CN112373019A

CN112373019A - Biological 3D printer

Info

Publication number: CN112373019A
Application number: CN202011218239.8A
Authority: CN
Inventors: 刘佳鑫
Original assignee: Individual
Current assignee: Shaanxi Baipusheng Medical Technology Development Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-02-19
Anticipated expiration: 2040-11-04
Also published as: CN112373019B

Abstract

The invention discloses a biological 3D printer, which comprises a printer support, a three-axis moving device arranged above the printer support, a processing platform device arranged above the printer and provided with a water cooling device, a detachable mounting device arranged on the three-axis moving device, a clamping and fixing device arranged on the detachable mounting device, and a printing head arranged on the detachable mounting device and the clamping device, wherein the water cooling device is arranged on the three-axis moving platform device; the water cooling device and the processing platform device are arranged, so that the vibration is reduced when the printing head works on the processing platform device, and the printing head works more accurately; the detachable mounting device and the clamping and fixing device are arranged, so that the printing head is more stably mounted, and is more convenient to detach, replace and mount; the disadvantage brought by vibration is avoided during detachable installation.

Description

Biological 3D printer

Technical Field

The invention belongs to the technical field of biological 3D printing, and particularly relates to a biological 3D printer.

Background

A3D biological printer is driven by a digital three-dimensional model, can position and assemble biological materials or cell units according to an additive manufacturing principle, and manufactures products such as medical instruments, tissue engineering scaffolds, tissue organs and the like. Subsequently, the cells begin to reorganize and fuse, forming new tissue structures such as blood vessels.

Most of printing heads of the existing biological 3D printer are fixed on the biological 3D printer, which brings many defects to the biological 3D printer, on one hand, when users need printing heads with different functions, 3D printers with different models need to be purchased, which increases cost unnecessarily, on the other hand, the blockage phenomenon is difficult to meet in the printing process, the fixedly installed printing heads are very difficult to clean, and are troublesome to disassemble during maintenance and upgrade, although the biological 3D printer with some detachable printing heads is convenient to install and disassemble the printing heads, the rigid direct-insertion direct-drawing mode is adopted to lead the rigid part to be clamped after being deformed and matched with a magnet for installation, the method is laborious to install and disassemble, cannot be fixed stably, and can lead the rigid part to be stressed beyond the yield limit and cannot be clamped after being recovered after being used for a long time, and simultaneously, the method can cause the problem of vibration because the printing heads and the non-integral connection, causing increased equipment errors.

In order to overcome the defects of the prior art, the invention provides the biological 3D printer which is convenient to disassemble, is stably and fixedly installed and can relieve vibration.

In order to achieve the purpose, the invention adopts the following technical scheme: a biological 3D printer comprises a printer support, a three-axis moving device arranged above the printer support, a processing platform device arranged above the printer and provided with a water cooling device arranged on the three-axis moving platform device, a detachable mounting device arranged on the three-axis moving device, a clamping and fixing device arranged on the detachable mounting device, and a printing head arranged on the detachable mounting device and the clamping device; a plurality of support columns and foot cups fixedly connected to the support columns are arranged below the printer support; the printing head is provided with four hooks, and the hooks are arranged on an inclined plane; the clamping and fixing device comprises a clamping block, a tightening assembly matched with the clamping block, a thrust assembly matched with the clamping block, a rotating arm assembly matched with the thrust assembly, a clamping plate assembly matched with the rotating arm assembly and a sliding assembly matched with the clamping plate assembly; the clamping plate assembly comprises a first cylindrical rod, a connecting seat rotatably connected to the first cylindrical rod, a first plate fixedly connected to the connecting seat, a triangular plate fixedly connected to the first plate, a clamping plate fixedly connected to the triangular plate, an anti-skid block fixedly connected to the clamping plate, and an oblique angle arranged on the anti-skid block; the tightening assembly comprises a first fixed plate, a first cavity arranged in the first fixed plate, a first sliding block connected with the first cavity in a sliding manner, a first spring arranged between the first cavity and the first sliding block, a tightening plate fixedly connected with the sliding block, a second spring fixedly connected with the tightening plate, a second sliding block fixedly connected with the second spring, and a first sliding chute arranged on the clamping block; the second sliding block is connected to the first sliding groove in a sliding mode; a first cambered surface is arranged on the clamping block; the three-shaft moving device drives the detachable mounting device to move in three shaft directions, work is carried out on the working platform device, when the printing head needs to be mounted, the printing head needs to be placed in the detachable mounting device, the detachable mounting device enables the thrust component to move upwards to drive the clamping block to move upwards, the clamping block cannot continue to move upwards after being propped against a hook on the printing head, at the moment, the thrust component drives the rotating arm component to move, the rotating arm component drives the first cylindrical rod, the first cylindrical rod drives the connecting seat to drive the first plate, the triangular plate is driven to drive the clamping plate to clamp two side faces of the hook of the printing head through the anti-skidding block, meanwhile, the thrust component can also drive the first fixing plate to drive the tensioning plate to move upwards, the tensioning plate drives the second sliding block to slide upwards in the first sliding groove upwards, when the printing head needs to be held by, the hook which can fix the printer head at the position is loosened, and the worker directly takes down the printer head; the detachable installation has inevitable vibration problem, the vibration mainly comes from the vibration of a printer support caused by the rotation of a motor, the vibration of a small working plane is caused by a processing platform device, the motor can not generate large vibration due to missing steps by a water cooling device, the clamping block can be used for quickly positioning the printing head by propping against a hook of the printing head, so that a hand of a worker can not hold the printing head any more, a first cambered surface on the clamping block can be better matched with an inclined surface on the hook so that the clamping block can better prop against the hook, the worker does not need to place the printing head at a too accurate position when holding the printing head, the operation requirement of the worker is reduced, the clamping plate can be used for clamping two side surfaces of the hook after propping against the hook by the clamping block, the friction force propped by the clamping block on the freedom degree positioning of the side surfaces of the hook is changed into the clamping of the clamping plate, the positioning is more accurate, the triangular plates are made of flexible materials, so that the clamping plates can deform to generate elastic pretightening force when the side faces of the hooks are clamped tightly, the pretightening force enables the hooks to be subjected to larger friction force, the influence of the vibration of the whole printer on the printing head can be reduced through the elastic deformation of the triangular plates while better installation is stable, the anti-skidding blocks arranged on the clamping plates are made of the flexible materials and have the same effect as the triangular plates, the angle of the oblique angle on the anti-skidding blocks can be subjected to the force towards the oblique angle direction when the anti-skidding blocks are pressed tightly, namely, the printing head can be subjected to the force of the laminating detachable installation device, the printing head is laminated to the detachable installation device at the better fixed hook position, the tensioning plate is provided with an oblique angle and an arc surface, the tensioning plate can better enter the position where the hooks are laminated with the clamping blocks when the tensioning plate is upwards, the hooks are tensioned, and the tensioning plate can be fixed under the elastic action of the first spring and the second spring when, the tight plate that props is the metal sheet that can take place deformation, takes place deformation and can make its tight effect increase of propping to the couple, makes to beat printer head and receives bigger power and make its laminating on demountable installation device, and the effect of these location can make six degrees of freedom of couple restricted completely, and fixed effect after the installation is better.

