CN111716712A - Multi-axis suspension 3D printing system and method - Google Patents

Multi-axis suspension 3D printing system and method Download PDF

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Publication number
CN111716712A
CN111716712A CN202010566057.3A CN202010566057A CN111716712A CN 111716712 A CN111716712 A CN 111716712A CN 202010566057 A CN202010566057 A CN 202010566057A CN 111716712 A CN111716712 A CN 111716712A
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recovery
printing
feeding
modules
mechanical arm
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Inventor
李昕
韦佳成
李娜娜
李春新
张思伟
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Shenzhen Chengyi Technology Co ltd
Shenzhen Collaborative Innovation High Tech Development Co ltd
Shenzhen Guangyunda Additive Manufacturing Research Institute
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Shenzhen Chengyi Technology Co ltd
Shenzhen Collaborative Innovation High Tech Development Co ltd
Shenzhen Guangyunda Additive Manufacturing Research Institute
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Priority to CN202010566057.3A priority Critical patent/CN111716712A/en
Publication of CN111716712A publication Critical patent/CN111716712A/en
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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
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B29C64/124—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using layers of liquid which are selectively solidified
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/82—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • 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
    • B29C64/40—Structures for supporting 3D objects during manufacture and intended to be sacrificed after completion thereof
    • 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
    • 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
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)

Abstract

The invention relates to the technical field of 3D printing, and particularly discloses a multi-axis suspension 3D printing system and a method, wherein the multi-axis suspension 3D printing system comprises a controller, a forming cylinder, an irradiation module, a plurality of feeding modules and a plurality of recovery modules, wherein the feeding modules and the recovery modules are arranged around the forming cylinder; the controller controls each module; the forming cylinder bears gel medium; the irradiation module is used for irradiation curing; the feeding module comprises a feeding mechanical arm and a feeding unit connected with the feeding mechanical arm, and the feeding unit comprises a printing needle head; the recovery module comprises a recovery mechanical arm and a recovery unit connected with the recovery mechanical arm, and the recovery unit comprises a recovery needle head; the invention adopts a multi-axis printing needle micro-extrusion mode, and realizes the forming of the whole shape by multi-dimensional and multi-angle movement in a gel medium; meanwhile, in the gel medium, the biological ink is in a suspended state, and can be extracted out through the recovery needle head when not subjected to light irradiation, so that the printing process can be adjusted at any time.

Description

Multi-axis suspension 3D printing system and method
Technical Field
The invention relates to the technical field of 3D printing, and particularly discloses a multi-axis suspension 3D printing system and method.
Background
At present, the 3D printing technology for cell growth scaffolds adopts a nozzle extrusion type, in which cells and a biomaterial are mixed into a gel state, and then extruded to form a thread shape, and then face formation is repeated to form a face, and a corresponding three-dimensional structure is continuously formed by face accumulation.
In practical application, the extrusion type spray head has the following problems:
one is the low efficiency. The gel is extruded by a single-hole or multi-hole extrusion head, the extrusion head needs to reciprocate along the single-layer molding surface, the whole layer of molding surface is completely coated, and the single-layer printing is completed. Typically, an extrusion printer takes 3-6 hours to complete a sample.
Secondly, the forming breadth is limited. The method is limited by the traditional 3D printing mode which takes the manufacturing platform as the manufacturing surface, and the manufacturing can not be carried out by separating from the area of the platform.
Thirdly, the sample piece with a special structure cannot be molded. By adopting the extrusion printer, the phenomena of deformation, collapse and incomplete forming often occur when products such as biological repair soft tissues and the like are prepared, so supports must be added sometimes, and the problems of support design, product deformation, complex operation and the like are caused by removing the supports.
Fourth, the cell survival rate is low. During the printing process, the biological material is converted from a molten state to a solid state, and particles such as cells contained in the biological material are easy to lose activity in the process, so that the survival rate of the cells is low.
