Color 3D printing device supporting online synchronous recovery of waste materials and using method

Abstract

The invention relates to a color 3D printing device supporting waste online synchronous recovery and a using method. The 3D printing device comprises a device frame, and a color printing nozzle capable of moving forwards, backwards, leftwards and rightwards is arranged on the device frame. The device comprises a device frame, a model printing base table capable of moving in the vertical direction is arranged on the device frame, a waste synchronous recycling mechanism is arranged on the device frame and comprises a waste printing base table, a first rolling shaft, a second rolling shaft and a rolling shaft driving motor are arranged on the waste printing base table, and a conveying belt is arranged on the first rolling shaft and the second rolling shaft. A filament material chuck used for recycling filament-shaped waste materials is arranged on the device frame and located behind the conveying belt, and a chuck driving motor is arranged on the device frame. The problem of recycling of waste generated by color FDM printing is effectively solved, the defect of treatment of current waste recycling equipment is overcome, the waste recycling equipment is more suitable for waste recycling of consumer-level color 3D printing application scenes, and meanwhile the utilization rate of materials is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of color 3D printing, and in particular to a device and a method for using the device for synchronously recovering online waste in a color 3D printing process based on an FDM process. Background Art

[0002] At present, color 3D printing is the development trend of 3D printing technology. Compared with other color 3D printing processes, such as binder jetting and material jetting, the low equipment cost of color FDM printing is more conducive to the promotion and application of color 3D printing technology in the consumer market. As a typical representative of material extrusion process, the principle of FDM (Fused Deposition Modelling) technology is to use polymer (commonly known as plastic) thermoplastic filaments as printing consumables, such as PLA (Poly Lactic Acid), ABS (Arcylonitrile Butadiene Styrene), etc., by controlling the filament to enter the print head, by controlling the heating temperature inside the print head, completing the melting change of the printing filament inside the print head, realizing the plasticization of the printing material from solid to molten state, and through the extruder head structure at the end of the print head, the molten material is extruded, and the extruded molten material is cooled by the fan at the end of the print head, thereby completing the transformation from molten state to solid state. At the same time, the above process cooperates with the motion system of the FDM equipment to process the extruded molten material from point to line, from line to surface, and then from surface to body according to the pre-planned printing path, and finally realizes the molding and printing of 3D digital models.

[0003] Compared with the traditional monochrome FDM printing effect, color FDM printing not only enhances the visual expression, but also expands the application potential in various industries, such as product prototyping, architectural model making and personalized consumer product customization. Color FDM printing will show greater potential. At present, the commonly used color FDM printing solutions are multi-color filament melt color mixing technology and multi-channel wire changing technology. The multi-color filament melt color mixing technology is to input different color filaments into a single nozzle at the same time, and complete the mixed color printing in a single extruder according to the ratio of different colors. However, this multi-color filament melt color mixing technology faces problems such as uneven color mixing. Often when the extruder extrude the ideal color material, a large amount of transition color material needs to be extruded. These transition color materials cannot be used for printing color models and are regarded as printing "printing waste". Multi-channel wire changing technology is to feed different color filaments into a single extruder separately. Since the alternating printed filaments will also produce transition color materials in the nozzle, these transition colors are also treated as "printing waste". Therefore, both of the above solutions require waste treatment of the molten transition color or the transition color of different color filaments in the printing extruder.

[0004] The recycling of the above-mentioned printing waste basically follows the principle of first crushing and grinding the printing waste, then re-melting the particles or powder, and then entering the extruder for wire drawing, or these filamentary recycled materials enter the recovery tray for subsequent FDM printing; or these filamentary materials enter the granulator again to form granular materials for recycling and reuse. However, these methods all use the entire set of 3D printing waste recycling links as independent equipment, which is more suitable for processing recycling scenarios of printing waste with a certain scale, but is obviously not suitable for consumer-grade color 3D printing application scenarios. Therefore, a waste recycling device and method that is more suitable for consumer-grade color 3D printing application scenarios is needed, which can recycle and reuse color 3D printing waste that does not have a scale, improve the utilization rate of materials, and thus be more in line with the industrial policy of green and low-carbon development of the manufacturing industry advocated by the country. Summary of the invention

[0005] The purpose of the present invention is to provide a color 3D printing device that supports online synchronous recycling of waste materials to solve the above-mentioned technical problems existing in the prior art; at the same time, the purpose of the present invention is also to provide a method for using the above-mentioned color 3D printing device.

