WO2017113157A1 - 生物打印机及其校准方法 - Google Patents

生物打印机及其校准方法 Download PDF

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Publication number
WO2017113157A1
WO2017113157A1 PCT/CN2015/099796 CN2015099796W WO2017113157A1 WO 2017113157 A1 WO2017113157 A1 WO 2017113157A1 CN 2015099796 W CN2015099796 W CN 2015099796W WO 2017113157 A1 WO2017113157 A1 WO 2017113157A1
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WO
WIPO (PCT)
Prior art keywords
control device
height
signal
attachment surface
axis motion
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PCT/CN2015/099796
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English (en)
French (fr)
Inventor
王德明
李意军
Original Assignee
四川蓝光英诺生物科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 四川蓝光英诺生物科技股份有限公司 filed Critical 四川蓝光英诺生物科技股份有限公司
Priority to US16/067,569 priority Critical patent/US10894363B2/en
Priority to EP15911786.0A priority patent/EP3398775B1/en
Priority to PCT/CN2015/099796 priority patent/WO2017113157A1/zh
Publication of WO2017113157A1 publication Critical patent/WO2017113157A1/zh

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • 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
    • 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
    • B29C64/227—Driving means
    • B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • 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
    • 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

Definitions

  • the present invention relates to the field of bioprinting technology, and in particular to a bioprinter and a calibration method thereof.
  • Biological 3D printing refers to the technique of printing biological materials (including natural biological materials and synthetic biological materials or cell solutions) into a designed three-dimensional structure by the principle and method of 3D printing.
  • biological 3D printing technology is characterized in that the biological tissue or organ produced by it also has certain biological functions, and needs to provide conditions for further growth of cells and tissues. Therefore, biological 3D printing technology is There are many specific technical issues in development that are different from ordinary 3D printing technology.
  • a bioprinter is a device that implements a bio 3D printing technique that uses living cells as a bio-ink, ejects bio-ink through the movement of a nozzle, and finally arranges into a biological structure of a predetermined structure.
  • the 3D printing is finally completed according to a predetermined design scheme and a preset path, the nozzle is usually connected to the three-dimensional motion platform, and the biological ink sprayed from the nozzle is attached to the print carrier as needed.
  • the print carrier herein includes a printing platform, a rotating rod in a rotary printing device, or a carrier attached to a culture dish on a printing platform.
  • the printing program of the bioprinter usually pre-sets the value of the length of the head, the height of the initial attachment surface of the printed material on the print carrier, and the height distance between the bottom end of the head and the initial attachment surface of the printed material at the starting position.
  • the nozzle is first controlled to move to a position suitable for printing according to the height distance between the bottom end of the nozzle and the initial attachment surface of the printing material preset in the printing program, and then start printing according to the predetermined path.
  • the print carrier attached to the bio-ink often changes, that is, the height of the initial attachment surface of the printed material often changes, and the nozzles of different lengths are often replaced during use, which will result in the bottom end of the nozzle.
  • the actual height distance between the initial attachment faces of the printed material is incorrect with the height distance preset in the print program. Poor, for such height distance error, the existing solution is to manually measure the actual height of the initial attachment surface of the printed material and the actual length of the print head before each printing, and manually input the print program to adjust and correct the print program.
  • the preset value of the corresponding parameter is not only cumbersome to operate, but also the accuracy is easily affected by the operation level of the person, and it is easy to generate false measurement and incorrect input, and the accuracy consistency is poor.
  • One technical problem to be solved by the present invention is that the existing bio-printer, the height change of the bio-ink adhesion portion and the change of the length of the nozzle can only be manually measured and input by hand, which is not only cumbersome to operate, but also has low precision and poor reliability. .
  • the present invention provides a bioprinter including a Z-axis motion assembly, an ejection device, a platform, a control device, a first detecting device, and a second detecting device that move in the Z-axis direction of the bio-printer, the platform Provided with an initial attachment surface of the printing material, driven by the Z-axis moving assembly, the spraying device is close to or away from the first detecting device and the second detecting device is close to or away from the initial attachment surface of the printing material, wherein the first detecting device can be sprayed
  • a first signal is sent to the control device when the device is moved to the first position in the Z-axis direction such that the control device calibrates a preset value of the length of the injection device, and the second detecting device is movable in the Z-axis direction to the second position
  • a second signal is sent to the control device to cause the control device to calibrate a preset value of the height of the initial attachment surface of the printed material.
  • control device includes a signal receiving module, a height acquiring module, and a calibration module, wherein the signal receiving module is configured to receive the first signal sent by the first detecting device and the second signal sent by the second detecting device, and the height acquiring module is used by the height acquiring module.
  • the signal receiving module is configured to receive the first signal sent by the first detecting device and the second signal sent by the second detecting device
  • the height acquiring module is used by the height acquiring module.
  • the calibration module is used to change the actual height value and the preset value according to the Z-axis motion component.
  • the preset value of the length of the ejection device and the preset value of the height of the initial attachment surface of the printing material are calibrated.
  • the Z-axis motion component is driven by a drive motor
  • the height acquisition module is configured to obtain an actual height value of the Z-axis motion component by acquiring a rotation angle of the drive motor when the Z-axis motion component stops moving.
  • the bottom end of the injection device abuts the first detection device.
  • the spraying device is a spray head; or the spraying device comprises a spray head and an extension rod, the extension rod is disposed below the nozzle outlet and spaced apart from the outlet of the nozzle, and the elongated rod is provided with an elongated flow passage for making The fluid printing unit of the bioprinting material is guided to be ejected by the flow path, and the bottom end of the ejecting device for abutting the first detecting device is the bottom end of the extension rod.
  • the spraying device comprises a spray head and an extension rod
  • the end surface of the extension rod adjacent to the spraying device is provided with an open recess
  • the outlet of the open recess is in communication with the flow channel
  • the spray head extends into the open recess
  • the opening The concave portion is tapered toward the flow passage, and an auxiliary material flow path is formed between the outer wall of the spray head and the open concave portion, and a chamber is formed between the outlet of the spray head and the outlet of the open concave portion, and the auxiliary material is passed through the auxiliary material flow passage.
  • the fluid encloses the main fluid discharged from the outlet of the spray head in the chamber to form a fluid printing unit.
  • the flow path is tapered from its inlet to its outlet.
  • the cross section of the flow path taken along the flow direction of the fluid printing unit is tapered.
  • the first detecting device comprises a laser measuring instrument.
  • the bottom end of the second detection device abuts the initial attachment surface of the printing material.
  • the bio-printer further comprises a telescopic control device, the telescopic control device is connected to the Z-axis motion component, the second detection device is connected to the telescopic control device, and the telescopic control device is capable of controlling the bottom end of the second detection device toward the initial attachment surface of the printing material. Exercise a certain distance.
  • the telescopic control device can control the bottom end of the second detecting device to move a fixed distance perpendicularly to the initial attachment surface of the printing material.
  • the telescopic control device includes a cylinder, the cylinder of the cylinder is coupled to the Z-axis motion assembly, and the cylinder rod of the cylinder is coupled to the second detection device.
  • the telescopic control device further comprises a linear retention device capable of maintaining the straightness of the second detection device.
  • the linear retention device includes a sliding slot and a clamping block that is slidably engaged with the sliding slot.
  • the chute is coupled to the cylinder of the cylinder, and the clamping block is coupled to the second detecting device, and the clamping block and the second detecting device are movable together along the chute.
  • the second detecting device comprises an inductive measuring head.
  • a second aspect of the present invention also provides a method of calibrating a bioprinter for use in the first aspect of the invention, the method comprising the steps of:
  • the spraying device of the bio-printer is driven to the first position by the driving of the Z-axis moving component, and the first detecting device sends a first signal to the control device;
  • the control device After receiving the first signal, the control device calibrates the preset value of the length of the injection device;
  • the second detecting device of the bio-printer is moved to the second position by the driving of the Z-axis moving component, and the second detecting device sends a second signal to the control device;
  • the control device After receiving the second signal, the control device calibrates the preset value of the height of the initial attachment surface of the printed material.
  • the method further includes the following steps:
  • the control device controls the Z-axis motion component to stop moving and obtain the actual height value of the Z-axis motion component
  • the control device acquires the amount of change in the length of the injection device by calculating the amount of change in the actual height value of the Z-axis motion assembly relative to the preset height value of the Z-axis motion assembly;
  • the control device calibrates the preset value of the length of the injection device in accordance with the amount of change in the length of the injection device.
  • the method further includes the following steps:
  • the control device controls the Z-axis motion component to stop moving and obtain the actual height value of the Z-axis motion component
  • the control device acquires the amount of change in the height of the initial attachment surface of the printed material by calculating the amount of change in the actual height value of the Z-axis motion component relative to the preset height value of the Z-axis motion component;
  • the control device calibrates a preset value of the height of the initial attachment surface of the printing material in accordance with the amount of change in the height of the initial attachment surface of the printed material.
  • a bioprinter of the present invention which is provided with a control device, a first detecting device, and The second detecting device can realize automatic calibration of the preset value of the length of the spraying device and the preset value of the height of the initial attachment surface of the printing material. Since it is no longer necessary to rely on manual manual measurement and input, the operation can be simplified and the operation can be reduced. The labor intensity of the personnel can effectively improve the measurement accuracy, ensure the accuracy consistency between multiple measurements, and improve the work reliability.
  • Fig. 1 is a front view showing a bio printer of a first embodiment of the present invention.