Disclosure of Invention
Aiming at the technical problem, the invention provides a multi-axis suspension 3D printing system and a method, which adopt a multi-axis printing needle micro-extrusion mode to move in multiple dimensions and multiple angles in a gel medium to realize the forming of a full shape; meanwhile, in the gel medium, the biological ink is in a suspended state, and can be extracted out through the recovery needle head when not subjected to light irradiation, so that the printing process can be adjusted at any time.
In order to solve the technical problems, the invention provides the following specific scheme:
a multi-axis suspension 3D printing system comprises a controller, a forming cylinder, an irradiation module, a plurality of feeding modules and a plurality of recovery modules, wherein the feeding modules and the recovery modules are arranged around the forming cylinder;
the controller controls each module;
the forming cylinder bears gel medium;
the irradiation module is used for irradiation curing;
the feeding module comprises a feeding mechanical arm and a feeding unit connected with the feeding mechanical arm, and the feeding unit comprises a printing needle head;
the recovery module comprises a recovery mechanical arm and a recovery unit connected with the recovery mechanical arm, and the recovery unit comprises a recovery needle head.
Optionally, the feeding unit further comprises a printing material storage cavity;
an extrusion assembly is arranged between the printing material storage cavity and the printing needle head;
the recovery unit also comprises a recovery material storage cavity;
a recovery assembly is arranged between the recovered material storage cavity and the recovery needle head;
the printing material storage cavity is used for storing biological ink for printing and extruding the biological ink in the printing material storage cavity from the printing needle head under the action of the extruding assembly;
the recovery material storage cavity is used for recovering and storing the biological ink in the gel medium, and the biological ink is extracted and recovered through the recovery needle head under the action of the recovery assembly.
Optionally, the wall of the printing material storage cavity is made of a light-shielding material;
the wall of the recycled material storage cavity is made of a light-resistant material;
the wall of the cavity of the printing material storage cavity and the wall of the cavity of the recycling material storage cavity are made of light-resistant materials, so that the light-resistant effect can be realized, and the better storage effect on the biological ink is achieved.
Optionally, the irradiation module is arranged on one side of the forming cylinder, the forming cylinder is a transparent forming cylinder, and the forming cylinder made of transparent materials has low resistance to light irradiation, so that irradiation curing of the irradiation module is facilitated.
Optionally, the feeding mechanical arm is a multi-shaft feeding mechanical arm;
the recycling mechanical arm is a multi-shaft recycling mechanical arm, multi-dimensional and multi-angle movement is achieved, and full-shape forming is achieved.
The invention also provides a multi-axis suspension 3D printing method, which is applied to the multi-axis suspension 3D printing system and comprises the following steps:
s1, adjusting the positions of the irradiation module, the plurality of feeding modules and the plurality of recovery modules;
s2, filling bio-ink into the feeding units in the plurality of feeding modules;
s3, the controller controls the feeding mechanical arms in the feeding modules to drive the printing needles to enter the gel medium, and the printing needles extrude biological ink;
s4, irradiating the extruded biological ink by an irradiation module to solidify the biological ink;
s5, repeating the operation steps S3 and S4 until printing is finished.
Optionally, the step S3 further includes the following steps:
the controller controls the recovery mechanical arm to drive the recovery needle head to enter the gel medium, the recovery needle head extracts and recovers the biological ink in the gel medium, the biological ink is in a suspension state in the gel medium, and the biological ink can be extracted out through the recovery needle head when not being irradiated by light, so that the printing process can be adjusted at any time.
Optionally, in step S3, the controller controls the extrusion force, the extrusion time, and the extrusion speed of the extrusion assembly;
the controller controls the extraction force, extraction time and extraction speed of the recovery assembly so as to better control the forming of the full shape.
Optionally, in step S3, the controller controls the feeding mechanical arms in the multiple feeding modules to move simultaneously or sequentially, and the feeding mechanical arms may be adjusted according to actual printing requirements, which is highly flexible.