[0006] To achieve the above-mentioned purpose, a color 3D printing device that supports online synchronous recycling of waste materials of the present invention adopts the following technical scheme: a color recycling 3D printing device that supports online synchronous recycling of waste materials, comprising a device frame, on which a color printing nozzle that can move forward, backward, left and right is arranged, and a model printing base that can move in the up and down directions is arranged on the device frame, and a waste synchronous recycling mechanism is arranged on the device frame, and the waste synchronous recycling mechanism includes a waste printing base, and a first roller, a second roller and a roller driving motor are arranged on the waste printing base, and a conveyor belt is arranged on the first roller and the second roller, and the conveyor belt is used for the color printing nozzle to print filamentary waste and to convey the filamentary waste backward, and a wire chuck for recycling filamentary waste is arranged on the device frame behind the conveyor belt, and a chuck driving motor for driving the wire chuck to rotate is arranged on the device frame.

[0007] The device frame is provided with a first guide column extending in the up-down direction, the model printing base is installed on the first guide column for up-down guiding movement, the device frame is provided with a first lead screw extending in the up-down direction, the model printing base is threadedly connected to the first lead screw, and the device frame is provided with a first lead screw driving mechanism for driving the first lead screw to rotate.

[0008] The waste material printing base is movably arranged on the device frame up and down.

[0009] The device frame is provided with a second guide column extending in the up-down direction, the waste printing base is installed on the second guide column for up-down guiding movement, the device frame is provided with a second lead screw extending in the up-down direction, the waste printing base is threadedly connected to the second lead screw, and the device frame is provided with a second lead screw driving mechanism for driving the second lead screw to rotate.

[0010] A method for using the above 3D printing device of the present invention adopts the following technical solution: comprising the following steps: 1) According to the given color model M, establish the corresponding voxel model V; 2) According to the color information of the given color model M, color assignment processing is performed on each voxel unit in the above voxel model V to obtain a color voxel model N after color assignment; 3) Calculate the color slices and the planning process of the color printing path according to the color voxel model N after color assignment; 4) Move the model printing base and the waste printing base to the printing position. Before each printing starts, it is necessary to determine whether the color value of the current printing path is consistent with the color value of the previous printing color path; if they are consistent, move the color printing nozzle to the model printing base for model printing; if they are inconsistent, move the color printing nozzle to the waste printing base for waste filament printing and recycling. After the waste printing is completed, move the color printing nozzle to the model printing base to continue model printing.

[0011] In step 1), the resolution of the voxel model is established according to the diameter of the nozzle at the bottom of the extruder of the color print head.

[0012] In step 2), the color assignment process is performed according to the following steps: Ⅰ) Traverse each voxel unit of the voxel model V and calculate the color information of each voxel unit; the color information of each voxel unit is calculated by the following steps: a) Assuming that the center point of the current voxel unit is P, the center point of the voxel unit is used as the three-dimensional spatial position of the voxel unit; b) Take point P as the sampling point, correspond it to the color model M, and calculate the color value of the sampling point C; c) Then assign the color value C of the current sampling point to the corresponding voxel unit on the voxel model V.

[0013] Ⅱ) After the above traversal process, the color value of each voxel unit in the voxel model V is calculated, and a color voxel model N is obtained.

[0014] In step 3), the calculation of color slices and the planning of color paths are achieved through the following steps: Ⅰ) According to the color voxel model N and the set slice height, the two-dimensional color voxel cutting plane corresponding to the slice height position is calculated; II) Traverse the above two-dimensional color voxel tangent plane to generate the color path of the current layer; the steps of generating the color path of the current layer are as follows: a) Assuming that the 2D color voxel tangent plane of the current layer is S, the color voxel units with the same color attribute are merged together according to the color attribute information to form a color unit sub-region; b) Then, path generation is performed in each sub-region, and a straight line filling algorithm is used as the filling path to generate a corresponding colored path in each sub-region. The color of the planned path in each sub-region is the same as the color attribute value of the current sub-region; c) After all slice layers are processed, the color paths in each layer together constitute the color printing path of the color model to be printed.

