3D printing devices and methods

Abstract

3D printing devices and methods are provided. [Solution] A 3D printing device includes a melt extrusion module, a printing module, and a platform module. The melt extrusion module includes a processing chamber consisting of a supply inlet and a discharge outlet, and extrusion means and heating means disposed in the processing chamber. The melt extrusion module is configured to receive an initial material from the processing chamber's supply inlet, heat and extrude the initial material to convert the initial material into a molten material, which is then extruded from the processing chamber's discharge outlet. The printing module is in communication with the processing chamber's discharge outlet and is provided with a nozzle. The printing module is configured to receive the molten material extruded from the processing chamber's discharge outlet and guide the molten material to be extruded from the nozzle. The platform module is configured to receive the molten material extruded from the nozzle.

Description

[Technical Field]

[0001] Field of the Application The present application relates to devices and methods related to additive manufacturing, and in particular to 3D printing devices and methods. [Background technology]

[0002] Background of the Application 3D printing is a rapid prototyping technology. Based on a digital model, 3D printing can be used to manufacture products by printing bondable materials such as metal or plastic layer by layer. With the rapid development of related technologies, 3D printing has been widely applied in the jewelry, engineering, automotive, dental, aerospace, and medical industries.

[0003] Currently, fused deposition modeling (FDM) is a common 3D printing technology. 3D printing devices using this technology typically heat a filament made of a material such as ABS or PLA to a temperature slightly higher than its melting point, then extrude the melt layer by layer under the control of a computer or controller to build the desired product. Such existing 3D printing devices typically impose limitations on the texture of the initial material before it melts. For example, the material fed into a 3D printing device based on FDM technology must typically be linear or fibrous, which significantly limits the scope of application of such 3D printing devices. For example, when applying FDM to pharmaceutical 3D printing, if drug excipients or active ingredients are delivered to the printing device in fibrous form, the morphological limitations of the fibrous material may prevent the initial material from meeting the drug loading rate requirements for 3D printing of drugs.

[0004] Powder raw materials are sometimes used for 3D printing of pharmaceuticals in practical applications. However, because 3D printing devices in industrial applications use a 3D powder-liquid printing technology with powder layering and adhesive bonding, there may be problems with collecting and recycling the powder caused by layered spraying of powder. In addition, there are some pharmaceutical dosage forms for which this technology is applicable during 3D printing, and pharmaceutical products printed using this technology have difficulty meeting requirements such as sustained release and zero-order release.

[0005] During product manufacturing, particularly pharmaceutical product manufacturing, it is desirable to accurately control the amount of material dispensed by a nozzle. A major problem with conventional additive manufacturing equipment is unintentional leakage of material through the nozzle, which can result in more than the desired amount of material being dispensed. This problem becomes more complex when two or more nozzles are used. These nozzles can dispense different materials, requiring alternate switching on or off. For example, if a first material leaks from a first nozzle while a second nozzle is dispensing a second material, this can result in production defects or material waste. Because devices and systems according to the present invention can handle a range of pharmaceutical materials with high accuracy and precision of material deposition, these devices and systems are highly suitable for manufacturing pharmaceutical dosage forms with complex geometries and compositions. In addition, devices, systems, and methods according to the present invention also contribute to personalized medicine, including personalized dosing and / or personalized release profiles. Personalized medicine refers to biomarker-based patient stratification to aid in therapeutic decision-making and personalized dosage form design. Personalized pharmaceutical dosage forms allow for tailoring the amount of drug to be delivered, including the release profile, based on the patient's weight and metabolism. Pharmaceutical dosage forms manufactured using the device according to the present invention can ensure accurate dosing for growing children and enable personalized dosing of highly potent drugs. Personalized pharmaceutical dosage forms can also be used to combine a patient's medication into a once-daily administration, improving patient adherence and treatment compliance. It is much easier to modify a digital design than to modify a physical device. Furthermore, automated small-scale 3D printing can have negligible operating costs. Thus, additive manufacturing devices according to the present invention can make multiple small, individualized batches economically feasible and achieve personalized dosage forms designed for improved adhesion.

[0006] Compared with traditional "batch production" of pharmaceuticals, "continuous production" of pharmaceuticals uses process analysis technology (PAT) (e.g., near-infrared technology) to continuously provide quality information in real time, allowing the final product to be released directly to the market. Such a production process significantly improves the utilization efficiency of manufacturing equipment and, more importantly, improves the quality of pharmaceuticals. In addition, because quality inspections are performed continuously during the production process, scrapping of batches can be effectively avoided, and intermediate processing is no longer necessary, thereby saving on storage and transportation costs of intermediate products. In the near future, "continuous production" mode is expected to become a mainstream trend in pharmaceutical production, perhaps like 3D printing of pharmaceuticals. However, "continuous production" requires a completely sealed vacuum supply to avoid cross-contamination, and all inspection work must be performed during the production process. Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the present invention is to provide a 3D printing device that can overcome the aforementioned deficiencies and deficiencies. [Means for solving the problem]

[0008] In one aspect of the present invention, a 3D printing device is provided that includes a first melt extrusion module, a first printing module, and a platform module. The first melt extrusion module includes a processing chamber having a supply inlet and an outlet, and an extrusion device and a heating device disposed within the processing chamber. The first melt extrusion module is configured to receive a first initial material through the processing chamber's supply inlet and heat and extrude the first initial material, thereby converting the first initial material into a first molten material, which is then extruded through the processing chamber's outlet. The first printing module is connected to the processing chamber's outlet and has a first nozzle. The first printing module is configured to receive the first molten material extruded through the processing chamber's outlet and guide the first molten material to be extruded through the first nozzle. The platform module is configured to receive the first molten material extruded through the first nozzle.

[0009] In some embodiments of the present invention, a first printing module is configured to perform melting and pressurization, the first printing module including: a feed channel connected to a print head, the print head including a nozzle, the nozzle including a tapered inner surface and an extrusion port configured to eject material; a pressure sensor configured to measure the pressure of the material in the nozzle or in the feed channel proximate to the nozzle; and a control switch including a sealing needle operable between an open position and a closed position, the sealing needle extending through a portion of the feed channel and including a tapered end that engages the tapered inner surface of the nozzle to prevent material from flowing through the nozzle when the sealing needle is in the closed position.

[0010] In one aspect of the present invention, a 3D printing device is configured to deposit material or produce products (e.g., pharmaceutical dosage forms) through additive manufacturing by precisely controlling the pressure in the nozzle or in a feed channel proximal to the nozzle. A control switch with the sealing needle prevents material from flowing through the nozzle when the sealing needle is in a closed position. The nozzle includes a tapered inner surface, and the sealing needle includes a tapered end that engages with the tapered inner surface of the nozzle to prevent material from leaking. The sealing needle is preferably sharp, thin, and free of protrusions so that any protrusions could potentially force material out of the nozzle when the sealing needle is in the closed position. Preferably, the material pressure remains nearly constant within the device. The material pressure can be controlled by monitoring the pressure and pressurizing the material using a feedback system. In this way, when the sealing needle is positioned in the open position, the material can be immediately extruded at a constant rate without the need for increasing pressure. This further enables precise material dispensing, enabling accurate and precise production of drug dosage units, such as pharmaceutical tablets.

[0011] In some embodiments of the present invention, any portion of the sealing needle that contacts the material does not include a protrusion.

[0012] In some embodiments of the present invention, the tapered end of the sealing needle comprises a sharp tip. In some embodiments, the tapered end of the sealing needle is frustoconical. In some embodiments, the tapered inner surface of the nozzle has a first taper angle and the tapered end of the sealing needle has a second taper angle, the second taper angle being less than or equal to the first taper angle. In some embodiments, the second taper angle is less than or equal to about 60°. In some embodiments, the second taper angle is less than or equal to about 45°. In some embodiments, the ratio of the first taper angle to the second taper angle is between about 1:1 and 4:1.

[0013] In some embodiments of the present invention, the extrusion port has a diameter of about 0.1 mm to 1 mm. In some embodiments, the tapered end has a maximum diameter of about 0.2 mm to about 3.0 mm. In some embodiments, the extrusion port has a diameter and the tapered end has a maximum diameter, and the ratio of the maximum diameter of the tapered end to the diameter of the extrusion port is about 1:0.8 to about 1:0.1.

[0014] In some embodiments of the present invention, the control switch includes an actuator, which is capable of positioning the sealing needle in an open or closed position. In some embodiments, the actuator is a pneumatic actuator. In some embodiments, the actuator is a mechanical actuator.

[0015] In some embodiments of the invention, the sealing needle passes through a gasket that is fixed in position relative to the nozzle, the gasket sealing the delivery channel.

[0016] In some embodiments of the present invention, the tapered end of the sealing needle or the tapered inner surface of the nozzle comprises a flexible pad or liner.

[0017] In some embodiments of the present invention, the material is non-fibrous. In some embodiments, the material has a viscosity of about 100 Pa·s or greater when extruded from the device. In some embodiments, the material has a viscosity of about 400 Pa·s or greater when extruded from the device. In some embodiments, the material melts at about 50°C to 400°C. In some embodiments, the material is extruded from the nozzle at a temperature of about 50°C to 400°C. In some embodiments, the material is extruded from the nozzle at a temperature of about 90°C to 300°C.

[0018] In some embodiments of the present invention, the three-dimensional printing device further includes a first supply module including a hopper having a supply inlet and a discharge outlet, the first supply module being configured to receive the first initial material through the supply inlet of the hopper and to discharge the first initial material through the discharge outlet of the hopper to the supply inlet of the processing chamber of the first melt extrusion module.

[0019] In some embodiments of the present invention, the 3D printing device further includes a control module, the control module including a computerized controller configured to control the 3D printing device based on the status parameters of the 3D printing device.

[0020] In some embodiments of the present invention, the three-dimensional printing device further includes a first temperature measurement device communicatively coupled to the control module, the first temperature measurement device configured to measure a temperature of the first melt in the processing chamber and to transmit a first temperature measurement signal to the control module.

[0021] In some embodiments of the present invention, the heating device of the processing chamber is communicatively connected to a control module, and the control module controls the heating power of the heating device of the processing chamber according to the first temperature measurement signal.

[0022] In some embodiments of the present invention, the extrusion device is communicatively connected to a control module, and the control module controls the extrusion force of the extrusion device according to the first temperature measurement signal.

[0023] In some embodiments of the present invention, the extrusion device includes a screw disposed within the processing chamber for extruding the first initial material or first melt and conveying the first melt to an outlet of the processing chamber.

[0024] In some embodiments of the present invention, the screw extruder is a single screw extruder, or a twin screw extruder, or a combination thereof.

[0025] In some embodiments of the present invention, the first melt extrusion module includes a melt extrusion discharge control device configured to control the discharge rate of the first melt at the discharge outlet of the processing chamber.

[0026] In some embodiments of the present invention, the 3D printing device further includes: a first pressure measurement device, the first pressure measurement device being communicatively connected to the control module and configured to measure a pressure of the first melt in the first printing module and send a first pressure measurement signal to the control module; and a pressure adjustment device, the pressure adjustment device being disposed in the first printing module and configured to adjust the pressure of the first melt in the first printing module, the control module being communicatively connected to the pressure adjustment device and adjusting the pressure of the first melt in the first printing module by using the pressure adjustment device in accordance with the first pressure measurement signal.

[0027] In some embodiments of the present invention, the pressure sensor is connected to a computer system that controls the first printing module in response to the pressure reported by the pressure sensor and pressurizes the material to the required pressure. In some embodiments, the material pressure is within 0.05 MPa of the required pressure. In some embodiments, the first printing module includes a piston and a barrel connected to the supply channel, the piston being driven to control the pressure of the material in the barrel. In some embodiments, the piston is driven by a stepper motor.

[0028] In some embodiments of the present invention, the three-dimensional printing device further includes a second temperature measurement device, the second temperature measurement device communicatively coupled to the control module and configured to measure a temperature of the first melt in the first printing module and send a second temperature measurement signal to the control module, and a temperature adjustment device, the temperature adjustment device disposed in the first printing module and configured to adjust a temperature of the first melt in the first printing module, the control module communicatively coupled to the temperature adjustment device and adjusting the temperature of the first melt in the first printing module through the temperature adjustment device according to the second temperature measurement signal. In some embodiments, the second temperature measurement device is coupled to a computer system, and the computer system controls the corresponding temperature adjustment device according to the temperature monitored by the second temperature measurement device.

[0029] The present invention provides a more accurate system configured to deposit material or manufacture products (e.g., pharmaceutical dosage forms) through additive manufacturing by precisely controlling the pressure of the nozzle or the pressure of a feed channel proximal to the nozzle. A control switch equipped with the sealing needle prevents material from flowing through the nozzle when the sealing needle is in the closed position. The nozzle includes a tapered inner surface, and the sealing needle includes a tapered end that engages with the tapered inner surface of the nozzle to prevent material from leaking. The sealing needle is preferably sharp, thin, and free of protrusions so that any protrusions could potentially force material out of the nozzle when the sealing needle is in the closed position. Preferably, the material pressure remains nearly constant within the device. The material pressure can be controlled by monitoring the pressure and pressurizing the material using a feedback system. In this way, when the sealing needle is positioned in the open position, the material can be immediately extruded at a constant rate without the need for increasing pressure. This further enables accurate material dispensing, enabling precise and accurate production of drug dosage units, such as pharmaceutical tablets.

[0030] In some embodiments of the present invention, the first supply module further includes a hopper discharge control device configured to control a discharge rate of the first initial material at a discharge outlet of the hopper.

[0031] In some embodiments of the present invention, the hopper discharge control device is a screw disposed within the hopper, and the discharge rate of the first initial material at the discharge outlet of the hopper is controlled by changing the rotational speed of the screw.

[0032] In some embodiments of the present invention, the 3D printing device further includes a second supply module configured to receive the second initial material through a supply inlet of a hopper of the second supply module and to discharge the second initial material through a discharge outlet of the hopper of the second supply module.

[0033] In some embodiments of the present invention, the 3D printing device further includes a first composition measurement device, which is communicatively connected to the control module and configured to measure the composition of the first melt at any position in the 3D printing device and send a first composition measurement signal to the control module, and the hopper discharge controller of the first supply module and the hopper discharge controller of the second supply module are communicatively connected to the control module, such that the control module controls the discharge rate of the first initial material at the discharge outlet of the hopper of the first supply module and the discharge rate of the second initial material at the discharge outlet of the hopper of the second supply module through the hopper discharge controller of the first supply module and the hopper discharge controller of the second supply module, respectively, in accordance with the first composition measurement signal.

[0034] In some embodiments of the present invention, the 3D printing device further includes a first temporary storage module, the first temporary storage module including a storage chamber having a supply inlet and a discharge outlet, the supply inlet of the storage chamber being connected to the discharge outlet of the processing chamber, and the discharge outlet of the storage chamber being connected to the first printing module, and the first temporary storage module being configured to receive the first melt extruded from the discharge outlet of the processing chamber and guide the first melt to enter the first printing module through the discharge outlet of the storage chamber.

[0035] In some embodiments of the present invention, the first temporary storage module further includes a storage chamber discharge controller configured to control a discharge rate of the first melt at a discharge outlet of the storage chamber.

[0036] In some embodiments of the present invention, the first temporary storage module further includes a storage chamber heating device, the storage chamber heating device configured to heat the first melt in the storage chamber.

[0037] In some embodiments of the present invention, the 3D printing device further includes a third temperature measurement device, which is communicatively connected to the control module and configured to measure the temperature of the first melt in the storage chamber and send a third temperature measurement signal to the control module, and the control module controls the heating power of the storage chamber heating device according to the third temperature measurement signal.

[0038] In some embodiments of the present invention, the 3D printing device further includes a volume measuring device communicatively connected to the control module and configured to measure a remaining volume of the storage chamber and send a volume measurement signal to the control module.

[0039] In some embodiments of the present invention, the first melt extrusion module further includes a melt extrusion discharge control device configured to control the discharge rate of the first melt at the discharge outlet of the processing chamber, the melt extrusion discharge control device being communicatively connected to the control module, and the control module controls the discharge rate of the first melt at the discharge outlet of the processing chamber through the melt extrusion discharge control device in accordance with the volume measurement signal.

[0040] In some embodiments of the present invention, the 3D printing device further includes a counterflow channel configured to guide at least a portion of the first melt extruded from the discharge outlet of the processing chamber back into the processing chamber.

[0041] In some embodiments of the present invention, the three-dimensional printing device includes a second supply module, the second supply module including a hopper having a supply inlet and a discharge outlet, configured to receive a second initial material through the supply inlet of the hopper and discharge the second initial material; and a second melt extrusion module, the second melt extrusion module including a processing chamber having a supply inlet and a discharge outlet, and an extrusion apparatus and a processing chamber heating apparatus disposed within the processing chamber, configured to receive the second initial material through the supply inlet of the processing chamber of the second melt extrusion module and to heat and extrude the second initial material, such that the second initial material is converted into a second melt and the second melt is extruded. The printing apparatus further includes a second melt extrusion module, from which the melt is extruded from an outlet of the processing chamber of the second melt extrusion module; and a first mixing module, the first mixing module including a mixing chamber having a supply inlet and an outlet, the supply inlet of the mixing chamber being connected to both the outlet of the processing chamber of the first melt extrusion module and the outlet of the processing chamber of the second melt extrusion module, the outlet of the mixing chamber being connected to the first printing module, and the first mixing module being configured to receive the extruded first melt and second melt, mix them into the first mixed melt, and guide the first mixed melt to enter the first printing module.

[0042] In some embodiments of the present invention, the first melt extrusion module and the second melt extrusion module each include a melt extrusion discharge control device, and the melt extrusion discharge control device is configured to control the discharge rate of the first melt at the discharge outlet of the processing chamber of the first melt extrusion module and the discharge rate of the second melt at the discharge outlet of the processing chamber of the second melt extrusion module, respectively.

[0043] In some embodiments of the present invention, the 3D printing device further includes a second composition measurement device, the second composition measurement device being communicatively connected to the control module and configured to measure the composition of the first mixed melt extruded from the discharge outlet of the mixing chamber and send a second composition measurement signal to the control module, and the melt extrusion discharge controller of the first melt extrusion module and the melt extrusion discharge controller of the second melt extrusion module being communicatively connected to the control module, such that the control module controls the discharge rate of the first melt at the discharge outlet of the processing chamber of the first melt extrusion module and the discharge rate of the second melt at the discharge outlet of the processing chamber of the second melt extrusion module through the melt extrusion discharge controller of the first melt extrusion module and the melt extrusion discharge controller of the second melt extrusion module, respectively, in accordance with the second composition measurement signal.

[0044] In some embodiments of the present invention, the first mixing module further includes a mixing chamber heating device, the mixing chamber heating device configured to heat the first mixed melt in the mixing chamber.

[0045] In some embodiments of the present invention, the 3D printing device further includes a fourth temperature measuring device, which is communicatively connected to the control module and configured to measure the temperature of the first mixed melt in the mixing chamber and send a fourth temperature measurement signal to the control module, and the control module controls the heating power of the mixing chamber heating device according to the fourth temperature measurement signal.