Furthermore, the three-axis moving device comprises an X-axis module sliding in the X direction, a Y-axis module sliding in the Y direction and a Z-axis module sliding in the Z direction; the X-axis module is provided with a second plate, and the second plate is provided with a position avoiding groove; motors are arranged on the X-axis module, the Y-axis module and the Z-axis module; the position change of the printing head can be enabled to work, and the avoidance groove in the second plate can enable the printing head to avoid the limitation of the moving distance of the printing head caused by the collision between the second plate and the processing platform device when the printing head moves.

Further, the water cooling device comprises a water cooling control module, a first pipeline fixedly connected to the water cooling control module, a water cooling tank fixedly connected to the first pipeline, a second pipeline fixedly connected to the water cooling tank, a first arc-shaped water cooling tank fixedly connected to the second pipeline, a second arc-shaped water cooling tank fixedly connected to the second pipeline, and a third pipeline fixedly connected to the second arc-shaped water cooling tank; the first arc-shaped water cooling tank and the second arc-shaped water cooling tank are fixedly connected to motors of the X-axis module and the Y-axis module; the water cooling control module outputs water and cools the reflowing water, the water flows into the bottom of the water cooling tank from the first pipeline, then flows into the second arc-shaped water cooling tank through the third pipeline, then flows into the first arc-shaped water cooling tank through the circular tube between the first arc-shaped water cooling tank and the second arc-shaped water cooling tank, flows into the water cooling tank through the second pipeline, and then flows back to the water cooling control module through the first pipeline; the water cooling device can dissipate heat for the bottom and the side face of the stepping motor, the water cooling mode is used for heat dissipation, the problem that vibration is additionally added to the traditional fan heat dissipation is avoided, the heat dissipation can avoid the phenomenon that the stepping motor loses steps, and the occurrence of vibration is reduced.

Furthermore, the processing platform device comprises a servo motor, a first rotating shaft fixedly connected to the servo motor, a first belt wheel fixedly connected to the first rotating shaft, a first flat belt wound around the first belt wheel, a second belt wheel wound around the other end of the first flat belt, a damping component fixedly connected to the second belt wheel, a second flat belt wound around the second belt wheel, and a third belt wheel wound around the other end of the second flat belt; the damping assembly comprises a disc fixedly connected to the second belt wheel, a water stirring plate fixedly connected to the disc, a first groove formed in the water stirring plate, a cylindrical water tank fixedly connected to the printing support, a hollow groove formed in the cylindrical water tank, a second cylindrical rod fixedly connected to the cylindrical water tank, and a workbench fixedly connected to the second cylindrical rod; the second belt wheel is rotatably connected to the second cylindrical rod, a circular hole is formed in the disc, and the circular hole is in clearance fit with the second cylindrical rod; the servo motor rotates to drive the first rotating shaft to rotate, the first belt wheel is driven, the second belt wheel is driven through the first flat belt, the disc is driven to rotate, the water stirring plate is driven to rotate through the rotation of the disc, the third belt wheel is driven to rotate through the second flat belt by the second belt wheel, and the discs in other damping assemblies are driven to rotate in a flat belt mode; water can be in the dead slot of cylinder water tank, second cylinder pole supporting workbench, because can produce vibrations on the printer support, later transmit the workstation on through the second cylinder pole, in order to avoid vibrations to utilize the water in the dead slot to go to absorb vibrations, the resonant frequency of water is very low, the absorption vibrations that can be fine, but can produce the ripple after the water absorption vibrations, in order to avoid the ripple more and more to produce resonance, utilize the rotation of stirring the board in the dead slot, it produces the flow to drive the aquatic products, first groove in stirring the board can make water have partly to flow in first groove when being stirred, make the rivers that produce more gentle, rivers can absorb the ripple that vibrations arouse, the effect of preventing vibrations has been increased.

Furthermore, the detachable mounting device comprises a shell connected to the Z-axis module, a pressure rod assembly matched with the shell, a gear assembly matched with the pressure rod assembly, a connecting rod assembly matched with the gear assembly, a clamping assembly matched with the pressure rod assembly, a control assembly matched with the clamping assembly and a second groove arranged on the shell; the pressure lever assembly comprises a third cylindrical lever, a guide sleeve connected to the third cylindrical lever in a sliding manner, a first rack fixedly connected to the third cylindrical lever, a fourth cylindrical lever fixedly connected to the first rack, a fifth cylindrical lever fixedly connected to the fourth cylindrical lever, a second sliding chute arranged on the shell, and a third spring fixedly connected to the first rack; the gear assembly comprises a first gear meshed with the first rack, a second rotating shaft fixedly connected to the first gear, a second gear fixedly connected to the second rotating shaft, a second rack meshed with the second gear, a third gear meshed with the second rack, a fourth gear meshed with the first rack, a third rotating shaft fixedly connected to the fourth gear, a fifth gear fixedly connected to the third rotating shaft and a third rack meshed with the fifth gear; the connecting rod assembly comprises a fourth rotating shaft fixedly connected to the third gear, a first connecting rod fixedly connected to the fourth rotating shaft, a sixth cylindrical rod fixedly connected to the first connecting rod, a second connecting rod rotatably connected to the sixth cylindrical rod, a seventh cylindrical rod fixedly connected to the second connecting rod, a second fixing plate rotatably connected to the seventh cylindrical rod, a supporting plate fixedly connected to the second fixing plate, and a third sliding chute arranged on the shell; the supporting plate is connected with the third sliding groove in a sliding manner, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are connected with the shell in a rotating manner, the guide sleeve is fixedly connected with the shell, the fourth cylindrical rod is connected with the second sliding groove in a sliding manner, and the second rack and the third rack are connected with the shell in a sliding manner; the worker presses the third cylindrical rod downwards to drive the first rack to move downwards, the fourth cylindrical rod and the fifth cylindrical rod slide downwards in the second chute, the third spring is compressed to drive the first gear to rotate, the first gear drives the second rotating shaft to rotate, the second rotating shaft drives the second gear to rotate, the second gear drives the second rack to move, the second rack drives the third gear to rotate, simultaneously the first rack drives the fourth gear to rotate to drive the third rotating shaft to rotate, the third rotating shaft drives the fifth gear to rotate, the fifth gear drives the third rack to move, the third gear rotates to drive the fourth rotating shaft, the fourth rotating shaft drives the first connecting rod, the first connecting rod drives the sixth cylindrical rod, the sixth cylindrical rod drives the second connecting rod, the second connecting rod drives the seventh cylindrical rod, the seventh cylindrical rod drives the second fixing plate, the second fixing plate drives the support to move upwards, and the support plate slides in the third chute, the third cylindrical rod moves upwards to enable the supporting plate to move downwards to return to the original position; the guide sleeve and the fourth cylindrical rod enable the third cylindrical rod to be more stable in the downward sliding process, and the gear assembly achieves the locking effect through the meshing of the two sets of gear racks, so that the gear assembly cannot rotate for a plurality of angles due to inertia.

