A 3D printing device and printing method suitable for cantilever structures

Abstract

The application discloses a 3D printing device suitable for a cantilever structure, which comprises a rack, a nozzle moving mechanism, a Z-axis supporting mechanism, a moving support plate mechanism and a forming platform workbench which are installed on the rack and cooperate with each other, the Z-axis supporting mechanism comprises a Z-axis motor, a Z-axis stand screw, a Z-axis supporting platform, a Z-axis optical axis and a screw nut, a Z platform is arranged on the upper surface of the Z-axis supporting platform, the moving support plate mechanism is installed on the upper surface of the Z platform, a variable support panel is arranged on the moving support plate mechanism, a plurality of support blocks are arranged on the variable support panel, the support block units are located above the forming platform workbench, and the nozzle moving mechanism is arranged on the top of the rack. In the case that no material is sacrificed, a complex longitudinal long-distance three-dimensional biological structure can be accurately printed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tissue engineering, and in particular to a 3D printing device and printing method suitable for cantilever structures. BACKGROUND

[0002] At present, the medical field of the world is faced with many major problems, one of which is that the demand for organs is growing, but the supply of donor organs for organ transplantation is extremely scarce, such as heart, lung, liver, kidney and other organs. In the past, many solutions have been proposed to solve the problem of shortage of donor organs, such as artificial mechanical organs, xenogeneic organ transplantation and tissue engineering. Although artificial mechanical organs can be successfully implanted into the human body, they will seriously affect the quality of life of patients. Xenogeneic organ transplantation, especially transgenic animal organs, although it reduces the immune rejection reaction after implantation, but there is a potential risk of transmitting animal viruses and an impact on the psychology of patients due to long-term use of immunosuppressive agents. Tissue engineering is a promising technology, and the use of tissue engineering technology to construct human bionic tissues and organs for organ transplantation is expected to completely solve the major problem of shortage of donor organs.

[0003] At present, the technology used in tissue engineering is mainly solid free-form fabrication technology, which includes stereolithography appearance, extrusion deposition technology, inkjet printing technology, etc. Among them, according to the working principle of the nozzle, the inkjet printing technology is divided into piezoelectric type and thermal bubble type.

[0004] For inkjet printing technology, whether it is piezoelectric or thermal bubble, the existing technology basically sprays one solution through the nozzle into another solution, and the two solutions react to form a semi-solid structure. Similarly, by sequentially extruding from point to line and from line to plane, a layer is obtained, and then the layers are stacked to obtain a three-dimensional entity. In this technology, it is difficult to use sacrificial materials as supports, so that only limited inclination angle branches can be printed.

[0005] The above technology cannot print the suspended structure without using support materials, and can only print limited inclination angle branches. Once the angle is too large, the entire structure will collapse. SUMMARY

[0006] The present application provides a 3D printing device suitable for cantilever structures, which can accurately print complex longitudinal long-distance three-dimensional biological structures without the need for sacrificial materials.

[0007] In order to solve the above technical problems, the technical scheme of the present application is as follows:

[0008] A 3D printing device suitable for cantilever structure, comprising a rack and a nozzle movement mechanism, a Z-axis support mechanism, a movement support plate mechanism and a forming platform workbench installed on the rack and cooperating with each other, the Z-axis support mechanism comprising a Z-axis motor, a Z-axis column screw rod, a Z-axis support platform, a Z-axis light axis and a screw rod nut, the Z-axis motor being installed on the bottom of the rack through a motor mounting seat, the bottom end of the Z-axis column screw rod being fixedly connected with the output end of the A-axis motor, the top end of the Z-axis column screw rod being connected to the top of the rack through a bearing, the screw rod nut being fixed on the Z-axis support platform, the Z-axis column screw rod penetrating through the Z-axis support platform and being threadedly connected with the screw rod nut, two Z-axis light axes being fixed on the rack, the Z-axis support platform being provided with through holes for the Z-axis light axes to pass through, the upper surface of the Z-axis support platform being provided with a Z platform, the movement support plate mechanism being installed on the upper surface of the Z platform, the movement support plate mechanism being provided with a variable support panel, a plurality of support blocks being provided on the variable support panel, the support block units being located above the forming platform workbench, and the nozzle movement mechanism being arranged on the top of the rack.

