CN206273588U - A kind of 3D printer with many shower nozzle automated conversion systems - Google Patents

Abstract

The utility model discloses a kind of 3D printer with many shower nozzle automated conversion systems, including frame, many shower nozzle automated conversion systems are arranged in frame, many shower nozzle automated conversion systems include shower nozzle storehouse mechanism, manipulator mechanism and the mobile ejecting device moved along X, Z-direction, and manipulator mechanism is arranged between shower nozzle storehouse mechanism and mobile ejecting device；The shower nozzle storehouse mechanism includes runing rest and along several circumferentially disposed stand-by shower nozzles of runing rest, mobile ejecting device includes mobile support, printing head and is arranged on mobile support and the clamp system of positioning is clamped to printing head, and manipulator mechanism is included for gripping and discharging printing head, the manipulator of stand-by shower nozzle and driving mechanical hand carry out the rotary driving part of position switching between shower nozzle storehouse mechanism and mobile ejecting device.The utility model simple structure, small volume is capable of achieving many shower nozzles, many materials, multicoloured 3D printing.

Description

3D printer with automatic switching system of many shower nozzles

Technical Field

The utility model belongs to the technical field of the 3D printer, especially, relate to a 3D printer with many shower nozzles automatic switching system.

Background

The 3D printing technique is a technique for manufacturing an object by layer-by-layer printing using an adhesive material such as powdered metal or plastic based on a 3D digital model file. The 3D printer commonly available in the market mainly focuses on single-nozzle printing, or integrates multiple nozzles together, and the printing action of the printer is similar to that of single-nozzle printing, so called a multi-nozzle printer actually means that multiple nozzles are integrated on a single nozzle. In long-term use, frequent movement can lead to fatigue loss of the connection, causing errors. Meanwhile, because the nozzles are integrated on the sprayer and are influenced by positions and relative movement, the number of the nozzles is limited to a certain extent when the overall structure of the sprayer is not changed greatly, and the sprayer is generally a double-sprayer. Meanwhile, each nozzle comprises an independent wire feeding mechanism, a heating mechanism and a plurality of transmission components, when a plurality of nozzles are integrated on one spray head, a driving shaft of the spray head needs a considerable driving force, and the driving load is large. This requires more driving energy on the one hand and also increases the probability of problems on the other hand.

Application number is 201610407343.9's patent application discloses a many shower nozzles 3D printer, and it includes liftable rotatory tray, removes the shower nozzle subassembly of printing in X, Y direction to and six along the radial synchronous flexible shower nozzle of printing of support arm, respectively print shower nozzle and tray formation relative rotation, many shower nozzles 3D printer is particularly suitable for and prints the major part solid of revolution, reciprocates through the rotatory tray of ball drive, realizes piling up in the product height, it includes to print the shower nozzle subassembly: at least six support arms of equalling divide on fifth driving motor, drive train, the plane, the suspension has the slider on each support arm, the printing shower nozzle has been linked firmly under the slider, the drive train includes fifth driving motor output shaft driving gear and six driven gear, and each driven gear passes through synchronous pulley and hold-in range respectively, and drive slider is along support arm radial motion, and each prints the shower nozzle and be synchronous reciprocating linear motion, and it is rotatory that fifth driving motor drives a gear wheel promptly, six pinions and gear engagement, and the pinion passes through hold-in range, slider along radial reciprocating motion, drives each and prints shower nozzle synchronous working. Although the printer with the structure can realize simultaneous printing of six products or utilize six printing nozzles to simultaneously print one product, the size of the nozzles is greatly increased, and each nozzle is connected with corresponding printing materials, so that great inconvenience is brought to three-dimensional movement and control in the printing process.