Furthermore, the clamping assembly comprises a fourth plate fixedly connected to the shell, a fourth chute arranged in the fourth plate, an eighth cylindrical rod connected to the fourth chute in a sliding manner, a fourth spring arranged in the fourth chute, a second arc surface arranged on the fourth plate, a control block fixedly connected to the third cylindrical rod, and a plurality of control teeth arranged on the control block; the control assembly comprises a ninth cylindrical rod which is slidably connected with the shell and an arc-shaped block which is fixedly connected with the ninth cylindrical rod; the arc-shaped block is connected with the second arc surface in a sliding manner; when the third cylindrical rod is pressed downwards by a worker, the control block moves downwards along with the third cylindrical rod, the control tooth on the control block contacts with the eighth cylindrical rod when the control block moves downwards, the eighth cylindrical rod is forced to move backwards due to an acute angle when the control block moves downwards, the eighth cylindrical rod is forced to bear the force of extruding the control block forwards under the action of a fourth spring, when the control block does not bear the downward pressing force of the worker any more, the eighth cylindrical rod can clamp the control tooth, the third cylindrical rod cannot reset under the elastic force of the third spring, when the third cylindrical rod needs to reset, the worker presses the ninth cylindrical rod downwards, then the ninth cylindrical rod presses the arc-shaped block downwards, the arc surface on the arc-shaped block contacts with the eighth cylindrical rod, the eighth cylindrical rod moves backwards, the eighth cylindrical rod does not contact with the control tooth, and the third cylindrical rod can reset; tooth-shaped piece and eighth cylinder pole can make the position that the profile of tooth is fast fixed, can not make to press from both sides tight piece and receive to be used in the backup pad after the effect of pretightning force and extrusion force and make the backup pad position change and lead to the phenomenon inaccurate in location to the locating position appearance of crossing of couple, and the arc piece is used for controlling the relaxation of pressing from both sides tight piece, makes whole normal position that resumes, and pressing of third cylinder pole makes to press from both sides tight piece and go to press from both sides tightly, and the operation when making the dismantlement of beating printer head and installation is very.

Further, the thrust assembly comprises a first push plate fixedly connected to the support plate, a tenth cylindrical rod fixedly connected to the first push plate, an eleventh cylindrical rod fixedly connected to the first push plate, a fifth plate fixedly connected to the housing, a fifth spring arranged on the tenth cylindrical rod, a sixth plate fixedly connected to the eleventh cylindrical rod, and a seventh plate fixedly connected to the sixth plate; the rotating arm assembly comprises a fifth rotating shaft which is rotatably connected to the seventh plate, a rotating arm which is connected to the fifth rotating shaft, a third sliding block which is connected to the rotating arm, a sixth rotating shaft which is fixedly connected to the third sliding block, an eighth plate which is rotatably connected to the sixth rotating shaft, a sixth spring which is arranged on the third sliding block, and a seventh sliding chute which is arranged on the clamping block; the rotating arm is provided with a fifth sliding chute and a sixth sliding chute with round openings, the fifth rotating shaft is connected with the fifth sliding chute in a sliding manner, the third sliding block is connected with the sixth sliding chute in a sliding manner, and the sixth spring is fixedly connected with the third sliding block and the sixth sliding chute; the supporting plate moves upwards to drive the first push plate to move upwards, the first push plate drives the tenth cylindrical rod, the fifth plate is driven to move upwards through the fifth spring, the fifth plate drives the clamping block to move upwards, the clamping block does not move upwards when the clamping block abuts against the hook, but the first push plate continues to move upwards, then the first spring is compressed, the eleventh cylindrical rod starts to move upwards relative to the clamping block to push the sixth plate, the sixth plate pushes the seventh plate to move upwards, then the seventh plate drives the fifth rotating shaft to move upwards, the fifth rotating shaft can slide in the circular opening sliding groove, the rotating arm is pushed to rotate on the sixth rotating shaft at the fulcrum to drive the clamping plate assembly to move, the clamping plate of the clamping plate assembly contacts with the side face of the hook, but the width of the hook can have a difference, when the hook is wide, the clamping plate abuts against the hook under the action of the rotating arm, then the position of a third sliding block in the sixth sliding groove of the rotating arm is unchanged, the whole position of the rotating arm moves backwards, and the sixth spring is pressed; the fifth spring can make and press from both sides the tight pretightning force that comes from the fifth spring when tight couple in tight top, and the tight effect in top is better, and the sixth spring can press from both sides the tight subassembly and press from both sides the elasticity that receives the sixth spring when pressing from both sides tight couple side, receives extra pretightning force, makes and presss from both sides tight effect better, because the effect of spring, the device also can align when the size of couple changes and press from both sides tightly and do not influence the excessive location to the couple, also can be applicable to more different couples of size simultaneously.

Furthermore, the sliding assembly comprises a twelfth cylindrical rod connected to the clamping block in a sliding manner, a ninth plate fixedly connected to the twelfth cylindrical rod, a sleeve connected to the twelfth cylindrical rod in a sliding manner, a tenth plate fixedly connected to the twelfth cylindrical rod, a seventh spring arranged on the twelfth cylindrical rod, and a seventh sliding chute arranged on the clamping block; the seventh spring is fixedly connected with the sleeve and the tenth plate, the ninth plate is fixedly connected with the first plate, and the twelfth cylindrical rod is slidably connected with the seventh chute; when the rotating arm rotates, the clamping plate assembly can move in a cycloidal or arc track which is not beneficial to clamping the hook by the clamping plate assembly, the twelfth cylindrical rod slides on the seventh sliding groove when the clamping plate assembly is clamped, then the twelfth cylindrical rod can stably slide in the seventh sliding groove under the action of the sleeve, and the seventh spring and the tenth plate tightly push against the sleeve, so that the twelfth cylindrical rod is kept in a vertical state when sliding in the seventh sliding groove; the clamping plate of the clamping plate assembly is always positioned at the angle of the side face of the right alignment hook to be close to the hook to clamp the hook, so that the clamping process is more stable.

