A high-throughput continuous switching food 3D printing device and printing method

Abstract

The application discloses a high-flux continuous switching food 3D printing device and a printing method. The device comprises a machine body, a movable printing platform and a movable printing assembly installed on the machine body. The printing assembly comprises an array type printing nozzle, which comprises a plurality of array type printing nozzles. Each printing nozzle is connected with a plurality of barrels through a plurality of connecting pipes. The barrels are used for placing printing materials. Each barrel is connected with a gas pressure output control unit and a gas pressure valve through a transmission guide pipe. The application uses an array type multi-printing nozzle printing mode. Through the control of three-dimensional motion process and the gas pressure control unit by image pixel information, combined with the reduction and compensation printing scheme in the printing process, the combined manufacturing of multiple printing nozzles on the same printing product and the separate manufacturing of multiple printing nozzles on different products are realized. Compared with the continuous switching 3D printing process of a single printing nozzle, the printing flux is improved by a multiple of the number of array type printing nozzles.

Description

Technical Field

[0001] The present 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 industry, 3D printing technology, with its numerous advantages, including stable raw material prefabrication, customizable and controllable printing material output, and high equipment integration, has played a significant role in customizing food shapes and nutritional profiles. Multi-material food 3D printing has rapidly developed due to the growing demand for diverse diets and nutrition. Multi-material food 3D printing typically involves placing multiple food printing materials in separate barrels and applying extrusion pressure to each barrel based on the print path settings, enabling personalized customization of multiple materials within a single printed product.

[0003] Continuous switching 3D printing is a type of multi-material 3D printing technology. By customizing the flow path of the print nozzle, multiple printing slurries are combined into the same extruder. Combined with the on-off 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 precision control during the switching process of the print nozzle in traditional direct-write multi-material 3D printing technology on printing efficiency and accuracy. Currently, through the adjustment of the physicochemical properties of food slurries and the design of continuous switching 3D printing nozzles, it is now possible to achieve the molding of 1mm×2mm voxel units of food slurries with a 1mm extrusion aperture, and has formed patterned printed products such as marinated beef.

[0004] In the face of the commercialization and industrialization 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 into a single nozzle to form a printed product. The overall printing efficiency is low, and it can only achieve a printing speed of 10mm / s at a 1mm extrusion aperture, and a printing throughput of 7.85mm. 3 At the same time, the long transition time from elasticity to viscosity of food materials during printing, as well as the time lag between switching between the two materials and the printing process, can lead to impaired precision at the edges of printed products and in the combination of multiple materials, resulting in significant accuracy differences 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 the future manufacturing industry. 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, on which a Y-axis linear module is mounted, the Y-axis linear module is connected to an X-axis linear module, and 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, and 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 assembly, and the Z-axis linear module is used to drive the printing assembly 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. The array-type printing nozzle includes a plurality of printing nozzles arranged in an array. Each of the printing heads is connected to a plurality of barrels through a plurality of connecting pipes. The barrels are used to place printing materials. 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, Y-axis linear module, and Z-axis linear module. The motion control unit is used to control the movement of the X-axis linear module, Y-axis linear module, and 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, so as 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 print nozzle.

[0013] In one embodiment of the present invention, the spacing between the plurality of printing heads is adjustable, and the heights of the plurality of printing heads are 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 provided at the bottom end of each print head, and a print head central axis is provided in the center of each print head.

[0015] A 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 comprising the following steps:

[0016] Step S1: Setting a printing control program to convert a three-dimensional target model into three-dimensional motion and air pressure control signals to control the 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: Adjust the printing parameters, including adjusting the printing filament 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, 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. The 3D model is then 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 dimensions of the surface view image are 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 in the scaled image = 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 X-axis pixels is determined based on the X-axis size of the target product, the printing speed, and the single-pixel reading time. The number of X-axis pixels = X-axis size / (printing speed × single-pixel reading time). At the same time, the Y-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the Y-axis direction is divided into three equal parts. The information of each divided image is read by the control unit of the 3D printing device and transmitted to the motion control unit and air pressure output control unit of each printing nozzle respectively.