Application number is 201310640307.3's patent application discloses a 3D printer, and it includes printer platform, printer platform includes the support and is fixed in the workstation on the support, is connected with shower nozzle grabbing device on the support, the shower nozzle storehouse has been placed in the support outside, and the activity has hung at least one independent shower nozzle in the shower nozzle storehouse, fixedly connected with and grabbing device structure matched's connecting device on the shower nozzle. The connecting device can have various structural forms: (1) the connecting device comprises bayonets with downward openings at two sides of the spray head, and the gripping device and the spray head fixing device in the spray head warehouse are both chuck pieces matched with the bayonets; (2) the connecting device comprises a hanging sleeve on one side of the spray head and a conical groove on the other side of the spray head, a hook matched with the hanging sleeve is fixed on the spray head warehouse, and the grabbing device is a conical head tightly matched with the conical groove; (3) the connecting device comprises a hanging sleeve on one side of the spray head and a clamping groove on the other side of the spray head, a magnetic part is fixed in the clamping groove, a hook matched with the hanging sleeve is fixed on the spray head warehouse, and the gripping device is a chuck magnetically attracted with the clamping groove; (4) the connecting device comprises a hanging sleeve on one side of the spray head and two openings oppositely arranged on the other side of the spray head, hooks matched with the hanging sleeve are fixed on the spray head warehouse, the grabbing device is two sliding rods pushed by two push rods, and the sliding rods are pushed by the push rods to be clamped into the openings so as to take out and put back the spray head from the spray head warehouse; (5) the connecting device comprises a T-shaped part on one side of the spray head, the grabbing device comprises two calipers driven by a motor, and the calipers can clamp the inner side of the T-shaped part to take out and put back the spray head from the spray head warehouse. Although the 3D printer realizes the replacement of the spray head, the connecting device and the grabbing device are complex in structure, the spray head is moved and is low in replacement efficiency, and the automatic control of the spray head replacement is not convenient to realize.

It will thus be seen that the prior art is susceptible to further improvements and enhancements.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an avoid the weak point that above-mentioned prior art exists, provide a 3D printer with many shower nozzles automatic switching system, it has solved the problem that the integration of current many shower nozzles 3D printer nozzle brought, not only can realize many shower nozzles, many materials, multicolour 3D and print, and its moving part volume is less moreover, and the motion is just as convenient with single shower nozzle 3D printer.

The utility model discloses the technical scheme who adopts does:

A3D printer with a multi-nozzle automatic switching system comprises a rack, wherein the multi-nozzle automatic switching system is arranged on the rack and comprises a nozzle warehouse mechanism, a manipulator mechanism and a movable nozzle device moving along the direction X, Z, and the manipulator mechanism is arranged between the nozzle warehouse mechanism and the movable nozzle device; the shower nozzle storehouse mechanism includes runing rest and follows a plurality of shower nozzle for use of runing rest circumference setting, and the removal shower nozzle device is including moving the support, printing the shower nozzle and set up on moving the support and carry out the clamping mechanism who presss from both sides tight location to the printing shower nozzle, and manipulator mechanism is including being used for pressing from both sides to get and release the manipulator of printing shower nozzle, shower nozzle for use and drive the manipulator and carry out the rotation driving part that the position switched between shower nozzle storehouse mechanism and removal shower nozzle device.

The rotating bracket comprises an upper cover plate and a lower cover plate which are connected with each other, the edge of the outer contour of the upper cover plate is provided with a plurality of upper open grooves along the circumferential direction, the edge of the outer contour of the lower cover plate is provided with a plurality of lower open grooves opposite to the upper open grooves along the circumferential direction, the nozzle to be used is arranged between the upper cover plate and the lower cover plate, the top end of the nozzle to be used is clamped in the upper open grooves, and the bottom end of the nozzle to be used is clamped in the lower open grooves; the spray head warehouse mechanism further comprises a first stepping motor which drives the rotating support to integrally rotate, the first stepping motor is arranged below the rotating support, and a motor shaft of the first stepping motor is connected with the rotating support.

The spray head warehouse mechanism also comprises a first steering engine which drives the upper cover plate and the lower cover plate to synchronously rotate, and the upper cover plate and the lower cover plate are connected through a linkage shaft; the shower nozzle storehouse mechanism still includes the spacing subassembly of shower nozzle for use, and the spacing subassembly of shower nozzle for use includes upper fixed disk, lower fixed disk, set up and the upper limit arm that equals with upper open slot quantity along the peripheral border of upper fixed disk, set up and the lower limit arm that equals with lower open slot quantity along the peripheral border of lower fixed disk, the position of upper and lower limit arm is relative, and the upper fixed disk sets up in the below of upper cover plate, and lower fixed disk sets up in the top of apron down, and first steering wheel drives the in-process of upper and lower apron rotation, and upper and lower fixed disk is not along with upper and lower apron rotation, and when the rotatory position of upper cover plate to upper open slot and upper limit arm is relative, upper open slot is plugged up to upper limit arm, and lower open slot is plugged up to lower limit arm.

The mechanical arm mechanism further comprises a mechanical arm and a mechanical arm rotating shaft which are connected with each other, the rotary driving part comprises a second stepping motor, and a motor shaft of the second stepping motor is connected with the mechanical arm rotating shaft; the mechanical arm is arranged at the tail end of the mechanical arm and comprises a movable part and a static part, and the movable part and the static part are matched to form a clamping gap for grabbing the printing nozzle and the nozzle to be used; the mechanical arm is provided with a first linear driving part which drives the movable part to do linear reciprocating motion.