  • Fig. 2 shows a left side view of Fig. 1.
  • Fig. 3 is a view showing the operational state of the first detecting device of the embodiment shown in Fig. 1.
  • Fig. 4 is a view showing the operational state of the second detecting device of the embodiment shown in Fig. 1.
  • Figure 5 is a flow chart showing the calibration of the bioprinter of the embodiment of Figure 1.
  • Fig. 6 is a view showing the configuration of a spraying device of a bio-printer according to a second embodiment of the present invention.
  • orientations such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
  • a bioprinter provided by the present invention includes a Z-axis motion assembly 1, an ejection device, a platform 5, a control device, a first detecting device, and a second detecting device that move in the Z-axis direction of the bioprinter.
  • the platform 5 is provided with an initial attachment surface of the printing material.
  • the ejection device Under the driving of the Z-axis motion assembly 1, the ejection device is close to or away from the first detecting device and the second detecting device is close to or away from the initial attachment surface of the printing material, wherein the first detecting device
  • a first signal can be sent to the control device when the injection device is moved to the first position in the Z-axis direction to cause the control device to calibrate a preset value of the length of the injection device, the second detection device being capable of following the Z-axis direction
  • a second signal is sent to the control device when moved to the second position to cause the control device to calibrate a preset value of the height of the initial attachment surface of the printed material.
  • the bioprinter of the present invention can realize automatic calibration of a preset value of the length of the ejection device and a preset value of the height of the initial attachment surface of the printing material by providing the control device, the first detecting device and the second detecting device, since it is not necessary Relying on manual manual measurement and input, not only can simplify the operation, reduce the labor intensity of the operator, but also can effectively improve the measurement accuracy, ensure the accuracy consistency between multiple measurements, and improve the work reliability.
  • the present invention also provides a calibration method for a bioprinter of the present invention, the method comprising the steps of:
  • the spraying device of the bio-printer is moved to the first position by the driving of the Z-axis moving assembly 1, and the first detecting device sends a first signal to the control device;
  • the control device After receiving the first signal, the control device calibrates the preset value of the length of the injection device;
  • the second detecting device of the bio-printer moves to the second position under the driving of the Z-axis moving assembly 1, and the second detecting device sends a second signal to the control device;
  • the control device After receiving the second signal, the control device calibrates the preset value of the height of the initial attachment surface of the printed material.
  • the first detecting device can control the control device to start measuring the amount of change in the length of the injection device when the bottom end of the injection device moves to the first position in the Z-axis direction, such as a signal
  • the control device can start measuring the amount of change in the length of the injection device after receiving the first signal and can act on the injection device according to the amount of change in the length of the injection device
  • the preset value of the length is calibrated; and/or the second detecting means is used to control the control device to start measuring the amount of change in the height of the initial attachment surface of the printed material, and the second signal is used to control the control device to start measuring the initial adhesion of the printed material.
  • the signal of the change in the height of the surface and the control device starts measuring the amount of change in the height of the initial attachment surface of the printed material after receiving the second signal and can initially attach the printed material to the printed material according to the amount of change in the height of the initial attachment surface of the printed material.
  • Height preset The value is calibrated.
  • the present invention can be implemented by the first detecting device and/or the second detecting device sending a signal to the control device to cause the control device to start measuring the amount of change and compensating the amount of change to the corresponding preset value by the control device. Calibration of preset values.
  • the amount of change herein refers to the amount of change in the length of the ejection device corresponding to the first detecting device or the amount of change in the height of the initial attachment surface of the printing material corresponding to the second detecting device.
  • the control device can measure the variation amount by measuring the height of the Z-axis motion component.
  • the amount of change is achieved.
  • the control device may implement calibration of a preset value of the length of the injection device by the following steps: after receiving the first signal, the control device controls the Z-axis motion assembly 1 to stop moving and acquire the Z-axis motion assembly 1 The actual height value, then, the control device obtains the amount of change in the length of the injection device by calculating the amount of change in the actual height value of the Z-axis motion assembly 1 relative to the preset height value of the Z-axis motion assembly 1, after which the control device is based on the injection
  • the amount of change in the length of the device is used to calibrate the preset value of the length of the ejection device; similarly, the calibration of the preset value of the height of the initial attachment surface of the printing material by the control device can also be achieved by the following steps: after
  • the spraying device of the present invention may include only the head 21, that is, the printing material is directly ejected from the outlet of the head 21 to the printing material attachment surface, and the spraying device is in contact with the first detecting device.
  • the bottom end of the nozzle 21 is the bottom end of the nozzle 21.
  • the spraying device of the present invention may not only include the head 21, but may further include an extension rod 22 disposed below the outlet of the head 21 and spaced apart from the outlet of the head 21, and the extension rod 22 is provided.
  • the injection device includes only the head 21 and the injection device including the head 21 and the extension rod 22, respectively.
  • the bioprinter of this embodiment includes a Z-axis motion assembly 1, a mounting plate 8, a showerhead assembly 2, a platform 5, a base 7, a control device (not shown), a first detecting device, and a second The detecting device and the telescopic control device, wherein the showerhead assembly 2 includes an ejection device.
  • the ejection device is the head 21.
  • the platform 5 is disposed on the base 7, and the culture plate 4 is placed on the platform 5, the initial attachment surface of the printing material is located on the bottom wall of the culture dish 4, the nozzle assembly 2 is attached to the mounting plate 8, and the mounting plate 8 and Z are mounted.
  • the shaft moving assembly 1 is coupled such that the head 21 can be moved up and down in the Z-axis direction as the mounting plate 8 is driven by the Z-axis moving assembly 1. It can be seen that in this embodiment, the platform 5 and the culture dish 4 remain stationary in the Z-axis direction, while the spray head 21 is capable of approaching or moving away from the platform 5 and the culture dish 4 in the Z-axis direction.
  • the first detecting means comprises a laser measuring instrument 6, which is arranged on the platform 5, which is capable of being directed to the control unit when the head 21 is moved to the first position A first signal is issued that causes the control device to start measuring the amount of change in the length of the showerhead 21.
  • the laser measuring instrument 6 is also a pressure sensitive detecting device, that is, it needs to be pressed to be able to emit the first signal, and therefore, as shown in FIG. 3, in the first position, the laser The measuring instrument 6 abuts against the bottom end of the head 21.
  • the laser measuring instrument 6 sends a first signal to the control device, and when it is not necessary to measure the length of the head 21, it can pass Z.
  • the shaft moving assembly 1 moves the head 21 away from the laser gauge 6.
  • the measurement accuracy of the laser measuring instrument 6 is 1 micrometer.
  • the second detecting means comprises an inductive measuring head 34 which is capable of issuing to the control means when it is moved in the Z-axis direction to the second position to cause the control means to start measuring the petri dish
  • the second signal of the amount of change in the height of the bottom wall of 4.
  • the inductive measuring head 34 is a pressure sensitive detecting device, that is, it needs to be pressed to be able to emit a second signal, and therefore, as shown in FIG. In the two positions, the bottom end of the inductance measuring head 34 abuts against the initial attachment surface of the printing material.
  • the measurement accuracy of the inductance measuring head 34 is 1 micrometer.
  • the telescopic control device is used to control the bottom end of the inductive measuring head 34 to move a certain distance toward the bottom wall of the petri dish 4.
  • the telescopic control device includes a cylinder 31.
  • the cylinder of the cylinder 31 is connected to the Z-axis power transmission component 1 through the mounting plate 8, and the cylinder rod of the cylinder 31 is connected to the inductance measuring head 34.
  • the cylinder 31 and the inductance measuring head 34 can move up and down along the Z-axis, away from or near the bottom wall of the petri dish 4, that is, close to or Keep away from the initial attachment surface of the printed material.
  • the inductive measuring head 34 can be further moved toward the cylinder rod as the cylinder rod is extended by inflating the cylinder 31.
  • the bottom wall of the dish 4 is moved a fixed distance, and when calibration is not required, the inductive measuring head 34 can be moved away from the bottom wall of the petri dish 4 by controlling the cylinder rod retraction of the cylinder 31, thus preventing the inductive measuring head 34 from being
  • the normal operation of the components has an undesired effect.
  • the cylinder 31 has a high control precision, under which the inductance measuring head 34 can be pushed out vertically, so that the inductance measuring head 34 can be connected to the bottom wall of the culture dish 4 when it comes into contact with the bottom wall of the culture dish 4. Vertically, it is possible to avoid the delay of the second signal due to the tilt of the inductive measuring head 34, which leads to inaccurate measurement results.
  • the cylinder 31 is relatively clean by the gas control cylinder rod, it is relatively clean, does not cause pollution to the bio-printer, and can avoid the influence of oil stains and the like on the biological properties of the printing material.
  • the telescopic control device further includes a linear holding means.
  • the linear retaining device includes a chute 31 and a clamping block 33 slidably engaged with the chute 32, wherein the chute 32 is coupled to the cylinder of the cylinder 31, and the clamping block 33 is coupled to the inductor.
  • the clamping block 33 and the inductive measuring head 34 can move together along the chute 32.
  • the inductive measuring head 34 has better straightness not only when pushed out by the cylinder 31, but also during the pressing of the bottom wall of the petri dish 4, the inductive measuring head 34 can still versus The bottom wall of the culture dish 4 remains vertically abutted, so that a more accurate measurement result can be obtained.
  • the control device includes a signal receiving module, a height acquiring module, and a calibration module, wherein the signal receiving module is configured to receive the second signal from the inductive measuring head 34 and the first signal from the laser measuring instrument 6, and obtain the height.
