CN110356000A - A kind of biology 3D printer - Google Patents
A kind of biology 3D printer Download PDFInfo
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- CN110356000A CN110356000A CN201910581415.5A CN201910581415A CN110356000A CN 110356000 A CN110356000 A CN 110356000A CN 201910581415 A CN201910581415 A CN 201910581415A CN 110356000 A CN110356000 A CN 110356000A
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- objective table
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- mobile unit
- forming module
- sla
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- 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
- B29C64/171—Processes of additive manufacturing specially adapted for manufacturing multiple 3D objects
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- 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
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- 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
- B33Y10/00—Processes of additive manufacturing
-
- 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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
A kind of biology 3D printer, including pedestal, pedestal are equipped with descending manner SLA forming module, extruded type forming module；SLA forming module and extruded type forming module share objective table, and objective table is connected with objective table actuator；SLA forming module includes light source and liquid bath, and objective table actuator includes lifting motor and linking arm, and interconnecting piece is fixed with objective table；Extruded type forming module includes squeezing out barrel and extrusion control device.It is an advantage of the invention that realizing the 3D molding of the complex-curved hollow structure of automation using the automatic switchover of extruded type print module SLA forming module.
Description
Technical field
The present invention relates to it is a kind of can precise forming provide the 3D printing method and printing of complex-curved hollow structure
Machine.
Background technique
With the development of Biotechnology, 3D printing technique has become histoorgan reparation, transplanting and major disease
One for the treatment of, the important method of research.Cornea, atrium, glomerulus, ovary etc. are all to have complex-curved hollow structure, with
Illustrate for cornea.
Corneal transplantation donor shortage is the significant challenge of blind therapy field in the world, and wherein China is just more than 5,000,000, and
And the annual new trouble of at least increase by 100,000, wherein 94.7% corneal blindness patient can be restored by corneal transplant, but annual donor
Donation is only capable of maintaining 5000 transplantations of the moon.Donor wretched insufficiency causes cornea patient growing day by day, therefore, cornea external biological
Research on Manufacturing Method needs to be broken through.The methods of traditional organizational project, de- cell are due to being difficult to realize accurate multi-layer forming, diopter
Uncontrollable and function difference is not used widely always.
Cornea is wall of eyeball outer layer transparent front part, and structure is mainly protected and dioptric function as shown in Figure 1, undertaking human eye
Can (cornea refractive function account for total dioptric power 70 ~ 75%), dioptric function mainly joins with the patterns such as shape, curvature, the thickness of cornea
Number is related, and corneal injury will lead to corneal blindness, and pattern control is bad to be easy to produce a variety of disease of cornea such as ametropia, astigmatism.
Therefore, what diopter was controllable customizes the optical function of cornea substitute ability effective guarantee cornea.The external structure of cornea substitute
Build and mainly constructed according to its structure and ametropia characteristic, cornea be divided into 5 layers: epithelium layer, Bowman layers, hypothallus,
Descemet film, endothelial layer.Epithelial layer has 3 ~ 5 layers of epithelial cell, plays the role of protecting internal structure, hypothallus accounts for angle
The 90% of film overall thickness is made of keratocyte and high grade of transparency collagen plate layer, the transparency of cornea, the integrality of shape,
Thickness and radius of curvature are to influence the key factor of cornea refractive ability.
Traditional cornea substitute manufacturing method is broadly divided into two classes, non-biological prostheses mechanical processing method, biomembrane class cell
With organizational project the preparation method.Non-biological prostheses mechanical processing method is manufactured using nondegradable non-biological material, is divided into optical frames
Column and bracket two parts, central optical mirror column require good in optical property, provide eye view optical channel, are often clear plastic articles, nothing
Method dioptric, bracket are mainly used to fix optical component, combine with receptor tissue, generally use metal or autologous bone.Prosthese portion
Divide and relies primarily on machining process preparation, it can be achieved that certain optical function, prepares according to unified parameters at present, due to using
Hard material cause autologous tissue generate be seriously worn, transfer operation process is extremely complex, postoperative limited view, can not with it is self
Tissue combines, and appearance is very undesirable, is only applicable to terminal phase cornea patient.The boss that the scholars such as Dohlman report for the first time
The type corneal prostheses that pause are combined with polymethyl methacrylate (PMMA) mirror column and titanium backboard bracket, mirror column and bracket combination class
Like nut, however this method generally produces micro gap, is easy to cause postoperative infection.The scholars such as Strampelli report for the first time
Bone-cornea flap prosthese Optical Cylinder is supported with the root of the tooth of patient itself and alveolar bone, need to perform the operation and take autologous tissue, make
Preparation Method is extremely complex.Therefore, corneal prostheses limitation is very big, it is difficult to promote.
Biomembrane class the preparation method generallys use biomaterial, close to natural cornea, but since membrane structure goes the ability of strolling can not
Control.The method of conventional organization engineering is primarily present following problems: 1, plane membrane structure, and variable curvature curved surface pattern is difficult to accurately control
System is only capable of obtaining the plane cornea for having certain light transmittance, can not provide any refractive power；It is applied in clinic, is only trouble
Person provides light, can not provide clearly vision.2, animal corneal cast-off cells matrix: preparation process is difficult to remove completely toxic
Reagent has rejection, and its structure can not be exactly matched with receptor eyeball, lead to refractive problem.3, preparation process is multiple
It is miscellaneous, the period is long, it is difficult to according to individual varying topography customization, comfort level it is poor.
Summary of the invention
The purpose of the present invention is to provide the biological 3D printing methods that one kind can produce complex-curved hollow structure, should
Method of printing first produces bed die, and bed die has complex-curved；Liquid phase bio-ink is coated in bed die surface again, makes bio-ink
Solidification is obtained with complex-curved hollow structure.The inner surface of hollow structure and the outer surface of bed die coincide, and are forming
When hollow structure, bed die plays a supporting role to bio-ink, therefore spherical shell will not collapse, and has accurate curved form
Shape.The present invention also provides a kind of 3D printers for being able to achieve above-mentioned Method of printing.
The first aspect of the present invention, provide one kind can high efficiency realize personalized customization printing have it is complex-curved hollow
The biological tissue of structure, the 3D printing method of complex-curved curvature-adjustable.
The 3D printing method of complex-curved hollow structure, comprising the following steps:
Step 1, the mathematical model for establishing bed die, make the physical model of bed die；
Step 2, on the surface of the mathematical model of bed die, obtain the mathematical model of part to be formed；
Step 3, treat molded part mathematical model carry out 3D printing path planning, using extruded type with the forming surface of bed die be branch
It supports, carry out increasing material printing.Extruded type printing obtains part physical model to be formed, the bottom surface of part physical model to be formed and bed die
Forming surface is coincide, and is complex-curved.
As a preferred option, in step 1, bed die is the eyeball of patient, obtains the eye data of patient, reconstruction patients
Eyeball phantom, the eyeball phantom have the face being bonded with cornea, mathematical model of the eyeball phantom as bed die；
In step 2, part to be formed is cornea, and the parameter of cornea includes the radius of curvature and thickness of cornea；Corneal parameters can be
It is obtained by the statistical data of natural person's cornea.
Bed die is hemispherical, and the bottom surface of bed die is plane, and the face being bonded with cornea is located at the top of bed die.
