3D printing apparatus and method

Abstract

A 3D printing apparatus includes a melt extrusion module, a print module, and a platform module. The melt extrusion module includes a process chamber having an inlet and an outlet, and an extrusion device and a heating device disposed at the process chamber, the melt extrusion module configured to receive an initial material through the inlet of the process chamber, and to heat and extrude the initial material such that the initial material is transformed into a melt, the melt being extruded from the outlet of the process chamber. The print module is in communication with the outlet of the process chamber and has a nozzle, the print module configured to receive the melt extruded from the outlet of the process chamber and to direct the melt to be extruded through the nozzle. The platform module is configured to receive the melt extruded through the nozzle.

Description

[0001] This application is a divisional application of the invention patent application entitled “3D printing device and method” with application number 201880001232.5 and filing date May 11, 2018. Technical Field

[0002] The present application relates to an apparatus and method related to additive manufacturing technology, and in particular to a 3D printing apparatus and a 3D printing method. Background Art

[0003] 3D printing is a rapid prototyping technology that uses digital models to create products layer by layer using bondable materials such as metal or plastic. With the rapid development of related technologies, 3D printing is widely used in the jewelry, engineering, automotive, dental, aerospace, and medical industries.

[0004] Among them, fused deposition modeling (FDM) is a commonly used 3D printing technology. 3D printing equipment using this technology usually heats filamentary materials made of materials such as ABS and PLA to a temperature slightly higher than the melting point, and under the control of a computer or controller, extrudes the molten material layer by layer to stack and form the desired product. Existing 3D printing equipment of this type usually has restrictions on the materials of the initial materials before melting. For example, the feed materials usually suitable for 3D printing equipment using fused deposition modeling must be linear or filamentary, which obviously limits the application scope of such 3D printing equipment. For example, in the application of printing 3D medicines using fused deposition modeling technology, if the drug excipients or active ingredients are delivered to the printing equipment in the form of wire, due to the limitation of the wire shape, the drug loading requirements of the raw materials required for 3D medicine printing cannot be met.

[0005] Of course, there are also practical applications for 3D printing of pharmaceuticals using powdered materials. However, in industrial applications, because the 3D printing equipment employed utilizes a three-dimensional powder-liquid printing technology that layers powders together with an adhesive, there can be issues with powder collection and recovery caused by the layered spraying. Furthermore, the range of pharmaceutical dosage forms that can be 3D printed using this technology is relatively limited, and the printed pharmaceutical products struggle to achieve sustained-release and zero-order release requirements.

[0006] When manufacturing products, particularly pharmaceuticals, it is desirable to precisely control the amount of material printed by the nozzle. A significant problem with existing additive manufacturing devices is the unintended leakage of material from the nozzle, which can result in printing more than the desired amount. This problem is compounded when using two or more nozzles, which may print different materials and need to be switched on and off alternately. For example, if a first nozzle leaks a first material while a second nozzle prints a second material, manufacturing defects or material waste can occur. Because the devices and systems described herein can process a range of pharmaceutical materials with high accuracy and precision in material deposition, they are well suited for manufacturing pharmaceutical dosage forms with complex geometries and compositions. The devices, systems, and methods described herein also facilitate personalized medicine, including personalized dosing and / or personalized release profiles. Personalized medicine refers to the stratification of patient populations based on biomarkers to aid treatment decisions and personalized dosage form design. Personalized pharmaceutical dosage forms allow for tailoring drug dosage and release profiles to the patient's physical condition and metabolism. Pharmaceutical dosage forms manufactured using the devices described herein can ensure accurate dosing for growing children and allow for personalized dosing of highly effective medications. Personalized dosage forms can also combine all of a patient's medications into a single daily dose, improving medication adherence and treatment compliance. Modifying a digital design is easier than modifying a physical device. Furthermore, automated, small-scale 3D printing can have negligible operating costs. Therefore, using the additive manufacturing apparatus described herein can make multiple small, personalized batches economically feasible and enable personalized dosage forms designed to improve adherence.

[0007] Compared to traditional "batch production" of pharmaceuticals, "continuous production" of pharmaceuticals utilizes process analytical technology (PAT) to provide real-time and continuous quality information (e.g., near-infrared technology), allowing the final product to be directly released to the market. This production process greatly improves the efficiency of manufacturing equipment while also enhancing the quality of the pharmaceuticals. Furthermore, continuous quality testing during the production process can effectively prevent batch waste, while eliminating intermediate links and saving storage and transportation costs for intermediate products. It is foreseeable that in the near future, "continuous production," like 3D pharmaceutical printing, may become a mainstream method of pharmaceutical production. However, "continuous production" requires fully enclosed vacuum feeding to avoid cross-contamination, and all testing work must be completed during the production process. Summary of the Invention

[0008] An object of the present invention is to provide a 3D printing system that can solve the above-mentioned defects and deficiencies.

[0009] According to one aspect of the present invention, a 3D printing system for printing a pharmaceutical dosage form according to a digital model of a pharmaceutical is provided. The system includes: a first printing module, and a first melt extrusion module connected to the first printing module; a second printing module, and a second melt extrusion module connected to the second printing module; a control module; a deposition platform; and a platform drive mechanism; the first melt extrusion module includes a first processing chamber having a feed port and a discharge port, the first melt extrusion module is configured to receive a first pharmaceutical material through the feed port of the first processing chamber, and heat and extrude the first pharmaceutical material, so that the first pharmaceutical material is converted into a first melt, which is extruded from the discharge port of the first processing chamber; the first printing module is connected to the discharge port of the first processing chamber and includes a first nozzle group, the first printing module is configured to receive the first melt extruded from the discharge port of the first processing chamber; the second melt extrusion module includes a second processing chamber having a feed port and a discharge port, the second melt extrusion module is configured to receive a second pharmaceutical material through the feed port of the second processing chamber, and heat and extrude the second pharmaceutical material out, so that the second pharmaceutical material is converted into a second melt, and the second melt is extruded from the discharge port of the second processing chamber; the second printing module is connected to the discharge port of the second processing chamber and includes a second nozzle group, and the second printing module is configured to receive the second melt extruded from the discharge port of the second processing chamber; wherein the first pharmaceutical material includes a pharmaceutical active ingredient, and the second pharmaceutical material is different from the first pharmaceutical material; the control module is configured to generate control instructions according to the digital model of the drug to control the platform drive mechanism, the first printing module and the second printing module; the platform drive mechanism is configured to drive the deposition platform to move between the first nozzle group and the second nozzle group according to the control instructions; the first printing module is configured to control the first nozzle group to open and extrude the first melt when the deposition platform moves below the first nozzle group, so as to deposit the first part of the pharmaceutical dosage form on the deposition platform; the second printing module is configured to control the second nozzle group to open and extrude the second melt when the deposition platform moves below the second nozzle group, so as to deposit the second part of the pharmaceutical dosage form on the deposition platform.

[0010] In certain embodiments of the present invention, the first melt extrusion module further includes a first processing chamber heating device disposed at the first processing chamber; the second melt extrusion module further includes a second processing chamber heating device disposed at the second processing chamber; the first processing chamber heating device is communicatively connected to the control module, and the control module is also used to control the heating power of the first processing chamber heating device; the second processing chamber heating device is communicatively connected to the control module, and the control module is also used to control the heating power of the second processing chamber heating device.

[0011] In certain embodiments of the present invention, the 3D printing system further comprises a first temperature detection device and a second temperature detection device communicatively connected to the control module; the first temperature detection device is configured to detect the temperature of the first melt at the first processing chamber and transmit a first temperature detection signal to the control module; the second temperature detection device is configured to detect the temperature of the second melt at the second processing chamber and transmit a second temperature detection signal to the control module; the control module is configured to control the heating power of the first processing chamber heating device according to the first temperature detection signal; and to control the heating power of the second processing chamber heating device according to the second temperature detection signal.

[0012] In certain embodiments of the present invention, the 3D printing system further includes: a first feeding module, the first feeding module including a first hopper, the first hopper having a feed port and a discharge port, and being configured to receive the active pharmaceutical ingredient through the feed port of the first hopper and discharge the active pharmaceutical ingredient through the discharge port of the first hopper; a second feeding module, the second feeding module including a second hopper, the second hopper having a feed port and a discharge port, and being configured to receive the pharmaceutical excipient through the feed port of the second hopper and discharge the pharmaceutical excipient through the discharge port of the second hopper; the first melt extrusion module is specifically used to heat and extrude the mixed active pharmaceutical ingredient and the pharmaceutical excipient to obtain the first melt.

[0013] In certain embodiments of the present invention, the first feeding module further includes a first hopper discharge control device, which is configured to control the discharge speed of the first hopper; the second feeding module further includes a second hopper discharge control device, which is configured to control the discharge speed of the second hopper.

[0014] In certain embodiments of the present invention, the 3D printing system further comprises a component detector; the component detector is communicatively connected to the control module, and is configured to detect the component ratio of the active pharmaceutical ingredient and the pharmaceutical excipient in the first melt, and transmit a component detection signal to the control module; the control module is further configured to control the first hopper discharge control device and / or the second hopper discharge control device according to the component detection signal.

[0015] In certain embodiments of the present invention, the control module is specifically used to: when the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is relatively high, instruct the first hopper discharge control device to reduce the discharge speed of the first hopper, or instruct the second hopper discharge control device to increase the discharge speed of the first hopper; when the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is relatively low, instruct the first hopper discharge control device to increase the discharge speed of the first hopper, or instruct the second hopper discharge control device to reduce the discharge speed of the first hopper.

[0016] In certain embodiments of the present invention, the digital model of the drug includes a drug shell and a drug core; wherein the first part of the drug dosage form is the drug core, which includes the active ingredient of the drug; and the second part of the drug dosage form is the drug shell, which includes a drug coating with different dissolution and release characteristics.

[0017] In certain embodiments of the present invention, the first melt extrusion module further includes a first extrusion device disposed at the first processing chamber; the second melt extrusion module further includes a second extrusion device disposed at the second processing chamber; the first extrusion device is communicatively connected to the control module, and the control module is configured to control a first extrusion power of the first extrusion device; the second extrusion device is communicatively connected to the control module, and the control module is configured to control a second extrusion power of the second extrusion device.

[0018] In some embodiments of the present invention, each of the first nozzle group and the second nozzle group includes only one nozzle.

[0019] In certain embodiments of the present invention, the first nozzle group includes a plurality of nozzles arranged in an array; the second nozzle group includes a plurality of nozzles having the same number and arrangement as the first nozzle group; wherein the drug dosage form includes a plurality of drug tablets having the same number of nozzles as the first nozzle group.

[0020] In certain embodiments of the present invention, the communication path distance from each of the multiple nozzles of the first nozzle group to the discharge port of the first processing chamber is equal; the communication path distance from each of the multiple nozzles of the second nozzle group to the discharge port of the second processing chamber is equal.

[0021] In certain embodiments of the present invention, the first printing module further includes a first control switch, and the second printing module further includes a second control switch; the first control switch is configured to open or close the first nozzle group according to the control instruction; the second control switch is configured to open or close the second nozzle group according to the control instruction.

[0022] In some embodiments of the present invention, the first control switch and the second control switch include sealing needles.

[0023] In another aspect of the present invention, a 3D printing method is provided for printing a pharmaceutical dosage form according to a digital model of a drug, the 3D printing method comprising: adding a first pharmaceutical material to a first processing chamber of a first melt extrusion module; heating and extruding the first pharmaceutical material in the first processing chamber to convert the first pharmaceutical material into a first melt and extrude it from a discharge port of the first processing chamber; adding a second pharmaceutical material to a second processing chamber of a second melt extrusion module; heating and extruding the second pharmaceutical material in the second processing chamber to convert the second pharmaceutical material into a second melt and extrude it from a discharge port of the second processing chamber; guiding the first melt extruded from the discharge port of the first processing chamber into a first nozzle group of a first printing module; guiding the second melt extruded from the discharge port of the second processing chamber into a first nozzle group of a first printing module; and guiding the second melt extruded from the discharge port of the second processing chamber into a first nozzle group of a first printing module. The melt enters the second nozzle group of the second printing module; a control instruction is generated according to the digital model of the drug and the control parameters to control the platform driving mechanism, the first printing module and the second printing module; the platform driving mechanism drives the deposition platform to move to the bottom of the first nozzle group of the first printing module according to the control instruction; the first nozzle group is opened according to the control instruction, and the first melt is extruded from the first nozzle group to the deposition platform, and the second nozzle group is in a closed state; the platform driving mechanism drives the deposition platform to move to the bottom of the second nozzle group of the second printing module according to the control instruction; and the second nozzle group is opened according to the control instruction, and the second melt is extruded from the second nozzle group to the deposition platform, and the first nozzle group is in a closed state, so as to obtain a drug dosage form having the digital model of the drug.

[0024] In certain embodiments of the present invention, the method further includes at least one of the following steps: detecting the temperature of the first melt at the first processing chamber by a first temperature detection device, generating a first temperature detection signal, and controlling the heating power of a first processing chamber heating device disposed at the first processing chamber according to the first temperature detection signal; and detecting the temperature of the second melt at the second processing chamber by a second temperature detection device, generating a second temperature detection signal, and controlling the heating power of a second processing chamber heating device disposed at the second processing chamber according to the second temperature detection signal.

[0025] In certain embodiments of the present invention, the method further includes: receiving the active pharmaceutical ingredient through the feed port of the first hopper of the first feeding module, and discharging the active pharmaceutical ingredient through the discharge port of the first hopper; receiving the pharmaceutical excipient through the feed port of the second hopper of the second feeding module, and discharging the pharmaceutical excipient through the discharge port of the second hopper; wherein, heating and extruding the first pharmaceutical material in the first processing chamber to convert the first pharmaceutical material into a first melt and extruding from the discharge port of the first processing chamber includes: heating and extruding the mixed active pharmaceutical ingredient and pharmaceutical excipient through the first melt extrusion module to obtain the first melt.

[0026] In certain embodiments of the present invention, the method further includes: detecting the component ratio of the active pharmaceutical ingredient and the pharmaceutical excipient in the first melt by a component detector, and generating a component detection signal; and controlling the discharge speed of the first hopper by a first hopper discharge control device of the first feeding module and / or controlling the discharge speed of the second hopper by a second hopper discharge control device of the second feeding module according to the component detection signal.

[0027] In certain embodiments of the present invention, controlling the discharge speed of the first hopper by the first hopper discharge control device of the first feeding module and / or controlling the discharge speed of the second hopper by the second hopper discharge control device of the second feeding module according to the component detection signal includes: when the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is too high, instructing the first hopper discharge control device to reduce the discharge speed of the first hopper, or instructing the second hopper discharge control device to increase the discharge speed of the first hopper; when the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is too low, instructing the first hopper discharge control device to increase the discharge speed of the first hopper, or instructing the second hopper discharge control device to reduce the discharge speed of the first hopper.

[0028] In certain embodiments of the present invention, the first nozzle group includes a plurality of nozzles arranged in an array, the second nozzle group includes a plurality of nozzles having the same number and arrangement as the first nozzle group, and the drug dosage form includes a plurality of drug tablets having the same number of nozzles as the first nozzle group.

[0029] According to one aspect of the present invention, a 3D printing device is provided, which includes a first melt extrusion module, a first printing module and a platform module. The first melt extrusion module includes a processing chamber having a feed port and a discharge port, and an extrusion device and a heating device arranged at the processing chamber. The first melt extrusion module is configured to receive a first initial material through the feed port of the processing chamber, and to heat and extrude the first initial material so that the first initial material is converted into a first melt, which is extruded from the discharge port of the processing chamber. The first printing module is connected to the discharge port of the processing chamber and has a first nozzle. The first printing module is configured to receive the first melt extruded from the discharge port of the processing chamber, and guide the first melt to be extruded through the first nozzle. The platform module is configured to receive the first melt extruded through the first nozzle.

[0030] In certain embodiments of the present invention, the first printing module is used to melt and apply pressure, and the first printing module includes a feed channel connected to a print head, the print head includes a nozzle, the nozzle includes a tapered inner surface and an extrusion port for printing material; a pressure sensor, the pressure sensor is used to detect the pressure of the material in the feed channel in or near the nozzle; and a control switch, which includes a sealing needle that can be switched between an open position and a closed position, the sealing needle extends through a portion of the feed channel and includes a tapered end; wherein the tapered end of the sealing needle engages with the tapered inner surface of the nozzle to prevent material from flowing through the nozzle when the sealing needle is in the closed position.

[0031] According to one aspect of the present invention, a device is provided for depositing material or manufacturing a product (e.g., a pharmaceutical dosage form) by additive manufacturing by precisely controlling the pressure in a nozzle or a feed channel near the nozzle, and utilizing a control switch with a sealing needle to prevent material from flowing through the nozzle when the sealing needle is in a closed position. The nozzle includes a tapered inner surface, and the sealing needle includes a tapered end that engages the tapered inner surface of the nozzle to limit material leakage. The sealing needle is preferably sharp, thin, and lacks protrusions that could push material out of the nozzle when in the closed position. The pressure of the material is preferably maintained approximately constant within the device, and can be controlled by monitoring the pressure and applying pressure to the material using a feedback system. Thus, once the sealing needle is positioned in the open position, the material can be extruded immediately at a constant rate without increasing the pressure. This further enables precise printing of the material, which can enable accurate and precise manufacturing of pharmaceutical dosage units, such as tablets.

[0032] In certain embodiments of the present invention, any portion of the sealing needle that contacts the material is free of protrusions.

[0033] In certain embodiments of the present invention, the tapered end of the sealing needle comprises a pointed tip. In some embodiments, the tapered end of the sealing needle is frustoconical. In some embodiments, the tapered inner surface of the nozzle has a first taper angle and the tapered end of the sealing needle has a second taper angle; and the second taper angle is the same as or less than the first taper angle. In some embodiments, the second taper angle is approximately 60° or less. In some embodiments, the second taper angle is approximately 45° or less. In some embodiments, the ratio of the first taper angle to the second taper angle is approximately 1:1 to 4:1.

[0034] In certain embodiments of the present invention, the extrusion port has a diameter of about 0.1 mm to 1 mm. In some embodiments, the maximum diameter of the tapered end is about 0.2 mm to about 3.0 mm. In some embodiments, the extrusion port has a diameter, the tapered end has a maximum diameter, and the ratio of the maximum diameter of the tapered end to the diameter of the extrusion port is about 1:0.8 to about 1:0.1.

[0035] In certain embodiments of the present invention, the control switch includes an actuator that can position the sealing needle in an open position or a closed position. In some embodiments, the actuator is a pneumatic actuator. In some embodiments, the actuator is a mechanical actuator.

[0036] In certain embodiments of the present invention, the sealing needle passes through a gasket fixed in position relative to the nozzle, wherein the gasket closes the feed channel.