  • the module is configured to obtain the actual height value of the corresponding Z-axis motion component 1 after the signal receiving module receives the second signal and the first signal
  • the calibration module is configured to move the actual height value and the preset value according to the Z-axis motion component 1 The amount of change between the preset values of the height of the initial attachment surface of the printing material and the preset value of the length of the head 21 are calibrated.
  • the height acquisition module can obtain the actual height value of the Z-axis motion assembly 1 in a variety of ways.
  • the Z-axis motion component 1 is driven by the driving motor, and the rotation angle of the driving motor can reflect the motion displacement of the Z-axis power component 1, so the height acquiring module can obtain the Z-axis motion component. 1
  • the angle of the drive motor is stopped when the motion is stopped to obtain the actual height value of the Z-axis motion assembly 1, so that the object of the present invention can be achieved with minor modifications to the structure of the existing bio-printer.
  • the Z-axis motion component 1 is driven by a servo motor
  • the value of the encoder of the servo motor can reflect the corner value of the servo motor
  • the height acquisition module stops the motion of the servo motor by acquiring the Z-axis motion component 1.
  • the value of the encoder is used to obtain the actual height value of the Z-axis motion component 1.
  • the control device controls the Z-axis motion component 1 to stop moving, and the height acquisition module starts to acquire the current height value of the Z-axis motion component 1 (ie, the Z-axis motion component 1
  • the actual height value is transmitted to the calibration module, and the calibration module calculates the amount of change in the height of the Z-axis motion component 1 based on the actual height value of the Z-axis motion component 1 acquired by the height acquisition module and the preset height value of the Z-axis motion component 1.
  • the amount of change in the length of the head 21 is equal to the amount of change in the height of the Z-axis moving assembly 1, so Calculated by the calibration module At this time, the amount of change in the height of the Z-axis moving assembly 1 is the amount of change in the length of the head 21, and therefore, the calibration module compensates the amount of change in the height of the Z-axis moving assembly 1 to the length of the original head 21 By setting the value, it is possible to obtain a preset value of the length of the calibrated head 21, and complete the calibration process of the preset value of the length of the head 21.
  • the control device controls the Z-axis motion component 1 to stop moving, and the height acquisition module starts to acquire the current height value of the Z-axis motion component 1 (ie, the Z-axis motion component).
  • the actual height value of 1 is transmitted to the calibration module, and the calibration module calculates the height of the Z-axis motion component 1 based on the actual height value of the Z-axis motion component 1 acquired by the height acquisition module and the preset height value of the Z-axis motion component 1.
  • the amount of change since the inductive measuring head 34 depresses the bottom wall of the culture dish 4 and sends a second signal to the signal receiving module, the amount of change in the height of the bottom wall of the culture dish 4 is higher than that of the Z-axis moving assembly 1.
  • the amount of change is equal, so the amount of change in the height of the Z-axis motion component 1 calculated by the calibration module is the amount of change in the height of the bottom wall of the culture dish 4, that is, the change in the height of the initial attachment surface of the printed material. Therefore, the calibration module compensates the change amount of the height of the Z-axis motion component 1 to the preset value of the height of the initial attachment surface of the existing printing material, and the initial printed material can be obtained.
  • the preset value of the height of the face is completed, and the calibration process of the preset value of the height of the initial attachment surface of the printed material is completed.
  • the height distance after alignment between the bottom end of the head 21 and the initial attachment surface of the printing material can be obtained. Therefore, after the head 21 moves to the initial attachment surface of the printing material according to the calibrated height distance, the head 21 can accurately reach a position suitable for starting printing, thereby effectively preventing the bottom surface of the head 21 from being initially attached to the printing material.
  • the problem of equipment damage caused by inaccurate preset value of the height distance for example, when the preset value of the height distance between the bottom end of the head 21 and the initial attachment surface of the printing material is smaller than the actual value, the head 21 is according to the corresponding height distance.
  • the position suitable for printing cannot be reached; and when the preset value of the height distance between the bottom end of the head 21 and the initial attachment surface of the printing material is larger than the actual value, the head 21 is actually moved even to the position suitable for printing. Will not stop, but will continue to The lower movement is up to the preset value position, at which time the head 21 forms an abutment with the initial attachment surface of the printing material, so that the nozzle 21 and/or the initial attachment surface of the printing material may be damaged due to the large pressure.
  • the showerhead 21 is positioned in the X-Y plane such that the showerhead 21 is aligned with the laser gauge 6 in the X-Y plane.
  • the Z-axis motion assembly 1 first moves rapidly to a first designated position at a relatively large speed, and then the Z-axis motion assembly is decelerated to a set measurement speed so that the head 21 slowly approaches the laser gauge 6 at the measurement speed.
  • the first designated position here is generally set to a position at which a safe distance can be maintained between the head 21 and the laser measuring instrument 6, and may be, for example, 10 mm below the reference setting position.
  • the laser measuring instrument 6 sends a first signal to the control device, and the control device controls the Z-axis moving assembly 1 to stop continuing downward movement and record
  • the actual height value of the Z-axis motion assembly 1 and the change in the height of the Z-axis motion assembly 1 are obtained by calculating the difference between the actual height value of the Z-axis motion assembly 1 and the preset height value of the Z-axis motion assembly 1.
  • the amount that is, the amount of change in the length of the head 21 .
  • the control device compensates the amount of change in the length of the head 21 to a preset value of the length of the original head 21, and completes the calibration of the preset value of the length of the head 21.
  • the control device controls the Z-axis moving assembly 1 to return to the safe position, here referring to the first designated position, and determines whether the initial attachment surface to the printed material has been completed. The height of the preset value is calibrated. If not, proceed to steps (6)-(10) below. If completed, the calibration process ends and the Z-axis motion assembly 1 returns to the reference set position.
  • the inductive measuring head 34 is positioned in the X-Y plane such that the inductive measuring head 34 is in the X-Y plane with the culture dish 4 The bottom walls are aligned.
  • the Z-axis motion assembly 1 is quickly moved to a second designated position at a relatively large speed; then, the cylinder 31 is inflated, so that the inductive measuring head 34 is pushed out, and is pushed out by the chute 32 and the clamping block 33 during the ejection process.
  • the straightness of the action after that, after the cylinder 31 is in place, for example, the lever of the cylinder 31 is fully extended, the Z-axis motion assembly 1 starts to move slowly toward the bottom wall of the culture dish 4 at the set measurement speed; and then, Z The shaft motion assembly is decelerated to a set measurement speed such that the inductive side gauge 34 is slowly approaching the bottom wall of the culture dish 4 at the measurement speed.
  • the second designated position here is usually a position at which a safe distance can be maintained between the inductance measuring head 34 and the bottom wall of the petri dish 4, and may be, for example, 30 mm below the reference setting position.
  • (9) Calibration of the preset value of the height of the initial attachment surface of the printed material.
  • the control device compensates the amount of change in the height of the initial attachment surface of the printing material to a preset value of the height of the original attachment surface of the original printing material, and completes calibration of the preset value of the height of the initial attachment surface of the printing material.
  • the abnormality detecting step may also be included in the measuring process, for example, after the inductive measuring head 34 is pressed from the bottom wall of the petri dish to a certain distance (for example, 1 mm), the second signal is not emitted, or in the head 21
  • the first signal has not been issued after being in contact with the laser measuring instrument 6 for a certain distance (for example, 1 mm), or the cylinder 31
  • the position of the push is incorrect, it can be judged that the corresponding detecting device or the cylinder 31 is abnormal.
  • the measurement can be stopped and an abnormality prompt is given, and the detection is restarted after the abnormality is eliminated.
  • the bioprinter of this embodiment can realize automatic measurement of the change of the length of the head 21 and the height of the bottom wall of the petri dish 4 (that is, the height of the initial attachment surface of the printing material), and can be completed according to the variation of the automatic measurement.
  • the preset value of the height is manually calibrated to ensure that the print head 21 can accurately move to a position suitable for printing, which can effectively simplify the operation process, reduce the labor intensity of the operator, improve the measurement accuracy, avoid human error, and based on the automatic measurement.
  • the calibration process when the nozzles 21 of different specifications and the culture dish 4 are replaced, the control program of the control device does not need to be changed, and the versatility of the control device is improved.
  • the second embodiment is different from the first embodiment in that the spraying device includes a spray head 21 and an extension rod 22, wherein the extension rod 22 is disposed below the outlet of the head 21 and spaced apart from the outlet of the head 21, An elongated flow path 221 is provided in the extension rod 22 for guiding the fluid printing unit of the bioprinting material to be directed and ejected through the flow path 221.
  • the bottom end of the spraying device for abutting the detecting device is the bottom end of the extension rod 22.
  • the fluid printing unit refers to a printing unit of bio-printing material, which may be a unit composed of a single main fluid (bio-ink), or a mixed fluid composed of an auxiliary fluid (hydrogel) wrapped with a main fluid. unit.
  • the ejection device includes only the head 21, and therefore, the printing material is directly ejected from the outlet of the head 21 to the initial attachment surface of the printing material, and since the outlet of the head 21 is suddenly narrowed, it is used as a printing material.
  • the fluid is subject to damage caused by mechanical forces during printing; and the second embodiment passes through the outlet adjacent to the showerhead 21.
  • An extension rod 22 having an elongated flow path 221 is added so that the fluid printing unit serving as a printing material needs to be directionally ejected to the initial attachment surface of the printing material via the flow path 221.
