JP2016144869A - Pressure adjustment device, material discharge device, and molding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve molding speed without causing a liquid accumulation or pulsating flow.SOLUTION: A pressure adjustment device is coupled to a discharge tool for discharging a molding material when compressed air is injected, and adjusts the pressure of the compressed air, and then injects the compressed air into the discharge tool. The pressure adjustment device comprises a booster part and a suction part, the booster part is configured so that a booster for increasing pressure of air supplied from outside, and a pressure adjustment tool for adjusting the pressure of the air to set pressure, are connected in series, and injects the air whose pressure is adjusted to pressure higher than that when the air is supplied from outside, to the discharge tool. The suction part comprises a pressure reduction tool for reducing the pressure of the air to pressure lower than atmospheric pressure, and sucks the air from the discharge tool.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a pressure adjusting device that adjusts a gas pressure, a material discharging device that discharges a structural material that serves as a skeleton of a three-dimensional structure for regenerating an organ / tissue with a gas pressure, and a model of the organ / tissue. The present invention relates to a modeling apparatus.

  As a technique for regenerating an organ or tissue having a complicated structure, an organ / tissue shaping technique using a layered shaping method has attracted attention. Such organ / tissue shaping technology is one of the most promising potential technologies for regenerative medicine. As one of known organ / tissue shaping techniques, for example, an inkjet printing technique represented by Patent Document 1 can be cited.

  However, when the ink jet printing technique is applied to the organ / tissue shaping technique, it is necessary to use a low-viscosity gel. For this reason, it has been difficult to form a high aspect ratio structure or to form a porous structure that promotes transport of nutrients and oxygen. Furthermore, there has been the problem that toxic solvents can be used for the treatment of this material.

  Patent Document 2 has been found as means for solving the above problems. By this invention of the integrated organ / tissue modeling method, a method of forming a high-strength three-dimensional structure in which viable cell groups having various roles are accurately arranged has been established.

  Any appropriate biodegradable resin or bioinert material can be applied as a structural material that serves as a skeleton for supporting a high-strength three-dimensional structure, but it is completely replaced as an organ or tissue after transplantation. In view of necessity, it is more preferable to apply a biodegradable resin that can be decomposed in vivo. Furthermore, it is more preferable to form the film by using a hot melt lamination method (Fused Deposition Modeling, hereinafter referred to as “FDM method”) that does not use a solvent that may cause toxicity. Patent Document 3 is one of known techniques corresponding to the above.

  However, when a biodegradable resin is selected as the structural material, the temperature range (between the melting point and the decomposition start temperature) tends to be narrow because of high thermal decomposability. Therefore, when a biodegradable resin is used as a structural material that becomes the skeleton of an organ / tissue, it is necessary to perform modeling processing with a fairly high viscosity. Or something that does not function as an organization.

  In the technique described in Patent Document 3, high-viscosity biodegradation is achieved by driving a piston rod, which is attached to a stepping motor provided in the upper end opening of the syringe and inserted into the syringe, in the vertical direction inside the syringe. However, there is a problem that a pulsating flow in which the discharge amount of the material fluctuates or a resin outflow from the tip due to a residual pressure in the syringe occurs. As a result, a phenomenon has occurred in which fine wires of the structural material are wavy, or liquid pools are generated at the start and end points of the fine wires.

US Pat. No. 7,051,654 US Application Publication No. 2012/0089238 Japanese Patent No. 4641047

  An object of this invention is to improve modeling speed without producing a pulsating flow or a liquid pool.

  The pressure adjusting device of the present invention is connected to a discharger that discharges a material for modeling when a pressurized gas is injected, and adjusts the pressure of the pressurized gas to be injected into the discharger. The pressure adjusting device includes a pressure increasing portion and a suction portion. The pressure increasing portion includes a pressure increasing device that increases the pressure of gas supplied from the outside and a pressure adjusting device that adjusts the pressure of the gas to a set pressure. A gas that is connected in series and adjusted to a pressure higher than that supplied from the outside is injected into the discharger. The suction unit has a decompressor that reduces the gas pressure to a pressure lower than the atmospheric pressure, and sucks the gas from the discharger.

  According to such a pressure adjusting device, it is possible to quickly and continuously discharge a material without a pulsating flow by the gas continuously injected from the pressure increasing portion to the discharge device. Discharging is stopped quickly to prevent liquid accumulation due to liquid leakage, and the modeling speed can be improved overall even for highly viscous materials.

  In the pressure adjusting device of the present invention, the backflow prevention valve is connected between the flow path leading from the discharger to the pressure reducer and the atmospheric pressure space, and is forward from the flow path toward the atmospheric pressure space. It is preferable to comprise.

