CN114594673B - Edible gelatin 3D printing equipment and control system - Google Patents
Edible gelatin 3D printing equipment and control system Download PDFInfo
- Publication number
- CN114594673B CN114594673B CN202210147000.9A CN202210147000A CN114594673B CN 114594673 B CN114594673 B CN 114594673B CN 202210147000 A CN202210147000 A CN 202210147000A CN 114594673 B CN114594673 B CN 114594673B
- Authority
- CN
- China
- Prior art keywords
- axis
- pid
- temperature
- controller
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 108010010803 Gelatin Proteins 0.000 title claims abstract description 70
- 239000008273 gelatin Substances 0.000 title claims abstract description 70
- 229920000159 gelatin Polymers 0.000 title claims abstract description 70
- 235000019322 gelatine Nutrition 0.000 title claims abstract description 70
- 235000011852 gelatine desserts Nutrition 0.000 title claims abstract description 70
- 238000010146 3D printing Methods 0.000 title claims abstract description 62
- 238000001125 extrusion Methods 0.000 claims abstract description 118
- 238000005057 refrigeration Methods 0.000 claims abstract description 86
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 238000010438 heat treatment Methods 0.000 claims abstract description 47
- 238000009413 insulation Methods 0.000 claims abstract description 37
- 230000008878 coupling Effects 0.000 claims abstract description 28
- 238000010168 coupling process Methods 0.000 claims abstract description 28
- 238000005859 coupling reaction Methods 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 74
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 23
- 239000007788 liquid Substances 0.000 claims description 23
- 239000000741 silica gel Substances 0.000 claims description 23
- 229910002027 silica gel Inorganic materials 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 20
- 229910001220 stainless steel Inorganic materials 0.000 claims description 17
- 239000010935 stainless steel Substances 0.000 claims description 17
- 239000007787 solid Substances 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
- 238000000465 moulding Methods 0.000 claims description 10
- 239000000110 cooling liquid Substances 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000002474 experimental method Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims description 3
- 239000003507 refrigerant Substances 0.000 claims 1
- 238000007639 printing Methods 0.000 description 41
- 235000013305 food Nutrition 0.000 description 15
- 238000001816 cooling Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 239000002002 slurry Substances 0.000 description 8
- 241000881711 Acipenser sturio Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 229920000298 Cellophane Polymers 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 4
- 239000011086 glassine Substances 0.000 description 4
- 235000015097 nutrients Nutrition 0.000 description 4
- 239000000047 product Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000037213 diet Effects 0.000 description 3
- 235000005911 diet Nutrition 0.000 description 3
- 108090000623 proteins and genes Proteins 0.000 description 3
- 102000004169 proteins and genes Human genes 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- HVYWMOMLDIMFJA-DPAQBDIFSA-N cholesterol Chemical compound C1C=C2C[C@@H](O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2 HVYWMOMLDIMFJA-DPAQBDIFSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001192 hot extrusion Methods 0.000 description 2
- 239000002655 kraft paper Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 235000013336 milk Nutrition 0.000 description 2
- 239000008267 milk Substances 0.000 description 2
- 210000004080 milk Anatomy 0.000 description 2
- 235000016709 nutrition Nutrition 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 102000008186 Collagen Human genes 0.000 description 1
- 108010035532 Collagen Proteins 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 244000068988 Glycine max Species 0.000 description 1
- 208000031226 Hyperlipidaemia Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000007864 aqueous solution Substances 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 235000012000 cholesterol Nutrition 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 229920001436 collagen Polymers 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 206010012601 diabetes mellitus Diseases 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 230000001804 emulsifying effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000004211 gastric acid Anatomy 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 238000001879 gelation Methods 0.000 description 1
- 229910052602 gypsum Inorganic materials 0.000 description 1
- 239000010440 gypsum Substances 0.000 description 1
- 239000000413 hydrolysate Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
- A23L29/00—Foods or foodstuffs containing additives; Preparation or treatment thereof
- A23L29/20—Foods or foodstuffs containing additives; Preparation or treatment thereof containing gelling or thickening agents
- A23L29/275—Foods or foodstuffs containing additives; Preparation or treatment thereof containing gelling or thickening agents of animal origin, e.g. chitin
- A23L29/281—Proteins, e.g. gelatin or collagen
- A23L29/284—Gelatin; Collagen
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23P—SHAPING OR WORKING OF FOODSTUFFS, NOT FULLY COVERED BY A SINGLE OTHER SUBCLASS
- A23P30/00—Shaping or working of foodstuffs characterised by the process or apparatus
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23P—SHAPING OR WORKING OF FOODSTUFFS, NOT FULLY COVERED BY A SINGLE OTHER SUBCLASS
- A23P30/00—Shaping or working of foodstuffs characterised by the process or apparatus
- A23P30/20—Extruding
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23V—INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
- A23V2002/00—Food compositions, function of food ingredients or processes for food or foodstuffs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P20/00—Technologies relating to chemical industry
- Y02P20/10—Process efficiency
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Polymers & Plastics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Nutrition Science (AREA)
- Dispersion Chemistry (AREA)
- Zoology (AREA)
- Manufacturing & Machinery (AREA)
Abstract
The invention discloses edible gelatin 3D printing equipment and a control system, wherein the edible gelatin 3D printing equipment comprises a variable-pressure variable-temperature extrusion unit, a numerical control transmission unit, an extrusion refrigeration unit and a control box, wherein devices which are arranged along an X axis, a Y axis, a Z axis and a U axis and are driven in a combined manner are arranged in a heat insulation box of the equipment, and the devices are linked with the 3D printing control system to print a sample piece; the control system comprises a PID heating control unit, a PID pressure control unit, a PID refrigeration control unit, a 3D printing track motion and coupling control unit and an upper computer; the coupling control of the extrusion temperature, the extrusion pressure, the temperature of the forming chamber, the temperature of the forming platform and the track motion speed is realized.
Description
Technical Field
The invention relates to the technical field of food processing technology and 3D printing, in particular to edible gelatin 3D printing equipment and a control system.
Background
3D printing is an emerging technology that has been promoted by the rapidly evolving rapid prototyping technology. The 3D printing technology is also called additive technology, and materials such as metal, plastic, rubber, gypsum, etc. can be manufactured into a predetermined shape through melt extrusion, powder sintering, photoreaction, etc. The technology can carry out digital operation on a complex machining process, and has the advantages of high precision, high speed, low cost and the like, so the technology is considered to be an important technical means for promoting the development of various fields.
The 3D printing of the food can be realized through digital design so as to realize accurate and nutritional personalized diet, and is increasingly popular with special crowds such as pregnant women, infants, old people, obese people, diabetes patients, hyperlipidemia patients and the like. Different people have different requirements on various nutrients due to different physical conditions, and the required food is different. The 3D printing technology is utilized to manufacture food required by different crowds, raw materials can be prepared according to the nutrient proportion required by the crowds, and reasonable diet can be formulated. Firstly, a planned diet recipe is reasonably formulated according to the needs of the proportion of the nutrients of the population. And processing the raw materials in the recipe to make the recipe suitable for the 3D printing process. Then, the volume of the printed food is calculated according to the mass and energy of the nutrients required by the crowd. And finally, establishing a corresponding three-dimensional model according to the volume, putting the processed raw materials into a food 3D printer, and inputting the established three-dimensional model into the food 3D printer to finally obtain the nutrition customized food required by the crowd, so that the food 3D printing technology has a very wide prospect in the field of food manufacturing.
The gelatin is used as the hydrolysate of collagen, belongs to macromolecular protein, is a natural protein source without cholesterol, can be used as a powerful protective colloid, has strong emulsifying capacity, and can inhibit the coagulation of proteins such as milk, soybean milk and the like caused by the action of gastric acid after entering the stomach, thereby being beneficial to food digestion. Due to its unique functional properties, it is widely used in the food industry. The molecular structure of the gelatin has specificity, and when the concentration of the gelatin aqueous solution is large enough and the temperature is low enough, reversible gel with certain elasticity can be formed, which is the special performance of the gelatin. Gelatin can thus improve hardness, elasticity and chewiness of food products by self-gelation. However, the gelatin material is difficult to realize 3D printing through simple extrusion molding, and therefore, the realization of printing and molding of the gelatin material through the coupling control of pressure-variable thermal extrusion and low-temperature molding is a breakthrough of 3D printed food.
