1, the second driving device D2 and third driving device D3 simultaneously.Wherein, first jet seat B1 is connect with first driving device D1, and is moved by first driving device D1 driving；Second nozzle seat B2 is connect with the second driving device D2, and is moved by the second driving device D2 driving；Third nozzle carrier B3 is connect with third driving device D3, and is moved by third driving device D3 driving.

When practice, the nozzle carrier respectively connected is respectively driven by each driving device and is moved, and then realizes the adjustment set to each nozzle opposing showerhead seat.It should be noted that, there are many set-up modes of driving device, Fig. 5, the gear shaft of driving device is parallel relation in 6, and another arrangement of driving device is given in Fig. 7, vertical relation is set by the gear shaft of adjacent driven device, is more conducive to reducing the spacing of driving device on nozzle carrier axial direction in this way.

Illustratively, in multiinjector 3D printing spray head embodiment two, the first jet seat B1 of setting, Second nozzle seat B2 and third nozzle carrier B3 is sleeve-like configuration；Referring to shown in Fig. 6,7, by being followed successively by first jet seat B1, second nozzle seat B2 and third nozzle carrier B3 except interior.It can be connect with nozzle boss A to be arranged with third nozzle carrier B3 sliding when specific installation, second nozzle seat B2 is arranged with third nozzle carrier B3 sliding and is connect, and then first jet seat B1 is arranged with second nozzle seat B2 sliding and connect.

It should be noted that third nozzle carrier B3 can be slidably located on the outside of nozzle boss A, and second nozzle seat B2 and first jet seat B1 are successively arranged again in other multiinjector 3D printing spray head embodiments, specifically it is arranged sequence and is not construed as limiting.Third nozzle carrier B3 can also be connect by bearing 11 with nozzle boss A simultaneously, as shown in Fig. 1,3, naturally it is also possible to be attached using other modes, no longer be repeated one by one.

Illustratively, first jet seat B1, second nozzle seat B2 and third nozzle carrier B3 are arranged with one heart along same central axis.Referring to shown in Fig. 5,6,7, specifically first driving device D1 is arranged on nozzle boss A and is connect with first jet seat B1, first jet seat B1 can be driven to be rotated around central axis in this way, so that two first jet N1, N1 ' being arranged on first jet seat B1 are around center axis thereof；The second driving device D2 is also disposed on nozzle boss A and is connect with second nozzle seat B2 simultaneously, second nozzle seat B2 can be driven around center axis thereof by the second driving device D2, so that the angle between second nozzle N2 or N2 ' and the line and first jet N1 or N1 ' and the line of central axis of central axis is alterable；And then third driving device D3 is also disposed on nozzle boss A and is connect with third nozzle carrier B3, third nozzle carrier B3 opposing showerhead seat A can be driven around center axis thereof by third driving device D3 in this way, so that the angle between third nozzle N3 or N3 ' and the line and second nozzle N2 or N2 ' and the line of central axis of central axis is alterable.

It should be noted that first jet seat B1, second nozzle seat B2 and third nozzle carrier B3 can certainly be that bias is arranged in other multiinjector 3D printing spray head embodiments, specific connection type can also do reasonable design with rhizosphere actual demand.In the application for one heart, remaining connection type no longer illustrates one by one.

In multiinjector 3D printing spray head embodiment two, it is moved by the nozzle carrier that different each driving device drivings respectively connect along respective track, to realize to each nozzle being arranged on each nozzle carrier along printing path tangential direction and at a distance from the perpendicular plane in this direction between projection (i.e. in small Mr. Yu In the range of a value) it is adjusted, meet each nozzle and printed along corresponding printing path, effectively improves print speed.

The track of each nozzle carrier is the different circle of the radius that is fixed on nozzle boss A in this implementation.The track of certain nozzle carrier can be fixed on nozzle boss A, can also be fixed therein on a nozzle carrier B, the track of nozzle carrier is either a curve, is also possible to a point.No longer repeat one by one.

Multiinjector 3D printing spray head embodiment three, the present embodiment three and the structure and working principle of embodiment two are essentially identical, and first jet seat B1, second nozzle seat B2 and third nozzle carrier B3 are arranged with one heart along same central axis.Referring to shown in Fig. 8, difference is only that: third driving device D3 is arranged on nozzle boss A, and the second driving device D2 is fixed on third nozzle carrier B3, and first driving device D1 is fixed on second nozzle seat B2.Third nozzle carrier B3 opposing showerhead seat A can be driven to be rotated by third driving device D3 in this way, second nozzle seat B2 is driven to be rotated by the second driving device D2 connecting with third nozzle carrier B3 simultaneously, and the first driving device D1 connecting with second nozzle seat B2 drives first jet seat B1 to be rotated, and then realize single-way linkage function (i.e. when third driving device D3 drives, second nozzle seat B2 and first jet seat B1 is driven to rotate simultaneously by the second driving device D2 and first driving device D1, when second driving device D2 drives, first jet seat B1 is driven to rotate simultaneously by first driving device D1), the corner that the second driving device D2 and first driving device D1 needs to drive can be effectively reduced.

Further second nozzle seat B2 can also be driven around center axis thereof by the second driving device D2 again after realizing whole single-way linkage control certainly, and the first driving device D1 by being arranged on second nozzle seat B2 drives first jet seat B1 while rotating, so that the angle between second nozzle N2 or N2 ' and the line and third nozzle N3 or N3 ' and the line of central axis of central axis is alterable；First jet seat B1 can also be driven around center axis thereof by first driving device D1 simultaneously, so that the angle between second nozzle N2 or N2 ' and the line and first jet N1 or N1 ' and the line of central axis of central axis is alterable.Under independently driving by the driving device respectively connected again on the basis of single-way linkage in this way, move different nozzles along respective track.

It should be noted that the track of first jet seat B1 is the circle being fixed on second nozzle seat B2 in the present embodiment, the track of second nozzle seat B2 is the circle being fixed on third nozzle carrier B3, and the track of third nozzle carrier B3 is the circle being fixed on nozzle boss A.

Certainly, the similar structure being successively arranged does not terminate in three nozzle carriers above-mentioned and is successively arranged.Similar with above structure, several nozzle carrier B are arranged on nozzle boss A along successively suit setting, at least one nozzle carrier B from inside to outside.1 nozzle is at least set on each nozzle carrier.And each nozzle carrier B has a corresponding driving device D.The structure including 2 or more than 3 nozzle carriers can be extended to.

Multiinjector 3D printing spray head example IV, referring to shown in Fig. 9, second nozzle seat B2 and third nozzle carrier B3 are movably arranged on first jet seat B1.Wherein, first driving device D1 is arranged on nozzle boss A and connect with first jet seat B1, can drive first jet seat B1, second nozzle seat B2 and third nozzle carrier B3 in this way while be rotated.And second nozzle seat B2 and third nozzle carrier B3 are respectively that the second driving device D2 and third driving device D3 driving rotates or moves along a straight line.