[0037] In certain embodiments of the present invention, the tapered end of the sealing needle or the tapered inner surface of the nozzle comprises a flexible gasket or bushing.

[0038] In certain embodiments of the present invention, the material is non-wire. In some embodiments, the material has a viscosity of about 100 Pa·s or greater when extruded from the device. In some embodiments, the material has a viscosity of about 400 Pa·s or greater when extruded from the device. In some embodiments, the material melts at a temperature of about 50°C to 400°C. In some embodiments, the material is extruded from the nozzle at a temperature of about 50°C to about 400°C. In some embodiments, the material is extruded from the nozzle at a temperature of about 90°C to 300°C.

[0039] In certain embodiments of the present invention, a first feeding module is further included. The first feeding module includes a hopper having a feed port and a discharge port, and is configured to receive a first initial material through the feed port of the hopper and discharge the first initial material through the discharge port of the hopper to the feed port of the processing chamber of the first melt extrusion module.

[0040] In some embodiments of the present invention, the 3D printing device further comprises a control module, wherein the control module comprises a computerized controller for controlling the 3D printing device based on state parameters of the 3D printing device.

[0041] In certain embodiments of the present invention, the 3D printing apparatus further comprises a first temperature detection device in communication with the control module, wherein the first temperature detection device is configured to detect the temperature of the first molten body in the processing chamber and transmit a first temperature detection signal to the control module.

[0042] In certain embodiments of the present invention, the processing chamber heating device is in communication with the control module, and the control module controls the heating power of the processing chamber heating device according to the first temperature detection signal.

[0043] In certain embodiments of the present invention, the extrusion device is in communication with the control module, and the control module controls the extrusion power of the extrusion device according to the first temperature detection signal.

[0044] In certain embodiments of the present invention, the extrusion device includes a screw device, which is disposed in the processing chamber to extrude the first initial material or the first melt and transport the first melt to a discharge port of the processing chamber.

[0045] In certain embodiments of the present invention, the screw device is a single screw device, a twin screw device, or a combination thereof.

[0046] In certain embodiments of the present invention, the first melt extrusion module includes a melt extrusion discharge control device, which is configured to control a discharge rate of the first melt from a discharge port of the processing chamber.

[0047] In certain embodiments of the present invention, the 3D printing device further includes: a first pressure detection device, the first pressure detection device is communicatively connected to the control module, and is configured to detect the pressure of the first melt at the first printing module and transmit a first pressure detection signal to the control module; a pressure regulating device, the pressure regulating device is arranged on the first printing module, and is configured to regulate the pressure of the first melt at the first printing module; wherein the control module is communicatively connected to the pressure regulating device, and regulates the pressure of the first melt at the first printing module through the pressure regulating device according to the first pressure detection signal.

[0048] In certain embodiments of the present invention, a pressure sensor is connected to a computer system controlling the first printing module, which responds to the pressure reported by the pressure sensor and pressurizes the material to a desired pressure. In some embodiments, the material pressure is within 0.05 MPa of the desired pressure. In some embodiments, the first printing module includes a piston and a barrel connected to the feed channel, wherein the piston is driven to control the pressure of the material within the barrel. In some embodiments, a stepper motor is used to drive the piston.

[0049] In certain embodiments of the present invention, the 3D printing device further includes: a second temperature detection device, the second temperature detection device being communicatively connected to the control module and configured to detect the temperature of the first melt at the first printing module and transmit a second temperature detection signal to the control module; a temperature adjustment device, the temperature adjustment device being disposed on the first printing module and configured to adjust the temperature of the first melt at the first printing module; wherein the control module is communicatively connected to the temperature adjustment device and adjusts the temperature of the first melt at the first printing module via the temperature adjustment device based on the second temperature detection signal. In some embodiments, the second temperature detection device is connected to a computer system, and the computer system controls the corresponding temperature adjustment device based on the temperature monitored by the second temperature detection device.

[0050] The present invention provides a more precise system for depositing material or manufacturing products (such as pharmaceutical dosage forms) by additive manufacturing by precisely controlling the pressure in a nozzle or a feed channel near the nozzle, and using a control switch with a sealing needle to prevent material from flowing through the nozzle when the sealing needle is in a closed position. The nozzle includes a tapered inner surface, and the sealing needle includes a tapered end that engages the tapered inner surface of the nozzle to limit material leakage. The sealing needle is preferably sharp, thin and has no protrusions that could push material out of the nozzle when in the closed position. The pressure of the material is preferably maintained approximately constant in the device, and the pressure of the material can be controlled by monitoring the pressure and applying pressure to the material using a feedback system. In this way, once the sealing needle is positioned in the open position without the need to increase the pressure, the material can be extruded at a constant rate. This further allows for precise printing of the material, which can enable accurate and precise manufacturing of pharmaceutical dosage units, such as tablets.

[0051] In certain embodiments of the present invention, the first feeding module further comprises a hopper discharge control device, and the hopper discharge control device is configured to control a discharge speed of the first initial material from a discharge port of the hopper.

[0052] In certain embodiments of the present invention, the hopper discharge control device is a screw device, which is disposed in the hopper and controls the discharge speed of the first initial material from the discharge port of the hopper by changing the rotation speed of the screw.

[0053] In certain embodiments of the present invention, the present invention further comprises a second feeding module configured to receive a second initial material through a feeding port of the hopper and discharge the second initial material through a discharging port of the hopper.

[0054] In certain embodiments of the present invention, the 3D printing device further includes: a first component detection device, which is communicatively connected to the control module and is configured to detect the component of the first melt at any position of the 3D printing device and transmit a first component detection signal to the control module; the hopper discharge control device of the first feeding module and the second feeding module is communicatively connected to the control module, and the control module controls the discharge speed of the first initial material and the second initial material from the discharge port of the hopper of the first feeding module and the second feeding module respectively through the hopper discharge control device of the first feeding module and the second feeding module according to the first component detection signal.

[0055] In certain embodiments of the present invention, the 3D printing device further includes: a first cache module, the first cache module including a storage chamber having a feed port and an outlet port, the feed port of the storage chamber being connected to the outlet port of the processing chamber, the outlet port of the storage chamber being connected to the first printing module, the first cache module being configured to receive the first molten body extruded from the outlet port of the processing chamber, and to guide the first molten body into the first printing module through the outlet port of the storage chamber.

[0056] In certain embodiments of the present invention, the first buffer module further includes a storage chamber discharge control device for controlling a discharge speed of the first molten body from a discharge port of the storage chamber.

[0057] In certain embodiments of the present invention, the first cache module further comprises a storage chamber heating device, and the storage chamber heating device is configured to heat the first melt in the storage chamber.

[0058] In certain embodiments of the present invention, the 3D printing device further includes: a third temperature detection device, which is communicatively connected to the control module and is configured to detect the temperature of the first molten body at the storage chamber and transmit a third temperature detection signal to the control module; the control module controls the heating power of the storage chamber heating device according to the third temperature detection signal.

[0059] In certain embodiments of the present invention, the 3D printing device further includes: a volume detection device, which is communicatively connected to the control module and is configured to detect the remaining volume of the storage chamber and transmit a volume detection signal to the control module.

[0060] In certain embodiments of the present invention, the first melt extrusion module further includes: a melt extrusion discharge control device, which is configured to control the discharge speed of the first molten body from the discharge port of the processing chamber; wherein the melt extrusion discharge control device is communicatively connected to the control module, and the control module controls the discharge speed of the first molten body from the discharge port of the processing chamber through the melt extrusion discharge control device according to the volume detection signal.

[0061] In certain embodiments of the present invention, the 3D printing apparatus further comprises a reflux circuit, which is configured to guide at least a portion of the first melt extruded from the discharge port of the processing chamber to flow back into the processing chamber.

[0062] In certain embodiments of the present invention, the 3D printing device further includes: a second feeding module, the second feeding module includes a hopper having a feed port and a discharge port, and is configured to receive and discharge the second initial material through the feed port of the hopper; a second melt extrusion module, the second melt extrusion module includes a processing chamber having a feed port and a discharge port, and an extrusion device and a processing chamber heating device arranged at the processing chamber, which are configured to receive the second initial material through the feed port of the processing chamber of the second melt extrusion module, and heat and extrude the second initial material, so that the second initial material The first mixing module comprises a mixing chamber having a feed port and a discharge port, the feed port of the mixing chamber being connected to the discharge ports of the processing chambers of the first melt extrusion module and the second melt extrusion module, the discharge port of the mixing chamber being connected to the first printing module, and the first mixing module being configured to receive the extruded first melt and the second melt, and guide the first mixed melt into the first printing module after mixing them into a first mixed melt.

[0063] In certain embodiments of the present invention, the first melt extrusion module and the second melt extrusion module respectively include a melt extrusion discharge control device, which is configured to control the discharge speed of the first melt and the second melt from the discharge ports of the processing chambers of the first melt extrusion module and the second melt extrusion module.

[0064] In certain embodiments of the present invention, the 3D printing device further includes: a second component detection device, which is communicatively connected to the control module and is configured to detect the component of the first mixed melt extruded from the discharge port of the mixing chamber and transmit a second component detection signal to the control module; the melt extrusion discharge control devices of the first melt extrusion module and the second melt extrusion module are respectively communicatively connected to the control module, and the control module controls the discharge speeds of the first melt and the second melt from the discharge ports of the processing chambers of the first melt extrusion module and the second melt extrusion module respectively through the melt extrusion discharge control devices of the first melt extrusion module and the second melt extrusion module according to the second component detection signal.

[0065] In certain embodiments of the present invention, the first mixing module further comprises a mixing chamber heating device, wherein the mixing chamber heating device is configured to heat the first mixed melt in the mixing chamber.

[0066] In certain embodiments of the present invention, the 3D printing device further includes: a fourth temperature detection device, which is communicatively connected to the control module and is configured to detect the temperature of the first mixed melt at the mixing chamber and transmit a fourth temperature detection signal to the control module; the control module controls the heating power of the mixing chamber heating device according to the fourth temperature detection signal.

[0067] In certain embodiments of the present invention, the first mixing module further comprises a mixing chamber discharge control device for controlling the discharge speed of the first mixed melt from the discharge port of the mixing chamber.

[0068] In certain embodiments of the present invention, the inner diameter of the first nozzle is 0.05 to 2 mm.

[0069] In some embodiments of the present invention, the first printing module further includes a second nozzle.

[0070] In some embodiments of the present invention, the communication paths between the first nozzle and the second nozzle and the discharge port of the processing chamber are equal in distance.

[0071] In certain embodiments of the present invention, the nozzle device comprises a plurality of nozzles, and the nozzles are arranged in an array.

[0072] In certain embodiments of the present invention, the 3D printing device further comprises a printing module driving mechanism, wherein the printing module driving mechanism is configured to drive the first nozzle of the first printing module to move relative to the platform module.

[0073] In some embodiments of the present invention, the printing module driving mechanism is configured to drive the first nozzle of the printing module to move relative to the platform module along the Z axis of the Cartesian coordinate system.

[0074] In certain embodiments of the present invention, the platform module includes: a first deposition platform, which is configured to receive the first melt extruded through the first nozzle; and a platform driving mechanism, which drives the first deposition platform to move relative to the first nozzle of the first printing module.

[0075] In some embodiments of the present invention, the platform driving mechanism is configured to drive the first deposition platform to move relative to the first nozzle along an X-axis and / or a Y-axis of a Cartesian coordinate system.

[0076] In certain embodiments of the present invention, the 3D printing device further includes: a second melt extrusion module, the second melt extrusion module includes a processing chamber having a feed port and a discharge port, and an extrusion device and a processing chamber heating device arranged at the processing chamber, the second melt extrusion module is configured to receive a second initial material through the feed port of the processing chamber, and heat and extrude the second initial material so that the second initial material is converted into a second melt, and the second melt is extruded from the discharge port of the processing chamber; the first printing module further includes a second nozzle, the second nozzle is connected to the discharge port of the processing chamber of the second melt extrusion module, the first printing module is configured to receive the second melt extruded from the discharge port of the processing chamber of the second melt extrusion module, and guide the second melt to be extruded through the second nozzle; the platform driving mechanism drives the deposition platform to move between below the first nozzle and below the second nozzle.

[0077] In certain embodiments of the present invention, the platform module further includes: a second deposition platform configured to receive the first melt extruded through the first nozzle; and the platform driving mechanism drives the first deposition platform and the second deposition platform to pass under the first nozzle in sequence.

[0078] In certain embodiments of the present invention, the 3D printing device further comprises a product collecting module, which is configured to collect the final products formed on the platform module.

[0079] In certain embodiments of the present invention, the 3D printing device further comprises an inspection module, which is configured to detect product parameters of the final product formed on the platform module.

[0080] In certain embodiments of the present invention, the 3D printing device further comprises an automatic screening module, wherein the automatic screening module is configured to sort the final products formed on the platform module.

[0081] In certain embodiments of the present invention, the 3D printing device further comprises an automatic feeding module, which is configured to deliver the first initial material to the first feeding module.

[0082] In certain embodiments of the present invention, all the components that are interconnected are connected via hoses.

[0083] In certain embodiments of the present invention, the inner diameter of the hose is 1 to 100 mm.

[0084] In certain embodiments of the present invention, the first starting material comprises a thermoplastic material.

[0085] In some embodiments of the present invention, the 3D printing device further includes a second printing module, which is located above the first printing module along the Z axis of the Cartesian coordinate system.

[0086] In certain embodiments of the present invention, the 3D printing device further includes a plurality of the above-mentioned devices, wherein each printing module is configured with a control switch. In some embodiments, the system includes a first device loaded with a first material and a second device loaded with a second material, wherein the first material and the second material are different. In some embodiments, the system includes a computer system, which includes one or more processors and a computer-readable memory, wherein the computer system is used to control the system. In certain embodiments of the present invention, the computer-readable memory stores instructions for printing products using the system. In certain embodiments of the present invention, the computer-readable memory stores instructions for controlling the pressure of the material in each printing module in response to the pressure detected by the pressure sensor in the corresponding printing module. In certain embodiments of the present invention, the computer-readable memory stores instructions for controlling the temperature of the material in each printing module in response to the temperature detected by the temperature sensor in the corresponding printing module.

[0087] According to another aspect of the present invention, a 3D printing method is provided, which includes: adding a first initial material to a processing chamber of a first melt extrusion module; heating and extruding the first initial material in the processing chamber to convert it into a first melt, and causing the first melt to be extruded from an outlet of the processing chamber; guiding the first melt from the outlet of the processing chamber to be extruded through a first nozzle of the first printing module and deposited onto a platform module.

[0088] In certain embodiments of the present invention, the 3D printing method further comprises adding a first initial material to the first melt extrusion module through a hopper of a first feeding module.

[0089] In certain embodiments of the present invention, the 3D printing method further includes: detecting a pressure of the first melt at the first printing module; and controlling the pressure of the first melt at the first printing module based on the detected pressure. In certain embodiments of the present invention, the method uses a feedback system to control the pressure of the first melt based on the monitored pressure.

[0090] In certain embodiments of the present invention, the pressure of the first melt within the nozzle is maintained approximately constant.

[0091] In certain embodiments of the present invention, the 3D printing method further includes: detecting a temperature of the first melt at the first printing module; and adjusting the temperature of the first melt at the first printing module based on the detected temperature. In certain embodiments of the present invention, the method uses a feedback system to control the temperature of the first melt based on the monitored temperature.

[0092] In certain embodiments of the present invention, the temperature of the first melt within the nozzle is maintained approximately constant.

[0093] In certain embodiments of the present invention, the step of guiding the first melt from the discharge port of the processing chamber to be extruded through the first nozzle of the first printing module and deposited onto the platform module further includes: allowing the first melt to flow through the extrusion port of the nozzle, wherein the nozzle includes a tapered inner surface; engaging the tapered end of the sealing needle with the tapered inner surface of the nozzle, thereby closing the extrusion port to prevent the flow of the first melt; and retracting the tapered end of the sealing needle to restore the flow of the first melt through the extrusion port.

[0094] In certain embodiments of the present invention, the first melt comprises a pharmaceutically acceptable material. In some embodiments, the first melt comprises a drug. In some embodiments, the method includes receiving an instruction for manufacturing a pharmaceutical dosage form.

[0095] In certain embodiments of the present invention, the material is non-wire. In some embodiments, the material has a viscosity of about 100 Pa·s or greater.

[0096] In certain embodiments of the present invention, any portion of the sealing needle that contacts the material is free of protrusions.

[0097] In certain embodiments of the present invention, the tapered end of the sealing needle comprises a sharp tip. In some embodiments, the tapered end of the sealing needle is frustoconical. In some embodiments, the tapered inner surface of the nozzle has a first cone angle and the tapered end of the sealing needle has a second cone angle; wherein the second cone angle is equal to or less than the first cone angle. In some embodiments, the second cone angle is about 60° or less. In some embodiments, the second cone angle is about 45° or less. In some embodiments, the ratio of the first cone angle to the second cone angle is about 1:1 to 4:1. In some embodiments, the extrusion port has a diameter of about 0.1 mm to 1 mm. In some embodiments, the tapered end has a maximum diameter of about 0.2 to about 3.0 mm. In some embodiments, the extrusion port has a diameter and the tapered end has a maximum diameter, and the ratio of the maximum diameter of the tapered end to the diameter of the extrusion port is about 1:0.8 to about 1:0.1.

[0098] In certain embodiments of the invention, the method uses a feedback system to control the pressure of the first melt based on the monitored pressure.In certain embodiments of the invention, the pressure of the first melt within the nozzle is maintained approximately constant.

[0099] In certain embodiments of the present invention, the method uses a feedback system to control the temperature of the first melt based on the monitored temperature. In certain embodiments of the present invention, the temperature of the first melt within the nozzle is maintained approximately constant. In certain embodiments of the present invention, the 3D printing method further includes: detecting the temperature of the first melt at the processing chamber; and controlling the heating power of the first melt or the first initial material within the processing chamber and / or the extrusion power of the first melt or the first initial material based on the detected temperature.

[0100] In certain embodiments of the present invention, the step of directing the first molten material from the discharge port of the processing chamber to be extruded through the first nozzle of the first printing module and deposited onto the platform module includes: directing the first molten material from the discharge port of the processing chamber into a material storage chamber of a first buffer module; and directing the first molten material from the discharge port of the material storage chamber to be extruded through the first nozzle of the first printing module and deposited onto the platform module. In certain embodiments of the present invention, the 3D printing method further includes: detecting the temperature of the first molten material at the material storage chamber; and controlling the heating power applied to the first molten material within the material storage chamber based on the detected temperature.

[0101] In certain embodiments of the present invention, the 3D printing method: detects the remaining volume of the storage chamber; and controls the discharge speed of the first molten body from the discharge port of the processing chamber according to the remaining volume of the storage chamber.