[0022] When performing continuous switching along the X-axis, the motion control unit of the 3D printing device sequentially reads the pixel count information along the X-axis and moves a certain distance based on the pixel count information. The movement distance = the number of pixels × the single pixel read time × the printing speed. When the first row of image pixels along the Y-axis is completely read, the second row of pixel count information along the X-axis is read, and the above process is repeated until the image is completely read.

[0023] When continuous switching is performed in the X-axis direction, the air pressure output control unit synchronously reads the color information of the pixels along the X-axis of the image in sequence, and outputs the extrusion pressure of the corresponding printing material based on 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 the above process is repeated until the image is completely read.

[0024] When continuously switching in the Y-axis direction, 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 in the scaled image = the X-axis size of the target product / the extruded filament width. When continuously switching in the Y-axis direction, the number of Y-axis pixels is determined based on the Y-axis size of the target product, the printing speed, and the single-pixel reading time. The number of Y-axis pixels = Y-axis size / (printing speed × single-pixel reading time). At the same time, the X-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the X-axis direction is divided into three equal parts. The information of each divided image is read by the control unit of the 3D printing device and transmitted to the air pressure output control unit of each printing nozzle.

[0025] When continuously switching along the Y-axis, the motion control unit of the 3D printing device sequentially reads the pixel count information along the Y-axis and moves a certain distance based on the pixel count information. The movement distance = pixel count × single pixel read time × printing speed. When the first row of image pixels along the X-axis is completely read, the second row of pixel count information along the Y-axis is read, and the above process is repeated until the image is completely read.

[0026] When continuous switching is performed in the Y-axis direction, the air pressure output control unit reads the color information of the pixels along the Y-axis of the image in sequence, and outputs the extrusion pressure of the corresponding printing material based on 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 the above process is repeated until the image is completely read.

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

[0028] Among them, when parallel printing heads are combined to produce the same printed product, the surface view image is divided into equal parts 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 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 two print heads when they are arranged in a parallel array;

[0031] When 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 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 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 filament spacing includes: adjusting the distance between the previous line of printing filament and the next line of printing filament according to the size of the printed product and the number of image pixels;

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

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

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

[0039] Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirements and printing speed of the printed product, and 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: the displacement speed of the print head to the starting position of the next line of extruded filament after printing a line of extruded filament;

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

[0042] A third object of the present invention is to provide a method for ensuring the accuracy of high-throughput continuous switching food 3D printing, using the high-throughput continuous switching food 3D printing device or the 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] Due to the certain height distance between the print head and the printing substrate, there is a certain delay in the discharge and deposition process. When a line is printed, there is residual material in the print head. 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 certain 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 image to be printed, and the required 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 image line 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 in 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 separately produce different printed products. Furthermore, by reducing and delaying the error factors that occur during 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 This 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 This is a three-dimensional diagram of the printing assembly provided by the present invention from another perspective.

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

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

[0058] Figure 7 This 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 effect 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] Figure 9This is a diagram showing the effect of printing speed on printing effect during the high-throughput continuous switching food 3D printing process provided by the present invention.

[0061] Figure 10 This figure shows the impact of the high-throughput continuous switching food 3D printing accuracy assurance method provided by the present invention on the printing effect.

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

[0063] In the figure: 1. 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 print head; 8. Barrel; 9. Connecting pipe; 10. Air pressure valve; 11. Transmission duct; 12. Air pressure output control unit; 13. First print head; 14. Second print head; 15. Third print head; 16. Print head center axis; 17. Machine body; 171. Base; 172. Mounting frame; 18. Printing assembly. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0065] In the present invention, unless otherwise expressly specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

