CN109042788B - Food 3D printing system - Google Patents

Abstract

The invention relates to the technical field of food production, in particular to a food 3D printing system which comprises a feeding machine, a tray feeder, a tray feeding conveyor belt, a 3D printer, a moving assembly and a tray discharging conveyor belt. After printing, the tray is conveyed out by the tray-out conveyor belt, so that the full-automatic printing process of food forming is realized. This 3D printing system can accomplish a series of processes such as feed, send the dish, print and play dish in the food production process, and the course of working need not shut down reinforced, consequently can realize the continuous processing to food raw materials, has improved food machining efficiency and processingquality.

Description

Food 3D printing system

Technical Field

The invention relates to the technical field of food production, in particular to a food 3D printing system.

Background

In the prior art, in the preparation process of foods such as cookies and the like, a series of materials such as cream, powdered sugar, low-gluten flour and the like are required to be stirred, mixed and kneaded to obtain a solid-liquid mixture, namely a pushed pasty object, then most of the solid-liquid mixture is manually pushed and formed by adopting a pattern mounting bag and a pattern mounting head, and after partial forming, the solid-liquid mixture is required to be placed into an oven for baking. There are some difficulties to achieve handmade cookies (including frosty biscuits and the like in a series of biscuits shaped by applying flower heads), such as: the extrusion force required for extruding the pasty object is too large, and partial manufacturers are unable to extrude the pasty object; the shape is not easy to control due to the difficulty in pushing and extruding, and the precision is low; the speed of manual operation is relatively slow.

With the beginning application of 3D printing technique in the food field, above-mentioned problem has been solved, but the model of the common food 3D printer on the market at present is an independent machine usually, and its drawback lies in that the feed cylinder is little, prints and just need to shut down the feeding to certain quantity, can't continuously print to because the material is few, the product volume of printing is also the undersize, though satisfied the sight, can not satisfy consumer's demand.

Disclosure of Invention

Technical problem to be solved

The invention aims to solve the technical problems that an existing food 3D printer is low in automation degree, needs to be stopped continuously to feed materials, and is small in printed product volume.

(II) technical scheme

In order to solve the technical problem, the invention provides a food 3D printing system which comprises a feeding machine, a tray feeder, a tray feeding conveyor belt, a 3D printer, a moving assembly and a tray discharging conveyor belt, wherein the moving assembly is provided with a tray feeding port and a tray discharging port, one end of the tray feeding conveyor belt is connected with the tray feeder, and the other end of the tray feeding conveyor belt is connected with the tray feeding port and is used for conveying a tray fed out from the tray feeder into the moving assembly; the feeding machine is connected with a feeding hole of the 3D printer through a feeding pipe and used for feeding materials to the 3D printer, the 3D printer is arranged above the moving assembly and used for printing a food model on a tray of the moving assembly, and the moving assembly drives the tray to move in the printing process; the tray outlet conveyor belt is connected with the tray outlet and used for conveying out the tray on the moving assembly.

The 3D printer comprises a mounting frame, a charging barrel, a rotating disk, a mounting plate, a first driving motor, a feeding assembly, a shaping assembly and an extrusion assembly, wherein a rotating disk mounting hole is formed in the mounting frame, the mounting plate is erected above the rotating disk mounting hole, a feeding hole, a shaping hole and an extrusion hole are formed in the mounting plate, and the feeding assembly, the shaping assembly and the extrusion assembly are arranged above the mounting plate and respectively correspond to the feeding hole, the shaping hole and the extrusion hole; the rotary disk is rotatable locate the mounting panel with between the rotary disk mounting hole, a driving motor is fixed in on the mounting panel, just a driving motor with the rotary disk is connected, is used for driving the rotary disk rotates, be equipped with the through-hole on the rotary disk, the upper end of feed cylinder is uncovered, and the lower extreme is equipped with and beats printer head, the feed cylinder is located the below of rotary disk and with the through-hole sets up relatively, the rotary disk is at the pivoted in-process, the feed cylinder passes through in proper order material loading hole, plastic hole and extrude the hole under.

The number of the through holes is 3, 3 the centers of the through holes are arranged on the same circle, and the feeding hole, the shaping hole and the extrusion hole are respectively arranged on the 3 through holes.

Wherein, the material loading subassembly includes first cylinder, goes up feed cylinder and link, it locates to go up the feed cylinder is vertical the top in material loading hole, first cylinder is fixed in on the mounting bracket, just the vertical setting of piston rod of first cylinder, the one end of link with go up the feed cylinder and connect, the other end with the piston rod of first cylinder is connected, first cylinder is used for driving it reciprocates to go up the feed cylinder.

