CN109366972A - 3D biological printing system - Google Patents
3D biological printing system Download PDFInfo
- Publication number
- CN109366972A CN109366972A CN201811382079.3A CN201811382079A CN109366972A CN 109366972 A CN109366972 A CN 109366972A CN 201811382079 A CN201811382079 A CN 201811382079A CN 109366972 A CN109366972 A CN 109366972A
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- temperature
- swingle
- moving parts
- axis
- control module
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- 238000007639 printing Methods 0.000 title claims abstract description 34
- 230000000712 assembly Effects 0.000 claims abstract description 51
- 238000000429 assembly Methods 0.000 claims abstract description 51
- 239000007921 spray Substances 0.000 claims abstract description 49
- 239000000463 material Substances 0.000 claims abstract description 47
- 238000002347 injection Methods 0.000 claims abstract description 13
- 239000007924 injection Substances 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000001523 electrospinning Methods 0.000 claims description 12
- 238000009941 weaving Methods 0.000 claims description 11
- 238000001125 extrusion Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 244000309464 bull Species 0.000 claims 1
- 238000000034 method Methods 0.000 description 11
- 239000000243 solution Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000968 intestinal effect Effects 0.000 description 5
- 210000000056 organ Anatomy 0.000 description 5
- 210000004204 blood vessel Anatomy 0.000 description 4
- 238000000465 moulding Methods 0.000 description 4
- 239000012620 biological material Substances 0.000 description 3
- 238000002844 melting Methods 0.000 description 3
- 230000008018 melting Effects 0.000 description 3
- 238000010041 electrostatic spinning Methods 0.000 description 2
- 229920002521 macromolecule Polymers 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000560 biocompatible material Substances 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000009954 braiding Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002074 melt spinning Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 229940032021 tetramune Drugs 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/241—Driving means for rotary motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The present invention provides a kind of 3D biological printing system, which includes control assembly, moving parts, rotary components, air pump assembly, temperature-controlled package and ejection assemblies；Control assembly includes material output control module, motion-control module, temperature control modules.Motion-control module controls rotary components by moving parts and ejection assemblies move；Material output control module controls ejection assemblies by air pump assembly and sprays material to the swingle of rotary components；Temperature control modules adjust the injection temperation of ejection assemblies and the temperature of swingle by temperature-controlled package.Thus in the swingle rotary course of rotary components, material is sprayed or is expressed on the swingle by control ejection assemblies, to realize the rotating print of biological products；In this way by support of the swingle as the biological products of hollow structure, without using additional backing material, to effectively reduce material cost and economic cost.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly, to a kind of 3D biological printing system.
Background technique
3D biometric print is then based on electronic 3-D model, by the way that software hierarchy is discrete and the molding side of numerical control
Method, positioning assembly biomaterial or living cells, manufacture of intraocular implantation bracket, histoorgan and medical treatment auxiliary etc. are biomedical to be produced
Product.
When starting 3D biometric print machine, computer modeling program can design the organ sectional view for needing to print, and come accurate
Instruct subsequent print procedure；Then " ink powder " will be gathered by print head on prior designed biocompatible materials,
The blank of printing organ is gradually formed according to certain pattern, constructs living tissue.
However above-mentioned this traditional 3D biometric print is in one plane to pile up biomaterial to form human body device
Official or medical stand, but organ of many of human body tubulose such as blood vessel, enteron aisle etc., if with traditional Method of printing, it will
A large amount of backing material can be wasted, economic cost is increased.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of 3D biological printing systems, by swingle as hollow knot
The support of the biological products of structure, without using additional backing material, to effectively reduce material cost and economic cost.
