CN114147951A - Pneumatic multi-channel control system and method for multi-nozzle biological 3D printing system - Google Patents
Pneumatic multi-channel control system and method for multi-nozzle biological 3D printing system Download PDFInfo
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- CN114147951A CN114147951A CN202111434330.8A CN202111434330A CN114147951A CN 114147951 A CN114147951 A CN 114147951A CN 202111434330 A CN202111434330 A CN 202111434330A CN 114147951 A CN114147951 A CN 114147951A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/205—Means for applying layers
- B29C64/209—Heads; Nozzles
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The invention designs a pneumatic multi-channel control system and method of a multi-nozzle biological 3D printing system, and relates to the field of biological 3D printing. The system comprises an air source processing module, an air pressure control module, a pressure supply and release module and a feedback control module. Wherein the air supply processing module realizes providing stable atmospheric pressure, filters step by step, the function of drying and pressure regulating, and the atmospheric pressure control module realizes the control of multichannel atmospheric pressure through proportional pressure valves, mutually independent mutually noninterfere, supplies to press the pressure release module to adopt two sets of high-speed ooff valves to realize accurate confession pressure and pressure release function respectively, and feedback control module realizes the collection comparison to pressure transmitter signal through the multi-functional signal acquisition card of host computer control, finally realizes the control to gas pressure. The invention adopts multi-path pneumatic independent control, can ensure real-time start and stop of multi-nozzle extrusion in the biological extrusion printing process, timely relieve pressure, has high speed and accuracy, provides technical support for multi-nozzle extrusion printing biological experiments, and has universality.
Description
Technical Field
The invention relates to the technical field of biological 3D printing in tissue engineering, in particular to a pneumatic multi-channel control system and method of a multi-nozzle biological 3D printing system.
Background
An extremely large number of people worldwide suffer various types of injuries every year, resulting in tissue defects, or serious diseases that require organ transplantation, creating a huge tissue and organ repair need. Particularly, in the field of end-stage organ and tissue repair, human tissue organ transplantation is the most common treatment method at present. However, due to the shortage of tissue and organ donors, multiple limitations of recipient immune rejection, religion, culture, policy and the like, the research and development of tissue and organ donor substitutes are urgently needed. The proposal of tissue engineering opens up a new way for solving the problems. Tissue engineering is the construction of functional tissue substitutes by attaching living cells to a biomaterial matrix or prepared scaffolds by some method. Then the constructed tissue substitute is cultured and implanted into the body of a patient to replace the original pathological tissue organ to recover the original body function so as to realize the treatment of the disease. At present, the research and application of tissue engineering skin are effective examples of good development prospects of tissue engineering.
In recent years, the rapid development of 3D printing technology opens up a new manufacturing and production model for industrial manufacturing. The biological 3D printing technology is a manufacturing means capable of highly simulating biomedical structures with natural tissue characteristics, and is based on a computer three-dimensional model, and is used for positioning and assembling biological materials or living cells by a software layering dispersion and numerical control forming method to manufacture biomedical products such as artificial implantation scaffolds, tissue organs, medical assistance and the like. Biological 3D printing technology is a key technology and a necessary way for solving the shortage of tissues and organs. However, human organ tissue structure is complicated, and the material component is various, in order to satisfy the manufacturing demand of large-size complicated tissue organ, and transplantable organ tissue is established accurately, especially for the tissue organ with obvious unit structure such as liver, the requirement such as the coordinated printing of many materials, many shower nozzles need to be satisfied to 3D print platform. Therefore, the current biological 3D printing apparatus is developing toward a device with a very high degree of freedom that can implement a plurality of nozzles working in cooperation in a larger size. In a typical multi-material multi-nozzle bio-extrusion printing device, a pneumatic extrusion system is the most critical part for realizing synchronous and coordinated printing of multiple nozzles. Therefore, the development of a pneumatic extrusion multi-path control system matched with a multi-nozzle printing system is urgently needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a pneumatic multi-path control system and a pneumatic multi-path control method of a multi-nozzle biological 3D printing system, and the pneumatic multi-path control system and the pneumatic multi-path control method thereof are used for realizing the functions of gas cleaning, air pressure feedback regulation, pressure supply, pressure relief and the like of any multi-path pneumatic extrusion system required in biological 3D printing equipment.