[0046] In some embodiments of the present invention, the first mixing module further comprises a mixing chamber discharge controller configured to control a discharge rate of the first mixed melt at a discharge outlet of the mixing chamber.

[0047] In some embodiments of the present invention, the inner diameter of the first nozzle is between 0.05 mm and 2 mm.

[0048] In some embodiments of the present invention, the first print module further includes a second nozzle.

[0049] In some embodiments of the present invention, the length of the connecting path from the first nozzle to the exhaust outlet of the processing chamber is equal to the length of the connecting path from the second nozzle to the exhaust outlet of the processing chamber.

[0050] In some embodiments of the present invention, the nozzle arrangement comprises a plurality of nozzles, the nozzles being arranged in an array.

[0051] In some embodiments of the present invention, the 3D printing device further includes a printing module drive mechanism, wherein the printing module drive mechanism is configured to drive and move the first nozzle of the first printing module relative to the platform module.

[0052] In some embodiments of the present invention, the print module drive mechanism is configured to drive a first nozzle of a first print module to move along the Z-axis of a Cartesian coordinate system relative to the platform module.

[0053] In some embodiments of the present invention, the platform module includes a first deposition platform configured to receive a first melt extruded through the first nozzle, and a platform drive mechanism configured to drive the first deposition platform to move relative to the first nozzle of the first printing module.

[0054] In some embodiments of the present invention, the platform drive mechanism is configured to drive the first deposition platform to move along the X-axis and / or the Y-axis of a Cartesian coordinate system relative to the first nozzle.

[0055] In some embodiments of the present invention, the 3D printing device further includes a second melt extrusion module, the second melt extrusion module including a processing chamber having a supply inlet and an exhaust outlet, and an extrusion apparatus and a processing chamber heating apparatus disposed within the processing chamber, configured to receive a second initial material through the supply inlet of the processing chamber and heat and extrude the second initial material, such that the second initial material is converted into a second melt, and the second melt is extruded from the exhaust outlet of the processing chamber; the first printing module further includes a second nozzle, the second nozzle connected to the exhaust outlet of the processing chamber of the second melt extrusion module, the first printing module configured to receive the second melt extruded from the exhaust outlet of the processing chamber of the second melt extrusion module and guide the second melt to be extruded through the second nozzle; and the platform drive mechanism drives the first deposition platform to move between a position below the first nozzle and a position below the second nozzle.

[0056] In some embodiments of the present invention, the platform module further includes a second deposition platform configured to receive the first melt extruded through the first nozzle, and the platform drive mechanism drives the first deposition platform and the second deposition platform to pass sequentially under the first nozzle.

[0057] In some embodiments of the present invention, the 3D printing device further includes a product collection module configured to collect the final product formed on the platform module.

[0058] In some embodiments of the present invention, the 3D printing device further includes an inspection module configured to measure product parameters of the final product formed on the platform module.

[0059] In some embodiments of the present invention, the 3D printing device further includes an automated screening module configured to select a final product formed on the platform module.

[0060] In some embodiments of the present invention, the 3D printing device further includes an automated transfer module configured to transfer the first initial material to the first supply module.

[0061] In some embodiments of the present invention, all of the aforementioned components connected to one another are connected through hoses.

[0062] In some embodiments of the present invention, the inner diameter of the hose is between 1 mm and 100 mm.

[0063] In some embodiments of the present invention, the first initial material comprises a thermoplastic material.

[0064] In some embodiments of the present invention, the 3D printing device further includes a second printing module, the second printing module being located above the first printing module along the Z axis of the Cartesian coordinate system.

[0065] In some embodiments of the present invention, the 3D printing device further includes a plurality of the aforementioned devices, each print module including a control switch. In some embodiments, the system includes a first device filled with a first material and a second device filled with a second material, the first material being different from the second material. In some embodiments, the system includes a computer system, the computer system including one or more processors and a computer-readable memory, and the computer system is configured to control the system. In some embodiments of the present invention, the computer-readable memory stores instructions for printing a product by using the system. In some embodiments of the present invention, the computer-readable memory stores instructions for controlling the pressure of the material in each print module in response to a pressure measured by a pressure sensor of the corresponding print module. In some embodiments of the present invention, the computer-readable memory stores instructions for controlling the temperature of the material in each print module in response to a temperature measured by a temperature sensor of the corresponding print module.

[0066] In another aspect of the present invention, a three-dimensional printing method is provided, the three-dimensional printing method including: supplying a first initial material to a processing chamber of a first melt extrusion module; heating and extruding the first initial material in the processing chamber such that the first initial material is converted into a first molten material that is extruded from an outlet of the processing chamber; and guiding the first molten material at the outlet of the processing chamber to be extruded through a first nozzle of a first printing module and deposited on a platform module.

[0067] In some embodiments of the present invention, the 3D printing method further includes supplying a first initial material to the first melt extrusion module through a hopper of the first supply module.

[0068] In some embodiments of the present invention, the 3D printing method further includes measuring a pressure of the first melt in the first printing module and controlling the pressure of the first melt in the first printing module according to the measured pressure. In some embodiments of the present invention, the method controls the pressure of the first melt based on the monitored pressure using a feedback system.

[0069] In some embodiments of the present invention, the pressure of the first melt in the nozzle remains approximately constant.

[0070] In some embodiments of the present invention, the 3D printing method further includes measuring a temperature of the first melt in the first printing module and adjusting the temperature of the first melt in the first printing module according to the measured temperature. In some embodiments of the present invention, the method controls the temperature of the first melt using a feedback system based on the monitored temperature.

[0071] In some embodiments of the present invention, the temperature of the first melt in the nozzle remains approximately constant.

[0072] In some embodiments of the present invention, the step of guiding the first melt at the discharge outlet of the processing chamber to be extruded through a first nozzle of the first printing module and deposited on the platform module includes: flowing the first melt through an extrusion port of the nozzle, the nozzle including a tapered inner surface; a tapered end of a sealing needle engaging the tapered inner surface of the nozzle to seal the extrusion port and prevent the flow of the first melt; and withdrawing the tapered end of the sealing needle to resume the flow of the first melt through the extrusion port.

[0073] In some embodiments of the present invention, the first melt comprises a pharmaceutically acceptable material. In some embodiments, the first melt comprises a drug. In some embodiments, a method comprises receiving an instruction to manufacture a pharmaceutical dosage form.

[0074] In some embodiments of the present invention, the material is non-fibrous. In some embodiments, the material has a viscosity of about 100 Pa·s or greater.

[0075] In some embodiments of the present invention, any portion of the sealing needle that contacts the material does not include a protrusion.

[0076] In some embodiments of the present invention, the tapered end of the sealing needle comprises a sharp, pointed tip. In some embodiments, the tapered end of the sealing needle is frustoconical. In some embodiments, the tapered inner surface of the nozzle has a first taper angle, and the tapered end of the sealing needle has a second taper angle, the second taper angle being less than or equal to the first taper angle. In some embodiments, the second taper angle is less than or equal to about 60°. In some embodiments, the second taper angle is less than or equal to about 45°. In some embodiments, the ratio of the first taper angle to the second taper angle is between about 1:1 and 4:1. In some embodiments, the extrusion port has a diameter of between about 0.1 mm and 1 mm. In some embodiments, the tapered end has a maximum diameter of between about 0.2 mm and about 3.0 mm. In some embodiments, the extrusion port has a diameter, the tapered end has a maximum diameter, and the ratio of the maximum diameter of the tapered end to the diameter of the extrusion port is from about 1:0.8 to about 1:0.1.

[0077] In some embodiments of the invention, the method controls the pressure of the first melt using a feedback system based on the monitored pressure, hi some embodiments of the invention, the pressure of the first melt in the nozzle remains approximately constant.

[0078] In some embodiments of the present invention, the method controls the temperature of the first melt using a feedback system based on the monitored temperature. In some embodiments of the present invention, the temperature of the first melt in the nozzle remains approximately constant. In some embodiments of the present invention, the 3D printing method further includes measuring the temperature of the first melt in the processing chamber and controlling the heating power and / or extrusion force of the first melt or the first initial material in the processing chamber according to the measured temperature.

[0079] In some embodiments of the present invention, the step of guiding the first melt at the discharge outlet of the processing chamber to be extruded through the first nozzle of the first printing module and deposited on the platform module includes guiding the first melt at the discharge outlet of the processing chamber to enter a storage chamber of the first temporary storage module, and guiding the first melt at the discharge outlet of the storage chamber to be extruded through the first nozzle of the first printing module and deposited on the platform module. In some embodiments of the present invention, the 3D printing method further includes measuring a temperature of the first melt in the storage chamber and controlling a heating power of the first melt in the storage chamber according to the measured temperature.

[0080] In some embodiments of the present invention, the 3D printing method further includes measuring a remaining volume of the storage chamber and controlling an exhaust rate of the first melt at an exhaust outlet of the processing chamber according to the remaining volume of the storage chamber.

[0081] In some embodiments of the present invention, the 3D printing method further includes guiding at least a portion of the first melt extruded from an exhaust outlet of the processing chamber so as to flow back into the processing chamber.

[0082] In some embodiments of the present invention, the 3D printing method further includes supplying a second initial material to a processing chamber of a second melt extrusion module through a hopper of a second supply module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module, such that the second initial material is converted into a second melt, and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module; mixing the first melt and the second melt in a mixing chamber to form a first mixed melt; and guiding the first mixed melt at the outlet of the mixing chamber to be extruded through a first nozzle of the first printing module and deposited on the platform module.

[0083] In some embodiments of the present invention, the 3D printing method further includes measuring a composition of the first mixed melt extruded from the discharge outlet of the mixing chamber, and controlling the discharge rate of the first melt at the discharge outlet of the processing chamber of the first melt extrusion module and the discharge rate of the second melt at the discharge outlet of the processing chamber of the second melt extrusion module, respectively, according to the measured composition of the first mixed melt.

[0084] In some embodiments of the present invention, the 3D printing method further includes measuring a temperature of the first mixed melt in the mixing chamber, and controlling a heating power of the first mixed melt in the mixing chamber according to the measured temperature.

[0085] In some embodiments of the present invention, the 3D printing method further includes supplying a second initial material to a processing chamber of the first melt extrusion module through a hopper of a second supply module, and heating and extruding the first initial material and the second initial material in the processing chamber, whereby the first initial material and the second initial material are converted into a first melt.

[0086] In some embodiments, the 3D printing method further includes measuring a composition of the first melt at any position of the 3D printing device, and controlling an emission rate of the first initial material at the discharge outlet of the first supply module and an emission rate of the second initial material at the discharge outlet of the second supply module, respectively, according to the measured composition of the first melt.

[0087] In some embodiments of the present invention, the 3D printing method further includes: supplying a second initial material to a processing chamber of a second melt extrusion module through a hopper of a second supply module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module so that the second initial material is converted into a second melt and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module; guiding the second melt at the outlet of the processing chamber of the second melt extrusion module so that it is extruded through a second nozzle of the first printing module and deposited on a platform module; and driving the deposition platform to move between a position below the first nozzle and a position below the second nozzle.

[0088] In some embodiments of the present invention, the 3D printing method further includes monitoring a pressure of the first melt in or proximate the first nozzle or monitoring a pressure of the second melt in or proximate the second nozzle. In some embodiments, the pressure of the first melt in the first nozzle or the pressure of the second melt in the second nozzle remains approximately constant. In some embodiments, the method includes controlling the pressure of the first melt or the second melt using a feedback system based on the monitored pressure.

[0089] In some embodiments of the foregoing method, the first melt or the second melt has a viscosity of about 100 Pa·s or greater.

[0090] In some embodiments of the present invention, the first initial material or the second initial material is non-fibrous.

[0091] In some embodiments of the present invention, any portion of the first seal needle that contacts the first melt or any portion of the second seal needle that contacts the second melt does not include a protrusion.

[0092] In some embodiments of the present invention, the temperature of the first melt in the first nozzle or the temperature of the second melt in the second nozzle remains approximately constant. In some embodiments, the method includes monitoring the temperature of the first melt or the temperature of the second melt. In some embodiments, the method includes controlling the temperature of the first melt using a feedback system based on the monitored temperature of the first melt or controlling the temperature of the second melt using a feedback system based on the monitored temperature of the second melt.

[0093] In some embodiments of the invention, the tapered end of the first seal needle or the tapered end of the second seal needle comprises a sharp tip. In some embodiments of the aforementioned method, the tapered end of the first seal needle or the tapered end of the second seal needle is frustoconical.

[0094] In some embodiments of the present invention, the tapered inner surface of the first nozzle has a first taper angle, and the tapered end of the first sealing needle has a second taper angle, which is equal to or less than the first taper angle; or the tapered inner surface of the second nozzle has a third taper angle, and the tapered end of the second sealing needle has a fourth taper angle, which is equal to or less than the third taper angle. In some embodiments of the present invention, the fourth taper angle is equal to or less than about 60°. In some embodiments of the present invention, the second taper angle or the fourth taper angle is equal to or less than about 45°. In some embodiments of the present invention, the ratio of the first taper angle to the second taper angle, or the ratio of the third taper angle to the fourth taper angle, is between about 1:1 and about 4:1. In some embodiments of the present invention, the first extrusion port or the second extrusion port has a diameter of between about 0.1 mm and about 1 mm. In some embodiments of the present invention, the tapered end of the first sealing needle or the tapered end of the second sealing needle has a maximum diameter of about 0.2 mm to about 3.0 mm. In some embodiments of the present invention, the 3D printing method further includes actuating a first nozzle of the first printing module to move relative to the platform module.

[0095] In some embodiments of the present invention, the 3D printing method further includes actuating a first nozzle of the first printing module to move along the Z-axis of a Cartesian coordinate system relative to the platform module.

[0096] In some embodiments of the present invention, the 3D printing method further includes driving a first deposition platform of the platform module to move relative to a first nozzle of the first printing module, the first deposition platform being configured to receive the first melt extruded through the first nozzle.

[0097] In some embodiments of the present invention, the 3D printing method further includes driving the first deposition platform to move along the X-axis and / or Y-axis of a Cartesian coordinate system relative to the first nozzle.

[0098] In some embodiments of the present invention, the 3D printing method further includes collecting the final product formed on the platform module.

[0099] In some embodiments of the present invention, the 3D printing method further includes measuring a product parameter of the final product formed on the platform module.

[0100] In some embodiments of the present invention, the 3D printing method further includes selecting a final product formed on the platform module.

[0101] In some embodiments of the present invention, the 3D printing method further includes transporting the first initial material to the first supply module through the automated transport module.

[0102] In some embodiments of the present invention, the first initial material comprises a thermoplastic material.

[0103] In another aspect of the invention, there is provided a printing module for use in a 3D printing device, the printing module including an array of n×m nozzles (where n and m are both integers greater than or equal to 2), with the nozzles at position (x, y) in the xth column and yth row (where 1≦x≦n and 1≦y≦m).

[0104] In some embodiments of the present invention, the printing module is constructed to be capable of extruding M types of melts, and nozzle (x, y) is constructed to be capable of extruding the yth type of melt.

[0105] In some embodiments of the present invention, the nxm nozzles are connected to nxm processing chambers, respectively.

[0106] In some embodiments of the present invention, the discharge rates of the n×m nozzles are controlled by n×m melt extrusion discharge controllers, respectively.

[0107] In some embodiments of the present invention, the nozzles in the yth row of n x m nozzles are configured to have approximately the same discharge rate. In another aspect of the present invention, a 3D printing method is provided. The 3D printing method includes melting and pressurizing a material, flowing the material through an extrusion port of a nozzle, the nozzle including a tapered inner surface, monitoring the pressure of the material in or near the nozzle, engaging the tapered end of a sealing needle with the tapered inner surface of the nozzle to seal the extrusion port and prevent the flow of molten material, and withdrawing the tapered end of the sealing needle to resume the flow of material through the extrusion port. In some embodiments, the method includes receiving instructions to manufacture a product.

[0108] In some embodiments of the present invention, the 3D printing method further includes melting and pressurizing a first material, flowing the first material through a first extrusion port of a first nozzle including a tapered inner surface, engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle to seal the first extrusion port and prevent the flow of the molten first material, melting and pressurizing a second material, and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle so that the second material flows through a second extrusion port. In some embodiments of the present invention, the method includes receiving instructions to manufacture a product.

[0109] In another aspect, a method for producing a pharmaceutical dosage form by 3D printing is provided. The method includes melting and pressurizing a first pharmaceutical material, flowing the first pharmaceutical material through a first extrusion port of a first nozzle including a tapered inner surface, engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle to seal the first extrusion port and prevent the flow of the molten first pharmaceutical material, melting and pressurizing a second pharmaceutical material, and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle so that the second pharmaceutical material flows through the second extrusion port. In some embodiments of the present invention, the first pharmaceutical material or the second pharmaceutical material is an erodible material. In some embodiments of the present invention, the first pharmaceutical material or the second pharmaceutical material comprises a drug. In some embodiments, the pharmaceutical dosage form has a specific drug release profile. In some embodiments of the present invention, the method further includes receiving control instructions for producing the pharmaceutical dosage form.

[0110] In some embodiments of the present invention, the product or pharmaceutical dosage form is manufactured in a batch. In some embodiments of the foregoing methods, the product or pharmaceutical dosage form is manufactured in a continuous mode.