The clamping mechanism comprises a movable clamping block, a static clamping block and a second linear driving part which drives the movable clamping block to do linear reciprocating motion, when the printing mechanism is used for printing, the printing nozzle is clamped between the movable clamping block and the static clamping block, and when the nozzle is replaced, the movable clamping block moves to one side under the driving of the second linear driving part to release the printing nozzle.

The feeding device is further arranged on the rack and comprises a material wire guiding and positioning mechanism arranged above the printing nozzle, the material wire guiding and positioning mechanism comprises a cam shaft, a cam shaft mounting seat, a third step motor driving the cam shaft to rotate, an electromagnet mounting plate and a plurality of electromagnets sequentially arranged along the length direction of the electromagnet mounting plate, the electromagnet mounting plate is connected with the cam shaft mounting seat through a reset spring, openings through which material feeding wires penetrate are formed in the electromagnets, the third step motor drives the cam shaft to rotate, the outline of a cam on the cam shaft pushes the electromagnet mounting plate to achieve Y-direction feeding, and the size of the cam on the cam shaft enables the center line of the material wire clamped by the electromagnets, the center line of the printing nozzle and the X shaft to be located in the same plane when the electromagnets move to the extreme limit position along the Y-axis direction.

The material wire guiding and positioning mechanism further comprises an upper guide chute and a lower guide chute which are arranged on the movable support, the central line of the upper guide chute and the central line of the lower guide chute are located on the same straight line, and the lower guide chute is located right above the printing nozzle.

Wire feeding unit still includes material silk conveying mechanism, and material silk conveying mechanism includes fourth step motor, initiative gyro wheel and driven roller, and fourth step motor, initiative gyro wheel and driven roller all set up on the movable support, and the initiative gyro wheel is driven by fourth step motor, and the cooperation forms the feed clearance between initiative gyro wheel and the driven roller.

Wire feeding unit still includes feed mechanism, and feed mechanism is located material silk guiding orientation mechanism's top, and feed mechanism includes material silk mount pad and central axle, and the central axle is fixed on the material silk mount pad, is provided with a plurality of sleeve that can wind the central axle relative rotation along the central axle axial, all twines the material silk on each sleeve, and the material silk winding of different colours is on different sleeves, and when each sleeve rotated around the central axle, each sleeve all had no axial aversion.

The printing machine is characterized in that a Z-direction driving mechanism for driving the movable support to do lifting motion and an X-direction driving mechanism for driving the movable support to do transverse motion are further arranged on the rack, a tray is further arranged on the rack and located below the printing nozzle, and a Y-direction driving mechanism for driving the tray to do longitudinal motion is further arranged on the rack.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:

the utility model realizes the printing function of multiple nozzles by applying the nozzle library technology; compared with the existing single-nozzle 3D printer, the utility model realizes the 3D printing with multiple nozzles, multiple raw materials and multiple colors; for current many shower nozzles 3D printer, the utility model provides a remove shower nozzle device small, simple structure, its three-dimensional motion is just as convenient with single shower nozzle 3D printer, and easily control. Furthermore, the utility model discloses well runing rest, go up open slot, under shed set up and made things convenient for the manipulator to snatching of shower nozzle for use, improved change efficiency, and then improved printing efficiency.

Drawings

Fig. 1 is an overall assembly drawing of the present invention.

Fig. 2 is a schematic view of the assembly relationship between the middle mobile bracket and the components thereon.

Fig. 3 is a schematic view of the assembly relationship between the middle rotating bracket and the components thereon of the present invention.

Fig. 4 is a schematic structural diagram of the middle manipulator mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the feeding mechanism of the present invention.

Fig. 6 is a schematic view of a part of the structure of the middle wire guiding and positioning mechanism of the present invention.

Fig. 7 is a flow chart of the operation of replacing the nozzle according to the present invention.

Wherein,

1. the device comprises a movable nozzle device 101, a movable bracket 102, a fourth stepping motor 103, a driving roller 104, a driven roller 105, a printing nozzle 106, a movable clamping block 107, a static clamping block 108, a four-bar mechanism 109, an output shaft 2 of a third steering gear, a nozzle warehouse mechanism 201, a first steering gear 202, an upper cover plate 203, an upper opening groove 204, an upper limiting arm 205, a connecting column 206, a lower cover plate 207, a lower limiting arm 208, a lower fixing plate 209, a lower opening groove 210, a linkage shaft 211, a first stepping motor 212, a nozzle warehouse base 3, a manipulator mechanism 301, a static part 302, a movable part 303, a clamping gap 304, a connecting plate 305, a rocker 306, a crank 307, a second steering gear 308, a manipulator 309, a manipulator rotating shaft 310, a second stepping motor 311, a manipulator base 4, a wire guiding and positioning mechanism 401, The device comprises a camshaft mounting seat 402, a camshaft 403, a return spring 404, a third stepping motor 405, an electromagnet mounting plate 406, an electromagnet 407, a notch 408, an upper guide chute 409, a lower guide chute 5, a feeding mechanism 501, a wire 502, a central shaft 503, a wire mounting seat 504, a sleeve 6, a rack 7, a tray 8, a holder 9, a ball screw pair 10, a vertical guide rod 11, an X-direction synchronous conveyor belt 12, a transverse guide rod 13, a Y-direction synchronous belt 14 and a V-shaped guide chute