The invention firstly provides a pneumatic multi-path control system of a multi-nozzle biological 3D printing system, which is characterized by comprising an air source processing module, an air pressure control module, a pressure supply and relief module, an extrusion nozzle and a feedback control module; wherein, the feedback control module comprises N gas flowmeters (18), a transmitter group (24) consisting of N pressure transmitters, a multifunctional signal acquisition card (21) and an upper computer (23)
The air source processing module (1) comprises an air pump (2), a first filter (3), a second filter (4), a third filter (5), a fourth filter (6) and a dryer (7) which are connected in sequence, so that the air is filtered step by step, and the requirements of air source cleanliness and dryness in the biological extrusion printing process are met;
the air pressure control module comprises an air channel plate (11) and a proportional pressure valve group (12) consisting of N proportional pressure valves, air provided by the air source processing module (1) is respectively led to the N proportional pressure valves through the air channel plate (11), and each proportional pressure valve is independently controlled by the feedback control module;
the pressure supply and relief module comprises a high-speed switch valve group (13) consisting of N first high-speed switch valves, a Y-shaped joint (14), a high-speed switch valve group (15) consisting of N second high-speed switch valves and a T-shaped joint (17);
the gas passes through N proportional pressure valve groups of the air pressure control module and then is respectively connected with N first high-speed switch valves, the first high-speed switch valves are controlled by the feedback control module, the control method is high and low levels, wherein the high levels are opened and the low levels are closed, so that the real-time pressure supply in the printing process is realized; each first high-speed switch valve is respectively connected with a second high-speed switch valve and a T-shaped joint (17) through a Y-shaped joint (14), the second high-speed switch valve is also controlled by a feedback control module, the control method is high and low levels, wherein the high level is opened and the low level is closed, so that real-time pressure relief required in the printing process is realized, and during pressure relief, the first high-speed switch valve is in a closed state, the second high-speed switch valve is opened, so that the extrusion of materials is controlled;
one end of the T-shaped joint (17) is connected with a pressure transmitter in the transmitter group (24), the other end of the T-shaped joint is connected with a gas flowmeter (18) and the extrusion nozzle (19), and the pressure value acquired by the transmitter group (24) is read in and compared under the control of the upper computer (23) through the double multifunctional signal acquisition card (21), so that the air pressure closed-loop control of each extrusion nozzle is realized.
As a preferred scheme of the invention, the proportional pressure valve group (12) comprises N proportional pressure valves, all of which are controlled by a voltage analog quantity, and a plurality of same multifunctional signal acquisition cards (21) are adopted to realize N-path analog quantity output control under the control of an upper computer (23).
As the preferred scheme of the invention, the first high-speed switch valve realizes pressure supply, and the second high-speed switch valve is in a closed state during pressure supply; the second high-speed switch valve realizes pressure relief, and the first high-speed switch valve is in a closed state during pressure relief; the system adopts 2 multifunctional signal acquisition cards (21), one multifunctional signal acquisition card controls the pressure supply, the other multifunctional signal acquisition card controls the pressure relief, the pressure supply and pressure relief processes are independently controlled by a feedback control module, and an upper computer can identify the multifunctional signal acquisition cards with different functions.
As a preferred embodiment of the present invention, the number N of the air paths may be adjusted according to the complexity of the structure of the printing unit, and the adjustment is performed by setting the voltage of the proportional pressure valve or the first high-speed switch valve of the unused air path to zero.