In conclusion, the clamping block, the supporting assembly and the clamping plate assembly are arranged, so that the device can realize over-positioning when fixing the hook of the printing head, and the installation is more stable and reliable; the triangular plate arranged on the clamping plate assembly can absorb vibration generated by work, so that the printing head is more stable in work; the detachable mounting device is arranged, so that the printing head is shorter and simpler to operate when being replaced; the workbench processing device and the water cooling device are arranged to reduce vibration generated by rotation of the motor and slow down influence of the vibration on processing.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a water cooling apparatus according to the present invention;

FIG. 3 is a schematic view of the housing of the removable mounting apparatus of the present invention;

FIG. 4 is a schematic view of the detachable mounting apparatus of the present invention;

FIG. 5 is an enlarged view of A of FIG. 4 according to the present invention;

FIG. 6 is a schematic view of the clamping block and tightening assembly of the present invention;

FIG. 7 is a schematic view of the clamping fixture of the present invention;

FIG. 8 is a schematic view of the clamp plate assembly of the present invention;

FIG. 9 is an enlarged view of B of FIG. 8 according to the present invention;

FIG. 10 is a schematic view of the shock absorbing assembly of the present invention;

FIG. 11 is a schematic structural view of a printhead according to the present invention;

FIG. 12 is a schematic structural diagram of a control assembly according to the present invention;

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

As shown in fig. 1-12, a biological 3D printer includes a printer support 1, a three-axis moving device 2 disposed above the printer support 1, a processing platform device 4 disposed above the printer 1 and having a water cooling device 3 disposed thereon, a detachable mounting device 5 disposed on the three-axis moving device, a clamping and fixing device 6 disposed on the detachable mounting device 5, and a printing head 7 mounted on the detachable mounting device 5 and the clamping device 6; a plurality of support columns 11 and foot cups 12 fixedly connected to the support columns 11 are arranged below the printer support 1; the printing head 7 is provided with four hooks 71, and the hooks 71 are arranged on an inclined plane 72; the clamping and fixing device 6 comprises a clamping block 61, a tightening assembly 62 matched with the clamping block 61, a thrust assembly 63 matched with the clamping block 61, a rotating arm assembly 64 matched with the thrust assembly 63, a clamping plate assembly 65 matched with the rotating arm assembly 64, and a sliding assembly 66 matched with the clamping plate assembly 65;

the clamping plate assembly 65 comprises a first cylindrical rod 651, a connecting seat 652, a first plate 653, a triangular plate 654, a clamping plate 655, an anti-skid block 656 and a bevel 657; the tightening assembly 62 comprises a first fixing plate 621, a first cavity 622, a first sliding block 624, a first spring 623, a tightening plate 625, a second spring 626, a second sliding block 627 and a first sliding groove 628; the connection relationship of the tightening assembly includes a first cavity 622 disposed in the first fixing plate 621, a first sliding block 624 slidably connected to the first cavity 622, a first spring 623 disposed between the first cavity 622 and the first sliding block 624, a tightening plate 625 fixedly connected to the first sliding block 624, a second spring 626 fixedly connected to the tightening plate 625, a second sliding block 627 fixedly connected to the second spring 626, and a first sliding slot 628 disposed on the clamping block 61; the second sliding block 627 is slidably connected to the first sliding groove 628; the connection relationship of the clamping plate assembly comprises a connecting seat 652 rotatably connected to the first cylindrical rod 651, a first plate 653 fixedly connected to the connecting seat 652, a triangular plate 654 fixedly connected to the first plate 653, a clamping plate 655 fixedly connected to the triangular plate 654, an anti-skid block 656 fixedly connected to the clamping plate 655, and an oblique angle 657 arranged on the anti-skid block 655; a first cambered surface 611 is arranged on the clamping block 61; two rotating arm assemblies 64 and two sliding assemblies 66 are provided, two clamping plate assemblies 65 and two tightening assemblies 62 are respectively arranged at the positions of two sides symmetrical to the clamping blocks 61, and four clamping blocks 61 are respectively arranged at the positions corresponding to the four hooks 71; the three-axis moving device 2 drives the detachable mounting device 5 to move in three axes, works on the working platform device 4, when the printing head 7 needs to be mounted, the printing head 7 needs to be placed in the detachable mounting device 5, the detachable mounting device 5 enables the thrust assembly 63 to move upwards to drive the clamping block 61 to move upwards, the clamping block 61 cannot continue to move upwards after being abutted against the hook 71 on the printing head 7, at this time, the thrust assembly 63 drives the rotating arm assembly 64 to move, the rotating arm assembly 64 drives the first cylindrical rod 651, the first cylindrical rod 651 drives the connecting seat 652 to drive the first plate 653, the triangular plate 654 is driven to drive the clamping plate 655 to clamp two side surfaces of the hook 71 of the printing head 7 through the anti-slip block 656, meanwhile, the thrust assembly 63 also drives the first fixing plate 621 to drive the tightening plate 625 to move upwards, the tightening plate 625 moves upwards to drive the second sliding block 624 to slide upwards, when the printing head 7 needs to be dismounted, a worker needs to hold the printing head 7, then the thrust assembly 63 moves downwards through the detachable mounting device 5, the printing head 7 can be loosened by the hook 71 at the fixed position, the worker can directly and directly take the printing head down, the first cambered surface 611 on the clamping block 61 can be better matched with the inclined surface 72 on the hook 71, the clamping block 61 can better support the hook 71, the worker does not need to be placed at a too accurate position when holding the printing head 7, and the operation requirements of the worker are reduced.

Specifically, the three-axis moving device 2 includes an X-axis module 21 sliding in the X direction, a Y-axis module 23 sliding in the Y direction, and a Z-axis module 22 sliding in the Z direction; the X-axis module 21 is provided with a second plate 211, and the second plate 211 is provided with an avoiding groove 212; motors are arranged on the X-axis module 21, the Y-axis module 23 and the Z-axis module 22; x axle module 21, Y axle module 23, Z axle module 22 are prior art, mainly lean on the motor to drive the corresponding plate of ball drive, make demountable installation device 5 of fixing on screw nut can remove in the direction of 3 axles, can refer to triaxial slip table or diaxon slip table, do not do too much repetitious description at the time, can make the position change who beats printer head 7 work, keep away the position groove 212 on second plate 211 and can make and beat printer head 7 and avoid

second plate

211 and 4 clashes into when removing and lead to beating printer head 7 displacement to be restricted.

Specifically, the water cooling device 3 includes a water cooling control module 31, a first pipeline 32, a water cooling tank 33, a second pipeline 34, a first arc-shaped water cooling tank 35, a second arc-shaped water cooling tank 37, and a third pipeline 36; the connection relationship comprises a first pipeline 32 fixedly connected to the water-cooling control module 31, a water-cooling tank 33 fixedly connected to the first pipeline 32, a second pipeline 34 fixedly connected to the water-cooling tank 33, a first arc-shaped water-cooling tank 35 fixedly connected to the second pipeline 34, a second arc-shaped water-cooling tank 37 fixedly connected to the second pipeline 34, and a third pipeline 36 fixedly connected to the second arc-shaped water-cooling tank 37; the first arc-shaped water cooling tank 35 and the second arc-shaped water cooling tank 37 are fixedly connected to the motors of the X-axis module 21 and the Y-axis module 23; the X-axis module 21 and the Y-axis module 23 move frequently during working and are easy to generate heat, a water cooling device is required to be installed for heat dissipation, the water cooling control module 31 outputs water and cools the flowing-back water, the water flows into the bottom of the water cooling tank 33 from the first pipeline 32, then flows into the second arc-shaped water cooling tank 37 through the third pipeline 36, then flows into the first arc-shaped water cooling tank 35 through the circular tube between the first arc-shaped water cooling tank 35 and the second arc-shaped water cooling tank 37, flows into the water cooling tank 33 through the second pipeline 34, and then flows back to the water cooling control module 31 through the first pipeline 32, and the bottom and the side face of the stepping motor are used for heat dissipation.