  • the fluid The printing unit receives a more uniform pressure during the drainage by the flow path 221, and the flow path 221 can orient the fluid printing unit, easy to maintain good fluidity, reduce the possibility of clogging, and make the biological printing material
  • the flow direction is more stable, which can alleviate the mutual squeeze between the cells, reduce the damage caused by the friction between the bio-printing material and the metal material during the printing process, and further form the fluid printing unit is formed by the auxiliary fluid enveloping the main material fluid.
  • the flow path 221 also facilitates uniform encapsulation of the auxiliary fluid and protection of the main fluid. It can be seen that the extension rod 22 having the elongated flow path 221 can protect the printing material and reduce the damage of the printing material by the mechanical force during printing, and has higher reliability.
  • the flow path 221 is tapered from its inlet to the outlet.
  • the flow passage 221 is designed such that the fluid printing unit travels in the flow passage 221 to facilitate increasing the flow rate of the fluid printing unit at the outlet of the flow passage 221 and reducing the likelihood of its clogging.
  • the cross section of the flow path 221 taken along the flow direction of the fluid printing unit is tapered, and the tapered flow path 221 in the form of a structure similar to a funnel or a subway gate makes the fluid printing unit more uniform in the flow path 221. The distribution further reduces the possibility of blockage, and the tapered flow path is easy to process and has good implementability.
  • the inlet 221 has an inlet size that is twice the size of the fluid printing unit such that the inlet of the flow path 221 can only enter the two fluid printing units at most side by side. Since the flow passage 221 is a tapered flow passage, only a single row of fluid printing units can be discharged at the outlet of the flow passage 221, which can further reduce the possibility of clogging of the fluid printing unit, and facilitate the single discharge of the fluid printing unit.
  • the outlet size of the flow path 221 is 1-1.5 times, preferably 1.2 times, the size of the fluid printing unit.
  • the flow path 221 not only facilitates the single discharge of the fluid printing unit, but also avoids the auxiliary material without damaging the main fluid.
  • the fluid fluid over-wraps the main fluid and facilitates further increasing the flow rate of the fluid printing unit at the outlet of the flow path, ensuring continuity and uniformity of the fluid printing unit in a single row.
  • the flow path 21 can be straight as shown, the fluid printing unit can be ejected downwards, or can be arranged in a curved configuration depending on the printing requirements to provide more choice of ejection direction.
  • an end surface of the extension rod 22 adjacent to the head 21 is provided with an open recess 222, the outlet of the open recess 222 is in communication with the flow path 221, and the outlet of the head 21 extends into the open recess.
  • the open recess 222 is tapered toward the flow path 221, and an auxiliary material flow path 221 is formed between the outer wall of the shower head 21 and the open recess 222, and is formed between the outlet of the shower head 21 and the outlet of the open recess 222.
  • a chamber through which the auxiliary fluid flowing through the auxiliary material flow path encloses the main material fluid ejected from the outlet of the showerhead 21 to form a fluid printing unit.
  • an auxiliary material flow path is formed between the outer wall of the head 21 and the open recess 222, and the outlet of the head 21 and the open recess 222 are formed.
  • a chamber is formed between the outlets, and the auxiliary fluid (hydrogel) enters the chamber through the auxiliary material flow passage and wraps the main material fluid (bio ink) sprayed from the spray head, thereby forming a mixed fluid printing unit.
  • the main fluid may be a homogeneous, heterogeneous (eg, particulate mixture), continuous or discontinuous fluid.
  • the auxiliary material flow path since the auxiliary material flow path is formed between the outer wall of the shower head 21 and the tapered open recess 222, the auxiliary material flow path has a uniform pressure function, even if the auxiliary material is as shown in FIG.
  • the material flow channel still has a uniform pressure in the auxiliary material flow channel, and ensures that the biological material has a uniform wrapping effect on the side adjacent to or away from the auxiliary material inlet.
  • the cross-section of the open recess 222 taken along the flow direction of the fluid printing unit is preferably tapered, and the open recess 222 of the tapered configuration allows the auxiliary fluid to flow along the open recess 222.
  • the conical flow acts to converge toward the outlet of the spray head 21, which facilitates the uniform wrapping of the auxiliary fluid unit to the main fluid unit.
  • the open recess 222 of the structural form also ensures a more stable flow in the chamber.
  • the mixed fluid printing unit flows in the open recess 222, and the open recess 222 facilitates the convergence of the fluid printing unit toward the flow path 221 of the extension rod 22, ensuring that the flow direction of the mixed fluid printing unit within the chamber is more stable and avoids its diffusion into the auxiliary material flow path.
  • a gap is left between the outlet of the head 21 and the open recess 222, and specifically or preferably, the gap between the outlet of the head 21 and the open recess 222 is smaller than the size of the fluid printing unit, which prevents The fluid printing unit flows countercurrently to the auxiliary material flow path, ensuring that the fluid printing unit in the chamber flows stably to the flow path 221.
  • the main material fluid After the main material fluid is ejected from the head 21, it enters the chamber between the outlet of the head 21 and the outlet of the open recess 222, and the auxiliary material fluid passes through the auxiliary material flow path formed between the outer wall of the head 21 and the open recess 222.
  • the auxiliary fluid in the chamber has a certain pressure, and the auxiliary fluid is pressed and attached to a part of the main fluid unit exposed by the nozzle 21 until the entire main fluid unit is ejected, and the auxiliary fluid is The main fluid unit is completely wrapped to form a mixed fluid printing unit, at which point a portion of the fluid printing unit may have entered the flow path 221 of the extension rod 22.
  • the main fluid unit enters the flow path 221 of the extension rod 22 under continuous wrapping of the auxiliary material fluid, and the main material fluid unit wrapped by the auxiliary material fluid flows in the flow path 221, is uniformly wrapped, and is sequentially ejected.
  • the main material fluid is sufficiently uniformly wrapped by the auxiliary material fluid, so that the structure also makes the auxiliary material package even and sufficient, and the auxiliary material fluid is wrapped around the main material before the main material fluid is ejected from the outlet of the flow path 221
  • the protective structure is formed to further reduce the influence of the printing process on the main fluid.
  • the extension rod 22 having the flow path 221 may be disposed adjacent to the outlet of the nozzle 21 through the mounting block 23, and further, an insulation member 223 may be disposed on the outer circumference of the extension rod 22, and the heat retaining member 223 can It is ensured that the fluid printing unit maintains the desired temperature in the flow path 221, maintaining the activity of the fluid printing unit.
  • the embodiment of the present invention is only described by taking the contact inductor measuring head 34 and the laser measuring instrument 6 as an example, but actually, the second detecting device and the first detecting
  • the device may also be in the form of a structure that can emit a trigger signal to the control device without being pressed; further, in this embodiment, the initial attachment surface of the printing material is located on the bottom wall of the culture dish 4, in fact, the initial printing material
  • the attachment surface may also be located on the top surface of the platform 5 and other print carriers such as rotating rods in a rotary printing device, all of which are within the scope of the present invention.