[0015] Step 4) specifically includes the following steps: A) Equipment preparation: Move the model printing base and the waste printing base to the printing position, and ensure that the gap thickness between the end of the extruder of the color print head and the model printing base and the gap thickness between the end of the extruder of the color print head and the waste printing base are both 0.05mm-0.15mm.

[0016] B) Traverse the set of color printing paths generated in step 3) in sequence and do the following: a) Get the layer height position of the current color path and control the model printing platform to move to the corresponding height; b) Determine whether the color value of the current color printing path is consistent with the color value of the previous color printing path; if not, perform the "online recycling process for waste filaments"; if consistent, pile up the material on the color printing nozzle on the model printing platform according to the printing route in the current color printing path; c) Repeat the above step B) until all color printing paths of the color models are printed.

[0017] In step b), the "online recycling process of waste wire" includes the following steps: ⅰ) Move the color printing nozzle to the top of the waste printing base; ii) Switching a specific color of filament on the color printing nozzle, the transitional color waste caused by the color change is squeezed out of the color printing nozzle, and the color printing nozzle is controlled to perform spiral horizontal printing with an oblique cross-section of the "waste recycling filament printing model", the diameter of the "waste recycling filament printing model" is consistent with the diameter of the set filament, and the printed waste recycling filament gradually grows along the conveyor belt on the waste printing base; ⅲ) When it is determined that the waste printing recovery wire on the waste printing base has reached a specified length, the conveyor belt is started, and the chuck drive motor is coordinated to control the rotation of the card to recover the waste wire; ⅳ) When the waste material in the color printing nozzle is printed, the position of the color printing nozzle on the waste material printing base is recorded, and the waste material recycling filament generated when waiting for the next material change continues to print from the last printing position; ⅴ) Move the color printing nozzle to the model printing platform and continue printing the color model.

[0018] Beneficial effects of the present invention: The 3D printing device of the present invention can not only realize the 3D printing and manufacturing of color models, but also ensure that a large amount of waste generated in color 3D printing due to the replacement of color filaments or the need to melt and mix materials of specified colors is synchronously recovered in the form of filaments, and the recycled waste is wound in the filament chuck of the recycled filaments as filaments. It effectively solves the problem of recycling waste generated by color FDM printing, makes up for the shortcomings of the current waste recycling and reuse equipment based on the "crushing-melting-filament making-granulation" process, is more suitable for waste recycling in consumer-grade color 3D printing application scenarios, improves the utilization rate of materials, and is more in line with the industrial policy of green and low-carbon development of the manufacturing industry advocated by the country. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an embodiment of a color 3D printing device supporting online synchronous recycling of waste materials of the present invention; Figure 2 yes Figure 1 A schematic diagram of the structure at another angle; Figure 3 yes Figure 2 A schematic diagram of the structure at another angle; Figure 4 It is a schematic diagram of the structure of waste recycling; Figure 5 is a schematic diagram of the colored voxel cutting plane; Figure 6 It is a schematic diagram of the sub-region division result after the color voxel slices are merged; Figure 7 It is a schematic diagram of the color path generation result of the color voxel slice. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0021] It should be noted that, unless otherwise defined, the technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0022] An embodiment of a color 3D printing device supporting online synchronous recycling of waste materials of the present invention is as follows: Figure 1-Figure 4 As shown, it includes a device frame 1, on which a color printing nozzle 3 capable of moving forward, backward, left and right is arranged. Specifically, the color printing nozzle is installed on the device frame through a Core motion mechanism. The Core motion mechanism belongs to the prior art, and its specific structure and working principle are not described in detail in this embodiment. This motion mechanism is widely used in 3D printers, including two motors 2, to achieve translation in the X direction and the Y direction in the same horizontal plane. The color printing nozzle 3 adopts the existing FDM nozzle, and its specific structure is not described in detail in this embodiment. In short, the color printing nozzle 3 includes a multi-color wire connector 16 and an extruder 17 arranged in sequence from top to bottom, and the lower part of the extruder has a nozzle, and the extruder 17 includes a wire feeding module 20 for conveying a wire 22 and a heating module 21 for melting the wire.