In a first aspect, the embodiment of the invention provides a kind of 3D biological printing systems, comprising: control assembly, moving parts,
Rotary components, air pump assembly, temperature-controlled package and ejection assemblies；
The control assembly includes material output control module, motion-control module, temperature control modules；
The motion-control module is connect with the moving parts, by the moving parts control the rotary components and
The ejection assemblies movement；
The material output control module connects the air pump assembly, controls the ejection assemblies by the air pump assembly
Material is sprayed or is squeezed out to the swingle of the rotary components；
The temperature control modules are connect with the temperature-controlled package, adjust the spray by the temperature-controlled package
Penetrate the injection of component or the temperature of extrusion temperature and the swingle.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
Stating control assembly further includes humidity control module, voltage control module；The system also includes humidity regulation components, high-voltage electricity
Source；
The humidity control module is connect with the humidity regulation component, works as front ring by humidity regulation component control
The humidity in border；
The voltage control module is connect with the high voltage power supply, and the high voltage power supply is connect with the ejection assemblies；Institute
It states voltage control module and controls the high voltage power supply as ejection assemblies power supply.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein further include climatic chamber, the control assembly, moving parts, rotary components, air pump assembly,
Temperature-controlled package, humidity regulation component and ejection assemblies are arranged in the climatic chamber, the climatic chamber with
The temperature-controlled package, humidity regulation component are separately connected.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
Stating air pump assembly includes air pump, air pressure proportioning valve and to pneumoelectric magnet valve, and the material output control module controls the air pressure ratio
The example valve and aperture to pneumoelectric magnet valve, high pressure gas pass through the air pump, the air pressure proportioning valve and described to pneumoelectric magnetic
The ejection assemblies are transmitted to after valve.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein institute
Stating ejection assemblies includes spray head connector and multiple spray heads, and the spray head connector cuts spray head for connecting spray head
It changes；
The high pressure gas of the air pump assembly output is transmitted to spray head by the spray head connector；
The type of the spray head include low temperature electrospinning spinnerets, high temperature electrospinning spinnerets, multi-pass channel showerhead, high temperature printing head,
One or more of weaving head.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiment of first aspect, the fortune
Dynamic component includes motor driver, three spindle motors, three axis mould groups, shaft rotating motor and signal pickup assembly；The injection
Component is connected in the three axis mould group；
The motor driver drives three spindle motor and the shaft rotating motor, and three spindle motor passes through described three
Axis mould group drives the ejection assemblies mobile, and the shaft rotating motor drives the rotary components；
The signal pickup assembly acquires the rotation information of three spindle motors and the shaft rotating motor, and by the rotation
Transfering the letter breath feeds back to the motion-control module.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiment of first aspect, the fortune
Dynamic component includes three-axis moving component, and the three-axis moving component includes X-axis moving parts, Y-axis moving parts and Z axis exercise group
Part；
The X-axis moving parts include X-axis motor and the linear mould group of X-axis, the Y-axis moving parts include y-axis motor and Y
Axis mould group, the Z axis moving parts include Z axis motor and z axis mould group；
Spray head connector in the ejection assemblies is connect with the z axis mould group, and the z axis mould group controls institute
State the spray head connector in ejection assemblies.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiment of first aspect, the rotations
Turning component includes rotary shaft equipment and swingle；The rotary shaft equipment is connect with the shaft rotating motor of the moving parts；Institute
Stating swingle includes smooth swingle and weaving swingle；
The shaft rotating motor drives the rotary shaft equipment to drive the swingle rotation；
It is provided with cavity in the swingle, the temperature-controlled package is provided in the cavity, the temperature is adjusted
Component adjusts the temperature of the swingle.
With reference to first aspect, the embodiment of the invention provides the 8th kind of possible embodiment of first aspect, the rotations
Turning component includes rotary shaft equipment and swingle；The rotary shaft equipment include clamping device, connector and the first synchronous pulley,
Second synchronous pulley, third synchronous pulley；
Third synchronous pulley connects the shaft rotating motor of the moving parts, drives described the by the third synchronous pulley
Two synchronous pulleys and first synchronous pulley；
First synchronous pulley connects swingle with clamping device by connector, so that shaft rotating motor driving rotation
Bar rotation.
With reference to first aspect, the embodiment of the invention provides the 9th kind of possible embodiment of first aspect, the controls
Component processed further includes monitoring module, and the monitoring module includes monitor component and positioning component, and the monitor component is for monitoring
Rotary shaft equipment in the rotary components；The positioning component is used to monitor the spray head connector in the ejection assemblies.