  According to such a pressure adjusting device, the pressure of the flow path can be quickly reduced by a simple component called a backflow prevention valve, and a quick discharge stop can be realized with a simple configuration.

  Further, in the pressure adjusting apparatus of the present invention, the pressure in the flow path is adjusted within a range lower than the atmospheric pressure by allowing gas to flow into the flow path from the discharge device to the decompressor while controlling the inflow amount. It is also preferable to include a flow path pressure regulator.

  According to such a pressure adjusting device, it is possible to quickly start discharge even at the time of re-discharge, by appropriately adjusting the strength of suction by the suction unit.

  The material discharge device of the present invention includes a discharger that discharges a material for modeling by injecting a pressurized gas, and the pressure adjusting device connected to the discharger. According to such a material discharging apparatus, as described above, since the material can be quickly discharged and the discharging can be stopped quickly, it contributes to the improvement of the modeling speed.

  The modeling apparatus according to the present invention includes a “material discharger” that discharges a structural material by injecting a pressurized gas, and a “cell that discharges a solvent including cells, a culture solution, and the like by injecting the pressurized gas. A discharger ", a mobile device for moving the material discharger and the cell discharger, and a material discharger connected to the material discharger and the cell discharger to adjust the pressure of the pressurized gas. And a pressure adjusting device for injecting into the cell discharger. And this pressure regulation apparatus is provided with the pressure increase part, the injection | pouring part, and the suction part, and the pressure increase part is compared with the case where the said pressure increaser and the said pressure regulator are connected in series, and are supplied from the outside. A gas adjusted to a high pressure is injected into the material discharger. Further, the injection part injects into the cell discharger without increasing the pressure of the gas supplied from the outside, and the suction part has a decompressor for reducing the gas pressure to a pressure lower than the atmospheric pressure, and the material Gas is sucked from the discharger and the cell discharger.

  The pressure that can be applied to the cell discharger is extremely low, approximately 100 kPa or less in order to prevent cell necrosis due to pressurization. However, according to such a modeling apparatus, the gas for the structure formation is increased in pressure. While increasing the discharge speed by, the solvent containing cells and culture solution is discharged with a gas that does not increase pressure to prevent deterioration of the cell while maintaining high controllability and complete the molding while the cell is alive be able to.

  According to the present invention, it is possible to improve the modeling speed without causing a pulsating flow or a liquid pool.

It is a figure which shows roughly the structure of the dispensing unit corresponded to one Embodiment of the material discharge apparatus of this invention. It is a figure which shows the internal structure of a pressure controller. It is a flowchart showing the operation control by a control circuit. It is a figure which shows the internal structure of the pressure increase part in 2nd Embodiment. It is a flowchart showing operation control of the pressure increase part in 2nd Embodiment. It is a figure which shows the internal structure of the suction part in 3rd Embodiment. It is a flowchart showing operation | movement control of the suction part in 3rd Embodiment. It is a figure which shows the internal structure of the suction part in 4th Embodiment. It is a flowchart showing operation | movement control of the suction part in 4th Embodiment. It is a schematic structure figure showing an organ modeling system equivalent to one embodiment of a modeling device of the present invention. It is a figure which shows the internal structure of the pressure controller in an organ shaping system. It is the operation table | surface showing the switching operation in the pressure controller of an organ shaping system.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram schematically showing a configuration of a dispensing unit corresponding to an embodiment of a material discharge apparatus of the present invention.

  A dispensing unit 1 shown in FIG. 1 includes a personal computer 10 that operates as a controller that controls the entire dispensing unit 1, a discharger 20 that discharges material while moving a syringe 21 on a three-axis stage, and a personal computer. In order to perform gas injection and suction with respect to the three-axis stage controller 30 for controlling the driving of the three-axis stage (X, Y, Z stage) of the discharger 20 and the syringe 21 of the discharger 20 according to the instructions of 10 And a pressure controller 40 for controlling the pressure.

  The syringe 21 contains a structural material, is housed in a heater unit 22 that heats the structural material, and is held by an arm of a three-axis stage. The heater unit 22 is controlled by a heating controller 23.

  The pressure controller 40 includes a pressure increase unit 41 that increases the pressure of the high-pressure gas supplied from the external pneumatic equipment 50, a suction unit 42 that sucks the gas from the syringe 21, and the pressure increase unit 41 and the suction unit 42. A control circuit 43 for controlling the operation is provided.

  The personal computer 10 obtains position information from the three-axis stage controller 30 and obtains operation information of the pressure increasing part 41 and the suction part 42 from the control circuit 43 of the pressure controller 40. Based on the shape of the three-dimensional object to be modeled, the personal computer 10 instructs the discharge machine 20 to move the position via the three-axis stage controller 30 and also instructs the pressure controller 40 to start and stop the discharge. Thereby, the position of the syringe 21 and the material discharge from the syringe 21 cooperate to form a desired three-dimensional shape. As an example of the controller of the dispensing unit 1, the personal computer 10 is employed in the present embodiment, but any device that can be involved in control such as a PLC (Programmable Logic Controller) is employed as the controller. It is possible.

