3D cake printer based on nozzle library

Abstract

The invention discloses a 3D cake printer based on a spray head warehouse, which comprises a rack, one side of the rack is provided with the spray head warehouse used for placing spray heads used during printing, and one side of the rack adjacent to the spray head warehouse is provided with an external material rack used for storing different printing materials; x-axis, Y-axis and Z-axis driving mechanisms are arranged in the rack, the driving mechanisms are connected with a printing platform and an execution unit, the execution unit is connected with a manipulator, the manipulator is used for grabbing nozzles from a nozzle library and fixing the nozzles above the printing platform for printing, and the driving mechanisms are used for achieving movement of the manipulator and the printing platform. The execution unit is used for conveying the printing material from the external material frame to the spray head located above the printing platform; the printer further comprises a control mainboard. The cake printer has the advantages of being controllable in printing material temperature and large in printing size range.

Description

Technical Field

[0001] The invention belongs to the technical field of food processing equipment and relates to a 3D cake printer based on a nozzle library. Background Art

[0002] As consumers' demand for personalized and customized food continues to grow, traditional cake making techniques have gradually exposed their limitations. Although handmade cakes can meet personalized needs to some extent, they have significant deficiencies in complex shapes, multiple material combinations, and high structuring, such as character models, sugar sculptures, and customized logos. Handmade cakes are limited by the level of manual technology, making it difficult to complete precise detail production, ensuring the consistency of production effects, and low production efficiency. In addition, traditional cakes often use inedible decorative components such as brackets, plastic decorations, and metal wires. These components need to be removed before cutting or eating, which increases the inconvenience of eating and destroys the overall eating experience. In addition, there are relatively few cake printers on the market for special groups such as those with diabetes, hyperlipidemia, hypertension, and lactose intolerance, especially those that can provide personalized cake production based on health needs such as low sugar, low carbon water, and gluten-free.

[0003] In recent years, the application of 3D printing technology in the food industry has gradually emerged, providing a new solution for the personalized customization of cakes. However, the structural design of the existing 3D cake printer nozzle is fixed, which limits the diversity and complexity of the printed shapes. At the same time, due to the limitation of the working range of the equipment, the existing printers have bottlenecks in size and are difficult to meet the production needs of large banquet cakes. Therefore, there is an urgent need for a 3D cake printing device with multi-material and multi-shape printing capabilities, which can expand the printing size and achieve efficient printing to meet the manufacturing needs of complex and large-size products, and at the same time provide a safer and healthier choice for special groups such as diabetes, hyperlipidemia, hypertension, and lactose intolerance. Summary of the invention

[0004] The purpose of the present invention is to provide a 3D cake printer based on a nozzle library, which has the characteristics of controllable printing material temperature and a large printing size range.

[0005] The technical solution adopted by the present invention is a 3D cake printer based on a nozzle library, including a frame, a nozzle library is arranged on one side of the frame for placing the nozzles used for printing, and an external material rack is arranged on the side of the frame adjacent to the nozzle library for storing different printing materials; X-axis, Y-axis, and Z-axis driving mechanisms are arranged inside the frame, the driving mechanism is connected to a printing platform and an execution unit, the execution unit is connected to a manipulator, the manipulator is used to grab the nozzle from the nozzle library and fix the nozzle above the printing platform for printing, the driving mechanism is used to realize the movement of the manipulator and the printing platform, and the execution unit is used to transport the printing material from the external material rack to the nozzle located above the printing platform; the printer also includes a control motherboard.

[0006] The present invention is also characterized in that: The nozzle library includes a square nozzle support frame, on which are mounted a plurality of horizontally arranged first partitions, both ends of which are fixed to the nozzle support frame, on which are arranged a plurality of first slots, on which nozzles are placed, and on which are arranged a first temperature control module for monitoring and adjusting the temperature of each nozzle.