Specifically, the processing platform device 4 includes a servo motor 41, a first rotating shaft 42, a first belt wheel 43, a first flat belt 44, a second belt wheel 45, a damping component 46, a second flat belt 47, a third belt wheel 48, and a workbench 49; the shock absorbing assembly 46 comprises a disc 461, a water stirring plate 462, a first groove 463, a cylindrical water tank 464, an empty groove 465 and a second cylindrical rod 466; the connection relationship includes a first rotating shaft 42 fixed to the servo motor 41, a first belt pulley 43 fixed to the first rotating shaft 42, a first flat belt 44 wound around the first belt pulley 43, a second belt pulley 45 wound around the other end of the first flat belt 44, a damping component 46 fixed to the second belt pulley 45, a second flat belt 47 wound around the second belt pulley 45, a third belt pulley 48 wound around the other end of the second flat belt 47, a disc 461 fixed to the second belt pulley 45, a water stirring plate 462 fixed to the disc 461, a first groove 463 arranged on the water stirring plate 462, a cylindrical water tank 464 fixed to the printing support 1, an empty groove 465 arranged in the cylindrical water tank 464, a second cylindrical rod 466 fixed to the cylindrical water tank 464, and a workbench 49 fixed to the second cylindrical rod 466; one of the working tables 49 is provided, four of the vibration assemblies 46 are respectively arranged on four second cylindrical rods 466 supporting the working tables 49, the second belt pulleys 45 are rotatably connected to the second cylindrical rods 466, circular holes are formed in the circular discs 461, and the circular holes are in clearance fit with the second cylindrical rods 466; the servo motor 41 rotates to drive the first rotating shaft 42 to rotate, so as to drive the first belt wheel 43, the first flat belt 44 drives the second belt wheel 45 to rotate, so as to drive the disc to rotate 461, the disc 461 rotates to drive the water stirring plate 462 to rotate, the second belt wheel 45 drives the third belt wheel 48 to rotate through the second flat belt 47, the flat belt drives the discs in other damping assemblies 46 to rotate 461, water can be in the empty groove 465 of the cylindrical water tank 464, and the second cylindrical rod 466 supports the workbench 49.

Specifically, the detachable mounting device 5 includes a housing 56 connected to the Z-axis module 22, a lever assembly 51 engaged with the housing 56, a gear assembly 52 engaged with the lever assembly 51, a connecting rod assembly 53 engaged with the gear assembly 52, a locking assembly 54 engaged with the lever assembly 51, a control assembly 55 engaged with the locking assembly 54, and a second slot 57 disposed on the housing 56; the compression bar assembly 51 comprises a third cylindrical bar 511, a guide sleeve 512, a first rack 513, a fourth cylindrical bar 514, a fifth cylindrical bar 515, a second sliding groove 516 and a third spring 517; the gear assembly comprises a first gear 521, a second rotating shaft 522, a second gear 523, a second rack 524, a third gear 525, a fourth gear 526, a third rotating shaft 527, a fifth gear 528 and a third rack 529; the connecting rod assembly 53 comprises a fourth rotating shaft 531, a first connecting rod 532, a sixth cylindrical rod 533, a second connecting rod 534, a seventh cylindrical rod 525, a second fixing plate 536, a supporting plate 537 and a third sliding groove 538; the connection relationship comprises a third cylindrical rod 511 slidably connected to the housing 56, a guide sleeve 512 slidably connected to the third cylindrical rod 511, a first rack 513 fixedly connected to the third cylindrical rod 511, a fourth cylindrical rod 514 fixedly connected to the first rack 513, a fifth cylindrical rod 515 fixedly connected to the fourth cylindrical rod 514, a second chute 516 slidably connected to the fourth cylindrical rod 514, a third spring 517 fixedly connected to the first rack 513, a first gear 521 meshed with the first rack 513, a second rotating shaft 522 fixedly connected to the first gear 521, a second gear 523 fixedly connected to the second rotating shaft 522, a second rack 524 meshed with the second gear 523, a third gear 525 meshed with the second rack 524, a fourth gear 526 meshed with the first rack 513, a third rotating shaft 527 fixedly connected to the fourth gear 526, a fifth gear 528 fixedly connected to the third rotating shaft 527, a third rack 529 meshed with the fifth gear 528, a third rack 529 and a fourth rack 528, A fourth rotating shaft 531 fixedly connected to the third gear 525, a first connecting rod 532 fixedly connected to the fourth rotating shaft 531, a sixth cylindrical rod 533 fixedly connected to the first connecting rod 532, a second connecting rod 534 rotatably connected to the sixth cylindrical rod 533, a seventh cylindrical rod 525 fixedly connected to the second connecting rod 534, a second fixing plate 536 rotatably connected to the seventh cylindrical rod 525, a support plate 537 fixedly connected to the second fixing plate 536, and a third sliding groove 538 arranged on the housing 56; the supporting plate 537 is slidably connected to the third sliding groove 538, the second rotating shaft 522, the third rotating shaft 527 and the fourth rotating shaft 531, and is rotatably connected to the housing 56, the guide sleeve 512 is fixedly connected to the housing 56, the fourth cylindrical rod 514 is slidably connected to the second sliding groove 516, the second rack 524 and the third rack 529 are slidably connected to the housing 56, and there are a plurality of connecting rod assemblies 53, each two connecting rod assemblies 53 drive one supporting plate 537 to move, specifically two supporting plates 537 and other elements of four connecting rod assemblies 53, one supporting plate 537 drives two clamping block devices to move, and a pressing block is arranged on the third cylindrical rod 511, so that a contact area can be increased during pressing, and hands of workers are not painful; the worker presses the third cylindrical rod 511 downwards to drive the first rack 513 downwards, the fourth cylindrical rod 514 and the fifth cylindrical rod 515 slide downwards in the second sliding slot 516, the third spring 517 is compressed to drive the first gear 521 to rotate, the first gear drives the second rotating shaft 522 to rotate, the second rotating shaft 522 drives the second gear 523 to rotate, the second gear drives the second rack 524 to move, the second rack 524 drives the third gear 525 to rotate, meanwhile, the first rack 513 drives the fourth gear 526 to rotate, the third rotating shaft 527 drives the fifth gear 528 to rotate, the fifth gear 528 drives the third rack 529 to move, the third rack 529 drives one connecting rod assembly 53 and two connecting rod assemblies 53 on the other side to move, the movement of one connecting rod assembly 53, namely, the rotation of the third gear 525 drives the fourth rotating shaft 531, the fourth rotating shaft 531 drives the first connecting rod 532, the first connecting rod 532 drives the sixth cylindrical rod 533, the sixth cylindrical rod 533 drives the second connecting rod 534, the second connecting rod 534 drives the seventh cylindrical rod 535, the seventh cylindrical rod 535 drives the second fixing plate 536, the second fixing plate 536 drives the support plate 537 to move upwards, the support plate 537 slides in the third sliding groove 538, and the third cylindrical rod 511 moves upwards to enable the support plate 537 to move downwards to return to the original position; the guide sleeve 512 and the fourth cylindrical rod 514 enable the third cylindrical rod 511 to provide guidance during the downward sliding process, and the gear assembly 52 achieves the locking effect through the meshing of the two sets of gear racks, so that the gear assembly cannot rotate for a certain angle due to inertia.