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

[0067] 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 continuous switching 3D printing technology. Through the combination of parallel printing nozzles, combined with 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] Example 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 the 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 achieved through the X-axis linear module 3 and the Y-axis linear module 4; 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 mounted on the base 171. 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. The motion control unit 6 is configured to control the motion 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 image information of the printed model, converting it into 3D printing path information to provide 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, 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 and 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. The two sides of the upper end of each print head are connected to two barrels 8 through two connecting pipes 9 respectively. A discharge port is provided at the bottom end of each print head, and a print head central axis 16 is provided at 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 head. For example: the maximum printable range of the 3D printing device in the Y-axis direction is 100 mm, and the thickness of the print head is 20 mm, then a maximum of 6 print heads can be placed; the print head is in the form of a multi-material, multi-channel single outlet, or in the form of a multi-material, multi-channel coaxial outlet; the print heads are placed in parallel in a single direction when they are in array form; the print heads can be placed 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] Example 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 to convert a three-dimensional target model into three-dimensional motion and air pressure control signals to control the 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. The 3D model is then 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 lines. At this time, the number of Y-axis pixels in the scaled image = 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. The number of pixels in the X-axis direction = X-axis size / (printing speed × single-pixel reading time). At the same time, the Y-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the Y-axis direction is divided into three equal parts. The information of each divided image 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 sequentially reads the pixel number information along the X-axis direction and moves a certain distance based on the pixel number information. The movement distance = the number of pixels × the single pixel reading time × the printing speed. When the first row of image pixels in the Y-axis direction is completely read, the second row of pixel number information in the X-axis direction is read, and the above process is repeated until the image is completely read.

[0085] When continuous switching is performed in the X-axis direction, 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 based on 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 completely read, the color information of the second row of pixels in the X-axis direction is read, and the above process is repeated until the image is completely read.

[0086] When continuous switching is performed in the Y-axis direction, 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 in the scaled image = the X-axis size of the target product / the extruded filament width. When continuous switching is performed in the Y-axis direction, the number of pixels in the Y-axis direction is determined based on the Y-axis size of the target product, the printing speed, and the single-pixel reading time. The number of pixels in the Y-axis direction = Y-axis size / (printing speed × single-pixel reading time). At the same time, the X-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the X-axis direction is divided into three equal parts. The information of each divided image 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.

[0087] When continuously switching along the Y-axis, the motion control unit 6 of the 3D printing device sequentially reads the pixel count information along the Y-axis and moves a certain distance based on the pixel count information. The moving distance = the number of pixels × the single pixel read time × the printing speed. When the first row of image pixels along the X-axis is completely read, the second row of pixel count information along the Y-axis is read, and the above process is repeated until the image is completely 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 sequence 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 the different equally divided areas may be the top view or the bottom view 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 divided into equal parts 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: Determine the position of the array print heads, and adjust 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 to produce the same printed product and are continuously switched in the X-axis direction, the print head spacing = the Y-axis dimension of the printed product / the number of print heads; when continuously switching in the Y-axis direction, the print head spacing = the X-axis dimension of the printed product / the number of print heads;

[0095] When 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 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 filament 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 filament spacing includes: adjusting the distance between the previous line of printing filament and the next line of printing filament according to the size of the printed product and the number of image pixels;

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

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

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

[0102] Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirements and printing speed of the printed product, and 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: the displacement speed of the print head to the starting position of the next line of extruded filament after printing a line of extruded filament;

[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, if Figure 6 As shown, a high-throughput continuous switching food 3D printing method includes: 3D model generation, 3D model segmentation and image conversion, printing control program allocation of image pixel control information, array printing nozzle position determination, and printing parameter setting. In this embodiment, there are two types 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 two 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 black and white grayscale images, which are compressed into 120×120 pixel jpg image files in this embodiment;

[0107] The print control program distributes image pixel control information. A 120×120 pixel file is imported into the print control program. Taking continuous switching printing in the X-axis direction as an example, the print control program divides the image into three 120×40 pixel files, which are then assigned to the air pressure output control units of the parallel print heads. When black (grayscale value = 255) is read, the program outputs the air pressure required to supply material A. When white (grayscale value = 0) is read, the program outputs the air pressure required to supply material B.