  The pressure controller 40 corresponds to an embodiment of the pressure adjusting device of the present invention, and the syringe 21 of the discharger 20 corresponds to an example of a discharger in the material discharge device of the present invention.

  FIG. 2 is a diagram illustrating an internal configuration of the pressure controller.

  As described above, the pressure controller 40 includes the pressure-increasing unit 41, the suction unit 42, and the control circuit 43, but the control circuit 43 and the control signal path are not shown in FIG.

  The pressure increasing section 41 includes a pressure increasing valve 401, a gas storage container 402, a pressure reducing valve 403, a first pressure sensor 404, a second pressure sensor 405, a branch passage opening / closing valve 406, and a pressure holding opening / closing valve 407. The pressure booster valve 401 corresponds to an example of a pressure booster referred to in the present invention.

  The opening degree of the pressure reducing valve 403 is adjusted by the control circuit 43, and the detection values by the first pressure sensor 404 and the second pressure sensor 405 are sent to the control circuit 43, and the branch path opening / closing valve 406 and the pressure holding opening / closing valve 407 are opened / closed. The operation is executed by an instruction from the control circuit 43.

  The high-pressure gas supplied from the external pneumatic equipment 50 is increased in pressure by compression by the pressure increasing valve 401, and then flows into the pressure reducing valve 403 through the gas accumulation container 402 and is adjusted by the pressure reducing valve 403. The pressure regulation by the pressure reducing valve 403 can be controlled in a pressure range lower than the pressure increased by the pressure increasing valve 401, but a pressure change occurs due to the pulsation of the compressed gas supplied from the pressure increasing valve 401. The gas storage container 402 is not necessarily required, but is effective in reducing pulsation, and has a capacity at least equal to or exceeding the maximum capacity of the compressed gas that can be stored in the pressure increasing valve 401. More preferred.

  The compressed gas pressure-adjusted by the pressure reducing valve 403 is maintained in a compressed pressure increasing state by closing the pressure holding on-off valve 407. The pressure holding on / off valve 407 is connected to the syringe 21 of the discharger 20, and the compressed gas is supplied to the syringe 21 when the pressure holding on / off valve 407 is opened. The branch path opening / closing valve 406 is branched and connected as a compressed gas release valve.

  The first pressure sensor 404 is provided between the pressure increasing valve 401 and the pressure reducing valve 403, and continuously monitors the pressure of the gas increased by the pressure increasing valve 401. The second pressure sensor 405 is provided between the pressure reducing valve 403 and the pressure holding on-off valve 407, and continuously monitors the pressure of the gas regulated by the pressure reducing valve 403.

  The suction part 42 is branched and connected between the pressure increasing part 41 and the syringe 21 of the discharger 20. The suction unit 42 includes a vacuum exhaust pump 408, an on-off valve 409, a check valve 410, a speed control valve 411, an auxiliary exhaust valve 412, and a pressure sensor 413. The vacuum exhaust pump 408 corresponds to an example of a decompressor according to the present invention.

  The intake speed of the vacuum exhaust pump 408 and the opening degree of the speed control valve 411 are adjusted by the control circuit 43, the detection value by the pressure sensor 413 is sent to the control circuit 43, and the opening / closing operation of the opening / closing valve 409 is performed from the control circuit 43. Performed with instructions.

  The vacuum pump 408 is connected to the syringe 21 of the discharger 20 through the on-off valve 409. Between the vacuum exhaust pump 408 and the on-off valve 409, a check valve attached in a direction to open when the flow path (inside the pipe) is at a positive pressure is branched and connected as an auxiliary exhaust valve 412. The auxiliary exhaust valve 412 has a role of quickly releasing the pressurized gas remaining in the pipe and the syringe 21 to the outside of the system. The auxiliary exhaust valve 412 discharges the residual gas to the vacuum exhaust pump 408. It can be released without greatly depending on the speed and exhaust resistance in the pipe. The discharge of the material of the syringe 21 can be stopped quickly by the rapid discharge of the residual gas, and a simple configuration is realized by employing a check valve. The auxiliary exhaust valve 412 is preferably installed as close to the on-off valve 409 as possible in order to avoid the influence of exhaust resistance.