[0007] The external material rack includes a square barrel support frame, on which a plurality of horizontally arranged second partitions are installed, both ends of the second partitions are fixed to the barrel support frame, and the second partitions are provided with a plurality of second slots, in which barrels are placed.

[0008] A material level sensor is arranged on the second partition plate, and a heat preservation layer and an independent second temperature control module are arranged on the barrel.

[0009] The driving mechanism includes two ball screws fixed on two opposite sides of the frame respectively, the ball screws are arranged vertically, and movable rods are arranged in parallel on both sides thereof, and both ends of the ball screws and the movable rods are fixed to the frame of the frame; the driving mechanism also includes four cross bars arranged on the upper part of the frame, and both ends of the cross bars are fixed to the frame of the frame, and the four cross bars form a square; pulleys are arranged on both ends of the cross bars, and a belt is connected between two opposite pulleys located on the same side of different cross bars, and the rotation of the pulley is controlled by a motor to realize the rotation of the belt; a slider is arranged between the belt and the cross bar on the same side, and the slider is slidably sleeved with the cross bar and fixedly connected to the belt; a slide rail is connected between the two opposite sliders, and a connecting block is arranged at the intersection of the two slide rails, and the connecting block is slidably connected to the slide rail.

[0010] The ball screw and the movable rod are commonly connected with a printing platform, the printing platform is fixedly connected to the nut of the ball screw, and the printing platform is connected to the movable rod through a linear bearing.

[0011] The execution unit includes a material extrusion mechanism fixedly connected to the connecting block. The material extrusion mechanism is a hollow rectangular structure, which is connected to two pipes, one of which is connected to the printing material stored in an external material rack, and the other is connected to the nozzle located above the printing platform; a third temperature control module is arranged below the material extrusion mechanism.

[0012] The manipulator includes an electric gripper fixedly connected to the third temperature control module, the electric gripper is used to clamp the nozzles in the nozzle library and fix the nozzles during the cake printing process; a CCD image sensor and a camera are arranged under the electric gripper.

[0013] The control main board controls the driving mechanism through the motor to realize the movement of the robot and the printing platform, and maintains the nozzles in the nozzle library, the printing materials in the external material rack, and the printing materials output to the nozzles by the execution unit at a certain temperature through the temperature control module; the control main board is also used to control the extrusion amount and extrusion temperature of the printing material; the control main board has a built-in path optimization module and energy consumption optimization algorithm.

[0014] The printer also includes a screen for displaying the printer's working status and key parameters and data during the printing process in real time; the printer also includes an ultraviolet lamp for disinfecting the entire printer.

[0015] The beneficial effects of the present invention are: (1) The printer of the present invention is provided with a nozzle library and an external material rack. The nozzle library is provided with a plurality of nozzles of different sizes and independent of each other. The external material rack can hold a plurality of printing materials with different properties, and each of the external material racks is provided with an independent temperature control module. By integrating the nozzle library and the external material rack, the automatic replacement of the nozzles and the flexible switching of various printing materials are realized, the downtime during the printing process is reduced, the printing efficiency is improved, and the limitation that the traditional cake printing equipment can only process single-material and simple-shaped cakes is broken. The printing of a variety of edible materials, including special taste or functional ingredients, is supported, which greatly improves the diversity of cake customization and realizes the automatic printing of multi-material, multi-shape, and multi-layer cakes. (2) The printer of the present invention is provided with an X-axis, Y-axis, and Z-axis drive mechanism, through which the lifting and lowering of the printing platform and the translation of the printing nozzle are realized, which effectively expands the size range of printable cakes and can meet the needs of high-end customization and large banquet cakes; (3) The control motherboard of the printer of the present invention has built-in path optimization algorithm and energy consumption optimization algorithm, so that the cake printing process is carried out under the optimal path, and the use of materials and energy consumption are optimized, which significantly reduces material waste and production time, and reduces production costs; in addition, the device supports fully enclosed production operations, avoids manual contact, and can provide more hygienic, healthy and safe food options. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the 3D cake printer of the present invention; Figure 2 This is a schematic diagram of the structure of the nozzle library in the 3D cake printer of the present invention; Figure 3 This is a schematic diagram of the structure of the external material rack in the 3D cake printer of the present invention; Figure 4 This is a front view of the external material rack in the 3D cake printer of the present invention; Figure 5 It is a schematic diagram of the structure of the driving mechanism in the 3D cake printer of the present invention; Figure 6 It is a structural schematic diagram of the execution unit in the 3D cake printer of the present invention; Figure 7 The figure is a schematic diagram of the structure of the robot in the 3D cake printer of the present invention.

