3D cake printer based on nozzle library

Abstract

The present invention discloses a 3D cake printer based on a nozzle library, comprising a frame, a nozzle library on one side of the frame for placing nozzles used for printing, an external material rack on the side of the frame adjacent to the nozzle library for storing different printing materials; an X-axis, Y-axis, and Z-axis drive mechanism are provided inside the frame, the drive 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 a nozzle from the nozzle library and fix the nozzle above the printing platform for printing, the drive 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. The cake printer of the present invention has the characteristics of controllable printing material temperature and a large printing size range.

Description

TECHNICAL FIELD

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

[0002] With the growing demand of consumers for food personalization and customization, the traditional cake making process gradually exposes its limitations. Although handmade cakes can meet the demand for personalization to some extent, they have significant shortcomings in complex shapes, multiple material combinations, and highly structured products, such as character models, sugar sculptures, and customized logos. Handmade cakes are limited by the technical level of human labor, making it difficult to achieve precise detail production and ensure consistency in production results. In addition, traditional cakes often use non-edible decorative components, such as supports, plastic decorations, and metal wires, which need to be removed before slicing or eating, increasing the inconvenience of eating and damaging the overall eating experience. Furthermore, there are relatively few cake printers on the market for special populations such as diabetics, people with high blood pressure, and people with lactose intolerance. In particular, there are few devices that can provide personalized cake production according to the needs of low-sugar, low-carbohydrate, and gluten-free health.

[0003] In recent years, the application of 3D printing technology in the food industry has gradually emerged, providing a new solution for personalized customization of cakes. However, the existing 3D cake printer nozzles have fixed structural designs, limiting the diversity and complexity of printed shapes. At the same time, due to the limitations of the device's working range, existing printers have a bottleneck in terms of size, making it difficult to meet the production needs of large-scale banquet cakes. Therefore, there is an urgent need for a 3D cake printing device that has multi-material and multi-shape printing capabilities, can expand the printing size and achieve efficient printing, and can meet the manufacturing needs of complex and large-size products, while providing safer and healthier options for special populations such as diabetics, people with high blood pressure, and people with lactose intolerance. SUMMARY

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

[0005] The technical scheme adopted by the present application is a 3D cake printer based on a nozzle bank, comprising a rack, a nozzle bank arranged on one side of the rack for placing nozzles used during printing, and an external material rack arranged on a side of the rack adjacent to the nozzle bank for storing different printing materials; the inside of the rack is provided with X-axis, Y-axis and Z-axis driving mechanisms, the driving mechanisms are connected with a printing platform and an execution unit, the execution unit is connected with a mechanical hand, the mechanical hand is used for grabbing nozzles from the nozzle bank and fixing the nozzles above the printing platform for printing, the driving mechanisms are used for moving the mechanical hand and the printing platform, and the execution unit is used for conveying printing materials from the external material rack to the nozzles above the printing platform; the printer further comprises a control mainboard.

[0006] The present application is also characterized in that:

[0007] The nozzle bank comprises a square nozzle support frame, a plurality of horizontally arranged first partitions are installed on the nozzle support frame, both ends of the first partitions are fixed to the nozzle support frame, a plurality of first insertion slots are arranged on the first partitions, nozzles are placed in the first insertion slots, and a first temperature control module is further arranged on the first partitions for monitoring and adjusting the temperature of each nozzle.

[0008] The external material rack comprises a square material cylinder support frame, a plurality of horizontally arranged second partitions are installed on the material cylinder support frame, both ends of the second partitions are fixed to the material cylinder support frame, a plurality of second insertion slots are arranged on the second partitions, and material cylinders are placed in the second insertion slots.

[0009] A material position sensor is arranged on the second partitions, and a heat preservation layer and an independent second temperature control module are arranged on the material cylinders.