Thermal extrusion is the mainstream technique that present food 3D printed, but when 3D printed the extrusion material, generally not install cooling device additional to the material, or simply blow to the target object with the fan, because the temperature of thermal extrusion material is higher and the temperature in the 3D printer box is mostly higher than the room temperature, cause the product of printing to need longer time to cool off solidification shaping, do not possess extrusion pressure closed-loop control in addition, before crowded heating temperature control, extrude quick cooling control and three coupling control ability, so when printing gelatin material, because material mobility and plasticity all receive the temperature influence, the extrusion material often appears the discontinuity, flow, collapse and extrude the circumstances such as laggard, can't realize the stereolithography of complex structure.
Therefore, it is urgently needed to research a 3D printing technology capable of realizing rapidness, uniformity and high quality, so that an edible gelatin system (such as a compound of gelatin, fish paste and meat paste) is deposited, cured and formed by flowing slurry, the mechanical strength of an extruded material is improved, the forming quality of a printed product is improved, and a three-dimensional structure with a more complex shape is manufactured.
Disclosure of Invention
The invention provides edible gelatin 3D printing equipment and a control system, aiming at solving the problems that the mechanical strength of an edible gelatin material is extremely low after the edible gelatin material is heated and extruded in the current 3D printing process, a complex structure with strong three-dimensional property cannot be printed, the extruded material flows, collapses, is discontinuous, and is extruded to be delayed.
In order to achieve the purpose, the invention provides edible gelatin 3D printing equipment which comprises a variable-pressure variable-temperature extrusion unit, a numerical control transmission unit, an extrusion refrigeration unit and a control box.
The extrusion refrigeration unit comprises an insulation box, the insulation box is provided with a box door, a forming chamber wall hanging refrigeration plate is fixedly arranged on one side, opposite to the box door, in the insulation box, a forming chamber temperature sensor is arranged on one side in the insulation box, a refrigeration compressor is arranged at the bottom in the insulation box and connected with a refrigeration liquid circulating pump, the refrigeration liquid circulating pump is arranged at the bottom in the insulation box, a first supporting plate is fixedly arranged on the refrigeration liquid circulating pump, and a numerical control transmission unit is arranged on the first supporting plate.
The numerical control transmission unit comprises an X-axis motor, an X-axis screw rod is fixedly installed at the rotating end of the X-axis motor, the other end of the X-axis screw rod is connected to a first bearing seat in a rotating mode through a bearing, the first bearing seat is installed on a first supporting plate, an X-axis nut capable of moving along the X-axis screw rod is installed on the X-axis screw rod, a second supporting plate is fixedly installed on the X-axis nut, two X-axis guide columns are symmetrically installed on two sides of the X-axis screw rod, each X-axis guide column is fixed to the first supporting plate through two supporting seats respectively, a guide column supporting block is connected to each X-axis guide column in a sliding mode, and the guide column supporting blocks are fixed to the lower plane of the second supporting plate.
A Y-axis motor is fixedly installed on one side, close to a door of an incubator, of a second supporting plate, a Y-axis screw rod is fixedly installed on a rotating end of the Y-axis motor, the Y-axis screw rod and the X-axis screw rod are perpendicular to each other in the horizontal direction, the other end of the Y-axis screw rod is rotatably connected onto a second bearing seat through a bearing, the second bearing seat is installed on the second supporting plate, a Y-axis nut capable of moving along the Y-axis screw rod is installed on the Y-axis screw rod, a forming platform refrigerating plate is fixedly installed on the Y-axis nut, two Y-axis guide columns are symmetrically installed on two sides of the Y-axis screw rod, each Y-axis guide column is fixed onto the second supporting plate through two supporting seats, a guide column supporting block is slidably connected onto each Y-axis guide column, the guide column supporting blocks are fixed onto the lower plane of the forming platform refrigerating plate, a forming platform temperature sensor is installed in the forming platform refrigerating plate, a cooling pipe is installed on one side of the forming platform plate, and the cooling pipe is connected with a refrigerating liquid circulating pump through a forming platform refrigerating plate circulating cooling liquid pipeline.
A conveying groove is vertically arranged on one side, opposite to a box door of the heat insulation box, of the first supporting plate, a guide rail is vertically arranged in the conveying groove, a sliding block is connected onto the guide rail in a sliding mode, a U-shaft motor is fixedly arranged on the sliding block, a U-shaft lead screw penetrates through the U-shaft motor, two ends of the U-shaft lead screw are fixed to the upper end and the lower end of the conveying groove, a Z-shaft connecting frame is fixedly arranged on the U-shaft motor, and a variable-pressure variable-temperature extrusion unit is arranged on the upper plane of the free end of the Z-shaft connecting frame.
The variable-pressure variable-temperature extrusion unit comprises a support frame, the support frame is arranged on the upper plane of the free end of a Z-axis connecting frame, a variable-temperature material cylinder is arranged on the lower plane of the free end of the connecting frame, a through hole is formed in the upper end of the support frame, a Z-axis motor is arranged on the support frame, a Z-axis lead screw penetrates through the Z-axis connecting frame, the other end of the Z-axis lead screw penetrates through the other end of the Z-axis connecting frame and is connected with a variable-pressure piston, the variable-pressure piston is arranged in the variable-temperature material cylinder, a pressure sensor connecting valve is arranged on a piston rod of the variable-pressure piston, the pressure sensor connecting valve is connected with a pressure sensor through a conduit, and the pressure sensor is arranged on one side of the support frame.
The temperature-changing charging barrel comprises a stainless steel charging barrel, a silica gel heating barrel is sleeved on the outer side of the stainless steel charging barrel, a heat-insulating sleeve is sleeved on the outer side of the silica gel heating barrel, a lower plane of the heat-insulating sleeve is in threaded connection with an extrusion nozzle, the other end of the extrusion nozzle is arranged in the stainless steel charging barrel in a penetrating mode, a charging barrel temperature sensor is arranged on the heat-insulating sleeve, and a temperature measuring end of the charging barrel temperature sensor penetrates through the heat-insulating sleeve to be connected to the outer side of the stainless steel charging barrel together with the silica gel heating barrel.
The control box is installed on the top of insulation can, and the front side of control box is equipped with switchboard switch, scram switch and multichannel PID controller, installs DC power supply in the control box, and DC power supply is connected with solid state relay, and solid state relay is connected with multichannel PID controller, motor drive and motion control ware respectively.
Above-mentioned edible gelatin 3D prints equipment, under the preferred mode, there is the closely arranged water route in the shaping platform refrigeration board to adopt the recirculated cooling liquid refrigeration mode.
Above-mentioned edible gelatin 3D prints equipment, under the preferred mode, U axle motor and Z axle motor are accurate lead screw through-type motor.
Above-mentioned edible gelatin 3D prints equipment, under the preferred mode, the piston rod of vary voltage piston is hollow structure, and baroceptor connecting valve is connected with hollow structure.
A control system of edible gelatin 3D printing equipment comprises a PID heating control unit, a PID pressure control unit, a PID refrigeration control unit, a 3D printing track motion and coupling control unit and an upper computer.
PID heating control unit includes the PID temperature controller, solid state relay, the silica gel cartridge heater who uses the 220V alternating current, feed cylinder temperature sensor, the PID temperature controller sets up in multichannel PID controller, the PID temperature controller passes through 485 buses and host computer both way junction and real-time communication with the host computer, the PID temperature controller passes through 485 buses and is connected with feed cylinder temperature sensor, and read the temperature analog signal of temperature sensor feedback, transmit to host computer, the PID temperature controller passes through 485 buses and is connected with solid state relay, solid state relay is connected with the silica gel cartridge heater, the host computer transmits digital signal for the PID temperature controller, the PID temperature controller passes through the on-off of solid state relay control silica gel cartridge heater according to the temperature value of setting for.
The PID pressure control unit comprises a PID pressure controller, a motor driver, a motion controller and an air pressure sensor, wherein the PID pressure controller is arranged in a multi-channel PID controller, the PID pressure controller is in two-way connection and real-time communication with an upper computer host through a 485 bus, the PID pressure controller is connected with the air pressure sensor through the 485 bus, receives a pressure analog signal received by the air pressure sensor and then transmits the pressure analog signal to the upper computer host, the PID pressure controller is connected with the motion controller, transmits a digital signal to the motion controller according to a pressure value received by the upper computer host, the motion controller is connected with the motor driver, the motor driver is connected with a Z-axis motor, and transmits a control digital signal to drive the Z-axis motor so as to control the motion speed and distance of the variable-pressure piston in the charging barrel.
