CN108136674B - Multi-nozzle 3D printing nozzle, printing method and 3D printing system - Google Patents

Multi-nozzle 3D printing nozzle, printing method and 3D printing system Download PDF

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Publication number
CN108136674B
CN108136674B CN201780002222.9A CN201780002222A CN108136674B CN 108136674 B CN108136674 B CN 108136674B CN 201780002222 A CN201780002222 A CN 201780002222A CN 108136674 B CN108136674 B CN 108136674B
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nozzle
printing
seat
nozzles
nozzle seat
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CN108136674A (en
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季鹏凯
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Yuanzhi Technologies Shanghai Co ltd
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Yuanzhi Technologies Shanghai Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00Apparatus for additive manufacturing; Details thereof or accessories therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C67/00Shaping techniques not covered by groups B29C39/00 - B29C65/00, B29C70/00 or B29C73/00
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00Processes of additive manufacturing

Abstract

A multi-nozzle 3D printing nozzle, a printing method and a 3D printing system are provided, the method adopts a printing nozzle and a printing platform (C) for printing, the printing nozzle is provided with a plurality of nozzles, the printing nozzle comprises a nozzle seat (A) and a nozzle seat (B), the printing nozzle performs 3D printing on the printing platform (C), the printing nozzle and the printing platform (C) perform relative movement in the x, y and z directions, and simultaneously, at least two nozzles respectively move along corresponding printing paths through the relative rotation of the nozzle seat (B) or the nozzle seat (A) relative to the printing platform (C). By adopting the method to print, the printing speed can be effectively improved, the flexibility of the multi-nozzle printing path which can quickly follow various curvatures and different intervals is improved, and various requirements in practical application can be met.

Description

Multi-nozzle 3D printing nozzle, printing method and 3D printing system
Technical Field
The invention relates to the technical field of 3D printers, in particular to a multi-nozzle 3D printing nozzle, a printing method and a 3D printing system adopting the multi-nozzle 3D printing nozzle or the printing method.
Background
In the conventional FDM (short for "Fused Deposition Modeling") 3D printer, the nozzle can reach any position in a certain area above the platform through x, y, z, three linear unrelated relative movements (i.e. three independent directions of movement) between the nozzle and the platform. And dividing the model into a plurality of layers, extruding the nozzle to the platform along the printing path of each layer, continuously printing on the next layer after printing of one layer is finished, and stacking the layers one by one to form the three-dimensional entity.
There are various ways to realize the relative movement between the nozzle and the platform, such as adopting various structures like CNC machine tool to directly realize the X, Y, Z relative movement between the nozzle and the printing platform, CO-X-Y mode, Delta type parallel mechanical arm type, single or double polar coordinate type structure, mechanical arm type, six-axis linkage type, etc.
The FDM printing system based on one nozzle is to increase the printing speed by increasing the moving speed of the spray head relative to the platform and increasing the feeding speed of materials. However, the lifting space for such speeds is limited, for example, by the power of the drive motor, the frame and guide mechanism, the drive belt, the structural rigidity, etc. Because the moving direction and speed need to be changed continuously and rapidly in the printing process, great acceleration is generated in the process, the machine frame shakes, and the printing precision is influenced. These aspects limit further increases in printing speed.
Some multi-nozzle 3D printers are only used for alternately printing materials of different materials or colors under the condition of no shutdown, and the printing speed cannot be increased. If multi-nozzle printing is carried out by a mode of a plurality of spray heads, the interference limitation of the movement among the plurality of spray heads greatly reduces the improvement effect on the printing speed. And the multiple spray heads make the structure of the printer complex, reduce the reliability and increase the cost.
The FDM method in the present invention is not limited to a printing method requiring a fusing process, but broadly refers to a printing process in which a nozzle moves along a set printing path.
Disclosure of Invention
The invention aims to provide a multi-nozzle 3D printing nozzle, a printing method and a 3D printing system, which can effectively improve the printing speed.
The technical scheme provided by the invention is as follows:
the utility model provides a shower nozzle is printed to multiinjector 3D, it is equipped with two at least nozzles on the shower nozzle to print, include:
a nozzle base;
the nozzle seat is movably arranged on the nozzle seat, and at least one nozzle is arranged on the nozzle seat;
and the driving device is used for driving the nozzle seat to move and driving the nozzle arranged on the nozzle seat to move along a set printing path.
In the technical scheme, the movable connection between the nozzle seat and the nozzle seat is realized, and at least one nozzle is arranged on the nozzle seat. And then under the drive of drive arrangement, realize the motion of nozzle holder, the purpose is that the motion through the nozzle holder drives the nozzle on the nozzle holder and follows the motion of the printing route of settlement to realize three-dimensional printing. Not only can print simultaneously through two or more nozzles, effectively improve printing speed, more excellent is when printing different models, can do the adjustment to the material track interval of printing according to different situation needs and change, satisfies multiple demand among the practical application.
Because this multinozzle 3D prints shower nozzle can realize that different nozzles correspond and print different printing paths, corresponding printing path that can print different layers simultaneously both can be used for printing same or different printing paths on the same layer, also can be used for printing the printing path on different layers, or possesses two kinds of condition simultaneously. Printing speed is improved in two dimensions of a printing path in the same layer and a printing path in different layers.
Preferably, the number of the nozzle holders is one, and at least one nozzle is arranged on each nozzle holder; the nozzle seat is connected with the driving device and driven by the driving device to move.
Preferably, the driving device is arranged on the nozzle seat and connected with the nozzle seat, and is used for driving the nozzle seat to rotate around an axis parallel to the central line of the nozzle.
Preferably, the multi-nozzle 3D printing head comprises at least two nozzle holders, the number of the driving devices is the same as that of the nozzle holders, and each driving device drives one nozzle holder to move. The rotation refers to a process that an included angle formed by connecting lines among the nozzles or an included angle formed between the nozzles and the nozzle seat is changed, and not only refers to the rotation motion of the nozzle seat or the printing platform along a certain central axis.
According to the technical scheme, each nozzle seat is driven to rotate by one driving device, namely, one degree of freedom is increased without adding one nozzle seat system, and a certain nozzle arranged on the nozzle seat can be adjusted to a corresponding printing path through the movement of the nozzle seat and the nozzle seat.
Preferably, the multi-nozzle 3D printing nozzle comprises the nozzle holders in a sleeve type structure, a plurality of the nozzle holders are sequentially sleeved from inside to outside, and at least one nozzle holder is arranged on the nozzle holder,
each driving device drives the corresponding nozzle seat to move, so that the corresponding nozzle seat can rotate relative to other nozzle seats or the corresponding nozzle seat; each nozzle seat at least comprises one nozzle.
According to the technical scheme, the nozzle seats are arranged to be of sleeve-shaped structures, the three nozzle seats are sequentially connected from inside to outside at the same time and are connected with each other in a sliding sleeve connection mode, so that the installation procedure is simplified, the structure of the printing nozzle is compact, and the whole structure of the printing nozzle is simplified. It should be noted that not all the nozzle holders may be of a sleeve type structure, and whether or not the nozzle holder at the innermost side of the sleeve type structure is of a sleeve type structure may be adopted.
Preferably, the nozzle holders are sleeved along the same central axis; the corresponding driving device is arranged on the spray head seat.
According to the technical scheme, the driving devices connected with the nozzle seats are arranged on the nozzle seats, and the driving devices can independently control the connected nozzle seats, so that included angles are formed between the connecting lines of different nozzles and the central axis, the included angles can be adjusted, the requirement that the nozzles can be located on a printing path is met, and the utilization rate of the nozzles is effectively improved.
Preferably, the driving device of the outermost nozzle holder is arranged on the nozzle holder, the driving devices of the other nozzle holders are arranged on the other nozzle holder, the outer side of which is adjacent to the nozzle holder, and any one of the driving devices drives the corresponding nozzle holder and the nozzle holder on the inner side thereof to rotate.
Preferably, the driving device of the innermost nozzle holder is arranged on the nozzle holder, the driving devices of the other nozzle holders are arranged on the other nozzle holder, the inner side of which is adjacent to the nozzle holder, and any one of the driving devices drives the corresponding nozzle holder and the nozzle holder outside the nozzle holder to rotate.
According to the technical scheme, the driving device of the nozzle seat on the outermost side is arranged on the nozzle seat, the driving devices of the rest nozzle seats are arranged on the other nozzle seat on the outer side of the nozzle seat adjacent to the nozzle seat, and any driving device drives the corresponding nozzle seat and the nozzle seat on the inner side of the nozzle seat to rotate.
The movement of each nozzle seat is determined by the coupling of the driving action of the driving device at the outer side or the inner side of each nozzle seat, the utilization rate of the nozzles is effectively improved, the energy loss of the driving device is reduced, and the control mode is simplified.
Preferably, the nozzle holder comprises at least one rotating nozzle holder and a plurality of translating nozzle holders, the driving device comprises at least one rotating driving device and a plurality of translating driving devices, and the translating driving devices drive the corresponding translating nozzle holders to move;
at least one rotating nozzle seat is movably arranged on the nozzle seat, and a plurality of translation nozzle seats are movably arranged on the rotating nozzle seat;
the rotary driving device drives the rotary nozzle seat to rotate, and then drives the plurality of translation nozzle seats on the rotary nozzle seat to move; each translation driving device drives the corresponding translation nozzle seat to do linear motion relative to the rotation nozzle seat;
at least one nozzle is arranged on each translation nozzle seat.
According to the technical scheme, except that the operation form of the nozzle seat directly connected with the nozzle seat is rotation, the motion forms of the other nozzle seats are linear motion. The aim is to adjust the nozzles on the printing head to the printing paths corresponding to the nozzles by rotating and matching with linear motion. The utilization rate of the nozzle is effectively improved.
Preferably, the nozzle holder includes at least one double-orifice nozzle holder and at least two general nozzle holders; wherein, a cylindrical hole and/or at least one nozzle is arranged on the general nozzle holder; the double-hole nozzle seat comprises two cylindrical holes, and the cylindrical holes are used for installing the nozzle seat;
the driving device drives the double-hole nozzle seat to further drive the nozzle seat arranged on the double-hole nozzle seat to move; and the driving means rotates the general nozzle holder about its own central axis.
According to the technical scheme, the double-hole nozzle seat is not directly provided with the nozzle, but is provided with the nozzle seat, and at least two rotational degrees of freedom are increased in the space occupied by the nozzle seat. Compared with the structure that the nozzle seat is sleeved layer by layer, only 1 nozzle which can independently act can be additionally arranged when a single-sleeve barrel-shaped nozzle seat is additionally arranged, and the space is gradually enlarged. The occupied space of the technical scheme can be controlled to be small, the utilization rate is high, and the size and the structural complexity of the multi-nozzle 3D printing nozzle are reduced. The structure is similar to the structure which is sleeved layer by layer. Because the nozzles are arranged on the common nozzle seat in the technical scheme, the distance between the nozzles projected on the horizontal plane can not be more limited, the nozzles can be designed to be closer, and the space saving and the fine control are facilitated; meanwhile, the printing device can be designed uniformly, the design is simplified, the control is simplified, the manufacturing is simplified, and the printing effect is improved.
Specifically, the number of the double-hole nozzle holders is one, and the number of the general nozzle holders is two; two common nozzle seats are respectively arranged in a cylindrical hole of the double-hole nozzle seat; at least two nozzles are arranged on each general nozzle holder.
Specifically, the number of the double-hole nozzle seats is at least two, all the double-hole nozzle seats are sequentially sleeved from outside to inside through cylindrical holes, and two cylindrical holes of the innermost double-hole nozzle seat are respectively provided with a common nozzle seat; one of the two cylindrical holes of the other double-hole nozzle seats is provided with a common nozzle seat, and the other one is sleeved with the double-hole nozzle seat; at least two nozzles are arranged on each general nozzle holder.
Specifically, the number of the double-hole nozzle seats is one; a plurality of the common nozzle seats are sleeved from outside to inside in sequence to form a common nozzle seat group; wherein, two said general nozzle block groups are installed in two cylindrical holes of the said double-orifice nozzle block separately; or; one of the general nozzle holders is assembled in one of the cylindrical holes of the double-hole nozzle holder, and one of the general nozzle holders is assembled in the other cylindrical hole.
Preferably, the number of the double-hole nozzle seats is at least two; two cylindrical holes of the double-hole nozzle seat are respectively provided with a common nozzle seat; every two double-hole nozzle seats are rotatably connected through a common nozzle seat, and the common nozzle seat penetrates through two cylindrical holes of the two double-hole nozzle seats respectively.
The general nozzle holder is simultaneously inserted on at least two double-hole nozzle holders to be used as a rotating shaft, so that the two double-hole nozzle holders can be rotatably connected. When the double-hole nozzle holders are sequentially connected, that is, the common nozzle holders are used as two rotating shafts of the double-hole nozzle holders, a linear chain structure can be formed. If the common nozzle holder is used as a rotating shaft of three double-hole nozzle holders, the original chain type structure can be expanded into a net type structure.