[0010] The driving mechanism comprises two ball screws fixed to two opposite sides of the rack, the ball screws are vertically arranged, and movable rods are arranged in parallel on both sides of the ball screws, both ends of the ball screws and the movable rods are fixed to the frame of the rack; the driving mechanism further comprises four horizontal rods arranged above the inside of the rack, both ends of the horizontal rods are fixed to the frame of the rack, and the four horizontal rods form a square; both ends of the horizontal rods are provided with belt pulleys, a belt is connected between two opposite belt pulleys located on the same side of different horizontal rods, the rotation of the belt pulleys is controlled by a motor, and the rotation of the belt is realized; a sliding block is arranged between the belt and the horizontal rod on the same side, the sliding block is slidingly sleeved with the horizontal rod and fixedly connected with the belt; two sliding rails are connected between the two opposite sliding blocks, a connecting block is arranged at the intersection of the two sliding rails, and the connecting block is slidingly connected with the sliding rails.

[0011] The printing platform is jointly connected with the ball screws and the movable rods, the printing platform is fixedly connected with the nuts of the ball screws, and the printing platform is connected with the movable rods through linear bearings.

[0012] The execution unit comprises a material extrusion mechanism fixedly connected with the connecting block, the material extrusion mechanism is a hollow cuboid structure, two pipes are connected to the material extrusion mechanism, one pipe is connected to the printing material stored in the external rack, and the other pipe is connected to the nozzle located above the printing platform; a third temperature control module is arranged below the material extrusion mechanism.

[0013] The mechanical hand comprises an electric clamp jaw fixedly connected with the third temperature control module, the electric clamp jaw is used for clamping the nozzle of the nozzle library and fixing the nozzle during the cake printing process; a CCD image sensor and a camera are arranged below the electric clamp jaw.

[0014] The control mainboard drives the movement of the mechanical hand and the printing platform through the motor control driving mechanism, and keeps the nozzle of the nozzle library, the printing material of the external rack and the printing material output to the nozzle of the execution unit at a certain temperature through the temperature control module; the control mainboard is also used for controlling the extrusion amount and the extrusion temperature of the printing material; the control mainboard is internally provided with a path optimization module and an energy consumption optimization algorithm.

[0015] The printer further comprises a screen for displaying the working state of the printer and key parameters and data in the printing process in real time; the printer further comprises an ultraviolet lamp for disinfecting the whole printer.

[0016] The printer of the present application has the following advantages:

[0017] (1) The printer of the present application is provided with a nozzle library and an external rack, a plurality of nozzles of different sizes and independent of each other are arranged in the nozzle library, and the external rack can place a plurality of printing materials with different properties, and each is provided with an independent temperature control module; by integrating the nozzle library and the external rack, automatic replacement of the nozzle and flexible switching of various printing materials are realized, the downtime during printing is reduced, the printing efficiency is improved, the limitation of traditional cake printing equipment that can only process single material and simple shape cakes is broken, and the printing of a plurality of edible materials is supported, including special taste or functional ingredients, which greatly improves the diversity of cake customization and realizes the automatic printing of multi-material, multi-shape and multi-level cakes;

[0018] (2) The printer of the present application is provided with X-axis, Y-axis and Z-axis driving mechanisms, the driving mechanisms realize the lifting of the printing platform and the translation of the printing nozzle, effectively expand the size range of the printable cakes, and can meet the needs of high-end customization and large banquet cakes;

[0019] (3) The control mainboard of the printer of the present application is internally provided with a path optimization algorithm and an energy consumption optimization algorithm, so that the cake printing process is carried out under the optimal path, the use of materials and energy consumption are optimized, the material waste and production time are significantly reduced, and the production cost is reduced; in addition, the device supports fully closed production operation, avoids manual contact, and can provide more sanitary, healthy and safe food options. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure diagram of the 3D cake printer of the present application;

[0021] Figure 2 Structure diagram of the nozzle bank of the 3D cake printer of the present application;

[0022] Figure 3 Structure diagram of the external material rack of the 3D cake printer of the present application;

[0023] Figure 4 Front view of the external material rack of the 3D cake printer of the present application;

[0024] Figure 5 Structure diagram of the driving mechanism of the 3D cake printer of the present application;

[0025] Figure 6 Structure diagram of the execution unit of the 3D cake printer of the present application;

[0026] Figure 7 Structure diagram of the mechanical hand of the 3D cake printer of the present application.