As a preferred option, in step 1, the physical model of DLP method of forming production bed die is used；In step 2, using crowded
Method forms part to be formed out；After completing the physical model production of bed die, the extrusion barrel of extrusion molding and bed die physical model into
Cheng Yici is to knife, and the bed die physical model of extrusion molding and the coordinate system of bed die physical model in the DLP method of forming are unified, syringe alignment
The start position of extrusion molding forming.
The DLP method of forming uses upper hoisting type, and under liquid bath, the objective table for loading physical model is located in liquid bath light source,
In DLP forming process, objective table step-by-step movement rises, and rises a thickness every time；The DLP method of forming and extrusion molding share a loading
The barrel of platform, extrusion molding is located on liquid bath；After the completion of bed die printing, objective table rises to disengaging liquid bath, and objective table turns over later
Turn 180 °, towards the barrel of extrusion molding, objective table rotation front and back, the center of objective table are constant.
The center of DLP light source is directed at objective table center, and the extrusion path center of extrusion molding is overlapped with objective table center.
In step 2, use biodegradable material as bio-ink.
In step 2, the mathematical model surface of cornea is divided into 4 parts, and first part is cornea optical axis centre radius 2mm
Border circular areas, which is less than 0.25D, and thickness is uniform；Second part is other central area, and other central area is
The annular region of 2 ~ 4mm of elongation film optical axis centre radius, the radius of curvature of other central area is gradually increased from inside to outside, from center
Spherical surface is smoothly transitted into edge class plane；Part III is peripheral region, and peripheral region is 4 ~ 5mm's of elongation film optical axis centre radius
Annular region, peripheral region are approach flat horizontal surface；Part IV is corneal limbus area, and corneal limbus area is the annular that cornea is transitioned into sclera
Region, the thickness in corneal limbus area is from peripheral region to the smooth and uniform transition of sclera.
The second aspect of the present invention is, and it is an object of the present invention to provide one kind produces surface flatness precision height, by continuously squeezing out
The good extruded type cornea Method of printing of the cornea continuity that drop prints.
This programme is fixed using bed die, is squeezed out barrel with respect to the mode that bed die moves, is completed the drop being extruded and bed die
Between relative displacement, realize drop spin coating.Drop is continuously extruded, and is coated in the surface of bed die.Squeeze out the movement speed of barrel
Faster, then the film thickness that spin coating is formed is smaller.The movement speed for squeezing out barrel is slower, then the film thickness that spin coating is formed is bigger.Cause
This, control squeeze out barrel movement velocity and or squeeze out drop amount, that is, can control the thickness of part to be formed.
As a preferred option, liquid bio ink is coated in by bed die surface using liquid phase spin-coating method, bio-ink is being squeezed
When out in liquid range.Bio-ink uses existing printed material.
Part model to be formed is sliced along short transverse, and squeezing out barrel in the path of each thickness is a complete circle.
It squeezes out barrel and only walks a circular trace in each layer, after drop is extruded, be coated in bed die surface, it is right in each layer to squeeze out barrel
Bed die coats a circle liquid material.The center of circle of print path is the center of bed die.
To be protected from light printing or feux rouges printing environment in liquid phase spin coating process, after spin coating, to the biology being coated on bed die
Ink carries out photocuring.
It squeezes out in print procedure, the temperature of objective table is within the scope of the liquidus temperature of bio-ink, but is lower than extruded stock
The temperature of bio-ink in cylinder.Only need on the objective table of extruded type printer have temperature control mechanism, can be realized to objective table,
The temperature of bed die and the bio-ink being spin-coated on bed die controls.
Bio-ink keeps liquid phase state in barrel, after being spun on bed die with liquid phase, to avoid droplets from gravity
Therefore acting on lower flow down makes the temperature of objective table lower than the temperature for squeezing out barrel, to improve the viscosity of bio-ink.
But in order to make the bio-ink natural fusion between adjacent layer, and need to make the bio-ink on bed die to keep liquid phase, therefore carry
The temperature of object platform will be within the scope of the liquidus temperature of bio-ink, but to be lower than the temperature for squeezing out barrel.
In order to realize above-mentioned Method of printing, it is desirable to provide a kind of 3D printer.There are two impression blocks for this 3D printer tool
Block, a module are used for forming bottom die, another module is for be formed part of the molding with hollow structure on bed die.
A kind of 3D printer, including pedestal, are arranged bottom modeling module and part forming module to be printed on pedestal, bed die at
Pattern block and extruded type forming module share an objective table, and bottom modeling module and extruded type forming module have objective table
Working face the switching mechanism of extruded type forming module is transformed into from bottom modeling module.
Bottom modeling module can be liquid tank type photocuring 3D printing, e.g., liquid bath under, light source is in upper SLA shaping mould
Block；Alternatively, DLP forming module of the liquid bath in upper, light source under；Either extruded type print module.
Bottom modeling module and part model to be formed are located on the same pedestal, and use the same objective table, pass through
The coordinate system fusion or calibration that two forming modules are realized to the position switching of objective table, can make two forming modules be in same
Under one world coordinate system；Realize the fusion of bed die data model and part data model to be printed.
The third aspect of the present invention is, and it is an object of the present invention to provide a kind of realize bottom modeling with DLP Stereolithography mode, with squeezing
Printing type realizes molding of the part to be printed on bed die out, so that realizing has complex-curved hollow structure rapid shaping
3D printer.
A kind of biology 3D printer, including pedestal, pedestal are equipped with upper hoisting type DLP forming module, extruded type shaping mould
Block, objective table and objective table actuator, DLP forming module is under, and extruded type forming module is upper；DLP forming module includes light
Source and liquid bath, extruded type forming module include squeezing out barrel and extrusion control mechanism；DLP forming module and extruded type forming module
Objective table is shared, objective table actuator includes lifting mechanism for objective table and makes the working face of objective table from towards DLP forming module
Light source be turned to for squeeze out barrel objective table rotating mechanism.Objective table rotating mechanism realize from DLP forming module to squeeze
The switching of formula forming module out.
The objective table centering after objective table and overturning before overturning.Using the working face of objective table as XOY plane, with loading
Platform squeezes out the lifting direction of barrel as Z axis, the shared objective table of DLP molding and extrusion molding, the loading before overturning
When objective table centering after platform and overturning, DLP forming module and extrusion molding module X-axis are consistent with Y-axis, two forming modules
Z axis is located along the same line, and only Z-direction and coordinate value changes.Therefore, when squeezing out the path planning of printing, energy
The enough three-dimensional data information for directly using DLP forming module, realizes the printing shaping twice of bed die and part to be formed.
The DLP forming module of upper hoisting type objective table, for light source below liquid bath, the work of objective table is face-down；With the side DLP
Formula completes bed die printing, and objective table is then made upward, to make bed die towards extrusion barrel with bed die overturning.It squeezes out barrel and carries out one
It is secondary to knife, extrusion printing can be carried out.
As a preferred option, DLP light source and liquid bath bracket are fixed on pedestal, and liquid bath is fixed on liquid bath bracket, DLP light
Source is set under liquid bath, and the bottom plate of liquid bath is light-transmitting plate；When printer is started to work, objective table is located in liquid bath.DLP light source
Reflecting mirror is set between liquid bath, and the light of DLP source alignment reflecting mirror, the output of reflecting mirror is directed at liquid bath.In this way, by anti-
Mirror is penetrated to change the optical path of DLP light source, make to reduce the height space that DLP light source occupies.