Optionally, the compressed gas of the air pump is filtered step by step through 4 filters and dryers with different filtering grades to meet the requirements of air source cleanliness and dryness in the biological extrusion printing process, so that efficient, clean, stable-pressure and dry gas is provided for the whole system.
As the preferred scheme of the invention, the proportional pressure valve (12) outputs the actual pressure, the pressure transmitter (24) collects the real-time pressure of the extrusion nozzle, the actual pressure and the implementation pressure are collected by the multifunctional signal acquisition card, and finally the real-time pressure and the actual pressure are compared under the control of the upper computer (23) so as to realize the feedback control of the air pressure of the nozzle.
As a preferable aspect of the present invention, the first high-speed switching valve and the second high-speed switching valve are two-position two-way valves.
In a preferred embodiment of the present invention, a muffler (16) is connected to the second high-speed switching valve to reduce gas noise during pressure relief.
As a preferred aspect of the invention, an LED gas flow meter (18) is installed after the pressure transmitter (24), and when the gas is stabilized, the number is displayed on the flow meter as 0.
The invention also provides a control method of the pneumatic multi-path control system, which comprises the following steps:
the gas passes through four filters of the gas source processing module (1) to gradually improve the filtering grade, and is dried by a dryer to meet the requirements of the required gas source cleanliness and dryness;
the gas after gas source processing module (1) filters is by atmospheric pressure control module, supplies to press pressure release module coordinated control, mutually supports to realize that many shower nozzles extrude the real-time demand of printing the different pressure of multiple material, guarantee to extrude and print continuous controllable, wherein, extrude the gas pressure of shower nozzle through controlling the difference, realize the pressure regulating function, through the break-make of control gas, realize supplying and press the function, through the discharge of control gas, realize the pressure release function.
When pressure is regulated, required pressures are respectively set for the proportional pressure valve group through a multifunctional signal acquisition card (21), a first high-speed switch valve and a second high-speed switch valve are matched with each other under the control of an upper computer, when a spray head needs to be extruded, the first high-speed switch valve is opened, the second high-speed switch valve is in a closed state, whether the air pressure of a pipeline is in a stable state or not is observed through a gas flowmeter, and if the air pressure is stable, extrusion printing is started; when the nozzle needs to stop extruding, the first high-speed switch valve is closed, the second high-speed switch valve is opened, pressure relief is realized in time, whether the air pressure of the pipeline is in a stable state or not is observed through the air flow meter, and if the air pressure of the pipeline is stable, the pressure relief is complete; if the pressure relief time is not stable, the pressure relief time in the program is adjusted until the pressure relief is complete, and the stability is achieved.
The pressure transmitter group (24) collects the pressure value of the extrusion nozzle part in real time in the printing process, feeds the pressure value back to the multifunctional signal acquisition card (21), compares the pressure value with the set pressure provided by the proportional pressure valve, and the upper computer supplements the pressure difference value to the corresponding proportional pressure valve to improve the set pressure because the actual pressure is less than the set pressure, thereby realizing the stability and controllability of the actual pressure.
As the preferable scheme of the invention, the pressure relief time is controllable, so that the gas is prevented from being retained in the pipeline.
The multi-nozzle pneumatic control system designed by the invention adopts strict sterilization and filtration measures to ensure that a clean and sterile pressure air source can be provided, and avoids polluting cells. And then the output pressure of the air pump is regulated through the proportional pressure valve bank to ensure that stable pressure is obtained above the spray head, real-time pressure supply and pressure relief in the printing process are realized under the mutual cooperation of the two groups of high-speed switch valve banks, cell liquid is pushed to be extruded from the spray nozzle at a constant speed, different extrusion speeds can be obtained by changing the extrusion pressure, and the gas pressure can be fed back and regulated in real time. By using the pneumatic multi-path system and the control method, the mutual cooperation of the pressure supply and release modules can be realized, and the rapid pressure supply and release in the 3D printing process of the multi-nozzle extrusion organism can be ensured, so that the accurate extrusion of materials is realized, and the pneumatic multi-path system and the control method have important significance for improving the precision of a printing structure.