Illustratively, as shown in Figure 9, first driving device D1 and first jet seat B1 is respectively rotation drive device and swivel nozzle seat, and the second driving device D2 and third driving device D3 are linear drive apparatus, and second nozzle seat B2 and third nozzle carrier B3 are linear nozzle seat；In this way when first driving device D1 driving first jet seat B1 rotated when and meanwhile rotate second nozzle seat B2, and second nozzle seat B2 opposite first jet seat B1 can move linearly under the driving of the second driving device D2, and the angle and/or distance of the formation of the line between second nozzle N2 and first jet N1 and third nozzle N3 can be efficiently controlled by movement.Third nozzle carrier B3 opposite first jet seat B1 can move linearly under the driving of third driving device D3, and the angle and/or distance of the formation of the line between third nozzle N3 and first jet N1 and second nozzle N2 can be efficiently controlled by movement.

It should be noted that, in the present embodiment, the track of first jet seat B1 is the circle being fixed on nozzle boss A, and the track of second nozzle seat B2 is the straightway being fixed on first jet seat B1, and the track of third nozzle carrier B3 is also the straightway being fixed on first jet seat B1.

Multiinjector 3D printing spray head embodiment five, as shown in Figure 10-a and 10-b, ejecting device includes: a nozzle boss A, diplopore nozzle carrier a B01, two general nozzle carrier B01 ' and B02 '.Wherein, at least one nozzle N and/or a cylindrical hole are provided on general nozzle carrier；It include two cylindrical holes on diplopore nozzle carrier, cylindrical hole is to install nozzle carrier.Each nozzle carrier has a corresponding driving mechanism (being not drawn into figure) to drive its movement.The first general general nozzle carrier B02 of nozzle carrier B01 ' and second is respectively in the rotatable cylindrical hole for being installed in diplopore nozzle carrier B01, set there are two first jet is respectively set on 2 nozzles namely the first general nozzle carrier B01 ' in the present embodiment on each general nozzle carrier First jet N02 and N02 ' there are two being set on N01 and N01 ', the second general nozzle carrier B02 '.In the present embodiment, nozzle is not set directly on diplopore nozzle carrier, the final motion profile of nozzle opposing showerhead seat is all that diplopore nozzle carrier is coupled with nozzle carrier spinning motion general where it, thus two nozzles on each general nozzle carrier can correspond to by adjusting the movement of nozzle boss A and nozzle carrier B to corresponding printing path.

Further, general nozzle carrier B01 ' and B02 ' can also be respectively selected as with one of flowering structure:

(1) it is equipped with a cylindrical hole and a nozzle, cylindrical hole can continue the telescoping structure formed in similar aforementioned multiinjector 3D printing spray head embodiment three to nozzle carrier is nested with；Both general nozzle carrier can be set in cylindrical hole, diplopore nozzle carrier also can be set.

(2) it is equipped with a cylindrical hole, general nozzle carrier both can be set in cylindrical hole, diplopore nozzle carrier also can be set.

Such structure type can be more with suitable nozzles seat number situation.As shown in figure 11, printing head device includes two diplopore nozzle carriers, and respectively the first diplopore nozzle carrier B01 and the second diplopore nozzle carrier B02, the second diplopore nozzle carrier B02 are installed in a cylindrical hole of the first diplopore nozzle carrier B01；Printing head device further includes three general nozzle carriers, the respectively first general nozzle carrier B01 ', the second general nozzle carrier B02 ' and the general nozzle carrier B03 ' of third.First general nozzle carrier B01 ' is installed in another cylindrical hole of the first diplopore nozzle carrier B01, and the second general nozzle carrier B02 ' and the general nozzle carrier B03 ' of third are installed in two cylindrical holes of the second diplopore nozzle carrier B02.And 2 nozzles are equipped on three general nozzle carriers.

It should be noted that being installed directly on nozzle boss A shown in Figure 10 and Figure 11 for diplopore nozzle carrier.In addition it is also possible to general nozzle carrier to be installed directly on nozzle boss A, and is connect by diplopore nozzle carrier with another general nozzle carrier.

Multiinjector 3D printing spray head embodiment six, the present embodiment discloses a kind of printing head device, and referring to Figure 12-a, printing head device includes: a nozzle boss A, two diplopore nozzle carrier B01 and B02 and three general nozzle carrier B01 ', B02 ' and B03 '.Wherein, at least one nozzle N and/or a cylindrical hole are provided on general nozzle carrier；It include two cylindrical holes on diplopore nozzle carrier, cylindrical hole is to install nozzle carrier.Each nozzle carrier has a corresponding driving mechanism (being not drawn into figure) to drive its movement.

First diplopore nozzle carrier B01 is installed on nozzle boss A.General nozzle carrier B02 ' wears the cylindrical hole of two diplopore nozzle carriers B01 and B02, so that B01 and B02 is rotatably connected, other two general nozzle carrier B01 ' and B03 ' is respectively arranged in another cylindrical hole of B01 and B02.It is set respectively on each general nozzle carrier in the present embodiment It sets and is set on 2 nozzles namely the first general nozzle carrier B01 ' there are two first jet N01 and N01 ', set that there are two first jet N02 and N02 ' on the second general nozzle carrier B02 '.

Certainly, the number of diplopore nozzle carrier is not limited to 2, is rotatably connected by a general nozzle carrier between every two diplopore nozzle carrier, can continue to extend diplopore nozzle carrier to one or both sides with the structure similar to Figure 12-a, form the structure of chain-type.And the case where being rotatably connected if there is three diplopore nozzle carriers by a general nozzle carrier, the structure then extended is just just changed into reticular structure from chain structure, as shown in Figure 12-b and 12-c, diplopore nozzle carrier B03, B02, B01 and B05 passes sequentially through a general nozzle carrier and is rotatably connected to form a chain structure, diplopore nozzle carrier B04 is rotatably connected onto the connecting shaft of diplopore nozzle carrier B02 and B01, then by two sides diplopore nozzle carrier B03, B05 and the B04 of centre are rotated to the position being parallel or nearly parallel, then form reticular structure shown in Figure 19.It can continue to extend to the outside with similar structures.

It is similar therewith, as shown in figure 13, nozzle carrier B1, B2, B3 are made of mounting plate 51 and lug boss 52, lug boss is cylindric, the cross-sectional area of lug boss is less than mounting plate, nozzle N01, N01`, N02, N03 are arranged on lug boss 52, and wherein nozzle carrier B1 includes two lug bosses, are respectively equipped with nozzle N01 and N01` thereon；A lug boss 52 and a cylindrical hole are provided on nozzle carrier B2 and B3, the cylindrical hole of nozzle carrier B2 is set on the lug boss where nozzle N01`, then the mounting plate of two nozzle carriers is realized as rotary shaft using a lug boss and is rotatably connected, and the cylindrical hole of nozzle carrier B3 is set on the lug boss 52 of nozzle carrier B2.Certainly, nozzle N01` can be arranged on the same lug boss with nozzle N01, to shorten the distance between nozzle.

Continue to expand outward with nozzle holder structure shown in Figure 13, longer chain structure can be formed.And after being rotatably connected 3 nozzle carriers on a lug boss, it is similar with previous embodiment, reticular structure as shown in figure 23 can be formed.

In addition, between nozzle carrier B1 and B2 or axle construction can also be rotated by others between nozzle boss to connect, circular arc projective structure can be such as set on B1, circular arc concave inward structure is set on B2, and circular arc projective structure is embedded into circular arc concave inward structure i.e. and may be formed at rotation axle construction connection swingable within the scope of certain angle.The shape of lug boss 52 is not required to be cylindric described in Figure 13 at this time.