The embodiment of the present invention bring it is following the utility model has the advantages that
In embodiments of the present invention, which includes control assembly, moving parts, rotary components, air pump
Component, temperature-controlled package and ejection assemblies；Control assembly includes material output control module, motion-control module, temperature control
Molding block；Motion-control module is connect with moving parts, controls rotary components by moving parts and ejection assemblies move；Material
Output control module connects air pump assembly, controls ejection assemblies for material injection by air pump assembly or squeezes out to rotary components
On swingle；Temperature control modules are connect with temperature-controlled package, and the injection temperature of ejection assemblies is adjusted by temperature-controlled package
The temperature of degree and the swingle.Thus in the swingle rotary course of rotary components, control ejection assemblies spray material
Or be expressed on the swingle, to realize the rotating print of biological products；Pass through life of the swingle as hollow structure in this way
The support of Tetramune, compared to the prior art in one plane pile up the mode of file printing, without using additional branch
Timbering material, to effectively reduce material cost and economic cost.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of function declaration schematic diagram of 3D biological printing system provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of 3D biological printing system provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of another kind 3D biological printing system provided in an embodiment of the present invention；
Fig. 4 is a kind of main view of 3D biological printing system provided in an embodiment of the present invention；
Fig. 5 is a kind of top view of 3D biological printing system provided in an embodiment of the present invention；
Fig. 6 is a kind of cross-sectional view of high temperature printing head provided in an embodiment of the present invention；
Fig. 7 is a kind of structure connection diagram of moving parts provided in an embodiment of the present invention；
Fig. 8 is a kind of main view of moving parts provided in an embodiment of the present invention；
Fig. 9 is a kind of top view of moving parts provided in an embodiment of the present invention；
Figure 10 is a kind of main view of rotary components provided in an embodiment of the present invention；
Figure 11 is a kind of top view of rotary components provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of photoelectric sensor provided in an embodiment of the present invention；
Figure 13 is a kind of schematic diagram of positioning component provided in an embodiment of the present invention.
Icon:
100- control assembly；110- material output control module；120- motion-control module；130- temperature control modules；
140- humidity control module；150- voltage control module；160- monitoring module；010- monitor component；020- positioning component；200-
Moving parts；210- motor driver；Tri- spindle motor of 220-；221-X spindle motor；222-Y spindle motor；223-Z spindle motor；224-
The linear mould group of X-axis；225-Y axis mould group；226-Z axis mould group；230- shaft rotating motor；240- signal pickup assembly；
300- rotary components；310- rotary shaft equipment；311- clamping device；312- connector；The first synchronous pulley of 313-；314- second
Synchronous pulley；315- third synchronous pulley；320- swingle；The smooth swingle of 321-；322- weaving swingle；400- air pump group
Part；410- air pump；420- air pressure proportioning valve；430- gives pneumoelectric magnet valve；500- temperature-controlled package；510- heater；520- system
Cooler；600- ejection assemblies；62- spray head；610- spray head connector；620- low temperature electrospinning spinnerets；630- high temperature electrospinning spinnerets；
640- multi-pass channel showerhead；650- high temperature printing head；651- adapter；652- piston cylinder；653- first piston；654- annular groove
Portion；655- piston rod；656- piston cylinder end cap；657- barrel；658- second piston；659- syringe needle；660- weaving head；700- is wet
Degree adjusts component；710- humidifier；720- dehumidifier；800- climatic chamber；900- high voltage power supply.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
3D biometric print traditional at present is in one plane to pile up biomaterial to form human organ or doctor
Bracket, but organ of many of human body tubulose such as blood vessel, enteron aisle etc. are treated, if with traditional Method of printing, it will waste is big
The backing material of amount increases economic cost.Based on this, a kind of 3D biological printing system provided in an embodiment of the present invention, Ke Yi
In the swingle rotary course of rotary components, material is sprayed or is expressed on the swingle by control ejection assemblies, to realize
The rotating print of biological products；In this way by support of the swingle as the biological products of hollow structure, compared to the prior art
In in one plane pile up the mode of file printing, without using additional backing material, thus effectively reduce material at
Sheet and economic cost.