Preferably, at least two of the two-hole nozzle holders are sequentially connected through a common nozzle holder to form a chain structure, the common nozzle holder adjacent to the two-hole nozzle holder in the chain structure is a main connecting shaft, wherein:
at least one double-hole nozzle seat is rotatably connected to the main connecting shaft;
and/or;
and a plurality of double-hole nozzle seats form another chain type structure and can be rotatably connected to the main connecting shaft.
According to the technical scheme, on the basis of a chain type structure, the main connecting shaft is further connected with the double-hole nozzle seat, and the structure is changed from the chain type structure to a net type structure. The number of nozzles is expanded in multiple directions.
Preferably, the nozzle holder comprises a mounting plate and a boss; the boss is fixedly arranged on the mounting plate, the nozzle penetrates through the boss, and the cross section area of the boss is smaller than that of the mounting plate; the mounting plates of different nozzle holders are rotatably connected.
According to the technical scheme, the nozzle seat is composed of the mounting plate and the protruding parts with different cross-sectional areas, namely other spaces are arranged on the mounting plate except the mounting protruding parts, the other mounting plate can be inserted into the position right below the mounting plate and can be in rotatable connection with the mounting plate through a common rotatable mechanism, the protruding parts can be used as rotating shafts, and the mounting plate can also be connected through a rotating structure which is not provided with the protruding parts and is designed in the space. Compared with a common nested structure, the mode of expanding the nozzle seat is extremely space-saving. In addition, the distance between the nozzles projected on the horizontal plane is not more limited, and the distance which is easy to design is more uniform.
Further, at least two the mounting panel of nozzle holder links up rotatable coupling in proper order, forms chain formula structure, adjacent in the chain formula structure the swivelling joint department of nozzle holder is main connecting axle, wherein:
at least one nozzle holder is rotatably connected to the main connecting shaft;
and/or;
and the nozzle holders form another chain-type structure which can be rotatably connected to the main connecting shaft.
According to the technical scheme, on the basis of a chain type structure, the main connecting shaft is further connected with the upper nozzle seat, and the structure is changed from the chain type structure to a net type structure. The number of nozzles is expanded in multiple directions.
Preferably, at least two the nozzle holder links up in proper order and passes through rotation axis rotatable coupling, forms chain formula structure, adjacent in the chain formula structure the rotation axis setting department of nozzle holder is main connecting axle, wherein:
at least one nozzle holder is rotatably connected to the main connecting shaft;
and/or;
and the nozzle holders form another chain-type structure which can be rotatably connected to the main connecting shaft.
According to the technical scheme, on the basis of a chain type structure, the main connecting shaft is further connected with the nozzle seat, so that the structure is changed from the chain type structure to a net type structure. The number of nozzles can be expanded in a plurality of directions.
Further, the multi-nozzle 3D printing nozzle further comprises a height adjusting structure, and the nozzle holder is slidably disposed on the nozzle holder or other nozzle holders;
the height adjusting mechanism can drive the nozzle seat to slide so as to adjust the height of the nozzle on the nozzle seat.
The height adjusting structure can adjust the height of the nozzles by changing the height of the nozzle holder, so that the change of the height difference among the nozzles is realized, and the height adjusting structure is suitable for adjusting the optimal distance of each nozzle relative to the printing layer when printing the printing paths on different layers respectively. When printing different layers of printing paths simultaneously, the distance between the nozzle for printing different layers and the printing layer is equal, so that the time for the printing material to fall on the printing layer is the same, and the control is more convenient.
Further, the nozzles are arranged at the same height or at least at two heights.
Suitable for printing the print paths on different layers separately, such that each nozzle is at an optimum distance from its print layer. Compared with a height adjusting mechanism, the structure complexity can be reduced by directly fixing the nozzle at the corresponding height.
Further, the multi-nozzle 3D printing nozzle includes:
at least one continuous extrusion nozzle;
and/or;
at least one discrete spray nozzle;
and/or;
at least one light source nozzle;
and/or;
at least one heat source type nozzle;
and/or;
at least one electrode-type nozzle;
and/or;
at least one magnetic pole type nozzle.
The discrete jet material is adopted for printing, and compared with FDM printing in a continuous extrusion material mode, the printing is more accurate, and the model details are easier to realize. The surface smoothness and the structural strength of the printing model are improved. For example, the strand may not be easily accurately printed at the sharp corners of the mold due to the drag effect of the extruded strand.
The continuous extrusion type material printing is adopted, the time difference of each extruded material of the multiple nozzles is very short, and the extruded materials can be close to and solidify simultaneously, so that the combination effect between the materials is better, and the improvement on the strength and the precision of a printed object is facilitated. The printing method and the spray head structure of the invention can also use a plurality of different printing materials which need heating or do not need heating, and have wide application adaptability.
The light source type nozzle means that the nozzle is a light source structure and can provide specific illumination, and the heat source type nozzle means that the nozzle is a heat source structure and can provide a heat source; the electrode type nozzle means that the nozzle is of an electrode structure and can provide an electric field; the magnetic pole type nozzle means that the nozzle is of a magnetic pole structure and can provide a magnetic field.
Furthermore, the multi-nozzle 3D printing nozzle also comprises a sensor for detecting the rotation angle zero point or the rotation angle position of the nozzle seat.
The sensor arranged on the printing nozzle realizes the detection of the zero point or the corner position of the corner of the nozzle seat, controls the rotation angle of the nozzle seat, enables the corresponding nozzle on the nozzle seat to dynamically follow the printing path, and ensures that the multi-nozzle printing is effectively carried out.
Specifically, the sensor is one or more of a photoelectric sensor, a hall sensor, a rotary transformer, a travel switch and a touch switch.
Specifically, the driving device is one or more of a helical gear, a bevel gear, a spur gear, a worm and gear, a belt, a hollow shaft motor or a hydraulic motor.
Specifically, the nozzle is one of a nozzle with a material hole structure and a nozzle without the material hole structure, and the nozzle material is one or a combination of a plurality of materials of metal, an electric insulating material, an insoluble electrode material and a non-metal conductive material.
Preferably, the nozzle is a nozzle with a material hole structure, and comprises a material conveying channel, and a feeding port and a material spraying port which are arranged at two ends of the material conveying channel;
the material conveying channel is an inclined channel, the inclined channel inclines from the material inlet to the material spraying port, and the distance between the material spraying ports of the inclined channels is smaller than the distance between the material inlet.
The material conveying channel is an inclined channel, the inclined channel is inclined from the material inlet to the material spraying opening, and the caliber of the material spraying opening is smaller than that of the material inlet; and the distance between the material spraying openings of the inclined channels is smaller than the distance between the material feeding openings.
Set the conveying pipeline of nozzle to the slope passageway, compare in the condition of straight type (coaxial setting), can reduce the distance between the nozzle opening that sets up on the adjacent nozzle, not only be favorable to printing the less printing orbit of curvature radius like this, still can reduce nozzle holder pivoted angle, promote the speed that various curvatures printing route were followed fast to many nozzles, reduce nozzle holder drive arrangement or print platform pivoted drive arrangement's load, and can satisfy multiple demand among the practical application.
The invention also discloses a printing method, which adopts a printing nozzle and a printing platform to print, wherein the printing nozzle is provided with at least two nozzles and comprises a nozzle seat and a nozzle seat, and the printing nozzle and the printing platform move relatively, and the printing method comprises the following steps:
a) analyzing the three-dimensional data of the object to be printed, and generating at least two printing paths on each layer of the object to be printed;
b) and printing the printing path generated on each layer of the object to be printed on the printing platform by using the printing nozzle, so that at least two nozzles respectively move along the corresponding printing paths.
In the technical scheme, the movable connection between the nozzle seat and the nozzle seat is realized, and at least one nozzle is arranged on the nozzle seat. And then under the drive of drive arrangement, realize the motion of nozzle holder, the purpose is that the motion through the nozzle holder drives the nozzle on the nozzle holder and follows the motion of the printing route of settlement to realize three-dimensional printing through the nozzle. Not only can print simultaneously through two or more nozzles, effectively improve printing speed, more excellent is when printing different models, can do the adjustment to the material track interval of printing according to different situation needs and change, satisfies multiple demand among the practical application.
Because this multinozzle 3D prints shower nozzle can realize that different nozzles correspond and print different printing paths, corresponding printing path that can print different layers simultaneously both can be used for printing same or different printing paths on the same layer, also can be used for printing the printing path on different layers, or possesses two kinds of condition simultaneously. Printing speed is improved in two dimensions of a printing path in the same layer and a printing path in different layers.
The invention also discloses a printing method, which adopts the printing nozzle and the printing platform to print, wherein the printing nozzle is provided with a plurality of nozzles and comprises a nozzle seat and a nozzle seat.
The printing nozzle is adopted to perform 3D printing on the printing platform, the printing nozzle and the printing platform perform relative motion in the x, y and z directions, and at least two nozzles respectively move along corresponding printing paths through the rotation of the nozzle seat or the nozzle seat relative to the printing platform.
Preferably, the printing nozzle is the multi-nozzle 3D printing nozzle.
Preferably, the printing platform is rotatable, and the printing platform and the printing nozzle move relatively, so that at least two nozzles move along corresponding printing paths respectively.
According to the technical scheme, the printing platform can replace the rotation of one nozzle seat.
Preferably, at least two of said nozzles are moved simultaneously along respective print paths on at least two levels. The simultaneous printing of different layers can be completed.
Preferably, the direction of the printing material output by the nozzle is not perpendicular to the surface of the printing platform.
Preferably, at least one nozzle is transferred to another print path for printing before printing of one print path is completed.
Preferably, the three-dimensional data of the object to be printed with the color or pattern information is analyzed, the printing path is divided into a plurality of units, and a corresponding dominant color is distributed on each unit to form a dominant color unit; the plurality of nozzles respectively print corresponding dominant color materials; and when the nozzle reaches a position of the printing path, controlling the nozzle for printing the corresponding dominant color material to print at the position according to the dominant color unit color information at the position.
Full-color printing can be realized by adopting a halftone mode on a three-dimensional or space curved surface, the detailed expression of colors is better, and the method is suitable for continuous extrusion type and discrete jet type printing types, in particular to discrete jet type printing types.
Preferably, the nozzles are caused to eject at least two sizes of printing material; and controlling the nozzle for jetting the large-size printing material to print any layer of the object to be printed, and controlling the nozzle for jetting the small-size printing material to print between two layers corresponding to the object to be printed.
The large-size printing material is used for one layer of an object to be printed, the small-size printing material is used for printing between layers printed by the large-size printing material, and the strength and the sealing performance of the model are improved by increasing the contact area of the materials between the layers or printing materials for improving the cohesiveness between the layers. The size of the small-size printing material is controlled, the small-size printing material can be filled into concave grains between layers, the concave-convex degree of surface grains is reduced, and the surface smoothness of the model is improved.
Preferably, the nozzle seat is fixedly connected with the nozzle seat.
The invention also discloses a multi-nozzle 3D printing system, which comprises: the printing device comprises a rack, a printing platform and a printing nozzle, wherein the printing nozzle is arranged on the rack, and the printing nozzle and the printing platform move relatively relative to the three directions of x, y and z;
the printing nozzle is provided with at least two nozzles, and the printing nozzle is also arranged in a rotating mode relative to the printing platform, so that the at least two nozzles move along corresponding printing paths respectively.
Preferably, the printing platform is arranged on the frame.
Preferably, the printing nozzle is the multi-nozzle 3D printing nozzle.
Preferably, the multi-nozzle 3D printing system is a printing system that performs printing by applying the printing method described above.
The multi-nozzle 3D printing nozzle, the printing method and the 3D printing system provided by the invention can bring at least one of the following beneficial effects:
1. through the action of the nozzle seat and the nozzle seat relative to the nozzle seat, the nozzles on the printing nozzle device are matched and correspond to at least two printing paths, and the printing speed can be effectively improved. The nozzles at the same height or different heights are enabled to move corresponding to the printing paths of different layers, so that simultaneous printing of a plurality of printing paths on different layers can be realized, and the printing speed is further increased in a vertical direction in multiples. Meanwhile, different printing paths on the same layer can be printed simultaneously, and the printing speed is improved in the vertical direction and the horizontal direction due to the fact that the printing paths are matched with the different printing paths on the different layers which are printed simultaneously.
2. The nozzle seat is movably arranged on the nozzle seat and can move relative to the nozzle seat, such as rotate or linear movement, so that the relative position of the nozzle on the nozzle seat and the nozzle seat can be adjusted on an XY horizontal plane, and finally, the distance between the nozzle and the projection of the nozzle along the tangential direction of a printing path and in a plane perpendicular to the tangential direction is randomly adjustable within a range smaller than a certain value (namely, each nozzle moves along the corresponding printing path). And the nozzle seat can be controlled to do linear motion along the nozzle seat so as to change the height difference between the nozzles. The printing requirements under different working conditions can be met, namely different distances among printing paths, different layers of 3D printing two-dimensional sections and the like are met.