[0017] In the figure, 1. rack, 2. nozzle library, 21. first partition, 22. first slot, 23. nozzle, 24. first temperature control module, 25. nozzle support frame, 3. manipulator, 31. positioning hole, 32. electric gripper, 33. CCD image sensor, 34. camera, 4. external material rack, 41. second partition, 42. second slot, 43. barrel, 44. material level sensor, 45. insulation layer, 46. second temperature control module, 47. barrel support frame, 5. execution unit, 51. material extrusion mechanism, 52. third temperature control module, 6. driving mechanism, 61. ball screw, 62. movable rod, 63. linear bearing, 64. cross bar, 65. pulley, 66. belt, 67. slider, 68. slide rail, 69. connecting block, 7. printing platform, 8. control motherboard, 9. screen. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Example 1 The present invention is based on a 3D cake printer with a nozzle library, and the structure is as follows Figure 1 As shown, it includes a frame 1, which is used to fix and support the various components of the whole machine. The frame 1 is made of high-strength metal material to ensure the stability and durability of the equipment. The top and sides of the frame 1 are encapsulated with organic glass to facilitate observation of the printing process, and can effectively isolate external interference to ensure the stability of the internal working environment. The bottom plate of the frame 1 is made of metal materials such as aluminum alloy or steel plate to provide sufficient rigidity and stability to prevent vibration from affecting the printing accuracy.

[0020] A nozzle bank 2 is provided on one side of the frame 1 for placing nozzles used for printing. Figure 2As shown, the nozzle library 2 includes a square nozzle support frame 25, on which a plurality of horizontally arranged first partitions 21 are mounted, both ends of the first partition 21 are fixed to the nozzle support frame 25, and a plurality of first slots 22 are arranged on the first partition 21, and nozzles 23 are placed in the first slots 22. A first temperature control module 24 is also arranged on the first partition 21, and the first temperature control module 24 is a small temperature controller for monitoring and controlling the temperature of each nozzle 23 to ensure the temperature control accuracy and stability.

[0021] The nozzle library 2 is a modular multi-nozzle storage unit with a multi-layer structure. Each layer of the structure independently stores a group of nozzles. The nozzles of different layers can be classified according to the type of printing material, printing requirements, nozzle size, aperture size, etc., which is convenient for management and use. Each layer of nozzles is equipped with an independent temperature control module, and different temperatures can be set according to the printing materials used. For example, syrup uses a high-temperature nozzle and chocolate uses a low-temperature nozzle. The two nozzles are placed on different partitions and set at different temperatures to facilitate direct use when printing cakes. Each nozzle 23 is separated by a first partition 21 and a first slot 22 to prevent cross contamination between different nozzles.

[0022] An external material rack 4 is provided on one side of the frame 1 adjacent to the nozzle bank 2 for storing different printing materials, such as Figure 3 and Figure 4 As shown, the external material rack 4 includes a square barrel support frame 47, on which a plurality of horizontally arranged second partitions 41 are installed, both ends of the second partitions 41 are fixed to the barrel support frame 47, and a plurality of second slots 42 are arranged on the second partitions 41, and barrels 43 are placed in the second slots 42, and printing materials such as sugar, chocolate, cream, etc. are placed in the barrels 43, which can be placed in layers according to the different properties of the materials.