Referring to Fig. 1, it can be, but not limited to realize weaving (such as the spinning to intestinal stent using above-mentioned 3D biological printing system
Knit), biometric print (such as printing to blood vessel, intestinal stent) and obtain electrostatic spinning (such as melt spinning and solution spun
Silk).
It describes in detail below with reference to specific embodiment to 3D biological printing system proposed by the present invention.Referring to fig. 2-
5, above-mentioned 3D biological printing system includes: control assembly 100, moving parts 200, rotary components 300, air pump assembly 400, temperature
Adjust component 500 and ejection assemblies 600；Control assembly 100 include material output control module 110, motion-control module 120,
Temperature control modules 130；
Wherein, motion-control module is connect with moving parts, controls rotary components by moving parts and ejection assemblies are transported
It is dynamic.
Material output control module connects air pump assembly, controls ejection assemblies by air pump assembly and material is sprayed or squeezed out
To the swingle of rotary components.
Temperature control modules are connect with temperature-controlled package, are adjusted the injection of ejection assemblies by temperature-controlled package or are squeezed
Temperature and the temperature of swingle out.In a possible embodiment, which includes heater 510 and refrigerator 520.
In print procedure, in the rotation process of the swingle of rotary components, spray head is moved to accordingly by moving parts
Position, by material spray or be expressed on swingle, thus realize 3D biological rotating print.
In practical application, according to the threedimensional model of load, moving control module for controlling moving parts movement, by exercise group
Part drives rotary components rotation, while ejection assemblies being driven to move；The air pump assembly of material output control module control simultaneously starts
Work, so that material is sprayed by gas flow optimized ejection assemblies or squeezed out to swingle by air pump assembly.Furthermore, it is contemplated that big
The material of part biological needs suitable corresponding temperature when by ejection assemblies extrusion molding, therefore, in the 3D biometric print system
In the course of work of system, there are temperature control modules to adjust injection or the extrusion temperature of ejection assemblies by temperature-controlled package, and
The temperature of swingle, to guarantee that a variety of materials are maintained within the temperature range of requirement.
Referring to Fig. 3, above-mentioned control assembly further includes humidity control module 140, which further includes humidity regulation component
700；The humidity control module is connect with humidity regulation component, and the humidity of current environment is controlled by the humidity regulation component.?
In possible embodiment, which includes humidifier 710 and dehumidifier 720.
In a further embodiment, above system further includes climatic chamber 800, above-mentioned control assembly, moving parts, rotation
Turn component, air pump assembly, temperature-controlled package, humidity regulation component and ejection assemblies to be arranged in climatic chamber, the perseverance
Constant temperature and humidity case is separately connected with temperature-controlled package, humidity regulation component.Thus, it is possible to cooperate temperature control by climatic chamber
Molding block and humidity control module, co- controlling temperature-controlled package and humidity regulation component, thus the control of the system improved
Mildly control wet effect.
Referring to Fig. 3, above-mentioned air pump assembly 400 is including air pump 410, air pressure proportioning valve 420 and gives pneumoelectric magnet valve 430, above-mentioned
Material output control module control pressure proportioning valve and aperture to pneumoelectric magnet valve, high pressure gas pass through air pump, air pressure proportioning valve
With to being transmitted to ejection assemblies after pneumoelectric magnet valve.Specifically, when needing to carry out blasting materials, the control of material output control module
The valve regulation of air pressure ratio is controlled and is opened to pneumoelectric magnet valve to the ratio adapted to, so that high pressure gas is provided to ejection assemblies,
And material is squeezed out.
Wherein above-mentioned ejection assemblies 600 include spray head connector 610 and multiple spray heads 62, and the spray head connector is for connecting
Spray head, and spray head is switched over.Wherein, which can be, but not limited to include clamping device and attachment device, be somebody's turn to do
Clamping device is used to provide power interface and communication interface for the spray head for grabbing stationary nozzle, attachment device.Above-mentioned spray head
Type can be, but not limited to include low temperature electrospinning spinnerets 620, high temperature electrospinning spinnerets 630, multi-pass channel showerhead 640, high temperature printing
One or more of spray head 650, weaving head 660.The high pressure gas of air pump assembly output is transmitted by spray head connector
To corresponding spray head.During spray head injection, the injection temperature of each spray head can be adjusted by above-mentioned humidity regulation component
Degree.
