Microwave infrared coupling food processing device and food 3D printing processing system

Abstract

The present invention provides a microwave infrared coupling food processing device and a food 3D printing processing system. The microwave infrared coupling food processing device comprises: a processing container, the processing container having a resonant cavity, and a printing platform being provided at the bottom of the resonant cavity; a microwave generating module, the microwave generating module comprising a microwave source, the microwave source being used to heat food materials placed on the printing platform; an infrared heating module, the infrared heating module comprising an infrared heating tube, the infrared heating tube being used to heat food materials placed on the printing platform; and a control module, the microwave generating module and the infrared heating module being communicatively connected to the control module. The microwave infrared coupling food processing device provided by the present invention can perform microwave infrared coupling heating treatment on food materials during the process of food 3D printing processing, thereby improving the molding quality of 3D printed food.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and in particular to a microwave infrared coupling food processing device and a food 3D printing processing system. Background Art

[0002] In the field of food processing, 3D printing is an emerging food processing technology with personalized customization of shapes, nutrition and other functions. However, due to the low mechanical strength and limited self-support of many printing materials, the height of the printed model is limited during the printing process, and the printed product is prone to collapse. There is a gap between the molding effect and the 3D printed model.

[0003] Related technology discloses a microwave ultrasonic 3D printing device and method for food. During the food 3D printing process, the device heats the food with microwaves and, through an ultrasonic-assisted system, applies ultrasonic treatment to the 3D printed material to improve the product's molding quality. Microwave heating has the advantages of strong penetration and high efficiency, but it is prone to localized overheating during the heating process, making it difficult to achieve ideal molding quality using microwave heating alone.

[0004] Therefore, there is an urgent need for a microwave infrared coupled food processing device and a food 3D printing processing system that can solve the above problems. Summary of the Invention

[0005] On one hand, the present invention provides a microwave infrared coupling food processing device, which can perform microwave infrared coupling heating treatment on food materials during the food 3D printing process, thereby improving the molding quality of 3D printed food.

[0006] Another aspect of the present invention provides a food 3D printing processing system.

[0007] The present invention provides a microwave infrared coupling food processing device, comprising:

[0008] A processing container, wherein the processing container has a resonant cavity, and a printing platform is provided at the bottom of the resonant cavity;

[0009] A microwave generating module, the microwave generating module comprising a microwave source, the microwave source being used to heat the food material placed on the printing platform;

[0010] An infrared heating module, comprising an infrared heating tube for heating the food material placed on the printing platform;

[0011] The control module is communicatively connected to the microwave generating module and the infrared heating module.

[0012] According to the microwave infrared coupling food processing device provided by the present invention, installation cabins are respectively provided on both sides of the resonant cavity, and at least one infrared heating tube is respectively provided in each of the installation cabins.

[0013] According to the microwave infrared coupling food processing device provided by the present invention, a first metal shielding net is provided on the wall of the installation cabin facing the printing platform.

[0014] According to the microwave infrared coupled food processing device provided by the present invention, a first guide rail is provided at the bottom of the resonant cavity along the Y direction, the printing platform is slidingly fitted on the first guide rail, and also includes a first driving mechanism for driving the printing platform to move along the length direction of the first guide rail, and the first driving mechanism is communicatively connected to the control module.

[0015] According to the microwave infrared coupling food processing device provided by the present invention, the first driving mechanism includes a first driving motor, the output shaft of the first driving motor is connected to a first lead screw, and the printing platform is provided with a first screw sleeve which is sleeved on the first lead screw;

[0016] Alternatively, the first driving mechanism includes a push rod, and the push rod is connected to the printing platform.

[0017] According to the microwave infrared coupling food processing device provided by the present invention, a clearance opening is provided on the top wall of the processing container, and a microwave shielding device is provided at the clearance opening. The microwave shielding device includes a first metal plate and a second metal plate that are parallel to each other and spaced apart.

[0018] According to the microwave infrared coupling food processing device provided by the present invention, a material taking port is provided on the container wall of the processing container, a container door made of transparent material is provided on the material taking port, and a second metal shielding net is provided on the inner wall of the container door.