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

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

[0110] Example 3:

[0111] This embodiment provides a high-throughput continuous switching food 3D printing accuracy assurance method, which uses 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] Due to the certain height distance between the print head and the printing substrate, there is a certain delay in the discharge and deposition process. When a line is printed, there is residual material in the print head. 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 certain 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 image to be printed, and the required 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 image line 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, if 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 result in the extruded filament length being missing at the end of the printing line and the extruded filament length being too long at the starting point of the printing line;

[0119] The starting point discharge time reduction is to compensate or reduce the discharge time on the left and right sides of the image in the X-axis direction according to the error between the starting and end points and the size of the product to be printed.

[0120] Example 4:

[0121] This embodiment provides a printed 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 and green) and beef fat (white) as printing materials, and uses food-grade pigments to color-treat the printing materials to characterize the continuous switching process of the two-phase material; this embodiment uses an array print head with 3 print heads; this embodiment uses continuous switching 3D printing in the X-axis direction.

[0122] like Figure 8 As shown in the figure, 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 10 mm / s, the extrusion pressures of the two-phase materials were set to 240 kPa and 246 kPa respectively; when the print head height was 0.8 mm, the line width was 1.2 mm, and the Y-axis offset distance needed to be set to 1.2 mm; when the print head height was 1 mm, the line width was 1 mm, and the Y-axis offset distance needed to be set to 1 mm; when the print head height was 1.2 mm, the line width was 0.8 mm, and the Y-axis offset distance needed to be set to 0.8 mm.

[0123] like Figure 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 X-axis length of the two color materials in the printed product 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 a conventional single-print nozzle continuous switching 3D printing device with a printing speed of 30mm / s and a line width of 1mm.

[0124] like Figure 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 single pixel was 5606um, and the actual printing length of the end single pixel was 4401um, which showed 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 starting and end single pixels and the required size of the printed product gradually narrowed. When the reduced discharge time and delayed discharge time were both set to 60ms, the actual printing length of the starting and end single pixels reached about 5006um.

[0125] like Figure 11 As shown, the high-throughput continuous switching food 3D printing process was verified, with three print heads producing the same product and three print heads producing different products. The printing process was controlled by an image of alternating black and white pixels. Figure 11 A in the figure is a printed product manufactured by combining three print heads. Figure 11 B in and Figure 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 realize 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 throughput is increased by a multiple of 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 replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-throughput continuous switching food 3D printing method, characterized in that: A high-throughput continuous switching food 3D printing device was used; The high-throughput continuous switching food 3D printing device includes a body, the body is equipped with a movable printing platform and a movable printing component, and the printing component is located above the printing platform; A base is provided at the bottom of the body, on which a Y-axis linear module is mounted, the Y-axis linear module is connected to an X-axis linear module, and 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, and 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 assembly, and the Z-axis linear module is used to drive the printing assembly to move along the Z-axis direction; The printing assembly includes a fixing fixture connected to the output end of the Z-axis linear module. An array of printing nozzles is disposed in the fixing fixture. The array of printing nozzles includes a plurality of printing nozzles arranged in an array. Each of the printing nozzles is connected to a plurality of barrels via a plurality of connecting pipes. The barrels are used to hold printing materials. Each of the barrels is connected to an air pressure output control unit and an air pressure valve via a transmission conduit. The method comprises the following steps: Step S1: Setting a printing control program to convert a three-dimensional target model into three-dimensional motion and air pressure control signals to control the 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 filament spacing, adjusting the printing speed, adjusting the single pixel reading time, adjusting the return speed, and adjusting the extrusion pressure supply value; 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. The 3D model is then 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 dimensions of the surface view image are 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 in the scaled image = 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 X-axis pixels is determined based on the X-axis size of the target product, the printing speed, and the single-pixel reading time. The number of X-axis pixels = X-axis size / (printing speed × single-pixel reading time). At the same time, the Y-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the Y-axis direction is divided into three equal parts. The information of each divided image is read by the control unit of the 3D printing device and transmitted to the motion control unit and air pressure output control unit of each printing nozzle respectively. When performing continuous switching along the X-axis, the motion control unit of the 3D printing device sequentially reads the pixel count information along the X-axis and moves a certain distance based on the pixel count information. The movement distance = the number of pixels × the single pixel read time × the printing speed. When the first row of image pixels along the Y-axis is completely read, the second row of pixel count information along the X-axis is read, and the above process is repeated until the image is completely read. When continuous switching is performed in the X-axis direction, the air pressure output control unit synchronously reads the color information of the pixels along the X-axis of the image in sequence, and outputs the extrusion pressure of the corresponding printing material based on 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 the above process is repeated until the image is completely read. When continuously switching in the Y-axis direction, 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 in the scaled image = the X-axis size of the target product / the extruded filament width. When continuously switching in the Y-axis direction, the number of Y-axis pixels is determined based on the Y-axis size of the target product, the printing speed, and the single-pixel reading time. The number of Y-axis pixels = Y-axis size / (printing speed × single-pixel reading time). At the same time, the X-axis direction is divided into three equal parts according to the number of parallel printing nozzles. When there are three parallel printing nozzles, the X-axis direction is divided into three equal parts. The information of each divided image is read by the control unit of the 3D printing device and transmitted to the air pressure output control unit of each printing nozzle. When continuously switching along the Y-axis, the motion control unit of the 3D printing device sequentially reads the pixel count information along the Y-axis and moves a certain distance based on the pixel count information. The movement distance = pixel count × single pixel read time × printing speed. When the first row of image pixels along the X-axis is completely read, the second row of pixel count information along the Y-axis is read, and the above process is repeated until the image is completely read. When continuous switching is performed in the Y-axis direction, the air pressure output control unit reads the color information of the pixels along the Y-axis of the image in sequence, and outputs the extrusion pressure of the corresponding printing material based on 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 the above process is repeated until the image is completely read. The surface views of the different equally divided areas are the upper view or lower view of each piece of the model after the three-dimensional model is equally divided; Among them, when parallel printing heads are combined to produce the same printed product, the surface view image is divided into equal parts 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 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.