Compared with the prior art, the invention has the beneficial effects that: the multi-axis suspension 3D printing system and the method provided by the invention adopt a multi-axis printing needle micro-extrusion mode, the printing needle does not reciprocate along a platform, but moves in a gel medium in multiple dimensions and multiple angles, and the three-dimensional forming can break through the traditional 3D printing process and is beneficial to printing soft tissue repair bodies with complex structures and multi-layer structures;
the gel medium is used as a support of the formed part, so that the printing does not need to be additionally supported, the suspension forming is realized, the problems of collapse and the like can not occur in the process of manufacturing three-dimensional hollow structure sample parts such as cell culture supports and the like, and the shape requirement on the formed sample parts does not exist; meanwhile, in the gel medium, the biological ink is in a suspended state, and can be extracted at any time by using the recovery needle head when the light irradiation is not carried out, so that the printing process can be adjusted at any time for correcting errors;
the gel medium is loaded in the forming cylinder, the size of the forming cylinder can break through the limitation of the current printer, containers such as barrels, cylinders and the like made of transparent materials are adopted, the forming cylinder can be taken out at any time after printing is finished, the formed part is always in a suspended state in the forming cylinder, and the whole carrying and storage are very convenient; the large-size forming space is very suitable for one-dimensional or two-dimensional especially large soft tissue prostheses, such as blood vessels and skin;
the printing needle head extrudes photocured biological ink in the gel medium, the biological ink adopts visible light waveband light sources such as purple light or blue light and the like as curing light sources, the light source energy is high, the irradiation time is short, the interference on the growth of later active cells is small, meanwhile, the gel medium adopts a biocompatible material, the printed biological tissue cannot be exposed in the air, and the cell survival rate is high.
Drawings
Fig. 1 is a schematic overall structural diagram of a multi-axis levitation 3D printing system provided in an embodiment of the present invention.
Fig. 2 is a flowchart of a multi-axis levitation 3D printing method provided in an embodiment of the present invention.
Wherein, 1 is a forming cylinder; 2 is an irradiation module; 3 is a feeding module; 31 is a feeding mechanical arm; 32 is a printing needle head; 33 is a printing material storage cavity; 34 is an extrusion assembly; 4 is a recovery module; 41 is a recovery mechanical arm; 42 is a recovery needle head; 43 is a recycled material storage cavity; 44 is a recovery assembly; and 5 is a gel medium.
Detailed Description
In order to explain the technical solution of the present invention in detail, the technical solution of the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiment of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
For example, a multi-axis suspended 3D printing system includes a controller, a forming cylinder, an irradiation module, and a plurality of feeding modules and a plurality of recovery modules disposed around the forming cylinder; the controller controls each module; the forming cylinder bears gel medium; the irradiation module is used for irradiation curing; the feeding module comprises a feeding mechanical arm and a feeding unit connected with the feeding mechanical arm, and the feeding unit comprises a printing needle head; the recovery module comprises a recovery mechanical arm and a recovery unit connected with the recovery mechanical arm, and the recovery unit comprises a recovery needle head.
In the multi-axis suspension 3D printing system and method provided by this embodiment, a multi-axis printing needle micro-extrusion mode is adopted, and multi-dimensional and multi-angle motion is performed in a gel medium, so that full-shape molding is realized; meanwhile, in the gel medium, the biological ink is in a suspended state, and can be extracted out through the recovery needle head when not subjected to light irradiation, so that the printing process can be adjusted at any time.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an overall structure of a multi-axis levitation 3D printing system.
As shown in fig. 1, the multi-axis levitation 3D printing system includes a controller, a forming cylinder, an irradiation module, and a plurality of feeding modules and a plurality of recovery modules disposed around the forming cylinder.
The controller is used for controlling each module, such as controlling the irradiation time and the irradiation intensity of the irradiation module, controlling the feeding action of the plurality of feeding modules and controlling the recovery action of the plurality of recovery modules.
