High-throughput continuous switching food 3D printing method

Abstract

A high-throughput continuous switching food 3D printing method, using a high-throughput continuous switching food 3D printing device comprising a machine body (17). The machine body (17) is provided with a movable printing platform (5) and a movable printing assembly (18); the printing assembly (18) comprises array-type printheads (7); the array-type printheads (7) include multiple printheads arranged in an array; each printhead is connected to multiple cartridges (8) by means of multiple connecting pipes (9); the cartridges (8) are used for placing printing materials; and each cartridge (8) is connected to a corresponding air pressure output control unit (12) and a corresponding air pressure valve (10) by means of a corresponding conveying guide pipe (11). An array-type multi-printhead printing mode is used, and by controlling a three-dimensional motion process and an air pressure control unit by means of image pixel information, in combination with a reduction and compensation printing scheme in the printing process, combined manufacturing of a single printed product by multiple printheads and separate manufacturing of different products by multiple printheads are achieved; and compared with a continuous switching 3D printing process using a single printhead, the printing throughput improvement factor is equal to the number of the array-type printheads.

Description

A high-throughput, continuous switching method for food 3D printing Technical Field

[0001] This invention relates to a high-throughput, continuous switching method for food 3D printing, belonging to the field of 3D printing technology. Background Technology

[0002] In the food industry, 3D printing technology plays a significant role in food shape and nutritional customization due to its numerous advantages, including stable pre-prepared raw materials, customizable output of printed materials, and high equipment integrability. Among these, multi-material food 3D printing technology has developed rapidly due to the diverse needs of diets and nutrition. Multi-material food 3D printing typically places multiple food printing materials in different barrels and applies extrusion pressure to the materials in each barrel according to the printing path, thereby achieving personalized customization of multiple materials in the same printed product.

[0003] Continuous switching 3D printing is a type of multi-material 3D printing technology. By customizing the nozzle flow path, multiple printing pastes are combined at the same extrusion port. Combined with the on / off control of the printing paste supply process, multiple printing pastes can be rapidly extruded on demand during printing. This technology avoids the negative impact on printing efficiency and accuracy caused by the limited motion and precision control during nozzle switching in traditional direct-write multi-material 3D printing. Currently, through adjustments to the physicochemical properties of food pastes and the design of continuous switching 3D printing nozzles, it is possible to form 1mm × 2mm voxel units from food pastes with a 1mm extrusion orifice diameter, resulting in patterned printed products such as snowflake beef.

[0004] To meet the commercialization and industrialization demands of food 3D printing technology, higher printing speeds and higher throughput of food materials are inevitable trends. However, current continuous switching 3D printing technology, which extrudes multiple materials into a single nozzle to form a single printed product, has relatively low overall printing efficiency, achieving a printing speed of only 10 mm / s with a 1 mm extrusion orifice diameter and a printing throughput of 7.85 mm. 3 / s. At the same time, the transition time from elasticity to viscosity of food materials during the printing process is relatively long, and there is a time difference between the switching between the two materials and the printing process, which can lead to damage to the edge accuracy of the printed product and the accuracy of the combination of multiple materials, resulting in a large difference in accuracy between the printed product and the printed model.

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

[0006] To address the aforementioned technical problems, this invention provides a high-throughput continuous switching food 3D printing method. This invention can improve the efficiency and accuracy of continuous switching 3D printing of food, and promote the development and commercial application of multi-material food 3D printing technology.

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

[0008] A base is provided at the bottom of the machine body, and a Y-axis linear module is mounted on the base. The Y-axis linear module is connected to an X-axis linear module, and the Y-axis linear module is used to drive the X-axis linear module to move along the Y-axis direction. The X-axis linear module is connected to a printing platform, and the X-axis linear module is used to drive the printing platform to move along the X-axis direction. The printing platform is used to carry the printed product.

[0009] The side of the machine body is provided with a mounting bracket, the mounting bracket is equipped with a Z-axis linear module, the Z-axis linear module is connected to a printing component, and the Z-axis linear module is used to drive the printing component to move along the Z-axis direction;

[0010] The printing assembly includes a fixed fixture connected to the output end of the Z-axis linear module. An array of printing nozzles is provided inside the fixed fixture. The array of printing nozzles includes several printing nozzles arranged in an array. Each printing nozzle is connected to several material cylinders through several connecting pipes. The material cylinders are used to hold printing materials. Each material cylinder is connected to a pneumatic output control unit and a pneumatic valve through a transmission conduit.