Above-mentioned six multiinjectors 3D printing spray head embodiment, nozzle can be set in identical height, printed conducive to the printing path on identical layer, and be conducive to simplify design and production.In addition, nozzle also can be set at least two height, such as Figure 10, shown in Figure 11 and Figure 12-a, so can preferably adapt to same When printing different layers on printing path the case where, such as its corresponding printable layer of multiple nozzle distances can be made to be equidistant, or according to the characteristic of different material each nozzle is on optimum distance, purpose is to fall on printed material on printable layer as far as possible while from nozzle, conducive to printing effect is promoted, it is also convenient for controlling.

Height regulating mechanism control nozzle carrier lifting can also be added other than just having different height when nozzle itself designs, on spray head, then driven on nozzle to corresponding height thereon.Illustratively linkage can be positioned using screw rod vice mechanism or locating slot.As shown in Figure 15-a, screw rod vice mechanism is made of screw rod 41 and screw 42, is connected respectively with nozzle boss and nozzle carrier, or is connected with 2 nozzle carriers.The variation of two connecting component axial direction differences in height is realized by the spinning movement of screw rod 41.The movement of screw rod 41 can realize (driving motor is not shown in the figure) by manual or motor driven.Illustratively, Figure 15-b can also be please referred to using locating slot positioning linkage, locating rod 44 can be inserted into different locating slots 43 as needed and be limited, the height for the adjusting nozzle carrier that can be classified, to adjust the difference in height between nozzle.

The driving device being arranged in aforementioned multiinjector 3D printing spray head embodiment is helical gear, turbine and worm transmission or screw pair.As shown in Figure 16-a, driving device can also be Bevel Gear Transmission pair, as shown in Figure 16-b, driving device using rotor and nozzle carrier it is direct-connected by the way of driven, i.e. hollow shaft motor mode drives, and Figure 16-c uses toothed belt transmission mode to be driven.Certainly one of spur gear or hydraulic motor can also be used in driving device in other multiinjector 3D printing spray head embodiments, can specifically select, no longer repeat one by one according to actual needs herein.

The track of nozzle carrier preferably circle or straight line, in other embodiments, the track of nozzle carrier can also be other curve forms.For example, the sliding slot track of curve can be set on nozzle boss or nozzle carrier, nozzle carrier is moved along this sliding slot curve chute, then the track of the nozzle on nozzle carrier then can be curve.Rationally setting track may be implemented a driving device and drive multiple nozzle carriers in certain application examples.In addition a nozzle carrier can also be driven with multiple driving devices

On the basis of above-mentioned six multiinjectors 3D printing spray head embodiment, in printing head the structure of nozzle be nozzle equipped with material pore structure, without material pore structure nozzle it is a kind of, and the material of the nozzle be metal, electrical insulating material, insoluble electrode material, non-metallic conducting material one or more of materials it is compound.

Nozzle equipped with material pore structure, see in Figure 14-a, 14-b, nozzle carrier includes conveying channel 21, and (the mouth that material i.e. relevant to printing enters of feeding inlet 22 at conveying channel both ends is set, it is connect in actual use with feeder) and spray material port 23 (mouth i.e. for spraying material relevant with printing).Wherein, Conveying channel 21 is set as ramp way, so that the distance between spray material port 23 in conveying channel 21 of nozzle carrier is less than the distance between feeding inlet 22, so that the distance between nozzle can be realized and reduce in the case where 22 spacing of feeding inlet need not be close, the nozzle arrangements of this form are conducive to carry out multiinjector printing to the lesser object of printing path curvatures, and the angle of nozzle carrier relative rotation can be reduced in identical printing path radius of curvature, be conducive to promote print speed.As shown in Figure 2, spray material port 23 connect with the straight type in conveying channel 21 of top and (is coaxially disposed), and the flow resistance of 21 structure of spray material port 23 and conveying channel of this sample loading mode is small.Certainly conveying channel 21 can also be arranged to other types in other embodiments, belonged within the scope of the application protection.

It in above-mentioned six multiinjectors 3D printing spray head embodiment, when practice, preferably allows the spacing between nozzle small as far as possible, is conducive to promote printing effect in this way.Spray head is equipped with the sensor 30 for checking nozzle carrier opposing showerhead seat angular position or corner zero point information, as shown in Figure 3.Particularly by the deviation of nozzle carrier angular position obtained and expectation angular position come the movement on its track of corresponding real-time control nozzle carrier, and combine the X of nozzle boss and print platform, Y, Z relative motion is finally reached multiple nozzle N and is printed along respective corresponding printing path.As shown in Figure 5, each nozzle carrier B obtains the corner zero point or angle position information of each nozzle carrier by respective first sensor 31, second sensor 32 and 3rd sensor 33.

Wherein, the sensor of setting can be one of photoelectric sensor, Hall sensor, rotary transformer, travel switch and touch switch, sensor can also be mounted on printing head seat A simultaneously, or on each nozzle carrier B, it need to only meet the detection to nozzle carrier B corner zero point or angular position.Specifically mounting means is not further in this application is limited, and can do reasonable mounting design according to actual needs.The multiinjector 3D printing spray head can add other component or function, such as heating device, radiator or feeder according to the actual application.

The present invention also provides a kind of Method of printings, are printed using printing head and print platform, and printing head is equipped at least two nozzles, which includes nozzle boss and nozzle carrier, printing head and print platform relative motion, comprising the following steps:

B), using printing head on the print platform to generating on each layer of the object to be printed Printing path is printed, and moves at least two nozzles along corresponding printing path respectively.

The present invention also provides another Method of printings, Method of printing uses the spray head with multiple nozzles, x is being carried out with spray head and print platform, y, while tri- direction relative motions of z, by each nozzle carrier or nozzle boss respectively relative to the rotation of print platform, so that nozzle realizes any adjustable (even if at least two nozzles are moved along corresponding printing path respectively) along printing path tangential direction and at a distance from the perpendicular plane in this direction between projection in the range of being less than some value, to realize multiinjector 3D printing.

Several common Method of printings are introduced in detailed annotation in Method of printing in detail below, and reality can do reasonable adjustment when printing as needed, the Method of printing being not limited in the embodiment provided:

Method of printing embodiment one is referring to shown in Figure 17-a and Figure 24, illustratively, if four nozzles NA, N1, N2, N3 are arranged on printing head, and meet this 4 nozzles and can be driven by the movement of nozzle boss and nozzle carrier to corresponding printing path.Nozzle boss is equipped with a nozzle NA, and the origin for setting its printing head is overlapped with this nozzle, and nozzle boss A drives its origin and print platform C relative motion, its origin is made to be moved to the starting point relative to printing path on print platform C.Nozzle boss A drives nozzle NA to move in X, Y plane along printing path L1.First jet N1 is moved along track T1, stops moving along its track T1 until on first jet N1 arrival printing path L2, if the angle of relative initial position is α 1 after mobile, the distance that NA is arrived after mobile is d1；Second nozzle N2 is moved along its track T2, stop moving along track T2 on printing path L3 until second nozzle N2 is reached, if the angle of relative initial position is α 2 after mobile, the distance that NA is arrived after movement is d2, third nozzle N3 is moved along its track T3, stop moving along track T3 until on third nozzle N3 arrival printing path L4, if the angle of relative initial position is α 3 after mobile, the distance that NA is arrived after mobile is d3.It should be noted that sequencing that four nozzles NA, N1, N1, N3 arrive separately at its correspondence printing path is unlimited, or reach simultaneously.