[0019] According to the microwave infrared coupling food processing device provided by the present invention, the microwave source is arranged below the printing platform.

[0020] The present invention also provides a food 3D printing processing system, comprising a food 3D printer and a microwave infrared coupling food processing device as described in any one of the above items;

[0021] The food 3D printer includes an extrusion device, which is connected to a printing nozzle. The nozzle of the printing nozzle is arranged in the resonant cavity and located above the printing platform.

[0022] The food 3D printing processing system provided by the present invention further includes a second drive mechanism and a third drive mechanism for driving the extrusion device to move in the X direction and the Z direction respectively, and the second drive mechanism and the third drive mechanism are communicatively connected to the control module;

[0023] The second driving mechanism includes a second driving motor, the output shaft of the second driving motor is provided with a second screw arranged along the X direction, and the extrusion device is provided with a second screw sleeve sleeved on the second screw;

[0024] The third driving mechanism includes a third driving motor. The output shaft of the third driving motor is provided with a third lead screw arranged along the Z direction. The end of the second lead screw is provided with a third screw sleeve which is sleeved on the third lead screw.

[0025] The microwave-infrared coupled food processing device and food 3D printing processing system provided by the present invention can simultaneously perform microwave heating and infrared heating drying on food materials during the 3D printing process through the coupling effect of the microwave generation module and the infrared heating module, thereby improving the molding quality of the 3D printed food and improving the molding characteristics and nutritional characteristics of the printed products. By setting up a control module, control instructions can be issued to the microwave generation module and the infrared heating module, and the operation is simple and efficient.

[0026] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 is a schematic diagram of a microwave infrared coupling food processing device provided by an embodiment of the present invention;

[0029] Figure 2 is a cross-sectional view of a microwave infrared coupling food processing device provided by an embodiment of the present invention;

[0030] Figure 3 is a cross-sectional view of an installation cabin in a microwave infrared coupling food processing device provided by an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of a food 3D printing processing system according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the connection between the microwave shielding device and the printing nozzle in the embodiment of the food 3D printing processing system provided by an embodiment of the present invention.

[0033] Reference numerals:

[0034] 1. Processing container; 2. Printing platform; 3. Microwave source; 4. Infrared heating tube; 5. Display screen; 7. Installation cabin; 8. Terminals; 9. First metal shielding net; 10. First guide rail; 11. Clearance opening; 12. Microwave shielding device; 1201. First metal plate; 1202. Second metal plate; 13. Material removal port; 14. Container door; 15. Second metal shielding net; 16. Extrusion device; 17. Printing nozzle; 18. Second lead screw; 19. Second screw sleeve; 20. Third lead screw; 21. Third screw sleeve; 22. Second guide rail; 23. Third guide rail. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0037] The following combination Figure 1-Figure 5 The present invention describes a microwave infrared coupling food processing device and a food 3D printing processing system.

[0038] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a microwave infrared coupling food processing device, including a processing container 1, a microwave generating module, an infrared heating module and a control module.

[0039] The processing container 1 has a resonant cavity, and a printing platform 2 is provided at the bottom of the resonant cavity; the microwave generating module includes a microwave source 3, which is used to heat the food material placed on the printing platform 2; the infrared heating module includes an infrared heating tube 4, which is used to heat the food material placed on the printing platform 2; the microwave generating module and the infrared heating module are communicatively connected to the control module.

[0040] In a specific embodiment of the present invention, the control module includes a control terminal, and the control terminal includes a display screen 5. The display screen 5 can be a touch screen, so that the working information of each module can be displayed through the display screen 5 and control instructions for each module can be issued.

[0041] In a specific embodiment of the present invention, a temperature sensor is provided in the resonant cavity, and the temperature sensor is communicatively connected to the control module to facilitate real-time monitoring of the temperature in the resonant cavity. At the same time, the temperature can be fed back to the control module to prevent the heating temperature from being too high. The temperature can also be displayed on the display screen 5 of the control terminal for easy observation.