  On the other hand, between the syringe 21 and the on-off valve 409, a check valve 410 attached in a direction to open when the flow path (in the pipe) has a negative pressure, and a speed connected in series to the check valve 410 A control valve 411 is branched and connected. The speed control valve 411 plays a role of adjusting the exhaust pressure (suction force) in the suction unit 42. By changing the opening degree of the speed control valve 411, the exhaust pressure can be freely changed. By appropriately adjusting the exhaust pressure (suction force), the discharge can be started quickly even when the material is discharged again by the syringe 21. The check valve 410 is used to connect the flow path to the outside air only when the inside of the pipe has a negative pressure. Due to the presence of the check valve 410, it is possible to remove only the negative pressure without affecting the pressurizing operation to the syringe 21 by the pressure increasing section 41. The pressure sensor 413 is provided between the syringe 21 and the on-off valve 409, and continuously monitors the exhaust pressure adjusted by the speed control valve 411.

  Regarding the vacuum exhaust pump 408, an embodiment using a vacuum exhaust mechanism using a venturi effect instead can be considered. Further, when it is desired to perform finer feedback control on the exhaust pressure, an embodiment using a proportional control valve instead of using a combination of the check valve 410 and the speed control valve 411 is preferable. Conversely, an embodiment in which the opening degree of the speed control valve 411 is manually set without performing feedback control on the exhaust pressure is also conceivable.

  Here, the operation control of the pressure increasing part 41 and the suction part 42 by the control circuit 43 will be described.

  FIG. 3 is a flowchart showing operation control by the control circuit.

  Up to step S107 in this flowchart, the operation control of the pressure increasing unit 41 is performed, and after step S108, the operation control of the suction unit 42 is performed.

The operation control shown in this flowchart is started when the power of the pressure controller is turned on. First, in step S101, a detected pressure value (indicated pressure) P ₁ is acquired from the first pressure sensor 404 of the pressure increasing unit 41, It is determined whether or not the detected value P ₁ matches xP ₀ (where x is the pressure increasing rate of the pressure increasing valve 401 and P ₀ is the supply pressure from the external pneumatic equipment 50) within the set allowable error α. . As a result of the determination, if the set tolerance error α is exceeded and there is a mismatch, an abnormal operation alarm indicating that the detected value of the first pressure sensor 404 is abnormal is issued and the user is informed of the abnormality. At the same time, processing such as opening the branch path opening / closing valve 406 in order to release the high pressure or temporarily stopping it for the countermeasure by the user is executed (step S102). Thereafter, when the operation is resumed through a countermeasure by the user, the control returns to step S101.

If it is determined in step S101 that the detected value (indicated pressure) P _{1 of} the first pressure sensor 404 matches xP ₀ within the set allowable error α, the pressure is increased normally by the pressure increasing valve 401. becomes being, the process proceeds to step S103, the detection value of the pressure from the second pressure sensor 405 of the pressurizing portion 41 (indicated pressure) P ₂ is obtained. The detected value is compared with the set value P as the output pressure of the pressure increasing section 41 in step S103. If the set value error exceeds the set allowable error β, the process proceeds to step S104 and the opening of the pressure reducing valve 403 is reached. Is adjusted. After opening adjustment value detected returns to the step S103 is compared with the acquired (command pressure) P ₂ are repeated. Here, the set value P is set to a value that does not exceed the detection value P ₁ of the first pressure sensor 404. However, in order to perform more stable pressure control, the set value P is generated in the compressed gas flowing into the pressure reducing valve 403. More preferably, it is set within a range not exceeding a value (P ₁ -dP) obtained by subtracting the maximum decrease pressure dP due to the pulsation.

In the judgment in the step S103, when the detected value of the second pressure sensor 405 (indicated pressure) P ₂ conforms in setting tolerance β with respect to the set value P, the normal output pressure of the pressurizing portion 41 Therefore, the process proceeds to step S105.

  In step S105, a discharge signal input from the personal computer 10 shown in FIG. 1 is acquired. When the discharge signal indicates discharge on, the pressure holding on-off valve 407 is opened (step S106), and the material from the syringe 21 is opened. Discharge starts. On the other hand, if the discharge signal indicates discharge off, the pressure holding on-off valve 407 is closed (step S107), and the on-off valve 409 of the suction unit 42 is opened (step S108). Thereby, the residual gas in the syringe 21 is quickly released from the auxiliary exhaust valve 412. Further, the operation of the vacuum pump 408 is also started, and the material discharge from the syringe 21 is stopped.

  Thereafter, the process proceeds to step S109, where an intake signal input from the personal computer 10 is acquired. If the intake signal indicates that the intake is on, a detected pressure value (indicated pressure) is acquired from the pressure sensor 413 of the suction unit 42 ( Step S110). The detected value of the pressure sensor 413 is compared with the set discharge pressure, and when the difference exceeds the allowable error (step S110; NG), the opening degree of the speed control valve 411 is changed in step S111. After the opening degree is changed, the process returns to step S110, and detection value acquisition and comparison are repeated. When the detected value of the pressure sensor 413 matches the set discharge pressure within an allowable error (step S110; OK), the control returns to step S108.