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments, but the present invention is not limited to these embodiments.

As shown in fig. 1 to 7, a 3D printer with a multi-nozzle automatic switching system includes a frame 6, and the multi-nozzle automatic switching system is disposed on the frame 6, and for convenience of description, a horizontal direction is defined as an X-axis, a vertical direction is defined as a Y-axis, and a vertical direction is defined as a Z-axis. The automatic multi-nozzle switching system comprises a nozzle warehouse mechanism 2, a manipulator mechanism 3 and a movable nozzle device 1 moving along the direction X, Z, wherein the manipulator mechanism 3 is arranged between the nozzle warehouse mechanism 2 and the movable nozzle device 1.

As shown in fig. 1 and 3, the nozzle magazine mechanism 2 includes a rotating rack and a plurality of nozzles to be used, which are arranged along the circumference of the rotating rack. The rotating bracket comprises an upper cover plate 202 and a lower cover plate 206 which are connected with each other, the outer contour edge of the upper cover plate 202 is provided with a plurality of upper open grooves 203 along the circumferential direction, the outer contour edge of the lower cover plate 206 is provided with a plurality of lower open grooves 209 opposite to the upper open grooves 203 along the circumferential direction, the nozzle for use is arranged between the upper cover plate and the lower cover plate, the top end of the nozzle for use is clamped in the upper open grooves 203, and the bottom end of the nozzle for use is clamped in the lower open grooves 209. Preferably, the cross sections of the upper opening groove and the lower opening groove are both U-shaped. The upper cover plate and the lower cover plate are connected with each other through a plurality of vertically arranged connecting columns 205. The spray head warehouse mechanism further comprises a first stepping motor 211 which drives the rotating bracket to integrally rotate, the first stepping motor 211 is arranged below the rotating bracket, and a motor shaft of the first stepping motor 211 is connected with the rotating bracket. The spray head warehouse mechanism further comprises a spray head warehouse base 212, and the first stepping motor 211 is arranged on the spray head warehouse base 212.

As shown in fig. 1 and 3, the nozzle magazine mechanism further includes a first steering engine 201 for driving the upper and lower cover plates to rotate synchronously, and the upper and lower cover plates are connected by a linkage shaft 210; the shower nozzle storehouse mechanism still includes the spacing subassembly of shower nozzle for use, and the spacing subassembly of shower nozzle for use includes upper fixed disk, lower fixed disk 208, set up and the upper limit arm 204 that equals with upper open slot 203 quantity along the peripheral border of upper fixed disk, set up and the lower limit arm 207 that equals with lower open slot 209 quantity along the peripheral border of lower fixed disk 208, the position of upper and lower limit arm is relative. Preferably, the upper and lower limiting arms are both L-shaped in cross section. An upper fixing plate is disposed below the upper cover plate 202, and a lower fixing plate 208 is disposed above the lower cover plate 206. In the process that the first steering engine 201 drives the upper cover plate and the lower cover plate to rotate, the upper fixing disc and the lower fixing disc do not rotate along with the upper cover plate and the lower cover plate; when the upper cover plate 202 rotates to the position where the upper opening groove 203 is opposite to the upper limiting arm 204, the upper limiting arm 204 blocks the upper opening groove 203, and the lower limiting arm 207 blocks the lower opening groove 209, so that the nozzle to be used is positioned; when the upper cover plate 202 rotates to the position where the upper opening groove 203 does not correspond to the upper limiting arm 204, the upper limiting arm 204 no longer blocks the opening groove 203, and the lower limiting arm 207 no longer blocks the lower opening groove 209, which facilitates the following manipulator to conveniently clamp the standby nozzle.