3. The multilayer prints simultaneously, because a plurality of nozzles set up on a shower nozzle, to FDM multinozzle 3D printer, the time difference of each extrusion material of multinozzle is very short, and the material of extruding can be close to and solidify simultaneously for the combination effect between material and the material is better, is favorable to improving intensity and the precision of being printed the object. The printing method and the spray head structure of the invention can also use a plurality of different printing materials which need heating or do not need heating, and have wide application adaptability.
4. The strength and sealing performance of the model are improved by fractional dimensional printing, for example, small size materials are printed between large size printed materials, by increasing the contact area of materials between layers or by printing materials on fractional layers to improve the adhesion between layers. For the fractional layer printing material on the surface of the model, the diameter of the material is controlled to be appropriate, the material can be filled into concave grains between layers, the concave-convex degree of the surface grains is reduced, and the surface smoothness of the model is improved.
5. The discrete jet material is adopted for printing, and compared with FDM printing in a continuous extrusion material mode, the printing is more accurate, and the model details are easier to realize. The surface smoothness and the structural strength of the printing model are improved. For example, the strand may not be easily accurately printed at the sharp corners of the mold due to the drag effect of the extruded strand.
6. And the printing of the discrete jet material is adopted, so that the full-color printing is easily realized. For example, by printing color material drops of CMYK in combination, full-color printing can be realized in a manner of half tone on a three-dimensional or space curved surface, and the detailed expression of colors is better. Color printing can also be achieved by combining segmented continuous extrudates of CMYK.
7. With discrete jet printing, printing with comparable or better printing accuracy can be achieved with fewer nozzles than with "inkjet" three-dimensional printing. Although the number of nozzles is large, the utilization rate is not high, only the nozzle above the model works, and other nozzles are in an idle state. In the multi-nozzle discrete jet printing method, the number of nozzles is relatively small, but the utilization rate is high, and almost 100 percent or most of the nozzles are in a jetting state at the same time.
8. The printing method has wide application, such as application in biomedicine, medical technology, food technology, building technology, and development of composite material with certain characteristics or composite material with special function. The nozzle is set as an electrode or sprays electrolyte, so that the method can be used for the numerical control electroforming technology. The nozzle is used as a light source and the jet of the photosensitive liquid, and can be used for photosensitive resin molding.
9. According to the multi-nozzle 3D printing nozzle, the three sleeve-shaped nozzle seats are concentrically sleeved or eccentrically sleeved along the same central axis, or two nozzle seats are simultaneously arranged on one nozzle seat, so that the whole printing nozzle is compact in structure.
10. The chain type structure of the spray head is beneficial to expanding more spray nozzles on the spray head. If a layer-by-layer nesting mode is adopted, only 1 (or 2) nozzles are generally arranged on each layer of annular sleeve, when the number of the nozzles is large, the diameter of the outer layer of the annular sleeve is increased, the utilization rate is low, the size of the whole structure is large, and the structure is complex. The 'chain type' structure is characterized in that when a new nozzle is added, only one 'chain joint' is repeatedly added, and at least 2 nozzles can be added on one 'joint'. The size and the structural complexity of the multi-nozzle spray head are favorably reduced. The chain type spray head structure can also realize a net type spray head structure. The number of nozzles can be expanded in 2-dimensional directions.
Drawings
The above features, technical features, advantages and implementations of a multi-nozzle 3D printing head and printing method and 3D printing system will be further described in a clearly understandable manner by referring to the accompanying drawings, in which some of the heads in the structural diagrams of fig. 1 to 16 are cut away to show the internal structure more clearly.
FIG. 1 is a cross-sectional view of a first embodiment of a multi-nozzle 3D printing head according to the present invention;
FIG. 2 is another schematic structural diagram of the multi-nozzle 3D printing head of FIG. 1;
FIG. 3 is a schematic diagram of a third configuration of the multi-nozzle 3D printing head of FIG. 1;
FIG. 4 is a bottom view of the nozzle carrier of FIG. 3;
FIG. 5 is a cross-sectional view of a second embodiment of the multi-nozzle 3D printing head of the present invention;
FIG. 6 is an exploded view of FIG. 5;
FIG. 7 is a view showing another arrangement of the driving apparatus of FIG. 5;
FIG. 8 is a schematic view of a partial cut-away structure of a third embodiment of the multi-nozzle 3D printing head of the present invention;
FIG. 9 is a schematic view of a partial cut-away structure of a fourth embodiment of the multi-nozzle 3D printing head of the present invention;
FIG. 10-a is a schematic perspective view of a multi-nozzle 3D printing head according to a fifth embodiment of the present invention;
FIG. 10-b is a cross-sectional view of the multi-nozzle 3D print head of FIG. 10-a;
FIG. 11 is another schematic structural diagram of a fifth embodiment of a multi-nozzle 3D printing head according to the present invention;
FIG. 12-a is a schematic perspective view of a six-dimensional structure of a multi-nozzle 3D printing head according to an embodiment of the invention;
fig. 12-b is another schematic structural diagram of a six-nozzle 3D printing head embodiment of the invention.
Fig. 13 is a third schematic structural diagram of a sixth embodiment of a multi-nozzle 3D printing head according to the present invention.
FIG. 14-a is a partial sectional structural view of a nozzle holder portion in the multi-nozzle 3D printing head according to the present invention;
FIG. 14-b is a cross-sectional view of FIG. 14-a;
fig. 15-a is a schematic view of a height adjustment mechanism.
Figure 15-b is a schematic view of another height adjustment mechanism.
FIG. 16-a is a schematic structural diagram of a driving device of a bevel gear pair in the multi-nozzle 3D printing head according to the present invention;
fig. 16-b is a schematic structural diagram of a driving device in the multi-nozzle 3D printing head according to the present invention, wherein the driving device is a motor rotor directly driven by a nozzle holder;
FIG. 16-c is a schematic structural diagram of a driving device in a multi-nozzle 3D printing head according to the present invention, which is driven by a synchronous belt;
FIG. 17-a is a schematic view of a general case of the printing method of the present invention.
FIG. 17-b is a schematic diagram illustrating the relationship between the relative rotation angle formed by the nozzle holder or the nozzle holder and the printing platform and the printing path pitch when the printing paths are a set of parallel lines according to one embodiment of the printing method of the present invention;
FIG. 17-c is a schematic diagram showing the relationship between the relative rotation angle formed by the nozzle holder or nozzle holder and the printing platform and the printing path pitch in another case where the printing path is a set of parallel lines according to the embodiment of the printing method of the present invention;
FIG. 17-d is a schematic diagram illustrating the relationship between the relative rotation angle formed by the nozzle holder or the nozzle holder and the printing platform and the printing path pitch when the printing path is a set of concentric rings according to one embodiment of the printing method of the present invention;
FIG. 17-e is a schematic diagram showing the relationship between the relative rotation angle formed by the nozzle holder or nozzle holder and the printing platform and the printing path pitch in another case when the printing path is a set of concentric rings according to the embodiment of the printing method of the present invention;
FIG. 18 is a schematic diagram showing the relationship between the relative rotation angle formed by the nozzle holder or the nozzle holder and the printing platform and the distance between the printing paths in the second embodiment of the printing method according to the present invention;
FIG. 19 is a schematic diagram showing the relationship between the relative rotation angle formed by the nozzle holder or the nozzle holder and the printing platform and the pitch of each printing path in another case of the second embodiment of the printing method according to the present invention;
FIG. 20-a is a schematic diagram of a printing path for printing multiple layers by stacking multiple nozzles in a continuous extrusion manner simultaneously according to a second embodiment of the printing method of the present invention;
FIG. 20-b is a schematic cross-sectional view of a printed interlayer structure formed when the third embodiment of the printing method of the present invention is applied.
FIG. 21-a is a schematic diagram of a discrete-jet multi-nozzle simultaneous stack printing multi-layer printing path.
Fig. 21-b is a schematic diagram of another discrete jet printing method and color printing method.
Fig. 21-c is a schematic diagram of discrete jet printing and color printing implemented using a different structure than fig. 21-b.
Fig. 21-d is a schematic diagram of a continuous extrusion printing method and another color printing method.
FIG. 22 is a schematic view of a printing process with the centerline of the nozzle at an angle β to the print platform.
Fig. 23 is a schematic perspective view of a multi-nozzle 3D printing system.
FIG. 24 is a notation table of FIGS. 17-a-19;
the reference numbers illustrate:
a-a nozzle base;
b-a nozzle holder; b1 — first nozzle carrier; b2 — second nozzle carrier; b3-third nozzle carrier;
b01 — first dual orifice nozzle carrier; b02 — second double orifice nozzle carrier; b03 — third dual orifice nozzle carrier; b04 — fourth double orifice nozzle carrier; b04-fifth dual orifice nozzle carrier; b01 ″ -a first general nozzle holder; b02' -a second general nozzle holder; b03' -a third general nozzle holder;
c-a printing platform;
a D-drive device; d1 — first drive means; d2 — a second drive; d3 — third drive means;
f-a frame;
NA-a nozzle arranged on (i.e. fixedly connected with) the nozzle base; n01, N02, N03, N04-nozzle;
n1, N1 "-first nozzle; n2, N2' -second nozzle; n3, N3' -third nozzle; n4, N4' -fourth nozzle;
11-a bearing;
21-a material conveying channel; 22-a feeding port; 23-a material spraying port;
30-a sensor; 31-a first sensor; 32-a second sensor; 33-a third sensor;
41-a screw rod; 42-a nut; 43-positioning groove, 44-positioning rod;
51-a mounting plate; 52-a boss;
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It should be apparent that the drawings in the following description are only examples of the invention, and it is obvious for a person skilled in the art that other drawings can be obtained according to the drawings and other embodiments without inventive work, and the embodiments are all included in the scope of the present invention.
First embodiment of a multi-nozzle 3D printing nozzle, referring to fig. 1, a three-dimensional cross-sectional view of a multi-nozzle 3D printing nozzle is specifically provided, and the embodiment specifically provides a printing nozzle, which includes a nozzle seat a, a nozzle seat B, and a driving device D. Wherein, be equipped with two at least nozzles on the print head, nozzle holder B activity sets up on nozzle holder A, and at least one nozzle N sets up on nozzle holder B. As shown in fig. 1, two nozzles N01, N02 are provided on the nozzle holder B; as shown in fig. 2, two nozzles N01, N02 are provided on the nozzle holder B, and one nozzle NA is provided on the nozzle holder a. When the ink jet printing device is used, the driving device D drives the nozzle seat B to move, and the printing nozzle drives the two nozzles N01 and N02 to move along a track set on the nozzle. It should be noted that, in fig. 1, the nozzle seat B is slidably sleeved on the inner side of the nozzle seat a, and preferably, the midpoint of the connecting line of the two nozzles N coincides with the central axis of the nozzle seat B; in fig. 2, the nozzle holder B is slidably fitted on the outer side of the nozzle holder a, and the nozzle NA provided on the nozzle holder is preferably aligned with the central axis of the nozzle holder B.
Of course, in other embodiments, a plurality of nozzles N may be provided at least one on nozzle mount B and one or more on nozzle mount a. As shown in fig. 3 and 4, four nozzles N01, N02, N03 and N04 are preferably arranged on the nozzle holder B, wherein the middle point of the connecting line of the two nozzles N02 and N03 in the middle is coincident with the central axis of the nozzle holder B. Thus, the nozzles N01, N02, N03 and N04 can be driven to move relative to the nozzle seat a by the rotation of the nozzle seat B, each nozzle N01, N02, N03 and N04 forms a track, the track is formed by a motion track determined by the nozzle seat B in the nozzle seat a, and it should be noted that a motion route under the result of the compound motion of the nozzle seat motion and the nozzle seat motion is a printing route of the nozzle under normal conditions. And the movement track of the nozzle seat B determined in the nozzle seat A is the track of the nozzle seat, and the track of the nozzle seat in the application is circles with different radiuses fixed on the nozzle seat A.
It should be further noted that the number and arrangement of the nozzles N are reasonably adjusted according to actual needs. The preferred arrangement of the nozzles is a collinear arrangement of the nozzles. In the latter embodiment, the preferred nozzle arrangement is one in which the nozzles are collinear by rotation of the nozzle holder.
In addition, each time the movable nozzle seat is added to the multi-nozzle 3D printing nozzle, the degree of freedom is added, namely, one nozzle arranged on the added nozzle seat can be driven to a printing path by the nozzle seat. Compared with the system freedom degree of a multi-nozzle 3D printing spray head, the system freedom degree of the multi-nozzle 3D printing spray head further increases the number of the nozzles, and the significance lies in that one of the nozzles can be selected to be in a corresponding printing path, for example, a nearby nozzle can be selected, the power loss of a driving device can be reduced, or a nozzle for printing a certain material can be selected, or a nozzle for printing a certain color can be selected, so that the application flexibility is improved. Illustratively, the nozzle holder may have a plurality of nozzles arranged in a rectangular or circular array.