  While the inhalation signal indicates that the inhalation is on, suction by the set discharge pressure is performed by the processing of step S108 to step S111, and the material remaining at the tip of the syringe 21 is drawn into the syringe 21. Thereby, the discharged material and the material in the syringe 21 are separated. Since the discharge pressure is adjusted by the speed control valve 411, a discharge pressure suitable for material pull-in is realized.

  The personal computer 10 inputs an inhalation signal indicating inhalation off before the material is excessively drawn into the syringe 21. When the inhalation off is confirmed in step S109, the on-off valve 409 of the suction unit 42 is closed ( Step S112). Thereafter, the control returns to step S103 on the pressure booster 41 side.

  As described above, in the pressure controller according to the present embodiment, both quick material discharge by the increased pressure gas and quick discharge stop by suction are performed, so that the modeling speed is improved without causing pulsating flow and liquid accumulation. .

  Above, description of 1st Embodiment shown in FIG. 1 is complete | finished, and 2nd Embodiment is described next. Since this second embodiment is the same as the first embodiment except that the structure of the pressure increasing portion of the pressure controller is different, the following description will focus on the differences from the first embodiment. And redundant explanation is omitted.

  FIG. 4 is a diagram illustrating an internal configuration of the pressure increasing unit in the second embodiment.

  As in the first embodiment, the pressure increasing section 44 in the second embodiment includes a pressure increasing valve 401, a gas storage container 402, a branch passage opening / closing valve 406, and a pressure holding opening / closing valve 407. On the other hand, in the second embodiment, the pressure reducing valve 414 is provided upstream of the pressure increasing valve 401, and the speed control valve 415 is connected in series to the branch path opening / closing valve 406. The first pressure sensor 416 is provided between the pressure reducing valve 414 and the pressure increasing valve 401 and continuously monitors the pressure of the gas regulated by the pressure reducing valve 414. The second pressure sensor 417 is provided between the pressure increasing valve 401 and the pressure holding on-off valve 407, and continuously monitors the pressure of the gas increased by the pressure increasing valve 401.

  In the second embodiment, as in the first embodiment, the pressure increasing rate of the pressure increasing valve 401 and the opening of the pressure reducing valve 414 are adjusted by the control circuit 43 and detected by the first pressure sensor 416 and the second pressure sensor 417. The value is sent to the control circuit 43, and the opening / closing operation of the branch path opening / closing valve 406 and the pressure holding opening / closing valve 407 and the opening degree setting of the speed control valve 415 are executed by an instruction from the control circuit 43.

  In the second embodiment, the high-pressure gas supplied from the external pneumatic equipment 50 is adjusted by the pressure reducing valve 414, then compressed and increased by the pressure increasing valve 401, and stored in the gas storage container 402. The stored compressed gas is maintained in a compressed pressure increasing state by closing the branch passage opening / closing valve 406 and the pressure holding opening / closing valve 407. The pressure holding on / off valve 407 is connected to the syringe 21 of the discharger 20, and the compressed gas is supplied to the syringe 21 when the pressure holding on / off valve 407 is opened.

  Here, the operation control of the pressure booster 44 in the second embodiment will be described.

  FIG. 5 is a flowchart showing the operation control of the pressure increasing unit in the second embodiment.

The operation control shown in this flowchart is started when the pressure controller is turned on. When the operation control is started, first, in step S201, the detection value (command pressure) P ₃ and the detection value of the second pressure sensor 417 of the first pressure sensor 416 (indicated pressure) P ₄ is obtained, and P ₄ xP _3. It is determined whether or not (x is the pressure increasing rate of the pressure increasing valve 401) is within the setting allowable error β. Here, it is assumed that the pressure increase rate x is set so that xP ₃ exceeds the supply pressure P ₀ from the external pneumatic equipment 50.

As a result of the judgment in the step S201, if the P ₄ is below the xP ₃ exceeds the set tolerance beta, branch path on-off valve 406 is closed (step S202), opening of the pressure reducing valve 414 in the pressure increase direction It is changed (step S203). Thereafter, the control returns to step S201, and detection value acquisition and comparison are repeated.

As a result of the judgment in the step S201, if the P ₄ is above the xP ₃ exceeds the set tolerance beta, branch path on-off valve 406 is opened (step S204) pressure is reduced. In the present embodiment, the opening setting of the speed control valve 415 is not changed. However, if finer feedback control is desired, a proportional control valve is used instead of the combination of the branch opening / closing valve 406 and the speed control valve 415. It is preferable to use it. In addition, the speed control valve 415 is not necessarily required to reduce the pressure, but the detection value P ₃ of the first pressure sensor 416 and the detection of the second pressure sensor 417 are adjusted by adjusting the exhaust speed by the speed control valve 415. Pressure control by comparison with the value P ₄ becomes easier. After the pressure is reduced in step S204, the process returns to step S201, and detection value acquisition and comparison are repeated.