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

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

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

[0014] In one embodiment of the present invention, the array-type printhead includes a first printhead, a second printhead, and a third printhead arranged in an array. Each printhead has two material cylinders connected to its upper sides by two connecting pipes. Each printhead has a discharge port at its bottom end and a central axis at the center of each printhead.

[0015] The second objective of this invention is to provide a high-throughput continuous switching food 3D printing method, which uses the aforementioned high-throughput continuous switching food 3D printing equipment. The method includes the following steps:

[0016] Step S1: Set up the printing control program to convert the three-dimensional target model into three-dimensional motion and air pressure control signals to control the 3D printing equipment;

[0017] Step S2: Determine the position of the array printheads, and adjust the spacing and height of the printheads by adjusting the fixing fixtures;

[0018] Step S3: Adjust printing parameters, including adjusting the filament spacing, printing speed, single pixel readout time, return speed, and extrusion pressure supply value.

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

[0020] Based on the type of printing material, set the corresponding position information in the 3D model, and use different colors to mark the positions of different printing materials in the 3D model; then, according to the number of layers of the printed product, divide the 3D model into equal parts to obtain surface view images of different divided areas.

[0021] The 3D dimensions of the surface view image are scaled according to the size of the target product. When continuously switching along the X-axis, the number of pixels on the Y-axis in the image corresponds to the number of 3D printing rows. At this time, the number of pixels on the Y-axis after scaling the image = the Y-axis size of the target product / the width of the extruded filament. When continuously switching along the X-axis, the number of pixels on the X-axis is determined according to the X-axis size of the target product, the printing speed, and the single pixel reading time. The number of pixels on the X-axis = X-axis size / (printing speed × single pixel reading time). At the same time, the Y-axis is divided equally according to the number of array printheads. When there are 3 array printheads, the Y-axis is divided into 3 equal parts. Each image information after division is read by the control unit of the 3D printing equipment and transmitted to the motion control unit and air pressure output control unit of each printhead respectively.

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

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

[0024] When continuously switching along the Y-axis, the number of pixels on the X-axis in the image corresponds to the number of 3D printing rows. At this time, the number of pixels on the X-axis after image scaling equals the target product's X-axis size divided by the extrusion filament width. When continuously switching along the Y-axis, the number of pixels on the Y-axis is determined based on the target product's Y-axis size, printing speed, and single-pixel reading time: Number of pixels on the Y-axis = Y-axis size / (printing speed × single-pixel reading time). Simultaneously, the X-axis is divided equally according to the number of array printheads. When there are 3 array printheads, the X-axis is divided into 3 equal parts. Each divided image is read by the 3D printing equipment's control unit and transmitted to the air pressure output control unit of each printhead.

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

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

[0027] Among them, the surface views of different equally divided regions are the top or bottom views of each block of the 3D model after it has been divided equally;

[0028] When the array of printheads are combined to produce the same printed product, the surface view image is divided equally according to the number of printheads, and the image pixel information is transmitted to the air pressure output control unit of each printhead for 3D printing. When the array of printheads produce different printed products, the image information of the printed product to be read is input to each printhead, and the image pixel information is transmitted to the air pressure output control unit of each printhead for 3D printing.

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

[0030] The printhead spacing is the distance between the central axes of two printheads when they are arranged in a parallel array.

[0031] When array printheads are combined to produce the same printed product and are continuously switched in the X-axis direction, the printhead spacing = the Y-axis dimension of the printed product / the number of printheads; when continuously switching in the Y-axis direction, the printhead spacing = the X-axis dimension of the printed product / the number of printheads.

[0032] When the array of printheads produces different printed products and continuously switches in the X-axis direction, the printhead spacing is greater than the largest Y-axis dimension of the printed product; when continuously switching in the Y-axis direction, the printhead spacing is greater than the largest X-axis dimension of the printed product.

[0033] The printhead height is the distance between the bottom of the printhead exit and the upper surface of the printing substrate; the printhead spacing and printhead height are determined based on the size of the printed product and the thickness of the first layer.

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

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

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

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

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

[0039] Adjusting the single-pixel reading time includes setting the single-pixel reading time according to the size requirements of the printed product and the printing speed. Single-pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction).