[0027] In the figure, 1. frame, 2. nozzle bank, 21. first partition, 22. first slot, 23. nozzle, 24. first temperature control module, 25. nozzle support frame, 3. mechanical hand, 31. positioning hole, 32. electric clamping jaw, 33. CCD image sensor, 34. camera, 4. external material rack, 41. second partition, 42. second slot, 43. cartridge, 44. material level sensor, 45. thermal insulation layer, 46. second temperature control module, 47. cartridge 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. crossbar, 65. pulley, 66. belt, 67. sliding block, 68. slide rail, 69. connecting block, 7. printing platform, 8. control mainboard, 9. screen. DETAILED DESCRIPTION

[0028] The present application will be described in detail below in combination with the drawings and specific embodiments.

[0029] Example 1

[0030] The present application is based on a nozzle bank type 3D cake printer, the structure of which is as follows Figure 1As shown, it includes a rack 1 for fixing and supporting various components of the whole machine, which is made of high-strength metal material to ensure the stability and durability of the equipment. The top and side of the rack 1 are packaged with organic glass to facilitate observation of the printing process and effectively isolate external interference to ensure the stability of the internal working environment. The bottom plate of the rack 1 is made of metal material such as aluminum alloy or steel plate to provide sufficient rigidity and stability to prevent vibration from affecting the printing precision.

[0031] One side of the rack 1 is provided with a nozzle bank 2 for placing nozzles used during printing, such as Figure 2 As shown, the nozzle bank 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 partitions 21 are fixed on the nozzle support frame 25, and a plurality of first insertion slots 22 are arranged on the first partitions 21, and nozzles 23 are placed in the first insertion slots 22. The first partitions 21 are also provided with a first temperature control module 24, which is a small temperature controller for monitoring and controlling the temperature of each nozzle 23 to ensure temperature control accuracy and stability.

[0032] The nozzle bank 2 is a modularly designed multi-nozzle storage unit with a multi-layer structure, each layer independently stores a group of nozzles, and nozzles of different layers can be classified according to printing material type, printing demand, nozzle size, aperture size, etc. for easy management and use. Each layer of nozzles is equipped with an independent temperature control module, which can set different temperatures according to the printing materials used, for example, high-temperature nozzles for syrup and low-temperature nozzles for chocolate. Then place the two types of nozzles on different partitions and set different temperatures for easy use during cake printing. Each nozzle 23 is separated by the first partitions 21 and the first insertion slots 22 to prevent cross-contamination between different nozzles.

[0033] The side of the rack 1 adjacent to the nozzle bank 2 is provided with an external material rack 4 for storing different printing materials, such as Figure 3 and Figure 4 As shown, the external material rack 4 includes a square material cylinder support frame 47, on which a plurality of horizontally arranged second partitions 41 are installed, both ends of the second partitions 41 are fixed on the material cylinder support frame 47, and a plurality of second insertion slots 42 are arranged on the second partitions 41, and material cylinders 43 are placed in the second insertion slots 42. The material cylinders 43 contain printing materials such as sugar, chocolate, and cream, which can be placed in layers according to the different properties of the materials.

[0034] The second partition plate 41 is provided with a material level sensor 44, which can detect the height of the material in the material tank 43. When the material height is detected to be lower than the warning line, a material replenishment prompt can be sent by the control mainboard 8 of the printer, and the material replenishment operation can be performed. Each material tank 43 is provided with a heat preservation layer 45 and an independent second temperature control module 46 to ensure that the materials are stored at different temperatures. For example, the syrup needs to maintain a certain fluidity in the bunker and can be maintained at 70-80°C, while the chocolate needs to be maintained at 30-32°C to avoid excessive melting. The independent second temperature control module 46 can realize precise control of the temperature of different materials such as sugar, chocolate, and butter.