[0102] In some embodiments of the present invention, the 3D printing method further includes guiding at least a portion of the first melt extruded from the outlet of the processing chamber to flow back into the processing chamber.

[0103] In certain embodiments of the present invention, the 3D printing method further includes: adding a second initial material to the processing chamber of the second melt extrusion module through the hopper of the second feeding module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module to convert it into a second melt and extruding it from the outlet of the processing chamber of the second melt extrusion module; mixing the first melt and the second melt in a mixing chamber to form a first mixed melt; guiding the first mixed melt from the outlet of the mixing chamber to be extruded through the first nozzle of the first printing module and deposited onto the platform module.

[0104] In certain embodiments of the present invention, the 3D printing method further includes: detecting the components of the first mixed melt extruded from the outlet of the mixing chamber; and controlling the discharge speeds of the first melt and the second melt at the outlets of the processing chambers of the first melt extrusion module and the second melt extrusion module respectively according to the detected components of the first mixed melt.

[0105] In certain embodiments of the present invention, the 3D printing method further includes: detecting a temperature of the first mixed melt in the mixing chamber; and controlling a heating power to the first mixed melt in the mixing chamber according to the detected temperature.

[0106] In certain embodiments of the present invention, the 3D printing method further includes: adding a second initial material to the processing chamber of the first melt extrusion module through the hopper of the second feeding module; heating and extruding the first initial material and the second initial material in the processing chamber to convert them into a first molten body.

[0107] In certain embodiments of the present invention, the 3D printing method further includes detecting the composition of the first melt at any position of the 3D printing device, and controlling the discharge speeds of the first initial material and the second initial material from the discharge ports of the first feeding module and the second feeding module respectively according to the detected composition of the first melt.

[0108] In certain embodiments of the present invention, the 3D printing method further includes: adding a second initial material into the processing chamber of the second melt extrusion module through the hopper of the second feeding module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module to convert it into a second melt and extrude it from the outlet of the processing chamber of the second melt extrusion module; guiding the second melt from the outlet of the processing chamber of the second melt extrusion module to be extruded through the second nozzle of the first printing module and deposited onto the platform module; and driving the platform module to move between below the first nozzle and below the second nozzle.

[0109] In certain embodiments of the present invention, the method further includes monitoring the pressure of the first melt in or near the first nozzle; or monitoring the pressure of the second melt in or near the second nozzle. In certain embodiments, the pressure of the first melt in the first nozzle or the pressure of the second melt in the second nozzle remains approximately constant. In certain embodiments, the method includes controlling the pressure of the first melt or the second melt using a feedback system based on the monitored pressure.

[0110] In some embodiments of the above method, the first melt or the second melt has a viscosity of about 100 Pa·s or greater.

[0111] In certain embodiments of the present invention, the first starting material or the second starting material is non-wire.

[0112] In certain embodiments of the present invention, any portion of the first sealing needle that contacts the first melt or any portion of the second sealing needle that contacts the second melt is free of protrusions.

[0113] In some embodiments of the present invention, the temperature of the first melt in the first nozzle or the temperature of the second melt in the second nozzle keeps approximately constant. In certain embodiments, the method includes monitoring the temperature of the first melt or the temperature of the second melt. In certain embodiments, the method includes using a feedback system to control the temperature of the first melt based on the temperature of the first melt monitored, or using a feedback system to control the temperature of the second melt based on the temperature of the second melt monitored.

[0114] In some embodiments of the present invention, the tapered end of the first sealing needle or the tapered end of the second sealing needle comprises a pointed tip. In some embodiments of the above method, the tapered end of the first sealing needle or the tapered end of the second sealing needle is truncated conical.

[0115] In certain embodiments of the present invention, the tapered inner surface of the first nozzle has a first taper angle, and the tapered end of the first sealing needle has a second taper angle; wherein the second taper angle is equal to or less than the first taper angle; or the tapered inner surface of the second nozzle has a third taper angle, and the tapered end of the second sealing needle has a fourth taper angle; wherein the fourth taper angle and the fourth taper angle are equal to or less than the third taper angle. In certain embodiments of the present invention, the fourth taper angle is approximately 60° or less. In certain embodiments of the present invention, the second taper angle or the fourth taper angle is approximately 45° or less. In certain embodiments of the present invention, the ratio of the first taper angle to the second taper angle, or the ratio of the third taper angle to the fourth taper angle, is approximately 1:1 to approximately 4:1. In certain embodiments of the present invention, the first extrusion port or the second extrusion port has a diameter of approximately 0.1 mm to approximately 1 mm. In certain embodiments of the present invention, the tapered end of the first sealing needle or the tapered end of the second sealing needle has a maximum diameter of approximately 0.2 to approximately 3.0 mm. In certain embodiments of the present invention, the 3D printing method further includes driving the first nozzle of the first printing module relative to the platform module.

[0116] In some embodiments of the present invention, the 3D printing method further includes driving the first nozzle of the first printing module to move relative to the platform module along the Z axis of the Cartesian coordinate system.

[0117] In certain embodiments of the present invention, the 3D printing method further includes: driving the first deposition platform of the platform module to move relative to the first nozzle of the first printing module; wherein the first deposition platform is configured to receive the first molten body extruded through the first nozzle.

[0118] In some embodiments of the present invention, the 3D printing method further includes driving the first deposition platform to move relative to the first nozzle along the X-axis and / or the Y-axis of the Cartesian coordinate system.

[0119] In certain embodiments of the present invention, the 3D printing method further comprises collecting the final product formed on the platform module.

[0120] In certain embodiments of the present invention, the 3D printing method further includes detecting product parameters of the final product formed on the platform module.

[0121] In certain embodiments of the present invention, the 3D printing method further includes sorting the final products formed on the platform module.

[0122] In certain embodiments of the present invention, the 3D printing method further includes delivering the first initial material to the feeding module via an automatic feeding module.

[0123] In certain embodiments of the present invention, the first starting material comprises a thermoplastic material.

[0124] Another aspect of the present invention provides a printing module for a 3D printing device, which includes n×m nozzles (n and m are integers ≥ 2) arranged in an array, wherein the position of the (x, y)th nozzle is the xth column and the yth row (1≤x≤n, 1≤y≤m).

[0125] In some embodiments of the present invention, the printing module is configured to extrude m types of melts, wherein the (x, y)th nozzle is configured to extrude the yth type of melt.

[0126] In some embodiments of the present invention, the n×m nozzles are respectively connected to n×m processing chambers.

[0127] In certain embodiments of the present invention, the discharge speeds of the n×m nozzles are respectively controlled by n×m melt extrusion discharge control devices.

[0128] In certain embodiments of the present invention, the nozzles in the yth row of the n×m nozzles are configured to have substantially the same discharge rate. According to another aspect of the present invention, a 3D printing method is provided, comprising: melting and pressurizing a material; flowing the material through an extrusion nozzle, the nozzle comprising a tapered inner surface; monitoring the pressure of the material at or near the nozzle; engaging the tapered end of a sealing needle with the tapered inner surface of the nozzle, thereby sealing the extrusion port to prevent the flow of the molten material; and retracting the tapered end of the sealing needle to restore the flow of the material through the extrusion port. In some embodiments, the method includes receiving instructions for manufacturing the product.

[0129] In certain embodiments of the present invention, the 3D printing method further includes: melting and pressurizing a first material; flowing the first material through a first extrusion port of a first nozzle comprising a tapered inner surface; engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle, thereby sealing the first extrusion port and preventing the flow of the molten first material; melting and pressurizing a second material; and withdrawing the tapered end of a second sealing needle from the tapered inner surface of the second nozzle, thereby initiating the flow of the second material through the second extrusion port. In certain embodiments of the present invention, the method includes receiving instructions for manufacturing a product.

[0130] On the other hand, a method for producing a pharmaceutical dosage form by 3D printing is provided, comprising melting and pressurizing a first pharmaceutical material; flowing the first pharmaceutical material through a first extrusion port of a first nozzle comprising a tapered inner surface; engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle, thereby sealing the first extrusion port to prevent the flow of the molten first material; melting and pressurizing a second pharmaceutical material; and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle, thereby flowing the second pharmaceutical material through the second extrusion port. In certain embodiments of the present invention, the first pharmaceutical material or the second pharmaceutical material is an erodible material. In certain embodiments of the present invention, the first pharmaceutical material or the second pharmaceutical material comprises a drug. In some embodiments, the pharmaceutical dosage form has a specified drug release profile. In certain embodiments of the present invention, the method further comprises receiving control instructions for manufacturing the pharmaceutical dosage form.

[0131] In certain embodiments of the invention, the product or pharmaceutical dosage form is manufactured in batch mode.In some embodiments of the above methods, the product or pharmaceutical dosage form is manufactured in continuous mode.

[0132] The present invention also provides a product or pharmaceutical dosage form prepared according to any one of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0133] The above and other features of the present application will be more fully understood through the following detailed description and the appended claims in conjunction with the accompanying drawings. It should be understood that the drawings of the present application only illustrate certain embodiments according to the present application and are therefore not to be considered as limiting the scope of the present application. Unless otherwise specified, the drawings are not necessarily to scale and similar reference numerals generally indicate similar components.

[0134] Figure 1 A schematic diagram of a 3D printing device according to an embodiment of the present invention is exemplarily shown.

[0135] Figure 2 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0136] Figure 3 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0137] Figure 4 A perspective view of a 3D printing device according to an embodiment of the present invention is exemplarily shown.

[0138] Figure 5 The figure shows an exemplary arrangement diagram of nozzles on a printing module of a 3D printing device according to an embodiment of the present invention.

[0139] Figure 6 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0140] Figure 7A and 7B Models of pharmaceutical products that can be printed by a 3D printing device according to an embodiment of the present invention are exemplarily shown.

[0141] Figure 8 The flowchart of the 3D printing method according to an embodiment of the present invention is exemplarily shown.

[0142] Figure 9A A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0143] Figure 9B A perspective view of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0144] Figure 9C An enlarged view of a print head according to yet another embodiment of the present invention is exemplarily shown.

[0145] Figure 9DAn exploded view of components of a sealing needle and a pneumatic actuator for controlling the sealing needle is exemplarily shown according to yet another embodiment of the present invention.

[0146] FIG. 10 exemplarily shows an enlarged view of a sealing needle and an extrusion port according to yet another embodiment of the present invention.

[0147] Figure 11 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0148] Figure 12 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0149] FIG13 exemplarily shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. DETAILED DESCRIPTION

[0150] In the following detailed description, reference is made to the accompanying drawings, which form a part of the specification. In the drawings, similar symbols generally indicate similar components, unless the context indicates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims are not intended to be limiting. Other embodiments may be employed, and other changes may be made, without departing from the spirit or scope of the subject matter of the present application. It is understood that various configurations, substitutions, combinations, and designs of the various aspects of the present application generally described herein and illustrated in the drawings may be made, all of which are expressly intended to be a part of the present invention.

[0151] The specific embodiments according to the present invention will be described below with reference to the accompanying drawings. Figure 1 A schematic diagram of a 3D printing device according to an embodiment of the present invention is exemplarily shown.

[0152] like Figure 1 As shown, the 3D printing device 100 includes a melt extrusion module 102, a printing module 103, and a platform module 104. During the printing process, the melt extrusion module 102 extrudes and heats the received initial material to melt it into a molten body, and then transfers the molten body to the printing module 103. The printing module 103 extrude the molten body toward a designated position of the platform module 104 according to a pre-set data model or program. The molten body is stacked and accumulated on the platform module 104, ultimately forming the desired printed 3D product.

[0153] like Figure 1As shown, in some embodiments, the 3D printing device may further include a feeding module 101 having a hopper 111 for receiving and delivering an initial material. The hopper 111 has an inlet 112 and an outlet 113. During the printing process of the 3D printing device 100, the feeding module 101 receives the initial material through the inlet 112 of the hopper 111 and discharges the initial material to the melt extrusion module 102 through the outlet 113. The initial material used in the 3D printing device 100 may be powdered or granular. As shown in the figure, the hopper 111 is a funnel-shaped housing with a trumpet opening. In some embodiments, the initial material may also be in the form of filaments, blocks, or other shapes. Accordingly, the hopper may be configured to suit the initial material. A hopper discharge control device 114 is also provided within the hopper 111 to control the discharge rate of the initial material from the outlet 113 of the hopper 111. The hopper discharge control device 114 shown in the figure is a single-screw device, which is located near the discharge port and is connected to a motor and transmission device (not shown) that drives its movement. The speed of the screw device 114 is adjusted by the drive mechanism to control the discharge rate of the initial material at the discharge port 113. In addition, by setting the pitch and thread of the screw portion of the screw device 114 itself, the mixing and transmission method of the material can be controlled. Although the hopper discharge control device 114 shown in the figure is a single-screw device, in some embodiments, the hopper discharge control device can also be a twin-screw device, or a combination of a twin-screw device and a single-screw device. In some embodiments, the hopper discharge control device 114 can also include a commonly used mechanism for controlling the discharge rate of the initial material at the discharge port 113. In some embodiments, the hopper discharge control device also includes a baffle or a baffle plate disposed at the discharge port 113 to control whether the discharge port 113 discharges material. In some embodiments, the hopper discharge control device 114 may also include a flow control valve disposed at the discharge port 113, such as a pneumatic flow control valve, an electromagnetic flow control valve, a hydraulic flow control valve, etc. The discharge rate of the initial material at the discharge port 113 is controlled by adjusting the size of the flow control valve.

[0154] The 3D printing device 100 may also include a second feeding module 201. As shown, the second feeding module 201 has the same or similar structure as the first feeding module 101 and also includes a second hopper 211 having an inlet 212 and an outlet 213. It also includes a hopper discharge control device 214 disposed within the hopper 211 for controlling the discharge rate of the initial material from the outlet 212. During the printing process, the feeding module 201 can receive a second initial material, different from the initial material received by the feeding module 101, through the inlet 212 of the hopper 211 and discharge the second initial material to the melt extrusion module 102 through the outlet 213. It will be appreciated that by controlling the hopper discharge control device 114 of the feeding module 101 and the hopper discharge control device 214 of the second feeding module 201, the ratio of the initial material received by the melt extrusion module 102 to the second initial material can be controlled, thereby ultimately controlling the ratio of the initial material and the second initial material in the printed product.

[0155] like Figure 1 As shown, the melt extrusion module 102 includes a processing chamber 121, an extrusion device 122, and a processing chamber heating device 123. The processing chamber 121 is a hollow shell having an inlet 124 and an outlet 125. The initial material discharged from the above-mentioned outlet 113 enters the processing chamber 121 through the inlet 124. The processing chamber heating device 123 is arranged on the peripheral wall of the processing chamber 121 and is used to heat the material in the processing chamber 121. The extrusion device 122 extrudes and / or shears the material in the processing chamber 121. Under the combined action of the processing chamber heating device 123 and the extrusion device 122, the initial material melts into a molten body and is discharged through the outlet 125.

[0156] Specific as Figure 1 As shown, the extrusion device 122 can be a twin-screw device 122 arranged in the processing chamber 121. The twin-screw device 122 is connected to the drive motor 129 through a speed change device 128. Under the drive of the drive motor 129, the twin screws of the twin-screw device 122 rotate and extrude the material in the processing chamber 121, and drive the material to move toward the discharge port 125. At the same time, the internal heat generated by the rotation and extrusion of the twin screws of the twin-screw device 122 heats the material in the processing chamber 121. Although the extrusion device 122 shown in the figure is a twin-screw device, in some embodiments, the hopper discharge control device can also be a single-screw device. In some embodiments, the extrusion device 122 can also be a commonly used screwless extruder, such as a piston device.

[0157] like Figure 1As shown, the processing chamber heating device 123 can be configured to surround the outer wall of the processing chamber 121 in sections for segmented heating, thereby achieving more precise heating temperature control. In some embodiments, the processing chamber heating device 123 is a common electric heating device, such as a thermocouple wrapped around the outside of the processing chamber 121. It is understood that although the processing chamber heating device 123 is shown as being disposed on the outer wall of the processing chamber 121, in some embodiments, the processing chamber heating device 123 can also be disposed within the processing chamber 121, such as a heating rod disposed inside the processing chamber 121.

[0158] In some embodiments, the melt extrusion module 102 further includes a melt extrusion discharge control device 126 (not shown in the figure), which is configured to control the discharge speed of the melt from the discharge port 125 of the processing chamber 121. Similar to the structure of the hopper discharge control device 114 described above, the melt extrusion discharge control device 126 can be a flow control valve provided at the discharge port 125, for example, a pneumatic flow control valve, a hydraulic flow control valve, an electromagnetic flow control valve, etc., through which the discharge speed of the melt at the discharge port 125 is controlled. In some embodiments, the melt extrusion discharge control device 126 can also include a baffle or a baffle provided at the discharge port 125 to control whether the melt is discharged at the discharge port 125. It should be noted that the extrusion device 122 of the melt extrusion module 102 can also control the discharge speed of the melt at the discharge port 125 by controlling the extrusion power of the initial material and the melt in the extrusion processing chamber 121. Specifically, in the twin-screw device 122 shown in the figure, the discharge speed of the melt at the discharge port 125 can be controlled by controlling the rotational speed of the screw device 122. In some embodiments, the discharge speed of the discharge port 125 of the melt extrusion module 102 can also be adjusted by controlling the feed speed of its feed port 124. Specifically, for example, the discharge speed of the discharge port 125 can be increased by increasing the feed speed of its feed port 124. The feed speed of the feed port 124 of the melt extrusion module 102 can be achieved by adjusting the discharge speed of the discharge port 113 of the feeding module 101 as described above.

[0159] In some embodiments, the 3D printing apparatus 100 further includes a reflux loop 127 (not shown), one end of which is connected to the melt passageway after the outlet 125 of the processing chamber 121, and the other end of which is connected to the processing chamber 121, thereby allowing a portion of the melt to flow back into the processing chamber 121. In some embodiments, the reflux loop 127 is further provided with a flow control valve, which is used to adjust the amount and speed of the melt flowing back into the processing chamber 121 through the reflux loop 127.