Obviously, as long as multiinjector 3D printing spray head has the nozzle carrier of at least three activity setting, increase 3 freedom degrees newly, at least four nozzle, which can be met, can be driven on corresponding printing path, and then realize that 4 nozzles are advanced along corresponding printing path respectively, because nozzle boss can always guarantee that at least one nozzle is on corresponding printing path with respect to the relative motion of print platform.It should be noted is that the nozzle quantity in this method embodiment and subsequent processes embodiment is merely illustrative, Method of printing pair There is no limit for nozzle quantity.And when printing path number of variations, the number of nozzle carrier and nozzle can be changed accordingly.In addition, no matter whether there is a nozzle NA to be located on nozzle boss in four nozzles in this embodiment, Method of printing be it is similar, details are not described herein.For the printing head in aforementioned multiinjector 3D printing spray head embodiment one to seven, it can be extended to the structure of the nozzle carrier including at least 3 activity settings, so it is adapted to this method embodiment.

It is subsequent that further refinement explanation is done to Method of printing with regard to rectilinear print path or track and curve printing path or track respectively because the printing path or track of arbitrary curve can be realized by the fitting of straight line and circular arc.In the embodiment of refinement, nozzle NA and N1 are arranged onto the same nozzle carrier B1, and be respectively designated as N1 and N1`.This processing will not change printing effect.

When printing path L is one group of parallel lines: as shown in Figure 17-b and Figure 24.There are three nozzle carriers on a nozzle boss, and 3 nozzle carriers rotate independently of each other.Wherein, first jet N1 and first jet N1` is fixed on first jet seat B1 (i.e. two first jets N1, N1` are arranged on first jet seat B1), second nozzle N2 is fixed on second nozzle seat B2, third nozzle B 3 is fixed on third nozzle carrier B3, T1, T2, T3 are the track of nozzle N1`, N2, N3 respectively, are circle in this example.When each nozzle carrier rotates certain angle respectively, in conjunction with the relative motion of nozzle boss and print platform, each nozzle can be made all on corresponding printing path, as shown in the figure.In addition, three nozzle carriers in Figure 17-b can also be interrelated rotation, for example, the tracks of first jet seat B1 are fixed on second nozzle seat B2, the tracks of second nozzle seat B2 are fixed on third nozzle carrier B3, and the tracks of third nozzle carrier B3 are fixed on nozzle boss A.Each nozzle carrier rotates certain angle respectively, in conjunction with the relative motion of nozzle boss and print platform, it is also possible that each nozzle is all on corresponding printing path.The corner that can reduce nozzle carrier B2 and B1 is arranged such.In other application, 4 nozzles also be can be set in the same nozzle carrier, such as can cancel nozzle carrier B2 and B3, and nozzle N2 and N3 are arranged on nozzle carrier B1.And each nozzle is collinearly arranged, and the spacing of nozzle and the spacing of printing path are corresponding in proportion, or a kind of further application, the spacing of printing path is equal (i.e. P1=P2=P3), the conllinear equidistant placement of nozzle.Nozzle can be made to be respectively on corresponding printing path in conjunction with the relative motion of spray head and print platform when nozzle carrier B1 rotates suitable angle.Figure 17-c provides another embodiment, and first jet seat B1 is connect with nozzle boss A, and second nozzle seat B2, third nozzle carrier B3 setting are the On one nozzle carrier B1, and the track of first jet seat B1 is the circle being fixed on nozzle boss, and the track of second nozzle seat B2 and the track of third nozzle carrier B3 are fixed on first jet seat B1, is conllinear line segment.Nozzle carrier B1 rotates certain angle, while nozzle carrier B2 and B3 move a certain distance along track, in conjunction with the relative motion of spray head and print platform, each nozzle can be made to be on corresponding printing path.Certainly, the track T2 and T3 of nozzle carrier B2 and B3 can not also be conllinear, or is not overlapped with nozzle N1, multiinjector equally may be implemented while printing a plurality of printing path.

Illustratively, when printing path L is one group of concentric loop: as shown in Figure 17-d and Figure 24.3 nozzle carriers can be rotated independently of each other, be also possible to interrelated rotation.Each nozzle carrier rotates certain angle respectively, in conjunction with the relative motion of nozzle boss and print platform, each nozzle can be made all on corresponding printing path.If 4 nozzles are all disposed on the same nozzle carrier, the situation that 2 nozzles cannot accurately on corresponding printing path might have, approximate printing can be done for application of less demanding.Figure 17-e provides another embodiment, first jet seat B1 is connect with nozzle boss A, second nozzle seat B2, third nozzle carrier B3 are arranged on first jet seat B1, and the track of first jet seat B1 is the circle being fixed on nozzle boss, the track of second nozzle seat B2 and the track of third nozzle carrier B3 are fixed on first jet seat B1, are line segment.Nozzle carrier B1 rotates certain angle, while nozzle carrier B2 and B3 moves a certain distance along respective track, in conjunction with the relative motion of spray head and print platform, each nozzle can be made to be on corresponding printing path.Certainly, the track T2 and T3 of nozzle carrier B2 and B3 can also be conllinear, or is overlapped with nozzle N1, multiinjector equally may be implemented while printing a plurality of printing path.It may be noted that when nozzle N1, N2, N3, N4 printing be same layer when.Four nozzles N1, N2, N3, N4 can print 4 paths of same layer respectively, namely when p1, p2, p3 are not 0.There can also be at least two nozzles while print same path, namely when it is 0 that p1, p2, p3, which have 1,.Specifically, working as p1=p3=0, when p2 is not 0, N1 is printed L1 (being overlapped with L2) simultaneously with N2, and N3 and N4 print L3 (being overlapped with L4) simultaneously.In addition, nozzle N1, N2, N3, N4 can also print the printing path at least two layers simultaneously.

A kind of applicable cases in the case where determining for printing path spacing, if injector spacing can be set to identical as printing path spacing, are arranged multiple nozzles (as >=3) on a nozzle carrier, conllinear to arrange, and simplify nozzle structure.While spray head and print platform relative motion, nozzle carrier and print platform are relatively rotated, and also be may make each nozzle while being on printing path.

It should be noted that being overlapped the origin of nozzle boss with a certain nozzle N in above-mentioned each specific Method of printing embodiment, this processing method is used for the purpose of easy analysis.Actually nozzle boss origin can be set in any position of nozzle boss, and can reach identical result.The nozzle circular orbit center of circle is in above-mentioned example is overlapped with nozzle B 1, is for easy analysis, the circular orbit center of circle of actually each nozzle can be located at any position on spray head, and need not overlap.Printing path and nozzle track are indicated with corresponding line is mapped on X/Y plane in figure.Arrow in figure indicates the direction of motion of the spray head with respect to print platform, it can be spray head movement, be also possible to print platform movement, or both associated movement generation.It is following same.

