High-throughput continuous switching food 3D printing equipment and printing method

Abstract

The invention discloses high-throughput continuous switching food 3D printing equipment and a printing method.The equipment comprises a machine body, the machine body is provided with a movable printing platform and a movable printing assembly, the printing assembly comprises array type printing nozzles, and the array type printing nozzles comprise a plurality of printing nozzles arranged in an array mode; each printing nozzle is connected with a plurality of material barrels through a plurality of connecting pipes, the material barrels are used for containing printing materials, and each material barrel is connected with an air pressure output control unit and an air pressure valve through a conveying guide pipe. An array type multi-printing-nozzle printing mode is used, the three-dimensional motion process and an air pressure control unit are controlled through image pixel information, and combined manufacturing of the same printed product through multiple printing nozzles and respective manufacturing of different products through the multiple printing nozzles are achieved in combination with a reduction and compensation printing scheme in the printing process; and compared with the continuous switching 3D printing process of a single printing nozzle, the printing flux is improved by multiple equal to the number of the array type printing nozzles.

Description

Technical Field

[0001] The invention relates to a high-throughput continuous switching food 3D printing device and a printing method, belonging to the technical field of 3D printing. Background Art

[0002] In the food field, 3D printing technology has played a great role in food shape and nutrition customization due to its many advantages in raw material prefabrication stability, customized control of printing material output, and high equipment integration. Among them, due to the demand for diversified diet and nutrition, multi-material food 3D printing technology has developed rapidly. Multi-material food 3D printing generally places a variety of food printing materials in different barrels, and applies extrusion pressure to the printing materials in different barrels according to the printing path settings, so as to achieve personalized customization of multiple materials in the same printed product.

[0003] Continuous switching 3D printing is a type of multi-material 3D printing technology. Through the customization of the flow channel of the print nozzle, multiple printing slurries are combined in the same extruder. Combined with the switch control of the printing slurry feeding process, multiple printing slurries can be quickly extruded on demand during the printing process. This technology avoids the negative impact of the motion stroke and motion accuracy control on printing efficiency and accuracy in the traditional direct writing multi-material 3D printing technology due to the motion stroke and motion accuracy control during the switching of the print nozzle. At present, through the adjustment of the physicochemical properties of food slurry and the design of continuous switching 3D printing nozzles, it is possible to achieve 1mm×2mm voxel unit molding of food slurry at a 1mm extrusion aperture, and form patterned printed products such as marbled beef.

[0004] In the face of the commercialization and industrialization needs of food 3D printing technology, the high-speed printing process and high-throughput of food material molding are inevitable trends. However, the current continuous switching 3D printing technology is to extrude multiple materials in one nozzle to form a printed product, and the overall printing efficiency is low. It can only achieve a printing speed of 10mm / s at a 1mm extrusion aperture, and the printing throughput is 7.85mm 3 / s. At the same time, due to the long transition time from elasticity to viscosity of food materials during printing, and the time difference between the switching of the two materials and the printing process, the edge accuracy of the printed product and the combination accuracy of multiple materials will be damaged, resulting in a large difference in accuracy between the printed product and the printed model.

[0005] Therefore, there is an urgent need to develop a high-throughput continuous switching 3D printing device and printing method for food raw materials to achieve precise and rapid batch manufacturing, meet the manufacturing needs of the commercialization and industrialization of food 3D printing technology, thereby addressing existing technical bottlenecks, promoting the application and expansion of multi-material 3D printing technology in complex structure manufacturing, and providing more competitive solutions for future manufacturing industries. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a high-throughput continuous switching food 3D printing device and printing method. The present invention can improve the efficiency and accuracy of continuous switching 3D printing of food, and promote the development and commercial application of multi-material food 3D printing technology.

[0007] The first object of the present invention is to provide a high-throughput continuous switching food 3D printing device, comprising a body, wherein the body is equipped with a movable printing platform and a movable printing component, wherein the printing component is located above the printing platform;

[0008] A base is provided at the bottom of the body, a Y-axis linear module is installed on the base, the Y-axis linear module is connected to an X-axis linear module, the Y-axis linear module is used to drive the X-axis linear module to move along the Y-axis direction; the X-axis linear module is connected to a printing platform, the X-axis linear module is used to drive the printing platform to move along the X-axis direction; the printing platform is used to carry printed products;

[0009] A mounting frame is provided on the side of the machine body, and a Z-axis linear module is installed on the mounting frame. The Z-axis linear module is connected to a printing component, and the Z-axis linear module is used to drive the printing component to move along the Z-axis direction;

[0010] The printing component includes a fixing fixture connected to the output end of the Z-axis linear module, an array-type printing nozzle is arranged in the fixing fixture, and the array-type printing nozzle includes a plurality of printing nozzles arranged in an array, each of the printing nozzles is connected to a plurality of barrels through a plurality of connecting pipes, and the barrels are used to place printing materials, and each of the barrels is connected to an air pressure output control unit and an air pressure valve through a transmission conduit.

[0011] In one embodiment of the present invention, a motion control unit is also installed on the base, and the motion control unit is electrically connected to the X-axis linear module, the Y-axis linear module, and the Z-axis linear module. The motion control unit is used to control the movement of the X-axis linear module, the Y-axis linear module, and the Z-axis linear module.

[0012] In one embodiment of the present invention, the air pressure output control unit is used to receive and process image information of the printing model, convert it into air pressure output control information to control the air pressure value and air pressure opening and closing of the air pressure valve, and the air pressure is transmitted to the barrel through the transmission conduit to extrude the printing material in the barrel, and the printing material is printed onto the printing platform through the connecting tube and the printing nozzle.