[0160] Continue to refer to Figure 1, the printing module 103 may include a barrel 133 having an outlet and an inlet, and the barrel 133 is composed of a hollow shell, and a nozzle 131 is provided at the lower part. The inlet of the barrel 133 of the printing module 103 is connected to the outlet 125 of the processing chamber 121. The initial material is heated and melted into a molten body and then transported into the barrel 133, and finally extruded through the nozzle 131. Although the printing module 103 shown in the figure has only a single nozzle 131, in some embodiments, the printing module 103 may include multiple nozzles, so that batch production can be achieved, solving the defect that the current general fused deposition modeling 3D printing equipment is not suitable for mass production. The multiple nozzles can be arranged in an array or other regular arrangement suitable for mass production. The specific arrangement of the nozzles will be described in detail below in conjunction with the accompanying drawings. The printing module 103 also includes a printing module drive mechanism 132 (not shown in the figure). The drive mechanism 132 can be a hydraulic cylinder, a stepper motor, or other commonly used drive mechanism. The printing module 103 is arranged on the drive mechanism 132, thereby driving the nozzle 131 of the printing module 103 to move relative to the platform module 104. As shown in the figure, the barrel 133 of the printing module 103 can also be provided with a temperature regulating device 134, whose structure and arrangement are the same or similar to the above-mentioned processing chamber heating device 123, and can be an electric heating device arranged in sections around the barrel 133. In some embodiments, the temperature regulating device 134 can also be a heating rod arranged in the barrel 133. It should be noted that the temperature regulating device can also have a cooling function to reduce the temperature of the melt at the printing module 103 when the temperature is too high, such as a semiconductor heating and cooling plate. The above-mentioned temperature regulating device 134 is preferably arranged near the nozzle 131 so that the temperature of the melt extruded by the nozzle 131 can be quickly and accurately controlled. The barrel 133 also includes a pressure regulating device 135 (not shown in the figure) for regulating the pressure of the melt at the printing module 103. In some embodiments, the pressure regulating device can be a screw extrusion device as described above, specifically a single-screw device, a twin-screw device, or a combination thereof. The screw extrusion device is disposed in the barrel 133 and controls the extrusion power of the melt by controlling the speed of the screw, thereby controlling the pressure of the melt at the printing module 103, especially at the nozzle 131. In other embodiments, the pressure regulating device can also be a piston extrusion mechanism, which is disposed in the barrel 133 and drives the piston to move by pneumatic or hydraulic means, thereby controlling the pressure of the melt at the printing module 103, especially at the nozzle 131.

[0161] like Figure 1As shown, the platform module 104 includes a deposition platform 141 and a platform drive mechanism 142 that drives the deposition platform 141. The deposition platform 141 can be a plate-like structure that is configured to receive the molten material extruded through the nozzle 131 and stack it on the deposition platform. Although only one deposition platform 141 is shown in the figure, in some embodiments, the platform module 104 can also include multiple deposition platforms to meet the mass production needs of simultaneous large-scale printing. The structure between the multiple deposition platforms will be described in detail below in conjunction with other figures.

[0162] The deposition platform 141 is provided on a deposition platform drive mechanism 142, and the platform drive mechanism 142 can drive the deposition platform 141 to move relative to the nozzle 131. In some embodiments, the platform drive mechanism 142 can be a stepper motor arranged based on a Cartesian coordinate system, so that it can drive the deposition platform 141 to move along one or more directions of the X-axis, Y-axis and Z-axis. In other embodiments, the 3D printing device 100 further includes a printing module drive mechanism for driving the nozzle 131 of the printing module 103 to move relative to the platform module 104. In some other embodiments, the platform drive mechanism 142 can be a conveyor belt. As the deposition platform 141 and the nozzle 131 move relative to each other, the molten material is deposited on the deposition platform 141 into the final product with various complex structures and configurations as required.

[0163] Continue to refer to Figure 1 The 3D printing device 100 also includes a buffer module 107. The buffer module 107 includes a storage chamber 171 for storing molten material. The storage chamber 171 has an inlet 172 and an outlet 173. The inlet 172 communicates with the outlet of the processing chamber 121, and the outlet 173 communicates with the printing module 103 via a feeding channel 135. The molten material extruded from the outlet of the processing chamber 121 flows through the inlet 172 into the storage chamber 171 for temporary storage and then flows through the outlet 173 into the printing module 103 for printing. As shown in the figure, the buffer module 107 also includes a heating device 174 for heating the molten material in the storage chamber 171. The heating device 174 is disposed on the outer wall of the storage chamber 171. In some embodiments, the heating device 174 is a thermocouple surrounding the storage chamber 171. In some embodiments, the heating device 174 may also be disposed within the storage chamber 171, such as a heating rod disposed within the storage chamber 171. In some embodiments, the outer wall of the storage chamber 171 is further provided with an insulation sleeve for insulating the melt in the storage chamber.

[0164] In some embodiments, the buffer module 107 further includes a storage chamber discharge control device 175 (not shown), which is used to control the discharge rate of the molten material from the discharge port 173 of the storage chamber 171. Similar to the hopper discharge control device 114, the storage chamber discharge control device 175 can be a single-screw device or a twin-screw device, or a combination thereof, located near the discharge port 173, or a flow control valve located at the discharge port 173, such as a pneumatic flow control valve, an electromagnetic flow control valve, a hydraulic flow control valve, etc. In some embodiments, the discharge port 173 of the storage chamber 171 is further provided with a baffle or a baffle to control whether the discharge port 173 discharges material.

[0165] Figure 2 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0166] like Figure 2 As shown, the 3D printing apparatus 200 further includes a first feeding module 301 and a second feeding module 401 arranged in parallel, as well as a first melt extrusion module 302 and a second melt extrusion module 402 arranged in parallel. The structures of these modules are identical to those of the first feeding module 101 and the first melt extrusion module 102 described above. The first feeding module 301 and the second feeding module 401 receive initial material, which is then heated and extruded into a molten mass by the first melt extrusion module 302 and the second melt extrusion module 402, respectively, and then discharged into the mixing module 308.

[0167] Continue to refer to Figure 2 The 3D printing device 200 further includes a mixing module 308. The mixing module 308 includes a mixing chamber 381 having an inlet 382 and an outlet 383, wherein the inlet 382 of the mixing chamber 381 is connected to the first melt extrusion module 302 and the second melt extrusion module 402. A mixing mechanism 386 (not shown) is provided in the mixing chamber 308 for mixing different melts from the first melt extrusion module 302 and the second melt extrusion module 402. In some embodiments, the mixing mechanism 386 is a mechanical stirring device, but in other embodiments, the mixing mechanism 386 can also be a pneumatic stirring mechanism.

[0168] In some embodiments, the mixing module 308 further includes a heating device 384 for heating and maintaining the temperature of the melt in the mixing chamber 381. The heating device 384 can be disposed on the outer wall of the mixing chamber 381. In some embodiments, the heating device 384 is a thermocouple surrounding the mixing chamber 381. In some embodiments, the heating device 384 can also be disposed within the mixing chamber 381, such as a heating rod disposed within the mixing chamber 381.

[0169] In some embodiments, the mixing module 308 further includes a mixing chamber discharge control device 385 (not shown) for controlling the discharge rate of the melt from the discharge port 383 of the mixing chamber 381. Similar to the hopper discharge control device 114, the mixing chamber discharge control device 385 can be a single-screw device or a twin-screw device, or a combination thereof, located near the discharge port 383, or a flow control valve located at the discharge port 383, such as a pneumatic flow control valve, an electromagnetic flow control valve, a hydraulic flow control valve, etc. In some embodiments, the mixing chamber further includes a baffle or flap located at the discharge port 383 for controlling whether the discharge port 383 discharges the melt. The mixing module 308 can fully mix some initial materials that are not fully mixed or not easily mixed in a solid state, thereby forming a uniform mixed melt. The mixed melt discharged from the discharge port 383 enters the printing module 303 and is extruded from the nozzle 331, stacked layer by layer on the platform module 304, forming a final product having mixed components.

[0170] Figure 9A A schematic diagram of a printing module and nozzle according to an embodiment of the present invention is shown as an example. The device includes a barrel 133, which is used to melt and pressurize the material. The molten and pressurized material flows through a feeding channel, which is connected to the nozzle 131. The pressure sensor 106 is located near the end of the nozzle and the feeding channel and can detect the pressure of the material in the feeding channel. Optionally, the pressure sensor 106 can be designed to directly detect the pressure of the material in the nozzle 131. The control switch 108 includes a linear actuator and a sealing needle, which can control the sealing needle to switch between an open position and a closed position. The linear actuator can be a mechanical actuator (which can include a screw), a hydraulic actuator, a pneumatic actuator (which can include a pneumatic valve), or an electromagnetic actuator (which can include a solenoid valve). In some embodiments, the actuator includes a syringe, such as a pneumatic syringe. In some embodiments, the actuator includes a spring-assisted cylinder. In some embodiments, the spring-assisted cylinder includes a spring that assists the action of the sealing needle (i.e., pulls the sealing needle from the open position to the closed position). In some embodiments, the spring-assisted cylinder includes a spring that helps retract the sealing needle (i.e., pulls the sealing needle from the closed position to the open position). When the sealing needle is in the open position, pressurized molten material can flow through the feed channel and through the extrusion port of the nozzle 131. When a signal is sent to the control switch 108, the control switch 108 lowers the sealing needle to the closed position, and the tip of the sealing needle engages the inner surface of the nozzle 131.

[0171] In certain embodiments of the present invention, the material is a non-linear material, such as a powder, granules, gel or paste. The non-linear material is melted and pressurized so that it can be extruded through the extrusion port of the nozzle. It is further described herein that the pressure of particularly viscous materials is carefully controlled to ensure that the material can be deposited precisely and accurately. The material can be heated and melted within the printing module using one or more heaters arranged within the printing module (e.g., inside or around the barrel, feeding channel and / or print head). In some embodiments, the melting temperature of the material is about 50°C or higher, for example, about 60°C or higher, about 70°C or higher, about 80°C or higher, about 100°C or higher, about 120°C or higher, about 150°C or higher, about 200°C or higher, or about 250°C or higher. In some embodiments, the melting temperature of the material is about 400°C or less, for example, about 350°C or less, about 300°C or less, about 260°C or less, about 200°C or less, about 150°C or less, about 100°C or less, or about 80°C or less. The material extruded from the nozzle can be extruded at a temperature equal to or higher than the melting temperature of the material. In some embodiments, the material is extruded at a temperature of about 50°C or more, for example, about 60°C or more, about 70°C or more, about 80°C or more, about 100°C or more, about 120°C or more, about 150°C or more, about 200°C or more, or about 250°C or more. In some embodiments, the material is extruded at a temperature of about 400°C or less, for example, about 350°C or less, about 300°C or less, about 260°C or less, about 200°C or less, about 150°C or less, about 100°C or less, or about 80°C or less.

[0172] The apparatus of the present invention can be used to accurately and precisely extrude viscous materials. In some embodiments, when extruded from the apparatus, the material has a viscosity of about 100 Pa·s or greater, e.g., about 200 Pa·s or greater, about 300 Pa·s or greater, about 400 Pa·s or greater, about 500 Pa·s or greater, about 750 Pa·s or greater, or about 1000 Pa·s or greater. In some embodiments, the material has a viscosity of about 2000 Pa·s or less, e.g., about 1000 Pa·s or less, about 750 Pa·s or less, about 500 Pa·s or less, about 400 Pa·s or less, about 300 Pa·s or less, or about 200 Pa·s or less.

[0173] In some embodiments, the material is a pharmaceutical material. In some embodiments, the material is inert or bioinert. In some embodiments, the material is an erodible material or a bioerodible material. In some embodiments, the material is an insoluble material or a non-biosoluble material. In some embodiments, the material is a pharmaceutical material. In some embodiments, the material comprises one or more thermoplastic materials, one or more non-thermoplastic materials, or a combination of one or more thermoplastic materials and one or more non-thermoplastic materials. In some embodiments, the material is a polymer or a copolymer.

[0174] In some embodiments, the material comprises a thermoplastic material. In some embodiments, the material is a thermoplastic material. In some embodiments, the material is or comprises an erodible thermoplastic material. In some embodiments, the thermoplastic material is edible (i.e., suitable for digestion and absorption by an individual). In some embodiments, the thermoplastic material is selected from the group consisting of a hydrophilic polymer, a hydrophobic polymer, a swellable polymer, a non-swelling polymer, a porous polymer, a non-porous polymer, an erodible polymer (e.g., a soluble polymer), a pH-sensitive polymer, a natural polymer, a waxy material, and combinations thereof.In some embodiments, the thermoplastic material is cellulose ether, cellulose ester, acrylic resin, ethyl cellulose, hydroxypropyl methylcellulose, hydroxypropyl cellulose, hydroxymethyl cellulose, monoglyceride or diglyceride of C12-C30 fatty acid, C12-C30 fatty alcohol, wax, poly(meth)acrylic acid, polyvinyl caprolactam-polyvinyl acetate-polyethylene glycol graft copolymer 57 / 30 / 13, vinyl pyrrolidone-vinyl acetate copolymer (PVP-VA), vinyl pyrrolidone-vinyl acetate copolymer (PVP-VA) 60 / 40, polyvinyl pyrrolidone (PVP), polyvinyl acetate (PVAc) and polyvinyl pyrrolidone (PVP) 80 / 20, vinyl pyrrolidone-vinyl acetate copolymer (VA64), polyethylene glycol-polyvinyl alcohol graft copolymer 25 / 75, kollicoat IR-polyvinyl alcohol 60 / 40, polyvinyl alcohol (PVA or PV-OH), poly(vinyl acetate) (PVAc), butyl methacrylate-(2-dimethylaminoethyl) methacrylate-methyl methacrylate copolymer 1:2:1, dimethylaminoethyl methacrylate-methacrylate copolymer, ethyl acrylate-methyl methacrylate-trimethylammoniumethyl methacrylate chloride copolymer, methyl methacrylate-methyl methacrylate-methacrylic acid copolymer 7:3:1, methacrylic acid-methyl methacrylate copolymer 1:2, methacrylic acid-ethyl acrylate copolymer 1:1, polyethylene oxide (PEO), polyethylene glycol (PEG), hyperbranched polyester amide, hydroxypropyl methylcellulose phthalate, hypromellose phthalate, hydroxypropyl methylcellulose or hypromellose (HMPC), hydroxypropyl methylcellulose acetate succinate or hypromellose succinate (HPMCAS) , lactide-co-glycolide (PLGA), carbomer, ethylene-vinyl acetate copolymer, polyethylene (PE) and polycaprolactone (PCL), hydroxypropyl cellulose (HPC), polyoxyl 40 hydrogenated castor oil, methylcellulose (MC), ethylcellulose (EC), poloxamer, hydroxypropyl methylcellulose phthalate (HPMCP), poloxamer, hydrogenated castor oil, hydrogenated soybean oil, glyceryl palmitostearate, carnauba wax, polylactic acid (PLA), polyglycolic acid (PGA), cellulose acetate butyrate (CAB), polyvinyl acetate phthalate (PVAP), wax, beeswax, hydrogel, gelatin, hydrogenated vegetable oil, polyvinyl acetal aminolactate (AEA), paraffin, shellac, sodium alginate, cellulose acetate phthalate (CAP), gum arabic, xanthan gum, glyceryl monostearate, octadecanoic acid, thermoplastic starch, or one or a combination of derivatives thereof (such as salts, amides or esters thereof).

[0175] In some embodiments, the erodible material comprises a non-thermoplastic material. In some embodiments, the erodible material is a non-thermoplastic material. In some embodiments, the non-thermoplastic material is non-thermoplastic starch, sodium starch glycolate (CMS-Na), sucrose, dextrin, lactose, microcrystalline cellulose (MCC), mannitol, magnesium stearate (MS), powdered silica gel, glycerin, syrup, lecithin, soybean oil, tea oil, ethanol, propylene glycol, glycerin, Tween, animal fat, silicone oil, cocoa butter, fatty acid glycerides, petrolatum, chitosan, cetyl alcohol, stearyl alcohol, polymethacrylate, non-toxic polyvinyl chloride, polyethylene, ethylene-vinyl acetate copolymer, silicone rubber, or a combination thereof.

[0176] Exemplary materials that can be used with the apparatus or methods described herein include, but are not limited to, poly(meth)acrylate copolymers (e.g., containing one or more aminoalkyl methacrylates, methacrylic acid, methacrylate esters and / or ammonium alkyl methacrylates, such as those sold under the trade names copolymers sold by RSPO) and hydroxypropyl cellulose (HPC).

[0177] In some embodiments, the material comprises a drug. In some embodiments, the material is mixed with a drug.

[0178] In the printing module, a pressure regulating device can be used to pressurize the material. The material is pre-loaded into the barrel, and a pressure regulating device 135 (not shown) can apply pressure to the material pre-loaded in the barrel 133. The pressure regulating device can be a motor (e.g., a stepper motor), a valve, or any other suitable control device, which can drive a mechanism such as a piston, a pressure screw, or compressed air (i.e., a pneumatic controller) to apply pressure to the material in the barrel. The barrel includes one or more heaters that can melt the material. In some embodiments, the heater is disposed within the barrel. In some embodiments, the heater is disposed on the side of the barrel or around the barrel. In some embodiments, the heater is an electric radiant heater, such as an electric heating tube or a heating coil. The barrel heater preferably has an efficient heater with high voltage and high power output. In some embodiments, the barrel heater has a rated voltage between 110V and 600V. In some embodiments, the barrel heater has a rated voltage between 210V and 240V. In some embodiments, the barrel heater is a 220V heater. In certain embodiments, the power of the heater of barrel is between about 30W and about 100W, for example, between 40W and 80W, or about 60W. In certain embodiments, the heater is an electric heating coil around the barrel outside. Preferably, barrel is made of heat-resistant material, for example stainless steel (for example 316L stainless steel). In certain embodiments, the device includes one or more temperature sensors, and the one or more temperature sensors are located near or in the feeding channel, and the temperature sensors are used to measure the temperature of the material in the feeding channel. Feeding channel is relatively wide compared with the extrusion port of nozzle. In certain embodiments, feeding channel has between about 1mm and about 15mm, for example, between about 1mm and about 5mm, between about 5mm and about 10mm or between about 10mm and about 15mm. In an exemplary embodiment, feeding channel has a diameter of about 8mm.

[0179] The print head of the device includes a nozzle 131, which includes an extrusion port through which molten material is extruded. The extrusion port is located at the distal end of the nozzle relative to the feed channel. When the sealing needle is in the open position, molten material flows from the feed channel through the nozzle and out of the extrusion port. The nozzle includes a tapered inner surface, with the extrusion port located near the apex of the tapered inner surface. In some embodiments, the inner surface of the nozzle includes a gasket or bushing. The gasket or bushing can be made of polytetrafluoroethylene (PTFE) or any other suitable material. In some embodiments, the print head includes one or more heaters, which can be located within, around, or near the nozzle of the print head. The one or more heaters are used to heat the material in the nozzle to the same temperature as or a different temperature than the material in the barrel or feed channel. In some embodiments, the nozzle heater is an electric radiant heater, such as an electric heating tube or heating coil. The heater can use a lower voltage and / or lower power than the barrel heater or feed channel heater. In some embodiments, the nozzle heater has a rated voltage between 6V and 60V. In some embodiments, the nozzle heater is a 12V heater. In some embodiments, the nozzle heater has a power between about 10 W and about 60 W, such as between 20 W and 45 W or about 30 W.