The shaping assembly comprises a second cylinder and a shaping piston, the second cylinder is fixed on the mounting plate, a telescopic rod of the second cylinder penetrates through the shaping hole from top to bottom, and the shaping piston is connected with the telescopic rod of the second cylinder and used for compressing and shaping materials in the charging barrel passing through the lower portion of the shaping hole.

Wherein, extrude the subassembly and include mount, second driving motor, gear pair, screw-nut drive mechanism and extrude the piston, the mount is fixed in just be located on the mounting panel extrude the top in hole, second driving motor, gear pair and screw-nut drive structure all locate the top of mount, second driving motor with the gear pair is connected, screw-nut drive structure with the gear pair is connected, just the vertical setting of lead screw in the screw-nut structure, extrude the piston with the lead screw is connected, just extrude the piston with it corresponds the setting to extrude the hole.

Wherein, the 3D printer still includes rotary disk guiding mechanism, rotary disk guiding mechanism's quantity is a plurality of, and is a plurality of rotary disk guiding mechanism follows the circumference interval of rotary disk sets up, rotary disk guiding mechanism includes support, bulb plunger and deep groove ball bearing, the support is located on the mounting bracket, the bulb plunger is located just be located on the support the top of rotary disk, and with the upper surface sliding contact of rotary disk, deep groove ball bearing locates on the support, and with the outer peripheral face roll connection of deep groove ball bearing.

The disc feeding machine comprises an upper frame, a lower frame, a third driving motor and transmission mechanisms, wherein the transmission mechanisms are positioned in the upper frame, the number of the transmission mechanisms is two, the two groups of the transmission mechanisms are arranged in parallel, the transmission mechanisms are provided with L-shaped tray frames, and the L-shaped tray frames on the two groups of the transmission mechanisms are arranged in a one-to-one opposite mode; each group of transmission mechanisms comprises two transmission shafts and two transmission chains, wherein the two transmission shafts are arranged up and down along a transmission direction parallel to the tray feeding conveyor belt, the transmission chains are connected to two ends of the two transmission shafts, two ends of the L-shaped tray frames are respectively connected with the two transmission chains, the number of the L-shaped tray frames is multiple, and the L-shaped tray frames are arranged at intervals along transmission paths of the transmission chains; the third driving motor is arranged in the lower frame, is connected with the two groups of transmission mechanisms through a transmission chain and is used for driving the two groups of transmission mechanisms to transmit along opposite directions.

Wherein the moving component comprises a box body with an open upper end, a moving mechanism and a tray clamping mechanism which are arranged in the box body, the tray inlet and the tray outlet are oppositely arranged on the side wall of the box body, the moving mechanism comprises a horizontal moving unit and a lifting unit, the lifting unit is connected with the horizontal moving unit, used for driving the horizontal moving unit to move up and down, the tray clamping mechanism is arranged on the horizontal moving unit, the horizontal moving unit comprises a first horizontal moving unit and a second horizontal moving unit, the second horizontal moving unit and the first horizontal moving unit are vertically crossed in a horizontal plane, the first horizontal moving unit is used for driving the tray clamping mechanism to move along the direction from the tray inlet to the tray outlet, the second horizontal moving unit is used for driving the tray clamping mechanism to move along the direction vertical to the first horizontal moving unit.

The tray discharging device comprises a tray discharging machine, wherein the tray discharging machine is arranged at a tray discharging opening and comprises a rack, a connecting rod mechanism and a hook claw, the connecting rod mechanism is arranged on the rack, the hook claw is connected with the connecting rod mechanism, the connecting rod mechanism drives the hook claw to move along a D-shaped path, and the hook claw is used for moving a tray on the moving assembly to the tray discharging conveying belt.

(III) advantageous effects

The technical scheme of the invention has the following advantages: the invention provides a food 3D printing system which comprises a feeding machine, a tray feeder, a tray feeding conveyor belt, a 3D printer, a moving assembly and a tray discharging conveyor belt, wherein the moving assembly is provided with a tray feeding port and a tray discharging port, one end of the tray feeding conveyor belt is connected with the tray feeder, the other end of the tray feeding conveyor belt is connected with the tray feeding port and used for conveying trays fed out of the tray feeder to the moving assembly, the feeding machine is connected with a feeding port of the 3D printer through a feeding pipe and used for feeding materials to the 3D printer, the 3D printer is arranged above the moving assembly and used for printing food models on trays of the moving assembly, the moving assembly drives the trays to move in the printing process, and the tray discharging conveyor belt is connected with the tray discharging port and used for taking out the trays on the moving assembly. When using, the batcher is continuous to carry the raw materials in the 3D printer, send the dish machine to the removal subassembly conveying tray of 3D printer below, when the tray is conveyed on removing the subassembly through advancing the dish conveyer belt, the 3D printer will be printed into specific molding from the raw materials that the batcher was carried on the tray, print the completion back, it spreads the tray to go out the dish conveyer belt, realize the fashioned full-automatic printing process of food, this 3D printing system can accomplish the feed in the food production process, send the dish, a series of processes such as printing and play dish, and the course of working need not shut down reinforced, consequently, can realize the continuous processing to food ingredients, food processing efficiency and processingquality have been improved.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the technical solutions will be further explained with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a 3D printing system for food provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a disk feeder according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a tray-feeding conveyor belt provided in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a mobile assembly provided in an embodiment of the present invention;