[0040] Adjusting the return speed includes the displacement speed of the print head to the starting position of the next line of extrusion after printing one line of filament;

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

[0042] The third objective of this invention is to provide a high-throughput continuous switching food 3D printing accuracy assurance method, which uses the aforementioned high-throughput continuous switching food 3D printing equipment or the aforementioned high-throughput continuous switching food 3D printing method. The printing accuracy assurance method includes: reducing material output at the starting point and extending material output at the end point.

[0043] Starting point reduction and ending point extension of discharge means extending the discharge by a certain distance at the beginning and end of the deposition of each row of extruded filaments;

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

[0045] The starting point reduction output setting is set before the control system reads the pixels of the image to be printed, and the required reduction output time is set according to the error length.

[0046] Reduced output time = Starting error length / Printing speed;

[0047] The endpoint delay output setting is set after the control unit has finished reading the pixels of the line image to be printed, and the required delay output time is set according to the error length.

[0048] Delayed output time = Length of key error / Printing speed.

[0049] The beneficial effects of this invention are as follows:

[0050] This invention achieves a high-throughput, continuously switching food 3D printing process by setting up an array of printheads. Compared to the conventional continuous switching food 3D printing process with a single printhead, the printing throughput is increased by a factor equal to the number of printheads in the array. Through this high-throughput printing method, the 3D model to be printed is converted into image pixel information, enabling independent control of the air pressure control unit for each printhead in the array. This allows for accurate production of the same printed product from multiple printheads or the production of different printed products from different printheads. Furthermore, by reducing and compensating for errors that occur during the printing process, the dimensional accuracy of the printed product compared to the preset model is ensured. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0054] Figure 3 is a perspective view of the printing component provided by the present invention.

[0055] Figure 4 is a perspective view of the printing component provided by the present invention from another angle.

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

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

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

[0059] Figure 8 shows the effect of printhead height on printing effect during the high-throughput continuous switching food 3D printing process provided by the present invention.

[0060] Figure 9 shows the effect of printing speed on printing effect during the high-throughput continuous switching food 3D printing process provided by the present invention.

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

[0062] Figure 11 is an illustration of the high-throughput continuous switching food 3D printing provided by the present invention, showing the same product made by an array of printing nozzles and different products made by different nozzles; wherein, A in Figure 11 is the same printed product made by an array of three printing nozzles, and B and C in Figure 11 are different products made by the three printing nozzles.

[0063] In the diagram: 1. Fixture; 2. Z-axis linear module; 3. X-axis linear module; 4. Y-axis linear module; 5. Printing platform; 6. Motion control unit; 7. Array printhead; 8. Material cylinder; 9. Connecting pipe; 10. Air pressure valve; 11. Transmission conduit; 12. Air pressure output control unit; 13. First printhead; 14. Second printhead; 15. Third printhead; 16. Printhead centerline; 17. Machine body; 171. Base; 172. Mounting bracket; 18. Printing assembly. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0067] To promote the commercialization and large-scale application of food 3D printing technology, this invention proposes a high-throughput continuous switching food 3D printing method based on continuous switching 3D printing technology. By combining an array of printing nozzles with real-time extrusion pressure control based on image pixel reading and printing error adjustment strategies, the printing efficiency, accuracy, and forming speed of the continuous switching food 3D printing process are improved while ensuring that the morphological requirements of the printed product are met.

[0068] Example 1:

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

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

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

[0072] Therefore, the X-axis linear module 3 and the Y-axis linear module 4 enable the two-dimensional movement of the printing platform 5 along the X-axis and Y-axis directions; the Z-axis linear module 2 enables the printing component 18 to move along the Z-axis direction.

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

[0074] Furthermore, the printing assembly 18 includes a fixed fixture 1 connected to the output end of the Z-axis linear module 2. An array of printing nozzles 7 is provided in the fixed fixture 1. The array of printing nozzles 7 includes several printing nozzles arranged in an array. The spacing between the printing nozzles is adjustable, and the height of the printing nozzles is adjustable. Each printing nozzle is connected to several material cylinders 8 through several connecting pipes 9. The material cylinders 8 are used to hold printing materials. Each material cylinder 8 is connected to a pneumatic output control unit 12 and a pneumatic valve 10 through a transmission conduit 11. The pneumatic output control unit 12 is used to receive and process the image information of the printing model, convert it into pneumatic output control information, and control the pneumatic pressure value and opening and closing of the pneumatic valve 10. The pneumatic pressure is transmitted to the material cylinders 8 through the transmission conduit 11 to extrude the printing materials in the material cylinders 8. The printing materials are printed onto the printing platform 5 through the printing nozzles via the connecting pipes 9.