[0180] In some embodiments, the device includes one or more temperature sensors. In some embodiments, the printhead includes one or more temperature sensors located near or within the nozzle for measuring the temperature of the material within the nozzle. In some embodiments, the device includes a temperature sensor located within or near the feed pipe, or for detecting the temperature within the feed pipe. In some embodiments, the device includes a temperature sensor located within or near the feed channel, or for detecting the temperature within the feed channel. In some embodiments, the device includes a temperature sensor located within or near the printhead, or for detecting the temperature within the nozzle. In some embodiments, the one or more temperature sensors are connected to a computer system that controls one or more heaters based on the temperature reported by the one or more temperature sensors. For example, the computer system can control one or more heaters to regulate the temperature of the material within the barrel, feed channel, and / or nozzle. In some embodiments, the system operates as a closed-loop feedback system to maintain a substantially constant temperature of the device or a device component (i.e., the barrel, nozzle, or feed channel). The temperature of the material within different components of the device can be the same or different. In some embodiments, the feedback system is controlled using proportional-integral-derivative (PID) control, bang-bang control, a predictive controller, a fuzzy control system, an expert control, or any other suitable algorithm.

[0181] The device includes one or more pressure sensors 106 that can detect the pressure of the material within the device. In some embodiments, the pressure sensors are used to detect the pressure of the material within the printhead or within a feed channel adjacent to the printhead. In some embodiments, the pressure sensors are located within the printhead or adjacent to the feed channel and close to the printhead. In some embodiments, the pressure sensors can work in conjunction with a pressure regulator in a closed-loop feedback system to provide a nearly constant pressure to the material within the device. For example, when the pressure sensor detects a drop in pressure, the feedback system can signal the pressure regulator to increase the pressure of the material (e.g., by lowering a piston, increasing air pressure in the barrel, rotating a pressure screw, etc.). Similarly, when the pressure sensor detects an increase in pressure, the feedback system can signal the pressure regulator to decrease the pressure of the material (e.g., by raising a piston, reducing air pressure in the barrel, rotating a pressure screw, etc.). Constant pressure ensures that the molten material in the device passes through the extrusion orifice of the nozzle at a constant rate when the sealing needle is in the open position. However, when the sealing needle is in the closed position, a constant increase in pressure (e.g., by raising a piston, reducing air pressure in the barrel, rotating a pressure screw, etc.) can cause the molten material to leak through the nozzle. In addition, a feedback system including a pressure sensor and a pressure regulating device maintains an approximately constant pressure in the system when the sealing needle switches from an open position to a closed position or from a closed position to an open position. This minimizes the "ramp-up" of the extrusion rate when the sealing needle switches from a closed position to an open position because there is no need to increase the pressure of the material in the system. In some embodiments, the pressure sensor 106 is connected to a computer system that controls the barrel to pressurize the material to a specific pressure in response to the pressure reported by the pressure sensor 106. For example, the computer system can control the pressure regulating device to adjust the pressure value applied to the material in the barrel. In some embodiments, the system acts as a closed-loop feedback system to maintain an approximately constant pressure within the device. In some embodiments, the feedback system operates using proportional-integral-derivative (PID) control, bang-bang control, predictive control, fuzzy control, expert control, or any other suitable algorithm. In some embodiments, the pressure sensor accuracy is within 0.005 MPa, within 0.008 MPa, within 0.05 MPa, within 0.1 MPa, within 0.2 MPa, within 0.5 MPa, or within 1 MPa. In some embodiments, the pressure sensor has a sampling time of about 20 ms or faster, such as about 10 ms or faster, about 5 ms or faster, or about 2 ms or faster. In some embodiments, the pressure of the material fluctuates within about 0.005 MPa, about 0.008 MPa, about 0.05 MPa, about 0.1 MPa, about 0.2 MPa, about 0.5 MPa, or about 1 MPa of the desired pressure.

[0182] The apparatus includes a control switch 108. The control switch 108 can be controlled to prevent or allow molten material from flowing out of the extrusion port of the apparatus. The control switch 108 includes a sealing needle that can be switched between an open position and a closed position. When the sealing needle is in the closed position, the material is prevented from flowing through the nozzle 131. The sealing needle extends through at least a portion of the feed channel and includes a tapered end. When the sealing needle is in the closed position, the tapered end of the sealing needle engages with a tapered inner surface of the nozzle 131 (e.g., at the extrusion port of the nozzle).

[0183] In some embodiments, any portion of the sealing needle that contacts the material has no protrusions. A protrusion is any portion of the sealing needle whose diameter is larger than the sealing needle shaft, or any portion of the sealing needle that extends axially outward. Preferably, the protrusions on the sealing needle are prevented from pushing the molten material through the extrusion port when the sealing needle is closed. In some embodiments, the entire sealing needle (regardless of whether the sealing needle contacts the material) has no protrusions. In some embodiments, the portion of the sealing needle that does not contact the material includes one or more protrusions, which can, for example, engage with a component of an actuator or serve as a depth break to prevent the sealing needle from being driven too far within the feed chamber.

[0184] The portion of the sealing needle that contacts the material (i.e., the portion that is located within the feed channel when the sealing needle is in the open position or the closed position) is relatively thin compared to the feed channel, which allows the molten material to flow around the sealing needle rather than being squeezed out of the extrusion port. In some embodiments, the portion of the sealing needle that contacts the material has a maximum diameter of about 0.2 mm to about 3.0 mm, for example, about 0.2 mm to about 0.5 mm, about 0.5 mm to about 1.0 mm, about 1.0 mm to about 1.5 mm, about 1.5 mm to about 2.0 mm, about 2.0 mm to about 2.5 mm, or about 2.5 mm to about 3.0 mm. In some embodiments, the sealing needle (including the portion of the sealing needle that contacts the material and the portion of the sealing needle that does not contact the material) has a maximum diameter of about 0.2 mm to 3.0 mm, for example, about 0.2 mm to about 0.5 mm, about 0.5 mm to about 1.0 mm, about 1.0 mm to about 1.5 mm, about 1.5 mm to about 2.0 mm, about 2.0 mm to about 2.5 mm, or about 2.5 mm to about 3.0 mm.

[0185] In some embodiments, the sealing needle includes a tip at the tapered end, such as Figure 10A In some embodiments, the tapered end of the tip is frustoconical, as shown. Figure 10B As shown. The nozzle and the sealing needle both include tapered surfaces such that the tapered end of the sealing needle faces the tapered inner surface of the nozzle. The "taper angle" here refers to the angle of the vertex of the engagement surface. In the case of a frustoconical tip, the "taper angle" refers to the vertex of the outward-extended engagement surface. The tapered angle of the tapered end of the sealing needle is Figure 10A and Figure 10BIn the equation, α is used to represent Figure 10C As shown, the cone angle of the nozzle is represented by β. In some embodiments, the cone angle of the tapered end of the sealing needle is about 60° or less, such as about 50° or less, 45° or less, 40° or less, 35° or less, 30° or less, 25° or less, 20° or less, or 15° or less. In some embodiments, the cone angle (α) of the sealing needle is equal to or less than the cone angle (β) of the nozzle inner surface. In some embodiments, the ratio of the cone angle of the nozzle inner surface (β) to the cone angle (α) of the sealing needle is about 1:1 to about 4:1, or about 1:1 to about 3:1, or about 1:1 to about 2:1.

[0186] The sealing needle is positioned in a closed position by lowering the sealing needle toward the extrusion port, at which point the sealing needle is aligned with the extrusion port. When the sealing needle is in the open position, pressurized and molten material can flow through the extrusion port, but it is prevented from flowing when the sealing needle is in the closed position, in which position it engages with the inner surface of the nozzle. When the cone angle (β) of the inner surface of the nozzle is greater than the cone angle (α) of the sealing needle, the tapered end of the sealing needle engages with the inner surface of the nozzle at the extrusion port. In some embodiments, the extrusion port has a diameter of about 0.1 mm or greater, such as about 0.15 mm or greater, about 0.25 mm or greater, about 0.5 mm or greater, or 0.75 mm or greater. In some embodiments, the extrusion port has a diameter of about 1 mm or less, such as about 0.75 mm or less, about 0.5 mm or less, about 0.25 mm or less, or about 0.15 mm or less. The base of the tapered end of the sealing needle is preferably thin to limit the molten material from being squeezed through the extrusion port when the sealing needle is moved toward the closed position. In some embodiments, the ratio of the maximum diameter of the tapered end of the sealing needle (i.e., the bottom of the cone) to the diameter of the extrusion port is from about 1:0.8 to about 1:0.1, such as from about 1:0.8 to about 1:0.7, from about 1:0.7 to about 1:0.6, from about 1:0.6 to about 1:0.5, from about 1:0.5 to about 1:0.4, from about 1:0.4 to about 1:0.3, from about 1:0.3 to about 1:0.2, or from about 1:0.2 to about 1:0.1.

[0187] The sealing needle is preferably made of a strong yet flexible material. Exemplary materials include, but are not limited to, stainless steel, polytetrafluoroethylene (PTFE), and carbon fiber. In some embodiments, the inner surface of the nozzle includes a flexible liner or bushing that limits damage to the needle or nozzle when the sealing needle is repeatedly switched between open and closed positions. In some embodiments, the liner or bushing is made of polytetrafluoroethylene (PTFE).

[0188] The sealing needle of the control switch is controlled by an actuator that can position the sealing needle in an open position (i.e., by raising the sealing needle so that the tapered end of the sealing needle no longer engages the inner surface of the nozzle) or a closed position (i.e., by lowering the sealing needle so that the tapered end of the sealing needle engages the inner surface of the nozzle). In some embodiments, the actuator is a pneumatic actuator that can be controlled using air pressure within the actuator. In some embodiments, the actuator is a mechanical actuator that can raise or lower the sealing needle using one or more gears and a motor. In some embodiments, the actuator includes a solenoid valve or an electrostrictive polymer.

[0189] Figure 9B A cross-sectional view of an exemplary apparatus for depositing material through additive manufacturing according to the present invention is shown. Material can be loaded into a barrel 902, and a piston 904 applies pressure to the material by pushing into the barrel 902. Piston 904 is connected to a pressure regulating device via a guide arm 906. A motor, such as a stepper motor, lowers piston 904 to increase the pressure of the material in barrel 902, or raises it to decrease the pressure. A heater within or surrounding the barrel can be used to heat the material in barrel 902 to or above its melting temperature. The molten material from barrel 902 flows through a feed channel 908, which is connected to a printhead 910 including a nozzle 912. A pressure sensor 914 is located at the end of feed channel 908, near the printhead 910, and is used to detect the pressure of the material near the printhead. In some embodiments, pressure sensor 914 is positioned to detect the pressure of the material within the printhead 910. The pressure sensor 914 can transmit the detected pressure to the computer system, which can operate the pressure regulating device (or the motor of the pressure regulating device) to reposition the piston 904 and control the pressure of the material in the barrel 902. This can operate in a feedback system, where changes in pressure are detected by the pressure sensor 914 and the computer system further operates the pressure regulating device.

[0190] The device includes a control switch 916, which includes a sealing needle 918 and a linear actuator 920. The sealing needle 918 includes an upper end 922 that engages the actuator 920 and a tapered lower end 924. The sealing needle 918 extends into the print head 910 through the feed channel 908. The actuator 920 controls the sealing needle 918 between an open position (raised) and a closed position (lowered). When the sealing needle 918 is placed in the closed position, the tapered end 924 of the sealing needle 918 engages the tapered inner surface of the nozzle 912 to prevent molten material from flowing through the nozzle. In order to open the nozzle 912 and allow molten material to flow through the extrusion port, the actuator 920 controls the sealing needle 918 to position the sealing needle 918 in the open position by lifting the sealing needle 918, thereby separating the tapered lower end 924 from the inner surface of the nozzle 912.

[0191] Figure 9C An enlarged view of the print head 910 is shown with the sealing needle 918 in the closed position and engaged with the nozzle 912. In the closed position, the tapered end 924 of the sealing needle 918 is inserted into the extrusion port 926 by engaging with the tapered inner surface 912 of the nozzle. Thus, the molten material in the feed channel 908 is prevented from flowing through the extrusion port 926. The pressure of the material in or near the print head 910 is detected by the pressure sensor 914, and a pressure regulating device can be operated to prevent excessive pressure from building up in the device when the sealing needle 918 is in the closed position.

[0192] A sealing needle 918 extends through the feed channel 908 and into the print head 910. When the sealing needle 918 switches from the open position to the closed position, careful design prevents the molten material in the feed channel 908 from being pushed out of the extrusion port 926. The tapered end 924 of the sealing needle 918 allows the sealing needle 918 to pierce the molten material, thereby allowing the molten material to flow upward and around the closed sealing needle 918 rather than being pushed downward.

[0193] The pneumatic actuator 920 includes a solenoid valve that controls the flow of gas into an air chamber 926, which can drive a central rod 928 attached to the upper end 922 of the sealing needle 918 upward or downward. High-pressure gas flowing into the air chamber 926 from below the diaphragm 930 or removing gas from above the diaphragm 930 causes the diaphragm 930 to move upward, thereby positioning the sealing needle 918 in the open position. Removing gas from below the diaphragm 930 or applying high-pressure gas above the diaphragm 930 causes the diaphragm 930 to move downward, which positions the sealing needle 918 in the closed position.

[0194] Figure 9D An exploded view of the parts of the pneumatic actuator connected to the sealing needle to control the sealing needle is shown. The partition 942 is located in the air chamber of the pneumatic actuator and is connected to the center rod 974, for example by a threaded fit. The center rod 974 is connected to the adapter 976, for example by a threaded fit. The adapter 976 is attached to the sealing needle 978, for example by a threaded fit or by a press fit. For example, the lower part of the adapter 976 may include an opening, and the upper part of the sealing needle 978 can be tightly fitted into the opening by plugging the sealing needle 978 into the opening of the adapter 976. The sealing needle 978 passes through a washer 980, which is positioned by a fixing nut 982. The fixing nut 982 is fixed to the adapter block with the washer to connect to the rest of the device. As shown Figure 9BAs shown, the adapter block 932 is positioned above the feed channel 908 and aligned with the nozzle 912 of the print head 910. The adapter block channel 934 passes through the adapter block 932 and enters the feed channel. The gasket 936 is embedded in an opening at the top of the adapter block 932, which is wider than the channel 934, thereby preventing the gasket 936 from moving toward the print head 910. The gasket 936 can be made of an inert flexible material, such as plastic or synthetic rubber, and seals the feed channel 908 to prevent the molten material from leaking. In some embodiments, the gasket is made of polytetrafluoroethylene (PTFE). The fixing nut 938 is fixed, for example by threading, to the adapter block 932 and fixes the position of the gasket 936. Therefore, the gasket 936 is in a fixed position relative to the print head 910 and the nozzle 912. The sealing needle 918 passes through the hole in the fixing nut 938 and the gasket 936 to reach the feed channel 908. The size of the hole is set to allow the needle to pass through and be moved by the actuator 916, but not too large to cause the molten material to leak.

[0195] The printing module includes one or more heaters for melting the material. The heaters can be placed around or inside the material barrel, the material supply channel and / or the print head. Figure 13A shows a longitudinal cross-sectional view of a portion of the device, Figure 13B A cross-sectional view at plane "AA" is shown, Figure 13C A non-sectional view of the device is shown. In some embodiments, the device includes a heater 1302 surrounding a barrel 1304 of the device, which can heat and melt the material contained in the barrel 1304. The heater 1302 can be, for example, a coil heater surrounding the outside of the barrel 1304. In some embodiments, the heater is disposed within the barrel. The material placed within the barrel is initially melted within the barrel by the heater, and pressure is applied to the material by the piston 1306. The molten material then flows from the barrel 1304 to the feed channel 1308. In some embodiments, in order to ensure that the material is maintained at a specific temperature in the feed channel 1308, one or more heaters can be placed near or within the feed channel 1308. Figure 13B and Figure 13CTwo heaters 1310a and 1310b are shown, each located on either side of and adjacent to the feed channel 1308. In some embodiments, the heaters 1310a and / or 1310b cover the length of the feed channel 1308 or cover the sides of the feed channel 1308. In some embodiments, the one or more heaters adjacent to or within the feed channel 1308 are heating rods. In some embodiments, the one or more heaters adjacent to or within the feed channel 1308 are coils surrounding the feed channel 1308. Heating the one or more heaters within the feed channel 1308 ensures that the material remains molten and has the appropriate viscosity at a given pressure to achieve the desired flow. In some embodiments, the print head 1312 of the device includes one or more heaters 1314 that ensure that the material remains molten and has the appropriate viscosity within the nozzle 1316.

[0196] In some embodiments, the device includes one or more temperature sensors, which may be located at one or more locations within the device and may detect the temperature of material within the device, such as within a barrel, within a feed channel, or within a print head. Figures 13A-13CIn the embodiment shown, a first temperature sensor 1318 is provided adjacent to the feed channel 1308 and a second temperature sensor 1320 is provided adjacent to the print head 1312. The temperature sensor 1318 adjacent to the feed channel 1308 is shown on one side of the feed channel 1308, but the temperature sensor 1318 may alternatively be located anywhere along the length of the feed channel 1308. The temperature sensor 1318 and one or more heaters (e.g., 1310a and 1310b) may function as a closed-loop feedback system for melting the material within the feed channel 1308, thereby ensuring that the material within the feed channel maintains a substantially constant temperature. For example, the temperature sensor 1318 may transmit the measured temperature to a computer system, and the computer system may operate the one or more heaters 1310a and 1310b to maintain the substantially constant temperature. The temperature sensor 1320 in the print head 1312 of the device may work together with the one or more heaters 1314 in the print head in a closed-loop feedback system to ensure that the material within the print head maintains a substantially constant temperature. The feedback system can use a proportional-integral-derivative (PID) controller, a bang-bang controller, a predictive controller, a fuzzy control system, an expert system controller, or any other suitable control algorithm. In some embodiments, one or more heaters in the device heat the material within the system to a temperature equal to or greater than the melting temperature of the material. In some embodiments, the one or more heaters heat the material to a temperature of about 60°C or greater, such as about 70°C or greater, 80°C or greater, 100°C or greater, 120°C or greater, 150°C or greater, 200°C or greater, or 250°C or greater. In some embodiments, the one or more heaters heat the material to a temperature of about 300°C or less, such as about 260°C or less, 200°C or less, 150°C or less, 100°C or less, or 80°C or less. In some embodiments, the one or more heaters heat the material to different temperatures at different locations in the device. For example, in some embodiments, the material is heated to a first temperature within the barrel, a second temperature within the feed channel, and a third temperature within the print head, each of which can be the same temperature or a different temperature. For example, a material may be heated to 140°C in the barrel and feed channel, but may be heated to 160°C in the printhead. The feedback control system enables highly precise temperature control. In some embodiments, the temperature is controlled to within 0.1°C of the target temperature, within 0.2°C of the target temperature, within 0.5°C of the target temperature, or within 1°C of the target temperature.