[0111] The present invention further provides an article of manufacture or pharmaceutical dosage form produced according to any one of the foregoing methods. The present specification also provides, for example, the following items: (Item 1) 1. A 3D printing device, comprising: a first melt extrusion module including a first processing chamber having a feed inlet and a discharge outlet, and a first extrusion device and a first processing chamber heating device disposed within the first processing chamber, the first melt extrusion module being configured to receive a first initial material through the feed inlet of the first processing chamber and heat and extrude the first initial material, such that the first initial material is converted into a first melt, and the first melt is extruded from the discharge outlet of the first processing chamber; a first printing module connected to the discharge outlet of the first processing chamber and including a first nozzle, the first printing module configured to receive the first melt extruded from the discharge outlet of the first processing chamber and to guide the first melt to be extruded through the first nozzle; a platform module configured to receive the first melt extruded through the first nozzle. (Item 2) 2. The 3D printing device of claim 1, further comprising a first supply module, the first supply module comprising a first hopper, the first hopper having a supply inlet and a discharge outlet, configured to receive the first initial material through the supply inlet of the first hopper and discharge the first initial material through the discharge outlet of the first hopper to the supply inlet of the first processing chamber. (Item 3) 3. The 3D printing device of item 2, further comprising a control module, the control module comprising a computerized controller configured to control the 3D printing device based on status parameters of the 3D printing device. (Item 4) 4. The 3D printing device of claim 3, further comprising a first temperature measurement device communicatively connected to the control module, the first temperature measurement device configured to measure a temperature of the first melt in the first processing chamber and to transmit a first temperature measurement signal to the control module. (Item 5) 5. The 3D printing device of item 4, wherein the first processing chamber heating device is communicatively connected to the control module, and the control module controls the heating power of the first processing chamber heating device according to the first temperature measurement signal. (Item 6) 5. The 3D printing device of item 4, wherein the first extrusion device is communicatively connected to the control module, and the control module controls the extrusion force of the first extrusion device according to the first temperature measurement signal. (Item 7) The first extrusion device 2. The 3D printing device of claim 1, further comprising a screw disposed within the first processing chamber, extruding the first initial material or the first melt and transporting the first melt to the discharge outlet of the first processing chamber. (Item 8) Item 8. The 3D printing device of item 7, wherein the screw is single-axis, double-axis, or a combination thereof. (Item 9) 4. The 3D printing device of claim 3, wherein the first melt extrusion module includes a melt extrusion discharge control device, and the melt extrusion discharge control device is configured to control the discharge rate of the first melt at the discharge outlet of the first processing chamber. (Item 10) a first pressure measurement device communicatively coupled to the control module, the first pressure measurement device configured to measure a pressure of the first melt in the first printing module and to transmit a first pressure measurement signal to the control module; a pressure regulator disposed within the first printing module and configured to regulate a pressure of the first melt within the first printing module; 4. The 3D printing device of claim 3, wherein the control module is communicatively connected to the pressure regulator and adjusts the pressure of the first melt in the first printing module by using the pressure regulator in accordance with the first pressure measurement signal. (Item 11) a second temperature measurement device communicatively coupled to the control module and configured to measure a temperature of the first melt in the first print module and transmit a second temperature measurement signal to the control module; a temperature adjustment device disposed within the first printing module and configured to adjust a temperature of the first melt within the first printing module; 4. The 3D printing device of claim 3, wherein the control module is communicatively connected to the temperature adjustment device and adjusts the temperature of the first melt in the first printing module by using the temperature adjustment device according to the second temperature measurement signal. (Item 12) 4. The 3D printing device of claim 3, wherein the first supply module further includes a first hopper discharge control device, the first hopper discharge control device configured to control a discharge rate of the first initial material at the discharge outlet of the first hopper. (Item 13) Item 13. The 3D printing device of item 12, wherein the first hopper discharge control device is a screw disposed within the first hopper, and the discharge rate of the first initial material at the discharge outlet of the first hopper is controlled by changing the rotational speed of the screw. (Item 14) Item 13. The 3D printing device of item 12, further comprising a second supply module, the second supply module comprising a second hopper, the second hopper having a supply inlet and a discharge outlet, configured to receive a second initial material through the supply inlet of the second hopper and discharge the second initial material through the discharge outlet of the second hopper. (Item 15) Item 15. The 3D printing device of item 14, wherein the second supply module further includes a second hopper discharge control device, the second hopper discharge control device configured to control the discharge rate of the second initial material at the discharge outlet of the second hopper. (Item 16) a first composition measurement device communicatively coupled to the control module and configured to measure a composition of the first melt at any location on the 3D printing device and transmit a first composition measurement signal to the control module; Item 16. The 3D printing device of item 15, wherein the first hopper discharge controller and the second hopper discharge controller are each communicatively connected to the control module, and the control module controls the discharge rate of the first initial material at the discharge outlet of the first hopper and the discharge rate of the second initial material at the discharge outlet of the second hopper through the first hopper discharge controller and the second hopper discharge controller, respectively, in accordance with the first composition measurement signal. (Item 17) Item 18. The 3D printing device of item 3, further comprising: a first temporary storage module, the first temporary storage module including a storage chamber having a supply inlet and a discharge outlet, the supply inlet of the storage chamber connected to the discharge outlet of the first processing chamber, the discharge outlet of the storage chamber connected to the first printing module, the first temporary storage module configured to receive the first melt extruded from the discharge outlet of the first processing chamber and guide the first melt to enter the first printing module through the discharge outlet of the storage chamber. Item 18. The 3D printing device of item 17, wherein the first temporary storage module further comprises a storage chamber discharge control device configured to control the discharge rate of the first melt at the discharge outlet of the storage chamber. (Item 19) Item 18. The 3D printing device of item 17, wherein the first temporary storage module further includes a storage chamber heating device, the storage chamber heating device configured to heat the first melt in the storage chamber. (Item 20) a third temperature measurement device, the third temperature measurement device communicatively coupled to the control module and configured to measure a temperature of the first melt in the storage chamber and transmit a third temperature measurement signal to the control module; 20. The 3D printing device of item 19, wherein the control module controls the heating power of the storage chamber heating device according to the third temperature measurement signal. (Item 21) Item 18. The 3D printing device of item 17, further comprising a volume measuring device, the volume measuring device communicatively connected to the control module and configured to measure a remaining volume of the storage chamber and send a volume measurement signal to the control module. (Item 22) the first melt extrusion module comprising: a melt extrusion discharge controller configured to control a discharge rate of the first melt at the discharge outlet of the first processing chamber; 22. The 3D printing device of claim 21, wherein the melt extrusion discharge control device is communicatively connected to the control module, and the control module controls the discharge rate of the first melt at the discharge outlet of the first processing chamber through the melt extrusion discharge control device in accordance with the volume measurement signal. (Item 23) 2. The 3D printing device of claim 1, further comprising a counterflow channel configured to guide at least a portion of the first melt extruded from the discharge outlet of the first processing chamber back into the first processing chamber. (Item 24) a second supply module including a second hopper having a supply inlet and a discharge outlet, the second supply module configured to receive a second initial material through the supply inlet of the second hopper and to discharge the second initial material; a second melt extrusion module including a second processing chamber having a feed inlet and a discharge outlet, and an extrusion device and a processing chamber heating device disposed within the second processing chamber, configured to receive the second initial material through the feed inlet of the second processing chamber and heat and extrude the second initial material, such that the second initial material is converted into a second melt, and the second melt is extruded from the discharge outlet of the second processing chamber; Item 4. The 3D printing device of item 3, further comprising: a first mixing module comprising a mixing chamber having a feed inlet and a discharge outlet, the feed inlet of the mixing chamber connected to both the discharge outlet of the first processing chamber and the discharge outlet of the second processing chamber, the discharge outlet of the mixing chamber connected to the first printing module, the first mixing module configured to receive the extruded first melt and second melt, mix them into a first mixed melt, and guide the first mixed melt to enter the first printing module. (Item 25) 25. The 3D printing device of item 24, wherein the first melt extrusion module and the second melt extrusion module each include a first melt extrusion discharge control device and a second melt extrusion discharge control device, respectively, and the first melt extrusion discharge control device and the second melt extrusion discharge control device are configured to control the discharge rate of the first melt at the discharge outlet of the processing chamber of the first melt extrusion module and the discharge rate of the second melt at the discharge outlet of the processing chamber of the second melt extrusion module, respectively. (Item 26) a second composition measurement device, communicatively connected to the control module, configured to measure a composition of the first mixed melt extruded from the discharge outlet of the mixing chamber and transmit a second composition measurement signal to the control module; 26. The 3D printing device of item 25, wherein the first melt extrusion discharge controller and the second melt extrusion discharge controller are each communicatively connected to the control module, and the control module controls the discharge rate of the first melt at the discharge outlet of the first processing chamber and the discharge rate of the second melt at the discharge outlet of the second processing chamber through the first melt extrusion discharge controller and the second melt extrusion discharge controller, respectively, in accordance with the second composition measurement signal. (Item 27) 25. The 3D printing device of claim 24, wherein the first mixing module further comprises a mixing chamber heating device, the mixing chamber heating device configured to heat the first mixed melt in the mixing chamber. (Item 28) a fourth temperature measurement device, the fourth temperature measurement device communicatively connected to the control module and configured to measure a temperature of the first mixed melt in the mixing chamber and send a fourth temperature measurement signal to the control module; Item 28. The 3D printing device of item 27, wherein the control module controls the heating power of the mixing chamber heating device according to the fourth temperature measurement signal. (Item 29) 25. The 3D printing device of claim 24, wherein the first mixing module further comprises a mixing chamber discharge control device configured to control the discharge rate of the first mixed melt at the discharge outlet of the mixing chamber. (Item 30) Item 1. The 3D printing device according to item 1, wherein the inner diameter of the first nozzle is 0.05 mm to 2 mm. (Item 31) Item 10. The 3D printing device of item 1, wherein the first printing module further includes a second nozzle. (Item 32) Item 32. The 3D printing device of item 31, wherein the length of a connecting path from the first nozzle to the exhaust outlet of the first processing chamber is equal to the length of a connecting path from the second nozzle to the exhaust outlet of the first processing chamber. (Item 33) Item 10. The 3D printing device of item 1, wherein the first printing module includes a plurality of nozzles, the nozzles being arranged in an array. (Item 34) Item 1, the 3D printing device further comprising a printing module drive mechanism, the printing module drive mechanism configured to drive and move the first nozzle of the first printing module relative to the platform module. (Item 35) Item 35. The 3D printing device of item 34, wherein the printing module drive mechanism is configured to drive the first nozzle of the first printing module to move along a Z-axis of a Cartesian coordinate system relative to the platform module. (Item 36) the platform module: a first deposition platform configured to receive the first melt extruded through the first nozzle; Item 1, the 3D printing device comprising: a platform drive mechanism that drives and moves the first deposition platform relative to the first nozzle of the first printing module. (Item 37) Item 37. The 3D printing device of item 36, wherein the platform drive mechanism is configured to drive the first deposition platform to move along an X-axis and / or a Y-axis of a Cartesian coordinate system relative to the first nozzle. (Item 38) a second melt extrusion module including a second processing chamber having a feed inlet and a discharge outlet, and an extrusion device and a processing chamber heating device disposed within the second processing chamber, configured to receive a second initial material through the feed inlet of the second processing chamber, and to heat and extrude the second initial material, so that the second initial material is converted into a second melt, and the second melt is extruded from the discharge outlet of the second processing chamber; the first printing module further includes a second nozzle, the second nozzle being connected to the discharge outlet of the second processing chamber, the first printing module being configured to receive the second melt extruded from the discharge outlet of the second processing chamber and guide the second melt to be extruded through the second nozzle; 37. The 3D printing device of claim 36, wherein the platform drive mechanism drives the first deposition platform to move between a position below the first nozzle and a position below the second nozzle. (Item 39) the platform module: a second deposition platform configured to receive the first melt extruded through the first nozzle; Item 37. The 3D printing device of item 36, wherein the platform drive mechanism drives the first deposition platform and the second deposition platform to pass under the first nozzle in sequence. (Item 40) Item 1. The 3D printing device of item 1, further comprising a product collection module configured to collect a final product formed on the platform module. (Item 41) Item 1. The 3D printing device of item 1, further comprising an inspection module, the inspection module configured to measure product parameters of a final product formed on the platform module. (Item 42) Item 1, the 3D printing device further comprising an automatic screening module configured to select a final product formed on the platform module. (Item 43) 2. The 3D printing device of claim 1, further comprising an automated transport module configured to transport the first initial material to the first supply module. (Item 44) Item 1. The 3D printing device of item 1, wherein all of the aforementioned parts connected to each other are connected through hoses. (Item 45) Item 45. The 3D printing device according to item 44, wherein the inner diameter of the hose is 1 mm to 100 mm. (Item 46) Item 10. The 3D printing device of item 1, wherein the first initial material comprises a thermoplastic material. (Item 47) Item 1. The 3D printing device of item 1, further comprising a second printing module, the second printing module being located above the first printing module along the Z axis of a Cartesian coordinate system. (Item 48) 1. A 3D printing method comprising: providing a first initial material to a processing chamber of a first melt extrusion module; heating and extruding the first initial material in the processing chamber, wherein the first initial material is converted into a first melt, which is then extruded through an outlet of the processing chamber; and guiding the first melt at the discharge outlet of the processing chamber so that it is extruded through a first nozzle of a first printing module and deposited on a platform module. (Item 49) Item 49. The 3D printing method of item 48, further comprising supplying the first initial material to the first melt extrusion module through a hopper of a first supply module. (Item 50) measuring a pressure of the first melt in the first printing module; Item 49. The 3D printing method of item 48, further comprising: controlling the pressure of the first melt in the first printing module according to the measured pressure. (Item 51) measuring a temperature of the first melt in the first print module; Item 49. The 3D printing method of item 48, further comprising: adjusting a temperature of the first melt in the first printing module according to the measured temperature. (Item 52) measuring the temperature of the first melt in the processing chamber; Item 49. The 3D printing method of item 48, further comprising: controlling the heating power and / or extrusion force of the first melt or the first initial material in the processing chamber according to the measured temperature. (Item 53) guiding the first melt at the discharge outlet of the processing chamber to be extruded through a first nozzle of a first printing module and deposited on a platform module; guiding the first melt at the discharge outlet of the processing chamber to enter a storage chamber of a first temporary storage module; 49. The 3D printing method of claim 48, further comprising: guiding the first melt at an outlet of the storage chamber so that it is extruded through the first nozzle of the first printing module and deposited on the platform module. (Item 54) measuring the temperature of the first melt in the storage chamber; 54. The 3D printing method of claim 53, further comprising: controlling a heating power of the first melt in the storage chamber according to the measured temperature. (Item 55) measuring a remaining volume of the storage chamber; Item 54. The 3D printing method of item 53, further comprising: controlling the discharge rate of the first melt at the discharge outlet of the processing chamber according to the remaining volume of the storage chamber. (Item 56) Item 49. The 3D printing method of item 48, further comprising guiding at least a portion of the first melt extruded from the discharge outlet of the processing chamber to flow back to the processing chamber. (Item 57) feeding a second initial material through a hopper of a second feeding module into a processing chamber of a second melt extrusion module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module, such that the second initial material is converted into a second melt, and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module; mixing the first melt and the second melt in a mixing chamber to form a first mixed melt; Item 50. The 3D printing method of item 49, further comprising: guiding the first mixed melt at an outlet of the mixing chamber so that it is extruded through the first nozzle of the first printing module and deposited on the platform module. (Item 58) measuring the composition of the first mixed melt extruded from the discharge outlet of the mixing chamber; Item 58. The 3D printing method of item 57, further comprising: controlling an exit rate of the first melt at the exit outlet of the processing chamber of the first melt extrusion module and an exit rate of the second melt at the exit outlet of the processing chamber of the second melt extrusion module according to the measured composition of the first mixed melt. (Item 59) measuring the temperature of the first mixed melt in the mixing chamber; 58. The 3D printing method of claim 57, further comprising: controlling a heating power of the first mixed melt in the mixing chamber according to the measured temperature. (Item 60) feeding a second initial material into the processing chamber of the first melt extrusion module through a hopper of a second feeding module; 50. The 3D printing method of claim 49, further comprising heating and extruding the first initial material and the second initial material in the processing chamber, whereby the first initial material and the second initial material are converted into a first molten material. (Item 61) 62. The 3D printing method of claim 60, further comprising: measuring a composition of the first melt at a location on a 3D printing device; and controlling an ejection rate of the first initial material at an outlet of the first supply module and an ejection rate of the second initial material at an outlet of the second supply module according to the measured composition of the first melt. feeding a second initial material through a hopper of a second feeding module into a processing chamber of a second melt extrusion module; heating and extruding the second initial material in the processing chamber of the second melt extrusion module, such that the second initial material is converted into a second melt, and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module; guiding the second melt at the discharge outlet of the processing chamber of the second melt extrusion module to be extruded through a second nozzle of the first printing module and deposited on the platform module; 50. The 3D printing method of claim 49, further comprising: actuating the deposition platform to move between a position below the first nozzle and a position below the second nozzle. (Item 63) Item 49. The 3D printing method of item 48, further comprising driving the first nozzle of the first printing module to move relative to the platform module. (Item 64) Item 64. The 3D printing method of item 63, further comprising driving the first nozzle of the first printing module to move along the Z axis of a Cartesian coordinate system relative to the platform module. (Item 65) further comprising actuating a first deposition platform of the platform module to move relative to the first nozzle of the first print module; Item 49. The 3D printing method described in Item 48, wherein the first deposition platform is configured to receive the first melt extruded through the first nozzle. (Item 66) Item 66. The 3D printing method of item 65, further comprising driving the first deposition platform to move along the X-axis and / or Y-axis of a Cartesian coordinate system relative to the first nozzle. (Item 67) Item 49. The 3D printing method of item 48, further comprising collecting the final product formed on the platform module. (Item 68) Item 49. The 3D printing method of item 48, further comprising measuring product parameters of a final product formed on the platform module. (Item 69) Item 49. The 3D printing method of item 48, further comprising selecting a final product formed on the platform module. (Item 70) 50. The 3D printing method of claim 49, further comprising transporting the first initial material to the first supply module through an automatic transport module. (Item 71) Item 49. The 3D printing method of item 48, wherein the first initial material comprises a thermoplastic material. (Item 72) A printing module for use in a 3D printing device, comprising n x m nozzles (where both n and m are integers greater than or equal to 2) arranged in an array, with the nozzles positioned (x, y) at the xth column and yth row (1≦x≦n and 1≦y≦m). (Item 73) Item 73. The printing module of item 72, wherein the printing module is constructed to be capable of extruding M types of melts, and the nozzle (x, y) is constructed to be capable of extruding the yth type of melt. (Item 74) Item 73. The printing module of item 72, wherein the n×m nozzles are respectively connected to n×m processing chambers. (Item 75) Item 73. The printing module of item 72, wherein the discharge rates of the n×m nozzles are controlled by n×m melt extrusion discharge controllers, respectively. (Item 76) Item 73. The print module of item 72, wherein the nozzles in the yth row of the n×m nozzles are configured to have approximately the same ejection velocity. [Brief explanation of the drawings]

[0112] The following details, explained with reference to the accompanying drawings and the appended claims, will facilitate a clear understanding of the foregoing and other features of the present application. It should be understood that the accompanying drawings of the present application merely illustrate some embodiments of the present invention and therefore should not be construed as any limitation on the scope of the present invention. Unless otherwise specified, the accompanying drawings are not necessarily to scale, and like labels generally represent similar parts. [Figure 1] 1 shows a schematic diagram of a 3D printing device according to certain embodiments of the present invention. [Figure 2] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 3] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 4]1 illustrates a perspective view of a 3D printing device according to certain embodiments of the present invention. [Figure 5] 1 shows a schematic diagram of the arrangement of nozzles of a 3D printing device on a printing module, according to certain embodiments of the present invention. [Figure 6] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 7A] Each shows a model of a pharmaceutical product that can be printed using a 3D printing device according to certain embodiments of the present invention. [Figure 7B] Each shows a model of a pharmaceutical product that can be printed using a 3D printing device according to certain embodiments of the present invention. [Figure 8] 1 shows a flowchart of a 3D printing method according to certain embodiments of the present invention. [Figure 9A] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 9B] FIG. 1 shows a perspective view of a 3D printing device according to another embodiment of the present invention. [Figure 9C] 3 shows an enlarged view of a print head according to another embodiment of the present invention. [Figure 9D] FIG. 10 shows an exploded view of components of a pneumatic actuator configured to control a sealing needle according to another embodiment of the present invention. [Figure 10] 10 shows an enlarged view of a sealing needle and extrusion port according to another embodiment of the present invention. [Figure 11] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 12] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 13A] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 13B] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. [Figure 13C] FIG. 1 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0113] The following detailed description is provided with reference to the accompanying drawings, which form a part of this specification. In the accompanying drawings, like symbols generally represent like parts unless otherwise specified. The illustrative embodiments described in the detailed description, the accompanying drawings, and the claims are not intended to be limiting. Other embodiments may be utilized, and other changes may be made without departing from the spirit or scope of the subject matter of this application. It will be understood that multiple configurations, alternatives, combinations, and designs having different compositions may be made with respect to various aspects of the subject matter generally described herein and shown in the accompanying drawings, all of which expressly constitute a part of the subject matter of this invention.