Specifically, the clamping assembly 54 includes a fourth plate 541, a fourth chute 542, an eighth cylindrical rod 544, a fourth spring 543, a second arc surface 545, a control block 546, and a control tooth 547; the control assembly 55 comprises a ninth cylindrical rod 551, an arc-shaped block 552; the connection relationship includes a fourth plate 541 fixedly connected to the housing 56, a fourth sliding groove 542 arranged in the fourth plate 541, an eighth cylindrical rod 544 slidably connected to the fourth sliding groove 542, a fourth spring 543 arranged in the fourth sliding groove 542, a second arc surface 545 arranged on the fourth plate 541, a control block 546 fixedly connected to the third cylindrical rod 511, a plurality of control teeth 547 arranged on the control block 546, an arc-shaped block 552 slidably connected to the ninth cylindrical rod 551 of the housing 56 and fixedly connected to the ninth cylindrical rod 551; one control block 546 of the positioning component 54 is provided, and two other components are respectively arranged on two sides of the control block 546; when the third cylindrical rod 511 is pressed down by a worker, the control block 546 moves downward along with the third cylindrical rod 511, the control tooth 547 on the control block 546 moves downward and contacts with the eighth cylindrical rod 544, the eighth cylindrical rod 544 is forced to move backward due to the acute angle when the control block 546 moves downward, the eighth cylindrical rod 544 is forced to press the control block 546 forward by the fourth spring 543, so that the control block 546 can fall freely but cannot return freely, when the control block 546 is no longer pressed downward by the worker, the eighth cylindrical rod 544 catches the control tooth, the third cylindrical rod 511 cannot return by the elastic force of the third spring 517, when the third cylindrical rod 511 needs to return, the worker presses the ninth cylindrical rod 551 downward, then the ninth cylindrical rod 551 presses the arc-shaped block 552 downward, the arc-shaped face of the arc-shaped block 552 contacts with the eighth cylindrical rod 544, and moves backward, the eighth cylindrical rod 544 does not contact the control teeth 547, allowing the third cylindrical rod 511 to be reset.

Specifically, the thrust assembly 63 includes a first push plate 631, a tenth cylindrical rod 632, an eleventh cylindrical rod 634, a fifth plate 635, a fifth spring 633, a sixth plate 636, and a seventh plate 637; the rotating arm assembly 64 comprises a fifth rotating shaft 641, a rotating arm 642, a third sliding block 643, a sixth rotating shaft 644, an eighth plate 645, a sixth spring 646 and a seventh sliding groove 647; the connection relationship includes a first push plate 631 fixed to the support plate 537, a tenth cylindrical rod 632 fixed to the first push plate 631, an eleventh cylindrical rod 634 fixed to the first push plate 631, a fifth plate 635 fixed to the housing 56, a fifth spring 633 provided on the tenth cylindrical rod 632, a sixth plate 636 fixed to the eleventh cylindrical rod 634, a seventh plate 637 fixed to the sixth plate 636, a fifth rotation shaft 641 rotatably connected to the seventh plate 637, a rotation arm 642 connected to the fifth rotation shaft 641, a third sliding block 643 connected to the rotation arm 642, a sixth rotation shaft 644 fixed to the third sliding block 643, an eighth plate 645 rotatably connected to the sixth rotation shaft 644, a sixth spring 646 provided on the third sliding block 643, and a seventh slide groove 647 provided on the clamping block 61; a fifth sliding slot and a sixth sliding slot with round ends are arranged on the rotating arm 642, the fifth rotating shaft 641 is slidably connected with the fifth sliding slot, the third sliding block 643 is slidably connected with the sixth sliding slot, and the sixth spring 646 is fixedly connected with the third sliding block 643 and the sixth sliding slot; the tenth cylindrical rod 632 and the fifth spring 633 are respectively provided with four plates 635, so that the fifth plates 635 can be better supported, and the tenth cylindrical rod 632 can be connected two by two at the top and can be used for clamping the fifth plates 635 downwards; the supporting plate 537 moves upward to drive the first pushing plate 631 to move upward, the first pushing plate 631 drives the tenth cylindrical rod 632, the fifth spring 633 drives the fifth plate 635 upward, the fifth plate 635 drives the clamping block 61 upward, when the clamping block 61 abuts against the hook 71, the clamping block 61 does not move upward, but the first pushing plate 631 moves upward, then the first spring 633 is compressed, the eleventh cylindrical rod 634 starts to move upward relative to the clamping block 61, the sixth plate 636 pushes the seventh plate 637 upward, then the seventh plate drives the fifth rotating shaft upward, the fifth rotating shaft can slide in the circular chute, the rotating arm 642 is pushed to rotate on the fulcrum sixth rotating shaft 641 to drive the clamping plate assembly 65 to move, the clamping plate 655 of the clamping plate assembly 65 contacts with the side surface of the hook 71, but the width of the hook 71 may have a difference, when a very wide hook 71 is encountered, the clamping plate assembly 65 abuts against the hook 642 under the action of the rotating arm 642 to move the hook 71, then, the position of the third sliding block 643 in the sixth sliding slot of the rotating arm is not changed, the entire position of the rotating arm 642 moves backward, and the sixth spring 646 is compressed.