As shown in fig. 1 and 2, the movable head device 1 includes a movable frame 101, a print head 105, and a clamping mechanism that is provided on the movable frame 101 and clamps and positions the print head 105. The clamping mechanism comprises a movable clamping block 106, a static clamping block 107 and a second linear driving part which drives the movable clamping block 106 to do linear reciprocating motion, when printing is carried out, the printing spray head 105 is clamped between the movable clamping block and the static clamping block, and when the spray head needs to be replaced, the movable clamping block 106 is driven by the second linear driving part to move towards one side so as to release the printing spray head 105. The second linear driving part comprises a four-bar mechanism 108 and a third steering engine, one end of the four-bar mechanism 108 is connected with an output shaft 109 of the third steering engine, the other end of the four-bar mechanism is connected with the movable clamping block 106, and the third steering engine is arranged on the movable support 101. It should be noted that the second linear driving portion is not limited to the combined driving form of the four-bar mechanism 108 and the third steering engine, but may also be other driving forms, for example, the driving form of a motor and a ball screw pair (the ball screw pair is connected to the movable clamping block 106, and the motor drives the ball screw pair, so as to drive the movable clamping block 106 to reciprocate to clamp or release the print head 105), or the driving form of a hydraulic cylinder (a piston rod of the hydraulic cylinder is connected to the movable clamping block 106, and the telescopic movement of the piston rod drives the movable clamping block 106 to reciprocate to clamp or release the print head 105), so any driving form that can drive the movable clamping block 106 to reciprocate linearly may suffice, and is not limited to the driving structure form described in fig. 2 and the above embodiments.

As shown in fig. 1 and 4, the robot mechanism 3 includes a robot for gripping and releasing the printing head 105, the head to be used, and a rotation driving section for driving the robot to switch positions between the head magazine mechanism 2 and the movable head device 1. The robot mechanism further includes a robot base 311, and a second stepping motor 310 described below is provided on the robot base 311.

As shown in fig. 4, the robot mechanism further includes a robot arm 308 and a robot arm rotating shaft 309 connected to each other, the rotation driving part includes a second stepping motor 310, and a motor shaft of the second stepping motor 310 is connected to the robot arm rotating shaft 309; the manipulator is arranged at the tail end of the manipulator arm 308 and comprises a movable part 302 and a static part 301, and the movable part 302 and the static part 301 are matched to form a clamping gap 303 for grabbing the printing nozzle 105 and the nozzle to be used; the mechanical arm 308 is provided with a first linear driving portion for driving the movable portion 302 to perform linear reciprocating motion. The first linear driving part comprises a second steering engine 307, a crank 306, a rocker 305 and a connecting plate 304 which are connected in sequence, an output shaft of the second steering engine 307 is connected with the crank 306, and the connecting plate 304 is connected with the movable part 302. The robot arm 308 is further provided with a guide groove for ensuring the linear movement of the connecting plate 304, and the guide groove is covered on the robot arm 308 in the form of a cover 312. It should be noted that the first linear driving portion is not limited to the combined driving form of the crank-rocker and the second steering engine 307, but may also be other driving forms, for example, the motor and the ball screw pair (the ball screw pair is connected to the movable portion 302, and the motor drives the ball screw pair, so as to drive the movable portion 302 to reciprocate to clamp or release the print head 105 and the nozzle to be used), or may also be a hydraulic cylinder driving form (a piston rod of a hydraulic cylinder is connected to the movable portion 302, and the movable portion 302 is driven to reciprocate by the expansion and contraction of the piston rod to clamp or release the print head 105 and the nozzle to be used), so any driving form that can drive the movable portion to reciprocate linearly may suffice, and is not limited to the driving structure form described in fig. 4 and the above embodiments.

As shown in fig. 1 and 6, a wire feeding device is further disposed on the rack, the wire feeding device includes a wire guiding and positioning mechanism 4 disposed above the printing nozzle, the wire guiding and positioning mechanism 4 includes a cam shaft 402, a cam shaft mounting seat 401, a third stepping motor 404 for driving the cam shaft 402 to rotate, an electromagnet mounting plate 405, and a plurality of electromagnets 406 sequentially arranged along a length direction of the electromagnet mounting plate 405, the electromagnet mounting plate 405 is connected to the cam shaft mounting seat 401 through a return spring 403, each electromagnet 406 is provided with a notch 407 through which the wire 501 passes, the third stepping motor 404 drives the cam shaft 402 to rotate, an outer contour of a cam on the cam shaft 402 pushes the electromagnet mounting plate 405 to realize Y-direction feeding, and a size of the cam on the cam shaft 402 is such that when the electromagnet 406 moves to an extreme limit position along the Y-direction, a center line of the wire 501 held by the electromagnet 406, a center, The center line of the print head 105 and the X-axis are in the same plane. The wire guiding and positioning mechanism 4 further includes an upper material guiding chute 408 and a lower material guiding chute 409 which are arranged on the movable support 101, a central line of the upper material guiding chute 408 and a central line of the lower material guiding chute 409 are located on the same straight line, and the lower material guiding chute 409 is located right above the printing nozzle 105.