The PID refrigeration control unit comprises a PID temperature controller, a solid-state relay, a refrigeration compressor, a wall-mounted refrigeration plate of a forming chamber, a forming platform refrigeration plate, a refrigeration liquid circulating pump, a forming chamber temperature sensor and a forming platform temperature sensor, wherein the PID temperature controller is arranged in the multichannel PID controller, is in bidirectional connection and real-time communication with an upper computer host through a 485 bus, is connected with the forming chamber temperature sensor and the forming platform temperature sensor through the 485 bus respectively, receives temperature analog signals fed back by the forming chamber temperature sensor and the forming platform temperature sensor and then transmits the temperature analog signals to the upper computer host, the PID temperature controller is connected with the solid-state relay, the solid-state relay is connected with the refrigeration compressor, the wall-mounted refrigeration plate of the forming chamber, the forming platform refrigeration plate and the refrigeration liquid circulating pump respectively, and transmits digital signals to the corresponding solid-state relay according to temperature values set by the upper computer host so as to control the refrigeration compressor, the wall-mounted refrigeration plate of the forming chamber, the forming platform refrigeration plate and the refrigeration liquid circulating pump.
The 3D printing track motion and coupling control unit comprises multi-axis continuous interpolation motion control and pressure, heating, refrigerating and XY interpolation motion coupling control, an upper computer host receives pressure analog signals and temperature analog signals fed back by a PID pressure controller and a PID temperature controller, a control program of the upper computer host conducts line-by-line disassembly on motion track data G codes, extrusion motion codes corresponding to the movement of an extrusion nozzle are modified according to the flowability of materials, process experiments, the pressure in a cylinder and an algorithm, the upper computer host transmits digital signals to the motion controller through the corresponding extrusion motion codes, the motion controller is connected with a motor driver, and the motor driver is respectively connected with an X-axis motor and a Y-axis motor and transmits digital control signals.
According to the control system of the edible gelatin 3D printing equipment, in an optimal selection mode, the motor driver transmits a real-time compensation digital control signal of extrusion amount to the Z-axis motor according to the digital signal transmitted by the motion controller.
The invention provides edible gelatin 3D printing equipment and a control system, in particular to 3D printing equipment and a control system for coupling control of variable-pressure hot extrusion and low-temperature forming of edible gelatin materials. The 3D printing feasibility of the edible gelatin material with high moisture content is greatly improved. Through coupling control, the material system can be accurately controlled from a hot flow state to a cold solid state, so that the instant solidification of fluid slurry can be realized, the extruded material has higher mechanical property, the quality of a printed product is improved, the problems of extrusion flowing, collapse, discontinuity, extrusion lag and the like of gelatin are effectively solved, and an elastic product with a complex structure can be printed and molded.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a 3D printing device for coupling control of variable-pressure thermal extrusion and low-temperature forming according to the invention.
Fig. 2 is a front view of the 3D printing apparatus for coupling control of variable pressure thermal extrusion and low temperature forming according to the present invention.
FIG. 3 is a schematic diagram of a printing area of a 3D printing device for coupling control of variable-pressure thermal extrusion and low-temperature forming.
FIG. 4 is a schematic structural diagram of an extrusion unit of a 3D printing device for coupling control of variable-pressure thermal extrusion and low-temperature forming according to the present invention.
FIG. 5 is a top schematic view of the 3D printing apparatus for coupling control of variable pressure thermal extrusion and low temperature forming according to the present invention.
Fig. 6 is a schematic view of a 3D printed kraft gelatin honeycomb structure in an embodiment of the invention.
Fig. 7 is a schematic diagram of the details of a 3D printed kraft gelatin honeycomb structure in an embodiment of the invention.
Fig. 8 is a schematic structural diagram of a cylinder of a compound material of 3D-printed sturgeon skin gelatin and sturgeon puree in an embodiment of the invention.
Fig. 9 is a schematic diagram showing details of a cylindrical structure of a 3D-printed sturgeon skin gelatin and sturgeon puree composite material in an embodiment of the invention.
In the figure: 1. the device comprises an insulation box, 2, a forming platform refrigerating plate, 3, a variable-temperature material barrel, 4, an air pressure sensor connecting valve, 5, an air pressure sensor, 6, a Z-axis screw rod, 7, a multi-channel PID controller, 8, a motor driver, 9, a solid-state relay, 10, a direct-current power supply, 11, a motion controller, 12, a master switch, 13, an emergency stop switch, 14, a forming chamber temperature sensor, 15, a forming chamber wall hanging refrigerating plate, 16, a U-axis screw rod, 17, a variable-pressure piston, 18, a Y-axis screw rod, 19, a forming platform refrigerating plate circulating cooling liquid pipeline, 20, a refrigerating compressor, 21, an X-axis screw rod, 22, a refrigerating liquid circulating pump, 23, a Z-axis motor, 24, a U-axis motor, 25, a Y-axis motor, 26, an X-axis motor, 27, a stainless steel material barrel, 28, a silica gel heating barrel, 29, an insulation sleeve, a material barrel 30, an extrusion nozzle, 31 and a temperature sensor.
Detailed Description
The invention relates to 3D printing equipment and a control system for edible gelatin. As shown in fig. 1 to fig. 3, the edible gelatin 3D printing device is a 3D printing device for coupling control of pressure-variable thermal extrusion and low-temperature forming of edible gelatin, and includes a pressure-variable temperature extrusion unit, a numerical control transmission unit, an extrusion refrigeration unit, and a control box.
The extrusion refrigeration unit comprises an insulation box 1, the insulation box 1 is provided with a box door, a forming chamber wall-mounted refrigeration plate 15 is fixedly arranged on one side of the insulation box 1, which is right opposite to the box door, a forming chamber temperature sensor 14 is arranged on one side of the insulation box 1, a refrigeration compressor 20 is arranged at the bottom of the insulation box 1, the refrigeration compressor 20 is connected with a refrigeration liquid circulating pump 22, the refrigeration liquid circulating pump 22 is arranged at the bottom of the insulation box 1, a first supporting plate is fixedly arranged on the refrigeration liquid circulating pump 22, a numerical control transmission unit is arranged on the first supporting plate, the insulation box 1 is a visual insulation box, and the influence of the experimental environment on the temperature of the forming chamber can be reduced while the visualization of the printing process can be realized.
As shown in FIG. 3, the numerical control transmission unit includes an X-axis motor 26, an X-axis lead screw 21 is fixedly mounted at a rotating end of the X-axis motor 26, the other end of the X-axis lead screw 21 is rotatably connected to a first bearing block through a bearing, the first bearing block is mounted on a first supporting plate, an X-axis nut capable of moving along the X-axis lead screw 21 is mounted on the X-axis lead screw 21, a second supporting plate is fixedly mounted on the X-axis nut, two X-axis guide columns are symmetrically mounted at two sides of the X-axis lead screw 21, each X-axis guide column is fixed on the first supporting plate through two supporting seats, a guide column is slidably connected to each X-axis guide column, and the guide column supporting block is fixed on a lower plane of the second supporting plate.
A Y-axis motor 25 is fixedly arranged on one side of the second support plate close to the door of the insulation box 1, a Y-axis screw 18 is fixedly arranged on the rotating end of the Y-axis motor 25, the Y-axis screw 18 is vertical to the X-axis screw 21 in the horizontal direction, the other end of the Y-axis screw 18 is rotatably connected to a first bearing seat through a bearing, a second bearing seat is arranged on the second support plate, a Y-axis screw nut capable of moving along the Y-axis screw 18 is arranged on the Y-axis screw 18, a forming platform refrigerating plate 2,Y is fixedly arranged on the Y-axis screw nut, two Y-axis guide columns are symmetrically arranged on two sides of the shaft screw 18, each Y-axis guide column is respectively fixed on the second support plate through two support seats, a guide column support block is slidably connected to each Y-axis guide column, the guide column support blocks are fixed on the lower plane of the forming platform refrigerating plate 2, a forming platform temperature sensor is arranged in the forming platform refrigerating plate 2, a cooling pipe is arranged on one side of the forming platform refrigerating plate 2, and the cooling pipe is connected with a circulating cooling liquid circulating pump 22 through a forming platform circulating pipeline 19.