Method of printing embodiment two, this Method of printing is applied to the case where multilayer prints simultaneously, referring to Figure 18, Figure 19, Figure 20-a, Figure 21-a, Figure 23 and Figure 24.In Figure 18, illustratively, spray head includes nozzle boss A, 1 nozzle carrier B, 2 nozzles N01 and N02, i.e., corresponding printing path L1 and L2.The track of double dot dash line signal nozzle in figure.The projection spacing of printing path L1 and L2 on X/Y plane is k1, and projection spacing in z-direction is δ 1.It is specific:

When k1 is 0, nozzle N01, projection of the printing path L1 and L2 of N02 on X/Y plane are overlapped at this time.Further, when δ 1 is 0, on the same layer, that is, p1 is 0, two printing paths are overlapped by printing path L1 and L2.When δ 1 is not 0, printing path L1 and L2 be not in same layer.

When k1 is not 0, the N01 of nozzle, projection of the printing path L1 and L2 of N02 on X/Y plane are not overlapped at this time.Further, when δ 1 is 0, printing path L1 and L2 are on the same layer.When δ 1 is not 0, printing path L1 and L2 be not in same layer, and the projection on X/Y plane is not overlapped.

Two nozzles N01, N02 can have one to be arranged on nozzle boss A, another is arranged on nozzle carrier B, and two nozzles equally may be implemented and advance respectively along printing path L1, L2 of different layers.

Further, as shown in figure 19.Include 6 nozzles N01, N01 ', N02, N02 ', N03, N03 on multiinjector 3D printing spray head ', it can be driven separately to corresponding printing path L1, L2, L3, L4, L5, L6.Printing path is illustrated in figure respectively on 3 layers, in which: N01, N01 ' be located on the same floor, N02, N02 ' be located on the same floor, N03, N03 ' be located on the same floor；Illustratively, the projection of L1, L2, L3 in the face XY is overlapped, and the projection of L4, L5, L6 on the face XY is overlapped, and the projection of L1 and L4 on printing surface is not overlapped.

Illustratively, this Method of printing can pass through the reality of printing head device shown in Figure 12-a in embodiment six It is existing.A kind of nozzle carrier of every layer of 2 printing path or the adjustment mode of nozzle.Two nozzles on each general nozzle carrier are located on the same floor, and print different printing paths respectively.Namely 6 nozzles print 3 layers simultaneously, every layer prints 2 printing paths simultaneously.Figure 20-a, illustratively, 4 nozzles N1, N2, N3 and N4 are continuous simultaneously respectively to squeeze out the example for printing the printing path on 4 layers.Figure 21-a illustrates 4 nozzles N1, N2, N3 and N4 respectively while the example of discrete 4 layers of printing path of jet printing.

It needs to illustrate, the case where nozzle is set as identical height, such as the multiinjector in Figure 21-b, can be used for multilayer printing.Printing distance on each nozzle to equivalent layer can be different.This mode can simplify nozzle structure.In addition nozzle carrier B1 in figure, B2, B3 and B4 are signal, actually can merge one with several nozzle carriers or be fixed with one with nozzle boss, as Figure 21-c show the example that 4 nozzle carriers merge one.Similarly hereinafter.

Method of printing embodiment three, this method can be printed on integer layer, can also be printed in fractional layer.Integer layer refers to model slice or is layered generated layer, and fractional layer refers to the layer between integer layer.For example, if nozzle can print the material of at least two sizes respectively, or printing at least goes out the material of two kinds of diameters.The nozzle N01 for controlling the printing large scale or major diameter printing material prints any printable layer of object to be printed, and the nozzle N02 for controlling the printing smaller size or minor diameter printing material is corresponded to be printed between two printable layer of object to be printed.The big material of size or diameter prints to the printing path on adjacent layer, and size or the small material of diameter print the gap location of heap stack between layers；Printing material forms stacked structure shown in similar Figure 20-b.By increasing the printing material in fractional layer between layers, the contact area of printing material can be improved, the material that promotion caking property between layers can also print in fractional layer carrys out the intensity and sealing performance of lift scheme.It can be with the smoothness on lift scheme surface.

It should be noted is that carrying out fractional layer printing by the way of discrete injection also can achieve the similar structures of Figure 20-b, aforementioned similar effect is realized.In addition track is that the nozzle of line segment can be used for the multilayer printing of integer layer or fractional layer, and method is similar, is described again here.

Method of printing example IV, nozzle in this Method of printing can continuous extruded stock can also be with discrete jetting material, or be light-source type nozzle, heat source type nozzle；Electric pole type nozzle；Magnetic pole type nozzle.Discrete spray regime printing is as shown in Figure 21-a, Figure 21-b and Figure 21-c, the movement of control nozzle carrier and nozzle boss makes nozzle respectively correspond its printing path to be printed, the body of string-like is formed along print track, nozzle N1, N2, N3, N4 can respectively correspond the print track on different layers, nozzle N1, N2, N3, N4 can be arranged on different height as shown in Figure 21-a, can also be arranged on sustained height as shown in Figure 21-b.

Discrete printing type is different from continuous extruded type printing type, the printing material of discrete jet printing mode be it is discrete eject namely printing material be it is a a spray, be specifically as follows particle, slurry, drop or aerosol.Light-source type nozzle implies that nozzle is light-source structure, can provide specific illumination, heat source type nozzle implies that nozzle for heat source configurations, can provide heat source；Electric pole type nozzle implies that nozzle is electrode structure, can provide electric field；Magnetic pole type nozzle implies that nozzle is field structure, can provide magnetic field.Nozzle on multiinjector 3D printing spray head may include one or more of mentioned kind nozzle.Discrete printing type is conducive to the details of printer model, conducive to the printing of composite material, is also conducive to promote print speed in some applicable cases.Light-source type nozzle illustratively, such as provides the light source of photo-curing material solidification, can carry out solidification implementation model printing to photo-curing material along printing path.Heat source type nozzle can also provide similar effect.Electric pole type nozzle can allow electrolyte to carry out precipitating metal along printing path, realize 3D printing.Magnetic pole type nozzle can provide similar effect, or carry out magnetization treatment to material along printing path.

Further, nozzle can switch between printing type and discrete jet printing mode continuously squeezing out.Or portion nozzle uses continuous extruded type printing type, portion nozzle is printed using discrete spray regime.The benefit of different printing types, expanded application range and flexibility can be integrated.

Method of printing embodiment five, this Method of printing can also realize the printing of colored or pattern, also may be coextruded file printing.3D model containing colour information or pattern-information is analyzed, slice or layered shaping are carried out to model, in every layer of upper corresponding printing path of generation, and corresponding mass-tone unit is arranged on the corresponding position of printing path according to the colour information of model or pattern-information, it is formed along the linearly aligned mass-tone unit string of printing path.The colour or pattern of former 3D model can be reappeared by the 3D printing model that these mass-tone unit strings synthesize.

The nozzle of multiinjector 3D printing spray head can print color material corresponding with each mass-tone unit respectively, when the nozzle reaches one position of printing path, it is printed in the position according to the color of the mass-tone unit of position nozzle corresponding with the control of the match condition of nozzle print material color, these small mass-tone materials are arranged in the color or pattern for macroscopically showing setting.