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Abstract

提供了一种生物打印机及其校准方法，其中生物打印机包括控制装置、第一检测装置和第二检测装置，第一检测装置能够在喷射装置沿着Z轴方向运动至第一位置时向控制装置发出第一信号使控制装置校准喷射装置的长度的预设值，第二检测装置能够在其沿着Z轴方向运动至第二位置时向控制装置发出第二信号使控制装置校准打印材料初始附着面的高度的预设值。这种打印机能够实现对喷射装置的长度的预设值以及打印材料初始附着面的高度的预设值的自动校准，不仅可以简化操作，减轻操作人员的劳动强度，而且能够有效提高测量精度，保证多次测量之间的精度一致性，提高工作可靠性。

Description

生物打印机及其校准方法 技术领域
本发明涉及生物打印技术领域，特别涉及一种生物打印机及其校准方法。
背景技术
生物3D打印是指通过3D打印的原理和方法，将生物材料(包括天然生物材料和合成生物材料或细胞溶液)打印成为设计的三维结构体的技术。与普通的3D打印技术相比，生物3D打印技术的特点在于其所生产的生物组织或器官还具有一定的生物学功能，需为细胞和组织的进一步生长提供条件，因此，生物3D打印技术在发展中面临着许多不同于普通3D打印技术的特定技术问题。
生物打印机是实施生物3D打印技术的设备，其将活体细胞用作生物墨汁，通过喷头的移动将生物墨汁喷出，并最终排列成预设结构的生物组织。为了在打印过程中不断调整喷头的打印位置，最终按照预定的设计方案和预设路径完成3D打印，喷头通常连接于三维运动平台上，而从喷头喷出的生物墨汁则按需附着于打印载体上，此处的打印载体包括打印平台、旋转打印装置中的旋转杆或者附着于打印平台上的培养皿等载体。
目前，生物打印机的打印程序中通常预设有喷头的长度的值、打印载体上打印材料初始附着面的高度值以及在起始位置处喷头底端与打印材料初始附着面的高度距离，在每次打印时，首先控制喷头按照打印程序中预设的喷头底端与打印材料初始附着面的高度距离运动至适合打印的位置，然后再开始按照预定路径进行打印。然而，由于生物墨汁所附着的打印载体经常会发生变化，也即打印材料初始附着面的高度经常发生变化，并且在使用过程中也会经常更换不同长度的喷头，这些都将导致喷头底端与打印材料初始附着面之间的实际高度距离与打印程序中预设的高度距离存在误 差，对于这样的高度距离误差，现有的解决方案是每次打印前对打印材料初始附着面的实际高度及喷头的实际长度进行人工手动测量，并手动输入打印程序中以调整和修正打印程序中的相应参数的预设值，不仅操作繁琐，而且精度易受人员操作水平影响，容易产生误测量及误输入，精度一致性差。
发明内容
本发明所要解决的一个技术问题为：现有的生物打印机，生物墨汁附着部位的高度变化以及喷头的长度变化只能通过人工手动测量和输入，不仅操作繁琐，而且精度较低，可靠性较差。
为了解决上述技术问题，本发明提供了一种生物打印机，其包括沿生物打印机的Z轴方向运动的Z轴运动组件、喷射装置、平台、控制装置、第一检测装置和笫二检测装置，平台上设有打印材料初始附着面，在Z轴运动组件的驱动下，喷射装置靠近或远离第一检测装置且第二检测装置靠近或远离打印材料初始附着面，其中，第一检测装置能够在喷射装置沿着Z轴方向运动至第一位置时向控制装置发出第一信号使控制装置校准喷射装置的长度的预设值，第二检测装置能够在其沿着Z轴方向运动至第二位置时向控制装置发出第二信号使控制装置校准打印材料初始附着面的高度的预设值。
可选地，控制装置包括信号接收模块、高度获取模块以及校准模块，其中，信号接收模块用于接收第一检测装置发出的第一信号以及第二检测装置发出的第二信号，高度获取模块用于在信号接收模块接收第二信号和笫一信号后获取相应的Z轴运动组件的实际高度值，而校准模块则用于依据Z轴运动组件的实际高度值与预设值之间的变化量来对喷射装置的长度的预设值以及打印材料初始附着面的高度的预设值进行校准。
可选地，Z轴运动组件通过驱动电机驱动，高度获取模块用于通过获取Z轴运动组件停止运动时驱动电机的转角来获取Z轴运动组件的实际高度值。
可选地，在第一位置，喷射装置的底端与第一检测装置抵接。
可选地，喷射装置为喷头；或者喷射装置包括喷头和延长杆，延长杆设置在喷头出口的下方并与喷头的出口间隔一段距离设置，延长杆内设有细长的流道，用于使生物打印材料的流体打印单元通过流道被引导而定向喷出，喷射装置用于第一检测装置抵接的底端为延长杆的底端。
可选地，喷射装置包括喷头和延长杆，延长杆与喷射装置相邻近的端面上设有敞口凹部，敞口凹部的出口与流道连通，喷头伸入到敞口凹部中，敞口凹部朝向流道是渐缩的，在喷头的外壁与敞口凹部之间形成辅材流道，在喷头的出口与敞口凹部的出口之间形成一腔室，通过辅材流道的辅材流体在腔室中包裹从喷头的出口喷出的主材流体，以形成流体打印单元。
可选地，流道从其入口至出口是渐缩的。
可选地，流道的沿流体打印单元的流动方向截得的剖面为锥形。
可选地，第一检测装置包括激光测量仪。
可选地，在第二位置，笫二检测装置的底端与打印材料初始附着面抵接。
可选地，生物打印机还包括伸缩控制装置，伸缩控制装置与Z轴运动组件连接，第二检测装置与伸缩控制装置连接，伸缩控制装置能够控制第二检测装置的底端向着打印材料初始附着面运动一定的距离。
可选地，伸缩控制装置能够控制第二检测装置的底端垂直地向着打印材料初始附着面运动固定的距离。
可选地，伸缩控制装置包括气缸，气缸的缸筒与Z轴运动组件连接，且气缸的缸杆与第二检测装置连接。
可选地，伸缩控制装置还包括直线保持装置，直线保持装置能够保持第二检测装置的直线度。
可选地，直线保持装置包括滑槽和与滑槽滑动配合的夹持块， 滑槽连接于气缸的缸筒上，夹持块连接于第二检测装置上，夹持块和第二检测装置能够一起沿着滑槽运动。
可选地，第二检测装置包括电感测量头。
本发明第二方面还提供了一种用于本发明第一方面的生物打印机的校准方法，该方法包括以下步骤：
生物打印机的喷射装置在Z轴运动组件的驱动下运动至第一位置，第一检测装置向控制装置发出第一信号；
接收到第一信号后，控制装置对喷射装置的长度的预设值进行校准；
生物打印机的第二检测装置在Z轴运动组件的驱动下运动至第二位置，第二检测装置向控制装置发出第二信号；
接收到第二信号后，控制装置对打印材料初始附着面的高度的预设值进行校准。
可选地，接收到第一信号后，该方法还包括以下步骤：
控制装置控制Z轴运动组件停止运动并获取Z轴运动组件的实际高度值；
控制装置通过计算Z轴运动组件的实际高度值相对于Z轴运动组件的预设高度值的变化量来获取喷射装置的长度的变化量；
控制装置依据喷射装置的长度的变化量来校准喷射装置的长度的预设值。
可选地，接收到第二信号后，该方法还包括以下步骤：
控制装置控制Z轴运动组件停止运动并获取Z轴运动组件的实际高度值；
控制装置通过计算Z轴运动组件的实际高度值相对于Z轴运动组件的预设高度值的变化量来获取打印材料初始附着面的高度的变化量；
控制装置依据打印材料初始附着面的高度的变化量来校准打印材料初始附着面的高度的预设值。
本发明的生物打印机，其通过设置控制装置、第一检测装置和 第二检测装置，能够实现对喷射装置的长度的预设值以及打印材料初始附着面的高度的预设值的自动校准，由于无须再依赖于人工手动测量及输入，不仅可以简化操作，减轻操作人员的劳动强度，而且能够有效提高测量精度，保证多次测量之间的精度一致性，提高工作可靠性。
通过以下参照附图对本发明的示例性实施例进行详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出本发明第一实施例生物打印机的主视图。
图2示出图1的左视图。
图3示出图1所示实施例的第一检测装置的工作状态示意图。
图4示出图1所示实施例的第二检测装置的工作状态示意图。
图5示出图1所示实施例的生物打印机的校准流程图。
图6示出本发明第二实施例生物打印机的喷射装置的结构示意图。
图中：
1、Z轴运动组件；2、喷头组件；21、喷头；22、延长杆；221、流道；222、敞口凹部；223、保温件；23、安装块；31、气缸；32、滑槽；33、夹持块；34、电感测量头；4、培养皿；5、平台；6、激光测量仪；7、底座；8、安装板。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方 案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
在本发明的描述中，需要理解的是，使用“第一”、“笫二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
图1-4示出了本发明的第一实施例的生物打印机的结构示意图。参照图1-4，本发明所提供的生物打印机，包括沿生物打印机的Z轴方向运动的Z轴运动组件1、喷射装置、平台5、控制装置、第一检测装置和第二检测装置。
平台5上设有打印材料初始附着面，在Z轴运动组件1的驱动下，喷射装置靠近或远离第一检测装置且第二检测装置靠近或远离打印材料初始附着面，其中，第一检测装置能够在喷射装置沿着Z轴方向运动至第一位置时向控制装置发出第一信号使控制装置校准喷射装置的长度的预设值，第二检测装置能够在其沿着Z轴方向 运动至第二位置时向控制装置发出第二信号使控制装置校准打印材料初始附着面的高度的预设值。