[0023] A material level sensor 44 is provided on the second partition plate 41, which can detect the height of the material in the barrel 43. When the material height is detected to be lower than the warning line, a material replenishment prompt can be issued through the control mainboard 8 of the printer, and the material replenishment operation can be performed. Each barrel 43 is provided with an insulation layer 45 and an independent second temperature control module 46 to ensure that materials are stored at different temperatures. For example, syrup needs to maintain a certain fluidity in the silo, which can be maintained at 70℃-80℃, while chocolate needs to be maintained between 30℃-32℃ to avoid excessive melting. The independent second temperature control module 46 can achieve precise control of the temperature of different materials such as sugar, chocolate, and cream.

[0024] The frame 1 is provided with an X-axis, a Y-axis, and a Z-axis drive mechanism 6. Figure 5As shown, the driving mechanism 6 includes two ball screws 61 fixed to two opposite sides of the frame 1, respectively. The ball screws 61 are vertically arranged, and movable rods 62 are arranged in parallel on both sides thereof. Both ends of the ball screws 61 and the movable rods 62 are fixed to the frame of the frame 1. The printing platform 7 is connected to the ball screws 61 and the movable rods 62. The printing platform 7 is fixedly connected to the nut of the ball screws 61. The motor drives the ball screws 61 to rotate, thereby realizing the lifting and lowering of the printing platform 7. The printing platform 7 is connected to the movable rods 62 through linear bearings 63 to realize the smooth lifting and lowering of the printing platform 7 along the Z axis.

[0025] The driving mechanism 6 also includes four crossbars 64 arranged above the inside of the frame 1. Both ends of the crossbars 64 are fixed to the frame of the frame 1, and the four crossbars 64 form a square. Pulleys 65 are arranged at both ends of the crossbars 64. A belt 66 is connected between two opposite pulleys 65 located on the same side of different crossbars 64. The rotation of the pulley 65 is controlled by a motor, thereby realizing the rotation of the belt 66. A slider 67 is arranged between the belt 66 and the crossbar 64 located on the same side. The slider 67 is slidably sleeved with the crossbar 64 and fixedly connected with the belt 66. The rotation of the belt 66 drives the slider 67 to slide back and forth along the crossbar 64. A slide rail 68 is connected between the two opposite sliders 67. A connecting block 69 is arranged at the intersection of the two slide rails 68. The connecting block 69 is slidably connected to the slide rail 68. The belt 66 drives the slider 67 to translate, and the two opposite sliders 67 jointly drive the connecting block 69 to translate, thereby realizing the translation of the connecting block 69 along the X-axis and the Y-axis in the horizontal plane.

[0026] The execution unit 5 is connected to the bottom of the connection block 69. Figure 6 As shown, the execution unit 5 includes a material extrusion mechanism 51 fixedly connected to the connection block 69. The material extrusion mechanism 51 is a hollow rectangular structure, which is connected to two pipes, one of which is connected to the barrel 43 in the external material rack 4. Each barrel 43 is equipped with a separate capillary, and all capillary tubes are connected to the pipe to realize the delivery of the printing material in the barrel 43 to the material extrusion mechanism 51. The other pipe is connected to the nozzle located above the printing platform 7, which is used to deliver the material to the nozzle for cake printing. A third temperature control module 52 is provided below the material extrusion mechanism 51, which is used to keep the printing material in the material extrusion mechanism 51 at a certain temperature. The temperature can be dynamically adjusted according to the characteristics of the material to ensure that the material is printed and formed at a suitable temperature.

[0027] A robot 3 is fixedly connected below the third temperature control module 52. Figure 7As shown, the manipulator 3 includes an electric gripper 32 fixedly connected to the third temperature control module 52 through a positioning hole 31, and the electric gripper 32 is used to clamp the nozzle 23 of the nozzle library 2 and fix the nozzle 23 during the cake printing process. A CCD image sensor 33 and a camera 34 are arranged below the electric gripper 32, and the two work together to monitor the position of the electric gripper 32 and the surface state of the cake being printed in real time, so as to accurately control the movement trajectory of the electric gripper 32. The manipulator 3 can achieve precise positioning and movement under the control of the driving mechanism 6, thereby achieving the grasping of the nozzle 23, and printing the cake by accurately controlling the position of the nozzle 23.