Pedestal is equipped with three axial translation mechanisms, and three axial translation mechanisms include X axis mobile unit, and Y-axis is mobile single
To mobile unit, each mobile unit includes respective driving motor and transmission mechanism for member and Z axis, squeezes out barrel and is set to Z axis
To in mobile unit, Z axis is connected with X axis mobile unit, Y-axis mobile unit simultaneously to mobile unit.
Z axis is realized to mobile unit squeezes out barrel in the switching of slicing layer, X axis mobile unit and Y-axis mobile unit
It realizes and squeezes out barrel in the movement of the arbitrary point of current slice layer, complete circular trace printing.Transmission mechanism is leadscrew-nut mechanism,
Driving motor is connected with lead screw, and nut is connected with movable block, and movable block is equipped with the locating part of limitation movable block rotational freedom.
Lead screw rotation, nut is existing structure along the mechanism that lead screw moves axially.
Pedestal is equipped with the longitudinal framing of short transverse and horizontally transverse frame, transverse frame are set to longitudinal framing
Top；X axis mobile unit is set in transverse frame, and Y-axis mobile unit is set in longitudinal framing.The work of objective table
It is either parallel with XOY plane that face is located at XOY plane, X axis and Y-axis be it is opposite, one of direction is X axis, then
Orthogonal axial direction is exactly Y-axis.
Lifting mechanism for objective table is installed in longitudinal framing, lifting mechanism for objective table include lifting motor, transmission mechanism and
Connect the linking arm of objective table.Transmission mechanism is leadscrew-nut mechanism, and nut is axially put down by limitation rotational freedom, only along lead screw
It moves, nut is fixed with linking arm.Other forms, such as rack-and-pinion, guide rail slide block mode also can be used in transmission mechanism, as long as
The power of lifting motor can be converted to the lifting of objective table.The linking arm of objective table has a pair, and linking arm is symmetrically
It is set to objective table two sides.Two linking arms connect objective table simultaneously, make objective table uniform force, and position is stablized.
Z axis has Z axis bracket to mobile unit, and Z axis is respectively arranged at driving motor from Z to mobile unit and transmission mechanism
On bracing strut, Z axis bracket is connected with the nut of the nut of X axis mobile unit and Y-axis mobile unit simultaneously.As a result, Z axis to
Mobile unit can be realized in the migration of the arbitrary point position of XOY plane.
The first overturning structure qualification of objective table:
As a preferred option, the torsion shaft of objective table is the middle line of objective table.It is overturn by shaft of the middle line of objective table, it is required
Overturning space it is minimum.
Rotating electric machine is fixed on one of linking arm, the output shaft of rotating electric machine is fixed with objective table and is directed at loading
The middle line of platform；Rotation fulcrum is set between another linking arm and objective table.In this case, rotating electric machine is arranged in objective table
Except, objective table can be made thin plate, and rotating electric machine needs are hermetically sealed, do water-proofing treatment.Rotating electric machine is fixed with linking arm,
The output shaft band dynamic object stage of rotating electric machine is rotated relative to linking arm, realizes the overturning of objective table.Rotation fulcrum has bearing.
Alternatively, objective table includes the shell with sealing inner cavity, the upper surface of shell is working face；Interior intracavitary fixed rotation
Shaft is arranged in motor, objective table, and shaft is located on the central axes of objective table；Rotating electric machine passes through rotating actuator and shaft phase
Even, the both ends of shaft are fixed respectively at linking arm.Rotating electric machine is fixed with objective table, and shaft is fixed with linking arm, rotating electric machine
When output torque, shaft is fixed, and rotating electric machine rotates around the axis with objective table, realizes the overturning of objective table.The temperature of objective table
Control module also can be set in the inner cavity of the sealing.Rotating electric machine is encapsulated in carrier interior, and shaft is motionless, easy to accomplish
The waterproof enclosure of objective table.But the moment of torsion of rotating electric machine output is bigger than scheme of the rotating electric machine outside objective table.
Second of overturning mode of objective table is objective table a little overturning on support arm, second of overturning knot of objective table
Structure limits:
As a preferred option, rotating electric machine, the electricity of rotating electric machine are set between linking arm and the nut of lifting of object loading table device
Base is fixed with nut, and output shaft and the linking arm of rotating electric machine are fixed.This mode also may be implemented the positive and negative of objective table and turn over
Turn, but it is big in the scheme of midline position to be needed overturning space and torsion shaft.Needing, which makes objective table rise to bed die, is higher than
Behind the position of liquid bath, overturning just can be carried out.
Alternatively, the front of objective table is working face, the back side of objective table is equipped with rotating electric machine, and objective table two sides are equipped with connection
Side plate, the corresponding linking arm of each connecting lateral plate, rotating electric machine are set between connecting lateral plate and linking arm；Rotating electric machine
When motor cabinet and fixed linking arm, output shaft is fixed with objective table；When the motor cabinet and connecting lateral plate of rotating electric machine are fixed, output
Axis is fixed with linking arm.The extending direction of connecting lateral plate is the extension of rearwardly direction.This scheme rotating electric machine can be arranged
In the liquid level position for being higher than liquid bath, rotating electric machine do not immerse in liquid bath, makes objective table with the rotation of connecting lateral plate radius, compare with
Connecting support arm is the scheme of radius rotation, and space needed for objective table overturning reduces.
Linking arm is equipped with through-hole with the motor cabinet clearance fit of rotating electric machine, and motor cavity is in through-hole, in through-hole
Swivel bearing is set.In this way, can use the motor cabinet of rotating electric machine to support the weight of objective table and linking arm, make to revolve
The output shaft of rotating motor is solely subjected to rotating torque, is not subject to the shearing moment of gravity direction.
The fourth aspect of the present invention is, and it is an object of the present invention to provide a kind of realize bottom modeling with SLA Stereolithography mode, with squeezing
Printing type realizes molding of the part to be printed on bed die out, so that realizing has complex-curved hollow structure rapid shaping
3D printer.
As a preferred option, a kind of biological 3D printer, including pedestal, pedestal be equipped with descending manner SLA forming module,
Extruded type forming module；SLA forming module and extruded type forming module share objective table, objective table and objective table actuator phase
Even；SLA forming module includes light source and liquid bath, and objective table actuator includes lifting motor and linking arm, interconnecting piece and objective table
It is fixed；Extruded type forming module includes squeezing out barrel and squeezing out control device, after SLA forming module completes print out task, is squeezed out
Formula forming module is opened；When in SLA print procedure, light source is fixed, objective table step-by-step movement declines；In extruded type print procedure
When, objective table is fixed, and barrel displacement is squeezed out.
SLA molding mode is light source upper, and objective table is under, photocuring 3D printing mode that objective table step-by-step movement moves down；
Objective table immerses in liquid bath, and the liquid thickness on objective table is a molding thickness.SLA forming module and extrusion molding module are total
It is shared with the XOY plane of an objective table, two forming modules, the Z axis of SLA light source is parallel with the Z axis of barrel is squeezed out, and two kinds are beaten
India side formula is when switching over, it is only necessary to once make to knife the Z axis of SLA light source and squeeze out the Z axis of barrel be overlapped can will
The coordinate system of two kinds of printing models is unified.
SLA light source is point light source, squeezes out barrel outside the irradiation area of point light source.Therefore, under SLA printing model, light source
The feed liquid that squeezed out in barrel will not be caused to solidify.