The gel medium is loaded in the forming cylinder, and before printing, the gel medium in the forming cylinder needs to be confirmed to be uniform, stable and free of impurities so as to ensure the quality of a printed formed part. The gel medium is a transparent biocompatible material, so that the formed biological tissue is not contacted with air, the cell survival rate is high, oxygen inhibition is avoided, denaturation and crosslinking reaction are avoided under the irradiation of blue and violet light, and the gel medium has certain density, can stably suspend the formed part and can be repeatedly utilized. The gel medium can also be added with beneficial substances beneficial to cell growth and proliferation, has no cytotoxicity and is suitable for cell growth and survival.
The irradiation module mainly comprises a shell, a blue-violet light source, a light path and the like, and is used for irradiating blue-violet light so that extruded photocuring biological ink is cured and molded.
The biological ink is photo-crosslinking hydrogel, can be hydrogel grafted by photo-curing groups of natural biological materials, and can also be artificially synthesized photo-curing biological materials. The biological ink has biocompatibility, wherein a blue-violet photoinitiator without cytotoxicity is added, and the components of the biological ink added in each feeding module can be the same as or different from the types of the added cells. In order to improve the survival rate of cells, ultraviolet light curing is not adopted, blue and violet light curing molding is adopted, and actually, the cells cannot be killed by curing light in other wave bands, such as red light and the like, so that the biological ink can be changed into a biological ink by adding other non-cytotoxic photoinitiators, and simultaneously correspondingly changing a light source in an irradiation system to perform irradiation curing of visible light, such as red light, green light and the like, by other light.
The number of the feeding modules and the number of the recovery modules can be set according to actual requirements, so that mixed printing of multiple biological inks or cell sap can be completed, in this example, the number of the feeding modules is two, the number of the recovery modules is two (one is shown in the figure), and the multiple recovery modules can be arranged to separately recover different biological inks or cell sap, so that mutual pollution between different biological inks or cell sap is avoided.
The feeding module comprises a feeding mechanical arm and a feeding unit connected with the feeding mechanical arm, and the feeding unit comprises a printing needle head.
The controller plans the motion track of the joint space of the feeding mechanical arm according to the printing requirement, and the feeding mechanical arm can control the motion speed, the motion angle and the motion precision of the printing needle head and drive the printing needle head to move in multiple dimensions and multiple angles.
The recovery module comprises a recovery mechanical arm and a recovery unit connected with the recovery mechanical arm, and the recovery unit comprises a recovery needle head.
The controller plans the motion track of the joint space of the recovery mechanical arm according to the printing recovery requirement, the recovery mechanical arm can control the motion speed, the motion angle and the motion precision of the recovery needle head, and the recovery needle head is driven to move in multiple dimensions and multiple angles.
The printing needle and the recovery needle can be of a common cylinder, a cone shape, or a bent shape, and in this example, the printing needle and the recovery needle are straight cylinder needles.
In some embodiments, the feeding unit further comprises a printing material storage cavity, the printing material storage cavity is used for storing biological ink for printing, an extrusion assembly is arranged between the printing material storage cavity and the printing needle head, and the biological ink in the printing material storage cavity is extruded from the printing needle head under the action of the extrusion assembly.
The recovery unit further comprises a recovery material storage cavity, the recovery material storage cavity is used for recovering and storing the biological ink in the gel medium, a recovery assembly is arranged between the recovery material storage cavity and the recovery needle head, and the biological ink is extracted and recovered through the recovery needle head under the action of the recovery assembly.
In some embodiments, the wall of the printing material storage cavity is made of a light-shielding material; the wall of the recycling material storage cavity is made of a light-resistant material; the wall of the cavity of the printing material storage cavity and the wall of the cavity of the recycling material storage cavity are made of light-resistant materials, so that the light-resistant effect can be realized, and the better storage effect on the biological ink is achieved.
In this example, since the number of the feeding modules is two, correspondingly, the number of the printing material storage chambers is also two, including the first printing material storage chamber and the second printing material storage chamber, before the printing operation is started, the first printing material storage chamber is filled with the first bio-ink, the second printing material storage chamber is filled with the second bio-ink, and the gel medium in the forming cylinder is confirmed to be uniform, stable and free of impurities.