[0028] The cake printer of the present invention further comprises a control mainboard 8, a screen 9 and an ultraviolet lamp.

[0029] The control main board 8 is connected to the controllers of all motors, sensors, temperature control modules, cameras 34, and electric grippers 32. It receives all data collected by the sensors, temperature control modules, and cameras 34, and issues instructions to the controllers of the temperature control modules, motors, and electric grippers 32, so that the temperature of the nozzle 23 and the barrel 43 is controlled within a certain range, and the movement of the electric grippers 32 is controlled so that it can accurately grasp the nozzle 23 and accurately print the cake on the printing platform 7. The control main board 8 is also used to control the selection and extrusion of the printing material in the barrel 43, and control the extrusion amount and extrusion temperature of the printing material in the material extrusion mechanism 51. The control main board 8 has a built-in path optimization module, which can automatically optimize the printing path according to the complexity of the printing model and the material properties, reduce the printing time and improve the printing accuracy. The path optimization module uses a genetic algorithm, taking into account factors such as the fluidity and thermal expansion characteristics of the material to ensure that the printing of each layer achieves the best effect. The control main board 8 also has a built-in energy consumption optimization algorithm, which dynamically adjusts the working status of each component on the premise of ensuring the printing quality and reduces the energy consumption of the equipment. The energy consumption optimization algorithm monitors the equipment's workload and energy consumption data in real time through sensors, intelligently adjusts the operating parameters of each component, and reduces unnecessary power consumption.

[0030] The screen 9 is arranged at the bottom side of the frame 1 and connected to the control main board 8 for real-time display of the working status of the printer and key parameters and data during the printing process so that the operator can perform real-time monitoring and adjustment.

[0031] The ultraviolet lamp is arranged above the inside of the frame 1 and is used to sterilize the entire printer.

[0032] Example 2 The specific engineering process of the 3D cake printer of Example 1 of the present invention is as follows: Step 1: When the cake printer is turned off, turn on the UV lamp to disinfect the table, and then turn off the UV lamp; Step 2, turn on the cake printer, and according to the printing task, the control main board 8 controls the manipulator 3 to grab a suitable nozzle 23 from the nozzle library 2 and move the nozzle 23 to the printing position; Step 3, the control main board 8 automatically selects the corresponding barrel 43 according to the printing task, and delivers the printing material to the installed nozzle 23 through the pipeline; Step 4, the control main board 8 controls the driving mechanism 6 to adjust the printing platform 7 to a suitable height, and controls each temperature control module to ensure that the temperature of the printing material is controlled at an optimal state; Step 5, the control main board 8 controls the extrusion amount and extrusion temperature of the printing material in the material extrusion mechanism 51 according to the input printing model, and controls the nozzle 23 to print under the optimal path; Step 6: During the printing process, the printing progress is monitored in real time, and the control main board 8 continuously adjusts the motion trajectory of the manipulator 3 and the extrusion parameters of the nozzle according to the data fed back by the CCD image sensor 33 and the camera 34 to ensure the printing quality; Step 7, after printing is completed, the nozzle 23 is moved back to the nozzle library 2 and cleaned to prevent residual material from clogging the nozzle.