The second embodiment of the multi-nozzle 3D printing head, which is basically the same as the first embodiment in structure and working principle, is shown in fig. 5, except that: the nozzle holder comprises a first nozzle holder B1, a second nozzle holder B2 and a third nozzle holder B3, wherein at least one first nozzle N1 is arranged on the first nozzle holder B1, at least one second nozzle N2 is arranged on the second nozzle holder B2, and at least one third nozzle N3 is arranged on the third nozzle holder B3. The simultaneous driving device D includes a first driving device D1, a second driving device D2, and a third driving device D3. The first nozzle seat B1 is connected with a first driving device D1 and is driven by the first driving device D1 to move; the second nozzle seat B2 is connected with a second driving device D2 and is driven by the second driving device D2 to move; the third nozzle holder B3 is connected to the third driving device D3 and is driven by the third driving device D3 to move.
When the nozzle seat is actually used, the driving devices respectively drive the connected nozzle seats to move, and further the position of each nozzle relative to the nozzle seat is adjusted. It should be noted that there are various arrangements of the driving means, the axes of the driving gears of the driving means in fig. 5 and 6 being in parallel relationship, and another arrangement of the driving means in fig. 7, in which the axes of the driving gears of adjacent driving means are arranged in perpendicular relationship, is more advantageous for reducing the distance between the driving means in the axial direction of the nozzle holder.
Exemplarily, in the second embodiment of the multi-nozzle 3D printing head, the first nozzle holder B1, the second nozzle holder B2 and the third nozzle holder B3 are all provided in a sleeve-shaped structure; referring to fig. 6 and 7, a first nozzle holder B1, a second nozzle holder B2 and a third nozzle holder B3 are arranged in sequence from inside to outside. During specific installation, the nozzle seat A and the third nozzle seat B3 can be connected in a sliding sleeved mode, the second nozzle seat B2 and the third nozzle seat B3 are connected in a sliding sleeved mode, and then the first nozzle seat B1 and the second nozzle seat B2 are connected in a sliding sleeved mode.
It should be noted that, in other embodiments of the multi-nozzle 3D printing head, the third nozzle seat B3 may be slidably sleeved on the outer side of the nozzle seat a, and the second nozzle seat B2 and the first nozzle seat B1 may be sequentially sleeved, and the specific sleeving order is not limited. Meanwhile, the third nozzle seat B3 may also be connected to the nozzle seat a through the bearing 11, as shown in fig. 1 and 3, and of course, other connection methods may also be adopted, which are not described in detail.
Illustratively, the first nozzle holder B1, the second nozzle holder B2, and the third nozzle holder B3 are concentrically nested along the same central axis. Referring to fig. 5, 6 and 7, in particular, the first driving device D1 is disposed on the nozzle seat a and connected with the first nozzle seat B1, so as to drive the first nozzle seat B1 to rotate around the central axis, so that the two first nozzles N1 and N1' disposed on the first nozzle seat B1 rotate around the central axis; meanwhile, a second driving device D2 is also arranged on the nozzle seat A and is connected with a second nozzle seat B2, and the second nozzle seat B2 can be driven to rotate around the central axis by the second driving device D2, so that the included angle between the connecting line of the second nozzle N2 or N2 'and the central axis and the connecting line of the first nozzle N1 or N1' and the central axis can be changed; furthermore, a third drive device D3 is also arranged on the nozzle plate a and connected to the third nozzle plate B3, so that the third nozzle plate B3 can be driven by the third drive device D3 to rotate around the central axis relative to the nozzle plate a, so that the angle between the line connecting the third nozzle N3 or N3 'and the central axis and the line connecting the second nozzle N2 or N2' and the central axis can be changed.
It should be noted that, the first nozzle holder B1, the second nozzle holder B2, and the third nozzle holder B3 may be eccentrically sleeved in other embodiments of the multi-nozzle 3D printing head, and the specific connection manner may also be designed reasonably according to actual requirements. The application uses the concentric connection as an example, and the other connection modes are not illustrated.
In the second embodiment of the multi-nozzle 3D printing head, the different driving devices drive the respective connected nozzle holders to move along respective tracks, so that the distance (i.e., within a range smaller than a certain value) between the tangential direction of each nozzle arranged on each nozzle holder and the projection of each nozzle in a plane perpendicular to the tangential direction of the printing path is adjusted, the requirement that each nozzle prints along the respective corresponding printing path is met, and the printing speed is effectively improved.
In this embodiment, the orbit of each nozzle holder is a circle having a different radius and fixed to the nozzle holder a. Of course, the track of the nozzle holder may be fixed on the nozzle holder a or one of the nozzle holders B, and the track of the nozzle holder may be a curve or a point. No further description is given.
The structure and the working principle of the multi-nozzle 3D printing head in the third embodiment are basically the same as those of the second embodiment, and the first nozzle holder B1, the second nozzle holder B2 and the third nozzle holder B3 are concentrically sleeved along the same central axis. Referring to fig. 8, the only difference is that: the third driving device D3 is disposed on the nozzle base a, the second driving device D2 is fixed on the third nozzle base B3, and the first driving device D1 is fixed on the second nozzle base B2. Therefore, the third driving device D3 can drive the third nozzle holder B3 to rotate relative to the nozzle holder a, and the second driving device D2 connected with the third nozzle holder B3 drives the second nozzle holder B2 to rotate, and the first driving device D1 connected with the second nozzle holder B2 drives the first nozzle holder B1 to rotate, so as to realize a one-way linkage function (i.e., when the third driving device D3 drives, the second driving device D2 and the first driving device D1 drive the second nozzle holder B2 and the first nozzle holder B1 to rotate simultaneously, and when the second driving device D2 drives, the first driving device D1 drives the first nozzle holder B1 to rotate simultaneously), so that the rotation angles required to be driven by the second driving device D2 and the first driving device D1 can be effectively reduced.
Of course, after the integral one-way linkage control is realized, the second driving device D2 can further drive the second nozzle holder B2 to rotate around the central axis, and the first driving device D1 arranged on the second nozzle holder B2 drives the first nozzle holder B1 to rotate simultaneously, so that the included angle between the connecting line of the second nozzle N2 or N2 'and the central axis and the connecting line of the third nozzle N3 or N3' and the central axis can be changed; at the same time, the first nozzle holder B1 can be driven by the first driving device D1 to rotate around the central axis, so that the angle between the line connecting the second nozzle N2 or N2 'and the central axis and the line connecting the first nozzle N1 or N1' and the central axis can be changed. Therefore, different nozzles move along respective tracks under the independent drive of the drive devices connected with the nozzles on the basis of one-way linkage.
It should be noted that in the present embodiment, the orbit of the first nozzle holder B1 is a circle fixed to the second nozzle holder B2, the orbit of the second nozzle holder B2 is a circle fixed to the third nozzle holder B3, and the orbit of the third nozzle holder B3 is a circle fixed to the nozzle holder a.
Of course, the structure similar to the sequential sleeving structure is not only sequentially sleeved on the three nozzle holders. Similar to the structure, the nozzle seats B are sequentially sleeved from inside to outside, and at least one nozzle seat B is arranged on the nozzle seat A. At least 1 nozzle is arranged on each nozzle seat. And each nozzle holder B has a drive device D corresponding thereto. It can be extended to a structure including 2 or more than 3 nozzle holders.
In the fourth embodiment of the multi-nozzle 3D printing head, referring to fig. 9, the second nozzle holder B2 and the third nozzle holder B3 are movably arranged on the first nozzle holder B1. The first driving device D1 is disposed on the nozzle seat a and connected to the first nozzle seat B1, so that the first nozzle seat B1, the second nozzle seat B2 and the third nozzle seat B3 can be driven to rotate simultaneously. The second nozzle holder B2 and the third nozzle holder B3 are driven by the second driving device D2 and the third driving device D3 to rotate or move linearly, respectively.
Exemplarily, as shown in fig. 9, the first driving device D1 and the first nozzle holder B1 are a rotary driving device and a rotary nozzle holder, respectively, the second driving device D2 and the third driving device D3 are linear driving devices, and the second nozzle holder B2 and the third nozzle holder B3 are linear nozzle holders; thus, when the first driving device D1 drives the first nozzle holder B1 to rotate, the second nozzle holder B2 is rotated at the same time, and the second nozzle holder B2 can be moved linearly relative to the first nozzle holder B1 by the driving of the second driving device D2, and the angle and/or distance formed by the nozzle N02 and the connecting line between the nozzle N01 and the nozzle N03 can be effectively controlled by the movement. The third nozzle holder B3 can be driven by the third driving device D3 to move linearly relative to the first nozzle holder B1, and the angle and/or distance formed by the nozzle N03 and the connecting line between the nozzle N01 and the nozzle N02 can be effectively controlled by the movement.
It should be noted that, in the present embodiment, the track of the first nozzle holder B1 is a circle fixed to the nozzle holder a, the track of the second nozzle holder B2 is a straight line fixed to the first nozzle holder B1, and the track of the third nozzle holder B3 is also a straight line fixed to the first nozzle holder B1.
A fifth embodiment of a multi-nozzle 3D printing head, as shown in fig. 10-a and 10-b, the head apparatus includes: a nozzle base A, a double-hole nozzle base B01, two general nozzle bases B01 'and B02'. Wherein, at least one nozzle N and/or one cylindrical hole are/is arranged on the general nozzle seat; the double-hole nozzle seat comprises two cylindrical holes which are used for installing the nozzle seat. Each nozzle holder has a corresponding drive mechanism (not shown) for driving the nozzle holder. The first general nozzle holder B01 ' and the second general nozzle holder B02 are rotatably mounted in the cylindrical hole of the dual-hole nozzle holder B01, respectively, and each general nozzle holder is provided with 2 nozzles, i.e., the first general nozzle holder B01 ' is provided with two first nozzles N01 and N01 ', and the second general nozzle holder B02 ' is provided with two first nozzles N02 and N02 '. In this embodiment, the nozzles are not directly disposed on the two-hole nozzle holder, and the final motion trajectory of the nozzles relative to the nozzle holder is the rotational motion coupling of the two-hole nozzle holder and the general nozzle holder on which the two nozzles are disposed, so that the two nozzles on each general nozzle holder can be correspondingly moved to the corresponding printing paths by adjusting the movements of the nozzle holder a and the nozzle holder B.
Further, the general nozzle holders B01 'and B02' may also be selected to have one of the following structures, respectively:
(1) a cylindrical hole and a nozzle are arranged on the nozzle holder, and the cylindrical hole can be continuously nested inwards with the nozzle holder to form a sleeve type structure similar to that in the third embodiment of the multi-nozzle 3D printing nozzle; the cylindrical hole can be provided with a common nozzle seat or a double-hole nozzle seat.
(2) A cylindrical hole is arranged on the nozzle holder, and a common nozzle holder or a double-hole nozzle holder can be arranged in the cylindrical hole.
This configuration is also suitable for a larger number of nozzle holders. As shown in fig. 11, the print head apparatus includes two dual orifice nozzle holders, a first dual orifice nozzle holder B01 and a second dual orifice nozzle holder B02, respectively, the second dual orifice nozzle holder B02 being installed in one cylindrical hole of the first dual orifice nozzle holder B01; the print head apparatus further includes three general nozzle holders, which are a first general nozzle holder B01 ', a second general nozzle holder B02 ', and a third general nozzle holder B03 ', respectively. The first general nozzle holder B01 ' is installed in the other cylindrical hole of the first dual orifice nozzle holder B01, and the second general nozzle holder B02 ' and the third general nozzle holder B03 ' are installed in the two cylindrical holes of the second dual orifice nozzle holder B02. And 2 nozzles are arranged on three general nozzle holders.
It should be noted that fig. 10 and 11 show the two-hole nozzle holder directly mounted on the nozzle holder a. In addition, a common nozzle holder can be directly arranged on the nozzle holder A and connected with another common nozzle holder through a double-hole nozzle holder.
Sixth embodiment of a multi-nozzle 3D printing nozzle, the present embodiment discloses a printing nozzle apparatus, and referring to fig. 12-a, the printing nozzle apparatus includes: one nozzle seat a, two-orifice nozzle seats B01 and B02 and three general nozzle seats B01 ', B02 ' and B03 '. Wherein, at least one nozzle N and/or one cylindrical hole are/is arranged on the general nozzle seat; the double-hole nozzle seat comprises two cylindrical holes which are used for installing the nozzle seat. Each nozzle holder has a corresponding drive mechanism (not shown) for driving the nozzle holder.
The first double orifice nozzle holder B01 is mounted on the nozzle holder a. The general nozzle holder B02 ' penetrates through the cylindrical holes of two double-hole nozzle holders B01 and B02, so that the two nozzle holders B01 and B02 can be rotatably connected, and the other two general nozzle holders B01 ' and B03 ' are respectively arranged in the other cylindrical holes of the two nozzle holders B01 and B02. In this embodiment, each general nozzle holder is provided with 2 nozzles, i.e., the first general nozzle holder B01 'is provided with two first nozzles N01 and N01', and the second general nozzle holder B02 'is provided with two first nozzles N02 and N02'.