The quantity of feed arm and printing syringe needle is two, including feed arm one and feed arm two, printing syringe needle one and printing syringe needle two, the controller plans the motion trail in the joint space of feed arm one and feed arm two as required, and the motion speed, the motion angle and the motion precision of printing syringe needle one are controlled to feed arm one, and the motion speed, the motion angle and the motion precision of printing syringe needle two are controlled to feed arm two.
The number of the extrusion assemblies is two, the extrusion assemblies comprise a first extrusion assembly and a second extrusion assembly, the controller controls parameters such as extrusion force, extrusion time and extrusion speed of the first extrusion assembly according to printing requirements, the first biological ink is extruded from the first printing material storage cavity through the first printing needle head, and the irradiation module is controlled to perform blue and violet light irradiation curing; the controller controls parameters such as extrusion force, extrusion time and extrusion speed of the second extrusion assembly according to printing requirements, the second biological ink is extruded out from the second printing material storage cavity through the second printing needle head, and the irradiation module is controlled to perform blue and violet light irradiation curing.
In actual printing, the first feeding mechanical arm, the second feeding mechanical arm, the first extruding assembly, the second extruding assembly and the like are controlled by the controller, all parts can move simultaneously and work synchronously and can also move sequentially, the first biological ink and the second biological ink can be extruded simultaneously or sequentially, irradiation curing can be performed while extrusion is performed, curing can be performed after extrusion of a part of the biological ink and curing after extrusion of the biological ink can be performed, and the adjustment can be performed specifically according to actual printing requirements.
The printing system is carried out in a temperature and humidity environment suitable for cell survival.
In some embodiments, the irradiation module is disposed on one side of the forming cylinder, the forming cylinder is a transparent forming cylinder, and the forming cylinder made of a transparent material has low resistance to light irradiation, so as to facilitate irradiation curing of the irradiation module.
It should be noted that the forming cylinder may be made of a transparent material, the irradiation module is disposed outside the forming cylinder, light is irradiated to the bio-ink through the forming cylinder, the forming cylinder may be made of other opaque materials, and the irradiation module having a waterproof function is disposed inside the forming cylinder. After printing is complete, the forming cylinders can be taken off the system, transported separately or stored.
In the printing process, if the printing content needs to be changed, the controller can control the recovery module to extract and recover the extruded biological ink and print again.
The recovery arm drives the motion of retrieving the syringe needle, and the controller is retrieved the needs, and the biological ink that will extrude in the gel medium is pumped back to the recovery material storage chamber through retrieving the syringe needle to the extraction dynamics, extraction time, the extraction speed isoparametric of control recovery subassembly.
In some embodiments, the feed robot is a multi-axis feed robot; the recovery mechanical arm is a multi-shaft recovery mechanical arm, has the characteristics of high precision and high reliability, can complete various rotations of the printing needle head or the recovery needle head, such as swinging, twisting, moving or compound movement, realizes multi-dimensional and multi-angle movement, and realizes full-shape forming.
Referring to fig. 2, fig. 2 shows a flowchart of a multi-axis levitation 3D printing method.
The application also provides a multi-axis levitation 3D printing method, as shown in fig. 2, applied to the multi-axis levitation 3D printing system, the method including:
and S1, adjusting the positions of the irradiation module, the plurality of feeding modules and the plurality of recovery modules.
The positions of the irradiation module, the feeding mechanical arms of the plurality of feeding modules, the printing material storage cavity, the extrusion assembly, the printing needle head, the recovery mechanical arms of the plurality of recovery modules, the recovery material storage cavity, the recovery assembly and the recovery needle head are adjusted, the gel medium is filled in the forming cylinder, the uniformity and stability of the gel medium are confirmed, no impurity exists, and the preparation work before printing is done.
And S2, filling the bio-ink into the feeding units in the plurality of feeding modules.