[0023] In this embodiment, a model printing base 5 capable of moving in the up and down direction is arranged on the device frame 1, and a waste synchronous recovery mechanism is also arranged on the device frame, and the waste synchronous recovery mechanism includes a waste printing base 10. A first roller 11, a second roller 12 and a roller drive motor 19 are arranged on the waste printing base 10, and a conveyor belt 13 is arranged on the first roller and the second roller, and the conveyor belt is used for the color printing nozzle to print the filamentary waste and to convey the filamentary waste backward. The roller drive motor drives one of the rollers to rotate through a sprocket, a pulley or a gear to realize the operation of the conveyor belt. A wire chuck 14 for recovering the filamentary waste 15 is arranged on the device frame behind the conveyor belt, and a chuck drive motor 18 for driving the wire chuck to rotate is arranged on the device frame. In this embodiment, the waste wire is printed in a spiral horizontal printing mode, and its oblique section is shown as 23.

[0024] The device frame 1 is provided with a first guide column 4 whose length extends in the up-down direction, and the number of the first guide columns 4 is two. The model printing base 5 is installed on the first guide column 4 for upward and downward guiding movement. The device frame is provided with a first lead screw 6. The model printing base 5 is threadedly connected to the first lead screw 6. The device frame is provided with a first lead screw driving mechanism 7 for driving the first lead screw 7 to rotate. The waste printing base 10 is also arranged on the device frame 1 for upward and downward movement. The device frame 1 is provided with a second guide column 8 whose length extends in the up-down direction. The number of the second guide columns 8 is two. The waste printing base 10 is installed on the second guide column 8 for upward and downward guiding movement. The device frame 1 is provided with a second lead screw 9. The waste printing base 10 is threadedly connected to the second lead screw 9. The device frame 1 is provided with a second lead screw driving mechanism for driving the second lead screw 9 to rotate. The first and second lead screw driving mechanisms are both driven by a driving motor.

[0025] The method for using the above 3D printing device is as follows, comprising the following steps: 1) According to the given color model M, establish the corresponding voxel model V.

[0026] In step 1), the resolution of the voxel model V is established according to the diameter of the nozzle at the bottom of the extruder of the color print head. This is because the minimum resolution of the color FDM print head is the size of the nozzle.

[0027] 2) According to the color information of the given color model M, color assignment processing is performed on each voxel unit in the above voxel model V to obtain a color voxel model N after color assignment.

[0028] In step 2), the color assignment process is performed according to the following steps: Ⅰ) Traverse each voxel unit of the voxel model V and calculate the color information of each voxel unit. The color information of each voxel unit is calculated by the following steps: a) Assuming that the center point of the current voxel unit is P, the center point of the voxel unit is used as the three-dimensional spatial position of the voxel unit; b) Take point P as the sampling point, correspond it to the color model M, and calculate the color value of the sampling point C; c) Then assign the color value C of the current sampling point to the corresponding voxel unit on the voxel model V.

[0029] Obviously, the color voxel model V is an approximate representation of the color model M in the three-dimensional voxel space. For the voxel units not included in the color model M, the corresponding color information is not included.

[0030] Ⅱ) After the above traversal process, the color value of each voxel unit in the voxel model V is calculated, and a color voxel model N is obtained.

[0031] 3) According to the color voxel model N after color assignment, the color slices and the planning process of the color printing path are calculated.

[0032] In step 3), the calculation of the color slice and the planning of the color path are achieved by the following steps: Ⅰ) According to the color voxel model N and the set slice height, the two-dimensional color voxel cutting plane corresponding to the slice height position is calculated; II) Traverse the above two-dimensional color voxel tangent plane to generate the color path of the current layer; the steps of generating the color path of the current layer are as follows: a) Assume that the 2D color voxel tangent plane of the current layer is S, such as Figure 5 As shown in FIG. 1 , according to the color attribute information, each color voxel unit with the same color attribute is merged together to form a color unit sub-region, such as Figure 6 As shown, for example, S1, S2, S3 and S4; b) Then, path generation is performed in each sub-area, and a straight line filling algorithm is used as the filling path to generate a corresponding color path in each sub-area, such as Figure 7 As shown, for example, Path1, Path12, Path3, and Path4. The color of the planned path within each sub-region is the same as the color attribute value of the current sub-region; c) After all color slice layers are processed, the color paths in each layer together constitute the color printing path of the color model to be printed.

[0033] 4) Move the model printing base and the waste printing base to the printing position. Before each printing starts, it is necessary to determine whether the color value of the current printing path is consistent with the color value of the previous printing color path; if they are consistent, move the color printing nozzle to the model printing base for model printing; if they are inconsistent, move the color printing nozzle to the waste printing base for waste filament printing and recycling. After the waste printing is completed, move the color printing nozzle to the model printing base to continue model printing.