A conveying groove is vertically arranged on the first supporting plate relative to one side of a box door of the heat preservation box 1, a guide rail is vertically arranged in the conveying groove, a sliding block is connected onto the guide rail in a sliding mode, a U-shaft motor 24 is fixedly arranged on the sliding block, a U-shaft screw 16 penetrates through the U-shaft motor 24, two ends of the U-shaft screw 16 are fixed to the upper end and the lower end of the conveying groove, a Z-shaft connecting frame is fixedly arranged on the U-shaft motor 24, and a variable-pressure variable-temperature extrusion unit is arranged on the upper plane of the free end of the Z-shaft connecting frame.
As shown in fig. 3, the variable-pressure variable-temperature extrusion unit comprises a support frame, the support frame is installed on the upper plane of the free end of a Z-axis connecting frame, a variable-temperature material cylinder 3 is installed on the lower plane of the free end of the connecting frame, a through hole is formed in the upper end of the support frame, a Z-axis motor 23 is installed on the support frame, a Z-axis lead screw 6,Z is arranged in the Z-axis motor 23 in a penetrating manner, the other end of a lead screw 6 penetrates through the Z-axis connecting frame and is provided with a variable-pressure piston 17, the variable-pressure piston 17 is arranged in the variable-temperature material cylinder 3, an air pressure sensor connecting valve 4 is installed on a piston rod of the variable-pressure piston 17, the air pressure sensor connecting valve 4 is connected with an air pressure sensor 5 through a conduit, and the air pressure sensor 5 is installed on one side of the support frame.
As shown in fig. 4, the variable temperature charging barrel 3 includes a stainless steel barrel 27, a silica gel heating barrel 28 is sleeved outside the stainless steel barrel 27, a heat insulating sleeve 29 is sleeved outside the silica gel heating barrel 28, a lower plane of the heat insulating sleeve 29 is screwed with an extrusion nozzle 30, the other end of the extrusion nozzle 30 is arranged in the stainless steel barrel 27 in a penetrating manner, a charging barrel temperature sensor 31 is arranged on the heat insulating sleeve 29, and a temperature measuring end of the charging barrel temperature sensor 31 penetrates through the heat insulating sleeve 29 to be connected with the silica gel heating barrel 28 outside the stainless steel barrel 27.
As shown in fig. 5, the control box is installed at the top end of the heat insulation box, the main switch 12, the emergency stop switch 13 and the multi-channel PID controller 7 are installed at the front side of the control box, the direct current power supply 10 is installed in the control box and connected with the solid state relay 9, and the solid state relay 9 is respectively connected with the multi-channel PID controller 7, the motor driver 8 and the motion controller 11.
As shown in figure 1, a close-packed water channel is arranged in the forming platform refrigerating plate 2, and a circulating cooling liquid refrigerating mode is adopted.
The U-axis motor 24 and the Z-axis motor 23 are precision screw through motors.
As shown in fig. 4, the piston rod of the variable pressure piston 17 is a hollow structure, and the air pressure sensor connection valve 4 is connected to the hollow structure.
The invention provides a control system of edible gelatin 3D printing equipment, namely a 3D printing control system for coupling control of edible gelatin variable pressure thermal extrusion and low temperature forming, which comprises a PID heating control unit, a PID pressure control unit, a PID refrigeration control unit, a 3D printing track motion and coupling control unit and an upper computer.
The PID heating control unit comprises a PID temperature controller, a solid state relay 9, a silica gel heating cylinder 28 using 220V alternating current, a charging barrel temperature sensor 31, the PID temperature controller is arranged in a multichannel PID controller 7 and is in bidirectional connection and real-time communication with an upper computer host through a 485 bus, the PID temperature controller is connected with the charging barrel temperature sensor 31 through the 485 bus and reads temperature analog signals fed back by the temperature sensor and transmits the temperature analog signals to the upper computer host, the PID temperature controller is connected with the solid state relay through the 485 bus, the solid state relay 9 is connected with the silica gel heating cylinder 28, the upper computer transmits digital signals to the PID temperature controller, and the PID temperature controller controls the on-off of the silica gel heating cylinder 28 through the solid state relay 9 according to a set temperature value.
The PID pressure control unit comprises a PID pressure controller, a motor driver 8, a motion controller 11 and an air pressure sensor 5, wherein the PID pressure controller is arranged in a multi-channel PID controller 7, the PID pressure controller is in bidirectional connection and real-time communication with an upper computer host through a 485 bus, the PID pressure controller is connected with the air pressure sensor 5 through the 485 bus, receives a pressure analog signal received by the air pressure sensor 5 and then transmits the pressure analog signal to the upper computer host, the PID pressure controller is connected with the motion controller 11 and transmits a digital signal to the motion controller 11 according to a pressure value received by the upper computer host, the motion controller 11 is connected with the motor driver 8, the motor driver 8 is connected with a Z-axis motor 23 and transmits a control digital signal to drive the Z-axis motor 23 so as to control the motion speed and distance of the transformation piston 17 in the charging barrel;
the PID refrigeration control unit comprises a PID temperature controller, a solid-state relay 9, a refrigeration compressor 20, a forming chamber wall hanging refrigeration plate 15, a forming platform refrigeration plate 2, a refrigeration liquid circulating pump 22, a forming chamber temperature sensor 14 and a forming platform temperature sensor, wherein the PID temperature controller is arranged in a multi-channel PID controller 7, the PID temperature controller is in bidirectional connection and real-time communication with an upper computer host through a 485 bus, the PID temperature controller is respectively connected with the forming chamber temperature sensor 14 and the forming platform temperature sensor through the 485 bus, receives temperature analog signals fed back by the forming chamber temperature sensor 14 and the forming platform temperature sensor and then transmits the temperature analog signals to the upper computer host, the PID temperature controller is connected with the solid-state relay 9, the solid-state relay 9 is respectively connected with the refrigeration compressor 20, the forming chamber wall hanging refrigeration plate 15, the forming platform refrigeration plate 2 and the refrigeration liquid circulating pump 22, and the PID temperature controller transmits digital signals to the corresponding solid-state relay 9 according to the temperature value set by the upper computer host so as to control the working of the refrigeration compressor 20, the forming chamber wall hanging refrigeration plate 15, the forming platform hanging refrigeration plate 2 and the refrigeration liquid circulating pump 22;
the 3D printing track motion and coupling control unit comprises multi-axis continuous interpolation motion control and pressure, heating, refrigerating and XY interpolation motion coupling control, an upper computer host receives pressure analog signals and temperature analog signals fed back by a PID pressure controller and a PID temperature controller, a control program of the upper computer host conducts line-by-line disassembly on motion track data G codes, corresponding extrusion motion codes when an extrusion nozzle 30 moves are modified according to material flowability, process experiments, cylinder pressure and algorithms, the upper computer host transmits digital signals to the motion controller 11 through the corresponding extrusion motion codes, the motion controller 11 is connected with a motor driver 8, and the motor driver 8 is respectively connected with an X-axis motor 26 and a Y-axis motor 25 and transmits digital control signals.
The motor driver 8 transmits a real-time compensation digital control signal of the extrusion amount to the Z-axis motor 23 according to the digital signal transmitted from the motion controller 11.
The invention discloses a 3D printing method of edible gelatin 3D printing equipment, which is realized by combining the equipment and a control system and comprises the following steps:
The motor driver 8 transmits digital signals to the Z-axis motor 23 again, the Z-axis lead screw 6 connected with the variable-pressure piston 17 is lifted up, the charging opening is exposed, charging is conducted, after charging is finished, the variable-pressure piston 17 moves downwards to seal the charging barrel, the air pressure sensor connecting valve 4 is opened, the variable-pressure piston 17 is controlled to move to enable pressure to return to zero, the motor driver 8 transmits digital signals to the U-axis motor 24 to enable the Z-axis connecting frame to be lifted upwards, and the motor driver 8 transmits digital signals to the X-axis motor 26 and the Y-axis motor 25 to enable the forming platform refrigerating plate 2 to move to an area to be printed below the extrusion nozzle 30 to complete a charging process.
The X-axis motor 26 and the Y-axis motor 25 receive signals transmitted by the motor driver 8 to carry out combined driving, the position of the forming platform refrigerating plate 2 is adjusted in real time, meanwhile, the Z-axis motor 23 carries out real-time adjustment according to pressure feedback to ensure that the extrusion head deposits uniform and accurate lines on the forming platform, digital signals are transmitted to the X-axis motor 26, the Y-axis motor 25, the Z-axis motor 23 and the U-axis motor 24 by the motor driver 8 according to the refrigerating condition of a forming chamber and are driven in a combined mode, continuous extrusion of gelatin slurry is achieved, and the gelatin slurry is bonded with adjacent lines and is cured immediately.