[0013] In one embodiment of the present invention, the spacing between the plurality of printing nozzles is adjustable, and the height of the plurality of printing nozzles is adjustable.

[0014] In one embodiment of the present invention, the array print head includes a first print head, a second print head, and a third print head arranged in an array, and the two sides of the upper end of each print head are connected to two barrels through two connecting pipes respectively, and a discharge port is arranged at the bottom end of each print head, and a print head central axis is arranged in the center of each print head.

[0015] The second object of the present invention is to provide a high-throughput continuous switching food 3D printing method, using the high-throughput continuous switching food 3D printing device, the method comprises the following steps:

[0016] Step S1, setting a printing control program, converting a three-dimensional target model into a three-dimensional motion and air pressure control signal to control a 3D printing device;

[0017] Step S2, determining the position of the array print heads, and adjusting the spacing and height of the print heads by adjusting the fixing fixture;

[0018] Step S3, adjusting printing parameters, including adjusting the printing wire spacing, adjusting the printing speed, adjusting the single pixel reading time, adjusting the return speed, and adjusting the extrusion pressure supply value.

[0019] In one embodiment of the present invention, the step S1 specifically includes:

[0020] The corresponding position information is set in the 3D model according to the type of printing material, and the positions of different printing materials in the 3D model are calibrated with different colors; then the 3D model is divided into equal parts according to the number of layers of the printed product, and surface view images of different divided areas are obtained;

[0021] The three-dimensional size of the surface view image is scaled according to the size of the target product. When continuous switching is performed in the X-axis direction, the number of Y-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of Y-axis pixels after the image is scaled = the Y-axis size of the target product / the extrusion wire width; when continuous switching is performed in the X-axis direction, the number of pixels in the X-axis direction is determined according to the X-axis size of the target product, the printing speed, and the single pixel reading time, and the number of pixels in the X-axis direction = the X-axis size / (printing speed×single pixel reading time); at the same time, the Y-axis direction is divided equally according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the Y-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the motion control unit and the air pressure output control unit of each printing nozzle respectively;

[0022] When continuous switching is performed in the X-axis direction, the motion control unit of the 3D printing device reads the number of pixels in the X-axis direction in sequence, and moves a certain distance according to the number of pixels, where the moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the Y-axis direction is read, the number of pixels in the second row in the X-axis direction is read, and the above process is repeated until the image is read;

[0023] When continuous switching in the X-axis direction is performed, the air pressure output control unit synchronously reads the color information of the pixels in the X-axis direction of the image in sequence, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the single pixel reading time. When the first row of image pixels in the Y-axis direction is read, the color information of the second row of pixels in the X-axis direction is read, and then the above process is repeated until the image is read.

[0024] When the Y-axis direction is switched continuously, the number of X-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of X-axis pixels after the image is scaled = the X-axis size of the target product / the extruded wire width; when the Y-axis direction is switched continuously, the number of pixels in the Y-axis direction is determined according to the Y-axis size of the target product, the printing speed and the single pixel reading time, and the number of pixels in the Y-axis direction = the Y-axis size / (printing speed × single pixel reading time); at the same time, the X-axis direction is divided into equal parts according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the X-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the air pressure output control unit of each printing nozzle respectively;

[0025] When performing continuous switching in the Y-axis direction, the motion control unit of the 3D printing device sequentially reads the number of pixels in the Y-axis direction, and moves a certain distance according to the number of pixels, where the moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the X-axis direction is read, the number of pixels in the second row in the Y-axis direction is read, and then the above process is repeated until the image is read;

[0026] When continuous switching in the Y-axis direction is performed, the air pressure output control unit reads the color information of the pixels in the Y-axis direction of the image in sequence, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the single pixel reading time. When the first row of image pixels in the X-axis direction is read, the color information of the second row of pixels in the Y-axis direction is read, and then the above process is repeated until the image is read.

[0027] The surface views of different equally divided areas are upper views or lower views of each block of the three-dimensional model after the three-dimensional model is equally divided;

[0028] Among them, when parallel printing heads are combined together to produce the same printed product, the surface view image is equally divided according to the number of printing heads, and the image pixel information is transmitted to the air pressure output control unit of each printing head for 3D printing; when the parallel printing heads produce different printed products respectively, the image information of the printed product to be read is input to each printing head respectively, and the image pixel information is transmitted to the air pressure output control unit of each printing head for 3D printing.

[0029] In one embodiment of the present invention, step S2 specifically includes:

[0030] The print head spacing is the distance between the center axes of the print heads when two print heads are arranged in a parallel array;

[0031] When the parallel print heads are combined to produce the same printed product and continuous switching is performed in the X-axis direction, the print head spacing = the Y-axis dimension of the printed product / the number of print heads; when continuous switching is performed in the Y-axis direction, the print head spacing = the X-axis dimension of the printed product / the number of print heads;

[0032] When the parallel print heads are used to produce different printed products and continuous switching is performed in the X-axis direction, the print head spacing is greater than the maximum Y-axis dimension of the printed product; when continuous switching is performed in the Y-axis direction, the print head spacing is greater than the maximum X-axis dimension of the printed product;

[0033] The print head height is the distance between the bottom end of the print head outlet and the upper surface of the printing substrate; the print head spacing and the print head height are determined according to the size of the printed product and the thickness of the first layer.