[0075] The array-type printhead 7 is fixed to the fixture 1. By changing the fixed position of the array-type printhead 7 on the fixture 1, the distance and height between several printheads can be adjusted. Optionally, in addition to the above-mentioned pneumatic extrusion method, the extrusion pressure source of the printed material can also be a motor extrusion method. When the extrusion pressure source is pneumatic extrusion, the extrusion pressure transmission device can be the above-mentioned transmission conduit 11 connecting the material cylinder 8 and the extrusion pressure source. When the extrusion pressure source is motor extrusion, the extrusion pressure transmission device can be a screw or piston structure connecting the motor and the printed material.

[0076] Optionally, in this embodiment, the array printhead 7 includes a first printhead 13, a second printhead 14, and a third printhead 15 arranged in an array. Each printhead has two material cylinders 8 connected to its upper sides by two connecting pipes 9. Each printhead has a discharge port at its bottom and a central axis 16 at its center.

[0077] Optionally, the number of array-type printing nozzles 7 is determined based on the printable range of the 3D printing equipment and the thickness of the printing nozzles. For example, if the maximum printable range of the 3D printing equipment in the Y-axis direction is 100mm and the thickness of the printing nozzle is 20mm, then a maximum of 6 printing nozzles can be placed. The printing nozzles are either multi-material, multi-channel, single-outlet or multi-material, multi-channel, coaxial-outlet. When the printing nozzles are arranged in an array, they are placed parallel in one direction. The printing nozzles can be placed parallel in the X-axis or Y-axis direction. The material cylinder 8 can be connected to the printing nozzles through a connecting pipe 9 or a Luer connector. When the printing nozzles are coupled with n materials, the corresponding number of material cylinders 8 is n.

[0078] Example 2:

[0079] This embodiment provides a high-throughput continuous switching food 3D printing method, which uses the aforementioned high-throughput continuous switching food 3D printing equipment. The method includes the following steps:

[0080] Step S1: Set up the printing control program to convert the three-dimensional target model into three-dimensional motion and air pressure control signals to control the 3D printing equipment;

[0081] Step S1 specifically includes:

[0082] Based on the type of printing material, set the corresponding position information in the 3D model, and use different colors to mark the positions of different printing materials in the 3D model; then, according to the number of layers of the printed product, divide the 3D model into equal parts to obtain surface view images of different divided areas.

[0083] The 3D dimensions of the surface view image are scaled according to the size of the target product. When continuously switching along the X-axis, the number of pixels along the Y-axis in the image corresponds to the number of 3D printing rows. At this time, the number of pixels along the Y-axis after scaling the image = the Y-axis size of the target product / the width of the extruded filament. When continuously switching along the X-axis, the number of pixels along the X-axis is determined according to the X-axis size of the target product, the printing speed, and the single pixel reading time. The number of pixels along the X-axis = X-axis size / (printing speed × single pixel reading time). At the same time, the Y-axis is divided equally according to the number of array printheads 7. When there are 3 array printheads 7, the Y-axis is divided into 3 equal parts. Each image information after division is read by the control unit of the 3D printing equipment and transmitted to the motion control unit 6 and the air pressure output control unit 12 of each printhead.

[0084] When making continuous switching in the X-axis direction, the motion control unit 6 of the 3D printing equipment reads the number of pixels sequentially along the X-axis direction and moves a certain distance according to the number of pixels. The moving distance = number of pixels × single pixel reading time × printing speed. When the first row of image pixels in the Y-axis direction is read, the number of pixels in the second row in the X-axis direction is read, and the above process is repeated until the image is read.

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

[0086] When continuously switching along the Y-axis, the number of pixels on the X-axis in the image corresponds to the number of 3D printing rows. At this time, the number of pixels on the X-axis after image scaling = target product X-axis size / extrusion filament width. When continuously switching along the Y-axis, the number of pixels on the Y-axis is determined based on the target product Y-axis size, printing speed, and single pixel reading time. The number of pixels on the Y-axis = Y-axis size / (printing speed × single pixel reading time). Simultaneously, the X-axis is divided equally according to the number of array printheads 7. When there are 3 array printheads 7, the X-axis is divided into 3 equal parts. Each image information after division is read by the control unit of the 3D printing equipment and transmitted to the air pressure output control unit 12 of each printhead.