Pedestal is equipped with three axial translation mechanisms, and three axial translation mechanisms include X axis mobile unit, and Y-axis is mobile single
To mobile unit, each mobile unit includes respective driving motor and transmission mechanism for member and Z axis, Z axis to mobile unit simultaneously
It is connected with X axis mobile unit, Y-axis mobile unit；SLA light source and extrusion barrel are mounted on Z axis to mobile unit.SLA
Light source and extrusion barrel are relatively fixed, that is to say, that the distance between the Z axis of SLA light source and the Z axis for squeezing out barrel are it is known that only
Needing to do fine tuning can be realized the coordinate system unification of two kinds of printing types.
Lifting mechanism for objective table is installed in longitudinal framing, lifting mechanism for objective table include lifting motor, transmission mechanism and
Connect the linking arm of objective table.Transmission mechanism is leadscrew-nut mechanism, and nut is axially put down by limitation rotational freedom, only along lead screw
It moves, nut is fixed with linking arm.Other forms, such as rack-and-pinion, guide rail slide block mode also can be used in transmission mechanism, as long as
The power of lifting motor can be converted to the lifting of objective table.
The linking arm of objective table has a pair, and linking arm is symmetrically disposed on objective table two sides, sets on one of linking arm
Lifting motor is set, another linking arm is driven member.Two linking arms connect objective table simultaneously, make objective table uniform force, position
Set stabilization.Alternatively, only one linking arm of objective table, linking arm are fixed on objective table side, have between linking arm and objective table
Ribs.As long as the rigidity of the coupling stiffness of linking arm and objective table, objective table itself is enough, it is also able to achieve the stabilization of objective table
Lifting, reaches objective table displacement accuracy required for 3D printing.
Z axis has Z axis bracket to mobile unit, and Z axis is respectively arranged at driving motor from Z to mobile unit and transmission mechanism
On bracing strut, Z axis bracket is connected with the nut of the nut of X axis mobile unit and Y-axis mobile unit simultaneously；Transmission mechanism is
The leadscrew-nut mechanism of lead screw rotation, nut translation, squeezes out barrel and SLA light source is fixed on Z axis on the nut of mobile unit.
Z axis can be realized to mobile unit in the migration of the arbitrary point position of XOY plane as a result,.
Using SLA objective table descending manner printing model combination extruded type printing model, light source and extrusion barrel are respectively positioned on load
On object platform, it is only necessary to which the fusion of two kinds of printing models can be realized in the position for adjusting Z axis, simplifies to knife, objective table and loading
The structure of platform elevating mechanism simplifies.
The fifth aspect of the present invention, and it is an object of the present invention to provide a kind of inkjet printing mode to produce surface flatness precision high,
The good extruded type cornea Method of printing of the cornea continuity printed.
As a preferred option, using inkjet printing by liquid bio emitting ink in bed die surface, the spray of inkjet printing
Head sprays nano-liquid droplet to bed die, and the ink-jet range of spray head is fixed value.The jeting area of the spray head of inkjet printing is appointed in printing
Business just immobilizes after mixing up before starting.
Part to be formed thickness direction to it is complex-curved carry out layering form the identical surface model of multi-layered thickness, each layer
The thickness with a thickness of nano-liquid droplet when inkjet printing of surface model；Each layer of surface model is sliced, the thickness of slice
For the effective height of nano-liquid droplet covering；It is a circle that barrel, which is squeezed out, in the path of each slicing layer.In spraying, ink-jet spray
Head sequentially completes the printing of each layer of surface model from inside to outside, and spray head is carried out according to the slice path of each layer of surface model
Displacement.
To be protected from light printing or feux rouges printing environment in liquid phase spin coating process, after ink-jet, to the bio-ink on bed die
Carry out photocuring.
It squeezes out in print procedure, the temperature of objective table is within the scope of the liquidus temperature of bio-ink, but is lower than extruded stock
The temperature of bio-ink in cylinder.Only need on the objective table of extruded type printer have temperature control mechanism, can be realized to objective table,
The temperature of bed die and the bio-ink being spin-coated on bed die controls.
It is an advantage of the current invention that passing through the combination of two kinds of printing models, first mold with complex-curved bed die, bottom
Mould is solid member, therefore can accurately control its surface parameter, such as curvature, then using bed die as substrate, bent in the complexity of bed die
It is molded on face and the complex-curved part to be printed being bonded.It is support with bed die, answering for bed die is coated in the bio-ink of liquid phase
The mode of miscellaneous curved surface realizes the increasing material of part to be formed, and the characteristic for flowing and merging using the liquid phase of bio-ink utilizes liquid level
Power realizes that the natural fusion of the bio-ink of each slicing layer or thick layer, quick Fabrication go out surface flatness height, diopter essence
It is really controllable, there is stable complex-curved hollow structure.
Detailed description of the invention
Fig. 1 is the schematic diagram of cornea.
Fig. 2 is the schematic diagram of the first 3D printer of DLP molding compound extrusion moulding mode.
Fig. 3 is the position view of DLP molding light source and liquid bath.
Fig. 4 is the position view of the first 3D printer squeezed out between barrel and objective table.
Fig. 5 is the structural schematic diagram of objective table.
Fig. 6 is the schematic diagram of three axial translation mechanisms.
Fig. 7 is the schematic diagram of second of 3D printer of SLA molding compound extrusion moulding mode.
Fig. 8 is the position view of SLA molding light source and liquid bath.
Fig. 9 is the position view between SLA light source and extrusion barrel.
Specific embodiment
Structure of the present invention or technical term used in these are described further below, if without spy
It does not indicate, general according to this field is typically belonged to be understood and explained.
Molding
DLP is the abbreviation of Digital Light Processing, i.e. optical digital computing, and this technology will be first influence signal
It is projected by digital processing, then light.As shown in figure 3, DLP molding described herein refer to DLP projector to
Light-sensitive material irradiation light, objective table 2 immerse in the liquid bath 3 equipped with light-sensitive material, form or polymerize a flood figure every time
Printing type.DLP molding mode herein is using hoisting type stepping on objective table 2.But when DLP light source 4 is set to objective table 2
On when, can use 2 descending manner driving objective table of objective table, 2 stepping, realize 3D printing when increasing material.
SLA molding
SLA is writing a Chinese character in simplified form for Stereolithography, is that laser is passed through to 5 detector of the reflecting mirror deflection irradiation fast moved
To point appropriate, fixed point induction light-sensitive material polymerization, molding mode is the shape and image for completing a layer specific from point to surface
Building after, as shown in figure 8, one thickness of stepping again of objective table 2, realizes the solidification of next slicing layer.Herein in detail
The SLA molding mode of record is using SLA light source 4 in upper, 2 descending manner stepping of objective table.But scheme herein similarly can be with
Using SLA light source 4 under, 2 ascending manner stepping of objective table, it is only necessary to change the position of SLA light source 4.
Extruded type molding
It is extruded into pattern and passes through the cross sectional information for reading the different thickness of part to be formed, it is transversal to these with liquid material
The layer-by-layer increasing material in face realizes successively printing, and an entity is produced in such a way that each layer cross section stacks.Extruded type herein at
Type squeezes out light-sensitive material in droplets, realizes the increasing material to each slicing layer.
Inkjet printing molding
Liquid light-sensitive material mirror nozzle is become into nanoparticle when inkjet printing or nano particle is sprayed on carrier and (is herein
Bed die), the spray range and coating thickness of spray head can be obtained by limited trials.