[0034] In one embodiment of the present invention, in step S3:

[0035] Adjusting the printing wire spacing includes: adjusting the distance between the previous line of printing wire and the next line of printing wire according to the size of the printed product and the number of image pixels;

[0036] When continuous switching is performed in the X-axis direction, the printing wire spacing = the Y-axis size of the printed product / the number of pixels in the Y-axis direction of the image;

[0037] When continuous switching is performed in the Y-axis direction, the printing wire spacing = the size of the printed product in the X-axis direction / the number of pixels in the image in the X-axis direction;

[0038] Adjusting the printing speed includes: setting the displacement speed of the printing nozzle according to the printing requirements;

[0039] Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirement and printing speed of the printed product, where the single pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction);

[0040] Adjusting the return speed includes: after printing a line of extruded filaments, the displacement speed of the print head to the starting position of the next line of extruded filaments;

[0041] Adjusting the output air pressure value includes: setting a reasonable extrusion pressure supply value according to the line width and printing speed requirements, and each barrel corresponds to a single extrusion pressure to adjust the extrusion speed of the printing material in each barrel.

[0042] The third object of the present invention is to provide a high-throughput continuous switching food 3D printing accuracy assurance method, using a high-throughput continuous switching food 3D printing device or a high-throughput continuous switching food 3D printing method, the printing accuracy assurance method includes: reducing the discharge at the starting point and extending the discharge at the end;

[0043] The starting point reduction discharge and the end extension discharge are to extend the starting point and the end point of each row of extruded filament deposition by a certain distance;

[0044] Since there is a certain height distance between the print head and the printing substrate, there is a certain distance delay in the discharge and deposition process. When a line is printed, there is residual material in the print head, and there will be a certain length of extruded filament missing at the end of the line. When printing the next line, the starting point will be a length longer than the preset value.

[0045] The starting point reduction discharge setting is set before the control system reads the pixel points of the line image to be printed, and the required reduction discharge time is set according to the error length;

[0046] Reducing the discharge time = starting point error length / printing speed;

[0047] The end point delayed discharge setting is set after the control unit reads the pixel points of the line image to be printed, and the required delayed discharge time is set according to the error length;

[0048] Delayed discharge time = key error length / printing speed.

[0049] The beneficial effects of the present invention are:

[0050] The present invention realizes a high-throughput continuous switching food 3D printing process by setting a printing mode of an array print nozzle. Compared with the continuous switching food 3D printing process of a conventional single print nozzle, the printing throughput is increased by a multiple of the number of print nozzles of the parallel print nozzle. Through a high-throughput printing method, the three-dimensional model to be printed is converted into image pixel information to realize independent control of the air pressure control unit of each print nozzle in the parallel print nozzle, so as to accurately realize the combination of multiple print nozzles to produce the same printed product or to produce different printed products separately. Furthermore, by reducing and delaying the error factors occurring in the printing process, the dimensional accuracy of the printed product and the preset model is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 It is a stereoscopic diagram of a high-throughput continuous switching food 3D printing device provided by the present invention.

[0053] Figure 2 This is a stereoscopic diagram from another perspective of a high-throughput continuous switching food 3D printing device provided by the present invention.

[0054] Figure 3 It is a three-dimensional diagram of the printing assembly provided by the present invention.

[0055] Figure 4 It is a stereoscopic diagram of the printing assembly provided by the present invention from another viewing angle.

[0056] Figure 5 It is a front view of the printing nozzle provided by the present invention.

[0057] Figure 6 It is a logic diagram of a high-throughput continuous switching food 3D printing method provided by the present invention.

[0058] Figure 7 It is a logic diagram of a high-throughput continuous switching food 3D printing accuracy assurance method provided by the present invention.

[0059] Figure 8 This is a diagram showing the influence of the print head height on the printing effect during the high-throughput continuous switching food 3D printing process provided by the present invention.

[0060] Fig. 9This is a diagram showing the influence of printing speed on printing effect during the high-throughput continuous switching food 3D printing process provided by the present invention.

[0061] Fig.10 This is a diagram showing the influence of the high-throughput continuous switching food 3D printing accuracy assurance method provided by the present invention on the printing effect.

[0062] Fig.11 The high-throughput continuous switching food 3D printing provided by the present invention is a rendering of the same product and different products produced by the parallel printing nozzle combination; wherein, Fig.11 A in the figure is the same printed product manufactured by a combination of three print heads. Fig.11 B in and Fig.11 The C in the figure represents different products made by three printing heads.

[0063] In the figure: 1. fixing fixture; 2. Z-axis linear module; 3. X-axis linear module; 4. Y-axis linear module; 5. printing platform; 6. motion control unit; 7. array printing nozzle; 8. barrel; 9. connecting pipe; 10. air pressure valve; 11. transmission duct; 12. air pressure output control unit; 13. first printing nozzle; 14. second printing nozzle; 15. third printing nozzle; 16. central axis of printing nozzle; 17. machine body; 171. base; 172. mounting frame; 18. printing assembly. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0067] In order to promote the commercialization and large-scale application of food 3D printing technology, the present invention proposes a high-throughput continuous switching food 3D printing device and printing method based on the continuous switching 3D printing technology. Through the combination of parallel printing nozzles, combined with the real-time control of extrusion pressure based on image pixel point reading and printing error control strategy, the printing efficiency, accuracy and molding speed of the continuous switching 3D printing process of food are improved while ensuring that the morphology requirements of the printed product are met.