In a possible embodiment, referring to Fig. 6, the present embodiment provides a kind of cross-sectional views of high temperature printing head.The high temperature
Printing head includes adapter 651, the propulsion being made of piston cylinder 652, first piston 653, annular groove portion 654 and piston rod 655
Device, piston cylinder end cap 656, barrel 657, second piston 658, syringe needle 659 and nozzle housing.
In application process, high molecular material is housed, the heater 510 in temperature temperature adjustment component is by the height in barrel 657
Molecular material is heated to melting.High pressure gas enters the piston cylinder 652 in propulsion device, first piston 653 via adapter 651
Due to being influenced to move downward by upper and lower pressure difference.Piston rod 655 pushes the second piston 658 in barrel 657 by the macromolecule
Material is squeezed out from syringe needle 659.
Above-mentioned control assembly further includes voltage control module 150, and above system further includes high voltage power supply 900；The voltage control
Molding block is connect with high voltage power supply, which connect with ejection assemblies；It is spray that the voltage control module, which controls high voltage power supply,
Assembly power supply is penetrated, specifically, which is above-mentioned low temperature electrospinning spinnerets 620, the power supply of high temperature electrospinning spinnerets 630.
In a possible embodiment, above-mentioned moving parts 200 include motor driver 210, three spindle motors 220, three axis
Property mould group (being not shown in Fig. 3), shaft rotating motor 230 and signal pickup assembly 240, ejection assemblies are connected to three axis mould groups
On.Above-mentioned motor driver drives three spindle motors and shaft rotating motor, which drives injection by three axis mould groups
Component is mobile, which drives rotary components rotation.Meanwhile signal pickup assembly acquires three spindle motor and rotary shaft
The rotation information of motor, and rotation information is fed back into motion-control module, in order to which motion-control module is accurately to the fortune
Dynamic component is controlled.
Optionally, referring to Fig. 7-9, above-mentioned moving parts may include three-axis moving component, respectively X-axis moving parts, Y
Axis moving parts and Z axis moving parts；Above-mentioned three spindle motor includes X-axis motor 221, y-axis motor 222 and Z axis motor 223；Three
Axis mould group includes the linear mould group 224 of X-axis, the linear mould group 225 of Y-axis and z axis mould group 226.Wherein, the X-axis exercise group
Part includes X-axis motor and the linear mould group of X-axis, and Y-axis moving parts include y-axis motor and the linear mould group of Y-axis, the Z axis moving parts
Including Z axis motor and z axis mould group.Specifically, the spray head connector in above-mentioned ejection assemblies is connect with z axis mould group,
Spray head connector is controlled by z axis mould group, so drive each spray head (low temperature electrospinning spinnerets 620, high temperature electrospinning spinnerets 630,
Multi-pass channel showerhead 640, high temperature printing head 650, weaving head 660) it is mobile.
Further, above-mentioned rotary components 300 include rotary shaft equipment 310 and swingle；The rotary shaft equipment 310 and rotation
Rotating shaft electric motor connection.The shaft rotating motor drives rotary shaft equipment to drive swingle rotation.Wherein swingle includes smooth rotation
Bar 321 and weaving swingle 322.In a possible embodiment, it is provided with cavity in above-mentioned swingle, is provided with temperature in the cavity
Degree adjusts component, which adjusts the temperature of swingle, that is, is adjusted by heater or refrigerator
State smooth swingle and weaving swingle.
A kind of rotary components are proposed in a possible embodiment, and the main view and top view of the rotary components are respectively as schemed
Shown in 10 and Figure 11.The rotary components include rotary shaft equipment 310 and swingle 320, which includes clamping dress
Set 311, connector 312 and the first synchronous pulley 313, the second synchronous pulley 314, third synchronous pulley 315.Wherein rotary shaft electricity
Machine 230 connects third synchronous pulley 315, and drives the second synchronous pulley 314 and the first synchronous pulley by third synchronous pulley 315
313.First synchronous pulley connects swingle 320 by connector 312 and clamping device 311, so that shaft rotating motor passes through together
It walks belt wheel and drives swingle rotation.Specifically, the rotation axis of above-mentioned swingle 320, clamping device 311, the first synchronous pulley 313
Line is in same level straight line, and stability of rotation.