FIG. 5 is a schematic diagram of an internal structure of a mobile assembly provided in an embodiment of the present invention;

FIG. 6 is a schematic diagram of an internal structure of a mobile assembly provided in an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a tray clamping mechanism provided in an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a disc discharging machine according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a disc discharging machine according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a 3D printer provided by an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a feeding assembly, a shaping assembly and an extrusion assembly of a 3D printer provided by an embodiment of the invention;

fig. 12 is a schematic diagram of an internal structure of a 3D printer according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of an extrusion assembly provided by an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a rotating disk guide mechanism according to an embodiment of the present invention.

In the figure: 1: a feeder; 2: a disc feeder; 3: a tray feeding conveyor belt; 4: a 3D printer; 5: a moving assembly; 6: a disc discharging conveyor belt; 7: discharging the disc machine; 101: a feed barrel; 102: a delivery pipe; 201: an upper frame; 202: a lower frame; 203: a third drive motor; 204: a transmission mechanism; 301: a rib is protruded; 401: a mounting frame; 402: rotating the disc; 403: a through hole; 404: a charging barrel; 405: a print head; 406: mounting a plate; 407: an extrusion orifice; 408: shaping the hole; 409: a feeding assembly; 4010: a shaping component; 4011: an extrusion assembly; 4012: a hose limiting sleeve; 4013: a feeding hole; 4014: a support; 4015: a ball plunger; 4016: a deep groove ball bearing; 4017: a first drive motor; 4091: a first cylinder; 4092: feeding a material barrel; 4093: a connecting frame; 40101: a second cylinder; 40102: shaping the piston; 40111: a fixed mount; 40112: a second drive motor; 40113: a gear pair; 40114: a feed screw nut transmission mechanism; 40115: an extrusion piston; 501: a disc inlet; 502: a disc outlet; 503: a box body; 504: a fixing frame; 505: rotating the optical axis by X; 506: an X moving motor; 507: x moves the synchronous belt; 508: an X-direction sliding block; 509: y rotating the optical axis; 5010: moving the synchronous belt by Y; 5011: a Z-direction screw rod nut pair; 5012: a corner block; 5013: a tray clamping mechanism; 5014: a Z-direction guide optical axis; 5015: a clamping jaw; 5016: a clamping jaw cylinder; 701: a frame; 702: a drive motor; 703: a link mechanism; 704: and (5) hooking the claw.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, unless otherwise specified, "plurality", "plural groups" means two or more, and "several", "several groups" means one or more.

As shown in fig. 1 to 14, a food 3D printing system provided by an embodiment of the present invention includes a feeding machine 1, a tray feeder 2, a tray feeding conveyor 3, a 3D printer 4, a moving assembly 5 and a tray discharging conveyor 6, where the moving assembly 5 is provided with a tray feeding port 501 and a tray discharging port 502, one end of the tray feeding conveyor 3 is connected to the tray feeder 2, and the other end is connected to the tray feeding port 501, and is configured to convey a tray fed from the tray feeder 2 into the moving assembly 5; the feeding machine 1 is connected with a feeding hole of the 3D printer 4 through a feeding pipe and used for feeding materials to the 3D printer 4, the 3D printer 4 is arranged above the moving assembly 5 and used for printing a food model on a tray of the moving assembly 5, and the moving assembly 5 drives the tray to move in the printing process; the tray discharge conveyor 6 is connected to the tray discharge port 502 for discharging the tray on the moving unit 5. When using, batcher 1 is continuous to carry the raw materials in 3D printer 4, send dish machine 2 to the 5 conveying trays of removal subassembly below 3D printer 4, when the tray is conveyed on removing subassembly 5 through advancing a set conveyer belt 3, 3D printer 4 will be printed into specific molding from the raw materials that batcher 1 carried on the tray, print the completion back, play set conveyer belt 6 spreads the tray, realize the fashioned full-automatic printing process of food, this 3D printing system can accomplish the feed in the food production process, send the dish, a series of processes such as printing and play dish, and the course of working need not shut down reinforced, consequently, can realize the continuous processing to food material, food processing efficiency and processingquality have been improved.