Specifically, the sliding assembly 66 includes a twelfth cylindrical rod 664, a ninth plate 665, a sleeve 663, a tenth plate 661, a seventh spring 662, and a seventh sliding slot 666; the connection relationship comprises a twelfth cylindrical rod 664 slidably connected with the clamping block 61, a ninth plate 665 fixedly connected with the twelfth cylindrical rod 664, a sleeve 663 slidably connected with the twelfth cylindrical rod 664, a tenth plate 661 fixedly connected with the twelfth cylindrical rod 664, a seventh spring 662 arranged on the twelfth cylindrical rod 664, and a seventh sliding groove 666 arranged on the clamping block 61; the seventh spring 662 is fixed to the sleeve 662 and the tenth plate 661, the ninth plate 665 is fixed to the first plate 653, and the twelfth cylindrical rod 664 is slidably connected to the seventh sliding groove 666; the number of the sliding assemblies 66 is multiple, and four sliding assemblies 66 are arranged on each clamping block 61; the clamping plate assembly 65 moves in a cycloid or arc path when the rotating arm 642 rotates, the path is not favorable for the clamping plate assembly 65 to clamp the hook, the twelfth cylindrical rod 664 slides on the seventh sliding groove 666 when the clamping plate assembly 65 is clamped, then the twelfth cylindrical rod 664 can keep smooth sliding in the seventh sliding groove 666 under the action of the sleeve 663, and the seventh spring 662 and the tenth plate 661 tightly press against the sleeve 663 to keep the twelfth cylindrical rod 664 in an upright state when sliding in the seventh sliding groove 666.

The specific working process of the invention is as follows: the three-shaft moving device 2 enables the printing head to move, the water cooling device enables the motor to cool to avoid losing and causing vibration, the working platform device 4 can reduce vibration during molding, a worker presses the third cylindrical rod 511 downwards to drive the first rack 513 downwards, the fourth cylindrical rod 514 and the fifth cylindrical rod 515 slide downwards in the second sliding groove 516, the third spring 517 is compressed to drive the first gear 521 to rotate, the first gear drives the second rotating shaft 522 to rotate, the second rotating shaft 522 drives the second gear 523 to rotate, the second gear drives the second rack 524 to move, the second rack 524 drives the third gear 525 to rotate, meanwhile, the first rack 513 drives the fourth gear 526 to rotate to drive the third rotating shaft 527 to rotate, the third rotating shaft 527 drives the fifth gear 528 to rotate, the fifth gear drives the third rack 529 to move, the third rack 529 moves one connecting rod assembly 53 on the other side and the two connecting rod assemblies 53 on the lower side, the fourth rotating shaft 531 is driven by the fourth rotating shaft 531 when the third gear 525 rotates, the first connecting rod 532 is driven by the fourth rotating shaft 531, the sixth cylindrical rod 533 is driven by the first connecting rod 532, the sixth cylindrical rod 533 drives the second connecting rod 534, the seventh cylindrical rod 535 is driven by the second connecting rod 534, the second fixing plate 536 drives the support plate 537 to move upward, the support plate 537 slides in the third sliding slot 538, the support plate 537 moves upward, the first push plate 631 moves upward, the tenth cylindrical rod 632 is driven by the first push plate 631, the fifth plate 635 is driven by the fifth spring 633 to move upward, the fifth plate 635 drives the clamping block 61 to move upward, when the clamping block 61 abuts against the hook 71, the clamping block 61 does not move upward any more, but the first push plate 631 continues to move upward, the first spring 633 is compressed, and the eleventh cylindrical rod 634 starts to move upward relative to the clamping block 61, pushing the sixth plate 636, the sixth plate 636 pushes the seventh plate 637 upward, then the seventh plate drives the fifth rotating shaft upward, the fifth rotating shaft can slide in the circular chute, the rotating arm 642 is pushed to rotate on the sixth rotating shaft 641 to drive the clamping plate assembly 65 to move, the clamping plate 655 of the clamping plate assembly 65 slides on the seventh sliding chute 666 through the twelfth cylindrical rod 664, then the twelfth cylindrical rod 664 can keep stable sliding in the seventh sliding chute 666 under the action of the sleeve 663, the seventh spring 662 and the tenth plate 661 push against the sleeve 663, so that the twelfth cylindrical rod is kept in vertical contact with the side surface of the hook 71 when sliding in the seventh sliding chute 666, but the width of the hook 71 may be different, when encountering a very wide hook 71, the clamping plate assembly 65 pushes against the hook 71 under the action of the rotating arm 642, and then the rotating arm 642 continues to move, then, the position of the third sliding block 643 in the sixth sliding slot of the rotating arm is not changed, the whole position of the rotating arm 642 moves backwards, the sixth spring 646 is compressed, when the worker needs to stop clamping for detachment, the ninth cylindrical rod 551 presses the ninth cylindrical rod 551 downwards, then the ninth cylindrical rod 551 presses the arc-shaped block 552 downwards, the arc surface on the arc-shaped block 552 is in contact with the eighth cylindrical rod 544, the eighth cylindrical rod 544 moves backwards, the eighth cylindrical rod 544 is not in contact with the control tooth 547, the third cylindrical rod 511 can be reset, then the worker holds the printing head 7 clamping block assembly 65, the clamping of the hook 71 is released under the action of the detachable mounting device 5, and the worker can directly remove the printing head 7 for replacing other printing heads 7.

It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Claims

1. A biological 3D printer comprises a printer support (1), a three-axis moving device (2) arranged above the printer support (1), a water cooling device (3) arranged on the three-axis moving platform device, a processing platform device (4) arranged above the printer (1), a detachable mounting device (5) arranged on the three-axis moving device, a clamping and fixing device (6) arranged on the detachable mounting device (5), and a printing head (7) arranged on the mounting and detachable mounting device and the clamping device; a plurality of support columns (11) and a foot cup (12) fixedly connected to the support columns (11) are arranged below the printer support (1); the printing head (7) is provided with four hooks (71), and the hooks are arranged on an inclined plane (72); the method is characterized in that: the clamping and fixing device comprises a clamping block (61), a tightening assembly (62) matched with the clamping block (61), a thrust assembly (63) matched with the clamping block (61), a rotating arm assembly (64) matched with the thrust assembly (63), a clamping plate assembly (65) matched with the rotating arm assembly (64), and a sliding assembly (66) matched with the clamping plate assembly (65); the clamping plate assembly (65) comprises a first cylindrical rod (651), a connecting seat (652) rotatably connected to the first cylindrical rod, a first plate (653) fixedly connected to the connecting seat, a triangular plate (654) fixedly connected to the first plate, a clamping plate (655) fixedly connected to the triangular plate, an anti-skid block (656) fixedly connected to the clamping plate, and an oblique angle (657) arranged on the anti-skid block; the tightening component (62) comprises a first fixing plate (621), a first cavity (622) arranged in the first fixing plate, a first sliding block (624) connected to the first cavity in a sliding manner, a first spring (623) arranged between the first cavity and the first sliding block, a tightening plate (625) fixedly connected to the sliding block, a second spring (626) fixedly connected to the tightening plate, a second sliding block (627) fixedly connected to the second spring, and a first sliding groove (628) arranged on the clamping block (61); the second sliding block (627) is connected to the first sliding groove (628) in a sliding manner; the clamping block (61) is provided with a first cambered surface (611).

2. The biological 3D printer according to claim 1, wherein: the method comprises the following steps of;

the three-axis moving device (2) comprises an X-axis module (21) sliding in the X direction, a Y-axis module (23) sliding in the Y direction and a Z-axis module (22) sliding in the Z direction; the X-axis module is provided with a second plate (211) which is provided with a spacing groove (212); and motors are arranged on the X-axis module, the Y-axis module and the Z-axis module.