[0068] Embodiment 1:

[0069] like Figure 1-5 As shown, this embodiment provides a high-throughput continuous switching food 3D printing equipment, including a body 17, on which a movable printing platform 5 and a movable printing component 18 are installed, and the printing component 18 is located above the printing platform 5.

[0070] Furthermore, a base 171 is provided at the bottom of the body 17, and a Y-axis linear module 4 is installed on the base 171. The Y-axis linear module 4 is connected to the X-axis linear module 3, and the Y-axis linear module 4 is used to drive the X-axis linear module 3 to move along the Y-axis direction; the X-axis linear module 3 is connected to the printing platform 5, and the X-axis linear module 3 is used to drive the printing platform 5 to move along the X-axis direction; the printing platform 5 is used to carry printed products.

[0071] Furthermore, a mounting frame 172 is provided on the side of the machine body 17, and a Z-axis linear module 2 is installed on the mounting frame 172. The Z-axis linear module 2 is connected to a printing component 18, and the Z-axis linear module 2 is used to drive the printing component 18 to move along the Z-axis direction.

[0072] Thus, the two-dimensional movement of the printing platform 5 along the X-axis and Y-axis directions can be realized through the X-axis linear module 3 and the Y-axis linear module 4; and the printing component 18 can be moved along the Z-axis direction through the Z-axis linear module 2.

[0073] Optionally, a motion control unit 6 is also installed on the base 171, and the motion control unit 6 is electrically connected to the X-axis linear module 3, the Y-axis linear module 4, and the Z-axis linear module 2, and the motion control unit 6 is used to control the movement of the X-axis linear module 3, the Y-axis linear module 4, and the Z-axis linear module 2. The motion control unit 6 receives and processes the image information of the printed model, and converts it into 3D printing path information to perform real-time control of the three-dimensional motion path of the X-axis linear module 3, the Y-axis linear module 4, and the Z-axis linear module 2.

[0074] Furthermore, the printing component 18 includes a fixing fixture 1 connected to the output end of the Z-axis linear module 2, and an array-type printing nozzle 7 is arranged in the fixing fixture 1. The array-type printing nozzle 7 includes a plurality of printing nozzles arranged in an array, and the spacing between the plurality of printing nozzles is adjustable, and the height of the plurality of printing nozzles is adjustable. Each of the printing nozzles is connected to a plurality of barrels 8 through a plurality of connecting tubes 9, and the barrels 8 are used to place printing materials. Each of the barrels 8 is connected to an air pressure output control unit 12 and an air pressure valve 10 through a transmission conduit 11; the air pressure output control unit 12 is used to receive and process image information of the printing model, and convert it into air pressure output control information to control the air pressure value and air pressure opening and closing of the air pressure valve 10. The air pressure is transmitted to the barrel 8 through the transmission conduit 11 to extrude the printing material in the barrel 8, and the printing material is printed onto the printing platform 5 through the connecting tube 9 at the printing nozzle.

[0075] Among them, the array print head 7 is fixed to the fixing fixture 1. By changing the fixed position of the array print head 7 on the fixing fixture 1, the distance and height between several print heads can be adjusted; optionally, in addition to the above-mentioned air pressure extrusion method, the extrusion pressure source of the printing material can also adopt a motor extrusion method; when the extrusion pressure source is air pressure extrusion, the extrusion pressure transmission device can adopt the above-mentioned transmission conduit 11 connecting the barrel 8 and the extrusion pressure source; when the extrusion pressure source is motor extrusion, the extrusion pressure transmission device can adopt a screw or piston structure connecting the motor and the printing material.

[0076] Optionally, in this embodiment, the array print head 7 includes a first print head 13, a second print head 14, and a third print head 15 arranged in an array, and two sides of the upper end of each print head are connected to two barrels 8 through two connecting pipes 9 respectively, and a discharge port is provided at the bottom end of each print head, and a print head central axis 16 is provided in the center of each print head.

[0077] Optionally, the number of array-type print heads 7 is determined according to the printable range of the 3D printing device and the thickness of the print heads. For example, if the maximum printable range of the 3D printing device in the Y-axis direction is 100 mm and the thickness of the print heads is 20 mm, a maximum of 6 print heads can be placed; the print heads are in the form of multi-material multi-channel single outlet, or in the form of multi-material multi-channel coaxial outlet; the print heads are placed in parallel in a single direction when in an array; the print heads can be placed in parallel in the X-axis direction or the Y-axis direction; the barrel 8 can be connected to the print head through a connecting tube 9 or a Luer connector; when the print head is coupled with n materials, the corresponding number of barrels is n.

[0078] Embodiment 2:

[0079] This embodiment provides a high-throughput continuous switching food 3D printing method, using the above-mentioned high-throughput continuous switching food 3D printing device, and the method includes the following steps:

[0080] Step S1, setting a printing control program, converting a three-dimensional target model into a three-dimensional motion and air pressure control signal to control a 3D printing device;

[0081] The step S1 specifically includes:

[0082] The corresponding position information is set in the 3D model according to the type of printing material, and the positions of different printing materials in the 3D model are calibrated with different colors; then the 3D model is divided into equal parts according to the number of layers of the printed product, and surface view images of different divided areas are obtained;