[0042] In a specific embodiment of the present invention, the printing platform 2 is made of ceramic material, and the microwaves emitted by the microwave source 3 can penetrate the printing platform 2 and act on the printed product.

[0043] In a specific embodiment of the present invention, the microwave source 3 includes a magnetron, the microwave frequency of the magnetron is 2450 MHz, and the power of the magnetron is continuously adjustable between 0-500 W.

[0044] The microwave-infrared-coupled food processing device and food 3D printing processing system provided by the present invention can simultaneously perform microwave heating and infrared drying on food materials during the 3D printing process through the coupling action of the microwave generation module and the infrared heating module, thereby improving the molding quality of the 3D printed food and the molding characteristics and nutritional properties of the printed product. A control module is provided to issue control instructions to the microwave generation module and the infrared heating module, which is simple to operate and highly efficient. Furthermore, in certain specific circumstances, the control module can also be used to control the microwave generation module or the infrared heating module to operate independently.

[0045] like Figure 1As shown, in an embodiment of the present invention, installation cabins 7 are respectively provided on both sides of the resonant cavity, and at least one infrared heating tube 4 is respectively provided in each installation cabin 7. During the 3D printing processing of food, the infrared heating tubes 4 on both sides of the printing platform 2 can heat different sides of the food material at the same time, which can improve the infrared heating efficiency of the food material on the printing platform 2, and by providing the installation cabins 7, it is convenient to install and arrange each infrared heating tube 4, thereby improving the integration of the device. In some embodiments, on the premise that there is no interference with other components, infrared heating tubes 4 can also be provided on the front wall, rear wall and top wall of the processing container 1 accordingly, which can further improve the heating efficiency of the food material. As shown Figure 3 As shown, in a specific embodiment of the present invention, a plurality of infrared heating tubes 4 are arranged at intervals in each installation cabin 7, and the bottom wall of the installation cabin 7 is made of an insulating ceramic plate with a through hole provided on the ceramic plate. One end of the infrared heating tube 4 is connected to the terminal 8 through the through hole, and the other end of the infrared heating tube 4 is connected to another terminal 8 through a through hole provided at the top of the installation cabin 7, so as to facilitate connection to an external power supply.

[0046] like Figure 3 As shown, in this embodiment of the present invention, a first metal shielding mesh 9 is installed on the wall of the installation chamber 7 facing the printing platform 2. Firstly, the first metal shielding mesh 9 acts as a microwave shield, preventing the microwaves emitted by the microwave source 3 from interfering with the infrared heating tubes 4 located within the installation chamber 7. Secondly, the mesh holes in the first metal shielding mesh 9 allow the infrared radiation generated by the infrared heating tubes 4 to enter the resonant cavity and act on the food material located on the printing platform 2.

[0047] like Figure 2As shown, in an embodiment of the present invention, a first guide rail 10 is provided at the bottom of the resonant cavity along the Y direction. The printing platform 2 is slidably mounted on the first guide rail 10. A first drive mechanism is also included for driving the printing platform 2 to move along the length of the first guide rail 10. The first drive mechanism is communicatively connected to a control module. During the food 3D printing process, the first drive mechanism can drive the printing platform 2 to move along the length of the first guide rod (the Y direction), thereby adjusting the position of the printing platform 2 along the length of the first guide rod to adapt to the positioning requirements of the food 3D printing process. The movement distance of the printing platform 2 in the Y direction can also be controlled by the control module. In some embodiments, a rotating plate (not shown) can also be provided at the bottom of the resonant cavity, and the first guide rail 10 and the first drive mechanism can be mounted on the rotating plate. During food 3D printing, the rotating plate can adjust the rotation angle of the first guide rail 10, and the drive mechanism then drives the printing platform 2 to move along the length of the first guide rail 10. This can increase the adjustment range of the printing platform 2 and facilitate its adaptation to more complex food 3D printing operations. In a specific embodiment of the present invention, to increase the stability of the printing platform 2 during movement, the first guide rail 10 can be provided on both sides of the bottom of the resonant cavity. In addition, in some embodiments, the microwave source 3 can be set below the printing platform 2 and move synchronously with the printing platform 2. In this way, the microwave source 3 can heat the food material on the printing platform 2 at all times, thereby improving the heating effect.