3. The biological 3D printer according to claim 2, wherein: the water cooling device (3) comprises a water cooling control module (31), a first pipeline (32) fixedly connected with the water cooling control module, a water cooling tank (33) fixedly connected with the first pipeline, a second pipeline (34) fixedly connected with the water cooling tank, a first arc water cooling tank (35) fixedly connected with the second pipeline, a second arc water cooling tank (37) fixedly connected with the second pipeline, and a second pipeline (36) fixedly connected with the second arc water cooling tank; the first arc-shaped water cooling tank (35) and the second arc-shaped water cooling tank (37) are fixedly connected to the X-axis module (21) and the motor of the Y-axis module (23).

4. The biological 3D printer according to claim 1, wherein: the machining platform device (4) comprises a servo motor (41), a first rotating shaft (42) fixedly connected with the servo motor, a first belt wheel (43) fixedly connected with the first rotating shaft, a first flat belt (44) wound around the first belt wheel, a second belt wheel (45) wound around the other end of the first flat belt, a damping component (46) fixedly connected with the second belt wheel, a second flat belt (47) wound around the second belt wheel and a third belt wheel (48) wound around the other end of the second flat belt; the damping component (46) comprises a disc (461) fixedly connected with the second belt wheel (45), a water stirring plate (462) fixedly connected with the disc, a first groove (463) arranged on the water stirring plate, a cylindrical water tank (464) fixedly connected with the printing support (1), a hollow groove (465) arranged in the cylindrical water tank and a second cylindrical rod (466) fixedly connected with the cylindrical water tank; the second belt wheel (45) is rotatably connected to the second cylindrical rod (466), a round hole is formed in the disc (461), and the round hole is in clearance fit with the second cylindrical rod.

5. The biological 3D printer according to claim 1, wherein: the detachable mounting device (5) comprises a shell (56) connected to the Z-axis module (22), a pressure rod assembly (51) matched with the shell, a gear assembly (52) matched with the pressure rod assembly, a connecting rod assembly (53) matched with the gear assembly, a clamping assembly (54) matched with the pressure rod assembly, a control assembly (55) matched with the clamping assembly and a second groove (57) arranged on the shell; the compression bar assembly comprises a third cylindrical rod (511), a guide sleeve (512) connected to the third cylindrical rod in a sliding manner, a first rack (513) fixedly connected to the third cylindrical rod, a fourth cylindrical rod (514) fixedly connected to the first rack, a fifth cylindrical rod (515) fixedly connected to the fourth cylindrical rod, a second sliding groove (516) arranged on the shell, and a third spring (517) fixedly connected to the first rack; the gear assembly comprises a first gear (521) meshed with the first rack (513), a second rotating shaft (522) fixedly connected with the first gear, a second gear (523) fixedly connected with the second rotating shaft, a second rack (524) meshed with the second gear, a third gear (525) meshed with the second rack, a fourth gear (526) meshed with the first rack, a third rotating shaft (527) fixedly connected with the fourth gear, a fifth gear (528) fixedly connected with the third rotating shaft and a third rack (529) meshed with the fifth gear; the connecting rod assembly (53) comprises a fourth rotating shaft (531) fixedly connected to the third gear, a first connecting rod (532) fixedly connected to the fourth rotating shaft, a sixth cylindrical rod (533) fixedly connected to the first connecting rod, a second connecting rod (534) rotatably connected to the sixth cylindrical rod, a seventh cylindrical rod (525) fixedly connected to the second connecting rod, a second fixing plate (536) rotatably connected to the seventh cylindrical rod, a supporting plate (537) fixedly connected to the second fixing plate, and a third sliding chute (538) arranged on the shell (56); the supporting plate (537) is slidably connected to the third sliding groove (538), the second rotating shaft (522), the third rotating shaft (527) and the fourth rotating shaft (531) and is rotatably connected to the housing (56), the guide sleeve (512) is fixedly connected to the housing (56), and the fourth cylindrical rod (514) is slidably connected to the second sliding groove (516), the second rack (524) and the third rack (529) and is slidably connected to the housing (56).

6. The biological 3D printer according to claim 5, wherein: the clamping assembly (54) comprises a fourth plate (541) fixedly connected to the shell (56), a fourth sliding groove (542) arranged in the fourth plate, an eighth cylindrical rod (544) slidably connected to the fourth sliding groove, a fourth spring (543) arranged in the fourth sliding groove, a second arc surface (545) arranged on the fourth plate, a control block (546) fixedly connected to the third cylindrical rod (511), and a plurality of control teeth (547) arranged on the control block; the control assembly (55) comprises a ninth cylindrical rod (551) which is slidably connected with the shell (56) and an arc-shaped block (552) which is fixedly connected with the ninth cylindrical rod; the arc-shaped block (552) is in sliding connection with the second arc-shaped face (545).

7. The biological 3D printer according to claim 6, wherein: the thrust assembly comprises a first push plate (631) fixedly connected to the support plate (537), a tenth cylindrical rod (632) fixedly connected to the first push plate, an eleventh cylindrical rod (634) fixedly connected to the first push plate, a fifth plate (635) fixedly connected to the housing (56), a fifth spring (633) arranged on the tenth cylindrical rod, a sixth plate (636) fixedly connected to the eleventh cylindrical rod, and a seventh plate (637) fixedly connected to the sixth plate; the rotating arm assembly comprises a fifth rotating shaft (641) rotatably connected to the seventh plate (637), a rotating arm (642) connected to the fifth rotating shaft, a third sliding block (643) connected to the rotating arm, a sixth rotating shaft (644) fixedly connected to the third sliding block, an eighth plate (645) rotatably connected to the sixth rotating shaft, a sixth spring (646) arranged on the third sliding block, and a seventh sliding groove (647) arranged on the clamping block (61); the rotating arm is provided with a fifth sliding groove and a sixth sliding groove with round opening ends, the fifth rotating shaft (641) is connected to the fifth sliding groove in a sliding mode, the third sliding block (643) is connected to the sixth sliding groove in a sliding mode, and the sixth spring (646) is fixedly connected to the third sliding block (643) and the sixth sliding groove.

8. The biological 3D printer according to claim 7, wherein: the sliding assembly comprises a twelfth cylindrical rod (664) connected with the clamping block (61) in a sliding mode, a ninth plate (665) fixedly connected with the twelfth cylindrical rod, a sleeve (663) connected with the twelfth cylindrical rod in a sliding mode, a tenth plate (661) fixedly connected with the twelfth cylindrical rod, a seventh spring (662) arranged on the twelfth cylindrical rod and a seventh sliding groove (666) arranged on the clamping block (61); the seventh spring (662) is fixedly connected to the sleeve (662) and the tenth plate (661), the ninth plate (665) is fixedly connected to the first plate (653), and the twelfth cylindrical rod (664) is slidably connected to the seventh sliding groove (666).