本发明的生物打印机，通过设置控制装置、第一检测装置和第二检测装置，能够实现对喷射装置的长度的预设值以及打印材料初始附着面的高度的预设值的自动校准，由于无须再依赖于人工手动测量及输入，不仅可以简化操作，减轻操作人员的劳动强度，而且能够有效提高测量精度，保证多次测量之间的精度一致性，提高工作可靠性。
此外，本发明还提供了一种用于本发明的生物打印机的校准方法，该方法包括以下步骤：
生物打印机的喷射装置在Z轴运动组件1的驱动下运动至第一位置，第一检测装置向控制装置发出第一信号；
接收到第一信号后，控制装置对喷射装置的长度的预设值进行校准；
生物打印机的第二检测装置在Z轴运动组件1的驱动下运动至第二位置，第二检测装置向控制装置发出第二信号；
接收到第二信号后，控制装置对打印材料初始附着面的高度的预设值进行校准。
作为本发明的生物打印机的一种实施方式，第一检测装置能够在喷射装置的底端沿着Z轴方向运动至第一位置时控制控制装置开始测量喷射装置的长度的变化量，笫一信号为用于控制控制装置开始测量喷射装置的长度的变化量的信号，控制装置能够在接收到第一信号后开始测量喷射装置的长度的变化量并能够依据喷射装置的长度的变化量对喷射装置的长度的预设值进行校准；和/或，第二检测装置用于控制控制装置开始测量打印材料初始附着面的高度的变化量，第二信号为用于控制控制装置开始测量打印材料初始附着面的高度的变化量的信号，而控制装置在接收到第二信号后开始测量打印材料初始附着面的高度的变化量并能够依据打印材料初始附着面的高度的变化量对打印材料初始附着面的高度的预设 值进行校准。
基于该实施方式，本发明可以通过第一检测装置和/或第二检测装置向控制装置发出信号来使控制装置开始测量变化量并由控制装置将该变化量补偿至相应的预设值来实现对预设值的校准。此处的变化量是指与笫一检测装置对应的喷射装置的长度的变化量或与第二检测装置对应的打印材料初始附着面的高度的变化量。
而在该实施方式中，由于喷射装置和第二检测装置均在Z轴运功组件1的驱动下沿Z轴运动，因此，控制装置对变化量的测量可以通过测量Z轴运动组件的高度的变化量来实现。例如，控制装置可以通过以下步骤来实现对喷射装置的长度的预设值的校准：在接收到所述第一信号后，控制装置控制Z轴运动组件1停止运动并获取Z轴运动组件1的实际高度值，然后，控制装置通过计算Z轴运动组件1的实际高度值相对于Z轴运动组件1的预设高度值的变化量来获取喷射装置的长度的变化量，之后，控制装置依据喷射装置的长度的变化量来校准喷射装置的长度的预设值；类似地，控制装置对打印材料初始附着面的高度的预设值的校准也可以通过以下步骤实现：接收到第二信号后，控制装置控制Z轴运动组件1停止运动并获取Z轴运动组件1的实际高度值，然后，控制装置通过计算Z轴运动组件1的实际高度值相对于Z轴运动组件1的预设高度值的变化量来获取打印材料初始附着面的高度的变化量，之后，控制装置依据打印材料初始附着面的高度的变化量来校准打印材料初始附着面的高度的预设值。
如图1至图4所示，本发明的喷射装置可以只包括喷头21，也即打印材料直接从喷头21的出口喷出至打印材料附着面上，此时喷射装置与笫一检测装置相抵接的底端即为喷头21的底端。但如图6所示，本发明的喷射装置也可以不只包括喷头21，其还可以包括设置在喷头21的出口下方并与喷头21的出口间隔一段距离设置的延长杆22，延长杆22内设有细长的流道221，用于使生物打印材料的流体打印单元通过流道221被引导而定向喷出，此时喷射装 置与第一检测装置相抵接的底端即为延长杆22的底端。
接下来分别对喷射装置只包括喷头21和喷射装置包括喷头21和延长杆22这两种情况来对上述实施方式进行进一步地说明。
首先结合图1-4对喷射装置只包括喷头21的第一实施例进行说明。如图1-4所示，该实施例的生物打印机包括Z轴运动组件1、安装板8、喷头组件2、平台5、底座7、控制装置(未示出)、第一检测装置、第二检测装置和伸缩控制装置，其中，喷头组件2包括喷射装置。第一实施例中，喷射装置为喷头21。
其中，平台5设置在底座7上，且平台5上放有培养皿4，打印材料初始附着面位于培养皿4的底壁上，喷头组件2连接在安装板8上，而安装板8与Z轴运动组件1连接，这样喷头21可以随着安装板8在Z轴运动组件1的驱动下沿着Z轴方向上下运动。可见，在该实施例中，平台5和培养皿4在Z轴方向保持静止，而喷头21则能够沿着Z轴方向靠近或远离平台5和培养皿4。
如图2和图3所示，在该实施例中，第一检测装置包括激光测量仪6，该激光测量仪6设置在平台5上，其能够在喷头21运动至第一位置时向控制装置发出使控制装置开始测量喷头21的长度的变化量的第一信号。而且，在该实施例中，激光测量仪6也为压感式检测装置，也即其需要被压下后才能够发出第一信号，因此，如图3所示，在第一位置时，激光测量仪6与喷头21的底端抵接。这样当喷头21在Z轴运动组件1的驱动下靠近并压下激光测量仪6后，激光测量仪6会向控制装置发出第一信号，而当不需要测量喷头21长度时，则可以通过Z轴运动组件1使喷头21远离激光测量仪6。在该实施例中，激光测量仪6的测量精度为1微米。
如图1和图4所示，在该实施例中，第二检测装置包括电感测量头34，其能够在其沿Z轴方向运动至第二位置时向控制装置发出使控制装置开始测量培养皿4的底壁的高度的变化量的第二信号。而且，在该实施例中，电感测量头34为压感式检测装置，也即其需要被压下后才能够发出第二信号，因此，如图4所示，在笫 二位置时，电感测量头34的底端与打印材料初始附着面抵接。在该实施例中，电感测量头34的测量精度为1微米。
在该实施例中，伸缩控制装置用于控制电感测量头34的底端向着培养皿4的底壁运动一定的距离。如图1和图4所示，伸缩控制装置包括气缸31，气缸31的缸筒通过安装板8与Z轴运功组件1连接，而气缸31的缸杆则与电感测量头34连接，这样当安装板8在Z轴运动组件1的驱动下沿Z轴方向上下运动时，气缸31和电感测量头34能够随之沿Z轴上下运动，远离或靠近培养皿4的底壁，也即靠近或远离打印材料初始附着面。
通过设置气缸31，当需要对打印材料初始附着面的高度预设值进行校准时，可以通过给气缸31充气，使电感测量头34随着气缸31的缸杆的伸出动作而进一步地向着培养皿4的底壁运动固定的距离，而当不需要校准时，则可以通过控制气缸31的缸杆收回来使电感测量头34远离培养皿4的底壁，这样可以防止电感测量头34对其他部件的正常工作产生不必要的影响。
此外，气缸31具有较高的控制精度，在其作用下，电感测量头34能够被垂直地推出，进而使得电感测量头34在与培养皿4的底壁接触时能够与培养皿4的底壁垂直，可以避免因电感测量头34的倾斜延误第二信号的发出，进而导致测量结果的不准确。而且，由于气缸31通过气体控制缸杆的伸缩，较为洁净，不会对生物打印机造成污染，可以避免油污等对打印材料生物性能的影响。
在该实施例中，为了进一步保持电感测量头34在被培养皿4的底壁压下后仍能保持与培养皿4的底壁垂直，伸缩控制装置还包括直线保持装置。如图1和2所示，该直线保持装置包括滑槽31和与滑槽32滑动配合的夹持块33，其中，滑槽32连接于气缸31的缸筒上，夹持块33连接于电感测量头34上，夹持块33和电感测量头34能够一起沿着滑槽32运动。通过设置滑槽31和夹持块32，电感测量头34不仅在被气缸31推出时具有更好的直线度，而且在被培养皿4的底壁压下过程中，电感测量头34也仍然能够与 培养皿4的底壁保持垂直抵接，从而能够使进而获得更加精确的测量结果。
在该实施例中，控制装置包括信号接收模块、高度获取模块以及校准模块，其中，信号接收模块用于接收电感测量头34发出的第二信号以及激光测量仪6发出的第一信号，高度获取模块用于在信号接收模块接收第二信号和第一信号后获取相应的Z轴运动组件1的实际高度值，而校准模块则用于依据Z轴运动组件1的实际高度值与预设值之间的变化量来对打印材料初始附着面的高度的预设值以及喷头21的长度的预设值进行校准。
高度获取模块可以通过多种方式来获取Z轴运动组件1的实际高度值。其中，由于在现有的生物打印机中，Z轴运动组件1通过驱动电机驱动，且驱动电机的转角能够反映Z轴运功组件1的运动位移，因此，高度获取模块可以通过获取Z轴运动组件1停止运动时驱动电机的转角来获取Z轴运动组件1的实际高度值，这样可以在对现有生物打印机的结构作出较小改动的前提下实现本发明的目的。
作为一种更优选的实施方式，Z轴运动组件1通过伺服电机驱动，伺服电机的编码器的值能够反映伺服电机的转角值，高度获取模块则通过获取Z轴运动组件1停止运动时伺服电机的编码器的值来获取Z轴运动组件1的实际高度值。
该实施例的控制装置的工作原理为：
当控制装置的信号接收模块接收到第一信号后，控制装置控制Z轴运动组件1停止运动，且由高度获取模块开始获取Z轴运动组件1的当前高度值(也即Z轴运动组件1的实际高度值)并传递给校准模块，校准模块基于高度获取模块所获取的Z轴运动组件1的实际高度值以及Z轴运动组件1的预设高度值计算Z轴运动组件1的高度的变化量，由于喷头21每次都是压下激光测量仪6后向信号接收模块发送第一信号，因此，喷头21的长度的变化量与Z轴运动组件1的高度的变化量是相等的，所以，校准模块所计算得到 的此时Z轴运动组件1的高度的变化量即为喷头21的长度的变化量，因此，校准模块将该Z轴运动组件1的高度的变化量补偿至原有的喷头21的长度的预设值，就能够获得校准后的喷头21的长度的预设值，完成对喷头21的长度的预设值的校准过程。