As a result of the judgment in the step S201, if the P ₄ is consistent with xP ₃ in the configuration tolerance β becomes a possible output pressure is normal, the process proceeds to step S205.

  In step S205, a discharge signal input from the personal computer 10 shown in FIG. 1 is acquired. When the discharge signal indicates discharge on, the pressure holding on / off valve 407 is opened (step S206), and the material from the syringe 21 is opened. Discharge starts. On the other hand, if the discharge signal indicates discharge off, the pressure-holding on-off valve 407 is closed (step S207), and the process proceeds to operation control of the suction unit.

  The operation control of the suction unit is the same as the operation control in the first embodiment. When the operation control shifts from the suction unit to the pressure increasing unit, the operation control from step S201 is repeated.

  This is the end of the description of the second embodiment. Next, the third embodiment will be described. Since this third embodiment is the same as the first embodiment except that the structure of the suction part of the pressure controller is different, the following description will focus on the differences from the first embodiment. Repeated explanation is omitted.

  FIG. 6 is a diagram illustrating an internal configuration of the suction unit according to the third embodiment.

  In the suction part 45 in the third embodiment, a three-way valve 418 is provided instead of the on-off valve 409 shown in FIG. 2, and the vacuum exhaust pump 408 is connected to the syringe 21 through one end on the output side of the three-way valve 418. . Connected to the other end on the output side of the three-way valve 418 is a check valve 419 attached in a direction to open when the inside of the flow path (inside the pipe) has a negative pressure. This check valve 419 is used to connect the flow path to the outside air only when the inside of the pipe has a negative pressure. Further, since the flow path is connected to the outside air via the check valve 419 without passing through the speed adjustment valve, when the three-way valve 418 is switched to one end on the check valve 419 side, the syringe 21 and the vacuum exhaust pump 408 are connected. Is disconnected and the negative pressure of the syringe 21 is quickly removed.

  FIG. 7 is a flowchart showing the operation control of the suction unit in the third embodiment.

  When shifting from the operation control of the pressure increasing section to the operation control of the suction section 45, the first end of the three-way valve 418 connected to the vacuum pump 408 is opened (step S301). As a result, the remaining gas in the syringe 21 is quickly released from the auxiliary exhaust valve 412, the operation of the vacuum exhaust pump 408 is also started, and the material discharge from the syringe 21 is stopped.

  Thereafter, the process proceeds to step S302, where an intake signal input from the personal computer 10 is acquired. If the intake signal indicates that the intake is on, a detected pressure value (indicated pressure) is acquired from the pressure sensor 413 of the suction unit 45 ( Step S303). The detected value of the pressure sensor 413 is compared with the set discharge pressure, and when the difference exceeds the allowable error (step S303; NG), the opening degree of the speed control valve 411 is changed in step S304. After the opening degree is changed, the process returns to step S303, and the detection value acquisition and comparison are repeated. When the detected value of the pressure sensor 413 matches the set discharge pressure within an allowable error (step S303; OK), the control returns to step S301.

  While the intake signal indicates that the intake air is on, the processes in steps S301 to S304 are repeated, and when the intake signal indicating that the intake air is off is acquired (step S302; OFF), the first end of the three-way valve 418 is closed. The second end connected to the check valve 419 is opened (step S305). Thereby, the negative pressure of the syringe 21 is quickly eliminated via the check valve 419, and excessive drawing of the material into the syringe 21 is prevented. Thereafter, the control shifts to the pressure increasing unit.

  This is the end of the description of the third embodiment. Next, the fourth embodiment will be described. Since the fourth embodiment is the same as the third embodiment except that a part of the structure of the suction part is different, the following description will focus on the differences from the third embodiment. Repeated explanation is omitted.

  FIG. 8 is a diagram illustrating an internal configuration of the suction unit according to the fourth embodiment.

  In the third embodiment shown in FIG. 6, instead of the exhaust pressure being adjusted by the combination of the check valve 410 and the speed control valve 411, in the suction unit 46 of the fourth embodiment as shown in FIG. The exhaust pressure is adjusted by the vacuum pressure reducing valve 420. The vacuum pressure reducing valve 420 is disposed between the vacuum exhaust pump 408 and the three-way valve 418.

  FIG. 9 is a flowchart showing the operation control of the suction unit in the fourth embodiment.

  Each process in steps S401, S402, S403, and S405 in this flowchart is the same as each process in steps S301, S302, S303, and S305 in the flowchart shown in FIG. In step S404 in the flowchart of FIG. 9, the opening of the vacuum pressure reducing valve 420 is changed to adjust the exhaust pressure.