[0114] Specific embodiments of the present invention will now be described with reference to the accompanying drawings, in which: Figure 1 shows a schematic diagram of a 3D printing device according to a specific embodiment of the present invention;

[0115] 1, the 3D printing device 100 includes a melt extrusion module 102, a printing module 103, and a platform module 104. In the printing process of the device, the melt extrusion module 102 extrudes and heats the received initial material so that the initial material melts into a melt, and transports the melt to the printing module 103. The printing module 103 extrudes the melt toward a specific position on the platform module 104 according to a pre-set data model or program, and the melt is stacked and piled up on the platform 104 to finally form the 3D product that needs to be printed.

[0116] As shown in FIG. 1 , in some embodiments, the 3D printing device may further include a supply module 101 having a hopper 111 configured to accommodate and transport the initial material, the hopper 111 having a supply inlet 112 and a discharge outlet 113. During the printing process of the 3D printing device 100, the supply module 101 receives the initial material through the supply inlet 112 of the hopper 111 and discharges the initial material to the melt extrusion module 102 through the discharge outlet 113. The initial material used in the 3D printing device 100 may be a powdered or granular material. As shown in FIG. 1 , the hopper 111 is a funnel-shaped shell with a horn-shaped opening. In some embodiments, the initial material may alternatively be fibrous, block-shaped, or have another shape, and the hopper may accordingly have a corresponding shape that matches the shape of the initial material. A hopper discharge control device 114 is further disposed in the hopper 111. The hopper discharge control device 114 controls the discharge rate of the initial material at the discharge outlet 113 of the hopper 111. The hopper discharge control device 114 shown in FIG. 1 is single-shaft. The hopper discharge control device 114 is located near the discharge outlet, and the hopper discharge control device 114 is connected to a motor and gearing (not shown in FIG. 1 ) that drives the hopper discharge control device 114. The rotational speed of the screw 114 is adjusted via a drive mechanism to control the discharge rate of the initial material at the discharge outlet 113. In addition, the mixing and conveying pattern of the material can be controlled by configuring the pitch and threads of the screw portion of the screw 114. Although the hopper discharge control device 114 shown in FIG. 1 is single-shaft, in some embodiments, the hopper discharge control device may alternatively be dual-shaft or a combination of dual-shaft and single-shaft. In some embodiments, the hopper discharge control device 114 may further include a common mechanism that can control the discharge rate of the initial material at the discharge outlet 113. In some embodiments, the hopper discharge control device further includes a baffle plate or barrier disposed at the discharge outlet 113 to control whether material is discharged from the discharge outlet 113 .In some embodiments, the hopper discharge control device 114 is alternatively a flow control valve, such as a pneumatic flow control valve, a solenoid flow control valve, or a hydraulic flow control valve, disposed at the discharge outlet 113, and the discharge rate of the initial material at the discharge outlet 113 can be controlled via the size of the flow control valve.

[0117] The 3D printing device 100 may further include a second supply module 201. As shown in the figure, the second supply module 201 has the same or similar structure as the first supply module 101. The second supply module 201 also includes a second hopper 211 having a supply inlet 212 and a discharge outlet 213, and also includes a hopper discharge controller 214 disposed in the hopper 211, the hopper discharge controller 214 configured to control the discharge rate of the initial material at the discharge outlet 212. In a specific printing process of the device, the supply module 201 can receive a second initial material different from the initial material received by the supply module 101 through the supply inlet 212 of the hopper 211 and discharge the second initial material through the discharge outlet 213 to the melt extrusion module 102. It will be appreciated that the ratio of the initial material to the second initial material received by the melt extrusion module 102 can be controlled by controlling the hopper discharge control device 114 of the supply module 101 and the hopper discharge control device 214 of the second supply module 201 to ultimately control the ratio of the initial material to the second initial material in the product that needs to be printed.

[0118] 1 , the melt extrusion module 102 includes a processing chamber 121, an extrusion device 122, and a processing chamber heating device 123. The processing chamber 121 is a hollow shell having a supply inlet 124 and a discharge outlet 125. The initial material discharged from the discharge outlet 113 enters the processing chamber 121 through the supply inlet 124. The processing chamber heating device 123 is disposed on the peripheral wall of the processing chamber 121 and heats the material within the processing chamber 121. The extrusion device 122 performs an operation of extruding and / or shearing the material within the processing chamber 121, such that the initial material melts into a melt and is discharged through the discharge outlet 125 under the joint action of the processing chamber heating device 123 and the extrusion device 122.

[0119] Specifically, as shown in FIG. 1 , the extrusion device 122 may be a twin shaft 122 disposed within the processing chamber 121. The twin shaft 122 is connected to a drive motor 129 via a variable speed gear 128. When driven by the drive motor 129, the twin shaft 122 rotates and extrudes the material within the processing chamber 121, moving the material toward the discharge outlet 125. Meanwhile, the material within the processing chamber 121 is heated by internal heat generated by the rotating extrusion action of the twin shaft 122. While the extrusion device 122 shown in FIG. 1 is twin-screw, in some embodiments, the hopper discharge control device may alternatively be a single-screw. In some embodiments, the extrusion device 122 may alternatively be a general extruder without any screw, such as a piston device.

[0120] 1, the process chamber heating device 123 may be arranged around the outer wall of the process chamber 121 in segments to achieve more precise heating temperature control, thereby performing segment-by-segment heating. In some embodiments, the process chamber heating device 123 is a typical electric heating device, such as a thermocouple wrapped around the outside of the process chamber 121. In some embodiments, the process chamber heating device 123 is shown arranged on the outer wall of the process chamber 121, but it may be understood that in some embodiments, the process chamber heating device 123 may alternatively be arranged on the process chamber 121, for example, on a heating rod arranged within the process chamber 121.

[0121] In some embodiments, the melt extrusion module 102 further includes a melt extrusion discharge control device 126 (not shown in FIG. 1 ) configured to control the discharge rate of the melt at the discharge outlet 125 of the processing chamber 121. Similar to the structure of the hopper discharge control device 114, the melt extrusion discharge control device 126 may be a flow control valve disposed at the discharge outlet 125, such as a pneumatic flow control valve, a hydraulic flow control valve, or a solenoid flow control valve, and the discharge rate of the melt at the discharge outlet 125 is controlled via the flow control valve. In some embodiments, the melt extrusion discharge control device 126 may further include a baffle plate or barrier disposed at the discharge outlet 125 to control whether or not to discharge the melt from the discharge outlet 125. It should be noted that the extrusion device 122 of the melt extrusion module 102 can control the discharge rate of the melt at the discharge outlet 125 by controlling the extrusion force for extruding the initial material and the melt in the processing chamber 121. Specifically, in the twin shaft 122 shown in FIG. 1 , the discharge rate of the melt at the discharge outlet 125 can be controlled by controlling the rotation speed of the twin shaft 122. In some embodiments, the discharge rate at the discharge outlet 125 of the melt extrusion module 102 can be adjusted by controlling the feed rate of the supply inlet 124. Specifically, for example, the discharge rate at the discharge outlet 125 can be increased by increasing the feed rate of the supply inlet 124. The feed rate at the supply inlet 124 of the melt extrusion module 102 can be adjusted by adjusting the discharge rate at the discharge outlet 113 of the supply module 101.

[0122] In some embodiments, the 3D printing device 100 further includes a counterflow channel 127 (not shown in FIG. 1 ). One end of the counterflow channel 127 is connected to the melt channel behind the exhaust outlet 125 of the processing chamber 121, and the other end of the counterflow channel 127 is connected to the processing chamber 121, so that a portion of the melt flows back into the processing chamber 121. In some embodiments, the counterflow channel 127 further includes a flow control valve such that the amount and speed of the melt flowing back through the counterflow channel 127 to the processing chamber 121 can be adjusted via the flow control valve.

[0123] As shown again in FIG. 1 , the printing module 103 may include a barrel 133 having a supply inlet and an outlet. The barrel 133 is configured as a hollow shell, and the nozzle 131 is disposed at the bottom of the barrel 133. The supply inlet of the barrel 133 of the printing module 103 is connected to the outlet 125 of the processing chamber 121. After the initial material is heated and melted into a melt, the melt is transported to the barrel 133 and finally extruded through the nozzle 131. While the printing module 103 shown in FIG. 1 has only one nozzle 131, in some embodiments, the printing module 103 may include multiple nozzles for batch production, thereby solving a common defect of prior art 3D printing devices for fused deposition modeling, i.e., failure in mass production. The multiple nozzles may be arranged in an array or according to another rule applicable to mass production. Specific methods for arranging the nozzles will be described in detail later with reference to the accompanying drawings. The printing module 103 further includes a printing module drive mechanism 132 (not shown in FIG. 1 ). The drive mechanism 132 may be a hydraulic cylinder, a stepper motor, or another common drive mechanism. The print module 103 is disposed on the drive mechanism 132 so that the nozzle 131 of the print module 103 is driven to move relative to the platform module 104. As shown in FIG. 1 , the barrel 133 of the print module 103 may alternatively include a temperature control device 134. The structure and arrangement of the temperature control device 134 may be the same as or similar to the structure and arrangement of the process chamber heating device 123, and may be an electric heating device arranged segment by segment around the barrel 133. In some embodiments, the temperature control device 134 may alternatively be a heating rod arranged within the barrel 133. Note that the temperature control device may also have a cooling function, such as a semiconductor heating and cooling sheet, so that the temperature of the melt in the print module 103 can be reduced if it is too high. The temperature control device 134 is preferably disposed close to the nozzle 131 to quickly and accurately control the temperature of the melt extruded through the nozzle 131.The barrel 133 further includes a pressure regulator (not shown in FIG. 1 ) configured to regulate the pressure of the melt in the printing module 103. In some embodiments, the pressure regulator may be a screw extrusion device as described above, specifically a single-screw extruder, a twin-screw extruder, or a combination of a single-screw extruder and a twin-screw extruder. The screw extrusion device is disposed within the barrel 133 and controls the extrusion force of the melt by controlling screw rotation, thereby controlling the pressure of the melt in the printing module 103, particularly within the nozzle 131. In some other embodiments, the pressure regulator may alternatively be a piston extrusion mechanism disposed within the barrel 133 and pneumatically or hydraulically driving a piston to move the piston and thereby control the pressure of the melt in the printing module 103, particularly within the nozzle 131.

[0124] As shown in FIG. 1 , the platform module 104 includes a deposition platform 141 and a platform drive mechanism 142 that drives and moves the deposition platform 141. The deposition platform 141 may be a plate structure and is configured to receive the melt extruded through the nozzle 131 so that the melt is layered on the deposition platform. Although only one deposition platform 141 is shown in FIG. 1 , in some embodiments, the platform module 104 may further include multiple deposition platforms to meet mass production requirements during simultaneous mass printing. The structure between the multiple deposition platforms will be described in detail later with reference to other accompanying drawings.

[0125] The deposition platform 141 is disposed on a platform drive mechanism 142. The platform drive mechanism 142 can drive the deposition platform 141 to move relative to the nozzle 131. In some embodiments, the platform drive mechanism 142 can be a stepper motor arranged based on a Cartesian coordinate system, such that the platform drive mechanism 142 can drive the deposition platform 141 to move along one or more of the X-axis, Y-axis, and Z-axis. In some other embodiments, the 3D printing device 100 further includes a print module drive mechanism configured to drive the nozzle 131 of the print module 103 to move relative to the platform module 104. In yet some embodiments, the platform drive mechanism 142 can be a conveyor belt. Relative motion between the deposition platform 141 and the nozzle 131 deposits the melt on the deposition platform 141 to form a final product of complex structure and composition as desired.

[0126] As shown again in FIG. 1 , the 3D printing device 100 further includes a temporary storage module 107. The temporary storage module 107 has a storage chamber 171 configured to store the melt. The storage chamber 171 has a feed inlet 172 and a discharge outlet 173. The feed inlet 172 is connected to the discharge outlet of the processing chamber 121. The discharge outlet 173 is connected to the printing module 103 via the feed channel 135. The melt extruded from the discharge outlet of the processing chamber 121 flows through the feed inlet 172 into the storage chamber 171 for temporary storage and then flows through the discharge outlet 173 into the printing module 103 for printing. As shown in the figure, the temporary storage module 107 also includes a heating device 174 configured to heat the melt in the storage chamber 171, the heating device 174 being disposed on an outer wall of the storage chamber 171. In some embodiments, the heating device 174 is a thermocouple surrounding the storage chamber 171. In some embodiments, the heating device 174 may alternatively be disposed within the storage chamber 171, for example, a heating rod disposed within the storage chamber 171. In some embodiments, an insulating liner is further disposed on the outer wall of the storage chamber 171 to conserve heat for the melt within the storage chamber.

[0127] In some embodiments, the temporary storage module 107 further includes a storage chamber discharge controller 175 (not shown in FIG. 1 ) configured to control the discharge rate of the melt at the discharge outlet 173 of the storage chamber 171. Similar to the hopper discharge controller 114, the storage chamber discharge controller 175 may be a single-shaft or dual-shaft controller, or a combination of a single-shaft or dual-shaft controller, located near the discharge outlet 173, or may be a flow control valve, such as a pneumatic flow control valve, a solenoid flow control valve, or a hydraulic flow control valve, located at the discharge outlet 173. In some embodiments, a baffle plate or barrier is further disposed at the discharge outlet 173 of the storage chamber 171 to control whether the melt is discharged from the discharge outlet 173.

[0128] FIG. 2 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention.

[0129] As shown in FIG. 2 , the 3D printing device 200 further includes a first supply module 301 and a second supply module 401 arranged parallel to each other, and a first melt extrusion module 302 and a second melt extrusion module 402 arranged parallel to each other. The structures of the aforementioned modules are the same as those of the first supply module 101 and the first melt extrusion module 102, as described above. The first supply module 301 and the second supply module 401 receive an initial material. The initial material is heated, extruded through the first melt extrusion module 302 and the second melt extrusion module 402, respectively, and converted into a melt. The melt is discharged and enters the mixing module 308.

[0130] As shown again in FIG. 2 , the 3D printing device 200 further includes a mixing module 308. The mixing module 308 includes a mixing chamber 381 having a feed inlet 382 and an exhaust outlet 383. The feed inlet 382 of the mixing chamber 381 is connected to the first melt extrusion module 302 and the second melt extrusion module 402. A mixing mechanism 386 (not shown in FIG. 2 ) is disposed within the mixing chamber 308 and configured to mix the different melts coming from the first melt extrusion module 302 and the second melt extrusion module 402. In some embodiments, the mixing mechanism 386 is a mechanical stirring device. However, in some other embodiments, the mixing mechanism 386 may alternatively be a pneumatic stirring mechanism.

[0131] In some embodiments, the mixing module 308 further includes a heating device 384 configured to heat and conserve heat of the melt within the mixing chamber 381. The heating device 384 may be disposed on an outer wall of the mixing chamber 381. In some embodiments, the heating device 384 is a thermocouple surrounding the mixing chamber 381. In some embodiments, the heating device 384 may alternatively be disposed in the mixing chamber 381, for example, a heating rod disposed within the mixing chamber 381.

[0132] In some embodiments, the mixing module 308 further includes a mixing chamber discharge control device 385 (not shown in FIG. 2 ) configured to control the discharge rate of the melt at the discharge outlet 383 of the mixing chamber 381. Similar to the hopper discharge control device 114, the mixing chamber discharge control device 385 may be a single-axis or dual-axis device, or a combination of a single-axis or dual-axis device, located near the discharge outlet 383. Alternatively, the mixing module 308 may be a flow control valve, such as a pneumatic flow control valve, a solenoid flow control valve, or a hydraulic flow control valve, located at the discharge outlet 383. In some embodiments, a baffle plate or barrier is further disposed at the discharge outlet 383 of the mixing chamber to control whether the melt is discharged from the discharge outlet 383. The mixing module 308 can enable sufficient mixing of several solid-state initial materials that cannot be sufficiently mixed or are difficult to mix, to form a uniform mixed melt. As a result, the mixed melt discharged from the discharge outlet 383 enters the printing module 303 and is extruded through the nozzle 331 and then layered on the platform module 304, thereby forming a final product having the mixed components.

[0133] FIG. 9A shows a schematic diagram of a printing module and nozzle according to certain embodiments of the present invention. The device includes a barrel 133 configured to melt and pressurize material. The melted and pressurized material flows through a feed channel connected to a nozzle 131. A pressure sensor 106 is positioned proximal to the nozzle and the end of the feed channel and can measure the pressure of the material in the feed channel. Optionally, the pressure sensor 106 can be designed to directly measure the pressure of the material in the nozzle 131. A control switch 108 includes a linear actuator and a sealing needle and can control the sealing needle to switch between an open position and a closed position. The linear actuator can be a mechanical actuator (which may include a screw), a hydraulic actuator, a pneumatic actuator (which may include a pneumatic valve), or a solenoid actuator (which may include a solenoid valve). In some embodiments, the actuator includes a pin cylinder, e.g., a pneumatic pin cylinder. In some embodiments, the actuator includes a spring-loaded pneumatic cylinder. In some embodiments, the spring-loaded pneumatic cylinder includes a spring that assists in actuating the sealing needle (i.e., pulling the sealing needle from the open position to the closed position). In some embodiments, the spring-loaded pneumatic cylinder includes a spring that assists in withdrawing the sealing needle (i.e., pulling the sealing needle from the closed position to the open position). When the sealing needle is in the open position, pressurized molten material can flow through the feed channel and through the extrusion port of the nozzle 131. When a signal is sent to the control switch 108, the control switch 108 lowers the sealing needle to the closed position, and the tip of the sealing needle engages the inner surface of the nozzle 131.