Further, as shown in fig. 1, the feeder 1 includes a box body, a feeding material cylinder 101, a driving motor, a material conveying pipe 102, the feeding material cylinder 101 is disposed above the box body, the upper end and the lower end of the feeding material cylinder 101 are both open, the box body includes a feeding port and a discharging port, the lower end of the feeding material cylinder 101 is connected with the feeding port of the box body, the material conveying pipe 102 is connected with the discharging port of the box body, and spiral propelling shafts (not shown in the figure) are disposed in the box body and the material conveying pipe 102, the driving motor is connected with the spiral propelling shafts, the material conveying pipe 102 is connected with the 3D printer 4 through a hose, and when the spiral propelling shafts rotate, the food raw materials are continuously conveyed into the.

Further, as shown in fig. 10-12, the 3D printer 4 includes a housing cover, a mounting block 401, a barrel 404, a rotating disk 402, a mounting plate 406, a first drive motor 4017, a loading assembly 409, a shaping assembly 4010, and an extrusion assembly 4011, the mounting block 401, the barrel 404, the rotary disc 402, the mounting plate 406, the first driving motor 4017, the feeding assembly 409, the shaping assembly 4010 and the extruding assembly 4011 are all arranged in the shell cover, the lower end of the shell cover is open, a hose limiting sleeve 4012 is arranged at the upper end of the shell cover, the hose limiting sleeve 4012 is connected with the feeding assembly 409, a hose extends into the 3D printer 4 from the inside of the hose limiting sleeve 4012, the mounting plate 406 is erected on the mounting frame 401, the feeding hole 4013, the shaping hole 408 and the extruding hole 407 are formed in the mounting plate 406, the feeding assembly 409, the shaping assembly 4010 and the extruding assembly 4011 are all arranged above the mounting plate 406 and respectively correspond to the feeding hole 4013, the shaping hole 408 and the extruding hole 407; be equipped with the rotary disk mounting hole on mounting bracket 401, the rotary disk mounting hole is located the below of mounting panel 406, first driving motor 4017 is fixed in on the mounting panel 406, and first driving motor 4017 is connected with rotary disk 402, be used for driving rotary disk 402 to rotate, be equipped with through-hole 403 on the rotary disk 402, the upper end of feed cylinder 404 is uncovered, the lower extreme is equipped with printer head 405, feed cylinder 404 locates the below of rotary disk 402 and sets up with through-hole 403 relatively, rotary disk 402 is at the pivoted in-process, feed cylinder 404 of its below passes through material loading hole 4013 in proper order, plastic hole 408 and the below of extruding hole 407. When the barrel 404 passes below the feeding hole 4013, the feeding assembly 409 feeds the food raw material into the barrel 404 through the feeding hole 4013, when the barrel 404 passes below the shaping hole 408, the shaping assembly 4010 shapes the food raw material in the barrel 404 through the shaping hole 408, and when the barrel 404 passes below the extrusion hole 407, the extrusion assembly 4011 extrudes the food raw material in the barrel 404 through the extrusion hole 407, thereby completing the food printing operation.

Further, in this embodiment, the number of the through holes 403 is 3, the centers of the 3 through holes 403 are located on the same circle, the feeding hole 4013, the shaping hole 408 and the extruding hole 407 are respectively located above the 3 through holes 403, and a barrel 404 is located below each through hole 403, so that the number of the barrels 404 is 3, and when one of the barrels 404 is located below the feeding hole 4013, the remaining two barrels 404 are respectively located below the shaping hole 408 and the extruding hole 407.

Further, the material loading subassembly 409 includes first cylinder 4091, goes up feed cylinder 4092 and link 4093, goes up the vertical top of locating material loading hole 4013 of feed cylinder 4092, and on first cylinder 1091 was fixed in mounting bracket 401, and the vertical setting of piston rod of first cylinder 4091, the 4093 one end of link 4092 with last feed cylinder 4092 is connected, the other end is connected with the piston rod of first cylinder 4091, first cylinder 4091 is used for driving feed cylinder 4092 and reciprocates. The upper end of the upper charging barrel 4092 corresponds to the hose limiting sleeve 4012, the lower end corresponds to the feeding hole 4013, the default state of the first cylinder 4091 is an extending state, at the moment, the upper charging barrel 4092 is lifted, enough space is avoided to allow the rotary disk 402 to rotate freely without interference, when a charging barrel 404 on the rotary disk 402 rotates right below the feeding hole 4013, the first cylinder 4091 retracts to the lowest position, after the inlet flow of compressed air is regulated through a speed regulating valve, the first cylinder 4091 can ascend at a slow speed, the feeder 1 works in the ascending process, raw materials are continuously extruded, materials in the charging barrel 404 can be more compactly filled while ascending, internal bubbles are reduced, and therefore the situation of strip breakage of printed lines cannot occur.