  In the fourth embodiment in which the exhaust pressure is adjusted by the vacuum pressure reducing valve 420 as described above, suction from the syringe 21 can be performed as in the third embodiment.

  Above, description of 4th Embodiment is complete | finished and next, one Embodiment of the modeling apparatus of this invention is described.

  FIG. 10 is a schematic configuration diagram showing an organ modeling system corresponding to an embodiment of the modeling apparatus of the present invention.

  Similar to the dispensing unit 1 shown in FIG. 1, the organ shaping system 2 shown in FIG. 10 includes a personal computer 10, a discharger 20, and a three-axis stage controller 30. In the organ shaping system 2, a plurality of syringes 21 and 24 are held in the discharger 20, and a pressure controller 60 that controls gas pressure to perform gas injection and suction with respect to each syringe 21 and 24 is also provided. ing.

  Of the plurality of syringes 21 and 24, the first syringe 21 contains a structural material, is housed in a heater unit 22 that heats the structural material, and is held by an arm of a three-axis stage. The heater unit 22 is controlled by a heating controller 23.

  Among the plurality of syringes 21, 24, each of the plurality of second syringes 24 contains a solvent containing cells, a culture solution, and the like, and is held by the arm of the triaxial stage.

  The pressure controller 60 includes a pressure increasing unit 61 that increases the pressure of the high-pressure gas supplied from the external pneumatic equipment 50, a suction unit 62 that sucks gas from the syringes 21 and 24, and a plurality of syringes 21 and 24. And a control circuit 63 for controlling the operation of the pressure increasing portion 61, the suction portion 62, and the opening / closing valve group 64.

  The personal computer 10 in the organ shaping system 2 issues a selection instruction for the syringes 21 and 24 in addition to a position movement instruction to the discharger 20 via the three-axis stage controller 30 and a discharge start / stop instruction. By these instructions, the positional movement of the syringes 21 and 24 and the discharge of materials and cells cooperate to form a three-dimensional shape of a desired organ.

  The pressure controller 60 corresponds to the fifth embodiment of the pressure adjusting device of the present invention, the first syringe 21 of the discharger 20 corresponds to an example of the material discharger referred to in the modeling device of the present invention, and the discharger 20 The second syringe 24 corresponds to an example of a cell ejector in the modeling apparatus of the present invention.

  FIG. 11 is a diagram illustrating an internal configuration of a pressure controller in the organ modeling system.

  As described above, the pressure controller 60 includes the pressure increasing unit 61, the suction unit 62, the control circuit 63, and the on-off valve group 64. In FIG. 11, the control circuit 63 and the control signal path are illustrated. It is omitted.

  The pressure increasing part 61 is branched into two flow paths inside, and the first flow path connected to the first syringe 21 has the same configuration as the pressure increasing part 41 shown in FIG. On the other hand, in the second flow path connected to the second syringe 24, a pressure reducing valve 601 that regulates the high-pressure gas supplied from the external pneumatic equipment 50 and a pressure of the gas regulated by the pressure reducing valve 601 are monitored. Thus, a pressure sensor 602 used for pressure regulation feedback control and an on-off valve 603 that holds the pressure of the regulated gas are provided. By this second flow path, the high pressure gas supplied from the external pneumatic equipment 50 is injected into the second syringe 24 without being increased in pressure. The first flow path corresponds to an example of a pressure increasing section referred to in the modeling apparatus of the present invention, and the second flow path corresponds to an example of an injection section referred to in the modeling apparatus of the present invention.

  The suction part 62 has a structure in which a three-way valve 604 is added to the suction part 42 shown in FIG. The first end on the input side of the three-way valve 604 is connected to the first syringe 21, and the second end is connected to the second syringe 24.

  The on-off valve group 64 includes the same number of on-off valves 605 as the plurality of syringes 21, 24, the first on-off valve 605 is connected to the first syringe 21, and the second and subsequent on-off valves 605 are plural. The second syringes 24 are connected one by one.

  Here, an operation of switching between discharge and suction in the syringes 21 and 24 by the pressure controller 60 will be described.

  FIG. 12 is an operation table showing a switching operation in the pressure controller of the organ shaping system.

  In this operation table, the operation state of each valve of the pressure controller 60 is shown. The letter “O” in the table represents a valve opening operation, and the letter “C” in the table represents a valve closing operation. Further, the symbols in FIG. 11 are used to distinguish each valve and syringe.