Drawings
Fig. 1 is an overall structure diagram of a pneumatic multi-channel control system of the multi-nozzle biological 3D printing system of the invention.
Wherein: the device comprises an air source processing module 1, an air pump 2, a 40 micron filter 3, a 5 micron filter 4, a 1 micron filter 5, a 0.1 micron filter 6, a safety (pressure reducing) valve I7, a pressure gauge 8, a dryer 9, a safety (pressure reducing) valve II 10, an air channel plate 11, a proportional pressure valve group 12, a high-speed switch valve group I13, a Y-shaped joint 14, a high-speed switch valve group II 15, a silencer 16, a T-shaped joint 17, a gas flowmeter 18, an extrusion nozzle 19, a proportional pressure valve group control line 20, a multifunctional signal acquisition card 21, a high-speed switch valve group control line 22, an upper computer 23 and a pressure transmitter group 24.
Detailed Description
As shown in FIG. 1, the multi-nozzle pneumatic control system of the biological 3D printer comprises an air source processing module, an air pressure control module, a pressure supply and release module, an extrusion nozzle and a feedback control module. In this embodiment, the number of the gas paths is 6, and in the feedback control module, the number of the multifunctional signal acquisition cards is two. It should be noted that the number of the multifunctional signal acquisition cards can be increased to meet the requirement of the required analog output, and may be 3, 4, etc.
In the pneumatic multi-path control system, compressed air of an air pump is filtered step by step through 4 filters and dryers with different filtering grades to meet the requirements of air source cleanliness and dryness in the biological extrusion printing process, wherein in the embodiment, four filters with different filtering grades, namely a 40-micron filter 3, a 5-micron filter 4, a 1-micron filter 5 and a 0.01-micron filter 6, are respectively adopted.
And then the gas channel plate is respectively communicated with a proportional pressure valve group consisting of 6 proportional pressure valves, the proportional pressure valves are controlled by an upper computer program, and the control method is that different voltages correspond to different gas pressures, so that the pressure control of 6 paths of gas is realized.
The gas passes through the proportional pressure valve group and then passes through a high-speed switch valve group (i) consisting of 6 first high-speed switch valves connected with the proportional pressure valve group, the high-speed switch valve group (i) is controlled by an upper computer program, the control method is high and low level, the high level is opened, the low level is closed, and the real-time pressure supply in the printing process is realized. The high-speed switch valve group is respectively connected with a high-speed switch valve group formed by 6 second high-speed switch valves and 6T-shaped connectors through Y-shaped connectors, the high-speed switch valve group is also controlled by an upper computer program, the control method is high and low level, the high level is opened during high level, the low level is closed during low level, real-time pressure relief required in the printing process is realized, the high-speed switch valve group is in a closed state during pressure relief, and the high-speed switch valve group is opened in time to control extrusion of materials.
One end of the T-shaped joint is connected with a transmitter group consisting of 6 pressure transmitters, the other end of the T-shaped joint is connected with 6 extrusion nozzles, and the pressure values acquired by the transmitter group are read in and compared under the control of an upper computer through a multifunctional signal acquisition card, so that the air pressure closed-loop control of the nozzle part is realized.
The proportional pressure valve group in the air pressure control module comprises 6 proportional pressure valves which are controlled by voltage analog quantity, the analog quantity output of a general signal acquisition card is only 4 paths, and the invention adopts two same multifunctional signal acquisition cards to realize the control of 6 paths of analog quantity output under the control of an upper computer.
In the embodiment, the high-speed switch valve group is used for supplying pressure, the high-speed switch valve group is in a closed state during pressure supply, the high-speed switch valve group is used for relieving pressure, and the high-speed switch valve group is in a closed state during pressure relief. Because two high-speed switch valve banks need 12-channel digital quantity output control, the invention adopts 2 multifunctional signal acquisition cards, so that one acquisition card controls the pressure supply, the other acquisition card controls the pressure relief, the pressure supply and pressure relief processes are controlled by programs, and the programs can identify different acquisition cards.