Further, the shaping assembly 4010 comprises a second cylinder 40101 and a shaping piston 40102, the second cylinder 40101 is fixed on the mounting plate 406, a telescopic rod of the second cylinder 40101 penetrates through the shaping hole 408 from top to bottom, and the shaping piston 40102 is connected with the telescopic rod of the second cylinder 40101 and used for compressing the materials in the barrel 404 passing through the lower portion of the shaping hole 408. After the feeding is completed, the rotating disc 402 is driven by the first driving motor 4017 to rotate counterclockwise, the barrel 404 filled with the raw material is rotated to the position below the shaping hole 408, and the second air cylinder 40101 drives the shaping piston 40102 to compact the raw material in the barrel 404 and shape and flatten the upper surface of the raw material in the barrel 404.

Further, as shown in fig. 13, the extrusion assembly 4011 includes a fixing frame 40111, a second driving motor 40112, a gear pair 40113, a screw nut transmission mechanism 40114 and an extrusion piston 40115, the fixing frame 40111 is fixed on the mounting plate 406 and is located right above the extrusion hole 407, the second driving motor 40112, the gear pair 40113 and the screw nut transmission mechanism 40114 are all disposed above the fixing frame 40111, the second driving motor 40112 is connected with the gear pair 40113, the screw nut transmission mechanism 40114 is connected with the gear pair 40113, and a screw rod in the screw nut transmission mechanism 40114 is vertically disposed, the extrusion piston 40115 is connected with a screw rod, and the extrusion piston 40115 and the extrusion hole 407 are correspondingly disposed. Specifically, the gear pair 40113 comprises a driving gear and a driven gear, a fixing frame 40111 is disposed above the mounting plate 406, the fixing frame 40111 is disposed right above the extrusion hole 407, two bearings with bearings are disposed on the fixing frame 40111, a driven gear is arranged above one of the bearings with the base, a driving gear is arranged above the other bearing with the base, a second driving motor 40112 is positioned above the driving gear and connected with the driving gear to drive the driving gear to rotate, a screw nut transmission mechanism 40114 sequentially penetrates through the driven gear and the bearing with the base, an extrusion piston 40115 is connected with the lower end of a screw rod, and the extruding piston 40115 is located right above the extruding hole 407, the second driving motor 40112 drives the gear pair 40113 to rotate, and then drive the lead screw and reciprocate, the lead screw is at the in-process that moves down, extrudes piston 40115 and stretches into feed cylinder 404, extrudes the food raw materials in feed cylinder 404 on the tray, forms the food model.

Further, as shown in fig. 14, the 3D printer 4 further includes a plurality of rotating disk guide mechanisms, the number of the rotating disk guide mechanisms is multiple, the plurality of rotating disk guide mechanisms are arranged along the circumferential direction of the rotating disk 402 at intervals, each rotating disk guide mechanism includes a support 4014, a ball plunger 4015 and a deep groove ball bearing 4016, the support 4014 is arranged on the mounting frame 401, the ball plunger 4015 is arranged on the support 4014 and located above the rotating disk 402 and in sliding contact with the upper surface of the rotating disk 402, and the deep groove ball bearing 4016 is arranged on the support 4014 and is in rolling connection with the outer circumferential surface of the rotating disk 402. The arrangement of the rotating disk guide mechanism avoids the rotating disk 402 from shaking during rotation, and the stability of the device is improved.

Further, as shown in fig. 2, the disc feeder 2 includes an upper frame 201, a lower frame 202, a third driving motor 203 and transmission mechanisms 204, the upper frame 201 is disposed above the lower frame 202, the transmission mechanisms 204 are disposed in the upper frame 201, the number of the transmission mechanisms 204 is two, the two sets of transmission mechanisms 204 are disposed in parallel, the transmission mechanisms 204 are provided with L-shaped tray frames, and the L-shaped tray frames on the two sets of transmission mechanisms 204 are disposed opposite to each other; each group of transmission mechanisms 204 comprises two transmission shafts and two transmission chains, wherein the two transmission shafts are arranged up and down along the transmission direction parallel to the tray feeding conveyor belt 3, the transmission chains are connected to two ends of the two transmission shafts, two ends of the L-shaped tray frames are respectively connected with the two transmission chains, the number of the L-shaped tray frames is multiple, and the L-shaped tray frames are arranged at intervals along the transmission paths of the transmission chains; the third driving motor 203 is disposed in the lower frame and connected to the two sets of transmission mechanisms 204 via chains and sprockets, so as to drive the two sets of transmission mechanisms 204 to transmit in opposite directions. One side that two sets of drive mechanism 204 set up relatively moves down, and then drives L shape tray frame and move down, and the tray is placed on L shape tray frame, along with drive mechanism 204 from the top down shifting, when removing the lower, and the tray drops on advancing a set conveyer belt 3 from L shape tray frame automatically