  When discharging from the first syringe 21, the pressure controller 60 opens the pressure-holding on-off valve 407 of the first flow path of the pressure increasing section 61, and closes the on-off valve 603 of the second flow path. Further, the opening / closing valve 409 of the suction part 62 is closed, and the three-way valve 604 is opened at the first end. In the on-off valve group 64, the first on-off valve 605 connected to the first syringe 21 is opened, and the second and subsequent on-off valves 605 are all closed. By such an operation, pressurized gas is injected into the first syringe 21 from the first flow path of the pressure increasing section 61, and the structural material is discharged. When the suction in the first syringe 21 is stopped and suction is performed, the pressure holding on-off valve 407 of the first flow path of the pressure increasing unit 61 is closed, and the on-off valve 409 of the suction unit 62 is opened.

  On the other hand, when discharging from the second syringe 24, the pressure holding on-off valve 407 of the first flow path of the pressure increasing section 61 is closed, and the on-off valve 603 of the second flow path is opened. Further, the opening / closing valve 409 of the suction part 62 is closed, and the second end of the three-way valve 604 is opened. For example, in the case of the first discharge among the plurality of second syringes 24, the second on-off valve connected to the first of the second syringes 24 in the on-off valve 605 of the on-off valve group 64. 605 is opened and all other on-off valves 605 are closed. By such an operation, gas is injected into the second syringe 24 from the second flow path of the pressure increasing section 61, and the cells are discharged. When the suction in the second syringe 24 is stopped and suction is performed, the on-off valve 603 of the second flow path of the pressure increasing unit 61 is closed, and the on-off valve 409 of the suction unit 62 is opened.

  By such an operation, discharge and suction in each syringe 21 and 24 are controlled, and an organ in which a structural material and a cell are combined is formed. In addition, while discharging the structural material, the gas can be discharged quickly with the increased pressure, but when discharging the cells, the gas can be discharged in a state having high controllability even at low pressure using a gas that does not increase pressure. Viability is improved.

DESCRIPTION OF SYMBOLS 1 Dispensing unit 2 Organ shaping system 20 Discharge machine 21, 24 Syringe 30 3-axis stage controller 40, 60 Pressure controller 41, 44, 61 Pressure increase part 42, 45, 46, 62 Suction part 43, 63 Control circuit

Claims (5)

A pressure adjusting device that is connected to a discharger that discharges a material for modeling by being injected with a pressurized gas, and that adjusts the pressure of the pressurized gas and injects into the discharger;
A pressure intensifier for increasing the pressure of the gas supplied from the outside and a pressure regulator for adjusting the pressure of the gas to the set pressure are connected in series, and the gas adjusted to a pressure higher than that supplied from the outside is supplied to the discharger. A pressure-intensifying part to be injected into
A suction unit for reducing the pressure of the gas to a pressure lower than the atmospheric pressure, and sucking the gas from the discharger;
A pressure adjusting device comprising:   A backflow prevention valve connected between the flow path from the discharge device to the decompressor and the atmospheric pressure space and having a forward direction from the flow path toward the atmospheric pressure space is provided. The pressure regulator according to claim 1.   A flow path regulator that adjusts the pressure in the flow path within a range lower than atmospheric pressure by allowing gas to flow into the flow path from the discharge device to the pressure reducer while controlling the amount of inflow. The pressure adjusting device according to claim 1 or 2, characterized in that: A discharger that discharges a material for modeling by injecting pressurized gas;
A pressure adjusting device connected to the discharger and adjusting the pressure of the pressurized gas and injecting the pressured gas into the discharger;
The pressure adjusting device comprises:
A pressure intensifier for increasing the pressure of the gas supplied from the outside and a pressure regulator for adjusting the pressure of the gas to the set pressure are connected in series, and the gas adjusted to a pressure higher than that supplied from the outside is supplied to the discharger. A pressure-intensifying part to be injected into
A pressure reducer that reduces the pressure of the gas to a pressure lower than atmospheric pressure, and a suction device that sucks the gas from the discharge device;
A material discharge apparatus comprising: A material discharger for discharging a material for forming a structure by injecting a pressurized gas;
A cell discharger for discharging cells by injecting pressurized gas;
A mobile device for moving the position of the material discharger and the cell discharger;
A pressure adjusting device connected to the material discharger and the cell discharger, and adjusting the pressure of the pressurized gas to inject the material discharger and the cell discharger;
The pressure adjusting device comprises:
A pressure intensifier for increasing the pressure of the gas supplied from the outside and a pressure regulator for adjusting the pressure of the gas to the set pressure are connected in series, and the gas adjusted to a pressure higher than that supplied from the outside is discharged from the material. A pressure intensifier to be injected into the container;
An injection part for injecting into the cell discharger without increasing the pressure of the gas supplied from the outside;
A decompressor that reduces the pressure of the gas to a pressure lower than atmospheric pressure, and a suction unit that sucks the gas from the material discharger;
A modeling apparatus characterized by comprising:

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