[0083] The three-dimensional size of the surface view image is scaled according to the size of the target product. When continuous switching is performed in the X-axis direction, the number of Y-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of Y-axis pixels after the image is scaled = the Y-axis size of the target product / the extruded wire width; when continuous switching is performed in the X-axis direction, the number of pixels in the X-axis direction is determined according to the X-axis size of the target product, the printing speed, and the single pixel point reading time, and the number of pixels in the X-axis direction = the X-axis size / (printing speed×single pixel point reading time); at the same time, the Y-axis direction is divided into equal parts according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the Y-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the motion control unit 6 and the air pressure output control unit 12 of each printing nozzle respectively;

[0084] When performing continuous switching in the X-axis direction, the motion control unit 6 of the 3D printing device reads the pixel quantity information in sequence along the X-axis direction, and moves a certain distance according to the pixel quantity information, where the moving distance = pixel quantity × single pixel reading time × printing speed; when the first row of image pixels in the Y-axis direction is read, the pixel quantity information of the second row in the X-axis direction is read, and then the above process is repeated until the image is read;

[0085] When the continuous switching in the X-axis direction is performed, the air pressure output control unit 12 synchronously reads the color information of the pixels in the X-axis direction of the image in sequence, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the single pixel reading time. When the first row of image pixels in the Y-axis direction is read, the color information of the second row of pixels in the X-axis direction is read, and then the above process is repeated until the image is read.

[0086] When the Y-axis direction is switched continuously, the number of X-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of X-axis pixels after the image is scaled = the X-axis size of the target product / the extruded wire width; when the Y-axis direction is switched continuously, the number of pixels in the Y-axis direction is determined according to the Y-axis size of the target product, the printing speed and the single pixel reading time, and the number of pixels in the Y-axis direction = the Y-axis size / (printing speed×single pixel reading time); at the same time, the X-axis direction is divided into equal parts according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the X-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the air pressure output control unit 12 of each printing nozzle respectively;

[0087] When performing continuous switching in the Y-axis direction, the motion control unit 6 of the 3D printing device sequentially reads the pixel quantity information along the Y-axis direction, and moves a certain distance according to the pixel quantity information, where the moving distance = pixel quantity × single pixel reading time × printing speed; when the first row of image pixels in the X-axis direction is read, the second row of pixel quantity information in the Y-axis direction is read, and then the above process is repeated until the image is read;

[0088] When continuous switching is performed in the Y-axis direction, the air pressure output control unit 12 reads the color information of the pixel points in turn along the Y-axis direction of the image, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel point = the single pixel point reading time; when the first row of image pixel points in the X-axis direction is read, the color information of the pixel points in the second row in the Y-axis direction is read, and then the above process is repeated until the image is read.

[0089] Optionally, the surface views of different equally divided areas may be top views or bottom views of each piece of the model after the three-dimensional model is equally divided.

[0090] Optionally, when the parallel print heads 7 are combined together to produce the same printed product, the surface view image is equally divided according to the number of print heads, and the image pixel information is transmitted to the air pressure output control unit 12 of each print head for 3D printing; when the parallel print heads 7 produce different printed products respectively, the image information of the printed product to be read is input to each print head respectively, and the image pixel information is transmitted to the air pressure output control unit 12 of each print head for 3D printing.

[0091] Step S2, determining the position of the array print heads, and adjusting the spacing and height of the print heads by adjusting the fixing fixture 1;

[0092] The step S2 specifically includes:

[0093] The print head spacing is the distance between the print head central axes 16 when two print heads are arranged in a parallel array;

[0094] When the parallel print heads 7 are combined together to produce the same printed product and continuous switching is performed in the X-axis direction, the print head spacing = the Y-axis dimension of the printed product / the number of print heads; when continuous switching is performed in the Y-axis direction, the print head spacing = the X-axis dimension of the printed product / the number of print heads;

[0095] When the parallel print heads are used to produce different printed products and continuous switching is performed in the X-axis direction, the print head spacing is greater than the maximum Y-axis dimension of the printed product; when continuous switching is performed in the Y-axis direction, the print head spacing is greater than the maximum X-axis dimension of the printed product;

[0096] The print head height is the distance between the bottom end of the print head outlet and the upper surface of the printing substrate; the print head spacing and the print head height are determined according to the size of the printed product and the thickness of the first layer.

[0097] Step S3, adjusting printing parameters, including adjusting the printing wire spacing, adjusting the printing speed, adjusting the single pixel reading time, adjusting the return speed, and adjusting the extrusion pressure supply value;

[0098] Adjusting the printing wire spacing includes: adjusting the distance between the previous line of printing wire and the next line of printing wire according to the size of the printed product and the number of image pixels;

[0099] When continuous switching is performed in the X-axis direction, the printing wire spacing = the Y-axis size of the printed product / the number of pixels in the Y-axis direction of the image;

[0100] When continuous switching is performed in the Y-axis direction, the printing wire spacing = the size of the printed product in the X-axis direction / the number of pixels in the image in the X-axis direction;

[0101] Adjusting the printing speed includes: setting the displacement speed of the printing nozzle according to the printing requirements;

[0102] Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirement and printing speed of the printed product, where the single pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction);

[0103] Adjusting the return speed includes: after printing a line of extruded filaments, the displacement speed of the print head to the starting position of the next line of extruded filaments;

[0104] Adjusting the output air pressure value includes: setting a reasonable extrusion pressure supply value according to the line width and printing speed requirements, and each barrel 8 corresponds to a single extrusion pressure to adjust the extrusion speed of the printing material in each barrel 8.