Further, as shown in fig. 4-6, the moving assembly 5 includes a box body with an open upper end, a moving mechanism and a tray clamping mechanism 5013 disposed in the box body, the tray inlet 501 and the tray outlet 502 are disposed on a side wall of the box body, the moving mechanism includes a horizontal moving unit and a lifting unit, the lifting unit is connected to the horizontal moving unit and is used for driving the horizontal moving unit to move up and down, the tray clamping mechanism 5013 is disposed on the horizontal moving unit, the horizontal moving unit includes a first horizontal moving unit and a second horizontal moving unit, the first horizontal moving unit is used for driving the tray clamping mechanism 5013 to move along a direction from the tray inlet 501 to the tray outlet 502, and the second horizontal moving unit is vertically crossed with the first horizontal moving unit and is used for driving the tray clamping mechanism 5013 to move along a direction perpendicular to the first horizontal moving unit.

Specifically, a rectangular fixing frame 504 is provided on the inner wall of the box 503, the rectangular fixing frame 504 is horizontally disposed, the rectangular fixing frame 504 is surrounded by 4L-shaped fixing plates, and 4 corners of the rectangular fixing frame 504 are respectively provided with a corner block 5012, the moving direction of the first horizontal moving unit is the Y direction, the moving direction of the second horizontal moving unit is the X direction, the vertical direction is the Z direction, the first horizontal moving unit comprises an X moving motor 506, an X rotating optical axis 505, an X moving synchronous belt 507 and an X moving slider, the second horizontal moving unit comprises a Y moving motor, a Y rotating optical axis 509, a Y moving synchronous belt 5010 and a Y moving slider, the X moving motor 506 controls the tray clamping mechanism 5013 to horizontally move along the X direction, the number of the X rotating optical axes 505 is two, the two X rotating optical axes 505 are disposed in parallel along the Y direction, the number of the X moving synchronous belts 507 is 2, the X-direction moving motor drives one X-direction rotating optical axis 505 to rotate at first, and the X-direction moving synchronous belt 507 connects the two X-direction rotating optical axes 505, so that the other X-direction rotating optical axis also rotates along with the X-direction moving synchronous belt 507; the middle part of the X-moving synchronous belt 507 is fixed with the X-moving slider, and when the X-rotating motor drives the X-rotating optical axis 505 to rotate, the X-moving synchronous belt 507 drives the X-directional slider 508 to slide along the Y-rotating optical axis 509, thereby realizing any translational motion of the tray clamping mechanism 5013 in the middle of the frame in the X direction; the structure and the movement principle of the second horizontal moving unit are similar to those of the first horizontal moving unit; when the X-and Y- movement motors 506 and 506 operate at different speeds and different frequencies to control the X, Y components, the tray clamping mechanism 5013 will move in any trajectory within the movable plane of the fixed frame 504. The third moving unit comprises a Z-direction lifting motor, a Z-direction screw nut pair 5011 and a Z-direction guide optical axis 5014, two Z-direction linear bearings are respectively installed on two sides of the whole fixed frame 504, so that the whole frame can vertically translate along the four Z-direction guide optical axes 5014 on the two sides, and the screw nuts are installed on the fixed frame 504, so that the tray can be freely moved in a certain range in the Z direction under the driving of the Z-direction lifting motors on the two sides of the whole fixed frame 504; two Z-direction lifting motors are arranged on two sides of the tray, so that the negative effect of the overturning moment formed by the self weight of the fixed frame 504 can be reduced when the fixed frame 504 is lifted, and the tray can be kept in a horizontal state.

As shown in fig. 7, the tray clamping mechanism 5013 comprises a clamping jaw 5015 and a clamping jaw cylinder 5016, when a tray needs to be accessed, the tray moving assembly 5 moves the clamping jaw 5015 to be close to the tray inlet 501 under the control of the clamping jaw cylinder 5016, and the tray conveyor 3 conveys the tray into the tray formed by the clamping jaw 5015

In space, when the tray is detected to enter, the clamping jaws 5015 clamp the tray from an open state and return to the central initial position of the moving assembly 5; after printing is completed, the disk moving assembly 5 moves the gripper jaws proximate the disk outlet 502 under the control of the gripper cylinder.

When the tray moves to the moving assembly 5, the tray clamping mechanism 5013 clamps the tray tightly, the first horizontal moving unit and the second moving unit drive the tray to move to the position right below the extrusion hole 407, at the moment, the 3D printer 4 extrudes a food model into the tray, and in the printing process, the third moving assembly 5 drives the fixing frame 504 to move downwards and further drives the tray to continuously move downwards, so that the printed food model has a certain height.