[0035] The inside of the rack 1 is provided with an X-axis, Y-axis, and Z-axis driving mechanism 6. As shown in Figure 5 The driving mechanism 6 includes two ball screws 61 fixed to the two opposite sides of the rack 1, respectively. The ball screws 61 are vertically arranged, and the two sides of each ball screw 61 are parallelly provided with a movable rod 62. The two ends of the ball screws 61 and the movable rods 62 are fixed to the frame of the rack 1. The ball screws 61 and the movable rods 62 are jointly connected with a printing platform 7. The printing platform 7 is fixed to the nut of the ball screw 61. The rotation of the ball screw 61 driven by the motor realizes the lifting of the printing platform 7. The printing platform 7 is connected with the movable rod 62 through a linear bearing 63 to realize the stable lifting of the printing platform 7 along the Z-axis.

[0036] The driving mechanism 6 further includes four cross bars 64 arranged inside and above the rack 1. The two ends of each cross bar 64 are fixed to the frame of the rack 1, and the four cross bars 64 form a square. The two ends of each cross bar 64 are provided with a belt pulley 65. Two opposite belt pulleys 65 located on the same side of different cross bars 64 are connected with a belt 66. The rotation of the belt pulley 65 is controlled by the motor, and the rotation of the belt 66 is realized. A sliding block 67 is arranged between the belt 66 and the cross bar 64 on the same side. The sliding block 67 is slidingly connected with the cross bar 64 and is fixed to the belt 66. The rotation of the belt 66 drives the sliding block 67 to slide back and forth along the cross bar 64. The two opposite sliding blocks 67 are connected with a slide rail 68. The intersection of the two slide rails 68 is provided with a connecting block 69. The connecting block 69 is slidingly connected with the slide rail 68. The translation of the sliding block 67 driven by the belt 66 drives the connecting block 69 to translate together, thereby realizing the translation of the connecting block 69 along the X-axis and Y-axis in the horizontal plane.

[0037] The lower side of the connecting block 69 is connected with an execution unit 5, as shown in Figure 6As shown, the execution unit 5 comprises a material extrusion mechanism 51 fixedly connected with the connecting block 69, which is a hollow cuboid structure, and is connected with two pipes, one of which is connected to the barrel 43 in the external rack 4, and each barrel 43 is equipped with a separate thin tube, and all the thin tubes are connected to the pipe to realize the delivery of the printing material in the barrel 43 to the material extrusion mechanism 51, and the other pipe is connected to the nozzle above the printing platform 7 for delivering the material to the nozzle for cake printing. The material extrusion mechanism 51 is provided below with a third temperature control module 52 for keeping the printing material in the material extrusion mechanism 51 at a certain temperature, which can be dynamically adjusted according to the characteristics of the material, to ensure that the material is printed at a suitable temperature.

[0038] The third temperature control module 52 is fixedly connected below with the mechanical hand 3, as shown in the figure. Figure 7 As shown, the mechanical hand 3 comprises an electric clamping jaw 32 fixedly connected with the third temperature control module 52 through the positioning hole 31, which is used for clamping the nozzle 23 of the nozzle library 2 and fixing the nozzle 23 during the cake printing process. Below the electric clamping jaw 32 is provided with a CCD image sensor 33 and a camera 34, which work cooperatively to monitor the position of the electric clamping jaw 32 and the surface state of the cake being printed in real time, so as to accurately control the motion trajectory of the electric clamping jaw 32. The mechanical hand 3 can realize accurate positioning and movement under the control of the driving mechanism 6, so as to realize the clamping of the nozzle 23, and the printing work of the cake is realized by accurately controlling the position of the nozzle 23.

[0039] The cake printer of the present application further comprises a control mainboard 8, a screen 9 and a ultraviolet lamp.