The types of the multifunctional signal acquisition cards can be changed or the number of the multifunctional signal acquisition cards can be increased so as to meet the requirement of digital quantity output.
The number of pneumatic multiple paths in the multi-nozzle pneumatic control system can be automatically adjusted according to the complexity of the structure of the printing unit. The adjustment can be realized by setting the voltage of a proportional pressure valve of an unused air passage or a high-speed switch valve group to be zero through a programmed program.
The feedback control module outputs actual pressure through 6 proportional pressure valves, the 6 pressure transmitters collect real-time pressure of the nozzle part, the actual pressure and the implementation pressure are collected through the multifunctional signal collection card, and finally the real-time pressure and the actual pressure are compared under the control of the upper computer so as to realize feedback control of the air pressure of the nozzle.
The pressure supply valve group and the pressure relief valve group are composed of high-speed electromagnetic switch valves, but not limited to high-speed switch electromagnetic valves, and can also be other two-position two-way valves.
And the pressure relief module consisting of the high-speed switch valve group is connected into the silencer, so that the function of reducing gas noise during pressure relief is realized.
In order to observe that the air pressure of a pipeline after gas passes through the high-speed switch valve group is in a stable state before extrusion printing, an LED gas flowmeter is arranged behind the pressure transmitter, and when the gas is stable, the number displayed on the flowmeter is 0.
The filtered gas passing through the gas source processing module realizes three synchronous controls through a program, wherein the three synchronous controls are firstly to control the gas pressure of different spray heads to realize the pressure regulating function, secondly to control the on-off of the gas to realize the pressure supply function, and thirdly to control the discharge of the gas to realize the pressure relief function. Therefore, the real-time requirements of different pressures of multiple materials for extrusion printing of multiple nozzles are met, and the materials are switched on and off at any time, so that the continuous controllable extrusion printing is ensured. The pressure relief time is controllable, and gas can be prevented from being retained in the pipeline.
When the pressure is adjusted, required pressure is respectively set for the 6-way proportional pressure valve bank through the upper computer, the pressure supply high-speed switch valve bank and the pressure relief high-speed switch valve bank are matched with each other under the control of the upper computer, when the spray head is extruded, the high-speed switch valve bank is opened, the high-speed switch valve bank is in a closed state, when the spray head stops extruding, the high-speed switch valve bank is closed, and the high-speed switch valve bank is opened, so that pressure relief is realized in time.
The working process is described by taking pneumatic extrusion printing of 6 nozzles as an example:
the air pump is started before printing starts, compressed air sequentially passes through the air source processing module, air pressure is observed through the pressure gauge, and if the pressure gauge does not change any more, the clean air reaches stable air pressure.
And the proportional pressure valve group consisting of 6 proportional pressure valves realizes the setting of each path of air pressure under the control of the upper computer. After setting each path of air pressure, the next link is carried out.
When each path of spray head needs to extrude materials, the upper computer controls the multifunctional signal acquisition card to output a high level to open a high-speed switch valve in a high-speed switch valve group connected with the corresponding spray head, and controls an output low level to close the high-speed switch valve of a high-speed switch valve group connected with the spray head, so as to supply pressure to the spray head.
When the material extrusion of each path of spray nozzle is finished, the upper computer controls the multifunctional signal acquisition card to output a low level to close the high-speed switch valve in the high-speed switch valve group (I) connected with the corresponding spray nozzle, and controls the multifunctional signal acquisition card to output a high level to open the high-speed switch valve in the high-speed switch valve group (II) connected with the spray nozzle, so that the pressure relief function is realized.
In the printing process, the upper computer acquires the set pressure value output by the proportional pressure valve and the real-time pressure acquired by the pressure transmitter group in real time through the multifunctional signal acquisition card, and compares the difference value between the set pressure and the actual pressure.