[0009] Preferably, the movement support plate mechanism comprises an X-axis support mechanism and a Y-axis support mechanism, the Y-axis support mechanism comprising a Y-axis driving mechanism and a Y platform, the Y-axis driving mechanism comprising a fixed base, a Y-axis transmission screw rod, a Y-axis screw rod slider, Y-axis guide rails, a Y-axis slider and a first Y-axis motor, the fixed base being fixedly installed at the middle position of the upper surface of the Z platform, the Y-axis transmission screw rod being rotatably installed on the fixed base along the Y-axis direction through a bearing, the first Y-axis motor being connected with one end of the Y-axis transmission screw rod through a shaft coupling, the Y-axis screw rod slider being installed on the Y-axis transmission screw rod and being threadedly connected, the two Y-axis guide rails being fixed on the upper surface of the Z platform and being symmetrically arranged on the two sides of the Y-axis transmission screw rod, and the Y-axis slider being slidably installed on the Y-axis guide rails, and the lower surface of the Y platform being fixedly installed on the Y-axis screw rod slider and the Y-axis slider.

[0010] The X-axis support mechanism comprises an X-axis driving mechanism and an X platform, the X-axis driving mechanism being the same in structure as the Y-axis driving mechanism and being perpendicular to the Y-axis driving mechanism in transmission direction, the X-axis driving mechanism being fixed on the Y platform, and the X platform being fixedly installed on the X-axis driving mechanism.

[0011] Preferably, the variable support panel is provided with a connecting groove, one side of the support block is provided with a sliding groove, the other side of the support block is provided with a sliding block matched with the sliding groove, adjacent support blocks are connected through the sliding groove and the sliding block, and the most end support blocks are fixedly installed in the connecting groove.

[0012] As preferred, the forming platform workstation comprises a base table, an inclinable base, an inclination adjusting unit, a horizontal rotating mechanism and a forming platform, the base table is installed on the chassis, the inclination adjusting unit is installed on the base table, the output end of the inclination adjusting unit is connected with one side of the inclinable base, the horizontal rotating mechanism is installed on the inclinable base, and the forming platform is fixedly arranged at the output end of the horizontal rotating mechanism.

[0013] As preferred, the inclination adjusting unit comprises a rotary motor, a screw rod and a movable seat, the movable seat is fixedly arranged on the lower surface of one side of the inclinable base, the top end of the screw rod is hinged to the movable seat, the rotary motor is fixedly installed on the base table, and the base table is provided with a threaded hole through which the screw rod passes and is threadedly connected with the screw rod.

[0014] As preferred, the horizontal rotating mechanism comprises a workstation box, a worm base, a worm, a large gear, a small gear, a motor and a forming platform, the workstation box is fixedly installed on the inclinable base, the motor is fixedly installed on the workstation box, the small gear is installed on the output shaft of the motor, the worm is rotatably installed in the workstation box, the large gear is installed at one end of the worm, the large gear and the small gear are meshed with each other, the worm is rotatably installed in the workstation box through the worm base, the worm is meshed with the worm, and the forming platform is fixedly arranged at the center of the worm.

[0015] As preferred, the nozzle moving mechanism comprises an XY-axis moving mechanism and a nozzle extruding mechanism installed on the XY-axis moving mechanism.

[0016] As preferred, the XY-axis moving mechanism comprises an X-axis motor, X-direction light shafts, X-direction sliding blocks, a second Y-axis motor and a Y-direction sliding block, two X-direction light shafts are rotatably installed on the top of the rack and are parallel to each other, the X-axis motor is fixedly installed on the rack, the X-axis motor drives the X-direction light shafts through the motor output synchronous belt driving force, the ends of the two X-direction light shafts are connected through two X-direction transmission belts, two parallel guide rails are arranged below the two X-direction transmission belts and are fixed on the rack, the X-direction sliding blocks are slidably installed on the two guide rails, the X-direction transmission belts are fixedly connected with the top surfaces of the X-direction sliding blocks, two parallel connecting rods are fixedly arranged between the two X-direction sliding blocks, the Y-direction sliding block is slidably installed on the two connecting rods, a Y-axis fixed plate is fixedly arranged on the back surface of one X-direction sliding block, the second Y-axis motor is fixedly installed on the Y-axis fixed plate, a roller is arranged on the other X-direction sliding block, the output end of the second Y-axis motor is connected with the roller through a Y-axis synchronous belt, the lower surface of the Y-direction sliding block is fixedly connected with the Y-axis synchronous belt, and the nozzle extruding mechanism is installed on the Y-direction sliding block.

[0017] The application also provides a 3D printing method suitable for a cantilever structure, comprising the following steps:

[0018] 1) according to CT scanning device data, applying CAD software to design a three-dimensional biological structure model;

[0019] 2) subjecting entity data of the three-dimensional biological structure model designed by the CAD software to layering and slicing processing by layering software to form corresponding codes input into a 3D printing device of the three-dimensional biological structure;

[0020] 3) extruding the slurry to a forming platform by the nozzle under the action of the nozzle movement mechanism to perform preliminary printing, when the forming is performed to the cantilever structure with an angle inclination to be printed, the Z-axis support mechanism drives the movement support plate mechanism to move close to the forming platform, the movement support plate mechanism moves to the specified position accurately through XY direction movement, meanwhile, the workbench drives the forming platform to rotate, and the forming platform is inclined to the specified position to make the printed part on the forming platform adhere to the variable support panel, then the nozzle movement mechanism drives the nozzle to continue printing, if the cantilever still needs to be printed, the above steps are repeated until the printing is completed, and a three-dimensional biological cantilever structure with a complex shape is generated.