After printing of one layer of the sample piece is finished, the motor driver 8 transmits a signal to the U-axis motor 24 to enable the extrusion nozzle 30 to move upwards by one layer of thickness, and the control system of the host computer of the upper computer can continue printing after detecting that the heating and cooling temperature index reaches the standard;
another embodiment of the 3D printing method of the edible gelatin 3D printing device comprises the following steps:
step 1, feeding edible gelatin 3D printing equipment: heating and melting a gelatin material before printing and pouring the gelatin material into a beaker, wherein a motion controller 11 transmits a digital signal to a motor driver 8 to control a Z-axis motor 23 to drive a variable-pressure piston 17 to move downwards to the bottom of a material barrel so as to discharge air in a variable-temperature material barrel 3, then controls a U-axis motor 24 to drive an extrusion nozzle 30 to lift upwards, so that the distance between the extrusion nozzle 30 and a forming platform refrigerating plate 2 is larger than the height of the beaker, the beaker filled with a flowing material is placed below the extrusion nozzle 30, the motion controller 11 transmits a digital signal to the motor driver 8 to control a U-axis motor 24 to drive the extrusion nozzle 30 to move downwards and immerse the extrusion nozzle in the material, meanwhile, the motion controller 11 transmits a digital signal to the motor driver 8 to control the U-axis motor 24 to drive the extrusion nozzle 30 to descend, the motion controller 11 controls a Z-axis motor 23 to move the variable-pressure piston 17 upwards, so as to keep the extrusion nozzle 30 in an immersed state, and after sufficient feeding is carried out, the gelatin material is transferred to the motor driver 8 to control the U-axis motor 24 to drive the extrusion nozzle 30 to drive the extrusion nozzle to drive the extruding nozzle 30 to be higher than the forming platform refrigerating plate 2 to be higher than the height of the beaker; the motor driver 8 transmits digital signals to the X-axis motor 26 and the Y-axis motor 25 to control the forming platform refrigerating plate 2 to move to an area to be printed below the extrusion nozzle 30, and the feeding process is completed.
The X-axis motor 26 and the Y-axis motor 25 receive signals transmitted by the motor driver 8 to carry out combined driving, the position of the refrigerating plate 2 of the forming platform is adjusted in real time, meanwhile, the Z-axis motor 23 carries out real-time adjustment according to pressure feedback to ensure that the extrusion head deposits uniform and accurate lines on the forming platform, digital signals are transmitted to the X-axis motor 26, the Y-axis motor 25, the Z-axis motor 23 and the U-axis motor 24 by the motor driver 8 according to the refrigeration condition of the forming chamber and are driven in a combined mode, continuous extrusion of gelatin slurry is achieved, and the gelatin slurry is bonded with adjacent lines and is solidified immediately.
After printing of one layer of the sample piece is finished, the motor driver 8 transmits a signal to the U-axis motor 24 to enable the extrusion nozzle 30 to move upwards by one layer of thickness, and the control system of the host computer of the upper computer can continue printing after detecting that the heating and cooling temperature index reaches the standard;
according to actual requirements, materials in the variable-temperature charging barrel 3 can be selected to be defoamed, and the specific method is that after charging is completed, the extrusion nozzle 30 is moved to the corner of the forming platform refrigerating plate 2 and the U-shaft motor 24 is driven to enable the extrusion nozzle 30 to be pressed on soft silica gel to realize nozzle sealing, and the variable-pressure piston 17 moves to realize internal negative pressure treatment to complete defoaming operation.
Example 1
As shown in fig. 1 to 3, the invention provides a 3D printing device for coupling control of pressure-variable thermal extrusion and low-temperature molding of edible gelatin, wherein the 3D printing device mainly comprises a pressure-variable temperature-variable extrusion unit, a numerical control transmission unit and a refrigeration molding unit.
As shown in fig. 4, the variable-pressure variable-temperature extrusion unit comprises a variable-temperature material cylinder 3, a variable-pressure piston 17 and an extrusion nozzle 30, wherein the variable-temperature material cylinder 3 is a stainless steel cylinder 27 coated with a temperature-controlled silica gel heating cylinder 28, and the whole body of the variable-temperature material cylinder is coated with a heat-insulating sleeve 29, so that the influence of the heating temperature on the forming chamber can be effectively reduced, the heating effect in the material cylinder is improved, the flow characteristic of the material in the cavity is maintained, and the forming quality is favorably ensured; the variable pressure piston is composed of a piston rod 17 with a central through hole, an air pressure sensor 5 and a Z-axis screw rod 6 driven by a Z-axis motor 23, the Z-axis motor 23 drives the Z-axis screw rod 6 to vertically lift to drive the variable pressure piston 17 to carry out positive pressure and negative pressure operations on materials in the variable temperature material cylinder 3, the piston rod of the variable pressure piston 17 is specially made with the through hole and is matched with a corresponding pneumatic adapter, so that the pressure in the variable temperature material cylinder 3 can be transmitted to the air pressure sensor 5 through the central through hole of the piston rod, data acquisition is realized, besides accurate control of the pressure in the variable temperature material cylinder 3, dynamic detection and control can be carried out on the pressure in a cavity through a control system, the extrusion parameters are changed, and the printing quality is improved. In practical application, the mechanism can realize heating, simultaneously, on one hand, the extrusion nozzle 30 can be sealed before forming and the material can be defoamed through negative pressure operation, and on the other hand, the extrusion pressure can be adjusted in real time according to the flowing state of the material in the forming process, so that the problems of discontinuous extrusion and extrusion delay can be solved.
The extrusion nozzle 30 has different discharge caliber specifications according to the characteristics of different materials, the common size specification is 0.8-3mm, the most common size is 1mm, the size can be modified according to actual requirements, and the extrusion nozzle is connected with the stainless steel charging barrel 27 through threads so as to be convenient to replace.
The numerical control transmission unit is a horizontal vertical module which is assembled on a working platform and consists of a precise lead screw transmission shaft, and specifically comprises an X-axis lead screw 21 and a Y-axis lead screw 18 which are used for moving in the horizontal direction and are mutually perpendicular, an extrusion axis Z-axis lead screw and a U-axis lead screw 16 which moves in the vertical direction, wherein all the lead screw shafts are driven by a motor, the forming platform is fixed on an XY-axis combined sliding block, and the variable-pressure variable-temperature extrusion unit is fixed on a sliding block of the U-axis lead screw 16.
The extrusion refrigeration unit comprises a visual insulation box 1, a forming chamber wall-mounted refrigeration plate 15 and a forming platform refrigeration plate 2. The visual insulation box 1 has the main functions of realizing visualization of a printing process, reducing the influence of an experimental environment on the temperature of a forming room, and simultaneously accommodating mechanical equipment and a refrigerating plate of a printer to provide a good storage environment for printing formed parts; because the water content of the edible gelatin slurry is an important index, the wall-mounted refrigeration plate 15 is adopted to refrigerate the forming chamber in the heat preservation box, so that the problem of rapid water loss caused by common blowing refrigeration is avoided while refrigeration is carried out, and the important forming index of the water content of the material is ensured. The low temperature of the forming platform is beneficial to ensuring the initial printing quality, the invention avoids the platform temperature unbalance caused by multiple times of printing, improves the printing efficiency, and adopts circulating cooling liquid refrigeration to refrigerate the forming platform 2 internally provided with a close-packed water channel.
Example 2
As shown in fig. 1 to 5, the present embodiment provides a 3D printing control system for coupling control of pressure-variable thermal extrusion and low-temperature forming of an edible gelatin substrate, which includes a PID heating control unit, a PID pressure control unit, a PID refrigeration control unit, and a 3D printing trajectory motion and coupling control unit.
The PID heating control unit comprises a PID temperature controller, a solid-state relay 9, a 220V alternating-current silica gel heating cylinder 28 and a charging barrel temperature sensor 31 which can be in a 485 communication multichannel PID controller 7, wherein the PID temperature controller can be in real-time communication with an upper computer host, reads a temperature signal fed back by the temperature sensor, transmits the temperature signal to the upper computer, and can be observed and set by the upper computer. The PID temperature controller controls the power on and off of the silica gel heating cylinder 28 through the solid state relay 9 according to a set temperature value, and dynamic heating control of different printing conditions is achieved.