2. A high-throughput continuous switching food 3D printing method 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, Y-axis linear module, and Z-axis linear module. The motion control unit is used to control the movement of the X-axis linear module, Y-axis linear module, and Z-axis linear module.

3. A high-throughput continuous switching food 3D printing method 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. The printing material is printed onto the printing platform through the connecting tube and the print nozzle.

4. A high-throughput continuous switching food 3D printing method 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. A high-throughput continuous switching food 3D printing method 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. The bottom end of each print head is provided with a discharge port, and the center of each print head is provided with a print head central axis.

6. A high-throughput continuous switching food 3D printing method according to claim 1, characterized in that: The step S2 specifically includes: The print head spacing is the distance between the center axes of two print heads when they are arranged in a parallel array; When 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 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 print head height are determined according to the size of the printed product and the thickness of the first layer.

7. A high-throughput continuous switching food 3D printing method according to claim 1, characterized in that: In the step S3: Adjusting the printing filament spacing includes: adjusting the distance between the previous line of printing filament and the next line of printing filament according to the size of the printed product and the number of image pixels; When performing continuous switching in the X-axis direction, the filament spacing = the Y-axis size of the printed product / the number of pixels in the Y-axis of the image; When performing continuous switching in the Y-axis direction, the filament spacing = the X-axis size of the printed product / the number of pixels in the X-axis direction of the image; Adjusting the printing speed includes: setting the displacement speed of the print head according to the printing requirements; Adjusting the single pixel reading time includes: setting the single pixel reading time according to the size requirements and printing speed of the printed product, and 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: the displacement speed of the print head to the starting position of the next line of extruded filament after printing a line of extruded filament; Adjusting the output air pressure value includes setting a reasonable extrusion pressure supply value according to the line width and printing speed requirements. Each barrel corresponds to a single extrusion pressure to adjust the extrusion speed of the printing material in each barrel.

8. A high-throughput continuous switching food 3D printing accuracy assurance method, characterized in that: A high-throughput continuous switching food 3D printing method according to any one of claims 1 to 7 is used, wherein 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; Due to the certain height distance between the print head and the printing substrate, there is a certain delay in the discharge and deposition process. When a line is printed, there is residual material in the print head. 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 certain length longer than the preset value. The starting point reduction discharge setting is set before the control system reads the pixel points of the image to be printed, and the required 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 image line 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