Of course, the number of the double-hole nozzle holders is not limited to 2, and every two double-hole nozzle holders are rotatably connected through a common nozzle holder, and the double-hole nozzle holders can be continuously expanded to one side or two sides in a structure similar to that of fig. 12-a to form a chain type structure. Whereas if there are three double-orifice nozzle holders rotatably coupled by a common nozzle holder, the expanded structure is changed from a chain structure to a net structure, as shown in fig. 12-B and 12-c, the double-orifice nozzle holders B03, B02, B01 and B05 are rotatably coupled by a common nozzle holder in sequence to form a chain structure, the double-orifice nozzle holder B04 is rotatably coupled to the coupling axis of the double-orifice nozzle holders B02 and B01, and then the double-orifice nozzle holders B03, B05 on both sides and the B04 in the middle are rotated to a parallel or nearly parallel position, thereby forming the net structure shown in fig. 19. May continue to expand outward in a similar configuration.
Similarly, as shown in fig. 13, each of the nozzle holders B1, B2, B3 is composed of a mounting plate 51 and a boss 52, the boss is cylindrical, the cross-sectional area of the boss is smaller than that of the mounting plate, and the nozzles N01, N01 ', N02, N03 are arranged on the boss 52, wherein the nozzle holder B1 includes two bosses on which the nozzles N01 and N01' are respectively arranged; the nozzle holders B2 and B3 are provided with a convex part 52 and a cylindrical hole, the cylindrical hole of the nozzle holder B2 is sleeved on the convex part where the nozzle N01' is located, the mounting plates of the two nozzle holders are rotatably connected by taking the convex part as a rotating shaft, and the cylindrical hole of the nozzle holder B3 is sleeved on the convex part 52 of the nozzle holder B2. Of course, the nozzle N01' may be provided on the same boss as the nozzle N01 to shorten the distance between the nozzles.
Continued outward expansion with the nozzle carrier configuration shown in figure 13 allows for a longer chain-like structure. When 3 nozzle holders are rotatably attached to one boss portion, a net-like structure as shown in fig. 23 can be formed similarly to the foregoing embodiment.
In addition, the nozzle seat B1 and the nozzle seat B2 or the nozzle seat B can be connected through other rotating shaft structures, for example, an arc convex structure can be arranged on the B1, an arc concave structure can be arranged on the B2, and the arc convex structure can be embedded into the arc concave structure to form the rotating shaft structure connection capable of swinging within a certain angle range. The shape of the projection 52 need not be cylindrical as shown in fig. 13.
According to the six multi-nozzle 3D printing spray head embodiments, the nozzles can be arranged at the same height, printing on printing paths on the same layer is facilitated, and design and manufacturing are simplified. In addition, the nozzles may also be disposed at least two heights, as shown in fig. 10, fig. 11, and fig. 12-a, so as to better adapt to the situation of printing paths on different layers simultaneously, for example, the distances between a plurality of nozzles and the corresponding printing layer may be equal, or each nozzle may be located at an optimal distance according to the characteristics of different materials, so as to allow the printing materials to fall onto the printing layer from the nozzles as simultaneously as possible, which is beneficial to improving the printing effect and is also convenient to control.
Except that the nozzle has different heights when being designed, the spray head can be additionally provided with a height adjusting mechanism to control the nozzle seat to lift, so that the nozzle on the spray head is driven to the corresponding height. An exemplary screw pair mechanism or a positioning groove positioning rod mechanism can be adopted. As shown in fig. 15-a, the screw pair mechanism is composed of a screw 41 and a nut 42, which are respectively connected to the nozzle base and the nozzle base, or to 2 nozzle bases. The change of the height difference of the two connecting parts in the axial direction is realized by the rotating action of the screw rod 41. The movement of the screw 41 can be performed manually or by motor drive (the drive motor is not shown in the figure). For example, a positioning groove positioning rod mechanism can also be adopted, please refer to fig. 15-b, the positioning rod 44 can be inserted into different positioning grooves 43 for limiting according to the requirement, and the height of the nozzle holder can be adjusted in a grading way, so as to adjust the height difference between the nozzles.
The driving device arranged in the multi-nozzle 3D printing nozzle embodiment is a helical gear, a worm and gear transmission pair or a screw rod pair. As shown in fig. 16-a, the driving device may also be a bevel gear transmission pair, as shown in fig. 16-b, the driving device is driven by a motor rotor directly connected with the nozzle holder, i.e., a hollow shaft motor, and as shown in fig. 16-c, the driving device is driven by a synchronous belt transmission. Of course, in other embodiments of the multi-nozzle 3D printing head, the driving device may also adopt one of a spur gear or a hydraulic motor, which may be specifically selected according to actual needs and will not be described in detail here.
The tracks of the nozzle holders are preferably circular or straight, and in other embodiments, the tracks of the nozzle holders may also be in other curved forms. For example, a curved chute track may be disposed on the nozzle seat or the nozzle seat, and the nozzle seat moves along the curved chute track of the chute, so that the track of the nozzle on the nozzle seat may be curved. The tracks are arranged reasonably, and in some application examples, one driving device can drive a plurality of nozzle holders. Alternatively, a plurality of drives may drive a single nozzle holder.
On the basis of the six multi-nozzle 3D printing spray head embodiments, the structure of the spray nozzle in the printing spray head is a spray nozzle with a material hole structure or a spray nozzle without the material hole structure, and the material of the spray nozzle is one or a combination of a plurality of materials of metal, an electric insulating material, an insoluble electrode material and a nonmetal conducting material.
The nozzle provided with the orifice structure, as shown in fig. 14-a and 14-b, includes a feeding passage 21, a feeding port 22 (i.e., a port through which a printing-related material is fed, and is connected to a feeding mechanism in actual use) and a discharging port 23 (i.e., a port through which a printing-related material is discharged) provided at both ends of the feeding passage. Wherein, defeated material passageway 21 sets up to the slope passageway for the distance between the spout mouth 23 of defeated material passageway 21 of nozzle holder is less than the distance between the pan feeding mouth 22, thereby make the distance between the nozzle can realize reducing under the condition that the pan feeding mouth 22 interval needn't be close to, the nozzle structure of this kind of form is favorable to carrying out many nozzles to printing to the less object of printing route camber, and can reduce the relative pivoted angle of nozzle holder under the same printing route camber radius condition, be favorable to promoting printing speed. As shown in fig. 2, the material spraying opening 23 is connected with the material conveying channel 21 at the upper part in a straight shape (i.e. arranged coaxially), so that the structure of the material spraying opening 23 and the material conveying channel 21 has small flow resistance. Of course, in other embodiments, the feeding channel 21 may be provided in other types, and all of them fall within the protection scope of the present application.
In the six multi-nozzle 3D printing nozzle embodiments, in practical use, the distance between the nozzles is preferably as small as possible, which is beneficial to improving the printing efficiency. The nozzle is provided with a sensor 30 for checking the rotational angle position or rotational angle zero point information of the nozzle holder relative to the nozzle holder, as shown in fig. 3. Specifically, the motion of the nozzle holder on the track is correspondingly controlled in real time through the deviation between the obtained angular position of the nozzle holder and the expected angular position, and finally, the multiple nozzles N are printed along the corresponding printing paths by combining the relative motion of the nozzle holder and the printing platform in the X, Y and Z directions. As shown in fig. 5, each nozzle holder B obtains the rotation angle zero point or rotation angle position information of each nozzle holder by the respective first sensor 31, second sensor 32, and third sensor 33.
The sensor can be one of a photoelectric sensor, a Hall sensor, a rotary transformer, a travel switch and a touch switch, and can be arranged on the printing nozzle seat A or on each nozzle seat B, and only the detection of the corner zero point or the corner position of the nozzle seat B needs to be met. The specific installation mode is not further limited in the application, and reasonable installation design can be made according to actual requirements. The multi-nozzle 3D printing nozzle can be additionally provided with other components or functions according to actual application requirements, such as a heating device, a heat dissipation device or a feeding mechanism.
The invention also provides a printing method, which adopts a printing nozzle and a printing platform to print, wherein the printing nozzle is provided with at least two nozzles and comprises a nozzle seat and a nozzle seat, and the printing nozzle and the printing platform move relatively, and the printing method comprises the following steps:
a) analyzing the three-dimensional data of the object to be printed, and generating at least two printing paths on each layer of the object to be printed;
b) and printing the printing path generated on each layer of the object to be printed on the printing platform by using a printing nozzle, so that at least two nozzles move along the corresponding printing paths respectively.
The invention also provides another printing method, which adopts a spray head with a plurality of nozzles, and when the spray head and a printing platform move relatively in the directions of x, y and z, the distance between the nozzles along the tangential direction of a printing path and the projection in a plane perpendicular to the tangential direction of the printing path is enabled to be randomly adjustable within a range smaller than a certain value through the rotation of each nozzle seat or each nozzle seat relative to the printing platform (even if at least two nozzles move along the corresponding printing paths respectively), thereby realizing the multi-nozzle 3D printing.
Several common printing methods are introduced in the following specific printing methods in detail, and during actual printing, reasonable adjustment can be made as required, and the methods are not limited to the printing methods in the given embodiments:
first embodiment of printing method referring to fig. 17-a and fig. 24, for example, a printing head is provided with four nozzles NA, N1, N2, N3, and these 4 nozzles can be driven to the corresponding printing paths by the movement of the nozzle holder and the nozzle holder. The nozzle seat is provided with a nozzle NA, and the original point of the printing nozzle is overlapped with the nozzle, and the nozzle seat A drives the original point to move relative to the printing platform C, so that the original point moves to the initial point of the printing path on the printing platform C. The nozzle base a drives the nozzle NA to move along the printing path L1 in the X, Y plane. The first nozzle N1 moves along the track T1 until the first nozzle N1 reaches the printing path L2 and stops moving along the track T1, and the angle from the initial position after the movement is set as α 1, and the distance to NA after the movement is set as d 1; the second nozzle N2 moves along its trajectory T2 until the second nozzle N2 reaches the print path L3 and stops moving along the trajectory T2, and assuming that the angle after the movement with respect to the initial position is α 2 and the distance after the movement to NA is d2, the third nozzle N3 moves along its trajectory T3 until the third nozzle N3 reaches the print path L4 and stops moving along the trajectory T3, the angle after the movement with respect to the initial position is α 3 and the distance after the movement to NA is d 3. It should be noted that the sequence of the four nozzles NA, N1, N1, N3 reaching their corresponding printing paths respectively is not limited, or all the four nozzles may reach at the same time.
Obviously, as long as the multi-nozzle 3D printing nozzle has at least 3 movably arranged nozzle holders, that is, 3 degrees of freedom are newly added, it can be satisfied that at least 4 nozzles can be driven to the corresponding printing paths, and then 4 nozzles respectively travel along the corresponding printing paths, because the relative movement of the nozzle holder with respect to the printing platform can always ensure that at least one nozzle is on the corresponding printing path. It should be noted that the number of nozzles in the embodiment of the method and the embodiment of the subsequent method is merely an example, and the number of nozzles in the printing method is not limited. When the number of printing paths is changed, the number of nozzle holders and nozzles can be changed correspondingly. In addition, in this embodiment, the printing method is similar no matter whether one nozzle NA of the four nozzles is located on the nozzle base, and the description thereof is omitted. The printing nozzles in the first to seventh embodiments of the multi-nozzle 3D printing nozzle can be expanded to have a structure including at least 3 movably arranged nozzle holders, and thus are all adapted to the embodiments of the method.
Since the printing path or trajectory of an arbitrary curve can be realized by fitting a straight line and a circular arc, the printing method will be described in further detail later with respect to the straight line printing path or trajectory and the curved line printing path or trajectory, respectively. In a refined embodiment, both nozzles NA and N1 are provided on the same nozzle holder B1 and are designated N1 and N1', respectively. This process does not change the print effect.
When the print path L is a set of parallel lines: as shown in fig. 17-b and 24. Three nozzle seats are arranged on one nozzle seat, and 3 nozzle seats rotate independently. The first nozzle N1 and the first nozzle N1 ' are fixed on a first nozzle holder B1 (that is, two first nozzles N1 and N1 ' are arranged on the first nozzle holder B1), the second nozzle N2 is fixed on a second nozzle holder B2, the third nozzle B3 is fixed on a third nozzle holder B3, and the T1, the T2 and the T3 are tracks of the nozzles N1 ', N2 and N3, which are all circles in this example. When the nozzle holders rotate by a certain angle respectively, the nozzles can be positioned on the corresponding printing paths by combining the relative movement of the nozzle holders and the printing platform, as shown in the figure. In addition, the three nozzle holders in fig. 17-B may also be rotated in association with each other, for example, the moving rail of the first nozzle holder B1 is fixed to the second nozzle holder B2, the moving rail of the second nozzle holder B2 is fixed to the third nozzle holder B3, and the moving rail of the third nozzle holder B3 is fixed to the nozzle holder a. Each nozzle seat rotates a certain angle respectively, and each nozzle can be positioned on a corresponding printing path by combining the relative motion of the nozzle seat and the printing platform. This arrangement can reduce the rotation angle of the nozzle holders B2 and B1. In other applications, 4 nozzles may be provided in the same nozzle holder, for example, nozzle holders B2 and B3 may be eliminated and nozzles N2 and N3 may be provided on nozzle holder B1. And the nozzles are arranged co-linearly with the pitch of the nozzles corresponding proportionally to the pitch of the print path, or in a further application, with the pitch of the print path being equal (i.e. P1-P2-P3) with the nozzles arranged co-linearly and equidistantly. When the nozzle holder B1 is rotated by a proper angle, the nozzles can be positioned on the corresponding printing paths respectively in combination with the relative movement of the nozzle head and the printing platform. Fig. 17-c show another example in which a first nozzle holder B1 is connected to a nozzle holder a, a second nozzle holder B2 and a third nozzle holder B3 are provided on the first nozzle holder B1, and the orbit of the first nozzle holder B1 is a circle fixed to the nozzle holder, and the orbit of the second nozzle holder B2 and the orbit of the third nozzle holder B3 are fixed to the first nozzle holder B1 as collinear line segments. The rotation of the nozzle holder B1 through a certain angle while the nozzle holders B2 and B3 move a certain distance along the rail, in combination with the relative motion of the head and the printing platform, allows each nozzle to be in a corresponding print path. Of course, the tracks T2 and T3 of the nozzle holders B2 and B3 may not be collinear or coincident with the nozzle N1, as well as multiple nozzles printing multiple print paths simultaneously.