Further, the tray discharging device 7 is further included, the tray discharging device 7 is disposed at the tray discharging port 502, as shown in fig. 8 and 9, the tray discharging device 7 includes a rack, a link mechanism 703 and a hook claw, the link mechanism 703 is disposed on the rack 701, the hook claw 704 is connected to the link mechanism 703, the link mechanism 703 drives the hook claw 704 to move along a D-shaped path, and the hook claw 704 is used for transferring the tray on the moving assembly 5 to the tray discharging conveyor 6. Specifically, the upper surface of the frame 701 is located above the tray conveyor 6, and the upper surface of the frame 701 is inclined toward the moving assembly 5, the link mechanism 703 includes two sets of link groups which are arranged oppositely, the two sets of link groups are connected through two connecting rods, each set of link group includes a first hinge rod, a second hinge rod and a third hinge rod, the lower ends of the first hinge rod and the second hinge rod are hinged to the upper end of the frame 701 respectively, the third hinge rod is hinged to the upper ends of the first hinge rod and the second hinge rod, one connecting rod is connected between the two third hinge rods, the other connecting rod is connected between the two second hinge rods, the number of the hooks 704 is two, the two hooks 704 are arranged on one connecting rod, the driving motor 702 drives the first hinge rod to rotate, and then drives the two sets of link groups to move, so as to drive the hooks 704 to move along a D-shaped track. In this embodiment, by designing the rod lengths of each hinge rod and each connecting rod in the link mechanism 703, a D-shaped curve at the head of the hook 704 is realized, a straight line segment of the D-shaped curve is parallel to the plane of the tray-out conveyor belt 6, the hook 704 moves counterclockwise along the curve, an upward-convex arc line segment can enable the hook 704 to cross a bent edge of the tray, the tray is hooked during a return stroke and pulled back for a certain distance, then the hook 704 rises to separate from the tray, and the tray is taken away by the conveyor belt; the two hooks 704 are arranged left and right and are used for avoiding the food model printed at the center of the tray and avoiding the interference of the hooks 704 and the food model, so that the food model is damaged.

As shown in fig. 3, a plurality of ribs 301 are provided on the tray feeding conveyor 3, the plurality of ribs 301 are provided at intervals along the conveying direction, and when the tray is conveyed to the end of the tray feeding conveyor 3, the ribs 301 can sweep the tray forward by a distance more than a certain distance, so that the tray on the tray feeding conveyor 3 can completely enter the moving assembly 5 below the 3D printer 4.

In summary, according to the food 3D printing system provided by the embodiment of the invention, the feeding machine continuously feeds raw materials into the 3D printer, the tray feeder conveys the tray to the moving assembly below the 3D printer, when the tray is conveyed to the moving assembly through the tray feeding conveyor belt, the 3D printer prints the raw materials fed from the feeding machine into a specific shape on the tray, and after printing is completed, the tray discharging conveyor belt conveys the tray out, so that a full-automatic printing process of the food shape is realized.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. The utility model provides a food 3D printing system which characterized in that: the automatic tray feeding device comprises a feeding machine, a tray feeding conveyor belt, a 3D printer, a moving assembly and a tray discharging conveyor belt, wherein the moving assembly is provided with a tray feeding port and a tray discharging port, one end of the tray feeding conveyor belt is connected with the tray feeding machine, and the other end of the tray feeding conveyor belt is connected with the tray feeding port and is used for conveying a tray fed out from the tray feeding machine into the moving assembly; the feeding machine is connected with a feeding hole of the 3D printer through a feeding pipe and used for feeding materials to the 3D printer, the 3D printer is arranged above the moving assembly and used for printing a food model on a tray of the moving assembly, and the moving assembly drives the tray to move in the printing process; the tray outlet conveyor belt is connected with the tray outlet and is used for conveying out the tray on the moving assembly; the 3D printer comprises a mounting frame, a charging barrel, a rotating disk, a mounting plate, a first driving motor, a feeding assembly, a shaping assembly and an extrusion assembly, wherein a rotating disk mounting hole is formed in the mounting frame, the mounting plate is erected above the rotating disk mounting hole, a feeding hole, a shaping hole and an extrusion hole are formed in the mounting plate, and the feeding assembly, the shaping assembly and the extrusion assembly are arranged above the mounting plate and respectively correspond to the feeding hole, the shaping hole and the extrusion hole; the rotary disk is rotatable locate the mounting panel with between the rotary disk mounting hole, a driving motor is fixed in on the mounting panel, just a driving motor with the rotary disk is connected, is used for driving the rotary disk rotates, be equipped with the through-hole on the rotary disk, the upper end of feed cylinder is uncovered, and the lower extreme is equipped with and beats printer head, the feed cylinder is located the below of rotary disk and with the through-hole sets up relatively, the rotary disk is at the pivoted in-process, the feed cylinder passes through in proper order material loading hole, plastic hole and extrude the hole under.