[0040] The control mainboard 8 is connected with the controllers of all the motors, sensors, temperature control modules and the camera 34 and the electric clamping jaw 32, receives all the data collected by the sensors, temperature control modules and the camera 34, and issues instructions to the controllers of the temperature control modules, motors and the electric clamping jaw 32, so that the temperature of the nozzle 23 and the material cylinder 43 is controlled within a certain range, and the movement of the electric clamping jaw 32 is controlled to accurately grasp the nozzle 23 and accurately print the cake on the printing platform 7. The control mainboard 8 is also used for controlling the selection and extrusion of the printing material in the material cylinder 43, and controlling the extrusion amount and extrusion temperature of the printing material in the material extrusion mechanism 51. The control mainboard 8 is internally provided with a 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 precision. The path optimization module uses a genetic algorithm, considers factors such as the fluidity and thermal expansion characteristics of the material, and ensures that each layer of printing achieves the best effect. The control mainboard 8 is also internally provided with an energy consumption optimization algorithm, which dynamically adjusts the working state of each component under the premise of ensuring the printing quality, and reduces the energy consumption of the equipment. The energy consumption optimization algorithm monitors the working load and energy consumption data of the equipment in real time through the sensor, intelligently adjusts the operating parameters of each component, and reduces unnecessary power consumption.

[0041] The screen 9 is arranged on the bottom side of the rack 1 and is connected with the control mainboard 8, and is used for displaying the working state of the printer and the key parameters and data in the printing process in real time, so as to be monitored and adjusted by the operator in real time.

[0042] The ultraviolet lamp is arranged above the inside of the rack 1 and is used for disinfecting the whole printer.

[0043] Embodiment 2

[0044] The specific engineering process of the 3D cake printer in the embodiment 1 of the application is as follows:

[0045] Step 1, in the closed state of the cake printer, the ultraviolet lamp is turned on to disinfect the table, and the ultraviolet lamp is turned off after disinfection;

[0046] Step 2, turn on the cake printer, according to the printing task, the control mainboard 8 controls the mechanical hand 3 to grab the appropriate nozzle 23 from the nozzle library 2, and moves the nozzle 23 to the printing position;

[0047] Step 3, the control mainboard 8 automatically selects the corresponding material cylinder 43 according to the printing task, and delivers the printing material to the installed nozzle 23 through the pipeline;

[0048] Step 4, the control mainboard 8 controls the driving mechanism 6 to adjust the printing platform 7 to the appropriate height, and controls the temperature control modules to ensure that the temperature of the printing material is controlled in the best state;

[0049] 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 in the optimal path;

[0050] 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;

[0051] 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.

[0052] Example 3

[0053] This embodiment is based on a 3D cake printer with a nozzle library structure. 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 drive mechanisms 6 are provided inside the frame 1, and the drive mechanism 6 is connected to the printing platform 7 and the execution unit 5, and the execution unit 5 is connected to the manipulator 3, and 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 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 includes a control motherboard 8.

[0054] Example 4

[0055] Based on Example 3, the nozzle library 2 includes a square nozzle support frame 25, on which several horizontally arranged first partitions 21 are installed. Both ends of the first partition 21 are fixed to the nozzle support frame 25. Several first slots 22 are provided on the first partition 21, and nozzles 23 are placed in the first slots 22. A first temperature control module 24 is also provided on the first partition 21 for monitoring and adjusting the temperature of each nozzle 23.

[0056] Example 5

[0057] On the basis of Example 4, the external material rack 4 includes a square barrel support frame 47, on which several horizontally arranged second partitions 41 are installed, and both ends of the second partitions 41 are fixed to the barrel support frame 47. Several second slots 42 are provided on the second partitions 41, and barrels 43 are placed in the second slots 42.

[0058] 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 .