Bio-ink
In the present invention bio-ink or light-sensitive material refer to a kind of material for being processed by printer or
Person's mixture.When being processed with 3D printer of the invention, existing some biomaterials can be used for
Printing.For example, many materials include natural polymer: collagen, silk fiber, gelatin, alginate and synthetic polymer: poly- second two
Alcohol (PEG) or their any one mixing can be used for printer of the invention and be processed.These beat as biology 3D
The material of print, also referred to as " bio-ink ".Although material itself belongs to traditional material, it can all use and be beaten by of the invention
Printing apparatus and method are printed.
The 3D printing method of complex-curved hollow structure
In biological 3D printing field, there are many biological structures that there is complex-curved hollow structure, as cornea A, atrium, kidney are small
Ball, ovary etc. are all to have complex-curved hollow structure, and conventional Method of printing can not accurately mold these hollow knots
Structure, and will appear the problem of tissue collapses in print procedure.Accordingly, it is desirable to provide one kind being capable of high efficiency realization personalization
Customizing print has the biological tissue of complex-curved hollow structure, the 3D printing method of complex-curved curvature-adjustable.
The 3D printing method of complex-curved hollow structure, comprising the following steps:
Step 1, the mathematical model for establishing bed die, make the physical model of bed die；
Step 2, on the surface of the mathematical model of bed die, obtain the mathematical model of part to be formed；
Step 3, treat molded part mathematical model carry out 3D printing path planning, using extruded type with the forming surface of bed die be branch
It supports, carry out increasing material printing；.
In some embodiments, in step 1, bed die is the eyeball of patient, obtains the eye data of patient, reconstruction patients
Eyeball phantom, the eyeball phantom have the face being bonded with cornea A, mathematical model of the eyeball phantom as bed die；
In step 2, part to be formed is cornea A, and the parameter of cornea A includes the radius of curvature and thickness of cornea A；Cornea A parameter can
Being obtained by the statistical data of natural person's cornea A.
As shown in Figure 1, bed die B is hemispherical, the bottom surface of bed die B is plane, and the face being bonded with cornea A is located at bed die B's
Top.
In step 1, the physical model of DLP method of forming production bed die B is used；In step 2, formed using extrusion molding to be formed
Part；After completing the physical model production of bed die B, the extrusion barrel 7 of extrusion molding and bed die B entity model process successively to knife,
The coordinate system of bed die B entity model is unified in the bed die B entity model of extrusion molding and the DLP method of forming, syringe be aligned extrusion molding at
The start position of shape.
The DLP method of forming uses upper hoisting type, as shown in figure 3, light source 4 under liquid bath 3, loads the objective table of physical model
2 are located in liquid bath 3, and in DLP forming process, 2 step-by-step movement of objective table rises, and rise a thickness every time；The DLP method of forming and extrusion
Method shares an objective table 2, and the barrel of extrusion molding is located on liquid bath 3；After the completion of bed die B printing, objective table 2 rises to disengaging
Liquid bath 3, objective table 2 overturns 180 °, towards the barrel of extrusion molding later, before and after 2 rotation of objective table, the center of objective table 2
It is constant.
The center of DLP light source 4 is directed at 2 center of objective table, and the extrusion path center of extrusion molding is overlapped with 2 center of objective table.
In step 2, use biodegradable material as bio-ink.
In step 2, the mathematical model surface of cornea A is divided into 4 parts, and first part is cornea A optical axis centre radius
The border circular areas of 2mm, the region Curvature varying range are less than 0.25D, and thickness is uniform；Second part is other central area, other center
Area is the annular region of 2 ~ 4mm of elongation film A optical axis centre radius, and the radius of curvature of other central area is gradually increased from inside to outside,
Edge class plane is smoothly transitted into from astrosphere face；Part III is peripheral region, and peripheral region is elongation film A optical axis centre radius
The annular region of 4 ~ 5mm, peripheral region are approach flat horizontal surface；Part IV is cornea A edge area, and cornea A edge area is that cornea A is transitioned into
The annular region of sclera, the thickness in cornea A edge area is from peripheral region to the smooth and uniform transition of sclera.
Spin-coating method squeezes out printing
This programme is fixed using bed die B, as shown in figures 4 and 9, is squeezed out mode of the barrel 7 with respect to bed die B movement, is completed to be squeezed
Drop spin coating is realized in the relative displacement between drop and bed die B out.Drop is continuously extruded, and is coated in the surface of bed die B.It squeezes
The movement speed of discharge barrel 7 is faster, then the film thickness that spin coating is formed is smaller.The movement speed for squeezing out barrel 7 is slower, then spin coating shape
At film thickness it is bigger.Therefore, control squeeze out barrel 7 movement velocity and or squeeze out drop amount, that is, can control part to be formed
Thickness.
In some embodiments, liquid bio ink is coated in by bed die B surface using liquid phase spin-coating method, bio-ink is being squeezed
When out in liquid range.Bio-ink uses existing printed material.
Part model to be formed is sliced along short transverse, as shown in figures 4 and 9, squeezes out barrel 7 in the path of each thickness
For a complete circle.It squeezes out barrel 7 and only walks a circular trace in each layer, after drop is extruded, be coated in bed die B surface,
It squeezes out barrel 7 and one circle liquid material is coated to bed die B in each layer.The center of circle of print path is the center of bed die B.
To be protected from light printing or feux rouges printing environment in liquid phase spin coating process, after spin coating, to the biology being coated on bed die B
Ink carries out photocuring.
It squeezes out in print procedure, as shown in figure 5, the temperature of objective table 2 is within the scope of the liquidus temperature of bio-ink, but
Lower than the temperature for squeezing out bio-ink in barrel 7.It only needs that there is temperature control mechanism on the objective table 2 of extruded type printer
It realizes and the temperature of objective table 2, bed die B and the bio-ink being spin-coated on bed die B is controlled.
Bio-ink keeps liquid phase state in barrel, after being spun on bed die B with liquid phase, to avoid droplets from gravity
Lower flow down is acted on, therefore, makes the temperature of objective table 2 lower than the temperature of barrel 7 is squeezed out, to improve the viscous of bio-ink
Degree.But in order to make the bio-ink natural fusion between adjacent layer, and need to make the bio-ink on bed die B to keep liquid phase, because
The temperature of this objective table 2 will be within the scope of the liquidus temperature of bio-ink, but to be lower than the temperature for squeezing out barrel 7.
3D printer
In order to realize above-mentioned Method of printing, it is desirable to provide a kind of 3D printer.This 3D printer tool is there are two print module, and one
A module is used for forming bottom die B, another module is for be formed part of the molding with hollow structure on bed die B.
Bed die B forming module and part forming module to be printed, bottom are arranged on pedestal 1 for a kind of 3D printer, including pedestal 1
Mould B forming module and extruded type forming module share an objective table 2, and bed die B forming module and extruded type forming module have
The working face of objective table 2 is transformed into the switching mechanism of extruded type forming module from bed die B forming module.
As shown in figure 8, bed die B forming module can be 3 formula photocuring 3D printing of liquid bath, liquid bath 3 under, light source 4 is upper
SLA forming module；As shown in figure 3, alternatively, liquid bath 3 is in DLP forming module upper, that light source 4 is under；Either extruded type is beaten
Impression block.