2. The food 3D printing system according to claim 1, wherein: the quantity of through-hole is 3, 3 the center of through-hole is located same circle, material loading hole, shaping hole and extrusion hole are located 3 respectively directly over the through-hole.

3. The food 3D printing system according to claim 2, wherein: the material loading subassembly includes first cylinder, goes up feed cylinder and link, it locates to go up the feed cylinder is vertical the top in material loading hole, first cylinder is fixed in on the mounting bracket, just the vertical setting of piston rod of first cylinder, the one end of link with go up the feed cylinder and connect, the other end with the piston rod of first cylinder is connected, first cylinder is used for driving it reciprocates to go up the feed cylinder.

4. The food 3D printing system according to claim 2, wherein: the shaping assembly comprises a second cylinder and a shaping piston, the second cylinder is fixed on the mounting plate, a telescopic rod of the second cylinder penetrates through the shaping hole from top to bottom, and the shaping piston is connected with the telescopic rod of the second cylinder and used for compressing and shaping materials in the material barrel below the shaping hole.

5. The food 3D printing system according to claim 2, wherein: the extrusion assembly comprises a fixing frame, a second driving motor, a gear pair, a screw-nut transmission mechanism and an extrusion piston, wherein the fixing frame is fixed on the mounting plate and is located above the extrusion holes, the second driving motor, the gear pair and the screw-nut transmission structure are all arranged above the fixing frame, the second driving motor is connected with the gear pair, the screw-nut transmission structure is connected with the gear pair, the screw rod in the screw-nut structure is vertically arranged, the extrusion piston is connected with the screw rod, and the extrusion piston is correspondingly arranged with the extrusion holes.

6. The food 3D printing system according to claim 1, wherein: the 3D printer still includes rotary disk guiding mechanism, rotary disk guiding mechanism's quantity is a plurality of, and is a plurality of rotary disk guiding mechanism follows the circumference interval of rotary disk sets up, rotary disk guiding mechanism includes support, bulb plunger and deep groove ball bearing, the support is located on the mounting bracket, the bulb plunger is located just be located on the support the top of rotary disk, and with the upper surface sliding contact of rotary disk, deep groove ball bearing locates on the support, and with deep groove ball bearing's outer peripheral face rolling connection.

7. The food 3D printing system according to claim 1, wherein: the tray feeder comprises an upper frame, a lower frame, a third driving motor and transmission mechanisms, wherein the transmission mechanisms are positioned in the upper frame, the number of the transmission mechanisms is two, the two groups of transmission mechanisms are arranged in parallel, L-shaped tray frames are arranged on the transmission mechanisms, and the L-shaped tray frames on the two groups of transmission mechanisms are arranged in a one-to-one opposite mode; each group of transmission mechanisms comprises two transmission shafts and two transmission chains, wherein the two transmission shafts are arranged up and down along a transmission direction parallel to the tray feeding conveyor belt, the transmission chains are connected to two ends of the two transmission shafts, two ends of the L-shaped tray frames are respectively connected with the two transmission chains, the number of the L-shaped tray frames is multiple, and the L-shaped tray frames are arranged at intervals along transmission paths of the transmission chains; the third driving motor is arranged in the lower frame, is connected with the two groups of transmission mechanisms through a transmission chain and is used for driving the two groups of transmission mechanisms to transmit along opposite directions.

8. The food 3D printing system according to claim 1, wherein: the moving assembly comprises a box body with an open upper end, and a moving mechanism and a tray clamping mechanism which are arranged in the box body, wherein the tray inlet and the tray outlet are oppositely arranged on the side wall of the box body; the moving mechanism comprises a horizontal moving unit and a lifting unit, the lifting unit is connected with the horizontal moving unit and used for driving the horizontal moving unit to move up and down, the tray clamping mechanism is arranged on the horizontal moving unit, the horizontal moving unit comprises a first horizontal moving unit and a second horizontal moving unit, the second horizontal moving unit and the first horizontal moving unit are vertically and alternately arranged in a horizontal plane, the first horizontal moving unit is used for driving the tray clamping mechanism to move along the direction from the tray inlet to the tray outlet, and the second horizontal moving unit is used for driving the tray clamping mechanism to move along the direction perpendicular to the first horizontal moving unit.

9. The food 3D printing system according to claim 1, wherein: still include a set machine, a set machine is located a dish mouth department, a set machine includes frame, link mechanism and colludes the claw, link mechanism locates in the frame, collude the claw with link mechanism connects, link mechanism drives collude the claw and move along D shape route, collude the claw be used for with the tray on the removal subassembly moves and send to on the play set conveyer belt.

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