[0033] Example 3 This embodiment is based on a 3D cake printer with a nozzle library, and the structure is as follows Figure 1 As shown, it includes a frame 1, a nozzle library 2 is provided on one side of the frame 1 for placing the nozzles used for printing, and an external material rack 4 is provided on the side of the frame 1 adjacent to the nozzle library 2 for storing different printing materials; X-axis, Y-axis, and Z-axis driving mechanisms 6 are provided inside the frame 1, the driving mechanism 6 is connected to the printing platform 7 and the execution unit 5, the execution unit 5 is connected to the manipulator 3, the manipulator 3 is used to grab the nozzle 23 from the nozzle library 2, and fix the nozzle 23 above the printing platform 7 for printing, the driving mechanism 6 is used to realize the movement of the manipulator 3 and the printing platform 7, and the execution unit 5 is used to transport the printing material from the external material rack 4 to the nozzle 23 located above the printing platform 7; the printer also includes a control motherboard 8.

[0034] Example 4 On the basis of Example 3, the nozzle library 2 includes a square nozzle support frame 25, on which a plurality of horizontally arranged first partitions 21 are installed, both ends of the first partition 21 are fixed to the nozzle support frame 25, a plurality of first slots 22 are arranged on the first partition 21, and nozzles 23 are placed in the first slots 22, and a first temperature control module 24 is also arranged on the first partition 21 for monitoring and adjusting the temperature of each nozzle 23.

[0035] Example 5 On the basis of Example 4, the external material rack 4 includes a square barrel support frame 47, on which a plurality of horizontally arranged second partitions 41 are installed, both ends of the second partitions 41 are fixed to the barrel support frame 47, and a plurality of second slots 42 are arranged on the second partitions 41, and barrels 43 are placed in the second slots 42.

[0036] A material level sensor 44 is disposed on the second partition plate 41 , and a heat-insulating layer 45 and an independent second temperature control module 46 are disposed on the barrel 43 .

[0037] Example 6 On the basis of Example 5, the driving mechanism 6 includes two ball screws 61 fixed to two opposite sides of the frame 1 respectively, the ball screws 61 are arranged vertically, and movable rods 62 are arranged in parallel on both sides thereof, and both ends of the ball screws 61 and the movable rods 62 are fixed to the frame of the frame 1; the driving mechanism 6 also includes four cross bars 64 arranged on the upper part of the inside of the frame 1, and both ends of the cross bars 64 are fixed to the frame of the frame 1, and the four cross bars 64 form a square; pulleys 65 are arranged at both ends of the cross bars 64, and a belt 66 is connected between two opposite pulleys 65 located on the same side of different cross bars 64, and the rotation of the pulley 65 is controlled by a motor to realize the rotation of the belt 66; a slider 67 is arranged between the belt 66 and the cross bar 64 located on the same side, and the slider 67 is slidably sleeved with the cross bar 64 and fixedly connected with the belt 66; a slide rail 68 is connected between the two opposite sliders 67, and a connecting block 69 is arranged at the intersection of the two slide rails 68, and the connecting block 69 is slidably connected with the slide rail 68.

Claims

1. A 3D cake printer based on a nozzle library, characterized in that: The printer comprises a frame (1), a nozzle library (2) is arranged on one side of the frame (1) for placing nozzles used for printing, and an external material rack (4) is arranged on one side of the frame (1) adjacent to the nozzle library (2) for storing different printing materials; an X-axis, Y-axis, and Z-axis drive mechanisms (6) are arranged inside the frame (1), the drive mechanism (6) is connected to a printing platform (7) and an execution unit (5), the execution unit (5) is connected to a manipulator (3), the manipulator (3) is used to grab a nozzle (23) from the nozzle library (2) and fix the nozzle (23) above the printing platform (7) for printing, the drive mechanism (6) is used to realize the movement of the manipulator (3) and the printing platform (7), and the execution unit (5) is used to transport the printing material from the external material rack (4) to the nozzle (23) located above the printing platform (7); the printer also comprises a control mainboard (8).

2. The 3D cake printer based on the nozzle library type according to claim 1 is characterized in that: The nozzle library (2) comprises a square nozzle support frame (25), on which a plurality of horizontally arranged first partitions (21) are mounted, both ends of the first partitions (21) are fixed to the nozzle support frame (25), a plurality of first slots (22) are arranged on the first partition (21), and nozzles (23) are placed in the first slots (22), and a first temperature control module (24) is also arranged on the first partition (21) for monitoring and adjusting the temperature of each nozzle (23).