[0105] Specifically, Figure 6 As shown, a high-throughput continuous switching food 3D printing method includes: three-dimensional model generation, three-dimensional model segmentation image conversion, printing control program distribution image pixel control information, array printing nozzle position determination, printing parameter setting, in this embodiment, there are two kinds of raw materials to be printed, and three array printing nozzles are combined to produce the same printed product;

[0106] The 3D model generation process generates 2 colors of 3D model files to be printed through the 3D model software, and divides the 3D model files according to the layer height to generate grayscale images of 2 colors, black and white, which are compressed into 120×120 pixel jpg image files in this embodiment;

[0107] The process of distributing image pixel control information in the printing control program imports a 120×120 pixel file into the printing control program; taking the continuous switching printing in the X-axis direction as an example, the printing control program divides the image into three 120×40 image pixel files, and distributes them to the air pressure output control unit of the parallel printing nozzle in sequence, and outputs the air pressure required for supplying material A when reading black (gray value = 255), and outputs the air pressure required for supplying material B when reading white (gray value = 0);

[0108] The process of determining the position of the array print head is to adjust the distance between the central axes of the outlets on the print head according to the required size of the printed product. For example, in this embodiment, the required size of the printed product is 120 mm × 120 mm, and the array print head includes 3 print heads. For continuous switching 3D printing in the X-axis direction, the distance between the central axes of the print heads needs to be set to 40 mm.

[0109] The printing parameter setting process includes setting a reasonable print head height, printing speed, return speed, Y-axis offset distance, air pressure, and setting the corresponding single-pixel reading time according to the size of the printed product; for example, at a printing speed of 10mm / s, after setting the air pressure and print head height, the material extrusion line width is 1mm, and a 1mm Y-axis offset distance is required. At this time, under a 120×120 pixel image, setting a single-pixel reading time of 100ms will result in a printed product size of 120mm×120mm.

[0110] Embodiment three:

[0111] This embodiment provides a high-throughput continuous switching food 3D printing accuracy assurance method, using the above-mentioned high-throughput continuous switching food 3D printing method, the printing accuracy assurance method includes: reducing the material discharge at the starting point and extending the material discharge at the end;

[0112] The starting point reduction discharge and the end extension discharge are to extend the starting point and the end point of each row of extruded filament deposition by a certain distance;

[0113] Since there is a certain height distance between the print head and the printing substrate, there is a certain distance delay in the discharge and deposition process. When a line is printed, there is residual material in the print head, and there will be a certain length of extruded filament missing at the end of the line. When printing the next line, the starting point will be a length longer than the preset value.

[0114] The starting point reduction discharge setting is set before the control system reads the pixel points of the line image to be printed, and the required reduction discharge time is set according to the error length;

[0115] Reducing the discharge time = starting point error length / printing speed;

[0116] The end point delayed discharge setting is set after the control unit reads the pixel points of the line image to be printed, and the required delayed discharge time is set according to the error length;

[0117] Delayed discharge time = key error length / printing speed.

[0118] Specifically, Figure 7 As shown, a high-throughput continuous switching food 3D printing accuracy assurance method includes: shortening the discharge time at the starting point and delaying the discharge time at the end point; due to the setting of the print head height, there is a certain distance delay between the discharge and deposition process, which will cause the extruded filament length at the end of the printing line to be missing and the extruded filament length at the starting point of the printing line to be too long;

[0119] The starting point reduction discharge time means that according to the error between the starting point and the end point and the size of the product to be printed, a certain time of discharge compensation or reduction is performed on the left and right sides of the image in the X-axis direction.

[0120] Embodiment 4:

[0121] This embodiment provides a printing product rendering based on a high-throughput continuous switching food 3D printing equipment, printing method and printing accuracy assurance method; this embodiment uses 80% water ground beef (red, green) and beef fat (white) as printing materials, and uses food-grade pigments to perform color processing on the printing materials to characterize the continuous switching process of the two-phase material; this embodiment uses an array printing head with 3 printing heads; this embodiment uses continuous switching 3D printing in the X-axis direction.

[0122] like Figure 8 As shown, the influence of the print head height on the printing effect in the high-throughput continuous food 3D printing process was verified; an image with alternating black and white pixels was used to control the printing process; when the printing speed was 10mm / s, the extrusion pressures of the two-phase materials were set to 240KPa and 246KPa respectively; when the print head height was 0.8mm, the line width was 1.2mm, and the Y-axis offset distance needed to be set to 1.2mm; when the print head height was 1mm, the line width was 1mm, and the Y-axis offset distance needed to be set to 1mm; when the print head height was 1.2mm, the line width was 0.8mm, and the Y-axis offset distance needed to be set to 0.8mm.

[0123] like Fig. 9 As shown, the influence of printing speed on printing effect in high-throughput continuous switching food 3D printing process was verified; an image with alternating black and white pixels was used to control the printing process; when the single pixel time was 250ms and the line width was set to 1mm, as the printing speed increased, the overall length of the printed product gradually increased, and the length of the two color materials in the printed product in the X-axis direction also gradually increased; through ultra-depth of field microscopy measurement, it was found that the length of a single pixel = single pixel time × printing speed; when the printing speed was 30mm / s, the printing throughput was 71mm 3 / s, which is three times that of conventional single-print head continuous switching 3D printing equipment under the conditions of printing speed of 30mm / s and line width of 1mm.