[0034] In step 4), it is specifically implemented by the following steps: A) Equipment preparation: Move the model printing base and the waste printing base to the printing position, and ensure that the gap thickness between the end of the extruder of the color print head and the model printing base and the gap thickness between the end of the extruder of the color print head and the waste printing base are both 0.05mm-0.15mm. In this embodiment, 0.01mm is selected, which is the thickness of an A4 paper. In other embodiments, 0.05mm or 0..15mm can also be selected.

[0035] B) Traverse the set of color printing paths generated in step 3) in sequence and do the following: a) Get the layer height position of the current color path and control the model printing platform to move to the corresponding height; b) Determine whether the color value of the current color printing path is consistent with the color value of the previous color printing path; if not, perform the "waste filament online recycling process"; if consistent, pile up the material on the color print head on the model printing platform according to the printing route in the current color printing path; c) Repeat the above step B) until all color paths of the color model are printed.

[0036] Among them, in step b), the "online recycling process of waste wire" includes the following steps: ⅰ) Move the color printing nozzle to the top of the waste printing base; ⅱ) Switch the filament of a specific color on the color printing nozzle, and the transition color waste caused by the color change is squeezed out from the color printing nozzle. The color printing nozzle is controlled to perform spiral horizontal printing with an oblique section of the "waste recycling filament printing model". The diameter of the "waste recycling filament printing model" is consistent with the diameter of the set filament, so that the printed waste recycling filament gradually grows along the conveyor belt on the waste printing base; in this step, the diameter of the "waste recycling filament printing model" is consistent with the diameter of the set filament, and the advantage is that it can be used in subsequent conventional non-color 3D printing tasks.

[0037] ⅲ) When it is determined that the waste printing recovery wire on the waste printing base has reached a specified length, the conveyor belt is started, and the chuck drive motor is coordinated to control the rotation of the card to recover the waste wire; ⅳ) When the waste material in the color printing nozzle is printed, the position of the color printing nozzle on the waste material printing base is recorded, and the waste material recycling filament generated when waiting for the next material change continues to print from the last printing position; ⅴ) Move the color printing nozzle to the model printing platform and continue model printing.

[0038] d) The above process is converted into GCode instructions commonly used in 3D printing and saved as a G file.

Claims

1. A color recycling 3D printing device supporting online synchronous recycling of waste materials, comprising a device frame, a color printing nozzle capable of moving forward, backward, left and right is arranged on the device frame, and a model printing base capable of moving in the up and down directions is arranged on the device frame, characterized in that: The device frame is provided with a waste synchronous recovery mechanism, which includes a waste printing base, on which a first roller, a second roller and a roller driving motor are provided, and a conveyor belt is provided on the first roller and the second roller, and the conveyor belt is used for the color printing nozzle to print the filamentary waste and to convey the filamentary waste backwards, and a wire chuck for recovering the filamentary waste is provided on the device frame behind the conveyor belt, and a chuck driving motor for driving the wire chuck to rotate is provided on the device frame.

2. The color recycling 3D printing device supporting online synchronous recycling of waste materials according to claim 1, characterized in that: The device frame is provided with a first guide column extending in the up-down direction, the model printing base is installed on the first guide column for up-down guiding movement, the device frame is provided with a first lead screw extending in the up-down direction, the model printing base is threadedly connected to the first lead screw, and the device frame is provided with a first lead screw driving mechanism for driving the first lead screw to rotate.

3. The color recycling 3D printing device supporting online synchronous recycling of waste materials according to claim 1 is characterized in that: The waste material printing base is movably arranged on the device frame up and down.

4. The color recycling 3D printing device supporting online synchronous recycling of waste materials according to claim 3 is characterized in that: The device frame is provided with a second guide column extending in the up-down direction, the waste printing base is installed on the second guide column for up-down guiding movement, the device frame is provided with a second lead screw extending in the up-down direction, the waste printing base is threadedly connected to the second lead screw, and the device frame is provided with a second lead screw driving mechanism for driving the second lead screw to rotate.