3. The 3D cake printer based on the nozzle library according to claim 1 is characterized in that: The external material rack (4) comprises a square barrel support frame (47), on which a plurality of horizontally arranged second partitions (41) are mounted, both ends of the second partitions (41) are fixed to the barrel support frame (47), and the second partitions (41) are provided with a plurality of second slots (42), and barrels (43) are placed in the second slots (42).

4. The 3D cake printer based on the nozzle library type according to claim 3 is characterized in that: A material level sensor (44) is provided on the second partition plate (41), and a heat-insulating layer (45) and an independent second temperature control module (46) are provided on the barrel (43).

5. The 3D cake printer based on the nozzle library type according to claim 1 is characterized in that: The driving mechanism (6) comprises two ball screws (61) respectively fixed to two opposite sides of the frame (1); the ball screws (61) are arranged vertically, and movable rods (62) are arranged in parallel on both sides thereof; both ends of the ball screws (61) and the movable rods (62) are fixed to the frame of the frame (1); the driving mechanism (6) also comprises four cross bars (64) arranged at the upper part of the frame (1); both ends of the cross bars (64) are fixed to the frame of the frame (1); the four cross bars (64) form a square; both ends of the cross bars (64) are provided with pulleys (65) A belt (66) is connected between two opposite pulleys (65) on the same side of different cross bars (64), and the rotation of the pulley (65) is controlled by a motor, thereby realizing the rotation of the belt (66); a slider (67) is provided between the belt (66) and the cross bar (64) on the same side, the slider (67) is slidably sleeved with the cross bar (64) and fixedly connected to the belt (66); a slide rail (68) is connected between the two opposite sliders (67), and a connecting block (69) is provided at the intersection of the two slide rails (68), and the connecting block (69) is slidably connected to the slide rail (68).

6. The 3D cake printer based on the nozzle library according to claim 5 is characterized in that: The ball screw (61) and the movable rod (62) are commonly connected to a printing platform (7); the printing platform (7) is fixedly connected to a nut of the ball screw (61); and the printing platform (7) is connected to the movable rod (62) via a linear bearing (63).

7. The 3D cake printer based on the nozzle library type according to claim 5, characterized in that: The execution unit (5) comprises a material extrusion mechanism (51) fixedly connected to the connection block (69); the material extrusion mechanism (51) is a hollow rectangular parallelepiped structure, connected to two pipes, one of which is connected to the printing material stored in the external material rack (4), and the other is connected to the nozzle (23) located above the printing platform (7); a third temperature control module (52) is arranged below the material extrusion mechanism (51).

8. The 3D cake printer based on the nozzle library according to claim 7 is characterized in that: The robot arm (3) comprises an electric gripper (32) fixedly connected to the third temperature control module (52), the electric gripper (32) being used to grip a nozzle (23) from the nozzle library (2) and to fix the nozzle (23) during the cake printing process; a CCD image sensor (33) and a camera (34) are arranged below the electric gripper (32).

9. The 3D cake printer based on the nozzle library type according to claim 1, characterized in that: The control main board (8) controls the driving mechanism (6) through a motor, thereby realizing the movement of the manipulator (3) and the printing platform (7), and maintains the nozzles (23) of the nozzle library (2), the printing materials of the external material rack (4), and the printing materials output to the nozzles (23) by the execution unit (5) at a certain temperature through a temperature control module; the control main board (8) is also used to control the extrusion amount and extrusion temperature of the printing materials; the control main board (8) has a built-in path optimization module and an energy consumption optimization algorithm.

10. The 3D cake printer based on the nozzle library type according to claim 1, characterized in that: The printer further comprises a screen (9) for displaying in real time the working status of the printer and key parameters and data during the printing process; the printer further comprises an ultraviolet lamp for disinfecting the entire printer.

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