[0124] like Fig.10As shown, the influence of the high-throughput continuous switching food 3D printing accuracy assurance method on the printing effect was verified; an image with alternating black and white pixels was used to control the printing process; the single pixel reading time was set to 500ms, the printing speed was 10mm / s, and the theoretical single pixel printing length was 5000um; but in the actual printing effect, the actual printing length of the starting point single pixel was 5606um, and the actual printing length of the end point single pixel was 4401um, which was a large deviation; with the increase of the reduced discharge time at the starting point and the delayed discharge time at the end point, the error between the actual printing length of the single pixel at the starting point and the end point and the required size of the printed product gradually decreased, and when the reduced discharge time and the delayed discharge time were both set at 60ms, the actual printing length of the single pixel at the starting point and the end point reached about 5006um.

[0125] like Fig.11 As shown, the high-throughput continuous switching food 3D printing process was verified, with three print heads making the same product and three print heads making different products, using an image of alternating black and white pixels to control the printing process; Fig.11 A in the figure is the same printed product manufactured by a combination of three print heads. Fig.11 B in and Fig.11 The C in the figure represents different products made by three printing heads.

[0126] In summary, the present invention uses an array-type multi-print nozzle printing mode, controls the three-dimensional motion process and the air pressure supply unit through image pixel information, and combines the reduction and compensation printing schemes in the printing process to achieve the combined manufacturing of the same printed product by multiple print nozzles and the separate manufacturing of different products by multiple print nozzles; compared with the conventional single print nozzle continuous switching 3D printing process, the printing flux is increased by the number of array-type print nozzles.

[0127] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-throughput continuous switching food 3D printing device, characterized in that: The machine body comprises a movable printing platform and a movable printing component installed on the machine body, wherein the printing component is located above the printing platform; A base is provided at the bottom of the body, a Y-axis linear module is installed on the base, the Y-axis linear module is connected to an X-axis linear module, the Y-axis linear module is used to drive the X-axis linear module to move along the Y-axis direction; the X-axis linear module is connected to a printing platform, the X-axis linear module is used to drive the printing platform to move along the X-axis direction; the printing platform is used to carry printed products; A mounting frame is provided on the side of the machine body, and a Z-axis linear module is installed on the mounting frame. The Z-axis linear module is connected to a printing component, and the Z-axis linear module is used to drive the printing component to move along the Z-axis direction; The printing component includes a fixing fixture connected to the output end of the Z-axis linear module, an array-type printing nozzle is arranged in the fixing fixture, and the array-type printing nozzle includes a plurality of printing nozzles arranged in an array, each of the printing nozzles is connected to a plurality of barrels through a plurality of connecting pipes, and the barrels are used to place printing materials, and each of the barrels is connected to an air pressure output control unit and an air pressure valve through a transmission conduit.

2. A high-throughput continuous switching food 3D printing device according to claim 1, characterized in that: A motion control unit is also installed on the base, and the motion control unit is electrically connected to the X-axis linear module, the Y-axis linear module, and the Z-axis linear module. The motion control unit is used to control the movement of the X-axis linear module, the Y-axis linear module, and the Z-axis linear module.

3. A high-throughput continuous switching food 3D printing device according to claim 1, characterized in that: The air pressure output control unit is used to receive and process the image information of the printing model, and convert it into air pressure output control information to control the air pressure value and air pressure opening and closing of the air pressure valve. The air pressure is transmitted to the barrel through the transmission conduit to extrude the printing material in the barrel, and the printing material is printed onto the printing platform through the connecting tube and the printing nozzle.

4. A high-throughput continuous switching food 3D printing device according to claim 1, characterized in that: The spacing between the plurality of printing nozzles is adjustable, and the height of the plurality of printing nozzles is adjustable.

5. The high-throughput continuous switching food 3D printing device according to claim 1, characterized in that: The array print head includes a first print head, a second print head, and a third print head arranged in an array. The two sides of the upper end of each print head are connected to two barrels through two connecting pipes respectively, a discharge port is arranged at the bottom end of each print head, and a print head central axis is arranged in the center of each print head.

6. A high-throughput continuous switching food 3D printing method, characterized in that: A high-throughput continuous switching food 3D printing device according to any one of claims 1 to 5 is used, and the method comprises the following steps: Step S1, setting a printing control program, converting a three-dimensional target model into a three-dimensional motion and air pressure control signal to control a 3D printing device; Step S2, determining the position of the array print heads, and adjusting the spacing and height of the print heads by adjusting the fixing fixture; Step S3, adjusting printing parameters, including adjusting the printing wire spacing, adjusting the printing speed, adjusting the single pixel reading time, adjusting the return speed, and adjusting the extrusion pressure supply value.