Illustratively, as shown in Figure 21-b, Figure 21-c and Figure 21-d, schematic diagram is printed for colored or pattern.Nozzle N1, N2, N3, N4 print 4 kinds of mass-tones in CMYK color model, i.e. C (Cyan/ cyan) M (Magenta/ magenta) Y (Yellow/ yellow) K (Black/ black) respectively.Certainly, W (white/ white) or other colors can also be increased if necessary, form a greater variety of mass-tone units, or reduce therein Mass-tone unit forms the mass-tone unit of less type.When the mass-tone in nozzle print material color and certain position mismatches, then continues to move to but do not print.Each nozzle is controlled to be printed when moving to the position for needing to print the mass-tone.It is finally completed the printing of colored or pattern.Example in Figure 21-b, 4 nozzles are respectively provided on corresponding nozzle carrier, and discrete spray regime printing, 4 nozzles can be moved along the printing path with mass-tone unit simultaneously, when the printing of the mass-tone of nozzle movement to some position and the jetting material color-match of nozzle, jet variance expects on corresponding position, otherwise leaves the discrete material for carrying out spraying corresponding color after the nozzle movement to this position of the subsequent injection suitable color material such as vacancy again.Nozzle N1, N2, N3, N4 are arranged on a nozzle carrier, can simplify nozzle structure by example shown in Figure 21-c.At least two nozzle can be simultaneously on printing path.Can according to printing corresponding color material nozzle to printing path on some position to match on mass-tone units match position apart from situation, it dynamically adjusts corresponding nozzle and is moved to the discrete corresponding color material of injection on the corresponding position on printing path, then this nozzle temporarily may stop printing and be moved away from printing path, and adjust the discrete material that other nozzles are moved on printing path discrete injection corresponding color on corresponding position, and so on, i.e. four nozzles are set on identical nozzle carrier, can equally complete colour print.Similar, as shown in Figure 21-d, can also make the printed material of nozzle N1, N2, N3, N4 is conitnuous forms, namely carries out realization colour print using continuous extruded type nozzle sections extruded stock, and mechanism is printed with discrete injecting type above-mentioned.

Using colored or pattern Method of printing, each mass-tone unit is transformed to different material cells, composite material printing equally may be implemented.Some or all of multiinjector 3D printing spray head i.e. above-mentioned nozzle prints different materials respectively, when certain nozzle is moved to certain position on printing path, printed according to the match condition control nozzle of material cell information and nozzle institute printed material on this position.

Furthermore it is also possible to using light-source type nozzle or heat source type nozzle, or the change of electric pole type nozzle or magnetic pole type nozzle to printing material color or characteristic, prolong and the color of corresponding units or material are changed or are adjusted on printing path, the printing of colored or pattern or composite material printing equally may be implemented.

Certainly, the corresponding color model of the color-match of the number of nozzle and printing material used or the modification of textures patterns.Multiple color system or model can be used, such as gray level model, double-colored model (such as black and white printing) or two-value model, or other color model such as HLS (tone (hue), brightness (lightness), saturation degree (saturation)), RGB (red, green, basket), CIE color space model, CIELAB color space model, or other colour models or system.Or other colors, such as gold, copper, silver etc. Color specific to metal color or other materials.Corresponding mass-tone unit can be distributed on every printing path using the color algorithms such as halftoning or duotone or pattern algorithm.It can also be using textures or patterns etc..It can also be other surface characteristics, such as transparent, luminous or fluorescent effect.Such as model surface uses transparent material, and pattern is formed inside model, can form the printer model of similar amber.Namely the mass-tone unit in the present embodiment, various colors system above-mentioned or model foundation can be based on.

Method of printing embodiment six, when print platform C can be rotated, the rotation of print platform C can substitute the rotation of a nozzle carrier of aforementioned multiinjector 3D printing spray head.A nozzle carrier and nozzle boss can be connected together at this time, and save corresponding driving device, and then simplify nozzle structure, reduce spray head quality.The tracks of one nozzle carrier can also be omitted, or a nozzle carrier with rotary track is directly affixed on nozzle boss, simplify structure.

Certain Application Examples or are mounted in the rack that can be moved integrally if multiinjector 3D printing spray head is fixed on robot arm, and the rack for being also possible to install nozzle boss drives entire multiinjector 3D printing spray head to rotate together.

Method of printing embodiment seven, in print procedure, at least one nozzle has not been printed before a printing path, it is transferred to another printing path to be printed, this two printing paths can be in same layer, also in different layers, and printing can be interrupted in handoff procedure, or uninterrupted, as shown in figure 23.The material of a kind of material or color can be allowed to be switched fast on different printing paths, or continuous printing.Such as in Figure 23, continuous extruded stock being switched on one layer of printing path above of uninterruptedly printing of printing path in the layer below, if continuous extruded stock is conductive material, discrete jetting material is insulating materials, then continuous conduction path can be made to keep continuous on different printing paths.In addition, certain pattern or form of composite can be formed by multiinjector printing alternate on multiple printing paths.Also, discrete jetting material is printed, composite material is printed or based on certain colored or pattern printing, is switched on different printing paths by nozzle, on corresponding position, print speed can will can be improved on the material of this nozzle or color printing speed to different printing paths.

In other specific Method of printing embodiments, nozzle quantity more than three on a nozzle carrier, or there are two all more than two respectively of the nozzle on nozzle carrier, then might have extra nozzle cannot accurately be adjusted on printing path.But certain applicable cases, such as when printing parallel lines, these nozzles be may be adjusted on same straight line, and extra nozzle can be used；Or the print path for model Diameter radius of curvature is larger, and the situation that required precision is not high, the extra nozzle for being used only for printing parallel lines can be can also be used for printing curve.It is dynamically adjusted on suitable nozzle to printing path in addition it can the material that is printed according to the distance of nozzle to printing path or each nozzle or color, the flexibility in expanded application.

Spacing between the printing path of adjacent nozzle refers to the normal distance between two printing paths.In addition, can be dropping cut slice, oblique slice, or vertical slice to model slice or layering.

Print platform can be ground, desktop, conveyer belt, pallet, the surface of the print platform being specially arranged or other models.In some applicable cases, print platform can also be curved surface, and after print platform out-of-flatness or model printing a part, the surface for continuing printing on model becomes out-of-flatness.For the print platform of curved surface, multiinjector 3D printing spray head can use the height difference adjusting mechanism between nozzle carrier or between nozzle boss according to the difference in height between the spacing of nozzle and print platform plane dynamic adjustment nozzle carrier or between nozzle boss, the when necessary relative motion of also adjustable multiinjector 3D printing spray head and print platform.To keep each nozzle to the expectation spacing of corresponding print position.

When print platform is plane, the X/Y plane face parallel with print platform plane.Z axis is the axis vertical with X/Y plane.