[0197] Figure 11Another example of an apparatus according to the present invention is shown. Material is loaded into a barrel 1102 of a printing module, and a pressure screw (or piston) 1104 can apply pressure to the material in the barrel 1102. To increase the pressure on the material, a pressure controller 1106 (e.g., a stepper motor) rotates a first gear 1108, which in turn rotates a second gear 1110 connected to the pressure screw 1104. The material in the barrel 1102 can be heated by a heater 1114 surrounding the barrel. Molten material from the barrel 1102 flows through a feed channel 1116 to a print head 1118 including a nozzle 1120. The apparatus may include a pressure sensor 1130 for detecting the pressure of the material in the barrel 1102, channel 1116, and / or print head 1118. The pressure sensor 1130 can transmit the detected pressure to a computer system, which can operate the pressure controller 1108 to reposition the pressure screw 1104 and control the pressure of the material in the barrel 1102. This control may operate in a feedback system where changes in pressure are detected by the pressure sensor 1130 and the computer system further operates the pressure controller. Figure 11 The device shown includes a control switch including a sealing needle 1122 and an actuator 1124 along the same axis as the barrel 1102. The sealing needle 1122 includes an upper end and a lower tapered end (not shown) connected to the actuator 1124. The actuator 1124 controls the sealing needle 1122 between an open position (raised) and a closed position (lowered). When the sealing needle 1122 is placed in the closed position, the tapered end of the sealing needle 1122 engages the tapered inner surface of the nozzle 1122 to prevent the molten material from flowing through the nozzle. The print head 1118 may also include one or more heaters 1126 and a temperature sensor 1128, which may operate in a feedback system.

[0198] In certain embodiments, the additive manufacturing system includes a plurality (e.g., two or more, three or more, four or more, five or more, or six or more) of devices as described herein, comprising a printing module equipped with a control switch (including a sealing needle and a nozzle with a tapered end that can be switched between an open position and a closed position). The materials in each independent device can be the same or different. For example, in some embodiments, the system includes two devices and two different materials (i.e., a first material and a second material). In some embodiments, the system includes three devices and three different materials (i.e., a first material, a second material, and a third material). In some embodiments, the system includes four devices and four different materials (i.e., a first material, a second material, a third material, and a fourth material). In some embodiments, the system includes five devices and five different materials (i.e., a first material, a second material, a third material, a fourth material, and a fifth material). In some embodiments, the system includes six devices and six different materials (i.e., a first material, a second material, a third material, a fourth material, a fifth material, and a sixth material). In some embodiments, the additive manufacturing system includes a first device loaded with a first material and a second device loaded with a second material, wherein the first material and the second material are different. Different printing modules in a 3D printing system can extrude different materials to form multi-component printed products, such as multi-component pharmaceutical dosage forms (e.g., tablets). When one of the printing modules is active (i.e., its sealing needle is in the open position), the other printing modules in the device are inactive (i.e., their sealing needles are in the closed position). By coordinating the position of the sealing needle in the open or closed position, the device can quickly switch between active printing modules. Figure 12 A portion of an exemplary system is shown that includes three printing modules, each with a different print head 1202, 1204, and 1206. A print station 1208 is movable in the x, y, and z axes, and the product is positioned under the correct print head, which can extrude the material to produce a product 1210 (e.g., a tablet).

[0199] Figure 3 A schematic diagram exemplarily shows a 3D printing device according to an embodiment of the present invention.

[0200] like Figure 3As shown, the 3D printing device 300 also has a control module 505, which can be composed of one or more PLC controllers, single-chip microcomputers, or electronic computers and has a computerized user interface. The control module 505 is in communication with the feeding module 501, the melt extrusion module 502, the printing module 503, the platform module 504, the buffer module 507, and the mixing module 508 of the 3D printing device 300, and controls the specific operation of each module based on state parameters. These state parameters may include, but are not limited to, a digital model of the product, the melting point of the initial material, the pressure at the nozzle, the desired product and the actual quantity of the product obtained, as well as the composition, weight, moisture content, and bacterial count of the desired product. These parameters can be stored in the digital storage device of the electronic computer of the control module 505, or can be input and selected by the user through the computerized user interface.

[0201] In some embodiments, the 3D printing device 300 also includes a plurality of detection devices provided in each of the above modules, for real-time monitoring of specific state parameters at each of the above modules. The specific state parameters may include the temperature, composition, pressure, weight, moisture content, and shape of the melt. In some embodiments, the specific state parameters may also include the weight, shape, moisture content, and heating temperature of the initial material. In some embodiments, the specific state parameters may also include the composition, pressure, weight, moisture content, and shape of the printed product. The detection devices included in the 3D printing device 300 may also include temperature sensors, composition sensors, pressure sensors, weight sensors, moisture sensors, and shape sensors.

[0202] In some embodiments, the component sensor can be a near-infrared spectrometer, which has a probe that can be inserted into the object to be measured. Through this probe, the near-infrared spectrometer can obtain the specific content of various components in the material. The aforementioned near-infrared spectrometer is primarily used to measure the composition of fluids, such as melts. However, in some embodiments, the near-infrared spectrometer can also have a probe for measuring the composition of powdered materials. This probe can be inserted into the initial material to determine the powder content and moisture content, etc. Therefore, in some embodiments, the moisture sensor can also be a near-infrared spectrometer.

[0203] In some embodiments, as Figure 1The detection device of the 3D printing device 100 shown may also include a camera or other imaging device. The camera or imaging device can be configured to detect the feeding module 101, thereby detecting in real time the shape, size, and other parameters of the initial material added to the melt extrusion module 102, as well as the discharge speed of the initial material at its discharge port 113. The camera or imaging device can be located below the feeding module 101 or at the discharge port 113. In some embodiments, the camera or imaging device can also be configured to detect the printing module 103 or the platform module 104, specifically for real-time image detection of state parameters of the discharge condition of the nozzle 131, such as the discharge speed and the degree of discharge continuity, as well as state parameters such as the shape, size, and curing speed of the product deposited on the deposition platform 141 of the platform module 104. The above-mentioned camera or imaging device can be located on the printing module 103 or the platform module 104, or between them. Specifically, in some embodiments, the camera or imaging device can be positioned to align with the nozzle 131. A plane mirror is further provided at the nozzle 131, with the plane of the mirror forming a certain angle with the plane of the deposition platform 141, thereby reflecting light reflected from the deposition platform 141 toward the camera or imaging device. This arrangement of a camera or imaging device can simultaneously meet the requirements for detecting the aforementioned specific state parameters at both the nozzle 131 and the deposition platform 141.

[0204] In some embodiments, a first temperature sensor (not shown) is provided at the processing chamber of the melt extrusion module, which is in communication with the control module 505 and is used to measure the temperature of the melt at the processing chamber of the melt extrusion module 502 and transmit a first temperature detection signal to the control module 505. The control module 505 determines the temperature of the melt at the processing chamber of the melt extrusion module 502 based on the first temperature detection signal and determines whether the temperature is within a first ideal temperature range. The temperature of the melt at the processing chamber of the melt extrusion module 502 should be slightly higher than the melting point of the initial material to ensure that the initial material in the processing chamber is fully melted. In actual operation, the above-mentioned first ideal temperature range has a specific correspondence with the structural structure of the product to be printed and the type of the original material. Whether the temperature of the melt in the melt extrusion module 502 is within the ideal range directly determines the viscosity and adhesive properties of the melt during the printing process, thereby affecting the continuity and accuracy of 3D printing. The control module 505 can determine the first ideal temperature range based on the printed product or the status parameters input by the user through the user interface.

[0205] In some embodiments, when the first temperature detection signal indicates that the temperature of the melt in the processing chamber of the melt extrusion module 502 is lower than the first ideal temperature range, the control module 505 can increase the heating power of the melt in the one or more processing chamber heating devices provided in the melt extrusion module 502. It should be noted that since the melt extrusion module 502 generates internal heat during the extrusion and shearing process of the initial material, in some embodiments, the control module 505 can also adjust the temperature of the melt in the processing chamber of the melt extrusion module 502 by controlling the extrusion power of the melt extrusion module 502 according to the first temperature detection signal. Conversely, when the first temperature detection signal indicates that the temperature of the melt in the processing chamber is higher than the first ideal temperature range, the control module 505 performs the opposite operation and stops heating the one or more processing chamber heating devices provided in the melt extrusion module 502, or reduces their heating power.

[0206] In some embodiments, a second temperature sensor (not shown in the figure) is further provided at the printing module 503 for measuring the temperature of the melt at the printing module and transmitting a second temperature detection signal to the control module 505. The control module 505 controls the temperature of the melt at the printing module 503 to be within a second ideal temperature range based on the second temperature detection signal. The melt temperature at the printing module 503 has an important influence on the molding accuracy and continuity of the final printed product and is generally set to be higher than the melting point of the melt. Similar to the first ideal temperature range, the second ideal temperature range is related to the structure and construction of the product to be printed, the type of raw material, etc. The control module 505 can determine it based on the printed product or the status parameters input by the user through the user interface.

[0207] In some embodiments, when the second temperature detection signal indicates that the temperature of the melt of the printing module 503 is lower than the second ideal range, the control module 505 can increase the heating power of the temperature regulating device (not shown) provided at the printing module 503 to the melt. The setting and structure of the temperature regulating device can refer to the temperature regulating device 134 of the printing module of the above-mentioned 3D printing device. When the second temperature detection signal indicates that the temperature of the melt at the printing module 503 is higher than the second ideal temperature range, the control module 505 performs the opposite operation, stops the heating of the melt by the temperature regulating device provided at the printing module 503, or reduces its heating power. In some embodiments, the temperature of the melt at the printing module 503 can be lowered by the temperature regulating device so that it is maintained at a state slightly higher than the melting point of the first initial material to achieve a better product printing effect.

[0208] In some embodiments, a third temperature sensor (not shown in the figure) is further provided at the storage chamber of the cache module 507 for measuring the temperature of the melt at its storage chamber and transmitting a third temperature detection signal to the control module 505. The control module 505 controls the temperature of the melt at the storage chamber of the cache module 507 within a third ideal temperature range based on the third temperature detection signal. The temperature of the melt in the storage chamber of the cache module 507 should be slightly higher than the melting point of the melt, so as to maintain the molten state of the initial material in the chamber. Similar to the first ideal temperature range, the third ideal temperature range is related to the structure and construction of the product to be printed, the type of original material, etc. The control module 505 can determine it based on the printed product or the state parameters input by the user through the user interface.

[0209] In some embodiments, when the third temperature detection signal indicates that the temperature of the melt in the storage chamber is lower than the third ideal range, the control module 505 can increase the heating power of the storage chamber heating device (not shown in the figure) provided at the storage chamber of the buffer module 507 to the melt. Figure 1 and Figure 2 The corresponding components of the 3D printing apparatus shown have the same structure. When the third temperature detection signal indicates that the temperature of the melt in the storage chamber is higher than the third ideal temperature range, the control module 505 performs the opposite operation, stopping the heating device provided in the storage chamber of the buffer module 507 from heating the melt or reducing its heating power.

[0210] In some embodiments, a fourth temperature sensor (not shown in the figure) is further provided at the mixing chamber of the mixing module 508 for measuring the temperature of the melt at its mixing chamber and transmitting a fourth temperature detection signal to the control module 505. The control module 505 controls the temperature of the melt at the mixing chamber of the mixing module 508 within a fourth ideal temperature range based on the fourth temperature detection signal. The temperature of the melt in the mixing chamber of the mixing module 508 should be slightly higher than the melting point of the melt, so as to maintain the molten state of the melt in the chamber. Similar to the first ideal temperature range, the fourth ideal temperature range is related to the structure and construction of the product to be printed, the type of raw material, etc. The control module 505 can be determined based on the printed product or the state parameters input by the user through the user interface.

[0211] In some embodiments, when the fourth temperature detection signal indicates that the temperature of the melt in the mixing chamber is lower than the fourth ideal range, the control module 505 can increase the heating power of the mixing chamber heating device (not shown in the figure) provided at the mixing chamber of the mixing module 508 to the melt. Figure 1 and Figure 2The corresponding components of the 3D printing apparatus shown have the same structure. When the fourth temperature detection signal indicates that the temperature of the melt in the mixing chamber is higher than the fourth ideal temperature range, the control module 505 performs the opposite operation, stopping the heating device provided in the mixing chamber of the mixing module 508 from heating the melt, or reducing its heating power.

[0212] Continue to refer to Figure 3 In some embodiments, the printing module 503 is provided with a first pressure sensor (not shown) in communication with the control module 505, which is used to measure the pressure of the melt in the printing module 503 and transmit a first pressure detection signal to the control module 505. Based on the first pressure detection signal, the control module 505 controls the pressure of the melt in the printing module 503 within a first ideal pressure range. The pressure of the melt extruded from the printing module of a 3D printing device, as well as the stability of the pressure value, directly affect the continuity and accuracy of 3D printing. Similar to the ideal temperature range described above, the first ideal pressure range is related to the structure and construction of the product to be printed, the type of raw material, etc. The control module 505 can determine it based on the product to be printed or status parameters input by the user through the user interface. In some embodiments, the printing module 503 has a barrel and a nozzle disposed below the barrel, wherein the first pressure sensor is disposed inside the barrel of the printing module 503 to measure the pressure of the melt in the barrel. In other embodiments, the first pressure sensor is disposed at the nozzle of the printing module 503 to accurately measure the pressure of the melt extruded by the nozzle of the printing module. In some embodiments, the first pressure sensor is a piezoelectric pressure sensor, a diffused silicon pressure sensor, or a strain gauge pressure sensor. In some embodiments, the first pressure sensor is a float-type liquid level gauge disposed in the barrel, which determines the current pressure of the melt in the barrel by determining the liquid level of the melt in the barrel.

[0213] In some embodiments, when the pressure of the melt at the nozzle of the printing module 503 or somewhere in the barrel represented by the first pressure detection signal is lower than the first ideal pressure range, the control module 505 may increase the pressure of the melt at the nozzle of the printing module 503 or in the barrel through the pressure regulating device provided in the 3D printing device 100. When the first pressure detection signal indicates that the first pressure detection signal at the nozzle is higher than the first ideal pressure range, the control module 505 performs the opposite operation and may reduce the pressure of the melt at the nozzle of the printing module 503 or in the barrel through the pressure regulating device 135 provided in 100.

[0214] Continue to refer to Figure 3The 3D printing device 300 further includes a feeding module 701 for receiving an initial material and transmitting it to the melt extrusion module 502. The initial materials received by the feeding module 501 and the feeding module 702 can be different. For example, the feeding module 501 receives the first initial material, while the feeding module 701 receives the second initial material. The melt extrusion module 502 is used to extrude and heat the mixed first and second initial materials. A first component detector (not shown) in communication with the control module 505 is provided at any location in the 3D printing device 300, such as the storage chamber of the buffer module 507, the mixing chamber of the mixing module 508, the printing module 503, or the communication channel between these modules. The first component detector is used to detect the component ratio of the first and second initial materials in the melt at any location in the 3D printing device 300 and transmit a first component detection signal to the control module 505. The first component detection signal can be a near-infrared spectrometer as described above. The control module 505 determines the composition of the melt at any position of the 3D printing device 300 based on the first component detection signal, and determines whether the composition is within the first ideal composition range. The composition of the melt of the 3D printing device will affect the physical and chemical properties of the final product, such as the structural strength and disintegration rate. Taking 3D drug printing as an example, the composition of the melt may affect the release rate of the active pharmaceutical ingredient of the final product. Similar to the above-mentioned ideal temperature range, the first ideal composition range is related to the physical and chemical properties, strength requirements, structure, construction and type of raw materials of the product to be printed. The control module 505 can determine it based on the printed product or the status parameters input by the user through the user interface.

[0215] In some embodiments, when the component ratio indicated by the first component detection signal shows that the proportion of the first initial material is too high, the control module 505 can reduce the discharge speed of the first initial material or increase the discharge speed of the second initial material by controlling the hopper discharge control device provided in the feeding module 501 and the feeding module 701. The specific structure of the hopper discharge control device is the same as that described above. Figure 1 and Figure 2 The corresponding components of the 3D printing device shown have the same structure. When the first component detection signal indicates that the proportion of the first initial material is low, the control module 505 performs the opposite operation. It can increase the discharge speed of the first initial material or decrease the discharge speed of the second initial material by controlling the hopper discharge control device provided in the feeding module 501 and the feeding module 701.

[0216] In some embodiments, the 3D printing device 300 further includes a feeding module 601 and a melt extrusion module 602. The feeding module 601 is used to receive the initial material and transmit it to the melt extrusion module 602. The initial material received by the feeding module 601 may be different from that of the feeding module 501 and the feeding module 701. In this case, the melts ultimately extruded by the melt extrusion module 502 and the melt extrusion module 602 may be different, for example, a first melt and a second melt, respectively. As shown in the figure, the first melt and the second melt are introduced into the mixing module 508 for mixing. The 3D printing device 300 is provided with a second component detector (not shown in the figure) in communication with the control module 505 at any location after the discharge port of the mixing chamber of the mixing module 508. The component detector is used to detect the component ratio of the first melt and the second melt and the components contained therein in the mixed melt extruded from the discharge port of the mixing chamber, and transmit a second component detection signal to the control module 505. Based on the second component detection signal, the control module 505 determines the composition of the melt exiting the processing chamber of the melt extrusion module 502 and determines whether the composition is within a second ideal composition range. Similar to the first ideal composition range, the second ideal composition range is related to the physical and chemical properties, strength requirements, structure, construction, and type of raw material of the product to be printed. The control module 505 can determine this based on the product being printed or on state parameters input by the user through the user interface.

[0217] In some embodiments, when the component ratio indicated by the second component detection signal shows that the first melt or a certain component contained therein accounts for a relatively high proportion, the control module 505 can control the melt extrusion discharge control device provided in the melt extrusion module 502 and the melt extrusion module 602 to reduce the discharge speed of the first melt or increase the discharge speed of the second melt. The specific structure of the above-mentioned melt extrusion discharge control device is the same as that described above. Figure 1 and Figure 2 The corresponding components of the 3D printing apparatus shown have the same structure. When the first melt or a component contained therein has a low ratio, the control module 505 performs the opposite operation, controlling the melt extrusion discharge control devices of the melt extrusion modules 502 and 602 to increase the discharge speed of the first melt or decrease the discharge speed of the second initial material.