Bed die B forming module and part model to be formed are located on the same pedestal 1, and use the same objective table 2, lead to
The coordinate system fusion or calibration for realizing two forming modules to the position switching of objective table 2 are crossed, can be made at two forming modules
Under the same world coordinate system；Realize the fusion of bed die B data model and part data model to be printed.
DLP molding and extruded type form compound 3D printer
With DLP Stereolithography mode realize bed die B form, with extrusion printing type realize part to be printed on bed die B at
Type, so that realizing has the 3D printer of complex-curved hollow structure rapid shaping.
As shown in Fig. 2, a kind of biology 3D printer, including pedestal 1, pedestal 1 be equipped with upper hoisting type DLP forming module,
Extruded type forming module, 2 actuator of objective table 2 and objective table, DLP forming module is under, and extruded type forming module is upper；DLP
Forming module includes light source 4 and liquid bath 3, and extruded type forming module includes squeezing out barrel 7 and extrusion control mechanism；DLP shaping mould
Block and extruded type forming module share objective table 2, and 2 actuator of objective table includes 2 elevating mechanism of objective table and the work for making objective table 2
Make face to be turned to from towards the light source 4 of DLP forming module for 2 rotating mechanism of objective table for squeezing out barrel 7.Objective table 2 rotates
Mechanism realizes the switching from DLP forming module to extruded type forming module.
2 centering of objective table after objective table 2 and overturning before overturning.As shown in fig. 6, using the working face of objective table 2 as
XOY plane, using objective table 2 or the lifting direction for squeezing out barrel 7 as Z axis 17, DLP molding and extrusion molding share a loading
Platform 2, when the objective table 2 before overturning and 2 centering of objective table after overturning, 15 He of DLP forming module and extrusion molding module X-axis
Y-axis 16 is consistent, and the Z axis 17 of two forming modules is located along the same line, and only 17 direction of Z axis and coordinate value change.Cause
This, squeeze out printing path planning when, can directly use DLP forming module three-dimensional data information, realize bed die B and to
The printing shaping twice of molded part.
The DLP forming module of upper hoisting type objective table 2, as shown in figure 5, light source 4 is below liquid bath 3, the work of objective table 2
Down；Bed die B printing is completed in a manner of DLP, and objective table 2 is then made upward, to make bed die B towards extrusion with bed die B overturning
Barrel 7.Barrel 7 is squeezed out to carry out that once extrusion printing can be carried out to knife.
In some embodiments, as shown in figure 3, DLP light source 4 and liquid bath bracket 6 are fixed on pedestal 1, liquid bath 3 is fixed on liquid
On slot bracket 6, DLP light source 4 is set under liquid bath 3, and the bottom plate of liquid bath 3 is light-transmitting plate；When printer is started to work, objective table
2 are located in liquid bath 3.As shown in figure 3, reflecting mirror 5 is arranged between DLP light source 4 and liquid bath 3, DLP light source 4 is directed at reflecting mirror 5, instead
Penetrate the light alignment liquid bath 3 of the output of mirror 5.In this way, changing the optical path of DLP light source 4 by reflecting mirror 5, making to reduce DLP light source 4
The height space of occupancy.
Pedestal 1 is equipped with three axial translation mechanisms, as shown in fig. 6, three axial translation mechanisms include that X-axis 15 is single to movement
Member, for Y-axis 16 to mobile unit and Z axis 17 to mobile unit, each mobile unit includes respective driving motor 9 and driver
Structure squeezes out barrel 7 and is set to Z axis 17 in mobile unit, and Z axis 17 is to mobile unit simultaneously with X-axis 15 to mobile unit, Y-axis
16 are connected to mobile unit.
As shown in fig. 6, Z axis 17 is realized to mobile unit squeezes out barrel 7 in the switching of slicing layer, X-axis 15 is to mobile unit
It is realized with Y-axis 16 to mobile unit and squeezes out barrel 7 in the movement of the arbitrary point of current slice layer, complete circular trace printing.Transmission
Mechanism is 10 nut body of lead screw, and driving motor 9 is connected with lead screw 10, and nut is connected with movable block 12, and movable block 12 is equipped with
Limit the locating part of 12 rotational freedom of movable block.Lead screw 10 rotates, and nut is existing knot along the mechanism that lead screw 10 moves axially
Structure.
Pedestal 1 is equipped with the longitudinal framing of short transverse and horizontally transverse frame, transverse frame are set to longitudinal frame
Top of the trellis；X-axis 15 is set in transverse frame to mobile unit, and Y-axis 16 is set in longitudinal framing to mobile unit.Objective table
It is either parallel with XOY plane that 2 working face is located at XOY plane, X-axis 15 to Y-axis 16 to being opposite, one of direction
For X-axis 15 to, then orthogonal axial direction be exactly Y-axis 16 to.
As shown in fig. 6,2 elevating mechanism of objective table is installed in longitudinal framing, 2 elevating mechanism of objective table includes lifting electricity
Machine, transmission mechanism and the linking arm 11 for connecting objective table 2.Transmission mechanism is 10 nut body of lead screw, and nut is rotated certainly by limitation
By degree, only along 10 axial translation of lead screw, nut and linking arm 11 are fixed.Other forms, such as gear also can be used in transmission mechanism
The modes such as rack gear, guide rail slide block, as long as the power of lifting motor can be converted to the lifting of objective table 2.Objective table 2
Linking arm 11 has a pair, and linking arm 11 is symmetrically disposed on 2 two sides of objective table.Two linking arms 11 connect objective table 2 simultaneously, make
2 uniform force of objective table, position are stablized.
Z axis 17 has 17 bracket of Z axis to mobile unit, and Z axis 17 is distinguished to the driving motor 9 and transmission mechanism of mobile unit
Be set on 17 bracket of Z axis, 17 bracket of Z axis simultaneously with nut from X-axis 15 to mobile unit and nut from Y-axis 16 to mobile unit
It is connected.Z axis 17 can be realized to mobile unit in the migration of the arbitrary point position of XOY plane as a result,.
The first overturning structure qualification of objective table 2:
As a preferred option, as shown in figure 5, the torsion shaft of objective table 2 is the middle line of objective table 2.Middle line with objective table 2 is
Shaft overturning, required overturning space are minimum.
As shown in figure 5, rotating electric machine 8 is fixed on one of linking arm 11, the output shaft and objective table 2 of rotating electric machine 8
Middle line that is fixed and being directed at objective table 2；Rotation fulcrum is set between another linking arm and objective table 2.In this case, it revolves
Rotating motor 8 is arranged except objective table 2, and objective table 2 can be made thin plate, and rotating electric machine 8 needs hermetically sealed, does at waterproof
Reason.Rotating electric machine 8 and linking arm 11 are fixed, and the output shaft band dynamic object stage 2 of rotating electric machine 8 is rotated relative to linking arm 11, realize
The overturning of objective table 2.Rotation fulcrum has bearing.
Alternatively, the upper surface of shell is working face as shown in figure 5, objective table 2 includes the shell with sealing inner cavity；It is interior
Shaft is arranged in intracavitary fixed rotating electric machine 8, objective table 2, and shaft is located on the central axes of objective table 2；Rotating electric machine 8 passes through rotation
Transmission mechanism is connected with shaft, and the both ends of shaft are fixed respectively at linking arm 11.Rotating electric machine 8 and objective table 2 are fixed, shaft with
Linking arm 11 is fixed, and when 8 output torque of rotating electric machine, shaft is fixed, and rotating electric machine 8 rotates around the axis with objective table 2, is realized
The overturning of objective table 2.The temperature control module of objective table 2 also can be set in the inner cavity of the sealing.Rotating electric machine 8 is encapsulated in load
Inside object platform 2, shaft is motionless, the waterproof enclosure of objective table 2 easy to accomplish.But the moment of torsion that rotating electric machine 8 exports compares electric rotating
Scheme of the machine 8 outside objective table 2 is bigger.