[0087] When making continuous switching in the Y-axis direction, the motion control unit 6 of the 3D printing equipment reads the number of pixels sequentially along the Y-axis direction and moves a certain distance according to the number of pixels. The moving distance = number of pixels × single pixel reading time × printing speed. When the first row of image pixels in the X-axis direction is read, the number of pixels in the second row in the Y-axis direction is read, and the above process is repeated until the image is read.

[0088] When performing continuous switching along the Y-axis, the air pressure output control unit 12 reads the color information of the pixels sequentially along the Y-axis of the image, and outputs the extrusion pressure of the corresponding printing material according to the color information. The duration of the extrusion pressure of a single pixel is equal to the reading time of a single pixel. When the first row of image pixels in the X-axis direction has been read, the color information of the pixels in the second row in the Y-axis direction is read, and the above process is repeated until the image has been read.

[0089] Optionally, the surface views of different equally divided regions can be the top or bottom view of each block of the 3D model after it has been divided into equal parts.

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

[0091] Step S2: Determine the position of the array printhead 7, and adjust the spacing and height of the printheads by adjusting the fixing fixture 1;

[0092] Step S2 specifically includes:

[0093] The printhead spacing is the distance between the central axes 16 of two printheads when they are arranged in a parallel array.

[0094] When the array of printheads 7 are combined to produce the same printed product and are continuously switched in the X-axis direction, the printhead spacing = the Y-axis dimension of the printed product / the number of printheads; when continuously switching in the Y-axis direction, the printhead spacing = the X-axis dimension of the printed product / the number of printheads.

[0095] When the array printhead 7 produces different printed products and continuously switches in the X-axis direction, the printhead spacing is greater than the largest Y-axis dimension of the printed product; when continuously switching in the Y-axis direction, the printhead spacing is greater than the largest X-axis dimension of the printed product.

[0096] The printhead height is the distance between the bottom of the printhead exit and the upper surface of the printing substrate; the printhead spacing and printhead height are determined based on the size of the printed product and the thickness of the first layer.

[0097] Step S3: Adjust printing parameters, including adjusting the filament spacing, printing speed, single pixel readout time, return speed, and extrusion pressure supply value.

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

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

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

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

[0102] Adjusting the single-pixel reading time includes setting the single-pixel reading time according to the size requirements of the printed product and the printing speed. Single-pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction).

[0103] Adjusting the return speed includes the displacement speed of the print head to the starting position of the next line of extrusion after printing one line of filament;

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

[0105] Specifically, as shown in Figure 6, a high-throughput continuous switching food 3D printing method includes: three-dimensional model generation, three-dimensional model segmentation image conversion, printing control program allocation of image pixel control information, array printing nozzle 7 position determination, and printing parameter setting. In this embodiment, there are two types of raw materials to be printed, and three array printing nozzles 7 are combined to produce the same printed product.

[0106] The 3D model generation process generates two-color 3D model files to be printed using 3D model software, and then segments the 3D model files according to the layer height to generate grayscale images in black and white, which are then compressed into 120×120 pixel JPG image files in this embodiment.

[0107] The process of allocating image pixel control information in the printing control program involves importing a 120×120 pixel file into the printing control program. Taking continuous switching printing in the X-axis direction as an example, the printing control program divides the image into three 120×40 image pixel files, which are then allocated sequentially to the air pressure output control unit 12 of the array print head 7. When black (grayscale value = 255) is read, the required air pressure for material A is output, and when white (grayscale value = 0) is read, the required air pressure for material B is output.

[0108] The process of determining the position of the array printhead 7 involves adjusting the distance between the central axes of the printhead outlets according to the required size of the printed product. For example, in this embodiment, the required size of the printed product is 120mm×120mm. The array printhead 7 includes 3 printheads and performs continuous switching 3D printing in the X-axis direction. Therefore, the distance between the positions of the central axes 16 of the printheads needs to be set to 40mm.

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

[0110] Example 3:

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

[0112] Starting point reduction and ending point extension of discharge means extending the discharge by a certain distance at the beginning and end of the deposition of each row of extruded filaments;

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

[0114] The starting point reduction output setting is set before the control system reads the pixels of the image to be printed, and the required reduction output time is set according to the error length.

[0115] Reduced output time = Starting error length / Printing speed;

[0116] The endpoint delay output setting is set after the control unit has finished reading the pixels of the line image to be printed, and the required delay output time is set according to the error length.

[0117] Delayed output time = Length of key error / Printing speed.