When the electromagnet 406 moves to the farthest position, because the cam on the cam shaft 402 has a certain far angle of repose, the electromagnet 406 will remain stationary for a certain period of time, at this time, the moving nozzle device that is moved in place will rise along Z under the driving of the following Z-direction driving mechanism, so that the filament 501 will enter the following feeding gap through the upper guide chute 408, and will be driven by the friction of the following driving and driven rollers, and the precise butt joint of the filament 501 and the printing nozzle 105 can be realized through the lower guide chute 409, and at the same time, the third stepping motor 404 can be controlled to stop operating within this period of time, so that the butt joint movement of the filament 501 and the printing nozzle 105 can be performed more smoothly. With the rotation of the third stepping motor 404, after the cam on the cam shaft 402 rotates beyond the far angle of repose, the electromagnet mounting plate 405 with the electromagnet 406 mounted thereon returns to the original point under the driving of the return spring 403, waiting for a command for the next material change.

As shown in fig. 2, the wire feeding device further includes a wire feeding mechanism, the wire feeding mechanism includes a fourth stepping motor 102, a driving roller 103 and a driven roller 104, the fourth stepping motor 102, the driving roller 103 and the driven roller 104 are all disposed on the movable support 101, the driving roller 103 is driven by the fourth stepping motor 102, and a feeding gap is formed between the driving roller 103 and the driven roller 104. The driving roller and the driven roller are arranged between the upper guide chute and the lower guide chute. The moving support 101 is further provided with a heating mechanism for heating and melting the material wire 501.

As shown in fig. 1 and 5, the wire feeding device further includes a feeding mechanism 5, the feeding mechanism 5 is located above the wire guiding and positioning mechanism 4, the feeding mechanism 5 includes a wire mounting seat 503 and a central shaft 502, the central shaft 502 is fixed on the wire mounting seat 503, a plurality of sleeves 504 capable of relatively rotating around the central shaft 502 are axially arranged along the central shaft 502, each sleeve 504 is wound with a wire 501, the wires 501 of different colors are wound on different sleeves 504, and when each sleeve 504 rotates around the central shaft 502, each sleeve 504 does not axially shift. When the wire 501 is driven by the friction of the driving roller 103 and the driven roller 104, it will rotate around the central shaft 502 together with the sleeve 504, so as to realize the wire feeding. The material wire 501 is drawn out through the sleeve 504, and then enters the printing nozzle 105 after sequentially passing through the notch 407, the upper material guide groove 408, the feeding gap and the lower material guide groove 409 on the electromagnet 406, and then is ejected out through the printing nozzle 105 for printing articles.

As shown in fig. 1, the frame 6 is further provided with a Z-direction driving mechanism for driving the movable bracket 101 to move up and down and an X-direction driving mechanism for driving the movable bracket 101 to move transversely. To facilitate driving the mobile carriage 101, a pan-tilt head 8 connected thereto may be provided below the mobile carriage 101.

The Z-direction driving mechanism for driving the movable bracket 101 to perform the lifting motion may have various structural forms, for example, a combination form of a motor + a ball screw pair 9+ a vertical guide rod 10 as shown in fig. 1, or a combination form of a hydraulic cylinder + a vertical guide rod, and of course, the Z-direction driving mechanism is not limited to the above-mentioned embodiment, as long as the Z-direction driving mechanism can perform the lifting motion for driving the movable bracket 101 to perform the vertical direction.

The X-direction driving mechanism for driving the moving rack 101 to move laterally may have various configurations, for example, a combination of the motor + the X-direction synchronous conveyor 11+ the lateral guide bar 12 as shown in fig. 1, or a combination of the motor + the ball screw assembly + the lateral guide bar 12. Of course, the X-direction driving mechanism is not limited to the above-mentioned embodiments, and the driving structure for driving the moving rack 101 to move transversely can be implemented.