Illustratively, when the print path L is a set of concentric circles: as shown in fig. 17-d and 24. The 3 nozzle holders can rotate independently or in a mutual correlation manner. Each nozzle seat rotates a certain angle respectively, and each nozzle can be positioned on a corresponding printing path by combining the relative motion of the nozzle seat and the printing platform. If 4 nozzles are arranged on the same nozzle seat, 2 nozzles may not be accurately positioned on the corresponding printing paths, and approximate printing can be performed for the application with low requirements. Fig. 17-e show another example in which a first nozzle holder B1 is connected to a nozzle holder a, a second nozzle holder B2 and a third nozzle holder B3 are provided on the first nozzle holder B1, and the orbit of the first nozzle holder B1 is a circle fixed to the nozzle holder, and the orbit of the second nozzle holder B2 and the orbit of the third nozzle holder B3 are fixed to the first nozzle holder B1, both being line segments. The nozzle holder B1 is rotated at an angle while the nozzle holders B2 and B3 move a distance along their respective tracks, which, in combination with the relative motion of the head and the print deck, allows each nozzle to be in a corresponding print path. Of course, the tracks T2 and T3 of the nozzle holders B2 and B3 may also be collinear or coincident with the nozzle N1, as may the multiple nozzles printing multiple print paths simultaneously. Note that when the nozzles N1, N2, N3, N4 print the same layer. The four nozzles N1, N2, N3, N4 can print 4 paths of the same layer respectively, that is, when none of p1, p2, p3 is 0. It is also possible to have at least two nozzles printing the same path simultaneously, i.e. when 1 of p1, p2, p3 is 0. Specifically, when p1 is p3 is 0 and p2 is not 0, N1 simultaneously prints L1 (coinciding with L2) with N2 and N3 and N4 simultaneously prints L3 (coinciding with L4). Further, the nozzles N1, N2, N3, N4 may also print the print paths on at least two layers at the same time.
In one application, in the case of determining the printing path pitch, if the nozzle pitch can be set to be the same as the printing path pitch, a plurality of nozzles (for example, 3 nozzles) are arranged on one nozzle holder and are arranged in a collinear manner, so that the structure of the spray head is simplified. When the spray head and the printing platform move relatively, the nozzle seat and the printing platform rotate relatively, and all the nozzles can be positioned on a printing path at the same time.
It should be noted that, in the above embodiments of the specific printing method, the origin of the nozzle base coincides with a certain nozzle N, and this processing method is only for convenience of analysis. In fact, the origin of the nozzle base can be arranged at any position of the nozzle base, and the same result can be achieved. The reason why the centers of the circular orbits of the nozzles in the above examples are all located to coincide with the nozzle B1 is for the sake of analysis convenience, and the centers of the circular orbits of the nozzles may be located at any position on the nozzle in practice, and do not necessarily coincide with each other. The print path and nozzle trajectory are represented by corresponding lines mapped onto the XY plane. The arrows in the figure indicate the moving direction of the spray head relative to the printing platform, namely the spray head can move, the printing platform can move, or the two can move together. The same is as follows.
Printing method embodiment two, the present printing method is applied to the case of multi-layer simultaneous printing, refer to fig. 18, fig. 19, fig. 20-a, fig. 21-a, fig. 23 and fig. 24. In fig. 18, the head illustratively includes a head base a, 1 head base B, and 2 nozzles N01 and N02, i.e., print paths L1 and L2, respectively. The two-dot chain line in the figure indicates the trajectory of the nozzle. The projection pitches of the printing paths L1 and L2 on the XY plane are k1, and the projection pitch in the Z direction is δ 1. Specifically, the method comprises the following steps:
when k1 is 0, the projections of the printing paths L1 and L2 of the nozzles N01, N02 at this time on the XY plane coincide. Further, when δ 1 is 0, the printing paths L1 and L2 are on the same layer, i.e., corresponding to p1 being 0, and the two printing paths coincide. When δ 1 is not 0, the printing paths L1 and L2 are not on the same layer.
When k1 is not 0, the projections of the printing paths L1 and L2 of the nozzles N01, N02 on the XY plane do not coincide at this time. Further, when δ 1 is 0, the printing paths L1 and L2 are on the same layer. When δ 1 is not 0, the printing paths L1 and L2 are not on the same layer, and the projections on the XY plane do not coincide.
The two nozzles N01, N02 may be arranged one on the head base a and the other on the nozzle base B, and it is also possible to realize that the two nozzles respectively travel along the printing paths L1, L2 of different layers.
Further, as shown in fig. 19. The multi-nozzle 3D print head includes 6 nozzles N01, N01 ', N02, N02 ', N03, N03 ' thereon, each of which may be driven to a corresponding print path L1, L2, L3, L4, L5, L6, respectively. The figure illustrates the print paths on 3 layers, respectively, where: n01 and N01 ' are positioned on the same layer, N02 and N02 ' are positioned on the same layer, and N03 and N03 ' are positioned on the same layer; illustratively, the projections of L1, L2, L3 on the XY plane coincide, the projections of L4, L5, L6 on the XY plane coincide, and the projections of L1 and L4 on the print surface do not coincide.
Illustratively, the printing method can be realized by the printing nozzle device shown in FIG. 12-a in the sixth embodiment. One nozzle holder or nozzle adjustment for each layer of 2 print paths. The two nozzles of each general nozzle holder are located in the same layer and print different printing paths respectively. I.e. 6 nozzles printing 3 layers simultaneously, each layer printing 2 print paths simultaneously. Fig. 20-a, an example of printing paths where 4 nozzles N1, N2, N3, and N4, respectively, are simultaneously and continuously extrusion printed on 4 layers, for example. Fig. 21-a illustrates an example of 4 nozzles N1, N2, N3, and N4 respectively simultaneously discretely ejecting print 4-layer print paths.
Note that the case where the nozzles are set to the same height, such as the multi-nozzle in fig. 21-b, can also be used for multi-layer printing. The print distance of each nozzle to the corresponding layer may be different. This approach can simplify the showerhead structure. In addition, the nozzle holders B1, B2, B3 and B4 are shown schematically, and actually, several nozzle holders can be combined into a whole or fixedly connected with the nozzle holder, and as shown in FIG. 21-c, an example of combining 4 nozzle holders into a whole is shown. The same applies below.
In the third embodiment of the printing method, the method can print on an integer layer and can also print on a fractional layer. Integer layers refer to layers resulting from slicing or layering of the model, and fractional layers refer to layers between integer layers. For example, if the nozzles are capable of printing at least two sizes of material, or at least two diameters of material, respectively. And controlling the nozzle N01 for printing the large-size or large-diameter printing material to print any printing layer of the object to be printed, and controlling the nozzle N02 for printing the small-size or small-diameter printing material to print between two printing layers corresponding to the object to be printed. Printing paths for printing materials with large size or diameter onto adjacent layers, and printing gaps between stacked materials between the layers by the materials with small size or diameter; the printing material is formed into a stacked configuration similar to that shown in fig. 20-b. By increasing the printing materials on the fractional layers between the layers, the contact area of the printing materials can be increased, and materials for improving the adhesion between the layers can be printed on the fractional layers to improve the strength and the sealing performance of the model. The smoothness of the model surface can also be improved.
It should be noted that the fractional-layer printing by discrete jetting can also achieve the similar structure of fig. 20-b, and achieve the similar effects as described above. In addition, the nozzle with the track being a line segment can also be used for multi-layer printing of integer layers or fractional layers in a similar way, and the description is not repeated here.
In the fourth embodiment of the printing method, the nozzle in the printing method can continuously extrude the material or discretely spray the material, or can be a light source type nozzle or a heat source type nozzle; an electrode type nozzle; a magnetic pole type nozzle. Discrete jet printing as shown in fig. 21-a, 21-b and 21-c, the movement of the nozzle holder and the nozzle holder is controlled to make the nozzles print corresponding to their respective printing paths, and form a string-like body along the printing track, the nozzles N1, N2, N3 and N4 may correspond to the printing tracks on different layers, respectively, and the nozzles N1, N2, N3 and N4 may be disposed at different heights as shown in fig. 21-a, or may be disposed at the same height as shown in fig. 21-b.
The discrete printing mode is different from the continuous extrusion printing mode, and the printing material in the discrete jet printing mode is ejected discretely, namely the printing material is ejected by one part, and can be particles, slurry, liquid drops or aerial fog. The light source type nozzle means that the nozzle is a light source structure and can provide specific illumination, and the heat source type nozzle means that the nozzle is a heat source structure and can provide a heat source; the electrode type nozzle means that the nozzle is of an electrode structure and can provide an electric field; the magnetic pole type nozzle means that the nozzle is of a magnetic pole structure and can provide a magnetic field. The nozzles on the multi-nozzle 3D printing head may comprise one or several of the above-mentioned kinds of nozzles. The discrete printing mode is beneficial to printing the details of the model, the printing of the composite material and the improvement of the printing speed in some application situations. A light source nozzle, illustratively, such as a light source for providing light curable material curing, may be used to cure the light curable material along a print path to effect pattern printing. Heat source nozzles may also provide similar effects. The electrode type nozzle can enable electrolyte to precipitate metal along a printing path, and 3D printing is achieved. The magnetic pole nozzles may provide a similar effect or magnetize material along the print path.
Further, the nozzle may be switched between a continuous extrusion printing mode and a discrete jet printing mode. Or part of the nozzles adopt a continuous extrusion printing mode, and part of the nozzles adopt a discrete jet printing mode. The benefits of different printing modes can be combined, and the application range and flexibility are expanded.
In the fifth embodiment of the printing method, the printing method can also realize color or pattern printing, and can also perform composite material printing. Analyzing the 3D model containing the color information or the pattern information, carrying out slicing or layering processing on the model, generating a corresponding printing path on each layer, and setting corresponding dominant color units at corresponding positions of the printing path according to the color information or the pattern information of the model to form dominant color unit strings linearly arranged along the printing path. The 3D printing model synthesized by these dominant color unit strings can reproduce colors or patterns of the original 3D model.
The nozzles of the multi-nozzle 3D printing nozzle can respectively print color materials corresponding to the primary color units, when the nozzles reach a position of a printing path, the corresponding nozzles are controlled to print at the position according to the matching condition of the color of the primary color unit at the position and the color of the nozzle printing material, and the arrangement of the tiny primary color materials shows a set color or pattern macroscopically.
Illustratively, as shown in FIGS. 21-b, 21-c, and 21-d, a color or pattern printing scheme is shown. The nozzles N1, N2, N3, N4 print 4 primary colors in the CMYK color model, C (Cyan/Cyan) M (Magenta/Magenta) Y (Yellow/Yellow) K (Black/Black), respectively. Of course, if necessary, W (white) or other colors may be added to form more kinds of dominant color units, or dominant color units may be reduced to form less kinds of dominant color units. When the nozzle print color does not match the dominant color at a location, the move continues but no print is made. Each nozzle is controlled to print when moved to a position where the primary color is desired to be printed. Finally, color or pattern printing is finished. In the example of fig. 21-b, 4 nozzles are respectively arranged on corresponding nozzle holders and are printed in a discrete jetting mode, the 4 nozzles can simultaneously move along a printing path with a dominant color unit, when the dominant color printing of the nozzle moving to a certain position is matched with the color of the jetting material of the nozzle, the nozzles jet the discrete materials to the corresponding position, otherwise, the subsequent nozzles which jet proper color materials are left vacant and the like move to the position, and then the discrete materials of the corresponding color are jetted. In the example shown in fig. 21-c, the nozzles N1, N2, N3, and N4 are provided on one nozzle holder, and the head structure can be simplified. At least 2 nozzles may be in the print path simultaneously. The corresponding nozzles can be dynamically adjusted to move to the corresponding positions on the printing path to discretely spray the corresponding color materials according to the distance condition from the nozzles for printing the corresponding color materials to the matching positions of the main color units at the certain matching positions on the printing path, then the nozzles can be temporarily stopped from printing and moved away from the printing path, and other nozzles are adjusted to move to the corresponding positions on the printing path to discretely spray the bulk materials with the corresponding colors, so that the reciprocating operation is carried out, namely the four nozzles are arranged on the same nozzle seat, and the color printing can be also finished. Similarly, as shown in fig. 21-d, the printing materials of the nozzles N1, N2, N3 and N4 may be in a continuous form, that is, a continuous extrusion nozzle segment extrusion material is used to realize color printing, which is the same mechanism as the discrete jet printing.