[0118] Specifically, as shown in Figure 7, a method for ensuring accuracy in high-throughput continuous switching food 3D printing includes: reducing the discharge time at the starting point and delaying the discharge time at the end point; due to the setting of the printing nozzle height, there is a certain distance delay between the discharge and deposition processes, which will result in the missing length of the extruded filament at the end of the printed line and the excessive length of the extruded filament at the beginning of the printed line.

[0119] Starting point reduction output time means that based on the error between the starting point and the ending point and the size of the product to be printed, a certain amount of output time is compensated or reduced on the left and right sides of the image X-axis.

[0120] Example 4:

[0121] This embodiment provides a printed product effect image based on a high-throughput continuous switching food 3D printing equipment, printing method, and printing accuracy assurance method; this embodiment uses 80% moisture ground beef (red and green) and beef fat (white) as printing raw materials, and uses food-grade pigments to color the printing raw materials to characterize the continuous switching process of the two-phase materials; this embodiment uses an array of three printing nozzles 7; this embodiment uses continuous switching 3D printing in the X-axis direction.

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

[0123] Figure 9 shows the effect of printing speed on printing quality during high-throughput continuous switching food 3D printing. The printing process was controlled using an image of alternating black and white pixels. With a single pixel time of 250ms and a linewidth of 1mm, the overall length of the printed product gradually increased with increasing printing speed, and the X-axis lengths of the two colored materials in the printed product also gradually increased. Measurements using a super-depth-of-field microscope revealed that the single pixel length = single pixel time × printing speed. At a printing speed of 30mm / s, the printing throughput was 71mm. 3 / s is 3 times that of a conventional single-printer continuous switching 3D printing equipment under the conditions of a printing speed of 30mm / s and a line width of 1mm.

[0124] As shown in Figure 10, the impact of the high-throughput continuous switching food 3D printing accuracy assurance method on the printing effect was verified. An image of alternating black and white pixels was used to control the printing process. The single-pixel reading time was set to 500ms, the printing speed to 10mm / s, and the theoretical single-pixel printing length to be 5000um. However, in actual printing, the actual printing length of the starting pixel was 5606um, and the actual printing length of the ending pixel was 4401um, showing a significant deviation. As the starting reduction ejection time and the ending delay ejection time increased, the error between the actual printing length of the starting and ending pixels and the required product size gradually decreased. When both the reduction ejection time and the delay ejection time were set to 60ms, the actual printing length of the starting and ending pixels reached approximately 5006um.

[0125] As shown in Figure 11, the printing effects of three printing nozzles producing the same product and three printing nozzles producing different products during the high-throughput continuous switching food 3D printing process were verified. The printing process was controlled by an image of alternating black and white pixels. In Figure 11, A is the same printed product produced by the combination of three printing nozzles, while B and C in Figure 11 are different products produced by the three printing nozzles.

[0126] In summary, this invention uses an array-type multi-printer printing mode, controls the three-dimensional motion process and air pressure supply unit through image pixel information, and combines reduction and compensation printing schemes in the printing process to achieve the combined manufacturing of the same printed product by multiple printers and the separate manufacturing of different products by multiple printers. Compared with the conventional continuous switching 3D printing process of a single printer, the printing throughput is increased by a factor of 7 of the array-type printers.