The PID pressure control unit comprises a PID pressure controller, a motor screw motion controller 11 and an air pressure sensor 5 which can communicate with the 485 in a multichannel PID controller 7, wherein the pressure controller can communicate with an upper computer host in real time, read a pressure signal fed back by the air pressure sensor 5, transmit the pressure signal to an upper computer and observe and set the pressure signal through the upper computer. The PID pressure controller adjusts the motor screw motion controller 11 to control the motion speed and distance of the variable pressure piston 17 in the variable temperature charging barrel 3 according to the set pressure value, so as to realize pressure control.
The PID refrigeration control unit comprises a PID temperature controller in a 485-communication multi-channel PID controller 7, a solid-state relay 9, a refrigeration compressor 20, a wall-mounted refrigeration plate 15 of the forming chamber, a forming chamber temperature sensor 14, a refrigeration liquid circulating pump 22, a forming platform refrigeration plate 2 and a charging barrel temperature sensor 31, wherein the PID temperature controller can be in real-time communication with an upper computer host, reads temperature signals respectively fed back by the forming chamber temperature sensor 14 and the charging barrel temperature sensor 31 and transmits the temperature signals to the upper computer, the temperature signals can be observed and set through the upper computer, the PID temperature controller controls the refrigeration compressor 20 and the refrigeration liquid circulating pump 22 to work through the corresponding solid-state relay 9 according to temperature values set by the forming chamber and the forming platform, and refrigeration control of the forming chamber and the forming platform is achieved.
The 3D printing track motion and coupling control unit comprises multi-axis continuous interpolation motion control and pressure, heating, refrigerating and XY interpolation motion coupling control, the motion track data G codes are disassembled line by line through an upper computer control program based on pressure values and temperature values acquired by a PID temperature controller in the multi-channel PID controller 7, extrusion shaft extrusion motion codes corresponding to the machined part when the XY axis moves are modified according to the flowability, process experiments, the pressure in a cylinder and an algorithm, real-time compensation of extrusion capacity is realized through the motion controller 11, material extrusion of the extrusion head before the start of XY axis interpolation motion and material shut-off before the termination of XY axis interpolation motion can be realized, adverse effects of other factors on molding are reduced, and molding stability is improved.
Example 3
The implementation provides a 3D printing method for coupling control of edible gelatin substrate variable pressure hot extrusion and low temperature forming, which comprises the following concrete steps,
1. feeding: the feeding mode comprises an upper feeding mode and a lower feeding mode. Wherein the feeding mode is that the gelatin material is heated (heated in water bath at 40-50 ℃) to be melted before printing. A clean material tray is placed on a platform, a motion controller controls an extrusion head to move into the material tray, a U-shaft screw 16 descends to an initial position even if an extrusion nozzle is in contact with the tray bottom, then a pressure-variable piston 17 is lifted up to expose a feeding port and feed materials, after the feeding is finished, the pressure-variable piston 17 moves downwards to a stainless steel material barrel 27, a small amount of liquid overflows from the nozzle, the pressure-variable piston 17 is controlled to move to zero pressure, the motion controller 11 controls a U-shaft motor to drive the extrusion nozzle 30 to lift, an X-shaft screw 21 and a Y-shaft screw 18 control a forming platform refrigerating plate 2 to move to a region to be printed below the extrusion nozzle 30 to complete a feeding process, the lower feeding mode is that the gelatin material is heated and melted before printing and poured into a beaker, the motion controller 11 controls the pressure-variable piston 17 to move downwards to the bottom of the material barrel 27 to discharge air in the material barrel 27, then controls a U-shaft motor 24 to drive and lift up, the extrusion nozzle 30 and the forming platform refrigerating plate 2 are spaced from the beaker with the height greater than the height of the beaker with the flowing material, and the beaker with the flowing material is placed below the extrusion nozzle 30. The motion controller 11 controls the U-axis motor 24 to drive and move downwards, so that the extrusion nozzle 30 is immersed in the material, and controls the U-axis motor 24 to drive and move downwards and to be coupled with the Z-axis lead screw 6 to ascend, so that the nozzle is always immersed until the material pumping is finished. After sufficient feeding, controlling the U-axis motor 24 to drive and lift to enable the height of the nozzle and the forming platform to be larger than the height of the beaker, taking out the flask, completing the feeding process, and optionally carrying out deaeration treatment on the materials in the stainless steel charging barrel 27 according to actual requirements.
2. Printing: spraying a small amount of atomized water on the forming platform, and then laying a piece of thin cellophane to enable the cellophane to be adsorbed on the forming platform. After the heating temperature of the extrusion head, the temperature of the forming chamber and the temperature of the forming platform reach set values, the motion control system controls the U-axis motor 24 to drive the extrusion nozzle 30 to move, so that the distance between the extrusion nozzle and the forming platform refrigerating plate 2 is the thickness of a unit layer, the X-axis motor 26 and the Y-axis motor 25 move according to the current layer code, meanwhile, the Z-axis motor 23 adjusts in real time according to pressure feedback to ensure that the extrusion head deposits uniform and accurate lines on the forming platform, and controls the motor drive on the XYZ axis in a closed-loop mode according to the cooling condition of the forming chamber to drive the forming platform refrigerating plate 2 to move, so that gelatin slurry is continuously extruded, is bonded with adjacent lines and is fused and cured immediately. After printing of one layer is finished, the U-axis motor drives and moves upwards by one unit layer thickness height, meanwhile, printing conditions are restrained, and the control system can continue printing after detecting that the heating and cooling temperature index reaches the standard. And repeating the procedures to finish the printing of the whole sample piece.
3. And (4) ending: and after printing is finished, all shaft motors drive the forming platform refrigerating plate 2 and the extrusion nozzle 30 to move to a safe position, printing is finished, and the printing sample piece is taken out through cellophane.
Example 4:
as shown in fig. 6 and 7, in order to further verify the feasibility and the benefits of the invention, a cowhide gelatin material is adopted for experimental verification, an upper feeding mode is adopted for printing, 5-10wt% of gelatin solution is prepared, the diameter of a nozzle is 0.8-2.0mm, the material heating temperature is 40-45 ℃, the temperature of a forming chamber is 4-8 ℃, the temperature of a forming platform is 3-5 ℃, and the printing speed is 5-10mm/s, and the 3D printing equipment, the control system and the printing method are adopted for respectively printing a gelatin honeycomb structure with the diameter of 40mm and the height of 12mm and the diameter of 50mm and the height of 12 mm.