It should be noted that, in this example, the number of the feeding modules is two, and therefore, the number of the printing material storage chambers is also two, and the printing material storage chambers include a first printing material storage chamber and a second printing material storage chamber, and the first printing material storage chamber can be filled with the first bio-ink, the second printing material storage chamber can be filled with the second bio-ink, and the first printing material storage chamber and the second printing material storage chamber can be filled with the same bio-ink.
S3, the controller controls the feeding mechanical arms in the feeding modules to drive the printing needles to enter the gel medium, and the printing needles extrude the biological ink.
Similarly, the quantity of feed arm and printing syringe needle is two, including feed arm one and feed arm two, printing syringe needle one and printing syringe needle two, the controller plans the motion trail in the joint space of feed arm one and feed arm two as required, the motion speed, the motion angle and the motion precision of printing syringe needle one are controlled to feed arm one, and the motion speed, the motion angle and the motion precision of printing syringe needle two are controlled to feed arm two.
The controller controls parameters such as extrusion force, extrusion time and extrusion speed of the first extrusion assembly according to printing requirements, and the first biological ink is extruded from the first printing material storage cavity through the first printing needle head; and controlling parameters such as extrusion force, extrusion time and extrusion speed of the second extrusion assembly to extrude the second biological ink from the second printing material storage cavity through the second printing needle head. In actual printing, the first feeding mechanical arm, the second feeding mechanical arm, the first extruding assembly, the second extruding assembly and the like are controlled by the controller, all parts can move simultaneously and synchronously and can also move sequentially, and the first biological ink and the second biological ink can be extruded simultaneously and can also be extruded sequentially.
And S4, irradiating the extruded biological ink by the irradiation module to solidify the biological ink.
In actual printing, irradiation curing can be performed while extrusion is performed, a part of the extruded part can be cured, or the whole extruded part can be cured, and the method can be specifically adjusted according to actual printing requirements.
S5, repeating the operation steps S3 and S4 until printing is finished.
According to the multi-axis suspension 3D printing method, the printing needle does not reciprocate along the forming cylinder, but moves in a gel medium in a multi-dimensional and multi-angle mode, so that the three-dimensional forming is really realized, and 3D printing is shifted from platform manufacturing to space manufacturing. The platform manufacturing needs to have a fixed manufacturing order, or the platform manufacturing needs to be accumulated layer by layer from top to bottom, or from bottom to top, and the space manufacturing provided by the application is not limited by the manufacturing order, namely, a weightless environment is provided on the ground, so that the method is very beneficial to printing soft tissue prostheses with complex structures and multi-layer structures.
In some embodiments, the step S3 further includes the following process: the controller controls the recovery mechanical arm to drive the recovery needle head to enter the gel medium, the recovery needle head extracts and recovers the biological ink in the gel medium, the biological ink is in a suspension state in the gel medium, and the biological ink can be extracted out through the recovery needle head when not being irradiated by light, so that the printing process can be adjusted at any time.
The controller is according to printing the recovery needs, plans the motion trail of retrieving the joint space of arm, retrieves the arm and can control the velocity of motion, motion angle, the motion precision of retrieving the syringe needle, drives to retrieve the syringe needle and carries out the motion of multidimension degree, multi-angle to control the extraction dynamics, the extraction time and the extraction speed etc. of retrieving the subassembly.
The gel medium is used as a support of the formed part, so that the printing does not need to be additionally supported, the suspension forming is realized, the problems of collapse and the like can not occur in the process of manufacturing three-dimensional hollow structure sample parts such as cell culture supports and the like, and the formed sample parts have no shape requirement; the biological ink is in a suspension state, and can be extracted at any time by using the needle head when not being irradiated by light, so that the printing process can be adjusted at any time, and correction can be carried out.