[0218] like Figure 3As shown, the 3D printing device 300 includes a buffer module 507, which includes a storage chamber for storing the melt extruded from the outlet of the melt extrusion module 502. A first volume sensor (not shown) is provided at the storage chamber of the buffer module 507. The sensor is configured to detect the remaining volume within the storage chamber and transmit a first volume detection signal to the control module 505. Based on the first volume detection signal, the control module 505 determines whether the storage chamber contains too much or too little material, thereby preventing situations such as excessive melt in the storage chamber, which could affect the melt pressure within the 3D printing device 300. In some embodiments, the first volume sensor can be a flow meter, respectively provided at the inlet and outlet of the storage chamber of the buffer module 507. The flow meter can be a differential pressure, rotor, or positive displacement flow meter, which measures the inflow and outflow rates to determine the remaining volume within the storage chamber.

[0219] When the remaining volume of the storage chamber indicated by the first volume detection signal is too small, the control module 505 can reduce the discharge speed of the corresponding discharge port by controlling one or more discharge control devices provided in the 3D printing device 300, thereby avoiding the situation where there is an excessive amount of melt in the storage chamber. The one or more discharge control devices provided in the 3D printing device 300 include but are not limited to the hopper discharge control device of the feeding module 501 and the melt extrusion discharge control device of the melt extrusion module 502. The specific structure of the above-mentioned discharge control device is the same as that described above. Figure 1 and Figure 2 The corresponding components of the 3D printing device shown have the same structure. When the remaining volume of the storage chamber indicated by the first volume detection signal is too large, the control module 505 can increase the discharge speed of the corresponding discharge port by controlling one or more discharge control devices provided on the 3D printing device 300, thereby improving the utilization rate of the device. Figure 4 A perspective view of a 3D printing device according to another embodiment of the present invention is exemplarily shown. Figure 4 As shown, the printing module 703 of the 3D printing device 400 includes a plurality of nozzles 731, and the plurality of nozzles 731 are distributed in an array, wherein the communication path distance between each nozzle 731 and the discharge port of the processing chamber, mixing chamber or storage chamber is equal, thereby ensuring that the pressure of each nozzle is equal during the printing process, which is suitable for the needs of mass production. The above-mentioned multiple nozzles can also be arranged in other arrangements in which the communication path distance to the discharge port of the processing chamber, mixing chamber or storage chamber is equal, such as a circular arrangement, a fan-shaped arrangement, etc. The inner diameter of the multiple nozzles 731 of the above-mentioned 3D printing device 400 is the same, ranging from 0.05 to 2 mm, and the materials thereof can be steel, brass, aluminum alloy, etc. In some embodiments, the inner diameter of each nozzle of the above-mentioned 3D printing device 400 is preferably 0.3, 0.4 or 0.5 mm.

[0220] In some embodiments, the printing module 703 is connected to the processing chamber, mixing chamber or storage chamber through a hose (not shown). In some embodiments, all interconnected modules of the 3D printing device are connected by a hose, and the molten body flows from the processing chamber of the melt extrusion module to the storage chamber of the cache module, the mixing chamber of the mixing module or the nozzle of the printing module through the hose. In some embodiments, the inner diameter of the hose connecting the modules is 1 to 100 mm. In some embodiments, the inner diameter of the hose connecting the modules is preferably 4 mm.

[0221] Figure 5 The following is a schematic diagram showing the arrangement of nozzles on a printing module of a 3D printing device according to an embodiment of the present invention. Figure 5 As shown, each hose is connected to the printing module 703 and then fed into four nozzles 714, which are evenly distributed along the same circumference. This design ensures that the products formed by the nozzles on the platform module are arranged horizontally and vertically, facilitating subsequent packaging and cutting processes.

[0222] Continue to refer to Figure 43D printing device 400 further includes a platform module 704, which includes a plurality of deposition platforms 741, 742, 743, etc., which are disposed on a platform drive mechanism 745. As can be seen from the figure, the plurality of deposition platforms 741, 742, and 743 are sequentially connected to a crawler drive mechanism 746 in the form of crawler tracks. The crawler drive mechanism 746 is disposed on a horizontal drive mechanism 747 and can move horizontally as a whole along with the horizontal drive mechanism 747. The crawler drive mechanism 746 and the horizontal drive mechanism 747 together constitute the platform drive mechanism 745. The crawler drive mechanism 746, driven by a motor, can drive the deposition platforms 741, 742, 743 to move along the Y-axis of the Cartesian coordinate system as shown in the figure. The horizontal drive mechanism 747 is a stepping motor that can drive the deposition platforms 741, 742, and 743 to move along the X-axis of the Cartesian coordinate system as shown in the figure. The 3D printing device 400 also includes a printing module drive mechanism 735. As shown in the figure, the printing module drive mechanism 735 is a stepper motor that can drive the nozzle 731 of the printing module 703, as shown in the figure, to move along the Z axis of the Cartesian coordinate system. It should be noted that the structure of the printing module drive mechanism and the platform drive mechanism can be any combination of structures that cause the nozzle 731 to move relative to the deposition platform along the X, Y, and Z axes of the Cartesian coordinate system. For example, in some embodiments, the printing module drive mechanism moves the nozzle of the printing module along the X, Y, and Z axes of the Cartesian coordinate system, while the platform module 704 remains stationary during the printing process. It is understood that although the printing module drive mechanism 735 and the horizontal drive mechanism 747 are shown as stepper motors, they can also be other transmission mechanisms, such as hydraulic pistons and cylinders.

[0223] The 3D printing device 400 may also include a product collection module (not shown in the figure), which is configured to collect the final products formed on the deposition platforms 741, 742 and 743. In some embodiments, the above-mentioned product collection module can be a scraper or a manipulator, which is used to transport the final products formed on the deposition platforms 741, 742 and 743 to a designated platform or conveyor belt for packaging. In some embodiments, the product collection module has the functions of packaging laying and heat sealing. A layer of lower packaging is laid on the platform module in advance, and the product is directly printed on the packaging. After the final printing of the product is completed, the product collection module directly covers the final product with the upper packaging, and pressurized thermoplastic sealing is performed to complete the packaging. The packaging can be aluminum foil, plastic film, etc.

[0224] In some embodiments, the 3D printing device 400 also has an automatic feeding mechanism (not shown in the figure), which is directly connected to the feed port of the feeding module and conveys the initial material to the feed port. In some embodiments, the automatic feeding mechanism can be a belt conveyor, a scraper conveyor, a vibrating conveyor, a screw conveyor, etc. In some embodiments, the automatic feeding mechanism can also be provided with a piezoelectric sensor for measuring the weight of the initial material being conveyed, and controlling the quantitative transmission of the initial material based on the measurement result. The control module of the 3D printing device 400 can control the transmission speed of various initial materials according to the state parameters of the device or the instructions input by the user through the user interface, thereby improving production efficiency.

[0225] In some embodiments, the 3D printing device 400 further includes an inspection module (not shown in the figure), which is configured to detect the product parameters of the final product on the platform module. As mentioned above, the product parameters of the final product include but are not limited to the quantity of the product and the components, weight, moisture and colony count of the required product. The inspection module is connected to the control module for communication and transmits the detected product parameters to the control module. The control module determines whether the above-mentioned product parameters meet the final product requirements based on the pre-set product requirements or the instructions input by the user through the user interface, and determines whether the product is qualified based on the judgment result, and implements corresponding measures to correct the unqualified problems in the operation of the equipment.

[0226] In some embodiments, the inspection module may include a near-infrared spectrometer as described above to verify whether the components of the final product are qualified. The inspection module may also include a camera to perform video or optical inspection of the final product, and compare the results with the standard requirements through the control module to verify whether the size and shape of the final product formed on the deposition platforms 741, 742, and 743 meet the standards. As described above, the near-infrared spectrometer can also serve as a moisture sensor. The inspection module may also include a piezoelectric sensor to measure the weight of the final product. The measured product parameters can be transmitted to the control module, which can adjust the operation of the automatic 3D printing device 400 based on the parameters. The specific adjustment method can refer to the control module described above and the adjustment device corresponding to the detection device of the status parameters of each module of the 3D printing device 400, including but not limited to the various heating devices and discharge control devices mentioned above.

[0227] In some embodiments, the 3D printing device 400 further includes an automatic screening module configured to sort the final products formed on the deposition platforms 741, 742, and 743. In some embodiments, the automatic screening module includes a high-precision weighing sensor, such as a piezoelectric sensor, and transports the final products formed on the automatic screening module to different locations based on their weight, for example, sending products that do not meet weight requirements to a waste storage area.

[0228] According to another aspect of the present invention, a 3D printing method is provided, comprising: steps that may include melting and pressurizing a material; flowing the material through an extrusion orifice of a nozzle comprising a tapered inner surface; monitoring the pressure of the material within or near the nozzle; engaging a tapered end of a sealing needle with the tapered inner surface of the nozzle, thereby sealing the extrusion orifice and preventing the flow of the molten material; and retracting the tapered end of the sealing needle to restore the flow of the material through the extrusion orifice. In some embodiments, the method is performed using an apparatus as described herein. In some embodiments, the apparatus comprises a plurality of cartridges, each of which is configured with a control switch. The method may include printing a first material from a first cartridge and printing a second material from a second cartridge, wherein the sealing needle of the first cartridge is in a closed position while the second material is being printed from the second cartridge, and the sealing needle of the second supply system is in a closed position while the first material is being printed from the first cartridge. In some embodiments, the method is performed in a batch processing mode. In some embodiments, the apparatus or system is controlled to operate in batch mode. The term "batch mode" refers to an operating mode in which a predetermined quantity of a product (e.g., a pharmaceutical dosage form) is manufactured. In some embodiments, the method is performed in a continuous operating mode. In some embodiments, the apparatus or system operates in a continuous mode.The term "continuous mode" refers to an operating mode in which the apparatus or system operates for a predetermined period of time or until a predetermined amount of a single or multiple materials has been used.

[0229] In some embodiments, the 3D printing method includes: melting and pressurizing a first material; flowing the first material through a first extrusion port of a first nozzle having a tapered inner surface; engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle, thereby closing the first extrusion port and preventing the flow of the molten first material; melting and pressurizing a second material; and withdrawing the tapered end of a second sealing needle from the tapered inner surface of a second nozzle, thereby initiating the flow of the second material through the second extrusion port. In some embodiments, the method includes, for example, receiving instructions for manufacturing a product from a computer system.

[0230] In some embodiments, a method for producing a pharmaceutical dosage form (e.g., a tablet) using the 3D printing method includes the following steps: melting and pressurizing a pharmaceutical material; monitoring the pressure of the material within or near a nozzle; flowing the material through an extrusion orifice of a nozzle comprising a tapered inner surface; engaging the tapered end of a sealing needle with the tapered inner surface of the nozzle to seal the extrusion orifice and prevent the flow of the molten material; and retracting the tapered end of the sealing needle to restore the flow of the material through the extrusion orifice. In some embodiments, the pharmaceutical material comprises a drug. In some embodiments, the method is performed using an apparatus as described herein. In some embodiments, the apparatus comprises a plurality of cartridges, each of which is configured with a control switch. The method may include printing a first material from a first cartridge and printing a second material from a second cartridge, wherein the sealing needle of the first cartridge is in a closed position when the second material is printed from the second cartridge, and the sealing needle of the second loading module is in a closed position when the first material is printed from the first cartridge. In some embodiments, the method further includes monitoring the pressure of the first material within or near the first nozzle; or monitoring the pressure of the second material at or near the second nozzle.

[0231] In some embodiments, the method for manufacturing a pharmaceutical dosage form using the 3D printing method includes melting and pressurizing a first pharmaceutical material; flowing the first pharmaceutical material through a first extrusion port of a first nozzle comprising a tapered inner surface; engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle, thereby sealing the first extrusion port and preventing the flow of the molten first material; melting and pressurizing a second pharmaceutical material; and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle, thereby flowing the second pharmaceutical material through the second extrusion port. In some embodiments, the first pharmaceutical material or the second pharmaceutical material is an erodible material. In some embodiments, the first pharmaceutical material or the second pharmaceutical material comprises a drug. In some embodiments, the method further includes receiving instructions for manufacturing the pharmaceutical dosage form, for example from a computer system. In some embodiments, the method further includes monitoring the pressure of the first material within or near the first nozzle; or monitoring the pressure of the second material within or near the second nozzle.

[0232] Figure 6 A schematic diagram of a 3D printing device according to another embodiment of the present invention is exemplarily shown.

[0233] Figure 7A and 7B Models of pharmaceutical products that can be printed by a 3D printing device according to an embodiment of the present invention are exemplarily shown.

[0234] The following will be combined Figure 6 、 Figure 7A and Figure 7BThe following describes the application of the 3D printing device of the present invention in the field of 3D printing of medicines. It is understood that the following description is merely exemplary, and the 3D printing device described below can of course also be used to print any other items that can be obtained by 3D printing devices, such as artificial bones, molds, food, industrial design products, etc.

[0235] like Figure 6 As shown, the 3D printing device 600 includes a plurality of melt extrusion modules 961, 962, 963, 964, 965 and 966 and a plurality of nozzles 951, 952, 953, 954, 955 and 956. The structure and function of the plurality of melt extrusion modules and nozzles can be referred to as follows. Figure 1 and Figure 2 The 3D printing device 600 further includes a plurality of deposition platforms 941, 942, 943, 944, 945 and 946. The structure and function of the plurality of deposition platforms can also be referred to as Figure 1 and Figure 2 The molten bodies extruded by the above-mentioned multiple melt extrusion modules of the 3D printing device 600 are deposited on the above-mentioned multiple deposition platforms. The deposition platforms 941, 942, 943, 944, 945 and 946 can be driven to pass through multiple nozzles 951, 952, 953, 954, 955 and 956 one by one to receive the molten bodies, and the whole is in a cyclic operation relative to the above-mentioned multiple nozzles. In some embodiments, the above-mentioned multiple deposition platforms can also reciprocate between one or more of the above-mentioned multiple nozzles. The specific details will be combined with Figure 7A and Figure 7B Details.

[0236] It should be noted that Figure 6 The 3D printing device 600 shown includes a plurality of nozzles 951, 952, 953, 954, 955 and 956, wherein the nozzles 951, 952, 953, 954, 955 and 956 can be a single nozzle or a combination of multiple nozzles arranged in a certain manner. In some embodiments, the 3D printing device 600 can have a plurality of printing modules corresponding to the plurality of nozzles 951, 952, 953, 954, 955 and 956, respectively. In addition, although not shown in the figure, Figure 6 The 3D printing device 600 shown in FIG. 6 may further include one or more mixing modules or buffer modules between the melt extrusion modules 961, 962, 963, 964, 965, and 966 and the plurality of nozzles 951, 952, 953, 954, 955, and 956. The arrangement and structure of the mixing module or buffer module may refer to FIG. Figure 1 and Figure 2 shown.

[0237] Figure 7AA model of a drug 990 that can be printed by a 3D printing device according to one embodiment of the present invention is shown. Drug 990 comprises a drug coating 992 and a drug core 993. Drug coating 992 may be made of an enteric or gastric-soluble material, while core 993 contains the active pharmaceutical ingredient. Figure 7B A model of a drug 991 that can be printed using a 3D printing device according to one embodiment of the present invention is shown. Drug 991 includes drug shells 994 and 995 and drug cores 996 and 997. Shells 994 and 995 can be drug coatings made of enteric or gastric soluble materials with different dissolution and release characteristics, while cores 996 and 997 can contain different active pharmaceutical ingredients.

[0238] In the process of printing the above medicine, the control module first reads the Figure 7A and 7B The digital model of the medicine and the state parameters of the medicine such as composition, moisture, weight and the requirements of the final product parameters are shown. Then the control module controls the aforementioned automatic feeding mechanism to feed the melt extrusion module through the feeding module. Figure 7A Taking the drug model shown as an example, the melt extrusion module 961 receives the initial material of the enteric material, extrude and heat it into a melt, and extrude it from the nozzle 951. The melt extrusion module 962 is used to receive the original material of the above-mentioned active pharmaceutical ingredient, extrude and heat it into a melt, and then extrude it from the nozzle of the nozzle 952. The platform driving mechanism drives the deposition platform 941 to first move to the bottom of the nozzle 951. Through the relative movement between its nozzle and the deposition platform 941, the deposition platform 941 is layered and deposited to eventually form the concave lower half of the drug shell 992. Then, the deposition platform 941 is driven to move to the bottom of the nozzle 952. Through the relative movement between its nozzle and the deposition platform 941, the deposition platform 941 is layered and deposited to eventually form the drug core 993 in the above-mentioned concave lower half of the drug shell 992. Afterwards, the deposition platform 941 is driven back to the bottom of the nozzle 951. Through the relative movement between its nozzle and the deposition platform 941, the deposition platform 941 is layered and deposited to eventually form the upper half of the drug shell 992, and finally forms the following. Figure 7A In some embodiments, the drug model shown in Figure 6 The melt extrusion module 963 shown can have the same raw material as the melt extrusion module 961, extrude and heat it into a molten body, and then extrude it from the nozzle 953. Therefore, after the deposition platform 941 completes the printing of the drug core 993, it can move to the bottom of the nozzle 953 to complete the process as shown in FIG. Figure 7AIt is understood that the above-mentioned multiple deposition platforms 941, 942, 943, 944, 945 and 946 can pass under the above-mentioned nozzles 951, 952 and 953 in sequence, thereby completing the printing of the drug model in an assembly line manner. Figure 7A The printing of the drug model shown in FIG. 1 can effectively improve the efficiency of printing drugs and meet the needs of mass production. Of course, in some embodiments, the deposition platform 941 can also reciprocate between the nozzles 951 and 952 to complete the printing. Figure 7A Similarly, the deposition platform 942 can also reciprocate between the nozzles 952 and 953 to complete the printing of the drug model shown. Figure 7A Printing of the drug model shown.

[0239] It should be noted that, in some embodiments, Figure 7A The drug model shown can also be printed strictly in layers. Figure 7A The drug model shown is layered from top to bottom, with the platform drive mechanism driving the deposition platform 941 to first move below the nozzle 951. Through the relative movement between the nozzle and the deposition platform 941, layered deposition is performed on the deposition platform 941, ultimately forming a single layered portion comprising only the drug shell 992. When printing a single layer comprising both the drug shell 992 and the drug core 993, the 3D printing device 600 drives the deposition platform 941 to reciprocate between below and below the nozzle 951 and below the nozzle 952 via the platform drive mechanism. Through the relative movement between the nozzle and the deposition platform 941, layered deposition is performed on the deposition platform 941, ultimately forming a single layer comprising both the drug shell 992 and the drug core 993.