[0134] In some embodiments of the present invention, the material is a non-fibrous material such as a powder, granules, gel, or paste. The non-fibrous material is melted and pressurized so that it can be extruded through the extrusion port of the nozzle. As further described herein, the pressure, particularly for viscous materials, is precisely controlled to ensure precise and accurate deposition of the material. The material can be heated and melted in the print module by using one or more heaters located within the print module (e.g., inside or around the barrel, feed channel, and / or print head). In some embodiments, the melting temperature of the material is about 50°C or higher, e.g., about 60°C or higher, about 70°C or higher, about 80°C or higher, about 100°C or higher, about 120°C or higher, about 150°C or higher, about 200°C or higher, or about 250°C or higher. In some embodiments, the melting temperature of the material is about 400°C or less, e.g., about 350°C or less, about 300°C or less, about 260°C or less, about 200°C or less, about 150°C or less, about 100°C or less, or about 80°C or less. The material extruded from the nozzle can be extruded at a temperature above the melting temperature of the material. In some embodiments, the material is about 50°C or more, e.g., about 60°C or more, about 70°C or more, about 80°C or more, about 100°C or more, about 120°C or more, about 150°C or more, about 200°C or more, or about 250°C or more. In some embodiments, the material is about 400°C or less, e.g., about 350°C or less, about 300°C or less, about 260°C or less, about 200°C or less, about 150°C or less, about 100°C or less, or about 80°C or less.

[0135] The devices according to the present invention are useful for accurate and precise extrusion of viscous materials. In some embodiments, when extruded from the device, the material has a viscosity of about 100 Pa·s or more, e.g., about 200 Pa·s or more, about 300 Pa·s or more, about 400 Pa·s or more, about 500 Pa·s or more, about 750 Pa·s or more, or about 1000 Pa·s or more. In some embodiments, the material has a viscosity of about 2000 Pa·s or less, e.g., about 1000 Pa·s or less, about 750 Pa·s or less, about 500 Pa·s or less, about 400 Pa·s or less, about 300 Pa·s or less, or about 200 Pa·s or less.

[0136] In some embodiments, the material is a pharmaceutical material. In some embodiments, the material is inert or biologically inert. In some embodiments, the material is an erodible or bioerodible material. In some embodiments, the material is a non-erodible or non-bioerodible material. In some embodiments, the material is a pharmaceutical material. In some embodiments, the material comprises one or more thermoplastic materials, one or more non-thermoplastic materials, or a combination of one or more thermoplastic materials and one or more non-thermoplastic materials. In some embodiments, the material is a polymer or copolymer.

[0137] In some embodiments, the material comprises a thermoplastic material. In some embodiments, the material is a thermoplastic material. In some embodiments, the material comprises an erodible thermoplastic material. In some embodiments, the thermoplastic material is edible (i.e., suitable for consumption by an individual). In some embodiments, the thermoplastic material is selected from hydrophilic polymers, hydrophobic polymers, swellable polymers, non-swellable polymers, porous polymers, non-porous polymers, erodible polymers (such as soluble polymers), pH-sensitive polymers, natural polymers, wax-like materials, and combinations thereof. In some embodiments, the thermoplastic material is selected from cellulose ethers, cellulose esters, acrylic resins, ethyl cellulose, hydroxypropyl methyl cellulose, hydroxypropyl methyl cellulose, C 12 ~C 30 Mono- or diglycerides of fatty acids, C 12 ~C 30Fatty alcohols, waxes, poly(meth)acrylic acid, polyvinyl caprolactam-polyvinyl acetate-polyethylene glycol graft copolymer 57 / 30 / 13, polyvinylpyrrolidone-vinyl acetate copolymer (PVP-VA), polyvinylpyrrolidone-vinyl acetate copolymer (PVP-VA) 60 / 40, polyvinylpyrrolidone (PVP), polyvinyl acetate (PVAc), polyvinylpyrrolidone (PVP) 80 / 20, vinylpyrrolidone-vinyl acetate copolymer (vinylpyrrolidone-vinyl acetate, VA64), polyethylene glycol-polyvinyl alcohol graft copolymer 25 / 75, kollicoat IR-Polyvinyl Alcohol 60 / 40, polyvinyl alcohol (PVA) or PV-OH, poly(vinyl acetate) acetate, PVAc), butyl methacrylate-(2-dimethylaminoethyl) methacrylate-methyl methacrylate copolymer 1:2:1, dimethylaminoethyl methacrylate-co-methacrylic acid ester, ethyl acrylate-methyl methacrylate-trimethylammonium ethyl methacrylate chloride copolymer, methyl acrylate-methyl methacrylate-methacrylic acid copolymer 7:3:1, methacrylic acid-methyl methacrylate copolymer 1:2, methacrylic acid-ethyl acrylate copolymer 1:1, polyethylene oxide (PEO), polyethylene glycol (PEG), hyperbranched polyesteramide, hydroxypropyl methylcellulose phthalate, hypromellose phthalate, hydroxypropyl methylcellulose or hypromellose (HMPC), hydroxypropyl methylcellulose acetate succinate or hypromellose acetate succinatesuccinate (HPMCAS), poly(lactide-co-glycolide) (PLGA), carbomer, ethylene-vinyl acetate copolymer, polyethylene (PE) and polycaprolactone (PCL), hydroxyl propyl cellulose (HPC), polyoxyethylene 40 hydrogenated castor oil, methyl cellulose (MC), ethyl cellulose (EC), poloxamer, hydroxypropyl methyl cellulose phthalate (HPMCP), poloxamer, hydrogenated castor oil, hydrogenated soybean oil, glyceryl palmitostearate, Brazil palm wax, polylactic acid (PLA), polyglycolic acid (PGA), cellulose acetate butyrate (CAB), polyvinyl acetate phthalate phthalate (PVAP), wax, beeswax, hydrogel, gelatin, hydrogenated vegetable oil, polyvinyl acetal diethyl aminolactate (AEA), paraffin, shellac, sodium alginate, cellulose acetate phthalate (CAP), gum arabic, xanthan gum, glycerol monostearate, octadecanoic acid, thermoplastic starch, and derivatives thereof (e.g., salts, amides, or esters thereof).

[0138] In some embodiments, the erodible material comprises a non-thermoplastic material. In some embodiments, the erodible material is a non-thermoplastic material. In some embodiments, the non-thermoplastic material is non-thermoplastic starch, sodium starch glycolate (CMS-Na), sucrose, dextrin, lactose, microcrystalline cellulose (MCC), mannitol, magnesium stearate (MS), powdered silica gel, glycerol, syrup, lecithin, soybean oil, black tea oil, ethanol, propylene glycol, glycerol, Tween, animal fat, silicone oil, cocoa butter, fatty acid glycerides, petrolatum, chitosan, cetyl alcohol, stearyl alcohol, polymethacrylate, non-toxic polyvinyl chloride, polyethylene, ethylene-vinyl acetate copolymer, silicone rubber, or a combination thereof.

[0139] Exemplary materials that may be used with the devices or methods described herein include, but are not limited to, poly(methyl)acrylate copolymers (e.g., copolymers comprising one or more of aminoalkyl methacrylates, methacrylic acid, methacrylic acid esters, and / or ammonium alkyl methacrylates, such as copolymers sold under the trade name Eudragit® RSPO), and hydroxyl propyl cellulose (HPC).

[0140] In some embodiments, the material comprises a drug. In some embodiments, the material is mixed with a drug.

[0141] The material can be pressurized in the printing module by using a pressure regulator. The material can be pre-loaded into the barrel, and a pressure regulator (not shown in FIG. 1 ) can apply pressure to the pre-loaded material in the barrel 133. The pressure regulator can be a motor (e.g., a stepper motor), a valve, or any other suitable control device that drives a mechanism (e.g., a piston, a pressure screw, or compressed air (i.e., a pneumatic controller)) to apply pressure to the material contained in the barrel. The barrel includes one or more heaters capable of melting the material. In some embodiments, the heater is located within the barrel. In some embodiments, the heater is located on the side of the barrel or surrounding the barrel. In some embodiments, the heater is an electric radiant heater, such as an electric heating tube or coil. The barrel heater is preferably a high-efficiency heater with high voltage and high output power. In some embodiments, the barrel heater has a rated voltage of 110 V to 600 V. In some embodiments, the barrel heater has a rated voltage of 210 V to 240 V. In some embodiments, the barrel heater is a 220 V heater. In some embodiments, the barrel heater has an output power of about 30 W to about 100 W, e.g., 40 W to 80 W, or about 60 W. In some embodiments, the heater is an electric heating coil surrounding the outside of the barrel. Preferably, the barrel is made of a heat-resistant material such as stainless steel (e.g., 316L stainless steel). In some embodiments, the device includes one or more temperature sensors. The one or more temperature sensors are positioned proximal to or inside the feed channel. The temperature sensor is configured to measure the temperature of the material in the feed channel. The feed channel is relatively wide compared to the extrusion port of the nozzle. In some embodiments, the feed channel has a diameter of about 1 mm to about 15 mm, e.g., about 1 mm to about 5 mm, about 5 mm to about 10 mm, or about 10 mm to about 15 mm. In an exemplary embodiment, the feed channel has a diameter of about 8 mm.

[0142] The print head of the device includes a nozzle 131. The nozzle includes an extrusion port through which molten material is extruded. The extrusion port is located at the distal end of the nozzle relative to the feed channel. When the sealing needle is in the open position, the molten material flows through the nozzle, from the feed channel, and out the extrusion port. The nozzle includes a tapered inner surface, and the extrusion port is adjacent to the apex of the tapered inner surface. In some embodiments, the inner surface of the nozzle includes a pad or liner. The pad or liner may be made of polytetrafluoroethylene (PTFE) or any other suitable material. In some embodiments, the print head includes one or more heaters that may be located inside, around, or proximate to the nozzle of the print head. The one or more heaters are configured to heat the material in the nozzle. The material may have the same or a different temperature than the material in the barrel or feed channel. In some embodiments, the nozzle heater is an electric radiant heater, such as an electric heating tube or coil. The heater may be a lower voltage and / or power heater than the barrel heater or the feed channel heater. In some embodiments, the nozzle heater has a rated voltage of 6V to 60V. In some embodiments, the nozzle heater is a 12V heater. In some embodiments, the nozzle heater has an output power of about 10W to about 60W, e.g., 20W to 45W, or about 30W.

[0143] In some embodiments, the device includes one or more temperature sensors. In some embodiments, the print head includes one or more temperature sensors positioned proximate or within the nozzle to measure the temperature of the material in the nozzle. In some embodiments, the device includes a temperature sensor located inside or proximate to the material pipe or configured to measure the temperature within the material pipe. In some embodiments, the device includes a temperature sensor located inside or proximate to the feed channel or configured to measure the temperature within the feed channel. In some embodiments, the device includes a temperature sensor located inside or proximate to the print head or configured to measure the temperature within the nozzle. In some embodiments, the one or more temperature sensors are connected to a computer system that operates one or more heaters in response to temperatures reported by the one or more temperature sensors. For example, the computer system may operate one or more heaters to regulate the temperature of the material in the barrel, feed channel, and / or nozzle. In some embodiments, the system operates as a closed-loop feedback system to maintain a substantially constant temperature within the device or within a component of the device (i.e., the barrel, nozzle, or feed channel). The temperatures of the material in different components of the device may be the same or different. In some embodiments, the feedback system operates by using a proportional-integral-derivative (PID) controller, a bang-bang controller, a predictive controller, a fuzzy control system, an expert system controller, or any other suitable algorithm.

[0144] The device includes one or more pressure sensors 106 capable of measuring the pressure of material within the device. In some embodiments, the pressure sensor is configured to measure the pressure of material within a feed channel in the print head or near the print head. In some embodiments, the pressure sensor is located within the print head or at a location adjacent to the feed channel and near the print head. In some embodiments, the pressure sensor may work together with a pressure regulator in a closed-loop feedback system to provide material within the device at a substantially constant pressure. For example, when the pressure sensor measures a pressure drop, the feedback system can send a signal to the pressure regulator to increase the material pressure (e.g., by lowering the piston, increasing the air pressure in the barrel, or rotating the pressure screw). Similarly, when the pressure sensor measures a pressure increase, the feedback system can send a signal to the pressure regulator to decrease the material pressure (e.g., by raising the piston, decreasing the air pressure in the barrel, or rotating the pressure screw). The constant pressure ensures that the molten material within the device passes through the extrusion port of the nozzle at a constant rate when the sealing needle is in the open position. However, when the sealing needle is in the closed position, a certain temperature increase (e.g., by raising the piston, reducing the air pressure in the barrel, or rotating the pressure screw) can cause the molten material to leak through the nozzle. Additionally, when the sealing needle switches from the open position to the closed position, or from the closed position to the open position, a feedback system including a pressure sensor and a pressure regulator maintains a nearly constant pressure in the system. Because the pressure of the material in the system does not need to increase when the sealing needle switches from the closed position to the open position, increases in extrusion rate are minimized. In some embodiments, the pressure sensor 106 is connected to a computer system that operates the barrel to pressurize the material to the desired pressure in response to the pressure reported by the pressure sensor 106. For example, the computer system can operate a pressure regulator to adjust the amount of pressure applied to the material in the barrel.In some embodiments, the system operates as a closed-loop feedback system to maintain a substantially constant pressure within the device. In some embodiments, the feedback system operates by using a proportional-integral-derivative (PID) controller, a bang-bang controller, a predictive controller, a fuzzy control system, an expert system controller, or any other suitable algorithm. In some embodiments, the pressure sensor is accurate to within 0.005 MPa, 0.008 MPa, 0.05 MPa, 0.1 MPa, 0.2 MPa, 0.5 MPa, or 1 MPa. In some embodiments, the sampling time of the pressure sensor is about 20 ms or less (e.g., about 10 ms or less, about 5 ms or less, or about 2 ms or less). In some embodiments, the pressure of the material is within about 0.005 MPa, about 0.008 MPa, about 0.05 MPa, about 0.1 MPa, about 0.2 MPa, about 0.5 MPa, or about 1 MPa of the desired pressure.

[0145] The device includes a control switch 108 that can be operated to prevent or allow molten material to flow from the extrusion port of the device. The control switch 108 includes a sealing needle that is operable between an open position and a closed position, and when the sealing needle is in the closed position, material is prevented from flowing through the nozzle 131. The sealing needle extends through at least a portion of the feed channel and includes a tapered end. When the sealing needle is in the closed position, the tapered end of the sealing needle engages a tapered inner surface of the nozzle 131 (e.g., at the extrusion port of the nozzle).

[0146] In some embodiments, any portion of the sealing needle that contacts the material does not include a protrusion. A protrusion may be any portion of the sealing needle that has a larger diameter than the shaft of the sealing needle or any portion of the sealing needle that extends further outward than the shaft of the sealing needle. Protrusions on the sealing needle can push molten material through the extrusion port when the sealing needle is in the closed position and are preferably avoided. In some embodiments, the entire sealing needle (whether or not the sealing needle contacts the material) does not include a protrusion. In some embodiments, the portion of the sealing needle that does not contact the material includes one or more protrusions, which can, for example, engage with a component of an actuator or function as a depth break to prevent the sealing needle from being overdriven into the feed chamber.

[0147] The portion of the sealing needle that contacts the material (i.e., the portion that is located within the feed channel when the sealing needle is in the open or closed position) is relatively thin compared to the feed channel, allowing the molten material to flow around the sealing needle rather than being extruded out the extrusion port. In some embodiments, the portion of the sealing needle that contacts the material has a maximum diameter of about 0.2 mm to 3.0 mm, e.g., about 0.2 mm to 0.5 mm, about 0.5 mm to 1.0 mm, about 1.0 mm to 1.5 mm, about 1.5 mm to 2.0 mm, about 2.0 mm to 2.5 mm, or about 2.5 mm to 3.0 mm. In some embodiments, the sealing needle (including the portion of the sealing needle that contacts the material and the portion of the sealing needle that does not contact the material) has a maximum diameter of about 0.2 mm to 3.0 mm, e.g., about 0.2 mm to 0.5 mm, about 0.5 mm to 1.0 mm, about 1.0 mm to 1.5 mm, about 1.5 mm to 2.0 mm, about 2.0 mm to 2.5 mm, or about 2.5 mm to 3.0 mm.

[0148] In some embodiments, the seal needle includes a pointed tip at a tapered end, as shown in FIG. 10A. In some embodiments, the tapered end of the tip is frustoconical, as shown in FIG. 10B. Both the nozzle and seal needle include tapered surfaces such that the tapered end of the seal needle faces the tapered inner surface of the nozzle. The "taper angle" herein refers to the angle of the apex of the mating surface. In the case of a frustoconical tapered tip, the "taper angle" refers to the apex of the extrapolated mating surface. The taper angle of the tapered end of the seal needle is indicated by α in FIGS. 10A and 10B. The taper angle of the nozzle is indicated by β, as shown in FIG. 10C. In some embodiments, the taper angle of the tapered end of the seal needle is about 60° or less, e.g., about 50° or less, about 45° or less, about 40° or less, about 35° or less, about 30° or less, about 25° or less, about 20° or less, or about 15° or less. In some embodiments, the taper angle (α) of the sealing needle is less than or equal to the taper angle (β) of the inner surface of the nozzle. In some embodiments, the ratio of the taper angle (β) of the inner surface of the nozzle to the taper angle (α) of the sealing needle is about 1:1 to about 4:1, or about 1:1 to about 3:1, or about 1:1 to about 2:1.

[0149] The sealing needle is positioned in the closed position by lowering the sealing needle toward the extrusion port, aligning it with the extrusion port. When the sealing needle is in the open position, pressurized molten material can flow through the extrusion port. However, when the sealing needle is in the closed position, the pressurized molten material is prevented from flowing, and the sealing needle engages with the inner surface of the nozzle. If the taper angle (β) of the inner surface of the nozzle is greater than the taper angle (α) of the sealing needle, the tapered end of the sealing needle engages with the inner surface of the nozzle at the extrusion port. In some embodiments, the extrusion port has a diameter of about 0.1 mm or more, e.g., about 0.15 mm or more, about 0.25 mm or more, about 0.5 mm or more, or about 0.75 mm or more. In some embodiments, the extrusion port has a diameter of about 1 mm or less, e.g., about 0.75 mm or less, about 0.5 mm or less, about 0.25 mm or less, or about 0.15 mm or less. The base of the tapered end of the sealing needle is preferably thin to prevent molten material from passing through the extrusion port when the sealing needle is in the closed position. In some embodiments, the ratio of the maximum diameter of the tapered end of the sealing needle (i.e., the base of the taper) to the diameter of the extrusion port is about 1:0.8 to about 1:0.1, e.g., about 1:0.8 to about 1:0.7, about 1:0.7 to about 1:0.6, about 1:0.6 to about 1:0.5, about 1:0.5 to about 1:0.4, about 1:0.4 to about 1:0.3, about 1:0.3 to about 1:0.2, or about 1:0.2 to about 1:0.1.

[0150] The sealing needle preferably comprises a strong yet flexible material. Exemplary materials include, but are not limited to, stainless steel, polytetrafluoroethylene (PTFE), and carbon fiber. In some embodiments, the inner surface of the nozzle comprises a flexible pad or liner, which can limit damage to the needle or nozzle when the sealing needle is repeatedly repositioned between open and closed positions. In some embodiments, the pad or liner is made of polytetrafluoroethylene (PTFE).