[0021] The application has the following characteristics and beneficial effects:

[0022] By adopting the technical scheme, the 3D printing device of the three-dimensional biological structure, especially the structure improvement of the movement support plate mechanism, enables the movement support plate mechanism to move up and down along the Z axis under the driving of the Z-axis support mechanism, and the movement support plate mechanism can move in the XY direction to the variable support panel; the variable support panel can change the position distribution of each support unit block according to the shape of the edge of the printed part to achieve the purpose of perfect adhesion to the edge of the printed part, so as to play a perfect support role; in the forming platform workbench mechanism, the tiltable base can drive the forming platform to generate an inclination angle under the action of the lead screw driven by the rotary motor, so that the printing of the inclined structure is facilitated; the forming platform can be rotated by the operation of the worm and the worm gear driven by the gear set driven by the stepping motor on the box, so that the rotation operation is completed, and the printing of the cantilever structure irregularly distributed on the 360-degree edge of the printed part body is facilitated; the above movement mechanism can generate a three-dimensional biological structure with a cantilever structure of a complex shape, and overcomes the difficulty of traditional manufacturing of a cantilever structure.

[0023] The method is simple, easy to operate, low in cost, and does not need a support material, and can generate an eccentric three-dimensional biological structure by using the variable support panel as a branch support plate. For three-dimensional structures of different shapes, only the three-dimensional model needs to be changed, and the printing parameters need to be adjusted, so that a three-dimensional scaffold with various structures and certain mechanical properties can be directly prepared. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of a 3D printing device suitable for cantilever structures in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the Z-axis support mechanism in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the X and Y axis motion mechanism in an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the variable support plate in an embodiment of the present invention.

[0029] Figure 5(a, b) is a schematic diagram of the working platform structure of the molding platform in the embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the nozzle movement mechanism in an embodiment of the present invention.

[0031] Figure 7 This is a schematic diagram of the 3D printing method for three-dimensional biological structures in an embodiment of the present invention.

[0032] Figure 8 A schematic diagram of the printing process for printing complex cantilever structures.

[0033] Figure 9 This is a schematic diagram of the printing process for a double cantilever structure.

[0034] In the figure: 1-frame, 2-Z-axis support mechanism, 3-nozzle movement mechanism, 4-movement support plate mechanism, 5-molding platform workbench, 6-motor mounting seat, 7-Z-axis motor, 8-Z-axis column screw, 9-Z-axis light axis, 10-Z-axis support platform, 11-screw nut, 12-Z flat plate, 13-first Y-axis motor, 14-fixed base, 15-Y-axis transmission screw, 16-Y-axis screw block, 17-bearing, 18-Y-axis guide rail, 19-Y-axis slider, 20-Y flat plate, 21-X flat plate, 22-variable support panel, 23-support block, 24-base table, 25-rotary motor, 26-screw, 27-movable seat, 28-inclinable base, 29-workbench box, 30-turbine base, 31-turbine, 32-worm, 33-large gear, 34-small gear, 35-motor, 36-molding platform, 37-X-axis motor, 38-motor output synchronous belt, 39-X-direction light axis, 40-X-direction transmission belt, 41-X-direction slider, 42-Y-direction slider, 43-nozzle extrusion mechanism, 44-Y-axis synchronous belt, 45-Y-axis fixed plate, 46-second Y-axis motor, 47-guide rail, 48-connecting rod. DETAILED DESCRIPTION

[0035] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] The present application provides a 3D printing device suitable for cantilever structure, as shown in Figure 1 The present application provides a 3D printing device suitable for cantilever structure, as shown in

[0039] The nozzle movement mechanism 3 is installed on the upper end of the rack 1, the Z-axis support mechanism 2 is installed on one side of the rack 1, the movement support plate mechanism 4 is installed on the Z-axis support mechanism 2, and the forming platform workbench 5 is installed on the other side of the rack.

[0040] In the present application, the nozzle extrudes the slurry onto the forming platform 36 under the action of the nozzle movement mechanism 3 to perform preliminary printing, when the cantilever structure with angle inclination is formed to be printed, the Z-axis support mechanism 2 drives the movement support plate mechanism 4 in the present application to move close to the forming platform 36, the movement support plate mechanism 4 moves to the specified position through XY direction movement, at the same time, the forming platform workbench 5 drives the forming platform 36 to rotate and incline to the specified position to make the printed part on the forming platform 36 adhere to the variable support panel 22, then the nozzle movement mechanism 3 drives the nozzle to continue printing, if the cantilever needs to be printed, the above steps are repeated until the printing is completed, so that the three-dimensional biological cantilever structure with complex shape can be generated, and the difficulty of traditional manufacturing of cantilever structure is overcome, and the printing of Z direction long size structure can be realized through the movement support plate mechanism.