与之类似的，在信号接收模块接收到第二信号后，控制装置控制Z轴运动组件1停止运动，且由高度获取模块开始获取Z轴运动组件1的当前高度值(也即Z轴运动组件1的实际高度值)并传递给校准模块，校准模块基于高度获取模块所获取的Z轴运动组件1的实际高度值以及Z轴运动组件1的预设高度值计算Z轴运动组件1的高度的变化量，由于电感测量头34每次都是压下培养皿4的底壁后向信号接收模块发送第二信号，因此，培养皿4的底壁高度的变化量与Z轴运动组件1高度的变化量是相等的，所以，校准模块所计算得到的Z轴运动组件1的高度的变化量即为培养皿4的底壁的高度的变化量，也即为打印材料初始附着面的高度的变化量，因此，校准模块将该Z轴运动组件1的高度的变化量补偿至已有的打印材料初始附着面的高度的预设值，就能够获得校准后的打印材料初始附着面的高度的预设值，完成对打印材料初始附着面的高度的预设值的校准过程。
由于获得了喷头21的长度的预设值以及校准后的打印材料初始附着面的高度的预设值，因此，可以得到喷头21的底端与打印材料初始附着面之间校准后的高度距离，从而当喷头21按照校准后的高度距离向打印材料初始附着面运动后，喷头21可以准确地到达适合开始打印的位置，从而能够有效防止因喷头21的底端与打印材料初始附着面之间的高度距离的预设值不准确所造成的设备损坏等问题，例如，当喷头21的底端与打印材料初始附着面之间的高度距离的预设值小于实际值时，喷头21按照相应高度距离运动后并不能到达适合打印的位置；而当喷头21的底端与打印材料初始附着面之间的高度距离的预设值大于实际值时，即使实际已经运动至适合打印的位置，但喷头21并不会停止，而是会继续向 下运动直至预设值位置，此时喷头21与打印材料初始附着面会形成抵接，以致于喷头21和/或打印材料初始附着面会因为受到较大的压力而发生损坏。
下面结合图5所示的流程图来说明该实施例的生物打印机对预设值进行校准的过程：
(1)喷头21在X方向和Y方向的定位。喷头21在X-Y平面内定位，使喷头21在X-Y平面内与激光测量仪6对齐。
(2)喷头21在Z方向的定位。Z轴运动组件1首先以较大速度快速运动至第一指定位置，然后Z轴运动组件减速至设定的测量速度，使得喷头21以测量速度缓慢靠近激光测量仪6。此处的第一指定位置通常设为喷头21与激光测量仪6之间能够保持安全距离的位置，例如可以为基准设定位置以下10mm。
(3)喷头21的长度的变化量的测量。当喷头21与激光测量仪6抵接后(即喷头21运动至第一位置)，激光测量仪6发出第一信号至控制装置，控制装置控制Z轴运动组件1停止继续向下运动，并记录此时Z轴运动组件1的实际高度值以及通过计算Z轴运动组件1的实际高度值与Z轴运动组件1的预设高度值之间的差值来获得Z轴运动组件1的高度的变化量，也即喷头21的长度的变化量。
(4)喷头21的长度的预设值的校准。控制装置将喷头21的长度的变化量补偿至原有的喷头21的长度的预设值，完成对喷头21的长度的预设值的校准。
(5)完成对喷头21的长度的预设值的校准后，控制装置控制Z轴运动组件1回到安全位置，此处即指第一指定位置，并判断是否已完成对打印材料初始附着面的高度的预设值的校准。若没有完成，则继续下述步骤(6)-(10)。若完成，则结束校准过程，Z轴运动组件1回到基准设定位置。
(6)电感测量头34在X方向和Y方向的定位。电感测量头34在X-Y平面内定位，使电感测量头34在X-Y平面内与培养皿4 的底壁对齐。
(7)电感测量头34在Z方向的定位。首先，Z轴运动组件1以较大速度快速运动至第二指定位置；然后，给气缸31充气，使电感测量头34被推出，在推出过程，由滑槽32和夹持块33共同保持推出动作的直线度；之后，当气缸31到位后，例如气缸31的杠杆全部伸出后，Z轴运动组件1开始以设定的测量速度缓慢朝着培养皿4的底壁运动；再然后，Z轴运动组件减速至设定的测量速度，使得电感侧量头34以测量速度缓慢靠近培养皿4的底壁。此处的第二指定位置通常设为电感测量头34与培养皿4的底壁之间能够保持安全距离的位置，例如可以为基准设定位置以下30mm。
(8)打印材料初始附着面的高度的变化量的测量。当电感测量头34与培养皿4的底壁抵接后(即电感测量头34运动至第二位置)，电感测量头34发出第二信号至控制装置，控制装置控制Z轴运动组件1停止继续向下运动，并记录此时Z轴运动组件1的实际高度值以及通过计算Z轴运动组件1的实际高度值与Z轴运动组件1的预设高度值之间的差值来获得Z轴运动组件1的高度的变化量，也即打印材料初始附着面的高度的变化量。
(9)打印材料初始附着面的高度的预设值的校准。控制装置将打印材料初始附着面的高度的变化量补偿至原有的打印材料初始附着面的高度的预设值，完成对打印材料初始附着面的高度的预设值的校准。
(10)完成对打印材料初始附着面的高度的预设值的校准后，气缸31放气，气缸31的缸杆收回，使气缸31的缸杆回到初始位置，并控制Z轴运动组件1回到基准设定位置，完成整个校准过程。
优选地，在测量过程中还可以包括异常检测步骤，例如，在电感测量头34从与培养皿的底壁接触到压下一定距离(例如1mm)后还没有发出第二信号，或者在喷头21从与激光测量仪6接触到压下一定距离(例如1mm)后还没有发出第一信号，或者气缸31 推出的位置不正确时，可判断相应的检测装置或者气缸31发生异常。发生异常后，可以停止测量，并给出异常提示，在排除异常后再重新开始检测。
可见，该实施例的生物打印机，能够实现对喷头21长度变化以及培养皿4的底壁高度(也即打印材料初始附着面的高度)变化的自动测量，并能够依据该自动测量的变化量完成对相应预设值的自动校准，即使每次打印时喷头21的长度和/或培养皿4底壁的高度不同，也无需再对喷头21的长度的预设值和/或培养皿4底壁的高度的预设值进行人工校准，保证打印时喷头21能够准确运动至适合打印的位置，能够有效简化操作过程，减轻操作人员的劳动强度，提高测量精度，避免人为误差，而且基于该自动测量及校准过程，当更换不同规格的喷头21以及培养皿4时，控制装置的控制程序无需改变，提高了控制装置的通用性。
接下来结合图6对喷射装置包括喷头21和延长杆22的第二实施例进行说明。如图6所示，该第二实施例对喷射装置的长度的预设值及打印材料初始附着面的高度的预设值的校准过程及校准原理与第一实施例基本相同，此处不再赘述，该第二实施例与笫一实施例不同之处在于，喷射装置包括喷头21和延长杆22，其中，延长杆22设置在喷头21出口的下方并与喷头21的出口间隔一段距离设置，延长杆22内设有细长的流道221，用于使生物打印材料的流体打印单元通过流道221被引导而定向喷出。第二实施例中，喷射装置用于笫一检测装置抵接的底端为延长杆22的底端。
流体打印单元是指生物打印材料的打印单元，其可以是单一的主材流体(生物墨汁)组成的单元，也可以是由辅材流体(水凝胶)包裹主材流体而组成的混合流体的单元。
第一实施例中喷射装置只包括喷头21，因此，打印材料从喷头21的出口处直接被喷出至打印材料初始附着面上，由于喷头21的出口处突然收窄，因此，作为打印材料的流体会受到打印过程中机械力所造成的损伤；而该笫二实施例通过在临近于喷头21的出口 处增设具有细长流道221的延长杆22，使得用作打印材料的流体打印单元需要经由流道221被定向喷出至打印材料初始附着面，由于流道221呈细长状，因此，流体打印单元在被流道221引流喷出的过程中受到的压力更加均匀，且流道221能够对流体打印单元进行定向排序，易于维持良好的流动性，降低阻塞的可能性，使生物打印材料的流向更加稳定，从而能够缓解细胞之间相互拥挤压迫的情况，减少在打印过程中生物打印材料与金属材料的摩擦所产生的损伤，此外对于流体打印单元是由辅材流体包裹主材流体而形成的混合流体打印单元而言，流道221还有利于辅材流体均匀地包裹并保护主材流体。可见，具有细长流道221的延长杆22能够保护打印材料，减小打印过程中机械力对打印材料的损伤，具有更高的可靠性。
此外，如图6所示，流道221从其入口至出口是渐缩的。流道221被如此设计使得流体打印单元在流道221中行进以有利于提高流体打印单元在流道221出口处的流速，并且降低其堵塞的可能性。优选地，流道221的沿流体打印单元的流动方向截得的剖面为锥形，以类似于漏斗或地铁闸口的结构形式的锥形的流道221使得流体打印单元在流道221中更加均匀分布，进一步降低其阻塞的可能性，而且锥形流道易于加工，具有较好的可实施性。
具体地或优选地，一方面，流道221的入口尺寸为流体打印单元尺寸的n倍，n＝2-5，在该优选的尺寸范围内能够有效避免流道221的入口发生堵塞的问题。优选地，流道221的入口尺寸为流体打印单元尺寸的2倍，从而使得流道221的入口处最多只能并排地进入两个流体打印单元。由于流道221为渐缩式流道，到达流道221的出口处只能流出单列的流体打印单元，这样能够进一步降低流体打印单元堵塞的可能性，而且有利于流体打印单元呈单列喷出。
另一方面，流道221的出口尺寸是流体打印单元尺寸的1-1.5倍，优选为1.2倍。在该尺寸范围内，流道221不仅利于流体打印单元呈单列喷出，而且还能在保证主材流体不受损的情况下避免辅 材流体过厚地包裹主材流体，且有利于进一步提高流体打印单元在流道出口处的流速，保证流体打印单元呈单列喷出的连续性和均匀性。
流道21可以如图所示的为直的，流体打印单元被向下喷出，也可以根据打印需求设置成弯曲的结构形式，以提供更多的喷出方向的选择。