[0151] The sealing needle of the control switch is controlled by using an actuator that can position the sealing needle in an open position (i.e., by raising the sealing needle so that its tapered end no longer engages the inner surface of the nozzle) or a closed position (i.e., by lowering the sealing needle so that its tapered end engages the inner surface of the nozzle). In some embodiments, the actuator is a pneumatic actuator and can be controlled by using air pressure within the actuator. In some embodiments, the actuator is a mechanical actuator that can raise or lower the sealing needle by using one or more gears and a motor. In some embodiments, the actuator includes a solenoid valve or an electrostrictive polymer.

[0152] FIG. 9B shows a cross-sectional view of an exemplary device for depositing material by additive manufacturing, according to the present invention. Material can be loaded into a barrel 902, and pressure can be applied to the material by forcing a piston 904 into the barrel 902. The piston 904 is connected to a pressure regulator via a guide arm 906. The piston 904 can be lowered by a motor, such as a stepper motor, to increase the pressure of the material in the barrel 902, or raised to decrease the pressure of the material. The material in the barrel 902 can be heated above the melting temperature of the material by using a heater in or around the barrel 902. The molten material from the barrel 902 flows through a feed channel 908, which is connected to a print head 910 that includes a nozzle 912. A pressure sensor 914 is located at the end of the feed channel 908, near the print head 910, and configured to measure the pressure of the material proximate the print head. In some embodiments, the pressure sensor 914 is positioned to measure the pressure of the material in the print head 910. The pressure sensor 914 can communicate the measured pressure to a computer system, which can operate a pressure regulator (or a motor for the pressure regulator) to reposition the piston 904 and control the pressure of the material within the barrel 902. This can be done with a feedback system in which the pressure change is measured by the pressure sensor 914 and the computer system further operates the pressure regulator.

[0153] The device includes a control switch 916, which includes a seal needle 918 and a linear actuator 920. The seal needle 918 includes an upper end 922 that engages with the actuator 920 and a tapered lower end 924. The seal needle 918 extends through the feed channel 908 into the print head 910. The actuator 920 operates the seal needle 918 between an open position (raised) and a closed position (lowered). When the seal needle 918 is in the closed position, the tapered end 924 of the seal needle 918 engages the tapered inner surface of the nozzle 912 to prevent the flow of molten material through the nozzle. To open the nozzle 912 and allow the molten material to flow through the extrusion port, the actuator 920 operates the sealing needle 918 to position the sealing needle 918 in an open position by raising the sealing needle 918 so that the tapered lower end 924 disengages from the inner surface of the nozzle 912.

[0154] 9C shows a close-up view of the print head 910 when the sealing needle 918 is in the closed position and engaged with the nozzle 912. In the closed position, the tapered end 924 of the sealing needle 918 is inserted into the extrusion port 926 by engaging the tapered inner surface of the nozzle 912. Thus, molten material in the feed channel 908 is prevented from flowing through the extrusion port 926. The pressure of the material in or proximal to the print head 910 is measured by a pressure sensor 914, and a pressure regulator can operate to prevent excessive pressure buildup within the device when the sealing needle 918 is in the closed position.

[0155] A seal needle 918 extends through a feed channel 908 into the print head 910. When the seal needle 918 switches from an open to a closed position, careful design prevents molten material in the feed channel 908 from being extruded out an extrusion port 926. A tapered end 924 of the seal needle 918 allows the seal needle 918 to pierce the molten material, allowing the molten material to flow over and around the sealed seal needle 918 instead of being forced down.

[0156] Pneumatic actuator 920 includes a solenoid valve configured to control the flow of gas into air chamber 926. The air chamber can drive a central rod 928 attached to the upper end 922 of sealing needle 918 up and down. High-pressure gas can flow into air chamber 926 from a location below diaphragm 930, or gas can be removed from a location above diaphragm 930, causing diaphragm 930 to move upward and position sealing needle 918 in an open position. Gas can be removed from a location below diaphragm 930, or high-pressure gas can be applied above diaphragm 930, causing diaphragm 930 to move downward, thereby positioning sealing needle 918 in a closed position.

[0157] FIG. 9D shows an exploded view of the components of a pneumatic actuator connected to the sealing needle to control it. A diaphragm 942 is located within the air chamber of the pneumatic actuator and is connected to a central rod 974, e.g., via a threaded fitting. The central rod 974 is connected to an adapter 976, e.g., via a threaded fitting. The adapter 976 is attached to the sealing needle 978, e.g., via a threaded or pressure fitting. For example, the bottom of the adapter 976 may include an opening, and the top of the sealing needle 978 can fit snugly into the opening by jamming the sealing needle 978 into the opening of the adapter 976. The sealing needle 978 passes through a gasket 980, which is held in place by a locking nut 982. The locking nut 982 is attached to the rest of the device via a manifold block, which holds the locking nut 982 and the gasket in place. As shown in FIG. 9B , a manifold block 932 is positioned above the feed channels 908 and aligned with the nozzles 912 of the print head 910. Manifold block channels 934 pass through the manifold block 932 and enter the feed channels. A gasket 936 fits into an opening at the top of the manifold block 932, which is wider than the channel 934, thereby preventing the gasket 936 from moving toward the print head 910. The gasket 936 may be made of an inert, flexible material such as plastic or synthetic rubber and seals the feed channels 908 to prevent leakage of molten material. In some embodiments, the gasket is made of polytetrafluoroethylene (PTFE). A locking nut 938 is secured to the manifold block 932, for example, by a threaded fit, securing the gasket 936 in place. Thus, the gasket 936 is in a fixed position relative to the print head 910 and the nozzles 912. The sealing needle 918 passes through a hole in the locking nut 938 and gasket 936 to reach the feed channel 908. The hole is sized to allow the needle to pass through and move as controlled by the actuator 916, but not so large as to allow leakage of molten material.

[0158] The printing module includes one or more heaters configured to melt the material. The heaters can be disposed around or within the barrel housing the material, feed channel, and / or print head. FIG. 13A shows a longitudinal cross-sectional view of a portion of the device, FIG. 13B shows a cross-sectional view of the apparatus along the plane "AA," and FIG. 13C shows a non-cross-sectional view of the device. In some embodiments, the device includes a heater 1302 surrounding the barrel 1304 of the device. The heater 1302 can heat and melt the material contained within the barrel 1304. The heater 1302 can be, for example, a coil heater surrounding the outside of the barrel 1304. In some embodiments, the heater is disposed within the barrel. The material disposed within the barrel is first melted within the barrel by the heater, and pressure is applied to the material by a piston 1306. The molten material then flows from the barrel 1304 to the feed channel 1308. In some embodiments, one or more heaters can be positioned proximate to or within the feed channel 1308 to ensure that the material in the feed channel 1308 remains at a desired temperature. FIGS. 13B and 13C show two heaters 1310a and 1310b located on two sides of and adjacent to the feed channel 1308. In some embodiments, heater 1310a or heater 1310b, or both, span the length of the feed channel 1308 or the length of the flanks of the feed channel 1308. In some embodiments, the one or more heaters adjacent to or within the feed channel 1308 are heating rods. In some embodiments, the one or more heaters adjacent to or within the feed channel 1308 are coils that surround the feed channel 1308. The one or more heaters for heating within the feed channel 1308 ensure that the material remains molten and has the appropriate viscosity under a given applied pressure to achieve predictable flow. In some embodiments, the print head 1312 of the device includes one or more heaters 1314 that ensure the material remains molten and has the appropriate viscosity inside the nozzle 1316 .

[0159] In some embodiments, the device includes one or more temperature sensors, which may be located at one or more locations within the device, capable of measuring the temperature of material within the device (e.g., in the barrel, in the feed channel, or in the print head). The embodiment shown in FIGS. 13A-13C includes a first temperature sensor 1318 adjacent to the feed channel 1308 and a second temperature sensor 1320 adjacent to the print head 1312. In the illustration, the temperature sensor 1318 adjacent to the feed channel 1308 is on one side of the feed channel 1308, but the temperature sensor 1318 may optionally be located anywhere along the length of the feed channel 1308. The temperature sensor 1318 and one or more heaters (e.g., 1310a and 1310b) may function as a closed-loop feedback system for the melted material within the feed channel 1308; the feedback system can ensure that the material within the feed channel remains at a substantially constant temperature. For example, the temperature sensor 1318 can transmit the measured temperature to a computer system, which can operate one or more heaters 1310a and 1310b to ensure a substantially constant temperature. A temperature sensor 1320 in the print head 1312 of the device can operate with one or more heaters 1314 in the print head in a closed-loop feedback system to ensure a substantially constant temperature of the material in the print head. The feedback system can operate by using a proportional-integral-derivative (PID) controller, a bang-bang controller, a predictive controller, a fuzzy control system, an expert system controller, or any other suitable algorithm. In some embodiments, one or more heaters in the device heat the material in the system to a temperature above the melting temperature of the material. In some embodiments, the one or more heaters heat the material to a temperature of about 60°C or above, e.g., about 70°C or above, about 80°C or above, about 100°C or above, about 120°C or above, about 150°C or above, about 200°C or above, or about 250°C or above. In some embodiments, the one or more heaters heat the material to a temperature of about 300°C or less, e.g., about 260°C or less, about 200°C or less, about 150°C or less, about 100°C or less, or about 80°C or less.In some embodiments, one or more heaters heat the material to different temperatures at different locations on the device. For example, in some embodiments, the material is heated to a first temperature inside the barrel, a second temperature inside the feed channel, and a third temperature inside the print head, which may be the same or different temperatures. As an example, the material may be heated to 140°C inside the barrel and feed channel, but to 160°C inside the print head. A feedback control system allows for high-precision temperature control. In some embodiments, the temperature is controlled to within 0.1°C of a target temperature, within 0.2°C of a target temperature, within 0.5°C of a target temperature, or within 1°C of a target temperature.

[0160] FIG. 11 shows another embodiment of a device according to the present invention. Material is loaded into a barrel 1102 of a printing module, and a pressure screw (or piston) 1104 can apply pressure to the material in the barrel 1102. To increase the pressure on the material, a pressure controller 1106 (e.g., a stepper motor) rotates a first gear 1108, which rotates a second gear 1110 connected to the pressure screw 1104. The material in the barrel 1102 can be heated by a heater 1114 surrounding the barrel 1102. Molten material from the interior of the barrel 1102 flows through a feed channel 1116 to a print head 1118 including a nozzle 1120. The device may include a pressure sensor 1130 configured to measure the pressure of the material in the barrel 1102, the feed channel 1116, and / or the print head 1118. The pressure sensor 1130 can communicate the measured pressure to a computer system, which can operate the pressure controller 1108 to reposition the pressure screw 1104 and control the pressure of the material in the barrel 1102. This can be operated by a feedback system in which changes in pressure are measured by the pressure sensor 1130 and the computer system further operates the pressure controller. The device shown in FIG. 11 includes a control switch. The control switch includes a seal needle 1122 aligned along the same axis as the barrel 1102 and an actuator 1124. The seal needle 1122 includes an upper end connected to the actuator 1124 and a lower tapered end (not shown). The actuator 1124 operates the seal needle 1122 between an open position (raised) and a closed position (lowered). When the seal needle 1122 is in the closed position, the tapered end 1122 of the seal needle 1122 engages the tapered inner surface of the nozzle 1120 to prevent the flow of molten material through the nozzle. The print head 1118 may further include one or more heaters 1126 and temperature sensors 1128, which may operate in a feedback system.

[0161] In some embodiments, there is an additive manufacturing system that includes a plurality (e.g., two or more, three or more, four or more, five or more, or six or more) of devices according to the present invention. Each device includes a printing module with a control switch (including a nozzle and a sealed needle with a tapered end operable in an open position and a closed position). The materials within the individual devices may be the same or different. For example, in some embodiments, the system includes two devices and two different materials (i.e., a first material and a second material). In some embodiments, the system includes three devices and three different materials (i.e., a first material, a second material, and a third material). In some embodiments, the system includes four devices and four different materials (i.e., a first material, a second material, a third material, and a fourth material). In some embodiments, the system includes five devices and five different materials (i.e., a first material, a second material, a third material, a fourth material, and a fifth material). In some embodiments, the system includes six devices and six different materials (i.e., a first material, a second material, a third material, a fourth material, a fifth material, and a sixth material). In some embodiments, the additive manufacturing system includes a first device filled with a first material and a second device filled with a second material, where the first material is different from the second material. Different printing modules in the 3D printing system can extrude different materials to form multi-component printed products, such as multi-component pharmaceutical dosage forms (such as pharmaceutical tablets). When one of the printing modules is active (i.e., the sealing needle is in the open position), the other printing modules in the device are inactive (i.e., the sealing needle is in the closed position). The device can quickly switch between active printing modules by adjusting the position of the sealing needle in either the open or closed position. FIG. 12 shows a portion of an exemplary system including three printing modules, each with a separate print head 1202, 1204, or 1206. The print table 1208 is movable on the X, Y, and Z axes. Material can be extruded through the correct print head to produce a product 1210 (such as a pharmaceutical tablet).

[0162] FIG. 3 shows a schematic diagram of a 3D printing device according to certain embodiments of the present invention.

[0163] As shown in FIG. 3 , the 3D printing device 300 further includes a control module 505. The control module 505 may be comprised of one or more PLC controllers, single-chip microcomputers, or electronic computers and has a computerized user interface. The control module 505 is communicatively connected to the supply module 501, melt extrusion module 502, printing module 503, platform module 504, temporary storage module 507, and mixing module 508 of the 3D printing device 300 and controls the specific operation of each module according to status parameters. The status parameters include, but are not limited to, the numerical model of the product, the melting point of the initial material, the pressure at the nozzle, the amount of product required, the amount of product actually obtained, the required composition of the product, the required weight of the product, the required moisture content of the product, and the required amount of colonies in the product. These parameters may be stored in a digital memory device of the electronic computer of the control module 505 or may be input or selected by a user on the computerized user interface.

[0164] In some embodiments, the 3D printing device 300 further includes a plurality of measurement devices disposed within the aforementioned modules, configured to acquire, in real time, certain specific status parameters monitored by the aforementioned modules. The certain status parameters may include the temperature, composition, pressure, weight, moisture, and shape of the melt. In some embodiments, the certain status parameters may be the weight, shape, moisture, and heating temperature of the initial material, etc. In some embodiments, the certain status parameters may be the composition, pressure, weight, moisture, and shape of the product to be printed, etc. Additionally, the measurement devices included in the 3D printing device 300 may be temperature sensors, composition sensors, pressure sensors, weight sensors, humidity sensors, etc.

[0165] In some embodiments, the composition sensor may be a near-infrared spectrum analyzer. The near-infrared spectrum analyzer has a probe that can be inserted into the measurement object. The near-infrared spectrum analyzer can obtain various components of a specific amount of a substance through the probe. The near-infrared spectrum analyzer is primarily configured to measure the composition of a fluid, such as a melt. In some embodiments, the near-infrared spectrum analyzer may further have a probe for measuring the composition of a powder substance, and the probe may be inserted into the initial material to measure the amount, moisture, etc. of the powder material. Therefore, in some embodiments, the disposed moisture sensor may alternatively be a near-infrared spectrum analyzer.

[0166] In some embodiments, the measurement device of the 3D printing device 100 shown in FIG. 1 may further include a camera or another imaging device. The camera or imaging device may be configured to measure the supply module 101 to measure parameters in real time, such as the shape and size of the initial material supplied by the supply module to the melt extrusion module 102 and the discharge rate of the initial material at the discharge outlet 113. The camera or imaging device may be located below the supply module 101 or at the discharge outlet 113. In some embodiments, the camera or imaging device may be further configured to measure the print module 103 or the platform module 104, specifically to perform real-time image detection of status parameters related to the discharge status of the nozzle 131, such as the discharge rate and discharge continuity, and status parameters (such as the shape, size, and hardening rate) of the product deposited on the deposition platform 141 of the platform module 104. The camera or imaging device may be located on the print module 103 or the platform module 104, or between the print module 103 and the platform module 104. Specifically, in some embodiments, the camera or imaging device is positioned in alignment with the nozzle 131, and a plane mirror may also be positioned at the nozzle 131. When a certain angle exists between the plane on which the plane mirror is positioned and the plane on which the deposition platform 141 is positioned, this causes the light reflected by the deposition platform 141 to be reflected back to the camera or imaging device. Such an arrangement of the camera or imaging device can meet the requirements for measuring the aforementioned specific status parameters of both the nozzle 131 and the deposition platform 141.

[0167] In some embodiments, a first temperature sensor (not shown in FIG. 3 ) communicatively connected to the control module 505 is disposed in the processing chamber of the melt extrusion module 502 and configured to measure the temperature of the melt in the processing chamber of the melt extrusion module 502 and send a first temperature measurement signal to the control module 505. The control module 505 determines the temperature of the melt in the processing chamber of the melt extrusion module 502 according to the first temperature measurement signal and determines whether the temperature is within a first desired temperature range. The temperature of the melt in the processing chamber of the melt extrusion module 502 should be slightly higher than the melting point of the initial material to ensure that the initial material in the processing chamber is sufficiently melted. During practical operation, there is a specific relationship between the first desired temperature range and the structure and composition of the product to be printed, as well as between the first desired temperature range and the type of initial material. Whether the temperature of the melt in the melt extrusion module 502 is within the desired range directly determines the viscous flowability, adhesiveness, etc. of the melt during the printing process, thereby affecting the continuity and accuracy of 3D printing. The control module 505 may determine the first desired temperature range according to the product that needs to be printed or according to status parameters entered by the user on the user interface.

[0168] In some embodiments, if the first temperature measurement signal indicates that the temperature of the melt in the processing chamber of the melt extrusion module 502 is lower than a first desired temperature range, the control module 505 can increase the heating power of one or more processing chamber heating devices disposed within the melt extrusion module 502. Because the melt extrusion module 502 generates internal heat during the process of extruding and shearing the initial material, in some embodiments, the control module 505 can alternatively regulate the temperature of the melt in the processing chamber of the melt extrusion module 502 by controlling the extrusion force of the melt extrusion module 502 according to the first temperature measurement signal. Conversely, if the first temperature measurement signal indicates that the temperature of the melt in the processing chamber is higher than the first desired temperature range, the control module 505 can take the opposite action and stop heating or reduce the heating power of one or more processing chamber heating devices disposed within the melt extrusion module 502.

[0169] In some embodiments, a second temperature sensor (not shown in FIG. 3 ) is further disposed in the printing module 503 and configured to measure the temperature of the melt in the printing module and send a second temperature measurement signal to the control module 505. The control module 505 controls the temperature of the melt in the printing module 503 within a second desired temperature range according to the second temperature measurement signal. The temperature of the melt in the printing module 503 is very important for the accuracy and continuity of the formation of the final printed product and is generally set to a value higher than the melting point of the melt. Like the first desired temperature range, the second desired temperature range is related to the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the second desired temperature range according to the product to be printed or according to status parameters entered by the user on the user interface.