Example five:
as shown in fig. 8 and 9, in order to further verify the feasibility and the benefits of the invention, a compound material of sturgeon skin gelatin and sturgeon mud is used for 3D printing verification in an upper feeding mode, wherein the sturgeon skin gelatin accounts for 5-10wt% of the water, the fish mud accounts for 60wt% of the gelatin solution in the compound material, the diameter of a nozzle is 0.4-2.0mm, the material heating temperature is 30-40 ℃, the forming chamber temperature is 4-8 ℃, the forming platform temperature is 3-5 ℃, and the printing speed is 5-10 mm/s.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (6)
1. The 3D printing equipment for the edible gelatin is characterized by comprising a variable-pressure variable-temperature extrusion unit, a numerical control transmission unit, an extrusion refrigeration unit and a control box;
the extrusion refrigeration unit comprises an insulation box (1), a box door is arranged at the front part of the insulation box (1), a forming chamber wall hanging refrigeration plate (15) is fixedly arranged on one side, opposite to the box door, in the insulation box (1), a forming chamber temperature sensor (14) is arranged on one side in the insulation box (1), a refrigeration compressor (20) is arranged at the bottom in the insulation box (1), the refrigeration compressor (20) is connected with a refrigeration liquid circulating pump (22), the refrigeration liquid circulating pump (22) is arranged at the bottom in the insulation box (1), a first supporting plate is fixedly arranged on the refrigeration liquid circulating pump (22), and a numerical control transmission unit is arranged on the first supporting plate;
the numerical control transmission unit comprises an X-axis motor (26), an X-axis screw rod (21) is fixedly installed at the rotating end of the X-axis motor (26), the other end of the X-axis screw rod (21) is rotatably connected to a first bearing seat through a bearing, the first bearing seat is installed on a first supporting plate, an X-axis nut capable of moving along the X-axis screw rod (21) is installed on the X-axis screw rod (21), a second supporting plate is fixedly installed on the X-axis nut, two X-axis guide columns are symmetrically installed on two sides of the X-axis screw rod (21), each X-axis guide column is fixed on the first supporting plate through two supporting seats, a guide column supporting block is connected onto each X-axis guide column in a sliding mode, and the guide column supporting blocks are fixed on the lower plane of the second supporting plate;
a Y-axis motor (25) is fixedly mounted on one side, close to a box door of the heat insulation box (1), of the second supporting plate, a Y-axis lead screw (18) is fixedly mounted on a rotating end of the Y-axis motor (25), the Y-axis lead screw (18) and the X-axis lead screw (21) are perpendicular to each other in the horizontal direction, the other end of the Y-axis lead screw (18) is rotatably connected onto a second bearing seat through a bearing, the second bearing seat is mounted on the second supporting plate, a Y-axis nut capable of moving along the Y-axis lead screw (18) is mounted on the Y-axis lead screw (18), a forming platform refrigerating plate (2) is fixedly mounted on the Y-axis lead screw, two Y-axis guide columns are symmetrically mounted on two sides of the Y-axis lead screw (18), each Y-axis guide column is fixed on the second supporting plate through two supporting seats respectively, a guide column supporting block is slidably connected onto each Y-axis guide column, the guide column supporting block is fixed on a lower plane of the forming platform refrigerating plate (2), a forming platform temperature sensor is mounted in the forming platform (2), and a cooling liquid circulating pump (19) is connected with the forming platform;
a conveying groove is vertically arranged on one side, opposite to the box door of the heat insulation box (1), of the first supporting plate, a guide rail is vertically arranged in the conveying groove, a sliding block is connected onto the guide rail in a sliding mode, a U-axis motor (24) is fixedly arranged on the sliding block, a U-axis lead screw (16) penetrates through the U-axis motor (24), two ends of the U-axis lead screw (16) are fixed to the upper end and the lower end of the conveying groove, a Z-axis connecting frame is fixedly arranged on the U-axis motor (24), and a variable-temperature extrusion unit is arranged on the upper plane of the free end of the Z-axis connecting frame;
the variable-pressure variable-temperature extrusion unit comprises a support frame, the support frame is installed on the upper plane of the free end of the Z-axis connecting frame, a variable-temperature material barrel (3) is installed on the lower plane of the free end of the connecting frame, a through hole is formed in the upper end of the support frame, a Z-axis motor (23) is installed on the support frame, a Z-axis lead screw (6) penetrates through the Z-axis connecting frame, the other end of the Z-axis lead screw (6) penetrates through the Z-axis connecting frame and is connected with a variable-pressure piston (17), the variable-pressure piston (17) is arranged in the variable-temperature material barrel (3), an air pressure sensor connecting valve (4) is installed on a piston rod of the variable-pressure piston (17), the air pressure sensor connecting valve (4) is connected with an air pressure sensor (5) through a guide pipe, and the air pressure sensor (5) is installed on one side of the support frame;
the temperature-changing charging barrel (3) comprises a stainless steel charging barrel (27), a silica gel heating barrel (28) is sleeved on the outer side of the stainless steel charging barrel (27), a heat insulation sleeve (29) is sleeved on the outer side of the silica gel heating barrel (28), a plane screw joint extrusion nozzle (30) is arranged below the heat insulation sleeve (29), the other end of the extrusion nozzle (30) is arranged in the stainless steel charging barrel (27) in a penetrating mode, a charging barrel temperature sensor (31) is installed on the heat insulation sleeve (29), and the temperature measuring end of the charging barrel temperature sensor (31) penetrates through the heat insulation sleeve (29) and is connected with the silica gel heating barrel (28) on the outer side of the stainless steel charging barrel (27);
the control box is installed on the top end of the heat preservation box (1), a switchboard switch (12), an emergency stop switch (13) and a multi-channel PID controller (7) are installed on the front side of the control box, a direct-current power supply (10) is installed in the control box and connected with a solid-state relay (9), and the solid-state relay (9) is connected with the multi-channel PID controller (7), a motor driver (8) and a motion controller (11) respectively.
2. The edible gelatin 3D printing device as claimed in claim 1, wherein the forming platform refrigerating plate (2) is internally provided with a close-packed water channel and adopts a circulating cooling liquid refrigerating mode.
3. The edible gelatin 3D printing equipment as claimed in claim 1, wherein the U-axis motor (24) and the Z-axis motor (23) are precision lead screw through motors.
4. The edible gelatin 3D printing equipment as claimed in claim 1, wherein the piston rod of the pressure-variable piston (17) is a hollow structure, and the air pressure sensor connecting valve (4) is connected with the hollow structure.
5. A control system of 3D printing equipment for edible gelatin according to claim 1, which is characterized by comprising a PID heating control unit, a PID pressure control unit, a PID refrigeration control unit, a 3D printing track motion and coupling control unit and an upper computer;
the PID heating control unit comprises a PID temperature controller, a solid-state relay (9), a silica gel heating cylinder (28) and a charging cylinder temperature sensor (31), the PID temperature controller is arranged in the multi-channel PID controller (7), the PID temperature controller is in two-way connection and real-time communication with the host computer of the upper computer through a 485 bus, the PID temperature controller is connected with the charging cylinder temperature sensor (31) through the 485 bus, reads a temperature analog signal fed back by the temperature sensor and transmits the temperature analog signal to the host computer of the upper computer, the PID temperature controller is connected with the solid-state relay through the 485 bus, the solid-state relay (9) is connected with the silica gel heating cylinder (28), the host computer transmits a digital signal to the PID temperature controller, and the PID temperature controller controls the on-off of the silica gel heating cylinder (28) through the solid-state relay (9) according to a set temperature value;
the PID pressure control unit comprises a PID pressure controller, a motor driver (8), a motion controller (11) and an air pressure sensor (5), the PID pressure controller is arranged in the multichannel PID controller (7), the PID pressure controller is in bidirectional connection and real-time communication with the host computer of the upper computer through a 485 bus, the PID pressure controller is connected with the air pressure sensor (5) through the 485 bus, receives a pressure analog signal received by the air pressure sensor (5) and then transmits the pressure analog signal to the host computer of the upper computer, the PID pressure controller is connected with the motion controller (11), transmits a digital signal to the motion controller (11) according to a pressure value received by the host computer of the upper computer, the motion controller (11) is connected with the motor driver (8), the motor driver (8) is connected with the Z-axis motor (23), and transmits a control digital signal to drive the Z-axis motor (23) so as to control the motion speed and distance of the variable-pressure piston (17) in the charging barrel;
the PID refrigeration control unit comprises a PID temperature controller, the solid-state relay (9), the refrigeration compressor (20), the forming chamber wall-mounted refrigeration plate (15), the forming platform refrigeration plate (2), the refrigeration liquid circulating pump (22), the forming chamber temperature sensor (14) and the forming platform temperature sensor, the PID temperature controller is arranged in the multi-channel PID controller (7), the PID temperature controller is connected with the host computer of the upper computer in a bidirectional way through a 485 bus and communicates in real time, the PID temperature controller is respectively connected with the molding chamber temperature sensor (14) and the molding platform temperature sensor through a 485 bus, and receives the temperature analog signals fed back by the molding chamber temperature sensor (14) and the molding platform temperature sensor, and then transmits the temperature analog signals to the host computer of the host computer, the PID temperature controller is connected with the solid-state relay (9), the solid-state relay (9) is respectively connected with the refrigeration compressor (20), the forming chamber wall-mounted refrigeration plate (15), the forming platform refrigeration plate (2) and the refrigeration liquid circulating pump (22), the PID temperature controller transmits digital signals to a corresponding solid state relay (9) according to the temperature value set by the host computer of the upper computer, to control the operation of the refrigeration compressor (20), the forming chamber wall-mounted refrigeration plate (15), the forming platform refrigeration plate (2) and the refrigerant liquid circulation pump (22);
the 3D printing track motion and coupling control unit comprises multi-axis continuous interpolation motion control and pressure, heating, refrigerating and XY interpolation motion coupling control, the upper computer host receives pressure analog signals and temperature analog signals fed back by the PID pressure controller and the PID temperature controller, a control program of the upper computer host disassembles motion track data G codes line by line, corresponding extrusion motion codes when the extrusion nozzle (30) moves are modified according to the flowability, process experiments, in-cylinder pressure and algorithms of materials, the upper computer host transmits digital signals to the motion controller (11) through the corresponding extrusion motion codes, the motion controller (11) is connected with the motor driver (8), and the motor driver (8) is respectively connected with the X-axis motor (26) and the Y-axis motor (25) and transmits digital control signals.