进一步地，如图6所示，延长杆22与喷头21相邻近的端面上设有敞口凹部222，敞口凹部222的出口与流道221连通，喷头21的出口伸入到敞口凹部222中，敞口凹部222朝向流道221是渐缩的，在喷头21的外壁与敞口凹部222之间形成辅材流道221，在喷头21的出口与敞口凹部222的出口之间形成一腔室，通过辅材流道的辅材流体在腔室中包裹从喷头21的出口喷出的主材流体，以形成流体打印单元。
通过在延长杆22与喷头21相邻近的端面上设置渐缩的敞口凹部222，喷头21的外壁与敞口凹部222之间形成辅材流道，喷头21的出口与敞口凹部222的出口之间形成一腔室，辅材流体(水凝胶)通过辅材流道进入该腔室并包裹喷头中喷出的主材流体(生物墨汁)，从而形成混合流体打印单元。其中，主材流体可以是均质、非均质(例如颗粒状混合物)、连续或非连续的流体。
具体而言，由于喷头21的外壁与渐缩的敞口凹部222之间形成辅材流道，辅材流道具有均匀压力的功能，即使辅材如图6所示的是由一侧进入辅材流道，其在辅材流道内仍具有均匀的压强，保证生物材料在邻近或远离辅材进口的一侧具有均匀的包裹效果。在该实施例中，敞口凹部222的沿着所述流体打印单元的流动方向截得的剖面优选地为锥形，呈锥形结构的敞口凹部222使得辅材流体沿敞口凹部222的锥面流动，起到朝向喷头21的出口处汇聚的作用，有利于辅材流体单元对主材流体单元的均匀包裹，该结构形式的敞口凹部222还能够保证腔室内的流向更加稳定。
混合后的流体打印单元在敞口凹部222内流动，而且敞口凹部 222有利于流体打印单元朝向延长杆22的流道221处汇聚，保证腔室内的混合后的流体打印单元的流向更加稳定，避免其扩散于辅材流道。
如图6所示，喷头21的出口与敞口凹部222之间留有间隙，具体地或优选地，喷头21的出口与敞口凹部222之间的间隙小于流体打印单元的尺寸，这样能够防止流体打印单元向辅材流道逆向流动，保证腔室内流体打印单元稳定地流向流道221。
基于该实施例的延长杆22，辅材流体包裹主材流体的过程如下：
主材流体从喷头21的喷出后，进入喷头21的出口与敞口凹部222的出口之间的腔室，辅材流体通过喷头21的外壁与敞口凹部222之间形成的辅材流道进入该腔室，腔室中的辅材流体具有一定的压力，并将辅材流体压迫附着于由喷头21露出的一部分的主材流体单元，直至整个主材流体单元喷出后，辅材流体将主材流体单元全部包裹，形成了一个混合的流体打印单元，这时该流体打印单元的一部分可能已经进入到延长杆22的流道221中。最终使得主材流体单元在辅材流体的连续包裹下进入延长杆22的流道221，被辅材流体包裹的主材流体单元在流道221内定向流动、被均匀包裹和有序喷出。
在流动过程中，主材流体被辅材流体充分均匀地包裹，这样结构也使得辅材包裹得均匀而充分，辅材流体在主材流体从流道221的出口喷出之前包裹在主材周围形成保护结构，进一步降低了打印过程对主材流体的影响。
此外，如图6所示，具有流道221的延长杆22可以通过安装块23设置在邻近于喷头21出口位置，进一步地，在延长杆22外周上还可以设置保温件223，保温件223能够保证流体打印单元在流道221中保持所需的温度，维持流体打印单元的活性。
需要说明的是，本发明的实施例仅以接触式电感测量头34和激光测量仪6为例进行说明，但实际上，第二检测装置和第一检测 装置也可以选用不通过被压下即能够发出对控制装置的触发信号的结构形式；而且，在该实施例中，打印材料初始附着面位于培养皿4的底壁上，实际上，打印材料初始附着面也可以位于平台5的顶面上以及旋转打印装置中的旋转杆等其他打印载体上，这些都在本发明的保护范围之内。
以上所述仅为本发明的示例性实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (16)

  1. 一种生物打印机，其特征在于，包括沿所述生物打印机的Z轴方向运动的Z轴运动组件(1)、喷射装置、平台(5)、控制装置、第一检测装置和第二检测装置，所述平台(5)上设有打印材料初始附着面，在所述Z轴运动组件(1)的驱动下，所述喷射装置靠近或远离所述第一检测装置且所述第二检测装置靠近或远离所述打印材料初始附着面，其中，所述第一检测装置能够在所述喷射装置沿着所述Z轴方向运动至第一位置时向所述控制装置发出第一信号使所述控制装置校准所述喷射装置的长度的预设值，所述第二检测装置能够在其沿着所述Z轴方向运动至第二位置时向所述控制装置发出第二信号使所述控制装置校准所述打印材料初始附着面的高度的预设值。
  2. 根据权利要求1所述的生物打印机，其特征在于，所述控制装置包括信号接收模块、高度获取模块以及校准模块，其中，所述信号接收模块用于接收所述第一检测装置发出的第一信号以及所述第二检测装置发出的第二信号，所述高度获取模块用于在所述信号接收模块接收所述第二信号和所述第一信号后获取相应的所述Z轴运动组件(1)的实际高度值，而所述校准模块则用于依据所述Z轴运动组件(1)的实际高度值与预设值之间的变化量来对所述喷射装置的长度的预设值以及所述打印材料初始附着面的高度的预设值进行校准。
  3. 根据权利要求2所述的生物打印机，其特征在于，所述Z轴运动组件(1)通过驱动电机驱动，所述高度获取模块用于通过获取所述Z轴运动组件(1)停止运动时所述驱动电机的转角来获取所述Z轴运动组件(1)的实际高度值。
  4. 根据权利要求2所述的生物打印机，其特征在于，在所述第一位置，所述喷射装置的底端与所述第一检测装置抵接。
  5. 根据权利要求4所述的生物打印机，其特征在于，所述喷 射装置为喷头(21)；或者，所述喷射装置包括喷头(21)和延长杆(22)，所述延长杆(22)设置在所述喷头(21)出口的下方并与所述喷头(21)的出口间隔一段距离设置，所述延长杆(22)内设有细长的流道(221)，用于使生物打印材料的流体打印单元通过所述流道(221)被引导而定向喷出，所述喷射装置用于所述第一检测装置抵接的底端为所述延长杆(22)的底端。
  6. 根据权利要求4所述的生物打印机，其特征在于，所述第一检测装置包括激光测量仪(6)。
  7. 根据权利要求2所述的生物打印机，其特征在于，在所述第二位置，所述第二检测装置的底端与所述打印材料初始附着面抵接。
  8. 根据权利要求7所述的生物打印机，其特征在于，所述生物打印机还包括伸缩控制装置，所述伸缩控制装置与所述Z轴运动组件(1)连接，所述第二检测装置与所述伸缩控制装置连接，所述伸缩控制装置能够控制所述第二检测装置的底端向着所述打印材料初始附着面运动一定的距离。
  9. 根据权利要求8所述的生物打印机，其特征在于，所述伸缩控制装置能够控制所述第二检测装置的底端垂直地向着所述打印材料初始附着面运动固定的距离。
  10. 根据权利要求9所述的生物打印机，其特征在于，所述伸缩控制装置包括气缸(31)，所述气缸(31)的缸筒与所述Z轴运动组件(1)连接，且所述气缸(31)的缸杆与所述第二检测装置连接。
  11. 根据权利要求10所述的生物打印机，其特征在于，所述伸缩控制装置还包括直线保持装置，所述直线保持装置能够保持所述第二检测装置的直线度。
  12. 根据权利要求11所述的生物打印机，其特征在于，所述直线保持装置包括滑槽(32)和与所述滑槽(32)滑动配合的夹持块(33)，所述滑槽(32)连接于所述气缸(31)的缸筒上，所述 夹持块(33)连接于所述第二检测装置上，所述夹持块(33)和所述第二检测装置能够一起沿着所述滑槽(32)运动。
  13. 根据权利要求7所述的生物打印机，其特征在于，所述第二检测装置包括电感测量头(34)。
  14. 一种用于权利要求1所述的生物打印机的校准方法，其特征在于，所述方法包括以下步骤：
    所述生物打印机的喷射装置在所述Z轴运动组件(1)的驱动下运动至所述第一位置，所述第一检测装置向所述控制装置发出所述第一信号；
    接收到所述第一信号后，所述控制装置对所述喷射装置的长度的预设值进行校准；
    所述生物打印机的第二检测装置在所述Z轴运动组件(1)的驱动下运动至所述第二位置，所述第二检测装置向所述控制装置发出所述第二信号；
    接收到所述第二信号后，所述控制装置对所述打印材料初始附着面的高度的预设值进行校准。
  15. 根据权利要求14所述的校准方法，其特征在于，接收到所述第一信号后，所述方法还包括以下步骤：
    所述控制装置控制所述Z轴运动组件(1)停止运动并获取所述Z轴运动组件(1)的实际高度值；
    所述控制装置通过计算所述Z轴运动组件(1)的实际高度值相对于Z轴运动组件(1)的预设高度值的变化量来获取所述喷射装置的长度的变化量；
    所述控制装置依据所述喷射装置的长度的变化量来校准所述喷射装置的长度的预设值。
  16. 根据权利要求14所述的校准方法，其特征在于，接收到所述第二信号后，所述方法还包括以下步骤：
    所述控制装置控制所述Z轴运动组件(1)停止运动并获取所述Z轴运动组件(1)的实际高度值；
    所述控制装置通过计算所述Z轴运动组件(1)的实际高度值相对于Z轴运动组件(1)的预设高度值的变化量来获取所述打印材料初始附着面的高度的变化量；
    所述控制装置依据所述打印材料初始附着面的高度的变化量来校准所述打印材料初始附着面的高度的预设值。
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