7. A high-throughput continuous switching food 3D printing method according to claim 6, characterized in that: The step S1 specifically includes: The corresponding position information is set in the 3D model according to the type of printing material, and the positions of different printing materials in the 3D model are calibrated with different colors; then the 3D model is divided into equal parts according to the number of layers of the printed product, and surface view images of different divided areas are obtained; The three-dimensional size of the surface view image is scaled according to the size of the target product. When continuous switching is performed in the X-axis direction, the number of Y-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of Y-axis pixels after the image is scaled = the Y-axis size of the target product / the extrusion wire width; when continuous switching is performed in the X-axis direction, the number of pixels in the X-axis direction is determined according to the X-axis size of the target product, the printing speed, and the single pixel reading time, and the number of pixels in the X-axis direction = the X-axis size / (printing speed×single pixel reading time); at the same time, the Y-axis direction is divided equally according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the Y-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the motion control unit and the air pressure output control unit of each printing nozzle respectively; When continuous switching is performed in the X-axis direction, the motion control unit of the 3D printing device reads the number of pixels in the X-axis direction in sequence, and moves a certain distance according to the number of pixels, where the moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the Y-axis direction is read, the number of pixels in the second row in the X-axis direction is read, and the above process is repeated until the image is read; When continuous switching in the X-axis direction is performed, the air pressure output control unit synchronously reads the color information of the pixels in the X-axis direction of the image in sequence, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the single pixel reading time. When the first row of image pixels in the Y-axis direction is read, the color information of the second row of pixels in the X-axis direction is read, and then the above process is repeated until the image is read. When the Y-axis direction is switched continuously, the number of X-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of X-axis pixels after the image is scaled = the X-axis size of the target product / the extruded wire width; when the Y-axis direction is switched continuously, the number of pixels in the Y-axis direction is determined according to the Y-axis size of the target product, the printing speed and the single pixel reading time, and the number of pixels in the Y-axis direction = the Y-axis size / (printing speed × single pixel reading time); at the same time, the X-axis direction is divided into equal parts according to the number of parallel printing nozzles. When the number of parallel printing nozzles is 3, the X-axis direction is divided into 3 equal parts; each image information after equal division is read by the control unit of the 3D printing device and transmitted to the air pressure output control unit of each printing nozzle respectively; When performing continuous switching in the Y-axis direction, the motion control unit of the 3D printing device sequentially reads the number of pixels in the Y-axis direction, and moves a certain distance according to the number of pixels, where the moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the X-axis direction is read, the number of pixels in the second row in the Y-axis direction is read, and then the above process is repeated until the image is read; When continuous switching in the Y-axis direction is performed, the air pressure output control unit reads the color information of the pixels in the Y-axis direction of the image in sequence, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the single pixel reading time. When the first row of image pixels in the X-axis direction is read, the color information of the second row of pixels in the Y-axis direction is read, and then the above process is repeated until the image is read. The surface views of different equally divided areas are upper views or lower views of each block of the three-dimensional model after the three-dimensional model is equally divided; Among them, when parallel printing heads are combined together to produce the same printed product, the surface view image is equally divided according to the number of printing heads, and the image pixel information is transmitted to the air pressure output control unit of each printing head for 3D printing; when the parallel printing heads produce different printed products respectively, the image information of the printed product to be read is input to each printing head respectively, and the image pixel information is transmitted to the air pressure output control unit of each printing head for 3D printing.

8. A high-throughput continuous switching food 3D printing method according to claim 6, characterized in that: The step S2 specifically includes: The print head spacing is the distance between the center axes of the print heads when two print heads are arranged in a parallel array; When the parallel print heads are combined to produce the same printed product and continuous switching is performed in the X-axis direction, the print head spacing = the Y-axis dimension of the printed product / the number of print heads; when continuous switching is performed in the Y-axis direction, the print head spacing = the X-axis dimension of the printed product / the number of print heads; When the parallel print heads are used to produce different printed products and continuous switching is performed in the X-axis direction, the print head spacing is greater than the maximum Y-axis dimension of the printed product; when continuous switching is performed in the Y-axis direction, the print head spacing is greater than the maximum X-axis dimension of the printed product; The print head height is the distance between the bottom end of the print head outlet and the upper surface of the printing substrate; the print head spacing and the print head height are determined according to the size of the printed product and the thickness of the first layer.

9. A high-throughput continuous switching food 3D printing method according to claim 6, characterized in that: In the step S3: Adjusting the printing wire spacing includes: adjusting the distance between the previous line of printing wire and the next line of printing wire according to the size of the printed product and the number of image pixels; When continuous switching is performed in the X-axis direction, the printing wire spacing = the Y-axis size of the printed product / the number of pixels in the Y-axis direction of the image; When continuous switching is performed in the Y-axis direction, the printing wire spacing = the size of the printed product in the X-axis direction / the number of pixels in the image in the X-axis direction; Adjusting the printing speed includes: setting the displacement speed of the printing nozzle according to the printing requirements; Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirement and printing speed of the printed product, where the single pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction); Adjusting the return speed includes: after printing a line of extruded filaments, the displacement speed of the print head to the starting position of the next line of extruded filaments; Adjusting the output air pressure value includes: setting a reasonable extrusion pressure supply value according to the line width and printing speed requirements, and each barrel corresponds to a single extrusion pressure to adjust the extrusion speed of the printing material in each barrel.

10. A high-throughput continuous switching food 3D printing accuracy assurance method, characterized in that: A high-throughput continuous switching food 3D printing device as described in any one of claims 1 to 5 or a high-throughput continuous switching food 3D printing method as described in any one of claims 6 to 9 is used, and the printing accuracy assurance method includes: reducing the discharge at the starting point and extending the discharge at the end; The starting point reduction discharge and the end extension discharge are to extend the starting point and the end point of each row of extruded filament deposition by a certain distance; Since there is a certain height distance between the print head and the printing substrate, there is a certain distance delay in the discharge and deposition process. When a line is printed, there is residual material in the print head, and there will be a certain length of extruded filament missing at the end of the line. When printing the next line, the starting point will be a length longer than the preset value. The starting point reduction discharge setting is set before the control system reads the pixel points of the line image to be printed, and the required reduction discharge time is set according to the error length; Reducing the discharge time = starting point error length / printing speed; The end point delayed discharge setting is set after the control unit reads the pixel points of the line image to be printed, and the required delayed discharge time is set according to the error length; Delayed discharge time = key error length / printing speed.

Images