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The present application relates to the field of multi-material additive manufacturing, in particular to a voxelized heterogeneous structure 3D printing device and method based on DLP. The method is to realize the movement, mixing and splitting of droplet materials through digital microfluidics by using dielectric wetting principle, transfer the droplets to the corresponding voxel position according to the predefined program, realize the precise control of different materials, and obtain voxelized heterogeneous structure three-dimensional workpiece through layer-by-layer accumulation and solidification processing. The present application provides a new method for realizing the printing of heterogeneous structure.