[0170] In some embodiments, if the second temperature measurement signal indicates that the temperature of the melt in the printing module 503 is lower than the second desired temperature range, the control module 505 can increase the heating power of the temperature adjustment device (not shown in FIG. 3 ) of the printing module 503 for melting. For details regarding the arrangement and structure of the temperature adjustment device, see the temperature adjustment device 134 of the printing module of the aforementioned 3D printing device. If the second temperature measurement signal indicates that the temperature of the melt in the printing module 503 is higher than the second desired temperature range, the control module 505 performs the opposite operation to stop the temperature adjustment device of the printing module 503 for heating the melt or reduce the heating power of the temperature adjustment device. In some embodiments, the temperature of the melt in the printing module 503 can be reduced through the temperature adjustment device, so that the temperature of the melt in the printing module 503 remains slightly higher than the melting point of the initial material, resulting in a better product printing effect.

[0171] In some embodiments, a third temperature sensor (not shown in FIG. 3 ) is further disposed in the storage chamber of the temporary storage module 507 and configured to measure the temperature of the melt in the storage chamber of the temporary storage module 507 and send a third temperature measurement signal to the control module 505. The control module 505 controls the temperature of the melt in the storage chamber of the temporary storage module 507 within a third desired temperature range according to the third temperature measurement signal. The temperature of the melt in the storage chamber of the temporary storage module 507 should be slightly higher than the melting point of the melt to maintain the molten status of the initial material in the storage chamber. Like the first desired temperature range, the third desired temperature range is related to the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the third desired temperature range according to the product to be printed or according to status parameters entered by the user on the user interface.

[0172] In some embodiments, if the third temperature measurement signal indicates that the temperature of the melt in the storage chamber is lower than a third desired temperature range, the control module 505 can increase the heating power of a storage chamber heating device (not shown in FIG. 3 ) disposed in the storage chamber of the temporary storage module 507 for melting. The storage chamber heating device disposed in the storage chamber of the temporary storage module 507 has the same structure as the corresponding component of the 3D printing device shown in FIG. 1 or 2 . If the third temperature measurement signal indicates that the temperature of the melt in the storage chamber is higher than the third desired temperature range, the control module 505 performs the opposite action, such as shutting down the heating device or reducing the heating power of the heating device in the storage chamber of the temporary storage module 507 for heating the melt.

[0173] In some embodiments, a fourth temperature sensor (not shown in FIG. 3 ) is further disposed in the mixing chamber of the mixing module 508 and configured to measure the temperature of the melt in the mixing chamber of the mixing module 508 and send a fourth temperature measurement signal to the control module 505. The control module 505 controls the temperature of the melt in the mixing chamber of the mixing module 508 within a fourth desired temperature range according to the fourth temperature measurement signal. The temperature of the melt in the mixing chamber of the mixing module 508 should be slightly higher than the melting point of the melt to maintain the molten status of the melt in the mixing chamber. Like the first desired temperature range, the fourth desired temperature range is related to the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the fourth desired temperature range according to the product to be printed or according to status parameters entered by the user on the user interface.

[0174] In some embodiments, if the fourth temperature measurement signal indicates that the temperature of the melt in the mixing chamber is lower than a fourth desired temperature range, the control module 505 can increase the heating power of a mixing chamber heating device (not shown in FIG. 3 ) disposed in the mixing chamber of the mixing module 508 for melting. The mixing chamber heating device disposed in the mixing chamber of the mixing module 508 has the same structure as the corresponding component of the 3D printing device shown in FIG. 1 or FIG. 2 . If the fourth temperature measurement signal indicates that the temperature of the melt in the mixing chamber is higher than the fourth desired temperature range, the control module 505 performs the opposite action to stop the heating device in the mixing chamber of the mixing module 508 for heating the melt or reduce the heating power of the heating device.

[0175] Referring again to FIG. 3 , in some embodiments, a first pressure sensor (not shown in FIG. 3 ) communicatively connected to the control module 505 is disposed in the print module 503 and configured to measure the pressure of the melt in the print module 503 and transmit a first pressure measurement signal to the control module 505. The control module 505 controls the pressure of the melt in the print module 503 within a first desired pressure range according to the first pressure measurement signal. The magnitude and stability of the pressure of the melt extruded from the print module of the 3D printing device directly affect the continuity and accuracy of 3D printing. Like the first desired temperature range, the first desired pressure range is related to the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the first desired pressure range according to the product to be printed or according to status parameters entered by a user on a user interface. In some embodiments, the printing module 503 has a barrel and a nozzle disposed below the barrel, and a first pressure sensor is disposed within the barrel of the printing module 503 and configured to test the pressure of the melt within the barrel. In some other embodiments, the first pressure sensor is disposed within the nozzle of the printing module 503 to accurately measure the pressure of the melt extruding from the nozzle of the printing module. In some embodiments, the first pressure sensor is a piezoelectric pressure sensor, a diffused silicon pressure sensor, a foil gauge pressure sensor, or the like. In some embodiments, the first pressure sensor is a float-type level gauge disposed within the barrel, and the liquid level of the melt within the barrel is determined to determine the current melt pressure within the barrel.

[0176] In some embodiments, when the pressure of the melt in the nozzle or barrel of the printing module 503, as indicated by the first pressure measurement signal, is lower than the first desired pressure range, the control module 505 can increase the pressure of the melt in the nozzle or barrel of the printing module 503 by using the aforementioned pressure regulator located within the 3D printing device 100. When the first pressure measurement signal indicates that the first pressure measurement signal at the nozzle is higher than the first desired pressure range, the control module 505 can perform the opposite action and decrease the pressure of the melt in the nozzle or barrel of the printing module 503 by using the pressure regulator located within the 3D printing device 100.

[0177] As shown again in FIG. 3 , the 3D printing device 300 further includes a supply module 701 configured to receive an initial material and send the initial material to the melt extrusion module 502. The initial material received by the supply module 701 may be different from the initial material received by the supply module 501. For example, the supply module 501 receives a first initial material, while the supply module 701 receives a second initial material. The melt extrusion module 502 is configured to extrude and heat the first initial material and the second initial material. A first composition detector (not shown in FIG. 3 ) communicatively connected to the control module 505 is located anywhere in the 3D printing device 300 (e.g., in the storage chamber of the temporary storage module 507, the mixing chamber of the mixing module 508, or the printing module 503), or in a connecting channel between these modules. The first composition detector is configured to measure the composition ratio of the first initial material and the second initial material in the melt at any location on the 3D printing device 300 and transmit a first composition measurement signal to the control module 505. The first composition measurement signal may be the near-infrared spectrum analyzer described above. The control module 505 determines the composition of the melt at any location on the 3D printing device 300 according to the first composition measurement signal and determines whether the composition is within a first desired composition range. The composition of the melt in the 3D printing device affects the physical and chemical properties of the final product, such as structural strength and disintegration rate. As an example, when using 3D printing of pharmaceuticals, the composition of the melt may affect the release rate of active ingredients in the final product. Similar to the desired temperature range described above, the first desired composition range is related to the physical and chemical properties of the product to be printed, the strength requirements of the product to be printed, the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the first desired composition range according to the product that needs to be printed or according to status parameters entered by the user on the user interface.

[0178] In some embodiments, if the composition ratio indicated by the first composition measurement signal indicates that the proportion of the first initial material is slightly high, the control module 505 can reduce the discharge rate of the first initial material or increase the discharge rate of the second initial material by controlling the hopper discharge controllers disposed in the supply module 501 and the supply module 701. The specific structure of the hopper discharge controllers is the same as the structure of the corresponding components of the 3D printing device shown in FIG. 1 or 2. If the composition ratio indicated by the first composition measurement signal indicates that the proportion of the first initial material is slightly low, the control module 505 can perform the opposite operation and increase the discharge rate of the first initial material or decrease the discharge rate of the second initial material by controlling the hopper discharge controllers disposed in the supply module 501 and the supply module 701.

[0179] In some embodiments, the 3D printing device 300 further includes a feeding module 601 and a melt extrusion module 602, where the feeding module 601 is configured to receive an initial material and transmit the initial material to the melt extrusion module 602. The initial material received by the feeding module 601 may be different from that received by the feeding module 501 and the feeding module 701. In this manner, the melt ultimately extruded by the melt extrusion module 502 and the melt extruded by the melt extrusion module 602 may be different, for example, from the first melt and the second melt, respectively. As shown in FIG. 3 , the first melt and the second melt are guided into the mixing module 508 for mixing. A second composition detector (not shown in FIG. 3 ) communicatively connected to the control module 505 is positioned anywhere in the 3D printing device 300 after the discharge outlet of the mixing chamber of the mixing module 508. The composition detector is configured to measure the first and second melts in the mixed melt extruded from the discharge outlet of the mixing chamber, as well as the ratio of the components contained therein, and send a second composition measurement signal to the control module 505. The control module 505 determines the composition of the melt from the discharge outlet of the processing chamber of the melt extrusion module 502 according to the second composition measurement signal and determines whether the composition is within a second desired composition range. Similar to the first desired composition range, the second desired composition range is related to the physical and chemical properties of the product to be printed, the strength requirements of the product to be printed, the structure and composition of the product to be printed, the type of initial material, etc. The control module 505 may determine the second desired composition range according to the product to be printed or according to status parameters entered by the user on the user interface.

[0180] In some embodiments, if the composition ratio indicated by the second composition measurement signal indicates that the ratio of the first melt or the ratio of a specific component contained in the first melt is slightly high, the control module 505 can reduce the discharge rate of the first melt or increase the discharge rate of the second melt by controlling the melt extrusion discharge controllers arranged in the melt extrusion module 502 and the melt extrusion module 602. The specific structure of the melt discharge controllers is the same as the structure of the corresponding components of the 3D printing device shown in FIG. 1 or 2. If the composition ratio indicated by the second composition measurement signal indicates that the ratio of the first melt or the ratio of a specific component contained in the first melt is slightly low, the control module 505 performs the opposite operation to increase the discharge rate of the first melt or decrease the discharge rate of the second initial material by controlling the melt extrusion discharge controllers arranged in the melt extrusion module 502 and the melt extrusion module 602.

[0181] 3, the 3D printing device 300 includes a temporary storage module 507 having a storage chamber configured to store the melt extruded from the discharge outlet of the melt extrusion module 502. When a first volume sensor (not shown in FIG. 3) is disposed in the storage chamber of the temporary storage module 507, the first volume sensor is configured to measure the remaining volume of the storage chamber of the temporary storage module 507 and send a first volume measurement signal to the control module 505. The control module 505 determines whether the material stored in the storage chamber is too large or too small according to the first volume measurement signal, thereby avoiding, for example, a case where an excessive amount of material is stored in the storage chamber, which may affect the pressure of the melt in the 3D printing device 300. In some embodiments, the first volume sensor may be a flow meter located at the supply inlet of the storage chamber of the temporary storage module 507 and a flow meter located at the discharge outlet of the storage chamber of the temporary storage module 507, such that the remaining volume of the storage chamber is determined by calculating the inbound flow rate and the outbound flow rate, respectively. The flow meters may each be a differential pressure, rotor type, or volumetric flow meter.

[0182] When the remaining volume of the storage chamber, as indicated by the first volume measurement signal, is too small, the control module 505 controls one or more discharge controllers disposed in the 3D printing device 300 to reduce the discharge rate of the corresponding discharge outlet, thereby preventing excessive material from being stored in the storage chamber. The one or more discharge controllers disposed in the 3D printing device 300 include, but are not limited to, a hopper discharge controller in the supply module 501 and a melt extrusion discharge controller in the melt extrusion module 502. The specific structure of the discharge controllers is the same as the structure of the corresponding components of the 3D printing device shown in FIG. 1 or 2 . When the remaining volume of the storage chamber, as indicated by the first volume measurement signal, is too large, the control module 505 controls one or more discharge controllers disposed in the 3D printing device 300 to increase the discharge rate of the corresponding discharge outlet, thereby improving device utilization. FIG. 4 shows a perspective view of a 3D printing device according to another embodiment of the present invention. As shown in FIG. 4, the printing module 703 of the 3D printing device 400 includes multiple nozzles 731. The multiple nozzles 731 are distributed in an array, and the length of the connecting path from each nozzle 731 to the discharge outlet of the processing chamber, the discharge outlet of the mixing chamber, or the discharge outlet of the storage chamber is the same, thereby ensuring that each nozzle has equal pressure during the printing process and meeting batch production requirements. Alternatively, the multiple nozzles may be arranged in another layout pattern, such as a circular or fan-shaped arrangement, in which the length of the connecting path from each nozzle to the discharge outlet of the processing chamber, the mixing chamber, or the storage chamber is the same. The multiple nozzles 731 of the 3D printing device 400 have the same inner diameter of approximately 0.05 mm to 2 mm, and the nozzles may be made of materials such as steel, brass, or aluminum alloy. In some embodiments, the inner diameter of each nozzle of the 3D printing device 400 is preferably 0.3 mm, 0.4 mm, or 0.5 mm.

[0183] In some embodiments, the printing module 703 is connected to the processing chamber, mixing chamber, or storage chamber via a hose (not shown in FIG. 4). In some embodiments, all modules of the 3D printing device connected to each other are connected via hoses, and the melt flows through the hoses from the processing chamber of the melt extrusion module to the storage chamber of the temporary storage module, the mixing chamber of the mixing module, or into the nozzle of the printing module. In some embodiments, the inner diameter of the hoses connecting the modules to each other is between 1 mm and 100 mm. In some embodiments, the inner diameter of the hoses connecting the modules to each other is preferably 4 mm.

[0184] 5 shows a schematic diagram of the arrangement of nozzles of a 3D printing device on a printing module, according to a specific embodiment of the present invention. As shown in FIG. 5, after being connected to the printing module 703, the hoses enter four nozzles 714, which are located on the same circumference and evenly distributed. With this design, the product finally formed by spraying the nozzles on the platform module can be neatly arranged both horizontally and vertically, facilitating subsequent packaging and cutting processes.

[0185] As shown again in FIG. 4 , the 3D printing device 400 further includes a platform module 704. The platform module 704 includes a plurality of deposition platforms 741, 742, and 743. The plurality of deposition platforms are disposed on a platform drive mechanism 745. As shown in the figure, the plurality of deposition platforms 741, 742, and 743 are disposed on a crawler drive mechanism 746 in a belt-connected manner. The crawler drive mechanism 746 is disposed on a horizontal drive mechanism 747 and can move horizontally together with the horizontal drive mechanism 747. The crawler drive mechanism 746 and the horizontal drive mechanism 747 together form a platform drive mechanism 745. When driven by a motor, the crawler drive mechanism 746 can drive the deposition platforms 741, 742, and 743 to move along the Y-axis of the Cartesian coordinate system shown in FIG. 4 . The horizontal drive mechanism 747 is a stepper motor and can drive the deposition platforms 741, 742, and 743 to move along the X-axis of the Cartesian coordinate system shown in FIG. 4. The 3D printing device 400 further includes a print module drive mechanism 735. As shown in FIG. 4, the print module drive mechanism 735 is a stepper motor and can drive the nozzle 731 of the print module 703 shown in FIG. 4 to move along the Z-axis of the Cartesian coordinate system shown in FIG. 4. It should be noted that the structures of the print module drive mechanism and the platform drive mechanism may be any combination that allows the nozzle 731 to move along the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system relative to the deposition platform. For example, in some embodiments, the print module drive mechanism drives the nozzle of the print module to move along the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, while the platform module 704 remains stationary during the product printing process. Although the print module drive mechanism 735 and horizontal drive mechanism 747 shown in FIG. 4 are stepper motors, it will be appreciated that they may alternatively be other delivery mechanisms, for example hydraulic piston cylinders.

[0186] The 3D printing device 400 may further include a product collection module (not shown in FIG. 4 ). The product collection module is configured to collect the final products formed on the deposition platforms 741, 742, and 743. In some embodiments, the product collection module may be a scraper or manipulator configured to transport the final products formed on the deposition platforms 741, 742, and 743 to a platform or conveyor belt designed for packaging. In some embodiments, the product collection module has packaging, laying, and heat-sealing functions, where the bottom layer of the packaging is pre-placed on the platform module, and the product is printed directly on the packaging. After the product is finally printed, the product collection module directly covers the final product with the top layer of the packaging, and then performs pressure and thermoplastic sealing to finish the packaging. The packaging may be aluminum foil, plastic film, etc.

[0187] In some embodiments, the 3D printing device 400 further includes an automated transport mechanism (not shown in FIG. 4 ), which is directly connected to the supply inlet of the supply module and transports the initial material to the supply inlet. In some embodiments, the automated transport mechanism may be a belt conveyor, an embedded scraper conveyor, a vibrating conveyor, a screw conveyor, or the like. In some embodiments, the automated transport mechanism may alternatively include a piezoelectric sensor configured to measure the weight of the transported initial material and control the quantitative transport of the initial material according to the measurement result. The control module of the 3D printing device 400 can control the transmission speed of various initial materials according to device status parameters or user instruction input on a user interface, thereby improving production efficiency.

[0188] In some embodiments, the 3D printing device 400 further includes an inspection module (not shown in FIG. 4 ) configured to measure product parameters of the final product formed on the platform module. As described above, the product parameters of the final product include, but are not limited to, the quantity of the product, the required composition of the product, the required weight of the product, the required moisture content of the product, and the required amount of bacterial colonies on the product. The inspection module is communicatively connected to the control module and transmits the measured product parameters to the control module. The control module determines whether the product parameters meet the final product requirements according to predetermined product requirements or according to instructions input by a user on a user interface, and determines whether the product is qualified according to the determination result and takes corresponding measures to correct any unqualified device operation.

[0189] In some embodiments, the inspection module may include a near-infrared spectrum analyzer, as described above, to determine whether the composition of the final product is acceptable. The inspection module may further include a camera to photograph the final product or perform optical inspection on the final product, and by comparing it with standard requirements via the control module, it can determine whether the size and shape of the final product formed on the deposition platforms 741, 742, and 743 conforms to the standard. As described above, the near-infrared spectrum analyzer may alternatively be used as a moisture sensor. The inspection module may also include a piezoelectric sensor to measure the weight of the final product. The measured product parameters may be conveyed to the control module, which can automatically adjust the operation of the 3D printing device 400 based on the parameters. For details on specific adjustment methods, please refer to the various modules located within the 3D printing device 400, including, but not limited to, the aforementioned adjustment devices corresponding to the devices for measuring the status parameters of the control module, as well as the heating device and emission control device.

[0190] In some embodiments, 3D printing device 400 further includes an automatic screening module configured to select the final products formed on deposition platforms 741, 742, and 743. In some embodiments, the automatic screening module has a high precision weight sensor, such as a piezoelectric sensor, that transports the products to different locations based on the weight of the products ultimately formed on the automatic screening module, for example, transporting products that do not meet weight requirements to a location where discarded products are placed.