Second of overturning mode of objective table 2 is a little the overturning on support arm of objective table 2, and second of objective table 2 turns over
Rotation structure limits:
In some embodiments, rotating electric machine 8, rotating electric machine 8 are set between the nut of 2 lifting device of linking arm 11 and objective table
Motor cabinet fixed with nut, the output shaft of rotating electric machine 8 and linking arm 11 are fixed.Objective table 2 also may be implemented in this mode
Positive and negative overturning, but it is big in the scheme of midline position to be needed overturning space and torsion shaft.It needs to rise to objective table 2
After bed die B is higher than the position of liquid bath 3, overturning just can be carried out.
In some embodiments, as shown in figure 5, the front of objective table 2 is working face, the back side of objective table 2 is equipped with rotation
Motor 8,2 two sides of objective table are equipped with connecting lateral plate 13, the corresponding linking arm 11 of each connecting lateral plate 13, and rotating electric machine 8 is arranged
Between connecting lateral plate 13 and linking arm 11；When the motor cabinet and linking arm 11 of rotating electric machine 8 are fixed, output shaft and objective table 2
It is fixed；When the motor cabinet and connecting lateral plate 13 of rotating electric machine 8 are fixed, output shaft and linking arm 11 are fixed.Connecting lateral plate 13 prolongs
Direction is stretched for the extension of rearwardly direction.Rotating electric machine 8 can be positioned above the liquid level position of liquid bath 3 by this scheme, rotation
Motor 8 does not immerse in liquid bath 3, makes objective table 2 with the rotation of 13 radius of connecting lateral plate, compared to what is rotated using connecting support arm as radius
Scheme, objective table 2 overturn required space and reduce.
As shown in figure 5, linking arm 11 is equipped with through-hole with the motor cabinet clearance fit of rotating electric machine 8, motor cavity in
In through-hole, swivel bearing 14 is set in through-hole.In this way, can use the motor cabinet of rotating electric machine 8 to support 2 He of objective table
The weight of linking arm 11 makes the output shaft of rotating electric machine 8 be solely subjected to rotating torque, is not subject to the shearing moment of gravity direction.
SLA forms the molding printer of compound extruded formula
With SLA Stereolithography mode realize bed die B form, with extrusion printing type realize part to be printed on bed die B at
Type, so that realizing has the 3D printer of complex-curved hollow structure rapid shaping.
In some embodiments, a kind of biological 3D printer, as shown in fig. 7, comprises pedestal 1, pedestal 1 is equipped with descending manner
SLA forming module, extruded type forming module；SLA forming module and extruded type forming module share objective table 2, objective table 2 and load
2 actuator of object platform is connected；SLA forming module includes light source 4 and liquid bath 3, and 2 actuator of objective table includes lifting motor and linking arm
11, interconnecting piece and objective table 2 are fixed；Extruded type forming module includes squeezing out barrel 7 and extrusion control device, SLA forming module
After completing print out task, extruded type forming module is opened；When in SLA print procedure, light source 4 is fixed, under 2 step-by-step movement of objective table
Drop；When in extruded type print procedure, objective table 2 is fixed, squeezes out barrel 7 and is displaced.
As shown in figure 8, SLA molding mode is light source 4 upper, for objective table 2 under, the light that 2 step-by-step movement of objective table moves down is solid
Change 3D printing mode；Objective table 2 immerses in liquid bath 3, and the liquid thickness on objective table 2 is a molding thickness.SLA forming module
An objective table 2 is shared with extrusion molding module, the XOY plane of two forming modules shares, the Z axis 17 and extrusion of SLA light source 4
The Z axis 17 of barrel 7 is parallel, and two kinds of printing types are when switching over, it is only necessary to carry out making the Z axis of SLA light source 4 once to knife
17 can be unified by the coordinate system of two kinds of printing models with the coincidence of Z axis 17 for squeezing out barrel 7.
As shown in figure 9, SLA light source 4 is point light source 4, barrel 7 is squeezed out outside the irradiation area of point light source 4.Therefore, SLA is beaten
Under watermark patterns, light source 4 will not cause to solidify to the feed liquid squeezed out in barrel 7.
As shown in fig. 6, pedestal 1 is equipped with three axial translation mechanisms, three axial translation mechanisms include that X-axis 15 is single to movement
Member, for Y-axis 16 to mobile unit and Z axis 17 to mobile unit, each mobile unit includes respective driving motor 9 and driver
Structure, Z axis 17 are connected to mobile unit, Y-axis 16 to mobile unit with X-axis 15 simultaneously to mobile unit；SLA light source 4 and extruded stock
Cylinder 7 is mounted on Z axis 17 to mobile unit.SLA light source 4 and extrusion barrel 7 are relatively fixed, that is to say, that the Z axis of SLA light source 4
Known to the distance between 17 and the Z axis 17 of extrusion barrel 7, it is only necessary to which doing fine tuning can be realized the coordinate system of two kinds of printing types
One.
As shown in figure 8,2 elevating mechanism of objective table is installed in longitudinal framing, 2 elevating mechanism of objective table includes lifting electricity
Machine, transmission mechanism and the linking arm 11 for connecting objective table 2.Transmission mechanism is 10 nut body of lead screw, and nut is rotated certainly by limitation
By degree, only along 10 axial translation of lead screw, nut and linking arm 11 are fixed.Other forms, such as gear also can be used in transmission mechanism
The modes such as rack gear, guide rail slide block, as long as the power of lifting motor can be converted to the lifting of objective table 2.
In some embodiments, the linking arm 11 of objective table 2 has a pair, and linking arm 11 is symmetrically disposed on 2 liang of objective table
Lifting motor is arranged on one of linking arm 11 in side, another linking arm 11 is driven member.Two linking arms 11 connect simultaneously
Objective table 2, makes 2 uniform force of objective table, and position is stablized.
In other embodiments, as shown in figure 8, only one linking arm 11 of objective table 2, linking arm 11 are fixed on load
, there is ribs in 2 side of object platform between linking arm 11 and objective table 2.As long as the coupling stiffness of linking arm 11 and objective table 2, loading
The rigidity of platform 2 itself is enough, and be also able to achieve objective table 2 stablizes lifting, reaches objective table 2 required for 3D printing and is displaced essence
Degree.
Z axis 17 has 17 bracket of Z axis to mobile unit, and Z axis 17 is distinguished to the driving motor 9 and transmission mechanism of mobile unit
Be set on 17 bracket of Z axis, 17 bracket of Z axis simultaneously with nut from X-axis 15 to mobile unit and nut from Y-axis 16 to mobile unit
It is connected；Transmission mechanism is 10 nut body of lead screw of the rotation of lead screw 10, nut translation, squeezes out barrel 7 and SLA light source 4 is fixed on Z
Axis 17 is on the nut of mobile unit.Z axis 17 can be realized to mobile unit in the migration of the arbitrary point position of XOY plane as a result,.