6. The control system of edible gelatin 3D printing equipment as claimed in claim 5, wherein the motor driver (8) transmits real-time compensated digital control signals of the extrusion amount to the Z-axis motor (23) according to the digital signals transmitted by the motion controller (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147000.9A CN114594673B (en) | 2022-02-17 | 2022-02-17 | Edible gelatin 3D printing equipment and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147000.9A CN114594673B (en) | 2022-02-17 | 2022-02-17 | Edible gelatin 3D printing equipment and control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114594673A CN114594673A (en) | 2022-06-07 |
| CN114594673B true CN114594673B (en) | 2023-03-17 |
Family
ID=81806740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210147000.9A Active CN114594673B (en) | 2022-02-17 | 2022-02-17 | Edible gelatin 3D printing equipment and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114594673B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115381119B (en) * | 2022-08-26 | 2023-06-23 | 江南大学 | Printing head with dynamically scaled and adjusted through-flow cross section, printing method and machined part |
| CN115969013A (en) * | 2023-01-10 | 2023-04-18 | 大连工业大学 | 3D printing equipment for coupling control of coaxial extrusion and laser-targeted curing of surimi |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103637391A (en) * | 2013-12-17 | 2014-03-19 | 东莞市粤船机械技术有限公司 | Three-dimensional food extruding and forming machine |
| CN105835374A (en) * | 2016-04-21 | 2016-08-10 | 东华大学 | 3D printing method for fiber-grade electric conduction product based on reactive extrusion |
| CN105982342A (en) * | 2016-04-19 | 2016-10-05 | 高维智能（武汉）科技有限公司 | Food 3D printing method and equipment |
| CN205695626U (en) * | 2016-04-19 | 2016-11-23 | 高维智能（武汉）科技有限公司 | A kind of food 3D printer material extrusion device |
| CN107756780A (en) * | 2017-11-09 | 2018-03-06 | 王臻 | A kind of 3D printer for synthesizing printing multiple material |
| CN207136080U (en) * | 2017-03-10 | 2018-03-27 | 长兴时印科技有限公司 | A kind of mixed food 3D printing extrusion device |
| CN109203483A (en) * | 2018-09-25 | 2019-01-15 | 广州立铸电子科技有限公司 | The 3D printer control system of printable high-temperature material |
| CN109820224A (en) * | 2019-01-30 | 2019-05-31 | 江南大学 | A kind of food microwave 3 D-printing method and printer |
| CN110464034A (en) * | 2019-07-25 | 2019-11-19 | 中国农业科学院农产品加工研究所 | Colloid 3D printing system |
| CN110742294A (en) * | 2019-10-22 | 2020-02-04 | 江南大学 | Microwave-assisted three-dimensional printing device and accurate and efficient printing method for plant gel system |
| CN210553023U (en) * | 2019-05-27 | 2020-05-19 | 厦门大学嘉庚学院 | Food 3D printer extrusion device |
| CN111234297A (en) * | 2020-01-10 | 2020-06-05 | 东华大学 | 3D printing polyimide aerogel and preparation method thereof |
| CN111516260A (en) * | 2020-04-30 | 2020-08-11 | 合肥工业大学 | Silica gel 3D printer based on Core XY structure and printing method thereof |
| WO2021248208A1 (en) * | 2020-06-12 | 2021-12-16 | Maple Glass Printing Pty Ltd | Three-dimensional printing system |
| CN113974194A (en) * | 2021-10-28 | 2022-01-28 | 江南大学 | Food microwave ultrasonic 3D printing equipment and printing method |
-
2022
- 2022-02-17 CN CN202210147000.9A patent/CN114594673B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103637391A (en) * | 2013-12-17 | 2014-03-19 | 东莞市粤船机械技术有限公司 | Three-dimensional food extruding and forming machine |
| CN105982342A (en) * | 2016-04-19 | 2016-10-05 | 高维智能（武汉）科技有限公司 | Food 3D printing method and equipment |
| CN205695626U (en) * | 2016-04-19 | 2016-11-23 | 高维智能（武汉）科技有限公司 | A kind of food 3D printer material extrusion device |
| CN105835374A (en) * | 2016-04-21 | 2016-08-10 | 东华大学 | 3D printing method for fiber-grade electric conduction product based on reactive extrusion |
| CN207136080U (en) * | 2017-03-10 | 2018-03-27 | 长兴时印科技有限公司 | A kind of mixed food 3D printing extrusion device |
| CN107756780A (en) * | 2017-11-09 | 2018-03-06 | 王臻 | A kind of 3D printer for synthesizing printing multiple material |
| CN109203483A (en) * | 2018-09-25 | 2019-01-15 | 广州立铸电子科技有限公司 | The 3D printer control system of printable high-temperature material |
| CN109820224A (en) * | 2019-01-30 | 2019-05-31 | 江南大学 | A kind of food microwave 3 D-printing method and printer |
| CN210553023U (en) * | 2019-05-27 | 2020-05-19 | 厦门大学嘉庚学院 | Food 3D printer extrusion device |
| CN110464034A (en) * | 2019-07-25 | 2019-11-19 | 中国农业科学院农产品加工研究所 | Colloid 3D printing system |
| CN110742294A (en) * | 2019-10-22 | 2020-02-04 | 江南大学 | Microwave-assisted three-dimensional printing device and accurate and efficient printing method for plant gel system |
| WO2021077561A1 (en) * | 2019-10-22 | 2021-04-29 | 江南大学 | Microwave-coordinated three-dimensional printing apparatus, and accurate and efficient printing method for plant gel system |
| CN111234297A (en) * | 2020-01-10 | 2020-06-05 | 东华大学 | 3D printing polyimide aerogel and preparation method thereof |
| CN111516260A (en) * | 2020-04-30 | 2020-08-11 | 合肥工业大学 | Silica gel 3D printer based on Core XY structure and printing method thereof |
| WO2021248208A1 (en) * | 2020-06-12 | 2021-12-16 | Maple Glass Printing Pty Ltd | Three-dimensional printing system |
| CN113974194A (en) * | 2021-10-28 | 2022-01-28 | 江南大学 | Food microwave ultrasonic 3D printing equipment and printing method |
Non-Patent Citations (2)
| Title |
|---|
| 冯蕾.山药凝胶体系的3D打印特性.2021,第42卷(第23期),第1-7页. * |
| 陈瑶. 食品3D打印技术相关专利分析.2021,第42卷(第7期),第223-226页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114594673A (en) | 2022-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114594673B (en) | Edible gelatin 3D printing equipment and control system | |
| CN103876263A (en) | Three-dimensional printer for printing liquid materials | |
| CN114947158B (en) | 3D printing method for edible gelatin | |
| CN107415248B (en) | A kind of melting control device and method of 3D printing | |
| CN108817397B (en) | Additive manufacturing device and method | |
| CN101767394B (en) | Automatic control system of epoxy resin gel forming machine | |
| CN215921098U (en) | Full-automatic bionic soft artificial bait production equipment | |
| CN202207786U (en) | Centrifugal casting temperature monitoring device | |
| CN104723490A (en) | Intermittent micro-foaming injection molding equipment and intermittent micro-foaming injection molding process | |
| CN101100106A (en) | Plastic mould rapid heating and cooling temperature controlling device | |
| CN204487925U (en) | A kind of batch (-type) micro foaming injection moulding equipment | |
| CN101480821A (en) | Control method and device for quick change of mold temperature | |
| CN201120709Y (en) | Temperature controller for highlight non-weld mark plastic mold | |
| CN114918406B (en) | Novel freezing casting device and casting method for preparing porous material | |
| CN106313464A (en) | Intelligent temperature control device for injection molding machine | |
| CN207607047U (en) | A kind of injection molding machine injecting systems | |
| CN109774085B (en) | Pressure and temperature control device for mold cavity | |
| CN217514369U (en) | Equipment for replacing mold temperature controller by centralized heating water supply | |
| CN210733249U (en) | Long fiber reinforced composite material on-line forming die | |
| CN108499153A (en) | A kind of parallel crystallization instrument temperature control equipment of high throughput and method | |
| CN109955464A (en) | A kind of plastics suction mould of continuous coo1ing | |
| CN109910254B (en) | Temperature control system for high-temperature gas circulation of injection mold cavity | |
| CN104690971B (en) | A kind of quick gridding forming tool being applied on mechanical arm and method | |
| CN201077144Y (en) | Temperature control device for plastic mould rapid heating and cooling | |
| CN104872349A (en) | Multipoint flexible mold-based food forming method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |