CN-122008540-A - Multi-tool-head intelligent three-dimensional printing system and printing method

CN122008540ACN 122008540 ACN122008540 ACN 122008540ACN-122008540-A

Abstract

The application discloses a multi-tool-head intelligent three-dimensional printing system and a printing method, wherein the printing system comprises a printer main body, wherein a main control unit, a motion module, a tool-head interface node module, a plurality of groups of intelligent tool heads and a printing platform are arranged on the printer main body; the tool head interface node module is arranged on the motion module, the tool head interface node module and a plurality of groups of intelligent tool heads form a multi-path switchable connection structure, and the intelligent tool heads are independent autonomous modules. The application adopts a multi-path switchable connection structure and a quick switching mechanical structure which is adaptive to a plurality of tool heads, supports the repeated switching of five or more tool heads, and the repeated positioning precision is not influenced by the increase of the number of the tool heads, and the cooperation of the pre-positioning structure and the secondary locking structure ensures the accuracy and the reliability of the connection of the tool heads and the motion module, thereby greatly improving the switching efficiency and meeting the requirements of continuous printing of multiple materials and multiple processes.

Inventors

ZHANG WENYI
ZHOU JIYAO

Assignees

嘉兴创立德智能制造有限公司

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. The intelligent three-dimensional printing system with multiple tool heads comprises a printer main body, and is characterized in that a main control unit, a motion module, a tool head interface node module, a plurality of groups of intelligent tool heads and a printing platform are arranged on the printer main body; The tool head interface node module is arranged on the motion module, and forms a multi-path switchable connection structure with a plurality of groups of intelligent tool heads; the intelligent tool heads are independent autonomous modules, and a plurality of groups of intelligent tool heads are mutually independent in physical structure, electrical connection and communication logic; The intelligent three-dimensional printing system comprises a motion module, an intelligent tool head, a plurality of intelligent tool heads, a quick switching mechanical structure, an XY direction automatic calibration structure and a Z-axis height automatic calibration structure, wherein the quick switching mechanical structure, the XY direction automatic calibration structure and the Z-axis height automatic calibration structure are arranged between the motion module and the intelligent tool heads, the intelligent three-dimensional printing system with the plurality of tool heads can automatically execute XYZ-axis comprehensive calibration after the intelligent tool heads are switched, and parameters of the intelligent tool heads are independently stored and can be automatically loaded.
2. The multi-tool intelligent three-dimensional printing system of claim 1, wherein the intelligent tool head comprises a tool head machine body, a tool head local control unit, a tool head identity recognition module, a tool head state detection module, and a tool head execution component, wherein: the tool bit local control unit, the tool bit identity recognition module, the tool bit state detection module and the tool bit execution component are integrated or fixed on the tool bit mechanical body; The tool bit local control unit is respectively connected with the tool bit identity recognition module, the tool bit state detection module and the tool bit execution part in a signal manner; the tool head identity recognition module stores the unique identity number of the intelligent tool head, the type of the intelligent tool head, the supported consumable type and the parameter range, and outputs parameter information outwards under the control of the tool head local control unit; The tool bit state detection module detects the heating state, the working condition of the executing mechanism and the locking connection reliability of the intelligent tool bit in real time, feeds detection signals back to the tool bit local control unit, and judges whether the state is normal or not by the tool bit local control unit; The tool head executing component receives the control instruction of the tool head local control unit, executes actions such as feeding, heating, spraying and the like required by printing, and realizes the printing function.
3. The multi-tool intelligent three-dimensional printing system of claim 1, wherein the fast switching mechanism comprises a pre-positioning mechanism and a secondary locking mechanism, wherein: The pre-positioning structure is provided with at least two non-collinear mechanical datum planes, an anti-misloading geometric structure and a primary pre-positioning guide structure; The secondary locking structure is an active electric control locking mechanism or a mechanism combining elastic pre-tightening and mechanical locking.
4. The multi-tool intelligent three-dimensional printing system according to claim 1, wherein the XY-direction automatic calibration structure comprises a geometric self-centering mechanism and an XY-offset detection and compensation unit, wherein: The geometric self-centering mechanism is a conical bulge and conical/frustum-shaped matching hole, a cylindrical surface/spherical surface/arc-shaped matching structure or an equivalent geometric structure with radial self-alignment capability, and plane offset errors are corrected X, Y through axial force; The Z-axis height automatic calibration structure comprises a touch sensing device arranged on the tool head, wherein the touch sensing device is a pressure sensor, a strain sensor or an equivalent contact detection structure.
5. The multi-tool head intelligent three-dimensional printing system according to claim 1, wherein the intelligent tool head comprises a flexible material tool head and/or a high wear material tool head; the flexible material tool head is provided with a double-active feeding mechanism, a low compression ratio clamping structure and a short flow passage partition control Wen Reduan, and is suitable for 55A-95A flexible materials; The high-wear material tool head is provided with a wear-resistant nozzle, a reinforced driving structure and a high-temperature heating assembly; the intelligent tool head is internally and independently stored with a printing temperature curve, feeding parameters, a back-pumping model, calibration parameters and a safety threshold.
6. A printing method based on the multi-tool head intelligent three-dimensional printing system according to any one of claims 1 to 5, comprising the steps of: S1) selecting a target intelligent tool head according to the printing task demand, and connecting and fixing the target intelligent tool head and a motion module through a quick switching mechanical structure; s2) the system automatically executes XYZ three-axis comprehensive calibration and corrects tool head positioning offset; s3) the main control unit automatically loads printing parameters stored by the target tool head; S4) the target tool head judges the state of the target tool head through autonomous safety logic, if the state is normal, the target tool head executes a printing task, and if the state is abnormal, the target tool head refuses a printing instruction; s5) monitoring the state of the tool head and printing parameters in real time in the printing process, and triggering a safety overrule and exception handling mechanism when an exception occurs.
7. The intelligent three-dimensional printing method with multiple tool heads according to claim 6, wherein in the step S1, the specific process of the fast switching is as follows: The primary positioning of the tool head and the motion module is realized through the pre-positioning structure, the positioning accuracy is ensured by utilizing the non-collinear mechanical datum plane and the anti-misloading geometric structure, and the tool head is fixed on the motion module through the secondary locking structure, so that the reliable connection is completed.
8. The intelligent three-dimensional printing method with multiple tool heads according to claim 6, wherein in the step S2, the specific process of XYZ three-axis integrated calibration is as follows: Automatically correcting X, Y plane offset errors through an XY direction geometric self-centering mechanism, and generating XY offset compensation parameters by a compensation unit; Detecting the first contact position of the tool head and the printing platform through the Z-axis touch sensing device, and calculating the Z-direction height offset; and the system calculates triaxial offset parameters by integrating the results, and binds and stores the parameters with the current tool head.
9. The intelligent three-dimensional printing method with multiple tool heads according to claim 6, wherein in the step S3, the specific process of automatically loading the printing parameters is as follows: The intelligent tool head outputs unique identity numbers, tool head types and supported consumable parameters to the main control unit through the identity recognition module, and the main control unit automatically loads printing temperature curves, feeding parameters, a back drawing model, calibration parameters and safety thresholds stored in the tool head according to the corresponding intelligent tool head matched with the identity information.
10. The intelligent three-dimensional printing method with multiple tool heads according to claim 6, wherein in the step S4 and the step S5, the specific processes of autonomous security logic and exception handling are as follows: The tool head detects the heating state, the working condition of the actuating mechanism and the locking connection reliability in real time through the state detection module, and judges whether the preset safety threshold is met or not by combining the self-detection result and the XY/Z axis offset; If any one of the conditions of tool head self-checking failure, X-Y/Z axis deviation overrun or locking abnormality occurs, the tool head or the interface node module outputs an abnormal state signal, and after the system receives the abnormal state signal, the system stops continuing printing and triggers an alarm prompt.

Description

Multi-tool-head intelligent three-dimensional printing system and printing method Technical Field The invention relates to the technical field of additive manufacturing, in particular to an intelligent three-dimensional printing system with multiple working heads and a printing method. Background With the continuous development of additive manufacturing technology, three-dimensional printing has gradually expanded to printing directions of multi-material, high-performance material, flexible material and composite material, and has increasingly wide application in the fields of industrial production, product research and development and the like. In order to meet the requirements of continuous manufacturing and complex processes of multiple materials, the three-dimensional printing equipment with multiple tool heads has been developed, and by providing the tool heads with multiple different functions, the switching printing of different materials or different processes is realized, so that the printing flexibility and diversity are improved to a certain extent. However, the existing multi-tool-head printing device still has many defects in practical application, such as limited number of tool heads by structural design and control logic, poor expansibility, difficulty in meeting simultaneous application of more materials or processes, lack of independent safety redundancy design due to the fact that the tool head switching process depends on judgment and control of a centralized main control unit, insufficient safety and stability of system operation, extremely high requirements on precision when the tool heads are repeatedly installed, difficulty in effectively eliminating offset errors in XY directions, influence on printing quality, and difficulty in realizing unified management and efficient adaptation due to differences of different types of tool heads (such as rigid material tool heads, flexible material tool heads and high-abrasion material tool heads) in terms of structure and working principle, and difficulty in further influence on printing effect due to miscalibration due to the fact that manual intervention or recalibration is often needed after the tool heads are quickly replaced. When the number of tool heads is increased to five or more, the above problems are further amplified, severely restricting the reliability and industrial applicability of the system. Therefore, there is a need for an intelligent three-dimensional printing system capable of supporting stable operation of five or more tool heads, and having the capabilities of fast tool head switching, automatic calibration, safe autonomy and multi-type material adaptation, so as to solve the short plates existing in the prior art and promote the wide application of the three-dimensional printing technology in multi-material and large-scale industrial production. Disclosure of Invention The invention aims to provide a multi-tool-head intelligent three-dimensional printing system and a printing method, which are used for solving the problems in the prior art in the background art. In order to achieve the above purpose, the invention provides a multi-tool-head intelligent three-dimensional printing system, which comprises a printer main body, wherein a main control unit, a motion module, a tool-head interface node module, a plurality of groups of intelligent tool heads and a printing platform are arranged on the printer main body; The tool head interface node module is arranged on the motion module, and forms a multi-path switchable connection structure with a plurality of groups of intelligent tool heads; the intelligent tool head is an independent autonomous module, has the functions of identity recognition, state detection and autonomous safety overrule, and is mutually independent in physical structure, electrical connection and communication logic; The intelligent three-dimensional printing system comprises a motion module, an intelligent tool head, a plurality of intelligent tool heads, a quick switching mechanical structure, an XY direction automatic calibration structure and a Z-axis height automatic calibration structure, wherein the quick switching mechanical structure, the XY direction automatic calibration structure and the Z-axis height automatic calibration structure are arranged between the motion module and the intelligent tool heads, the intelligent three-dimensional printing system with the plurality of tool heads can automatically execute XYZ-axis comprehensive calibration after the intelligent tool heads are switched, and parameters of the intelligent tool heads are independently stored and can be automatically loaded. Preferably, the intelligent tool head comprises a tool head mechanical body, a tool head local control unit, a tool head identity recognition module, a tool head state detection module and a tool head execution component, wherein: the tool bit local control unit, the tool bit identity recognition module,