The air source processing module realizes the functions of providing stable air pressure, filtering step by step, drying and regulating pressure, the air pressure control module realizes the control of multi-path air pressure through the proportional pressure valve group, the air pressure control module is mutually independent and does not interfere with each other, the pressure supply and release module adopts two groups of high-speed switch valves to respectively realize the accurate pressure supply and release functions, and the feedback control module realizes the acquisition and comparison of signals of the pressure transmitter through the upper computer control multifunctional signal acquisition card and finally realizes the control of the air pressure. The invention realizes the pneumatic system and the control of the multi-nozzle extrusion printing system, adopts six paths of pneumatic independent control, can ensure the real-time start and stop of multi-nozzle extrusion in the biological extrusion printing process, releases pressure in time, has high speed and accuracy, provides technical support for multi-nozzle extrusion printing biological experiments, and has universality.
Claims (10)
1. A pneumatic multi-path control system of a multi-nozzle biological 3D printing system is characterized by comprising an air source processing module, an air pressure control module, a pressure supply and release module, an extrusion nozzle and a feedback control module; wherein, the feedback control module comprises N gas flowmeters (18), a transmitter group (24) consisting of N pressure transmitters, a multifunctional signal acquisition card (21) and an upper computer (23)
The air source processing module (1) comprises an air pump (2), a first filter (3), a second filter (4), a third filter (5), a fourth filter (6) and a dryer (7) which are connected in sequence, so that the air is filtered step by step, and the requirements of air source cleanliness and dryness in the biological extrusion printing process are met;
the air pressure control module comprises an air channel plate (11) and a proportional pressure valve group (12) consisting of N proportional pressure valves, air provided by the air source processing module (1) is respectively led to the N proportional pressure valves through the air channel plate (11), and each proportional pressure valve is independently controlled by the feedback control module;
the pressure supply and relief module comprises a high-speed switch valve group (13) consisting of N first high-speed switch valves, a Y-shaped joint (14), a high-speed switch valve group (15) consisting of N second high-speed switch valves and a T-shaped joint (17);
the gas passes through N proportional pressure valve groups of the air pressure control module and then is respectively connected with N first high-speed switch valves, the first high-speed switch valves are controlled by the feedback control module, the control method is high and low levels, wherein the high levels are opened and the low levels are closed, so that the real-time pressure supply in the printing process is realized; each first high-speed switch valve is respectively connected with a second high-speed switch valve and a T-shaped joint (17) through a Y-shaped joint (14), the second high-speed switch valve is also controlled by a feedback control module, the control method is high and low levels, wherein the high level is opened and the low level is closed, so that real-time pressure relief required in the printing process is realized, and during pressure relief, the first high-speed switch valve is in a closed state, the second high-speed switch valve is opened, so that the extrusion of materials is controlled;
one end of the T-shaped joint (17) is connected with a pressure transmitter in the transmitter group (24), the other end of the T-shaped joint is connected with a gas flowmeter (18) and the extrusion nozzle (19), and the pressure value acquired by the transmitter group (24) is read in and compared under the control of the upper computer (23) through the double multifunctional signal acquisition card (21), so that the air pressure closed-loop control of each extrusion nozzle is realized.
2. The pneumatic multi-channel control system of the multi-nozzle biological 3D printing system according to claim 1, wherein the proportional pressure valve group (12) comprises N proportional pressure valves, all of which are controlled by voltage analog quantity, and N analog quantity output controls are realized under the control of an upper computer (23) by adopting a plurality of same multifunctional signal acquisition cards (21).