[0240] Figure 7B The printing method of the drug model shown is the same as Figure 7A In a similar manner as shown, the concave lower half of the drug shells 994 and 995 can be printed first, followed by the drug core portion of the cores 996 and 997, and finally the upper half of the drug shells 994 and 995. Figure 7B The drug model shown is layered and printed strictly according to the layering. In some embodiments, a drug model containing multiple different components can be printed by multiple different melt extrusion modules and / or printing modules. Figure 7B The drug model 994 shown can be made of enteric-soluble material, and the core 997 is the active pharmaceutical ingredient that needs to be released in the intestine, while the drug model 995 can be made of gastric-soluble material, and the core 996 is the active pharmaceutical ingredient that needs to be released in the stomach. Figure 7BThe drug model shown can achieve different efficiency release in different organs. With the help of the 3D printing equipment disclosed in the present invention, it is possible to print the drug model efficiently, quickly and in batches. Figure 7B Various special structures and requirements of pharmaceutical products are shown.

[0241] The 3D printing device disclosed in the present invention also meets the requirements of continuous production (CMP) of drugs. Through the above-mentioned control module, inspection module and state parameter detection device, the 3D printing device can monitor the composition, moisture, weight, shape and other state parameters of the final product and intermediate products of the printed drugs in real time, and can adjust the state parameters or product parameters through the above-mentioned discharge control device, heating device and other components, thereby avoiding many problems caused by batch production of drugs and improving production efficiency.

[0242] Figure 8 The flowchart of the 3D printing method according to an embodiment of the present invention is exemplarily shown.

[0243] The present invention also discloses a 3D printing method for printing products using the 3D printing device disclosed by the present invention. Figure 1 、 2 3 to describe the 3D printing method in detail. For the implementation of specific functions in specific steps of the method, reference can be made to the specific components and functional settings in the embodiment of the 3D printing device of the present invention as described above. The above-mentioned 3D printing method includes first adding a first initial material to the processing chamber 121 of the melt extrusion module 102 of the 3D printing device 100. Subsequently, the first initial material in the processing chamber 121 is heated and extruded to convert it into a first melt, and the first melt is extruded from the discharge port 125 of the processing chamber 121. Thereafter, the first melt at the discharge port 125 of the processing chamber 121 is guided to be extruded through the nozzle 131 of the printing module 103 and deposited onto the platform module 104.

[0244] In some embodiments, the above 3D printing method further includes adding a first initial material to the melt extrusion module 102 through a hopper of the feeding module 101 .

[0245] In some embodiments, the 3D printing method further includes detecting the pressure of the first melt at the printing module 103 , and controlling the pressure of the first melt at the printing module 103 according to the detected pressure.

[0246] In some embodiments, the 3D printing method further includes detecting a temperature of the first mixed melt at the printing module 103 ; and adjusting the temperature of the first mixed melt at the printing module 103 according to the detected temperature.

[0247] In some embodiments, the above-mentioned 3D printing method further includes detecting the temperature of the first melt in the processing chamber 121; and controlling the heating power of the first melt in the processing chamber 121 and / or the extrusion power of the first melt according to the detected temperature.

[0248] In some embodiments, the step of guiding the first molten body at the outlet of the processing chamber 121 to be extruded through the nozzle 131 of the printing module 103 and deposited onto the platform module 104 specifically includes: guiding the first molten body at the outlet 125 of the processing chamber 121 to enter the storage chamber 171 of the cache module 107; guiding the first molten body at the outlet of the storage chamber 171 to be extruded through the nozzle 131 of the printing module 103 and deposited onto the platform module 104.

[0249] In some embodiments, the above 3D printing method further includes detecting the temperature of the first molten body in the storage chamber 171; and controlling the heating power of the first molten body in the storage chamber 171 according to the detected temperature.

[0250] In some embodiments, the above-mentioned 3D printing method further includes detecting the remaining volume of the storage chamber 171 ; and controlling the discharge speed of the first molten body from the discharge port 125 of the processing chamber 121 according to the remaining volume of the storage chamber 171 .

[0251] In some embodiments, the 3D printing method further includes guiding at least a portion of the first melt extruded from the outlet 125 of the processing chamber 121 to flow back into the processing chamber 121 .

[0252] Combine Figure 2 As shown, in some embodiments, the above-mentioned 3D printing method also includes adding a second initial material to the processing chamber of the second melt extrusion module 402 through the hopper of the second feeding module 401; heating and extruding the second initial material in the processing chamber of the second melt extrusion module 402 to convert it into a second melt and extrude it from the discharge port of the processing chamber of the second melt extrusion module; mixing the first melt and the second melt in the mixing chamber 308 to form a first mixed melt; guiding the first mixed melt at the discharge port of the mixing chamber 308 to be extruded through the nozzle 331 of the printing module 303 and deposited onto the platform module 304.

[0253] In some embodiments, the above-mentioned 3D printing method also includes detecting the components of the first mixed melt extruded from the outlet of the mixing chamber 308; and controlling the discharge speeds of the first melt and the second melt at the outlets of the processing chambers of the first melt extrusion module 302 and the second melt extrusion module 402 respectively according to the detected components of the first mixed melt.

[0254] In some embodiments, the 3D printing method further includes detecting a temperature of the first mixed melt in the mixing chamber 308 ; and controlling a heating power applied to the first mixed melt in the mixing chamber 308 according to the detected temperature.

[0255] Combine Figure 1 As shown, in some embodiments, the above-mentioned 3D printing method also includes adding a second initial material to the processing chamber 121 of the first melt extrusion module 102 through the hopper 211 of the second feeding module 201; heating and extruding the first initial material and the second initial material in the processing chamber 121 to convert them into a first molten body.

[0256] In some embodiments, the above-mentioned 3D printing method also includes detecting the composition of the first melt at any position of the 3D printing device 100, and controlling the discharge speed of the first initial material and the second initial material from the discharge ports of the first feeding module 101 and the second feeding module 102 respectively according to the detected composition of the first melt.

[0257] Combine Figure 6 In some embodiments shown in the figure, the above-mentioned 3D printing method also includes adding a second initial material into the processing chamber of the second melt extrusion module 962 through the hopper of the second feeding module (not shown in the figure); heating and extruding the second initial material in the processing chamber of the second melt extrusion module 962 to convert it into a second melt and extrude it from the outlet of the processing chamber of the second melt extrusion module 962; guiding the second melt at the outlet of the processing chamber of the second melt extrusion module 962 to be extruded through the second nozzle 952 of the printing module and deposited onto the platform module; and driving the platform module 941 to move between below the first nozzle 951 and below the second nozzle 952.

[0258] Combine Figure 4 As shown, in some embodiments, the above-mentioned 3D printing method further includes driving the nozzle 731 of the printing module to move relative to the platform module.

[0259] In some embodiments, the above 3D printing method further includes driving the nozzle 731 of the printing module relative to the platform module along the Figure 4 Z-axis motion shown.

[0260] In some embodiments, the above-mentioned 3D printing method further includes driving the first deposition platform 741 of the platform module to move relative to the nozzle 731 of the printing module; wherein the first deposition platform 741 is configured to receive the first molten body extruded through the nozzle 731.

[0261] In some embodiments, the above 3D printing method further includes driving the deposition platform 741 relative to the nozzle 731 along the Figure 4 X-axis and / or Y-axis motion shown.

[0262] In some embodiments, the 3D printing method further includes collecting the final product formed on the platform module 104 .

[0263] In some embodiments, the 3D printing method further includes detecting product parameters of the final product formed on the platform module 104 .

[0264] In some embodiments, the 3D printing method further includes sorting the final products formed on the platform module 104 .

[0265] In some embodiments, the above 3D printing method further includes delivering the first initial material to the feeding module 101 through an automatic feeding module.

[0266] In some embodiments, the above-mentioned 3D printing method can be used for printing thermoplastic materials, especially for scenarios such as continuous production, personalized production, and batch production of drugs.

[0267] It should be noted that although the detailed description above mentions several modules or submodules of the 3D printing device, this division is merely exemplary and not mandatory. In practice, depending on the embodiments of the present application, the features and functions of two or more modules described above may be embodied in a single module. Conversely, the features and functions of a single module described above may be further divided and embodied by multiple modules.

[0268] Those skilled in the art can understand and implement other variations to the disclosed embodiments by studying the specification, disclosure, drawings, and appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude plural reference. In the practice of this application, a single component may perform the functions of multiple technical features recited in the claims. Any reference signs in the claims should not be construed as limiting the scope.

[0269] The above description, in conjunction with the accompanying drawings, illustrates various embodiments of the present application. Based on the disclosure of this specification, those skilled in the art will readily appreciate that the various components of the 3D printing device disclosed in each embodiment can be appropriately adjusted and recombined according to actual needs without departing from the spirit of the present invention. The scope of protection of this application shall be determined by the claims of this application.

Claims

1. A 3D printing system for printing a pharmaceutical dosage form according to a digital model of the drug, characterized in that: include: a first printing module, and a first melt extrusion module connected to the first printing module; a second printing module, and a second melt extrusion module connected to the second printing module; Control module; sedimentation platform; as well as Platform driving mechanism; The first melt extrusion module includes a first processing chamber having a feed port and a discharge port, the first melt extrusion module is configured to receive a first pharmaceutical material through the feed port of the first processing chamber, and heat and extrude the first pharmaceutical material to convert the first pharmaceutical material into a first melt, which is extruded from the discharge port of the first processing chamber; The first printing module is in communication with the discharge port of the first processing chamber and comprises a first nozzle group, wherein the first printing module is configured to receive the first molten body extruded from the discharge port of the first processing chamber; The second melt extrusion module includes a second processing chamber having a feed port and a discharge port, the second melt extrusion module is configured to receive a second pharmaceutical material through the feed port of the second processing chamber, and heat and extrude the second pharmaceutical material to convert the second pharmaceutical material into a second melt, which is extruded from the discharge port of the second processing chamber; The second printing module is in communication with the discharge port of the second processing chamber and comprises a second nozzle group, wherein the second printing module is configured to receive the second molten body extruded from the discharge port of the second processing chamber; wherein the first pharmaceutical material comprises a pharmaceutically active ingredient, and the second pharmaceutical material is different from the first pharmaceutical material; The control module is configured to control the platform driving mechanism, the first printing module and the second printing module according to the digital model of the medicine; The platform driving mechanism is configured to drive the deposition platform and the first nozzle group and the second nozzle group to move relative to each other according to the digital model of the medicine; The first printing module is configured to control the first nozzle group to open and extrude the first molten body when the deposition platform moves below the first nozzle group, so as to deposit the first part of the pharmaceutical dosage form on the deposition platform; The second printing module is configured to control the second nozzle group to open and extrude the second molten body when the deposition platform moves below the second nozzle group, so as to deposit the second part of the pharmaceutical dosage form on the deposition platform.

2. The 3D printing system according to claim 1, wherein: The first melt extrusion module further includes a first processing chamber heating device disposed at the first processing chamber; The second melt extrusion module further includes a second processing chamber heating device disposed at the second processing chamber; The first processing chamber heating device is in communication with the control module, and the control module is further configured to control the heating power of the first processing chamber heating device; The second processing chamber heating device is in communication with the control module, and the control module is further configured to control the heating power of the second processing chamber heating device.

3. The 3D printing system according to claim 2, characterized in that Also included are a first temperature detection device and a second temperature detection device in communication with the control module; The first temperature detection device is configured to detect the temperature of the first melt at the first processing chamber and transmit a first temperature detection signal to the control module; The second temperature detection device is configured to detect the temperature of the second melt at the second processing chamber and transmit a second temperature detection signal to the control module; The control module is configured to control the heating power of the first processing chamber heating device according to the first temperature detection signal; and control the heating power of the second processing chamber heating device according to the second temperature detection signal.

4. The 3D printing system according to claim 1, wherein: Also includes: a first feeding module, the first feeding module comprising a first hopper, the first hopper having a feed inlet and a discharge outlet, and being configured to receive the first medicinal material through the feed inlet of the first hopper and discharge the first medicinal material into the first processing chamber through the discharge outlet of the first hopper; a second feeding module, the second feeding module comprising a second hopper, the second hopper having a feed inlet and a discharge outlet, and being configured to receive a second medicinal material through the feed inlet of the second hopper and discharge the second medicinal material into the first processing chamber through the discharge outlet of the second hopper; The first melt extrusion module is specifically used to mix and heat the first medicinal material and the second medicinal material to obtain the first melt.

5. The 3D printing system according to claim 4, characterized in that: The first feeding module further comprises a first hopper discharge control device, wherein the first hopper discharge control device is configured to control a discharge speed of the first hopper; The second feeding module further includes a second hopper discharge control device, which is configured to control a discharge speed of the second hopper.

6. The 3D printing system according to claim 5, characterized in that: The 3D printing system also includes a component detector; The component detector is in communication with the control module and is configured to detect the component ratio of the first medicinal material and the second medicinal material in the first melt and transmit a component detection signal to the control module; The control module is further configured to control the first hopper discharge control device and / or the second hopper discharge control device according to the component detection signal.

7. The 3D printing system according to claim 6, characterized in that: The control module is specifically used for: When the component detection signal indicates that the proportion of the first medicinal material in the component ratio is too high, instructing the first hopper discharge control device to reduce the discharge speed of the first hopper, or instructing the second hopper discharge control device to increase the discharge speed of the second hopper; When the component detection signal indicates that the proportion of the first medicinal material in the component ratio is low, the first hopper discharge control device is instructed to increase the discharge speed of the first hopper, or the second hopper discharge control device is instructed to reduce the discharge speed of the second hopper.

8. The 3D printing system according to claim 1, wherein: The drug digital model includes a drug shell and a drug core; wherein the first part of the drug dosage form is the drug core, which includes the active ingredient of the drug; and the second part of the drug dosage form is the drug shell, which includes a drug coating with different dissolution and release characteristics.

9. The 3D printing system according to claim 1, wherein: The first melt extrusion module further includes a first extrusion device disposed at the first processing chamber; The second melt extrusion module further includes a second extrusion device disposed at the second processing chamber; The first extrusion device is communicatively connected to the control module, and the control module is configured to control a first extrusion power of the first extrusion device; The second extrusion device is communicatively connected to the control module, and the control module is configured to control a second extrusion power of the second extrusion device.

10. The 3D printing system according to any one of claims 1 to 9, characterized in that: The first nozzle group includes only one nozzle.

11. The 3D printing system according to any one of claims 1 to 9, characterized in that: The first nozzle group includes a plurality of nozzles, and the plurality of nozzles are arranged in an array; The second nozzle group includes a plurality of nozzles, and the plurality of nozzles are arranged in an array.

12. The 3D printing system according to claim 11, characterized in that: The communication path distance between each of the plurality of nozzles of the first nozzle group and the discharge port of the first processing chamber is equal; The communication path distance between each of the plurality of nozzles in the second nozzle group and the discharge port of the second processing chamber is equal.

13. The 3D printing system according to any one of claims 1 to 9, characterized in that: The first printing module further includes a first control switch, and the second printing module further includes a second control switch; The first control switch is configured to turn on or off the first nozzle group; The second control switch is configured to turn on or off the second nozzle group.

14. The 3D printing system according to claim 13, wherein: The first control switch and the second control switch include sealing needles.

15. A 3D printing method for printing a pharmaceutical dosage form according to a digital model of the drug, characterized in that: include: adding a first pharmaceutical material into a first processing chamber of a first melt extrusion module; Heating and extruding the first medicinal material in the first processing chamber to convert the first medicinal material into a first molten body and extrude the first molten body from the discharge port of the first processing chamber; adding a second pharmaceutical material to the second processing chamber of the second melt extrusion module; Heating and extruding the second medicinal material in the second processing chamber to convert the second medicinal material into a second molten body and extrude the second medicinal material from the discharge port of the second processing chamber; guiding the first molten body extruded from the discharge port of the first processing chamber into the first nozzle group of the first printing module; guiding the second molten body extruded from the discharge port of the second processing chamber into the second nozzle group of the second printing module; Controlling the platform driving mechanism, the first printing module and the second printing module according to the drug digital model and the control parameters; The platform driving mechanism drives the deposition platform to move below the first nozzle group of the first printing module; Opening the first nozzle group to extrude the first molten body from the first nozzle group to the deposition platform, and keeping the second nozzle group closed; The platform driving mechanism drives the deposition platform to move below the second nozzle group of the second printing module; as well as The second nozzle group is opened, and the second melt is extruded from the second nozzle group to the deposition platform, while the first nozzle group is closed, so as to obtain a drug dosage form having the drug digital model.

16. The 3D printing method according to claim 15, characterized in that: The method further comprises at least one of the following steps: detecting the temperature of the first molten body in the first processing chamber by a first temperature detection device and generating a first temperature detection signal, and controlling the heating power of a first processing chamber heating device provided in the first processing chamber according to the first temperature detection signal; as well as The temperature of the second melt in the second processing chamber is detected by a second temperature detection device, and a second temperature detection signal is generated. The heating power of the second processing chamber heating device arranged in the second processing chamber is controlled according to the second temperature detection signal.

17. The 3D printing method according to claim 15, characterized in that: The method further comprises: receiving a first medicinal material through a feed port of a first hopper of a first feeding module, and discharging the first medicinal material into the first processing chamber through a discharge port of the first hopper; receiving a second medicinal material through a feed port of a second hopper of a second feeding module, and discharging the second medicinal material into the first processing chamber through a discharge port of the second hopper; The step of heating and extruding the first medicinal material in the first processing chamber to convert the first medicinal material into a first molten body and extruding the first molten body from the discharge port of the first processing chamber includes: The first medicinal material and the second medicinal material are mixed and heated to obtain the first melt.

18. The 3D printing method according to claim 17, wherein: The method further comprises: detecting the component ratio of the first medicinal material and the second medicinal material in the first melt by a component detector and generating a component detection signal; According to the component detection signal, the discharge speed of the first hopper is controlled by the first hopper discharge control device of the first feeding module and / or the discharge speed of the second hopper is controlled by the second hopper discharge control device of the second feeding module.

19. The 3D printing method according to claim 18, wherein: The controlling of the discharge speed of the first hopper by the first hopper discharge control device of the first feeding module and / or the controlling of the discharge speed of the second hopper by the second hopper discharge control device of the second feeding module according to the component detection signal includes: When the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is too high, instructing the first hopper discharge control device to reduce the discharge speed of the first hopper, or instructing the second hopper discharge control device to increase the discharge speed of the second hopper; When the component detection signal indicates that the proportion of the active pharmaceutical ingredient in the component ratio is low, the first hopper discharge control device is instructed to increase the discharge speed of the first hopper, or the second hopper discharge control device is instructed to reduce the discharge speed of the second hopper.

20. The 3D printing method according to any one of claims 15 to 19, characterized in that: The first nozzle group includes a plurality of nozzles arranged in an array, and the second nozzle group includes a plurality of nozzles having the same number and arrangement as the first nozzle group.

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