5. A method for using the color recycling 3D printing device according to any one of claims 1 to 4, characterized in that: The following steps are included: 1) According to the given color model M, establish the corresponding voxel model V; 2) According to the color information of the given color model M, color assignment processing is performed on each voxel unit in the above voxel model V to obtain a color voxel model N after color assignment; 3) Calculate the color slices and the planning process of the color printing path according to the color voxel model N after color assignment; 4) Move the model printing base and the waste printing base to the printing position. Before each printing starts, it is necessary to determine whether the color value of the current printing path is consistent with the color value of the previous printing color path; if they are consistent, move the color printing nozzle to the model printing base for model printing; if they are inconsistent, move the color printing nozzle to the waste printing base for waste filament printing and recycling. After the waste printing is completed, move the color printing nozzle to the model printing base to continue model printing.

6. The method for using the color recycling 3D printing device according to claim 5, characterized in that: In step 1), the resolution of the voxel model is established according to the diameter of the nozzle at the bottom of the extruder of the color print head.

7. The method for using the color recycling 3D printing device according to claim 5, characterized in that: In step 2), the color assignment process is performed according to the following steps: Ⅰ) Traverse each voxel unit of the voxel model V and calculate the color information of each voxel unit; the color information of each voxel unit is calculated by the following steps: a) Assuming that the center point of the current voxel unit is P, the center point of the voxel unit is used as the three-dimensional spatial position of the voxel unit; b) Take point P as the sampling point, correspond it to the color model M, and calculate the color value of the sampling point C; c) Then assign the color value C of the current sampling point to the corresponding voxel unit on the voxel model V; Ⅱ) After the above traversal process, the color value of each voxel unit in the voxel model V is calculated, and a color voxel model N is obtained.

8. The method for using the color recycling 3D printing device according to claim 5, characterized in that: In step 3), the calculation of color slices and the planning of color paths are achieved through the following steps: Ⅰ) According to the color voxel model N and the set slice height, the two-dimensional color voxel cutting plane corresponding to the slice height position is calculated; II) Traverse the above two-dimensional color voxel tangent plane to generate the color path of the current layer; the steps of generating the color path of the current layer are as follows: a) Assuming that the 2D color voxel tangent plane of the current layer is S, the color voxel units with the same color attribute are merged together according to the color attribute information to form a color unit sub-region; b) Then, path generation is performed in each sub-region, and a straight line filling algorithm is used as the filling path to generate a corresponding colored path in each sub-region. The color of the planned path in each sub-region is the same as the color attribute value of the current sub-region; c) After all slice layers are processed, the color paths in each layer together constitute the color printing path of the color model to be printed.

9. The method for using the color recycling 3D printing device according to claim 5, characterized in that: Step 4) specifically includes the following steps: A) Equipment preparation: Move the model printing base and the waste printing base to the printing position, and ensure that the gap thickness between the end of the extruder of the color print head and the model printing base and the gap thickness between the end of the extruder of the color print head and the waste printing base are both 0.05mm-0.15mm; B) Traverse the set of color printing paths generated in step 3) in sequence and do the following: a) Get the layer height position of the current color path and control the model printing platform to move to the corresponding height; b) Determine whether the color value of the current color printing path is consistent with the color value of the previous color printing path; if not, perform the "online recycling process for waste filaments"; if consistent, pile up the material on the color printing nozzle on the model printing platform according to the printing route in the current color printing path; c) Repeat the above step B) until all color printing paths of the color models are printed.

10. The method for using the color recycling 3D printing device according to claim 9, characterized in that: In step b), the "online recycling process of waste wire" includes the following steps: ⅰ) Move the color printing nozzle to the top of the waste printing base; ii) Switch the filament of a specific color on the color printing nozzle, and the transition color waste caused by the color change is squeezed out of the color printing nozzle. The color printing nozzle is controlled to perform spiral horizontal printing with the oblique section of the "waste recycling filament printing model". The diameter of the "waste recycling filament printing model" is consistent with the diameter of the set filament, and the printed waste recycling filament gradually grows along the conveyor belt on the waste printing base; ⅲ) When it is determined that the waste printing recovery wire on the waste printing base has reached a specified length, the conveyor belt is started, and the chuck drive motor is coordinated to control the rotation of the card to recover the waste wire; ⅳ) When the waste material in the color printing nozzle is printed, the position of the color printing nozzle on the waste material printing base is recorded, and the waste material recycling filament generated when waiting for the next material change continues to print from the last printing position; ⅴ) Move the color printing nozzle to the model printing platform and continue printing the color model.

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