It should be noted that the direction of the nozzle-axis of multiinjector 3D printing spray head, i.e. nozzle discharging, it can or out of plumb vertical with print platform, out of plumb, that is, nozzle discharging direction and print platform form certain tilt angle, such as Figure 22, and nozzle discharging direction and the angle β of print platform C are not 90 °.The direction of rotation of nozzle carrier is also possible to rotate around the axis vertical with print platform C either around nozzle-axis rotation.Adjust the difference in height between each nozzle carrier or between nozzle boss, can control each nozzle to print platform distance.The mode of nozzle and print platform tilt angle can facilitate Multi-layer material just printed in nozzle evacuation adjacent locations, can prevent printed part from being encountered by nozzle in multilayer print procedure.When for the printing of continuous extruded stock, the opposite inclined nozzle of print platform is also conducive to extruded stock and deposits on print platform or model.Discrete jetting material is printed, such as discrete injection liquid (such as binder, photo-curing material etc.) it arrives on powder bed (such as powder bed of metal, ceramics, gypsum material), spray head is avoided in the powder splashing direction that inclined nozzle evokes when injection can be allowed to expect on powder, reduces the attachment on spray head or nozzle carrier such as powder.In addition, can be with not parallel between nozzle, i.e., portion nozzle and print platform tilt, and portion nozzle is vertical with print platform or tilts not Same angle.The relationship of angle and angle and nozzle movement direction between nozzle and print platform can be targetedly adjusted according to the difference of each nozzle print material property in this way.Conducive to promotion printing effect.

This Method of printing can be used for the printed materials such as FDM or FFF and need to heat the application printed, and also can be applied to printed material is the applicable cases that cold conditions (not needing to heat) is printed.

This multiinjector 3D printing spray head and this Method of printing can print following material but be not limited to: be fusible plastics or metalliferous silk thread or pellet, paste or powdered substance (such as conductive silver paste, glue, tin cream, chocolate, ice cream, metal powder or ceramic powders and plastic cement mixture), liquid (such as ink, electrolyte, photosensitive resin), concrete, powder, aerosol state substance, numerical control electroforming can also be passed through between nozzle and platform, or carry out 3D printing by modes such as controlled light photograph or controlled heats.Multiinjector can print unlike material, or different colours, or various sizes of printing material simultaneously.

So-called rotation in text refers to that nozzle carrier or print platform prolong the rotational motion of some central axis.In addition it can refer to the angle of the formation of the line between nozzle or the relative rotation motion of driving system of the changed process of angle or this line and print platform that are formed between the origin of nozzle boss.

Multiinjector 3D printing spray head in this Method of printing can use one of multiinjector 3D printing nozzle structure above-mentioned or seven kinds of multiinjector 3D printing spray head embodiments or a variety of combinations.

The present invention also provides a kind of multiinjector 3D printing systems, referring to shown in Figure 23, the print system includes rack F, print platform C and printing head, and printing head setting is on the framef, printing head includes the nozzle boss A of setting on the framef, and it is installed in the nozzle carrier B on nozzle boss A, printing head and print platform relative motion.Printing head is equipped at least two nozzle N, printing head and print platform C carry out relative motion (X when printing, Y, movement on tri- directions Z), and the relative rotation of nozzle carrier or nozzle boss and print platform, dynamic control nozzle, so that each nozzle N be made to move along the printing path of setting, realizes 3 D-printing along printing path tangential direction and at a distance from the perpendicular plane in this direction between projection.The print system can add other component or function according to the actual application, such as heating device, radiator, feeder or other devices such as automatically controlled.

The printing head of this multiinjector 3D printing system can use one of multiinjector 3D printing nozzle structure above-mentioned or seven kinds of multiinjector 3D printing spray head embodiments or a variety of combinations.

This multiinjector 3D printing system can be printed using one of Method of printing above-mentioned or seven kinds of Method of printing embodiments or a variety of combinations.

Claims

A kind of multiinjector 3D printing spray head, the printing head are equipped at least two nozzles characterized by comprising

Nozzle boss；

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

Driving device for driving the nozzle carrier to be moved, and drives the nozzle being arranged on the nozzle carrier to move along the printing path of setting.
Multiinjector 3D printing spray head according to claim 1, it is characterised in that:

The quantity of the nozzle carrier is one, and the nozzle carrier is equipped at least one nozzle；

The nozzle carrier is connect with the driving device, and is moved by driving device driving.
Multiinjector 3D printing spray head according to claim 1, it is characterised in that:

The driving device is arranged on the nozzle boss and connect with the nozzle carrier, for driving the nozzle carrier to rotate around the axis parallel with the center line of the nozzle.
Multiinjector 3D printing spray head according to claim 1, it is characterised in that:

The multiinjector 3D printing spray head includes at least two nozzle carriers, and the driving device is identical as the nozzle carrier quantity, and each driving device drives a nozzle carrier movement.
Multiinjector 3D printing spray head according to claim 4, it is characterised in that:

The multiinjector 3D printing spray head includes the nozzle carrier of telescoping structure, the successively suit setting from inside to outside of several nozzle carriers, and at least one described nozzle carrier setting on the nozzle boss,

Each driving device drives corresponding nozzle carrier to move, and makes it that can relatively rotate with other nozzle carriers or the nozzle boss；At least provided with a nozzle on each nozzle carrier.
Multiinjector 3D printing spray head according to claim 5, it is characterised in that:

The nozzle carrier is set with along same central axis to be arranged；The corresponding driving device is arranged on the nozzle boss；

Or；

The driving device of the outermost nozzle carrier is arranged on the nozzle boss, the driving device of remaining nozzle carrier is arranged on another nozzle carrier adjacent with the nozzle carrier on the outside, and any driving device drives the corresponding nozzle carrier and the nozzle carrier rotation on the inside of it；

Or；

The driving device of the innermost nozzle carrier is arranged on the nozzle boss, the driving device of remaining nozzle carrier sets within it on another nozzle carrier adjacent with the nozzle carrier of side, and any driving device drives the corresponding nozzle carrier and the nozzle carrier rotation on the outside of it.
Multiinjector 3D printing spray head according to claim 4, it is characterised in that:

The nozzle carrier includes at least one swivel nozzle seat and several translation nozzle carriers, and the driving device includes at least one rotation drive device and several translation driving devices, and the corresponding translation nozzle carrier of translation driving device driving is mobile；

At least one described swivel nozzle seat activity is installed on the nozzle boss, and several translation nozzle carrier activities are installed on the swivel nozzle seat；

The rotation drive device drives the swivel nozzle seat rotation, and then drives several translation nozzle carrier movements on swivel nozzle seat；Each translation driving device drives the relatively described swivel nozzle seat of the corresponding translation nozzle carrier to move in a straight line；

Each translation nozzle carrier is equipped at least one nozzle.
Multiinjector 3D printing spray head according to claim 4, it is characterised in that: the nozzle carrier includes at least one diplopore nozzle carrier and at least two general nozzle carriers；Wherein, a cylindrical hole and/or at least one nozzle are provided on the general nozzle carrier；It include two cylindrical holes on the diplopore nozzle carrier, the cylindrical hole is to install nozzle carrier；

The driving device drives the diplopore nozzle carrier, and then drives and be installed in the diplopore nozzle carrier On nozzle carrier movement；And the driving device drives the general nozzle carrier around its own center axis thereof.
Multiinjector 3D printing spray head according to claim 8, it is characterised in that:

The number of the diplopore nozzle carrier is one, and the number of the general nozzle carrier is two；Two general nozzle carriers are respectively installed in a cylindrical hole of the diplopore nozzle carrier；Each general nozzle carrier is equipped at least two nozzles；

Or；

The number of the diplopore nozzle carrier is at least two, and all the diplopore nozzle carrier is successively set with setting by cylindrical hole ecto-entad, is respectively equipped with general nozzle carrier in two cylindrical holes of the innermost diplopore nozzle carrier；One is equipped with general nozzle carrier in two cylindrical holes of remaining diplopore nozzle carrier, another is arranged with diplopore nozzle carrier；Each general nozzle carrier is equipped at least two nozzles；