It is understood that different embodiments among the components in the above embodiments can be combined and implemented, and the embodiments are only for illustrating the implementation of specific structures and are not limited to the implementation of the embodiments.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (9)

1. The multi-axis suspension 3D printing system is characterized by comprising a controller, a forming cylinder (1), an irradiation module (2), a plurality of feeding modules (3) and a plurality of recovery modules (4), wherein the feeding modules and the recovery modules are arranged around the forming cylinder (1);
the controller controls each module;
the forming cylinder (1) bears a gel medium (5);
the irradiation module (2) is used for irradiation curing;
the feeding module (3) comprises a feeding mechanical arm (31) and a feeding unit connected with the feeding mechanical arm (31), and the feeding unit comprises a printing needle head (32);
the recovery module (4) comprises a recovery mechanical arm (41) and a recovery unit connected with the recovery mechanical arm (41), and the recovery unit comprises a recovery needle head (42).
2. The multi-axis suspended 3D printing system of claim 1, wherein the feeding unit further comprises a printing material reservoir chamber (33);
an extrusion assembly (34) is arranged between the printing material storage cavity (33) and the printing needle head (32);
the recycling unit further comprises a recycled material storage chamber (43);
a recovery assembly (44) is arranged between the recovery material storage cavity (43) and the recovery needle (42).
3. The multi-axis suspended 3D printing system according to claim 2, wherein the wall of the printing material storage chamber (33) is made of a light-shielding material;
the wall of the recycling material storage cavity (43) is made of light-resistant material.
4. The multi-axis suspended 3D printing system according to claim 1, wherein the irradiation module (2) is provided at one side of a forming cylinder (1), the forming cylinder (1) being a transparent forming cylinder.
5. The multi-axis suspended 3D printing system according to claim 1, wherein the feeding robot (31) is a multi-axis feeding robot;
the recycling mechanical arm is a multi-shaft recycling mechanical arm.
6. A multi-axis levitation 3D printing method applied to the multi-axis levitation 3D printing system according to any one of claims 1 to 5, the method comprising:
s1, adjusting the positions of the irradiation module, the plurality of feeding modules and the plurality of recovery modules;
s2, filling bio-ink into the feeding units in the plurality of feeding modules;
s3, the controller controls the feeding mechanical arms in the feeding modules to drive the printing needles to enter the gel medium, and the printing needles extrude biological ink;
s4, irradiating the extruded biological ink by an irradiation module to solidify the biological ink;
s5, repeating the operation steps S3 and S4 until printing is finished.
7. The multi-axis levitation 3D printing method as recited in claim 6, wherein the step S3 further comprises the process of:
the controller controls the recovery mechanical arm to drive the recovery needle head to enter the gel medium, and the recovery needle head extracts and recovers the biological ink in the gel medium.
8. The multi-axis levitation 3D printing method as claimed in claim 7, wherein in the step S3, the controller controls extrusion force, extrusion time and extrusion speed of the extrusion assembly;
the controller controls the extraction force, extraction time and extraction speed of the recovery assembly.
9. The multi-axis levitation 3D printing method as recited in claim 6, wherein in the step S3, the controller controls the supply robot arms in the plurality of supply modules to operate simultaneously or sequentially.
CN202010566057.3A 2020-06-19 2020-06-19 Multi-axis suspension 3D printing system and method Pending CN111716712A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112895426A (en) * 2021-01-20 2021-06-04 青岛理工大学 Micro-nano 3D printing method for single-plate electrode electric field driven jet deposition
CN114750412A (en) * 2022-06-16 2022-07-15 季华实验室 Method for preparing non-layered structure material by combining 3D printing

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112895426A (en) * 2021-01-20 2021-06-04 青岛理工大学 Micro-nano 3D printing method for single-plate electrode electric field driven jet deposition
CN112895426B (en) * 2021-01-20 2022-03-11 青岛理工大学 Micro-nano 3D printing method for single-plate electrode electric field driven jet deposition
CN114750412A (en) * 2022-06-16 2022-07-15 季华实验室 Method for preparing non-layered structure material by combining 3D printing
CN114750412B (en) * 2022-06-16 2022-09-09 季华实验室 Method for preparing non-layered structure material by combining 3D printing

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