Composite material printing can also be realized by converting each dominant color unit into different material units by using a color or pattern printing method. That is, some or all of the nozzles of the multi-nozzle 3D printing head print different materials, and when a certain nozzle moves to a certain position on a printing path, the nozzle is controlled to print according to the matching condition between the material unit information at the certain position and the material printed by the nozzle.
In addition, the color or the characteristic of the printing material can be changed by adopting a light source type nozzle, a heat source type nozzle, an electrode type nozzle or a magnetic pole type nozzle, the color or the material of the corresponding unit is changed or adjusted along the printing path, and the color or the pattern printing or the composite material printing can also be realized.
Of course, the number of nozzles and the color of the printing material used match the corresponding color model or chartlet pattern modifications. Various color systems or models may be employed, such as a grayscale model, a two-color model (e.g., monochrome printing), or a binary model, or other color models such as HLS (hue), brightness (brightness), saturation), RGB (red, green, blue), CIE color space model, CIELAB color space model, or other color models or systems. Or other colors such as gold, copper, silver, etc. or colors specific to other materials. A color algorithm or pattern algorithm, such as halftone or bi-tone, may be employed to assign a corresponding dominant color element on each print path. A sticker or pattern, etc. may also be used. Other surface features are also possible, such as transparency, luminescence or fluorescence effects. For example, an amber-like printed pattern can be formed by using a transparent material for the surface of the pattern and forming a pattern inside the pattern. That is, the dominant color unit in the present embodiment, can be established based on the foregoing various color systems or models.
In an embodiment of the printing method, when the printing platform C is rotatable, the rotation of the printing platform C may replace the rotation of one nozzle holder of the multi-nozzle 3D printing nozzle. At the moment, a nozzle seat can be fixedly connected with the nozzle seat, and a corresponding driving device is omitted, so that the structure of the nozzle is simplified, and the quality of the nozzle is reduced. The moving track of a nozzle seat can be omitted, or a nozzle seat with a rotary track is directly and fixedly connected to the nozzle seat, so that the structure is simplified.
In some application embodiments, for example, the multi-nozzle 3D printing nozzle is fixed to an arm of a robot, or is mounted on a rack capable of moving integrally, or the rack mounted with a nozzle base drives the whole multi-nozzle 3D printing nozzle to rotate together.
In the seventh printing method embodiment, before at least one nozzle finishes printing one printing path, the nozzle is transferred to another printing path for printing, the two printing paths may be on the same layer or different layers, and the printing may be interrupted or not interrupted during the switching process, as shown in fig. 23. The material of one material or color can be quickly switched on different printing paths or continuously printed. For example, in fig. 23, the continuous extrusion material is continuously printed on the printing path of the lower layer, and is switched to the printing path of the upper layer, if the continuous extrusion material is a conductive material and the discrete jet material is an insulating material, the continuous conductive path can be kept continuous on different printing paths. In addition, by alternately printing on multiple print paths with multiple nozzles, a pattern or composite form can be formed. In addition, for the printing of discrete jet materials, for the printing of composite materials or the printing based on certain colors or patterns, the material or the color of the nozzle can be quickly printed on the corresponding position on different printing paths by switching the nozzle on different printing paths, and the printing speed can be improved.
In other embodiments, when the number of nozzles in one nozzle holder is more than three, or the number of nozzles in two nozzle holders is more than two, respectively, there may be redundant nozzles that cannot be precisely adjusted to the printing path. However, in some applications, such as when printing parallel lines, the nozzles may be aligned in a straight line, and redundant nozzles may be used; or for the condition that the printing path curvature radius of the model is large and the precision requirement is not high, redundant nozzles only used for printing parallel lines can be used for printing curves. In addition, the appropriate nozzle can be dynamically adjusted to the printing path according to the distance from the nozzle to the printing path or the material or color printed by each nozzle, and the flexibility of application is expanded.
The spacing between the print paths of adjacent nozzles refers to the normal distance between the two print paths. Additionally, slicing or layering the model may be horizontal, oblique, or vertical.
The printing platform may be the surface of the floor, table, conveyor belt, tray, specially configured printing platform or other model. In some applications, the platen may also be curved, such as the platen is not flat, or the surface on the mold that continues to print after printing a portion of the mold becomes uneven. For a curved printing platform, the multi-nozzle 3D printing nozzle can dynamically adjust the height difference between the nozzle seats or between the multi-nozzle 3D printing nozzle and the printing platform by using a height difference adjusting mechanism between the nozzle seats or between the multi-nozzle 3D printing nozzle and the nozzle seats according to the distance between the nozzle and the plane of the printing platform, and can also adjust the relative motion between the multi-nozzle 3D printing nozzle and the printing platform when necessary. To maintain a desired spacing of each nozzle to the corresponding print position.
When the printing platform is a plane, the XY plane is a plane parallel to the plane of the printing platform. The Z-axis is an axis perpendicular to the XY-plane.
It should be noted that the nozzle axis of the multi-nozzle 3D printing head, i.e. the direction of discharging the nozzles, may be perpendicular or non-perpendicular to the printing platform, i.e. the direction of discharging the nozzles forms a certain inclination angle with the printing platform, as shown in fig. 22, the included angle β between the direction of discharging the nozzles and the printing platform C is not 90 °. The nozzle holder may be rotated about the nozzle axis or about an axis perpendicular to the printing platform C. The distance between each nozzle and the printing platform can be controlled by adjusting the height difference between each nozzle seat or between each nozzle seat and the printing platform. The mode of nozzle and print platform inclination can be at the multilayer printing in-process, makes things convenient for the nozzle to dodge the multilayer material that has just printed on the adjacent position, can prevent that the part that has printed is touched by the nozzle. For continuous extrudate printing, the nozzles, which are inclined relative to the printing platform, also facilitate the deposition of the extrudate on the printing platform or former. For discrete jet printing, for example, to discretely jet a liquid (e.g., binder, light-curable material, etc.) onto a powder bed (e.g., a powder bed of metal, ceramic, gypsum, etc.), the inclined nozzle can allow the powder splashing direction that is excited when the liquid is jetted onto the powder to avoid the nozzle, thereby reducing the adhesion of the powder, etc. to the nozzle or nozzle holder. In addition, the nozzles may be non-parallel, i.e. some nozzles may be inclined to the printing platform and some nozzles may be perpendicular to the printing platform or inclined at different angles. Therefore, the included angle between the nozzle and the printing platform and the relation between the included angle and the movement direction of the nozzle can be adjusted according to different pertinences of the printing material characteristics of the nozzles. It is favorable to promoting the printing effect.
The printing method can be used for the application of printing materials such as FDM or FFF and the like which need to be heated, and can also be used for the application condition of printing the printing materials in a cold state (namely, without heating).
The multi-nozzle 3D printing nozzle and the printing method can print the following materials but are not limited to: meltable plastics or metal-containing threads or granules, paste-like or powdery substances (such as conductive silver paste, glue, tin paste, chocolate, ice cream, metal powder or ceramic powder and plastic mixture), liquids (such as ink, electrolyte and photosensitive resin), concrete, powder and aerosol substances, and 3D printing can also be carried out between a nozzle and a platform by means of numerical control electroforming or by means of controlled illumination or controlled heating and the like. The multiple nozzles can print printing materials of different materials, different colors or different sizes simultaneously.
By rotational, it is meant rotational movement of the nozzle holder or printing platform along a central axis. In addition, the process that an included angle formed by a connecting line between the nozzles or an included angle formed between the connecting line and the origin of the nozzle seat changes or the relative rotation motion of the connecting line and the printing platform can be adopted.
The multi-nozzle 3D printing nozzle in the printing method may adopt one or a combination of the foregoing multi-nozzle 3D printing nozzle structure or seven embodiments of multi-nozzle 3D printing nozzles.
The invention also provides a multi-nozzle 3D printing system, as shown in fig. 23, the printing system comprises a rack F, a printing platform C and a printing nozzle, the printing nozzle is arranged on the rack F, the printing nozzle comprises a nozzle seat A arranged on the rack F and a nozzle seat B arranged on the nozzle seat A, and the printing nozzle and the printing platform move relatively. The printing nozzle is provided with at least two nozzles N, the printing nozzle and the printing platform C perform relative operation (namely movement in three directions of X, Y and Z) during printing, and the nozzle seat or the nozzle seat and the printing platform rotate relatively, and the distance between the nozzles in the tangential direction of a printing path and the projection in a plane perpendicular to the direction is dynamically controlled, so that each nozzle N moves along the set printing path, and three-dimensional printing is realized. The printing system can be additionally provided with other components or functions according to the actual application requirements, such as a heating device, a heat dissipation device, a feeding mechanism or other devices such as an electric control device.
The printing nozzle of the multi-nozzle 3D printing system may adopt one or more combinations of the foregoing multi-nozzle 3D printing nozzle structure or seven embodiments of multi-nozzle 3D printing nozzles.
The multi-nozzle 3D printing system can print by using one or a combination of more of the foregoing printing methods or seven printing method embodiments.

Claims (35)

1. The utility model provides a shower nozzle is printed to multiinjector 3D, it is equipped with two at least nozzles on the shower nozzle to print, its characterized in that includes:
a nozzle base;
the nozzle seat is sleeved on the inner side of the nozzle seat in a sliding manner, at least two nozzles are arranged on the nozzle seat, and the middle point of the connecting line of the two nozzles is superposed with the central axis of the nozzle seat;
the driving device is used for driving the nozzle seat to move and driving the nozzle arranged on the nozzle seat to move along a set printing path;
the printing path of each nozzle is a movement path under the result of the compound movement of the nozzle seat and the nozzle seat, and the distance between the printing paths is adjusted by controlling the included angle formed by the connecting line between the nozzles or the included angle formed between the connecting line and the origin of the nozzle seat or the relative rotation movement between the connecting line and the printing platform.
2. The multi-nozzle 3D printing head according to claim 1, wherein:
the number of the nozzle seats is one;
the nozzle seat is connected with the driving device and driven by the driving device to move.
3. The multi-nozzle 3D printing head according to claim 1, wherein:
the driving device is arranged on the nozzle seat, connected with the nozzle seat and used for driving the nozzle seat to rotate around an axis parallel to the central line of the nozzle.
4. The multi-nozzle 3D printing head according to claim 1, wherein:
the multi-nozzle 3D printing nozzle comprises at least two nozzle holders, the number of the driving devices is the same as that of the nozzle holders, and each driving device drives one nozzle holder to move.
5. The multi-nozzle 3D printing head according to claim 4, wherein: the nozzle holder comprises a mounting plate and a boss; wherein the content of the first and second substances,
the bulge part is fixedly arranged on the mounting plate, the nozzle penetrates through the bulge part, and the cross sectional area of the bulge part is smaller than that of the mounting plate; the mounting plates of different nozzle holders are rotatably connected.
6. The multi-nozzle 3D printing head according to claim 4, wherein:
the multi-nozzle 3D printing nozzle comprises the nozzle seats in a sleeve type structure, a plurality of nozzle seats are sequentially sleeved from inside to outside, at least one nozzle seat is arranged on the nozzle seat,
each driving device drives the corresponding nozzle seat to move, so that the corresponding nozzle seat can rotate relative to other nozzle seats or the corresponding nozzle seat; each nozzle seat is provided with at least one nozzle.
7. The multi-nozzle 3D printing head according to claim 6, wherein:
the nozzle seats are sleeved along the same central axis; the corresponding driving devices are arranged on the spray head seat;
or;
the driving device of the nozzle seat at the outermost side is arranged on the nozzle seat, the driving devices of the rest nozzle seats are arranged on the other nozzle seat at the outer side of the nozzle seat, which is adjacent to the nozzle seat, and any driving device drives the corresponding nozzle seat and the nozzle seat at the inner side of the nozzle seat to rotate;
or;
the driving device of the innermost nozzle seat is arranged on the nozzle seat, the driving devices of the rest nozzle seats are arranged on the other nozzle seat, the inner side of the other nozzle seat is adjacent to the nozzle seat, and any driving device drives the corresponding nozzle seat and the nozzle seat on the outer side of the nozzle seat to rotate.