[0048] In a further embodiment of the present invention, the first drive mechanism includes a first drive motor (not shown in the figure), the output shaft of the first drive motor is connected to a first lead screw (not shown in the figure), and the printing platform 2 is provided with a first screw sleeve (not shown in the figure) that is sleeved on the first lead screw. Specifically, the first drive motor is a servo motor, which can be arranged in the middle position below the printing platform 2. The first screw sleeve is also arranged in the middle position of the lower surface of the printing platform 2 and sleeved on the first lead screw. The output shaft of the servo motor rotates to drive the first lead screw to rotate, and the rotation of the first lead screw drives the first screw sleeve and the printing platform 2 to move synchronously. By controlling the rotation direction and rotation angle of the output shaft of the servo motor, the movement direction and movement distance of the printing platform 2 can be adjusted. In some embodiments, the first drive mechanism can also use a push rod (arranged along the Y direction), which is connected to the printing platform 2. The push rod can be an electric push rod, a hydraulic push rod, or a pneumatic push rod, which can also control the movement of the printing platform 2.

[0049] like Figure 2As shown, in this embodiment of the present invention, a clearance opening 11 is provided on the top wall of the processing container 1. A microwave shielding device 12 is located at the clearance opening 11. The microwave shielding device 12 comprises a first metal plate 1201 and a second metal plate 1202, which are arranged parallel and spaced apart. During the food 3D printing process, the food 3D printer's print nozzle 17 extends into the resonant cavity and moves in the X and Z directions. During this movement, the food material is ejected onto the printing platform 2 through the nozzle of the print nozzle 17. The provision of the clearance opening 11 allows the print nozzle 17 to move within a certain range without interfering with the container wall of the processing container 1. The spaced-apart first and second metal plates 1201, 1202 also effectively prevent microwaves from escaping.

[0050] like Figure 1 and Figure 2 As shown, in this embodiment of the present invention, a processing container 1 is provided with a material dispensing opening 13 on its wall. A container door 14 made of a transparent material is provided on the container door 13, and a second metal shielding mesh 15 is provided on the inner wall of the container door 14. Specifically, one side of the container door 14 is hingedly connected to the corresponding side of the material dispensing opening 13, allowing the material dispensing opening 13 to be opened or closed by pushing or pulling. The second metal shielding mesh 15 prevents microwaves from escaping, and the mesh holes in the second metal shielding mesh 15 allow observation of the 3D printing of food within the resonant cavity.

[0051] like Figure 1 As shown, in the embodiment of the present invention, the microwave source 3 is arranged below the printing platform 2. This facilitates the microwave source 3 to better heat the food material.

[0052] like Figure 4 As shown, an embodiment of the present invention further provides a food 3D printing processing system, comprising a food 3D printer and the microwave infrared coupling food processing device as described in the above embodiment;

[0053] The food 3D printer includes an extrusion device 16 , to which a printing nozzle 17 is connected. The nozzle of the printing nozzle 17 is arranged in the resonant cavity and located above the printing platform 2 .

[0054] like Figure 5 As shown, in a specific embodiment of the present invention, the first metal plate 1201 and the second metal plate 1202 are set on the printing nozzle 17, and the first microwave shielding device metal plate 1201 is attached to the upper surface of the top wall of the processing container 1. During the movement of the printing nozzle 17, the first metal plate 1201 and the second metal plate 1202 can move synchronously with the printing nozzle 17, and ensure that microwaves do not overflow without affecting the movement of the printing nozzle 17.