As shown in fig. 1, the frame 6 is further provided with a tray 7, the tray 7 is located below the printing head 105, and the frame 6 is further provided with a Y-direction driving mechanism for driving the tray 7 to move longitudinally. The Y-direction driving mechanism for driving the tray 7 to move longitudinally may have various configurations, for example, a combination of the motor + the Y-direction synchronous conveyor belt 11+ the longitudinal guide bar as shown in fig. 1, a combination of the motor + the ball screw assembly + the longitudinal guide bar, or a combination of the hydraulic cylinder + the longitudinal guide bar. Of course, the Y-direction driving mechanism is not limited to the above-mentioned embodiment, and any driving structure capable of driving the tray 7 to move longitudinally may be adopted. It should be noted that, the utility model provides a shower nozzle storehouse mechanism 2 links to each other with tray 7, and the longitudinal motion of tray 7 can lead to shower nozzle storehouse mechanism 2's longitudinal motion, for making things convenient for shower nozzle storehouse mechanism 2's removal, can set up V type guide way 14 on frame 6 to set up the guide block 15 that links to each other with shower nozzle storehouse base 212 in shower nozzle storehouse base 212's below, the structure of guide block 15 and the structure looks adaptation of V type guide way 14.

The 3D printer still including the control system who is used for controlling each motor and steering wheel. As shown in fig. 7, after the printer receives a command from the control system to replace the nozzle in the printing process, the printer firstly suspends the printing operation and controls the movable nozzle device 1 and the manipulator mechanism 3 to move to corresponding positions, the fourth stepping motor 102 drives the driving roller 103 to rotate reversely, so that the filament 501 is separated from the printing nozzle 105, the third steering engine drives the four-bar mechanism 108 to rotate, so that the movable and static clamping blocks release the clamping on the printing nozzle 105, and at the moment, the control system controls the manipulator mechanism 3 to move, so that the printing nozzle 105 is taken down and placed at an idle position on the nozzle library mechanism 2; then, a first stepping motor 211 drives the rotating bracket to integrally rotate, so that the standby nozzle at the other position is rotated to a position which is easy to be grabbed by the mechanical hand mechanism, a first steering engine 201 drives the upper cover plate and the lower cover plate to rotate, the upper limiting arm and the lower limiting arm are not blocked by the upper opening groove and the lower opening groove, the mechanical hand mechanism grabs the standby nozzle on the nozzle warehouse mechanism 2 and conveys the standby nozzle to a position between the movable clamping block and the static clamping block, and a third steering engine acts to drive the screw rod mechanism 108 to act, so that the movable clamping block and the static clamping block clamp the standby nozzle which is just taken to form; then, the third stepping motor 404 is controlled to rotate, so that the cam on the cam shaft 402 rotates to a far angle of repose, the Z-direction driving mechanism is controlled to drive the movable nozzle device to move along the Z direction, the material wire 501 enters the feeding gap through the upper guide chute 408, the fourth stepping motor 102 drives the driving roller 103 to rotate forward, the material wire 501 enters the printing nozzle 105 through the lower guide chute 409, and the nozzle replacement work is completed.

The parts not mentioned in the utility model can be realized by adopting or using the prior art for reference.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. A3D printer with a multi-nozzle automatic switching system is characterized in that,

the automatic multi-nozzle switching system is arranged on the rack;

the multi-nozzle automatic switching system comprises a nozzle warehouse mechanism, a manipulator mechanism and a movable nozzle device moving along the direction X, Z, wherein the manipulator mechanism is arranged between the nozzle warehouse mechanism and the movable nozzle device;

the spray head warehouse mechanism comprises a rotating bracket and a plurality of standby spray heads arranged along the circumferential direction of the rotating bracket;

the movable spray head device comprises a movable support, a printing spray head and a clamping mechanism which is arranged on the movable support and used for clamping and positioning the printing spray head;

the mechanical arm mechanism comprises a mechanical arm and a rotary driving part, wherein the mechanical arm is used for clamping and releasing the printing spray head and the standby spray head, and the rotary driving part is used for driving the mechanical arm to switch positions between the spray head warehouse mechanism and the movable spray head device.

2. The 3D printer with the automatic switching system of multiple nozzles according to claim 1,

the rotating bracket comprises an upper cover plate and a lower cover plate which are connected with each other, the edge of the outer contour of the upper cover plate is provided with a plurality of upper open grooves along the circumferential direction, the edge of the outer contour of the lower cover plate is provided with a plurality of lower open grooves opposite to the upper open grooves along the circumferential direction, the nozzle to be used is arranged between the upper cover plate and the lower cover plate, the top end of the nozzle to be used is clamped in the upper open grooves, and the bottom end of the nozzle to be used is clamped in the lower open grooves;

the spray head warehouse mechanism further comprises a first stepping motor which drives the rotating support to integrally rotate, the first stepping motor is arranged below the rotating support, and a motor shaft of the first stepping motor is connected with the rotating support.