[0191] Another aspect of the present invention provides a 3D printing method. The 3D printing method includes melting and pressurizing a material and flowing the material through an extrusion port of a nozzle, the nozzle including a tapered inner surface; monitoring the pressure of the material in or near the nozzle; engaging the tapered end of a sealing needle with the tapered inner surface of the nozzle to seal the extrusion port and prevent the flow of molten material; and withdrawing the tapered end of the sealing needle to resume the flow of material through the extrusion port. In some embodiments, the method is performed using a device according to the present invention. In some embodiments, the device includes multiple barrels, each barrel having a control switch. The method may include dispensing a first material from a first barrel and a second material from a second barrel, wherein the sealing needle of the first barrel is in a closed position when the second material is dispensed from the second barrel and the sealing needle of a second material supply system is in a closed position when the first material is dispensed from the first barrel. In some embodiments, the method is performed in batches for processing. In some embodiments, a device or system is controlled to operate in a batch mode. The term "batch mode" refers to a mode of operation in which a predetermined amount of product (such as a pharmaceutical dosage form) is manufactured. In some embodiments, a method is performed in a continuous mode of operation. In some embodiments, a device or system operates in a continuous mode. The term "continuous mode" refers to a mode of operation in which a device or system operates for a predetermined period of time or until a predetermined amount of a material or materials is used.

[0192] In some embodiments, a 3D printing method includes melting and pressurizing a first material, flowing the first material through a first extrusion port of a first nozzle including a tapered inner surface, engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle to seal the first extrusion port and prevent the flow of the molten first material, melting and pressurizing a second material, and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle so that the second material flows through the second extrusion port. In some embodiments, the method includes receiving instructions to manufacture a product, for example, from a computer system.

[0193] In some embodiments, a method for manufacturing a pharmaceutical dosage form (such as a tablet) by using 3D printing includes melting and pressurizing a pharmaceutical material; monitoring the pressure of the material in or near a nozzle; flowing the material through an extrusion port of the nozzle, the extrusion port including a tapered inner surface; engaging the tapered inner surface of the nozzle to seal the extrusion port and prevent the flow of the molten material; and withdrawing the tapered end of the sealing needle to resume the flow of the material through the extrusion port. In some embodiments, the pharmaceutical material comprises a drug. In some embodiments, the method is carried out by using a device according to the present invention. In some embodiments, the device includes multiple barrels, each barrel having a control switch. The method may include dispensing a first material from a first barrel and dispensing a second material from a second barrel, wherein the sealing needle of the first barrel is in a closed position when the second material is dispensed from the second barrel and the sealing needle of a second supply module is in a closed position when the first material is dispensed from the first barrel. In some embodiments, the method further includes monitoring a pressure of the first material in or near the first nozzle, or monitoring a pressure of the second material in or near the second nozzle.

[0194] In some embodiments, a method of manufacturing a pharmaceutical dosage form by using a 3D printing method includes melting and pressurizing a first pharmaceutical material, flowing the first pharmaceutical material through a first extrusion port of a first nozzle including a tapered inner surface, engaging the tapered end of a first sealing needle with the tapered inner surface of the first nozzle to seal the first extrusion port and prevent the flow of the molten first material, melting and pressurizing a second pharmaceutical material, and withdrawing the tapered end of the second sealing needle from the tapered inner surface of the second nozzle so that the second pharmaceutical material flows through the second extrusion port. In some embodiments, the first pharmaceutical material or the second pharmaceutical material is an erodible material. In some embodiments, the first pharmaceutical material or the second pharmaceutical material comprises a drug. In some embodiments, the method further includes receiving instructions, for example, from a computer system, to manufacture the pharmaceutical dosage form. In some embodiments, the method further includes monitoring a pressure of the first material in or near the first nozzle, or monitoring a pressure of the second material in or near the second nozzle.

[0195] FIG. 6 shows a schematic diagram of a 3D printing device according to another embodiment of the present invention.

[0196] 7A and 7B each show a model of a pharmaceutical product that may be printed using a 3D printing device according to certain embodiments of the present invention.

[0197] The application of the 3D printing device according to the present invention in the field of 3D printing of medicines will be described below with reference to Figures 6, 7A and 7B. It should be understood that the following description is merely an example, and that the 3D printing device in particular in the foregoing description can be applied to the printing of any other article that can be obtained through a 3D printing device, such as an artificial skeleton, a mold, food, and industrial design.

[0198] As shown in FIG. 6 , the 3D printing device 600 includes a plurality of melt extrusion modules 961, 962, 963, 964, 965, and 966, and a plurality of nozzles 951, 952, 953, 954, 955, and 956. For details about the structure and functional arrangement of the plurality of melt extrusion modules and the plurality of nozzles, please refer to the melt extrusion modules and nozzles shown in FIGS. 1 and 2 . The 3D printing device 600 further includes a plurality of deposition platforms 941, 942, 943, 944, 945, and 946. For details about the structure and functional arrangement of the plurality of deposition platforms, please refer to the deposition platforms shown in FIGS. 1 and 2 . The melt extruded through the plurality of melt extrusion modules of the 3D printing device 600 is deposited on the plurality of deposition platforms. Deposition platforms 941, 942, 943, 944, 945, and 946 receive melt through a plurality of nozzles 951, 952, 953, 954, 955, and 956, and can be driven to cycle through the plurality of nozzles in total. In some embodiments, the plurality of deposition platforms may perform a reciprocating motion between one or more of the plurality of nozzles, a detailed description of which is provided below with reference to Figures 7A and 7B.

[0199] 6 includes multiple nozzles 951, 952, 953, 954, 955, and 956. Note that the nozzles 951, 952, 953, 954, 955, and 956 may alternatively be a single nozzle or a combination of multiple nozzles arranged in a particular manner. In some embodiments, the 3D printing device 600 may have multiple printing modules corresponding to the multiple nozzles 951, 952, 953, 954, 955, and 956, respectively. Additionally, although not shown in FIG. 6 , one or more mixing modules or temporary storage modules may be further disposed between the melt extrusion modules 961, 962, 963, 964, 965, and 966 and the multiple nozzles 951, 952, 953, 954, 955, and 956 of the 3D printing device 600 shown in FIG. 6 . For details regarding the construction and arrangement of the mixing module(s) or temporary storage module(s), see Figures 1 and 2.

[0200] FIG. 7A shows a model of drug 990 that may be printed using a 3D printing device according to certain embodiments of the present invention. Drug 990 includes a drug shell 992 and a drug kernel 993. Shell 992 may be a capsule made of an enteric or gastrosoluble material. Kernel 993 is the active ingredient of the drug. FIG. 7B shows a model of drug 991 that may be printed using a 3D printing device according to certain embodiments of the present invention. Drug 991 includes drug shells 994 and 995 and drug kernels 996 and 997. Shells 994 and 995 may be capsules made of an enteric or gastrosoluble material with different dissolution and release properties. Kernel 996 and 997 may be different active ingredients of the drug.

[0201] In the aforementioned drug printing process, the control module first reads the digital drug model shown in FIG. 7A or 7B, drug status parameters such as composition, moisture, and weight, and requirements for final product parameters. The control module then controls the automated transport mechanism described above to feed the melt extrusion module through the feeding module. Using the drug model shown in FIG. 7A as an example, the melt extrusion module 961 receives an initial material, which is an enteric material, and extrudes and heats the initial material, thereby converting the initial material into a melt, which is then extruded through the nozzle 951. The melt extrusion module 962 receives an initial material, which is an active ingredient of the drug, and extrudes and heats the initial material, thereby converting the initial material into a melt, which is then extruded through the nozzle 952. The platform driving mechanism drives the deposition platform 941 to first move to a position below the nozzle 951, so that the relative motion between the nozzle 951 and the deposition platform 941 ultimately forms a recess in the lower half of the drug shell 992 by layer-by-layer deposition on the deposition platform 941. The platform drive mechanism then drives the deposition platform 941 to a position below the nozzle 952, and a drug kernel 993 is finally formed in the recess of the lower half of the drug shell 992 by being deposited layer by layer on the deposition platform 941 through the relative motion between the nozzle 952 and the deposition platform 941. The deposition platform 941 is then driven back to a position below the nozzle 951, and as a result, an upper half portion of the drug shell 992 is finally formed by being deposited layer by layer on the deposition platform 941 through the relative motion between the nozzle 951 and the deposition platform 941, whereby the deposition platform 941 finally forms the drug model shown in FIG. 7A. In some embodiments, the melt extrusion module 963 shown in FIG. 6 may have the same initial material as the melt extrusion module 961, and extrudes and heats the initial material so that the initial material is converted into a melt and the melt is extruded through the nozzle 953.Therefore, after printing the drug kernel 993, the deposition platform 941 can move to a position below the nozzle 953 to complete printing of the drug model shown in FIG. 7A . It will be appreciated that multiple deposition platforms 941, 942, 943, 944, 945, and 946 can pass below the nozzles 951, 952, and 953 to complete printing of the drug model shown in FIG. 7A in a pipelined manner, thereby effectively improving drug printing efficiency and meeting mass production requirements. Notably, in some embodiments, the deposition platform 941 may alternatively perform a reciprocating motion between the nozzle 951 and the nozzle 952 to complete printing of the drug model shown in FIG. 7A . Similarly, the deposition platform 942 may perform a reciprocating motion between the nozzle 952 and the nozzle 953 to complete printing of the drug model shown in FIG. 7A .

[0202] It should be noted that in some embodiments, layer-by-layer printing may be performed exactly on the drug model shown in FIG. 7A . 3D printing device 600 may layer the drug model shown in FIG. 7A from top to bottom by first driving deposition platform 941 via the platform drive mechanism to a position below nozzle 951, so that a single layer including only drug shell 992 is finally formed by layer-by-layer deposition on deposition platform 941 through the relative motion between nozzle 951 and deposition platform 941. When printing a single layer including both drug shell 992 and drug kernel 993, 3D printing device 600 may move deposition platform 941 back and forth between a position below nozzle 951 and a position below nozzle 952 through the platform drive mechanism, so that a single layer including both drug shell 992 and drug kernel 993 is finally formed by layer-by-layer deposition on deposition platform 941 through the relative motion between nozzle 951 and deposition platform 941.

[0203] The printing method for the drug model shown in FIG. 7B is similar to that shown in FIG. 7A. First, the recesses of the lower halves of drug shells 994 and 995 may be dispensed, then the drug kernel portions of kernels 996 and 997 may be dispensed, and finally the upper halves of drug shells 994 and 995 may be dispensed. In some embodiments, the drug model shown in FIG. 7B may alternatively be first layered to strictly perform layered printing. In some embodiments, a drug model including multiple different components may be printed by using multiple different melt extrusion and / or printing modules. As shown in FIG. 7B, drug model 994 may be made of an intestine-soluble material, kernel 997 is an active ingredient that needs to be released in the intestine, drug model 995 is made of a stomach-soluble material, and kernel 996 is an active ingredient that needs to be released in the stomach. Therefore, the drug model shown in FIG. 7B enables release with different efficiencies in different organs. Pharmaceutical products with various special structures and requirements shown in FIG. 7B can be efficiently and quickly printed in batches using the 3D printing device disclosed herein.

[0204] The 3D printing device disclosed herein also meets the requirements of continuous pharmaceutical manufacturing (CMP). Using the aforementioned control module, inspection module, and status parameter measurement device, the 3D printing device can monitor product or status parameters of the final or intermediate drug products that need to be printed in real time, such as composition, moisture, weight, and shape, and adjust the product or status parameters through components such as the aforementioned emission control device and heating device, thereby avoiding many problems caused by batch production of pharmaceuticals and improving production efficiency.

[0205] FIG. 8 shows a flowchart of a 3D printing method according to certain embodiments of the present invention.

[0206] The present invention further discloses a 3D printing method for printing products by using the 3D printing device disclosed herein. The 3D printing method will be described in detail below with reference to FIGS. 1, 2, and 3. For details regarding the implementation of specific functions in specific steps of the method, please refer to the arrangement of specific components and functions in the above-described embodiment of the 3D printing device of the present invention. The 3D printing method includes: supplying a first initial material to a processing chamber 121 of a melt extrusion module 102 of the 3D printing device 100; heating and extruding the first initial material in the processing chamber 121 so that the first initial material is converted into a first molten material and the first molten material is extruded from an outlet 125 of the processing chamber 121; and guiding the first molten material at the outlet 125 of the processing chamber 121 so that the first molten material is extruded through a nozzle 131 of the printing module 103 and deposited on the platform module 104.

[0207] In some embodiments, the 3D printing method further includes feeding the first initial material to the melt extrusion module 102 through a hopper of the feeding module 101.

[0208] In some embodiments, the 3D printing method further includes measuring the pressure of the first melt in the printing module 103 and controlling the pressure of the first melt in the printing module 103 according to the measured pressure.

[0209] In some embodiments of the present invention, the 3D printing method further includes measuring a temperature of the first hybrid melt in the printing module 103 and adjusting the temperature of the first melt in the printing module 103 according to the measured temperature.

[0210] In some embodiments, the 3D printing method further includes measuring the temperature of the first melt in the processing chamber 121 and controlling the heating power and / or extrusion force of the first melt in the processing chamber 121 according to the measured temperature.

[0211] In some embodiments, the step of guiding the first melt at the discharge outlet of the processing chamber 121 so that it is extruded through the nozzle 131 of the printing module 103 and deposited on the platform module 104 specifically includes guiding the first melt at the discharge outlet 125 of the processing chamber 121 so that it enters the storage chamber 171 of the temporary storage module 107, and guiding the first melt at the discharge outlet of the storage chamber 171 so that it is extruded through the nozzle 131 of the printing module 103 and deposited on the platform module 104.

[0212] In some embodiments, the 3D printing method further includes measuring the temperature of the first melt in the storage chamber 171 and controlling the heating power of the first melt in the storage chamber 171 according to the measured temperature.

[0213] In some embodiments, the 3D printing method further includes measuring the remaining volume of the storage chamber 171 and controlling the discharge rate of the first melt at the discharge outlet 125 of the processing chamber 121 according to the remaining volume of the storage chamber 171.

[0214] In some embodiments, the 3D printing method further includes guiding at least a portion of the first melt extruded from the discharge outlet 125 of the processing chamber 121 to flow back into the processing chamber 121.

[0215] As shown in FIG. 2 , in some embodiments, the 3D printing method further includes: supplying a second initial material to a processing chamber of a second melt extrusion module 402 through a hopper of a second supply module 401; heating and extruding the second initial material in the processing chamber of the second melt extrusion module 402 so that the second initial material is converted into a second melt, and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module; mixing the first melt and the second melt in a mixing chamber 308 to form a first mixed melt; and guiding the first mixed melt at the outlet of the mixing chamber 308 to be extruded through a nozzle 331 of the printing module 303 and deposited on the platform module 304.

[0216] In some embodiments, the 3D printing method further includes measuring a composition of the first mixed melt extruded from the discharge outlet of the mixing chamber 308, and controlling the discharge rate of the first melt at the discharge outlet of the processing chamber of the first melt extrusion module 302 and the discharge rate of the second melt at the discharge outlet of the processing chamber of the second melt extrusion module 402, respectively, according to the measured composition of the first mixed melt.

[0217] In some embodiments, the 3D printing method further includes measuring a temperature of the first mixed melt in the mixing chamber 308 and controlling a heating power of the first mixed melt in the mixing chamber 308 according to the measured temperature.

[0218] As shown in FIG. 1, in some embodiments, the 3D printing method further includes supplying a second initial material to the processing chamber 121 of the first melt extrusion module 102 through a hopper 211 of the second supply module 201, and heating and extruding the first initial material and the second initial material in the processing chamber 121, thereby converting them into a first melt.

[0219] In some embodiments, the 3D printing method further includes measuring a composition of the first melt at any position of the 3D printing device 100, and controlling the release rate of the first initial material at the discharge outlet of the first supply module 101 and the release rate of the second initial material at the discharge outlet of the second supply module 102, respectively, according to the measured composition of the first melt.

[0220] As shown in FIG. 6 , in some embodiments, the 3D printing method further includes: supplying a second initial material to a processing chamber of a second melt extrusion module 962 through a hopper of a second supply module (not shown in FIG. 6 ); heating and extruding the second initial material in the processing chamber of the second melt extrusion module 962 so that the second initial material is converted into a second melt and the second melt is extruded from an outlet of the processing chamber of the second melt extrusion module 962; guiding the second melt at the outlet of the processing chamber of the second melt extrusion module 962 so that it is extruded through a second nozzle 952 of the printing module and deposited on the platform module 941; and driving the deposition platform 941 to move between a position below the first nozzle 951 and a position below the second nozzle 952.

[0221] As shown in FIG. 4, in some embodiments, the 3D printing method further includes actuating a nozzle 731 of the printing module to move relative to the platform module.

[0222] In some embodiments, the 3D printing method further includes actuating the nozzle 731 of the printing module to move along the Z axis shown in FIG. 4 relative to the platform module.

[0223] In some embodiments, the 3D printing method further includes driving a first deposition platform 741 of the platform module to move relative to the nozzle 731 of the printing module, the first deposition platform 741 being configured to receive the first molten material extruded through the nozzle 731.

[0224] In some embodiments, the 3D printing method further includes actuating the deposition platform 741 to move relative to the nozzle 731 along the X-axis and / or Y-axis shown in FIG. 4 .

[0225] In some embodiments of the present invention, the 3D printing method further includes collecting the final product formed on the platform module 104.

[0226] In some embodiments of the present invention, the 3D printing method further includes measuring product parameters of the final product formed on the platform module 104.

[0227] In some embodiments of the present invention, the 3D printing method further includes selecting a final product formed on the platform module 104.

[0228] In some embodiments, the 3D printing method further includes transporting the first initial material to the supply module 101 through an automated transport module.

[0229] In some embodiments, 3D printing methods can be used for dispensing thermoplastic materials, particularly in scenarios such as continuous, individualized, and batch manufacturing of pharmaceuticals.

[0230] Although several modules or sub-modules of the 3D printing device are specifically mentioned in the foregoing detailed description, it should be noted that such division is merely an example and is not required. Indeed, the features and functions of two or more of the aforementioned modules according to embodiments of the present application may be integrated into one module during a particular implementation. Conversely, the features and functions of one module within the aforementioned modules may be further divided into multiple modules during a particular implementation.

[0231] Those skilled in the art can understand and implement other variations to the disclosed embodiments by studying this specification, the disclosed content, the accompanying drawings, and the appended claims. In the claims, the term "comprising" does not exclude other elements and steps, and the terms "one" and "a" do not exclude a plurality. In the practical application of this application, one spare part may perform the function of integrating multiple technical features recited in the claims. Reference signs in the accompanying drawings should not be construed as limiting the scope of the present invention.

[0232] The above is an exemplary description of various embodiments of the present application with reference to the accompanying drawings. Those skilled in the art can easily recognize that, in combination with the contents disclosed herein, the various components of the 3D printing device disclosed in various embodiments can be appropriately adjusted or recombined according to actual needs without departing from the spirit of the present invention. The scope of protection of the present application is subject to the scope of protection of the claims.

Claims

[Claim 1] Devices, systems, methods, etc.

Images