[0055] like Figure 4As shown, in an embodiment of the present invention, the food 3D printing processing system further includes a second drive mechanism and a third drive mechanism for driving the extrusion device 16 to move along the X direction and the Z direction respectively; the second drive mechanism includes a second drive motor (not shown in the figure), and the output shaft of the second drive motor is provided with a second lead screw 18 arranged along the X direction, and the extrusion device 16 is provided with a second screw sleeve 19 sleeved on the second lead screw 18; the third drive mechanism includes a third drive motor (not shown in the figure), and the output shaft of the third drive motor is provided with a third lead screw 20 arranged along the Z direction, and the end of the second lead screw 18 is provided with a third screw sleeve 21 sleeved on the third lead screw 20.

[0056] In a specific embodiment of the present invention, the second drive mechanism also includes a second guide rail 22 arranged parallel to the second lead screw 18, and the second screw sleeve 19 is sleeved on the second guide rail 22, which plays a guiding and fixing role in the process of the second drive motor driving the second screw sleeve 19 to move along the X direction. Similarly, the third drive mechanism also includes a third guide rail 23 arranged parallel to the third lead screw 20, and the third screw sleeve 21 is sleeved on the third guide rail 23, which plays a guiding and fixing role in the process of the third drive motor driving the third screw sleeve 21 to move along the Z direction. In a further embodiment of the present invention, mounting brackets are respectively provided on both sides of the upper surface of the top wall of the reaction vessel to facilitate fixing the third lead screw 20 and the third guide rail 23 arranged parallel to each other, wherein the two ends of the third lead screw 20 are rotatably matched with (one of) the mounting brackets. In some embodiments, bearings can be respectively provided at the upper and lower ends of the mounting bracket, and the two ends of the third lead screw 20 are respectively provided on the corresponding bearing inner rings.

[0057] In a specific embodiment of the present invention, the second drive motor and the third drive motor may also be servo motors, and the moving distance of the extrusion device 16 in the X direction and the Z direction may be precisely controlled by the control module.

[0058] The following is a detailed description of the workflow of the food 3D printing processing system provided by the present invention. Figure 1-Figure 5 .

[0059] Before starting the 3D printing process, the device is powered on, the control panel is opened through the display screen 5 of the control terminal, the 3D model to be printed is selected, and the infrared safety temperature and the power of the microwave source 3 during the printing process are set.

[0060] The printed food material is placed into the extrusion device 16, the feed port 13 is closed, and the device is activated via the control terminal's display screen 5. The extrusion device 16 moves in the X and Z directions according to the program generated after slicing the 3D model, simultaneously extruding the printing material from the extrusion device 16. The printing platform 2 moves in the Y direction, ultimately forming a complete printed product on the printing platform 2. Simultaneously, the microwave source 3 and infrared heating tube 4 operate according to the settings of the control module. A temperature sensor monitors the temperature changes of the printed product in real time during operation and provides feedback to the control module. During 3D printing, the printed product's formation process can be observed through the transparent container door 14 of the feed port 13.

[0061] After printing is completed, the control module controls the microwave generation module, infrared heating module and food 3D printer to automatically stop working, takes out the remaining printing material in the extrusion device 16, opens the door of the material taking port 13, takes out the printed product, and finally cleans the printing platform 2.

[0062] From the description of the above embodiments, it can be seen that the microwave infrared coupling food processing device and food 3D printing processing system provided by the present invention have at least the following advantages:

[0063] During the 3D printing process of food, the coupling effect of the microwave generation module and the infrared heating module can simultaneously perform microwave heating treatment and infrared heating drying treatment on the food materials, which can improve the molding quality of 3D printed food and improve the molding characteristics and nutritional characteristics of the printed products; by setting up a control module, control instructions can be issued to the microwave generation module and the infrared heating module, which is simple to operate and highly efficient.

[0064] The extrusion device 16 and the printing platform 2 can realize X, Y, and Z three-axis movement, and the printing material can be extruded to the printing platform 2 through the printing nozzle 17 connected to the extrusion device 16, and stacked layer by layer to form a 3D printed product.

[0065] The printing platform 2 is made of ceramic material, and microwaves can penetrate the platform to act on the printed product.