3. The pneumatic multi-path control system of the multi-nozzle biological 3D printing system according to claim 1, wherein the first high-speed switch valve realizes pressure supply, and the second high-speed switch valve is in a closed state during pressure supply; the second high-speed switch valve realizes pressure relief, and the first high-speed switch valve is in a closed state during pressure relief; the system adopts 2 multifunctional signal acquisition cards (21), one multifunctional signal acquisition card controls the pressure supply, the other multifunctional signal acquisition card controls the pressure relief, the pressure supply and pressure relief processes are independently controlled by a feedback control module, and an upper computer can identify the multifunctional signal acquisition cards with different functions.
4. The pneumatic multi-path control system of the multi-nozzle biological 3D printing system according to claim 1, wherein the number N of the air paths can be adjusted according to the complexity of the structure of the printing unit, and the voltage of a proportional pressure valve or a first high-speed switch valve of the unused air path is set to be zero.
5. The pneumatic multi-channel control system of the multi-nozzle biological 3D printing system according to claim 1, wherein a proportional pressure valve (12) outputs actual pressure, a pressure transmitter (24) collects real-time pressure of the extrusion nozzle, the actual pressure and the implementation pressure are collected by a multifunctional signal collection card, and finally the real-time pressure and the actual pressure are compared under the control of an upper computer (23) so as to realize feedback control of the air pressure of the nozzle.
6. The pneumatic multi-control system of the multi-nozzle biological 3D printing system as claimed in claim 1 or 3, wherein the first high-speed switch valve and the second high-speed switch valve are two-position two-way valves.
7. The pneumatic multi-control system of the multi-nozzle biological 3D printing system according to claim 1 or 3, wherein a silencer (16) is connected to the second high-speed switch valve, so that the function of reducing gas noise during pressure relief is realized.
8. Pneumatic multiplex control system for a multi-jet biological 3D printing system, according to claim 1 or 3, characterized in that a LED gas flow meter (18) is installed after the pressure transmitter (24), on which the number is displayed as 0 when the gas has stabilized.
9. A control method of the pneumatic multiplex control system according to claim 1, comprising the steps of:
the gas passes through four filters of the gas source processing module (1) to gradually improve the filtering grade, and is dried by a dryer to meet the requirements of the required gas source cleanliness and dryness;
the gas after gas source processing module (1) filters is by atmospheric pressure control module, supplies to press pressure release module coordinated control, mutually supports to realize that many shower nozzles extrude the real-time demand of printing the different pressure of multiple material, guarantee to extrude and print continuous controllable, wherein, extrude the gas pressure of shower nozzle through controlling the difference, realize the pressure regulating function, through the break-make of control gas, realize supplying and press the function, through the discharge of control gas, realize the pressure release function.
When pressure is regulated, required pressures are respectively set for the proportional pressure valve group through a multifunctional signal acquisition card (21), a first high-speed switch valve and a second high-speed switch valve are matched with each other under the control of an upper computer, when a spray head needs to be extruded, the first high-speed switch valve is opened, the second high-speed switch valve is in a closed state, whether the air pressure of a pipeline is in a stable state or not is observed through a gas flowmeter, and if the air pressure is stable, extrusion printing is started; when the nozzle needs to stop extruding, the first high-speed switch valve is closed, the second high-speed switch valve is opened, pressure relief is realized in time, whether the air pressure of the pipeline is in a stable state or not is observed through the air flow meter, and if the air pressure of the pipeline is stable, the pressure relief is complete; if the pressure relief time is not stable, the pressure relief time in the program is adjusted until the pressure relief is complete, and the stability is achieved.
The pressure transmitter group (24) collects the pressure value of the extrusion nozzle part in real time in the printing process, feeds the pressure value back to the multifunctional signal acquisition card (21), compares the pressure value with the set pressure provided by the proportional pressure valve, and the upper computer supplements the pressure difference value to the corresponding proportional pressure valve to improve the set pressure because the actual pressure is less than the set pressure, thereby realizing the stability and controllability of the actual pressure.
10. The method of claim 9, wherein the pressure relief time is controlled to ensure that gas does not become trapped in the conduit.
Priority Applications (1)
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