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

Claims

1. A high-throughput, continuous switching method for food 3D printing, characterized in that, A high-throughput, continuously switching food 3D printing device was used; The high-throughput continuous switching food 3D printing equipment includes a body (17), on which a movable printing platform (5) and a movable printing component (18) are mounted, the printing component (18) being located above the printing platform (5). The bottom of the body (17) is provided with a base (171), on which a Y-axis linear module (4) is installed. The Y-axis linear module (4) is connected to an X-axis linear module (3). The Y-axis linear module (4) is used to drive the X-axis linear module (3) to move along the Y-axis direction. The X-axis linear module (3) is connected to a printing platform (5). The X-axis linear module (3) is used to drive the printing platform (5) to move along the X-axis direction. The printing platform (5) is used to carry the printed product. The side of the body (17) is provided with a mounting bracket (172), the mounting bracket (172) is equipped with a Z-axis linear module (2), the Z-axis linear module (2) is connected to a printing component (18), and the Z-axis linear module (2) is used to drive the printing component (18) to move along the Z-axis direction; The printing assembly (18) includes a fixed fixture (1) connected to the output end of the Z-axis linear module (2). An array of printing nozzles (7) is provided in the fixed fixture (1). The array of printing nozzles (7) includes several printing nozzles arranged in an array. Each printing nozzle is connected to several material cylinders (8) through several connecting pipes (9). The material cylinders (8) are used to hold printing materials. Each material cylinder (8) is connected to a pneumatic output control unit (12) and a pneumatic valve (10) through a transmission conduit (11). The method includes the following steps: Step S1: Set up the printing control program to convert the three-dimensional target model into three-dimensional motion and air pressure control signals to control the 3D printing equipment; Step S2: Determine the position of the array printhead (7), and adjust the spacing and height of the printhead by adjusting the fixing fixture (1); Step S3: Adjust printing parameters, including adjusting the filament spacing, printing speed, single pixel readout time, return speed, and extrusion pressure supply value. Step S1 specifically includes: Based on the type of printing material, set the corresponding position information in the 3D model, and use different colors to mark the positions of different printing materials in the 3D model; then, according to the number of layers of the printed product, divide the 3D model into equal parts to obtain surface view images of different divided areas. The three-dimensional dimensions of the surface view image are scaled according to the size of the target product. When the X-axis direction is continuously switched, the number of Y-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of Y-axis pixels after scaling the image = the Y-axis size of the target product / the width of the extruded filament. When the X-axis direction is continuously switched, the number of pixels in the X-axis direction is determined according to the X-axis size of the target product, the printing speed and the single pixel reading time. The number of pixels in the X-axis direction = X-axis size / (printing speed × single pixel reading time). At the same time, the Y-axis direction is divided equally according to the number of array printing nozzles (7). When there are 3 array printing nozzles (7), the Y-axis direction is divided into 3 equal parts. Each image information after division is read by the control unit of the 3D printing equipment and transmitted to the motion control unit (6) and the air pressure output control unit (12) of each printing nozzle. When making continuous switching in the X-axis direction, the motion control unit (6) of the 3D printing equipment reads the number of pixels in sequence along the X-axis direction and moves a certain distance according to the number of pixels. The moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the Y-axis direction is read, the number of pixels in the second row in the X-axis direction is read, and then the above process is repeated until the image is read. When the X-axis direction is continuously switched, the air pressure output control unit (12) synchronously reads the color information of the pixels along the X-axis direction of the image, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the reading time of a single pixel. When the first row of image pixels in the Y-axis direction is read, the color information of the second row of pixels in the X-axis direction is read, and the above process is repeated until the image is read. When continuously switching in the Y-axis direction, the number of X-axis pixels in the image corresponds to the number of 3D printing rows. At this time, the number of X-axis pixels after image scaling = target product X-axis size / extrusion filament width. When continuously switching in the Y-axis direction, the number of pixels in the Y-axis direction is determined according to the target product Y-axis size, printing speed and single pixel reading time. The number of pixels in the Y-axis direction = Y-axis size / (printing speed × single pixel reading time). At the same time, the X-axis direction is divided equally according to the number of array printing nozzles (7). When there are 3 array printing nozzles (7), the X-axis direction is divided into 3 equal parts. Each image information after division is read by the control unit of the 3D printing equipment and transmitted to the air pressure output control unit (12) of each printing nozzle. When making continuous switching in the Y-axis direction, the motion control unit (6) of the 3D printing equipment reads the number of pixels in sequence along the Y-axis direction and moves a certain distance according to the number of pixels. The moving distance = number of pixels × single pixel reading time × printing speed; when the first row of image pixels in the X-axis direction is read, the number of pixels in the second row in the Y-axis direction is read, and then the above process is repeated until the image is read. When the continuous switching is performed in the Y-axis direction, the air pressure output control unit (12) reads the color information of the pixels sequentially along the Y-axis direction of the image, and outputs the extrusion pressure of the corresponding printing material according to the color information. The extrusion pressure duration of a single pixel is equal to the reading time of a single pixel. When the first row of image pixels in the X-axis direction is read, the color information of the pixels in the second row in the Y-axis direction is read, and the above process is repeated until the image is read. Among them, the surface views of different equally divided regions are the top or bottom views of each block of the 3D model after it has been divided equally; When the array of printheads (7) are combined to make the same printed product, the surface view image is divided equally according to the number of printheads, and the image pixel information is transmitted to the air pressure output control unit (12) of each printhead for 3D printing; when the array of printheads (7) make different printed products, the image information of the printed product to be read is input for each printhead, and the image pixel information is transmitted to the air pressure output control unit (12) of each printhead for 3D printing.