8. The multi-nozzle 3D printing head according to claim 4, wherein:
the nozzle seat comprises at least one rotating nozzle seat and a plurality of translation nozzle seats, the driving device comprises at least one rotating driving device and a plurality of translation driving devices, and the translation driving devices drive the corresponding translation nozzle seats to move;
at least one rotating nozzle seat is movably arranged on the nozzle seat, and a plurality of translation nozzle seats are movably arranged on the rotating nozzle seat;
the rotary driving device drives the rotary nozzle seat to rotate, and then drives the plurality of translation nozzle seats on the rotary nozzle seat to move; each translation driving device drives the corresponding translation nozzle seat to do linear motion relative to the rotation nozzle seat;
at least one nozzle is arranged on each translation nozzle seat.
9. The utility model provides a shower nozzle is printed to multiinjector 3D, it is equipped with two at least nozzles on the shower nozzle to print, its characterized in that includes:
a nozzle base;
the nozzle seat is movably arranged on the nozzle seat, and at least one nozzle is arranged on the nozzle seat;
the driving device is used for driving the nozzle seat to move and driving the nozzle arranged on the nozzle seat to move along a set printing path: the nozzle holder comprises at least one double-hole nozzle holder and at least two general nozzle holders; wherein, a cylindrical hole and/or at least one nozzle is arranged on the general nozzle holder; the double-hole nozzle seat comprises two cylindrical holes, and the cylindrical holes are used for installing the nozzle seat;
the driving device drives the double-hole nozzle seat to further drive the nozzle seat arranged on the double-hole nozzle seat to move; and the driving means rotates the general nozzle holder about its own central axis.
10. The multi-nozzle 3D printing head according to claim 9, wherein:
the number of the double-hole nozzle seats is one, and the number of the common nozzle seats is two; two common nozzle seats are respectively arranged in a cylindrical hole of the double-hole nozzle seat; each general nozzle seat is provided with at least two nozzles;
or;
the number of the double-hole nozzle seats is at least two, all the double-hole nozzle seats are sequentially sleeved from outside to inside through cylindrical holes, and common nozzle seats are respectively arranged in the two cylindrical holes of the innermost double-hole nozzle seat; one of the two cylindrical holes of the other double-hole nozzle seats is provided with a common nozzle seat, and the other one is sleeved with the double-hole nozzle seat; each general nozzle seat is provided with at least two nozzles;
or;
the number of the double-hole nozzle seats is one; a plurality of the common nozzle seats are sleeved from outside to inside in sequence to form a common nozzle seat group; wherein, two said general nozzle block groups are installed in two cylindrical holes of the said double-orifice nozzle block separately; or; one of the general nozzle holders is assembled in one of the cylindrical holes of the double-hole nozzle holder, and one of the general nozzle holders is assembled in the other cylindrical hole.
11. The multi-nozzle 3D printing head according to claim 9, wherein: the number of the double-hole nozzle seats is at least two;
two cylindrical holes of the double-hole nozzle seat are respectively provided with a common nozzle seat; every two double-hole nozzle seats are rotatably connected through a common nozzle seat, and the common nozzle seat penetrates through two cylindrical holes of the two double-hole nozzle seats respectively.
12. The multi-nozzle 3D printing head according to claim 11, wherein: at least two the diplopore nozzle holder links up in proper order and connects through general nozzle holder, forms chain formula structure, adjacent in the chain formula structure the general nozzle holder of diplopore nozzle holder is main connecting axle, wherein:
at least one double-hole nozzle seat is rotatably connected to the main connecting shaft;
and/or;
and a plurality of double-hole nozzle seats form another chain type structure and can be rotatably connected to the main connecting shaft.
13. The utility model provides a shower nozzle is printed to multiinjector 3D, it is equipped with two at least nozzles on the shower nozzle to print, its characterized in that includes:
a nozzle base;
the nozzle seat is movably arranged on the nozzle seat, and at least one nozzle is arranged on the nozzle seat;
the driving device is used for driving the nozzle seat to move and driving the nozzle arranged on the nozzle seat to move along a set printing path; at least two the mounting panel of nozzle holder links up rotatable coupling in proper order, forms chain formula structure, it is adjacent in the chain formula structure the swivelling joint department of nozzle holder is the main connecting axle, wherein:
at least one nozzle holder is rotatably connected to the main connecting shaft;
and/or;
and the nozzle holders form another chain-type structure which can be rotatably connected to the main connecting shaft.
14. The multi-nozzle 3D printing head according to any of claims 1-13, wherein: the nozzle seat is arranged on the nozzle seat or other nozzle seats in a sliding manner;
the height adjusting mechanism can drive the nozzle seat to slide so as to adjust the height of the nozzle on the nozzle seat.
15. The multi-nozzle 3D printing head according to any of claims 1-13, wherein: the nozzles are arranged at the same height or at least at two heights.
16. The multi-nozzle 3D printing head according to any of claims 1-13, wherein: the multi-nozzle 3D printing nozzle comprises:
at least one continuous extrusion nozzle;
and/or;
at least one discrete spray nozzle;
and/or;
at least one light source nozzle;
and/or;
at least one heat source type nozzle;
and/or;
at least one electrode-type nozzle;
and/or;
at least one magnetic pole type nozzle.
17. The multi-nozzle 3D printing head according to any of claims 1-13, wherein:
and a sensor for detecting the zero point or the rotational angle position of the nozzle holder.
18. The multi-nozzle 3D printing head according to claim 17, wherein:
the sensor is one or more of a photoelectric sensor, a Hall sensor, a rotary transformer, a travel switch and a touch switch.
19. The multi-nozzle 3D printing head according to any of claims 1-13, wherein:
the driving device is one or more of a helical gear, a bevel gear, a straight gear, a worm and gear, a belt, a hollow shaft motor or a hydraulic motor.
20. The multi-nozzle 3D printing head according to any of claims 1-13, wherein:
the nozzle is one of a nozzle with a material hole structure and a nozzle without the material hole structure, and the nozzle material is one or a combination of a plurality of materials of metal, an electric insulating material, an insoluble electrode material and a nonmetal conducting material.
21. The utility model provides a shower nozzle is printed to multiinjector 3D, it is equipped with two at least nozzles on the shower nozzle to print, its characterized in that includes:
a nozzle base;
the nozzle seat is movably arranged on the nozzle seat, and at least one nozzle is arranged on the nozzle seat;
the driving device is used for driving the nozzle seat to move and driving the nozzle arranged on the nozzle seat to move along a set printing path;
the nozzle is provided with a material hole structure and comprises a material conveying channel, and a feeding port and a material spraying port which are arranged at two ends of the material conveying channel;
the material conveying channel is an inclined channel, the inclined channel inclines from the material inlet to the material spraying port, and the distance between the material spraying ports of the inclined channels is smaller than the distance between the material inlet.
22. A printing method adopts a printing nozzle and a printing platform for printing, and is characterized in that at least two nozzles are arranged on the printing nozzle, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing nozzle and the printing platform move relatively, and the printing method comprises the following steps:
a) analyzing the three-dimensional data of the object to be printed, and generating at least two printing paths on each layer of the object to be printed;
b) printing a printing path generated on each layer of the object to be printed on the printing platform by using the printing nozzle, and controlling an included angle formed by a connecting line between the nozzles or an included angle formed between the connecting line and an original point of the nozzle seat or relative rotation movement between the connecting line and the printing platform to adjust the distance between the printing paths so that at least two nozzles move along the corresponding printing paths respectively;
the printing platform can rotate, so that at least two nozzles of the printing spray head respectively move along corresponding printing paths at the same time; the printing path of each nozzle is a movement route of the nozzle seat movement and the nozzle seat movement combined movement result.
23. A printing method adopts a printing nozzle and a printing platform to print, the printing nozzle is provided with a plurality of nozzles, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing method is characterized in that:
the printing nozzle is adopted to perform 3D printing on the printing platform, the printing nozzle and the printing platform perform relative movement in the x, y and z directions, and simultaneously, an included angle formed by a connecting line between the nozzles or an included angle formed between the connecting line and the original point of the nozzle seat or a distance between the connecting line and the printing platform is adjusted by controlling the rotation of the nozzle seat or the nozzle seat relative to the printing platform respectively, so that at least two nozzles move along the corresponding printing paths respectively;
the printing platform can rotate, and the printing platform and the printing spray head move relatively, so that at least two nozzles of the printing spray head move along corresponding printing paths respectively at the same time; the printing path of each nozzle is a movement route of the nozzle seat movement and the nozzle seat movement combined movement result.
24. A printing method according to claim 22 or 23, wherein:
the printing nozzle is the multi-nozzle 3D printing nozzle of any one of claims 1 to 21.
25. A printing method according to claim 22 or 23, wherein:
at least two of the nozzles are simultaneously moved along respective print paths on at least two layers.
26. A printing method according to claim 22 or 23, wherein:
the direction of the printing material output by the nozzle is not perpendicular to the surface of the printing platform.
27. A printing method according to claim 22 or 23, wherein: and before at least one nozzle finishes printing one printing path, transferring to another printing path for printing.
28. A printing method according to claim 22 or 23, wherein:
the nozzle seat is fixedly connected with the nozzle seat.
29. A printing method adopts a printing nozzle and a printing platform for printing, and is characterized in that at least two nozzles are arranged on the printing nozzle, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing nozzle and the printing platform move relatively, and the printing method comprises the following steps:
a) analyzing the three-dimensional data of the object to be printed, and generating at least two printing paths on each layer of the object to be printed;
b) printing a printing path generated on each layer of the object to be printed on the printing platform by using the printing nozzle, so that at least two nozzles respectively move along the corresponding printing paths;
analyzing the three-dimensional data of the object to be printed with the color or pattern information, dividing the printing path into a plurality of units, and distributing corresponding dominant colors on each unit to form dominant color units;
the plurality of nozzles respectively print corresponding dominant color materials; and when the nozzle reaches a position of the printing path, controlling the nozzle for printing the corresponding dominant color material to print at the position according to the dominant color unit color information at the position.
30. A printing method adopts a printing nozzle and a printing platform to print, the printing nozzle is provided with a plurality of nozzles, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing method is characterized in that:
the printing nozzle is adopted to perform 3D printing on the printing platform, and the printing nozzle and the printing platform perform relative motion in the x, y and z directions, and simultaneously the at least two nozzles respectively move along corresponding printing paths through the rotation of the nozzle seat or the nozzle seat relative to the printing platform;
analyzing the three-dimensional data of the object to be printed with the color or pattern information, dividing the printing path into a plurality of units, and distributing corresponding dominant colors on each unit to form dominant color units;
the plurality of nozzles respectively print corresponding dominant color materials; and when the nozzle reaches a position of the printing path, controlling the nozzle for printing the corresponding dominant color material to print at the position according to the dominant color unit color information at the position.
31. A printing method adopts a printing nozzle and a printing platform for printing, and is characterized in that at least two nozzles are arranged on the printing nozzle, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing nozzle and the printing platform move relatively, and the printing method comprises the following steps:
a) analyzing the three-dimensional data of the object to be printed, and generating at least two printing paths on each layer of the object to be printed;
b) printing a printing path generated on each layer of the object to be printed on the printing platform by using the printing nozzle, so that at least two nozzles respectively move along the corresponding printing paths;
enabling the nozzle to print at least two sizes of printing materials; controlling a nozzle for printing a large-size printing material to print any layer of an object to be printed, controlling a nozzle for spraying a small-size printing material to print between two layers corresponding to the object to be printed, and printing the small-size printing material at a gap between stacked materials.
32. A printing method adopts a printing nozzle and a printing platform to print, the printing nozzle is provided with a plurality of nozzles, the printing nozzle comprises a nozzle seat and a nozzle seat, and the printing method is characterized in that:
the printing nozzle is adopted to perform 3D printing on the printing platform, and the printing nozzle and the printing platform perform relative motion in the x, y and z directions, and simultaneously the at least two nozzles respectively move along corresponding printing paths through the rotation of the nozzle seat or the nozzle seat relative to the printing platform;
enabling the nozzle to print at least two sizes of printing materials; controlling a nozzle for printing a large-size printing material to print any layer of an object to be printed, controlling a nozzle for spraying a small-size printing material to print between two layers corresponding to the object to be printed, and printing the small-size printing material at a gap between stacked materials.
33. A multi-nozzle 3D printing system, comprising: frame, print platform and printing shower nozzle, it sets up to print the shower nozzle in the frame, print the shower nozzle with print platform is for x, y, the three direction relative motion of z, its characterized in that:
the printing nozzle is provided with at least two nozzles, and the printing nozzle is also arranged in a rotating way relative to the printing platform so that the at least two nozzles respectively move along corresponding printing paths;
the printing nozzle is the multi-nozzle 3D printing nozzle of any one of claims 1 to 21.
34. The multi-nozzle 3D printing system according to claim 33, wherein:
the printing platform is arranged on the frame.
35. The multi-nozzle 3D printing system according to claim 33 or 34, wherein:
the multi-nozzle 3D printing system is a printing system that applies the printing method of any of claims 22-32 to perform printing.
CN201780002222.9A 2016-06-17 2017-06-15 Multi-nozzle 3D printing nozzle, printing method and 3D printing system Active CN108136674B (en)

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