3. The 3D printer with the automatic switching system of multiple nozzles according to claim 2,

the spray head warehouse mechanism also comprises a first steering engine which drives the upper cover plate and the lower cover plate to synchronously rotate, and the upper cover plate and the lower cover plate are connected through a linkage shaft;

the shower nozzle storehouse mechanism still includes the spacing subassembly of shower nozzle for use, and the spacing subassembly of shower nozzle for use includes upper fixed disk, lower fixed disk, set up and the upper limit arm that equals with upper open slot quantity along the peripheral border of upper fixed disk, set up and the lower limit arm that equals with lower open slot quantity along the peripheral border of lower fixed disk, the position of upper and lower limit arm is relative, and the upper fixed disk sets up in the below of upper cover plate, and lower fixed disk sets up in the top of apron down, and first steering wheel drives the in-process of upper and lower apron rotation, and upper and lower fixed disk is not along with upper and lower apron rotation, and when the rotatory position of upper cover plate to upper open slot and upper limit arm is relative, upper open slot is plugged up to upper limit arm, and lower open slot is plugged up to lower limit arm.

4. The 3D printer with the automatic switching system of multiple nozzles according to claim 1,

the mechanical arm mechanism further comprises a mechanical arm and a mechanical arm rotating shaft which are connected with each other, the rotary driving part comprises a second stepping motor, and a motor shaft of the second stepping motor is connected with the mechanical arm rotating shaft;

the mechanical arm is arranged at the tail end of the mechanical arm and comprises a movable part and a static part, and the movable part and the static part are matched to form a clamping gap for grabbing the printing nozzle and the nozzle to be used; the mechanical arm is provided with a first linear driving part which drives the movable part to do linear reciprocating motion.

5. The 3D printer with the automatic switching system of multiple nozzles according to claim 1,

the clamping mechanism comprises a movable clamping block, a static clamping block and a second linear driving part which drives the movable clamping block to do linear reciprocating motion, when the printing mechanism is used for printing, the printing nozzle is clamped between the movable clamping block and the static clamping block, and when the nozzle is replaced, the movable clamping block moves to one side under the driving of the second linear driving part to release the printing nozzle.

6. The 3D printer with the automatic switching system of multiple nozzles according to claim 1,

the frame is also provided with a wire feeding device;

the wire feeding device comprises a wire guiding and positioning mechanism arranged above the printing nozzle, the wire guiding and positioning mechanism comprises a cam shaft, a cam shaft mounting seat, a third stepping motor driving the cam shaft to rotate, an electromagnet mounting plate and a plurality of electromagnets sequentially arranged along the length direction of the electromagnet mounting plate, the electromagnet mounting plate is connected with the cam shaft mounting seat through a return spring, and each electromagnet is provided with a notch through which a feeding wire passes;

and the third step motor drives the cam shaft to rotate, the outline of the cam on the cam shaft pushes the electromagnet mounting plate to realize Y-direction feeding, and the size of the cam on the cam shaft ensures that when the electromagnet moves to the extreme limit along the Y-axis direction, the central line of the material wire clamped by the electromagnet, the central line of the printing nozzle and the X axis are in the same plane.

7. The 3D printer with the automatic switching system of multiple nozzles according to claim 6,

the material wire guiding and positioning mechanism further comprises an upper guide chute and a lower guide chute which are arranged on the movable support, the central line of the upper guide chute and the central line of the lower guide chute are located on the same straight line, and the lower guide chute is located right above the printing nozzle.

8. The 3D printer with the automatic switching system of multiple nozzles according to claim 6,

wire feeding unit still includes material silk conveying mechanism, and material silk conveying mechanism includes fourth step motor, initiative gyro wheel and driven roller, and fourth step motor, initiative gyro wheel and driven roller all set up on the movable support, and the initiative gyro wheel is driven by fourth step motor, and the cooperation forms the feed clearance between initiative gyro wheel and the driven roller.

9. The 3D printer with the automatic switching system of multiple nozzles according to claim 6,

the wire feeding device also comprises a feeding mechanism, and the feeding mechanism is positioned above the wire guiding and positioning mechanism;

the feeding mechanism comprises a material wire mounting seat and a central shaft, wherein the central shaft is fixed on the material wire mounting seat, a plurality of sleeves capable of rotating around the central shaft relatively are axially arranged along the central shaft, material wires are wound on the sleeves, the material wires of different colors are wound on the different sleeves, and when the sleeves rotate around the central shaft, the sleeves do not axially shift.

10. The 3D printer with the automatic switching system of multiple nozzles according to claim 1,

the printing machine is characterized in that a Z-direction driving mechanism for driving the movable support to do lifting motion and an X-direction driving mechanism for driving the movable support to do transverse motion are further arranged on the rack, a tray is further arranged on the rack and located below the printing nozzle, and a Y-direction driving mechanism for driving the tray to do longitudinal motion is further arranged on the rack.