In a possible embodiment, above-mentioned control assembly further includes monitoring module 160, and monitoring module 160 includes monitoring group
Part 010 and positioning component 020, the monitor component specifically can be used for monitoring above-mentioned rotary shaft equipment for monitoring rotary components
With spray head connector.
Wherein the monitor component can be photoelectric coupling sensor, which is used for the original of position rotating bar
Point position (such as 0 degree can be expressed as).Or the monitor component is also possible to camera, the camera is for being directed toward spray head
Needle point, for monitoring printing situation.
Position of the above-mentioned positioning component for the needle point of positioning nozzle connector upper nozzle.Specifically it can be, but not limited to use
Following methods are positioned:
(1) three photoelectric sensor positioning；
Three photoelectric sensors can be respectively distributed in corresponding three axis direction of three-axis moving component.Above-mentioned photoelectric transfer
Groove (referring to Figure 12) is set among sensor, when object passes through groove, object blocks the light of sensor, at this time photoelectric transfer
Sensor can trigger signal.Therefore needle point can trigger letter when successively (sequentially can arbitrarily change) passes through the groove of three photoelectric sensors
Number, needle point triaxial coordinate is positioned respectively；The position of three spindle motors rotation is to needle point coordinate when combining trigger signal at this time
It is positioned.Wherein three photoelectric sensors are to be placed on specific localization region together, to reduce needle point positioning time.
(2) it is positioned close to switch+camera (XY)；
On first direction (referred to as Z-direction) where z axis mould group is arranged in close to switch, camera is directed toward spray head
Needle point.Specifically, needle point is moved to camera position and takes pictures, and tip position is manuallyd locate in upper computer software and is obtained by vertical
In plane (X/Y plane) position of first direction, needle point touches downwards close to switch and obtains the position of Z-direction.
(3) two cameras add two light sources；
Referring to Figure 13, two cameras are put in 90 °, and light source is oppositely arranged one by one with camera, in possible embodiment
In, the light beam issued from light source is projected specifically by lens, needle point is moved on among light source and camera, the white of camera
Occurs the needle point profile of black in image, software calculates tip position.
It should be noted that above-mentioned positioning method is merely exemplary explanation, it can not be as to specific limit of the invention
It is fixed.
In conclusion the present invention provides a kind of 3D biological printing system, the printing of tubular bracket may be implemented.The system can
To print degradable intestinal stent, it is deposited on swingle by high molecular material heating melting, and in the form of filament, Huo Zhechen
On the filament of product high molecular material existing on swingle；The system can also carry out electrostatic spinning, by the macromolecule of melting
Perhaps Polymer Solution is sprayed under the action of high voltage electric field or is expressed on swingle material；The system can also pass through
The method of braiding manufactures degradable intestinal stent, and heat-shaping；The system also acts as printing blood vessel and intestinal stent.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Unless specifically stated otherwise, otherwise exist
Component described in these embodiments and opposite step, numerical expression and the numerical value of step are not limit the scope of the invention.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of 3D biological printing system characterized by comprising control assembly, moving parts, rotary components, air pump assembly,
Temperature-controlled package and ejection assemblies；
The control assembly includes material output control module, motion-control module, temperature control modules；
The motion-control module is connect with the moving parts, controls the rotary components and described by the moving parts
Ejection assemblies movement；
The material output control module connects the air pump assembly, controls the ejection assemblies for material by the air pump assembly
Material injection is squeezed out to the swingle of the rotary components；
The temperature control modules are connect with the temperature-controlled package, adjust the injection group by the temperature-controlled package
The temperature of the injection of part or extrusion temperature and the swingle.