As shown in figure 9, using 2 descending manner printing model combination extruded type printing model of SLA objective table, light source 4 and extrusion
Barrel 7 is respectively positioned on objective table 2, it is only necessary to which the fusion of two kinds of printing models can be realized in the position for adjusting Z axis 17, to knife letter
Change, the structure of 2 elevating mechanism of objective table 2 and objective table simplifies.
The substitution molding inkjet printing methods of extruded type are formed with ink jet type
The 3D printing method of complex-curved hollow structure, comprising the following steps:
Step 1, the mathematical model for establishing bed die B make the physical model of bed die B；
Step 2, on the basis of the mathematical model of bed die B, the mathematical model of part to be formed is obtained with ink-jet molding mode；
Step 3, the mathematical model for treating molded part carry out 3D printing path planning, using the bio-ink of liquid according to print path
Diameter is coated in the forming surface of bed die B；.
Inkjet printing mode produces surface flatness precision height, the good extruded type angle of the cornea A continuity printed
Film A Method of printing.
In some embodiments, using inkjet printing by liquid bio emitting ink in bed die B surface, the spray of inkjet printing
Head sprays nano-liquid droplet to bed die B, and the ink-jet range of spray head is fixed value.The jeting area of the spray head of inkjet printing is appointed in printing
Business just immobilizes after mixing up before starting.
Part to be formed thickness direction to it is complex-curved carry out layering form the identical surface model of multi-layered thickness, each layer
The thickness with a thickness of nano-liquid droplet when inkjet printing of surface model；Each layer of surface model is sliced, the thickness of slice
For the effective height of nano-liquid droplet covering；It is a circle that barrel 7, which is squeezed out, in the path of each slicing layer.In spraying, ink-jet
Spray head sequentially completes the printing of each layer of surface model from inside to outside, spray head according to the slice path of each layer of surface model into
Line position is moved.
To be protected from light printing or feux rouges printing environment in liquid phase spin coating process, after ink-jet, to the bio-ink on bed die B
Carry out photocuring.
It squeezes out in print procedure, the temperature of objective table 2 is within the scope of the liquidus temperature of bio-ink, but is lower than extruded stock
The temperature of bio-ink in cylinder 7.It only needs that there is temperature control mechanism on the objective table 2 of extruded type printer, can be realized to loading
The temperature of platform 2, bed die B and the bio-ink being spin-coated on bed die B controls.
It is an advantage of the current invention that passing through the combination of two kinds of printing models, first mold with complex-curved bed die B,
Bed die B is solid member, therefore can accurately control its surface parameter, such as curvature, then using bed die B as substrate, in answering for bed die B
It is molded on miscellaneous curved surface and the complex-curved part to be printed being bonded.It is support with bed die B, bed die is coated in the bio-ink of liquid phase
The complex-curved mode of B realizes the increasing material of part to be formed, and the characteristic for flowing and merging using the liquid phase of bio-ink utilizes liquid
Face tension realizes that the natural fusion of the bio-ink of each slicing layer or thick layer, quick Fabrication go out surface flatness height, dioptric
Controllable precise is spent, there is stable complex-curved hollow structure.
The all patents and publications mentioned in description of the invention all indicates that these are the public technology of this field, this hair
It is bright to can be used.All patents referred to herein and publication are all equally listed in bibliography, with each publication
It is specifically individually referenced the same.The present invention described here can lack any element or multiple element, and one
It is realized in the case where kind limitation or a variety of limitations, this limitation is not particularly illustrated here.Such as art in each example here
Language "comprising", " essence by ... form " and " by ... form " can be replaced with remaining 2 term of one of both.Here it adopts
Describing mode carried out by terms and expressions mode, and be not limited except as, also indicate that this book is described without any intention here
These terms and explain and eliminate any equivalent feature, but it is recognised that can be in the model of the present invention and claim
Any suitable be altered or modified is done in enclosing.It is appreciated that examples of implementation described in the invention are all some preferred implementations
Example and feature do some changes and change under the marrow that any those of ordinary skill in the art can describe according to the present invention
Change, these changes and variation are recognized as and belong to the scope of the present invention and independent claims and appended claims are limited
In the range of.
Claims (8)
1. a kind of biology 3D printer, including pedestal, it is characterised in that: pedestal is equipped with descending manner SLA forming module, extruded type
Forming module；SLA forming module and extruded type forming module share objective table, and objective table is connected with objective table actuator；SLA at
Pattern block includes light source and liquid bath, and objective table actuator includes lifting motor and linking arm, and interconnecting piece is fixed with objective table；It squeezes out
Formula forming module includes squeezing out barrel and squeezing out control device, after SLA forming module completes print out task, extruded type forming module
It opens；When in SLA print procedure, light source is fixed, objective table step-by-step movement declines；When in extruded type print procedure, objective table
It is fixed, squeeze out barrel displacement.
2. biology 3D printer as described in claim 1, it is characterised in that: SLA light source is point light source, squeezes out barrel in light
Outside the irradiation area in source.
3. biology 3D printer as described in claim 1, it is characterised in that: pedestal is equipped with three axial translation mechanisms, three axis
It include X axis mobile unit, Y-axis mobile unit and Z axis to mobile unit to translation mechanism, each mobile unit includes respective
Driving motor and transmission mechanism, Z axis is connected with X axis mobile unit, Y-axis mobile unit simultaneously to mobile unit；SLA light
Source and extrusion barrel are mounted on Z axis to mobile unit.
4. biology 3D printer as described in claim 1, it is characterised in that: lifting mechanism for objective table is installed on longitudinal framing
Interior, lifting mechanism for objective table includes lifting motor, transmission mechanism and the linking arm for connecting objective table.
5. transmission mechanism is leadscrew-nut mechanism, nut by limitation rotational freedom, only along lead screw axial translation, nut with connect
Arm is fixed.
6. biology 3D printer as claimed in claim 4, it is characterised in that: the linking arm of objective table has a pair, linking arm pair
It is set to objective table two sides with claiming, lifting motor is set on one of linking arm, another linking arm is driven member.
7. biology 3D printer as claimed in claim 4, it is characterised in that: only one linking arm of objective table, linking arm are solid
Due to objective table side, there is ribs between linking arm and objective table.
8. biology 3D printer as claimed in claim 3, it is characterised in that: Z axis has a Z axis bracket to mobile unit, Z axis to
The driving motor and transmission mechanism of mobile unit are respectively arranged on Z axis bracket, Z axis bracket simultaneously with X axis mobile unit
Nut is connected with the nut of Y-axis mobile unit；Transmission mechanism is the leadscrew-nut mechanism of lead screw rotation, nut translation, is squeezed out
Barrel and SLA light source are fixed on Z axis on the nut of mobile unit.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910581415.5A CN110356000B (en) | 2019-06-29 | 2019-06-29 | Biological 3D printer |
| JP2021575985A JP2022541108A (en) | 2019-06-29 | 2020-06-28 | 3D printing method of air core configuration of complex curved surface |
| PCT/CN2020/098456 WO2021000794A1 (en) | 2019-06-29 | 2020-06-28 | 3d printing method for complex curved hollow structure, and printer |
| US17/564,205 US12097656B2 (en) | 2019-06-29 | 2021-12-28 | 3D printing method for complex curved hollow structure, and printer |
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| CN113334761A (en) * | 2021-07-14 | 2021-09-03 | 新疆大学 | Extrusion molding-photocuring integrated three-dimensional printer and printing method thereof |
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| CN110356000B (en) | 2021-11-12 |
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