[0059] Embodiment 6

[0060] On the basis of Embodiment 5, the driving mechanism 6 comprises two ball screws 61 fixed on two opposite sides of the frame 1 respectively, the ball screws 61 are vertically arranged, and movable rods 62 are arranged on both sides of the ball screws 61 in parallel, and both ends of the ball screws 61 and the movable rods 62 are fixed with the frame of the frame 1; the driving mechanism 6 further comprises four cross rods 64 arranged inside and above the frame 1, both ends of the cross rods 64 are fixed with the frame of the frame 1, and the four cross rods 64 form a square; both ends of the cross rods 64 are provided with belt pulleys 65, and two opposite belt pulleys 65 located on the same side of different cross rods 64 are connected with a belt 66, the rotation of the belt pulleys 65 is controlled by a motor, thereby realizing the rotation of the belt 66; a sliding block 67 is arranged between the belt 66 and the cross rod 64 on the same side, the sliding block 67 is slidingly sleeved with the cross rod 64 and is fixed with the belt 66; two opposite sliding blocks 67 are connected with sliding rails 68, and a connecting block 69 is arranged at the intersection of the two sliding rails 68, and the connecting block 69 is slidingly connected with the sliding rails 68.

Claims

1. The 3D cake printer based on the nozzle library is characterized by: The printer comprises a frame (1), a nozzle library (2) is provided on one side of the frame (1) for placing nozzles used for printing, an external material rack (4) is provided on one side of the frame (1) adjacent to the nozzle library (2) for storing different printing materials; an X-axis, a Y-axis, and a Z-axis driving mechanism (6) are provided inside the frame (1), the driving 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 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 comprises a control mainboard (8); The nozzle library (2) includes a square nozzle support frame (25), a plurality of horizontally arranged first partitions (21) are installed on the nozzle support frame (25), both ends of the first partition (21) are fixed to the nozzle support frame (25), a plurality of first slots (22) are provided on the first partition (21), nozzles (23) are placed at the first slots (22), and a first temperature control module (24) is also provided on the first partition (21) for monitoring and adjusting the temperature of each nozzle (23); The external material rack (4) includes a square barrel support frame (47), a plurality of horizontally arranged second partitions (41) are installed on the barrel support frame (47), both ends of the second partitions (41) are fixed to the barrel support frame (47), a plurality of second slots (42) are provided on the second partitions (41), and barrels (43) are placed in the second slots (42); A material level sensor (44) is provided on the second partition (41), and a heat-insulating layer (45) and an independent second temperature control module (46) are provided on the barrel (43); The control main board (8) controls the driving mechanism (6) through the motor, thereby realizing the movement of the manipulator (3) and the printing platform (7), and keeps the nozzle (23) of the nozzle library (2), the printing material of the external material rack (4), and the printing material output to the nozzle (23) by the execution unit (5) at a certain temperature through the temperature control module; the control main board (8) is also used to control the extrusion amount and extrusion temperature of the printing material; the control main board (8) has a built-in path optimization module and an energy consumption optimization algorithm; The printer further comprises a screen (9) for displaying the working status of the printer and key parameters and data during the printing process in real time; the printer further comprises an ultraviolet lamp for disinfecting the entire printer.

2. The 3D cake printer based on the nozzle library according to claim 1 is characterized in that: The driving mechanism (6) includes two ball screws (61) fixed to two opposite sides of the frame (1), the ball screws (61) are vertically arranged, and movable rods (62) are arranged in parallel on both sides of the ball screws (61), 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 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; both ends of the cross bars (64) are provided with pulleys (65), which are positioned 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 to realize 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).

3. The 3D cake printer based on the nozzle library according to claim 2 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).

4. The 3D cake printer based on the nozzle library according to claim 2, characterized in that: The execution unit (5) includes a material extrusion mechanism (51) fixedly connected to the connection block (69), and the material extrusion mechanism (51) is a hollow rectangular parallelepiped structure, which is 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 provided below the material extrusion mechanism (51).

5. The 3D cake printer based on the nozzle library according to claim 4 is characterized in that: The manipulator (3) includes an electric gripper (32) fixedly connected to the third temperature control module (52), the electric gripper (32) being used to grip 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 provided below the electric gripper (32).

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