[0066] The first metal shielding net 9, the second metal shielding net 15 and the microwave shielding device 12 are provided to respectively shield the installation chamber 7, the material taking port 13 and the clearance opening 11 from microwaves, thereby preventing microwaves from leaking or entering the installation chamber 7.

[0067] The infrared heating module radiates infrared heat into the central resonant cavity, causing the temperature inside the resonant cavity to rise, evaporating the moisture in the printed product and producing a certain dehydration and shaping effect; the microwave source 3 at the bottom of the resonant cavity emits microwave energy to the internal material, passing through the printing platform 2 and penetrating the interior of the material, causing the moisture inside the material to quickly migrate and evaporate; the temperature sensor monitors the temperature of the printed product in real time to prevent overheating; the control device controls the infrared heating device, microwave source 3, and the start and stop of the printing mechanism, which can timely and effectively control the printing process and ensure the molding characteristics of the printed product.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A food 3D printing processing system, characterized in that: include: Microwave infrared coupled food processing device and food 3D printer: The microwave-infrared coupled food processing device comprises: a processing container, a microwave generating module, an infrared heating module, and a control module. The processing container has a resonant cavity, and a printing platform is provided at the bottom of the resonant cavity. The microwave generating module comprises a microwave source, which is used to heat food materials placed on the printing platform. The infrared heating module comprises an infrared heating tube, which is used to heat food materials placed on the printing platform. The microwave generating module and the infrared heating module are communicatively connected to the control module. The food 3D printer comprises: an extruder, the extruder being connected to a printing nozzle, the nozzle of the printing nozzle being arranged in the resonant cavity and located above the printing platform; A clearance opening is provided on the top wall of the processing container, and a microwave shielding device is provided at the clearance opening. The microwave shielding device includes a first metal plate and a second metal plate that are parallel to each other and spaced apart. During the movement of the printing nozzle, the first metal plate and the second metal plate can move synchronously with the printing nozzle.

2. The food 3D printing processing system according to claim 1, characterized in that: Installation cabins are respectively provided on both sides of the resonant cavity, and at least one infrared heating tube is respectively provided in each of the installation cabins.

3. The food 3D printing processing system according to claim 2, characterized in that: A first metal shielding net is provided on the wall of the installation cabin facing the printing platform.

4. The food 3D printing processing system according to claim 1, characterized in that: A first guide rail is provided at the bottom of the resonant cavity along the Y direction, and the printing platform is slidingly fitted on the first guide rail. The resonant cavity also includes a first driving mechanism for driving the printing platform to move along the length direction of the first guide rail. The first driving mechanism is communicatively connected to the control module.

5. The food 3D printing processing system according to claim 4, characterized in that: The first driving mechanism includes a first driving motor, the output shaft of the first driving motor is connected to a first lead screw, and the printing platform is provided with a first screw sleeve which is sleeved on the first lead screw; Alternatively, the first driving mechanism includes a push rod, and the push rod is connected to the printing platform.

6. The food 3D printing processing system according to any one of claims 1 to 5, characterized in that: A material taking port is provided on the container wall of the processing container, a container door made of a transparent material is provided on the material taking port, and a second metal shielding net is provided on the inner wall of the container door.

7. The food 3D printing processing system according to any one of claims 1 to 5, characterized in that: The microwave source is arranged below the printing platform.

8. The food 3D printing processing system according to any one of claims 1 to 5, characterized in that: It also includes a second drive mechanism and a third drive mechanism for driving the extrusion device to move along the X direction and the Z direction respectively, and the second drive mechanism and the third drive mechanism are communicatively connected to the control module; The second driving mechanism includes a second driving motor, the output shaft of the second driving motor is provided with a second screw arranged along the X direction, and the extrusion device is provided with a second screw sleeve sleeved on the second screw; The third driving mechanism includes a third driving motor. The output shaft of the third driving motor is provided with a third lead screw arranged along the Z direction. The end of the second lead screw is provided with a third screw sleeve which is sleeved on the third lead screw.

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