2. system according to claim 1, which is characterized in that the control assembly further includes humidity control module, voltage
Control module；The system also includes humidity regulation components, high voltage power supply；
The humidity control module is connect with the humidity regulation component, controls current environment by the humidity regulation component
Humidity；
The voltage control module is connect with the high voltage power supply, and the high voltage power supply is connect with the ejection assemblies；The electricity
Control module is pressed to control the high voltage power supply as ejection assemblies power supply.
3. system according to claim 2, which is characterized in that it further include climatic chamber, the control assembly, exercise group
Part, rotary components, air pump assembly, temperature-controlled package, humidity regulation component and ejection assemblies are arranged at the constant temperature and humidity
In case, the climatic chamber is separately connected with the temperature-controlled package, humidity regulation component.
4. system according to claim 1, which is characterized in that the air pump assembly include air pump, air pressure proportioning valve and to
Pneumoelectric magnet valve, the material output control module control the air pressure proportioning valve and the aperture to pneumoelectric magnet valve, high pressure gas
Body is by being transmitted to the ejection assemblies after the air pump, the air pressure proportioning valve and the magnet valve to pneumoelectric.
5. system according to claim 1, which is characterized in that the ejection assemblies include spray head connector and multiple sprays
Head, the spray head connector switch over spray head for connecting spray head；
The high pressure gas of the air pump assembly output is transmitted to spray head by the spray head connector；
The type of the spray head includes low temperature electrospinning spinnerets, high temperature electrospinning spinnerets, multi-pass channel showerhead, high temperature printing head, weaving
One or more of head.
6. system according to claim 1, which is characterized in that the moving parts include motor driver, three spindle motors,
Three axis mould groups, shaft rotating motor and signal pickup assembly；The ejection assemblies are connected in the three axis mould group；
The motor driver drives three spindle motor and the shaft rotating motor, and three spindle motor passes through three axis
Property mould group drive the ejection assemblies mobile, the shaft rotating motor drives the rotary components；
The signal pickup assembly acquires the rotation information of three spindle motors and the shaft rotating motor, and the rotation is believed
Breath feeds back to the motion-control module.
7. system according to claim 1, which is characterized in that the moving parts include three-axis moving component, and described three
Axis moving parts include X-axis moving parts, Y-axis moving parts and Z axis moving parts；
The X-axis moving parts include X-axis motor and the linear mould group of X-axis, and the Y-axis moving parts include y-axis motor and Y-axis line
Property mould group, the Z axis moving parts include Z axis motor and z axis mould group；
Spray head connector in the ejection assemblies is connect with the z axis mould group, and the z axis mould group controls the spray
Penetrate the spray head connector in component.
8. system according to claim 1, which is characterized in that the rotary components include rotary shaft equipment and swingle；
The rotary shaft equipment is connect with the shaft rotating motor of the moving parts；The swingle includes smooth swingle and weaving rotation
Bull stick；
The shaft rotating motor drives the rotary shaft equipment to drive the swingle rotation；
It is provided with cavity in the swingle, the temperature-controlled package, the temperature-controlled package are provided in the cavity
Adjust the temperature of the swingle.
9. system according to claim 1, which is characterized in that the rotary components include rotary shaft equipment and swingle；
The rotary shaft equipment includes clamping device, connector and the first synchronous pulley, the second synchronous pulley, third synchronous pulley；
Third synchronous pulley connects the shaft rotating motor of the moving parts, same by third synchronous pulley drive described second
Walk belt wheel and first synchronous pulley；
First synchronous pulley connects swingle with clamping device by connector, so that shaft rotating motor driving swingle turns
It is dynamic.
10. system according to claim 1, which is characterized in that the control assembly further includes monitoring module, the monitoring
Module includes monitor component and positioning component, and the monitor component is used to monitor the rotary shaft equipment in the rotary components；Institute
Positioning component is stated for monitoring the spray head connector in the ejection assemblies.
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| CN201811382079.3A CN109366972A (en) | 2018-11-20 | 2018-11-20 | 3D biological printing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811382079.3A CN109366972A (en) | 2018-11-20 | 2018-11-20 | 3D biological printing system |
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| CN110039774A (en) * | 2019-05-24 | 2019-07-23 | 杭州捷诺飞生物科技股份有限公司 | 3D printer and its Method of printing |
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