2. The high-throughput continuous switching food 3D printing method according to claim 1, characterized in that, A motion control unit (6) is also installed on the base (171). The motion control unit (6) is electrically connected to the X-axis linear module (3), Y-axis linear module (4), and Z-axis linear module (2). The motion control unit (6) is used to control the movement of the X-axis linear module (3), Y-axis linear module (4), and Z-axis linear module (2).

3. The high-throughput continuous switching food 3D printing method according to claim 1, characterized in that, The air pressure output control unit (12) is used to receive and process the image information of the printing model, convert it into air pressure output control information, and control the air pressure value and air pressure opening and closing of the air pressure valve (10). The air pressure is transmitted to the material cylinder (8) through the transmission conduit (11) to extrude the printing material in the material cylinder (8). The printing material is printed onto the printing platform (5) through the connecting pipe (9) at the printing nozzle.

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

5. The high-throughput continuous switching food 3D printing method according to claim 1, characterized in that, The array-type printhead (7) includes a first printhead (13), a second printhead (14), and a third printhead (15) arranged in an array. Each printhead has two material cylinders (8) connected to its upper sides by two connecting pipes (9). Each printhead has a discharge port at its bottom and a central axis (16) at its center.

6. The high-throughput continuous switching food 3D printing method according to claim 1, characterized in that, Step S2 specifically includes: The printhead spacing is the distance between the central axes (16) of two printheads when they are arranged in a parallel array; When the array of printheads (7) are combined to produce the same printed product and continuous switching is performed in the X-axis direction, the printhead spacing = the Y-axis dimension of the printed product / the number of printheads; when continuous switching is performed in the Y-axis direction, the printhead spacing = the X-axis dimension of the printed product / the number of printheads. When different printed products are produced by the array printhead (7) and continuous switching is performed in the X-axis direction, the printhead spacing is greater than the largest Y-axis dimension of the printed product; when continuous switching is performed in the Y-axis direction, the printhead spacing is greater than the largest X-axis dimension of the printed product. The printhead height is the distance between the bottom of the printhead exit and the upper surface of the printing substrate; the printhead spacing and printhead height are determined based on the size of the printed product and the thickness of the first layer.

7. A high-throughput continuous switching food 3D printing method according to claim 1, characterized in that, In step S3: Adjusting the filament spacing includes: adjusting the distance between the previous and next line of filaments according to the size of the printed product and the number of image pixels; When making continuous switching in the X-axis direction, the filament pitch = the Y-axis dimension of the printed product / the number of pixels in the Y-axis direction of the image; When making continuous switching in the Y-axis direction, the filament pitch = the X-axis dimension of the printed product / the number of pixels in the X-axis direction of the image; Adjusting the printing speed includes setting the displacement speed of the print head according to printing requirements; Adjusting the single-pixel reading time includes setting the single-pixel reading time according to the size requirements of the printed product and the printing speed. Single-pixel reading time = product size in the printing direction / (printing speed × number of image pixels in the printing direction). Adjusting the return speed includes the displacement speed of the print head to the starting position of the next line of extrusion after printing one line of filament; Adjusting the output air pressure value includes: setting a reasonable extrusion pressure supply value according to the line width and printing speed requirements, with each barrel (8) corresponding to a single extrusion pressure, so as to adjust the extrusion speed of the printing material in each barrel (8).

8. A method for ensuring accuracy in high-throughput, continuous switching food 3D printing, characterized in that, A high-throughput, continuous switching food 3D printing method according to any one of claims 1-7 is used, wherein the printing accuracy assurance method includes: reducing the material output at the starting point and extending the material output at the end; Starting point reduction and ending point extension of discharge means extending the discharge by a certain distance at the beginning and end of the deposition of each row of extruded filaments; Because there is a certain distance between the printhead and the printing substrate, there is a certain delay in the material output and deposition process. When a line is printed, there is residual material in the printhead, and there will be a certain length of extruded filament missing at the end of the line. When printing the next line, the starting point will be longer than the preset value. The starting point reduction output setting is set before the control system reads the pixels of the image to be printed, and the required reduction output time is set according to the error length. Reduced output time = Starting error length / Printing speed; The endpoint delay output setting is set after the control unit has finished reading the pixels of the line image to be printed, and the required delay output time is set according to the error length. Delayed output time = Length of key error / Printing speed.

Images