Or；

The number of the diplopore nozzle carrier is one；Several described general nozzle carrier ecto-entads are successively arranged to form general nozzle carrier group；Wherein, two general nozzle carrier groups are respectively installed in two cylindrical holes of the diplopore nozzle carrier；Or；One general nozzle carrier group is installed in a cylindrical hole of the diplopore nozzle carrier, and a general nozzle carrier is installed in another cylindrical hole.
Multiinjector 3D printing spray head according to claim 8, it is characterised in that: the number of the diplopore nozzle carrier is at least two；

A general nozzle carrier is installed respectively on two cylindrical holes of the diplopore nozzle carrier；It is rotatably connected between every two diplopore nozzle carrier by general nozzle carrier, which wears each cylindrical hole of two diplopore nozzle carriers.
Multiinjector 3D printing spray head according to claim 10, it is connected it is characterized by: at least two diplopore nozzle carriers are successively connected by general nozzle carrier, chain structure is formed, the general nozzle carrier of the adjacent diplopore nozzle carrier is main connecting shaft in the chain structure, in which:

Separately there is at least one described diplopore nozzle carrier to be rotatably connected to main connecting shaft；

And/or；

Separately there are several diplopore nozzle carriers to form another chain structure to be rotatably connected to the main connecting shaft.
Multiinjector 3D printing spray head according to claim 4, it is characterised in that: the nozzle carrier includes mounting plate and lug boss；Wherein,

The lug boss is fixedly arranged on the mounting plate, and nozzle is arranged in the lug boss, and the cross-sectional area of the lug boss is less than the cross-sectional area of the mounting plate；The mounting plate of different spray nozzles seat is rotatably connected.
Multiinjector 3D printing spray head according to claim 12, it is rotatably connected it is characterized by: the mounting plate of at least two nozzle carriers is successively connected, chain structure is formed, the rotation junction of the adjacent nozzle carrier is main connecting shaft in the chain structure, in which:

Separately there is at least one described nozzle carrier to be rotatably connected to main connecting shaft；

And/or；

Separately there are several nozzle carriers to form another chain structure to be rotatably connected to the main connecting shaft.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that: further comprise height adjustable structure, and the setting of the nozzle carrier slip is on the nozzle boss or other nozzle carriers；

The height regulating mechanism can drive the nozzle carrier to slide, to adjust the height of the nozzle on nozzle carrier.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that: the nozzle is arranged in identical height or is arranged in two height.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that: the multiinjector 3D printing spray head includes:

At least one continuous extruded type nozzle；

And/or；

At least one discrete Jetspray nozzle；

And/or；

At least one light-source type nozzle；

And/or；

At least one heat source type nozzle；

And/or；

At least one electric pole type nozzle；

And/or；

At least one magnetic pole type nozzle.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that:

One is further comprised for detecting the sensor of the nozzle carrier corner zero point or angular position.
Multiinjector 3D printing spray head described in -13 according to claim 1, it is characterised in that:

The sensor is one or more of photoelectric sensor, Hall sensor, rotary transformer, travel switch and touch switch.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that:

The driving device is one or more of helical gear, bevel gear, spur gear, turbine and worm, belt, hollow shaft motor or hydraulic motor.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that:

The nozzle is nozzle equipped with material pore structure, without one of nozzle of material pore structure, and the nozzle material be metal, electrical insulating material, insoluble electrode material, non-metallic conducting material one or more of materials it is compound.
- 13 described in any item multiinjector 3D printing spray heads according to claim 1, it is characterised in that:

The nozzle is equipped with the nozzle of material pore structure, which includes conveying channel, and the feeding inlet and spray material port at conveying channel both ends is arranged in；

The conveying channel is ramp way, and the ramp way is to tilt from the feeding inlet to spray material port direction, and the distance between each described spray material port of each ramp way is less than the distance between each described feeding inlet.
A kind of Method of printing, is printed using printing head and print platform, it is characterised in that, the printing head is equipped at least two nozzles, the printing head includes nozzle boss and nozzle carrier, the printing head and the print platform relative motion, comprising the following steps:

A), the three-dimensional data for treating printing objects is analyzed, and at least two printing paths are generated on each layer of object to be printed；

B), the printing path generated on each layer of the object to be printed is printed on the print platform using the printing head, moves at least two nozzles along the corresponding printing path respectively.
A kind of Method of printing, is printed using printing head and print platform, and the printing head is equipped with multiple nozzles, which includes nozzle boss and nozzle carrier, it is characterised in that:

3D printing is carried out on the print platform using the printing head, the printing head and the print platform carry out x, y, while tri- direction relative motions of z, by the nozzle carrier or nozzle boss respectively relative to the rotation of print platform, move at least two nozzles along corresponding printing path respectively.
The Method of printing according to claim 22 or 23, it is characterised in that:

The printing head is the described in any item multiinjector 3D printing spray heads of claim 1-21.
The Method of printing according to claim 22 or 23, it is characterised in that:

The print platform can be rotated, and the print platform and the printing head relative motion make At least two nozzles are obtained to be moved along corresponding printing path respectively.
The Method of printing according to claim 22 or 23, it is characterised in that:

Printing path of at least two nozzles simultaneously respectively at least two layers is moved.
The Method of printing according to claim 22 or 23, it is characterised in that:

The direction of the nozzle output printing material and print platform surface out of plumb.
The Method of printing according to claim 22 or 23, it is characterised in that: before at least one nozzle has not printed a printing path, be transferred to another printing path and printed.
The Method of printing according to claim 22 or 23, it is characterised in that:

The three-dimensional data for the object to be printed for having colored or pattern-information is analyzed, printing path is divided into several units, corresponding mass-tone is distributed on each unit, forms mass-tone unit；

Several nozzles print corresponding mass-tone material respectively；When the nozzle reaches one position of printing path, printed in the position according to the nozzle that the control of the mass-tone cell colors information of the position prints corresponding mass-tone material.
The Method of printing according to claim 22 or 23, it is characterised in that: nozzle is made at least to print the printing material of two kinds of sizes；Any layer for controlling the nozzle print object to be printed of the printing large scale printing material, the nozzle for controlling the injection smaller size printing material corresponds to be printed between two layers of object to be printed.
Method of printing according to claim 25, it is characterised in that:

The nozzle boss and the nozzle carrier are connected.
A kind of multiinjector 3D printing system, comprising: rack, print platform and printing head, the printing head are arranged in the rack, and the printing head and the print platform are relative to x, y, z tri- A direction relative motion, it is characterised in that:

The printing head is equipped at least two nozzles, and the printing head is rotated also relative to the print platform to be arranged, and moves at least two nozzles along corresponding printing path respectively.
Multiinjector 3D printing system according to claim 32, it is characterised in that:

The print platform is arranged in the rack.
The multiinjector 3D printing system according to claim 32 or 33, it is characterised in that:

The printing head is the described in any item multiinjector 3D printing spray heads of claim 1-21.
The multiinjector 3D printing system according to claim 32 or 33, it is characterised in that:

The multiinjector 3D printing system is the print system printed using any one of claim 22-31 Method of printing.