[0041] Further settings of the present application, as shown in Figure 2As shown, the Z-axis support mechanism 4 comprises a motor mounting seat 6 mounted on the frame, a Z-axis motor 7 mounted on the motor mounting seat 6, a Z-axis column screw rod 8 mounted on the Z-axis motor 7, two Z-axis optical shafts 9 matched with the Z-axis column screw rod 8, a Z-axis support platform 10 matched with the Z-axis optical shafts 9, and a screw rod nut 11 mounted on the Z-axis support platform 10. The Z-axis motor is mounted on the bottom of the frame through the motor mounting seat, the bottom end of the Z-axis column screw rod is fixedly connected with the output end of the A-axis motor, the top end of the Z-axis column screw rod is connected to the top of the frame through a bearing, the screw rod nut is fixed on the Z-axis support platform, the Z-axis column screw rod penetrates through the Z-axis support platform and is threadedly connected with the screw rod nut, the two Z-axis optical shafts are fixed on the frame, the Z-axis support platform is provided with through holes for the Z-axis optical shafts to pass through, the upper surface of the Z-axis support platform is provided with a Z platform, a motion support plate mechanism is mounted on the upper surface of the Z platform, a variable support panel is arranged on the motion support plate mechanism, a plurality of support blocks are arranged on the variable support panel, the support block unit is located above the forming platform workbench, and the nozzle motion mechanism is arranged on the top of the frame.

[0042] The Z-axis support platform 10 drives the Z-axis column screw rod 8 through the Z-axis motor 7, and then drives the screw rod nut 11 to complete the Z-axis lifting movement by changing the rotation into the translation.

[0043] Further, the motion support plate mechanism 4 is mounted on the Z-axis support platform 10, and is driven to move in the Z direction through the transmission of the Z-axis column screw rod 8 and the screw rod nut 11.

[0044] Specifically, as shown in the figure, the motion support plate mechanism 4 comprises a Y-axis motion mechanism mounted on the Z-axis support platform 10, an X-axis motion mechanism mounted on the Y-axis motion mechanism, and a variable support panel 22 mounted on the X-axis motion mechanism. Figure 3

[0045] The Y-axis motion mechanism comprises a Z flat plate 12 mounted on the Z-axis support platform 10, a fixed base 14 mounted on the Z flat plate 12, a first Y-axis motor 13 mounted on the fixed base 14, a Y shaft coupling connected with the first Y-axis motor 13, a Y transmission screw rod 15 connected with the Y shaft coupling, a Y bearing 17 connected with the Y transmission screw rod 15, a Y screw rod sliding block 16 mounted on the Y transmission screw rod 15, Y guide rails 18 mounted on the Z flat plate 12 (the Y guide rails are symmetrically distributed on both sides of the fixed base), Y sliding blocks 19 mounted on the Y guide rails 18, and a Y flat plate 20 mounted on the Y screw rod sliding block 16 and the Y sliding blocks 19. The Y-axis motor 13 drives the Y transmission screw rod 15 to move, the Y transmission screw rod 15 drives the Y screw rod sliding block 16 to move, and the Y screw rod sliding block 16 drives the Y flat plate 20 to move, so that the Y flat plate 20 can accurately move in a horizontal plane.​

[0046] The X-axis support mechanism includes an X-axis drive mechanism and an X-plate. The X-axis drive mechanism has the same structure as the Y-axis drive mechanism, and their transmission directions are perpendicular to each other. The X-axis drive mechanism is fixed on the Y-plate, and the X-plate is fixedly installed on the X-axis drive mechanism. The variable support panel is fixedly installed on the X-plate, so that the X-plate 21 can move accurately in a horizontal plane.

[0047] The movement direction of the X-plate 21 is perpendicular to the movement direction of the variable support panel 22. Through the coordination of the Y-axis and X-axis motion mechanisms, the variable support panel 22 can move in two dimensions within the horizontal plane. Through the coordination of the Z-axis support mechanism, Y-axis motion mechanism, and X-axis motion mechanism, the variable support panel 22 can move in three dimensions, achieving structural eccentricity. This facilitates the formation of complex shapes with cantilever structures of different structures and heights on the forming platform. Furthermore, the variable support panel can perfectly fit the shape of the sample body upon contact, eliminating the hassle of replacing the support surface.

[0048] The aforementioned variable support panel 22 is composed of several support blocks 23. All support blocks 23 are at the same horizontal height and are connected by built-in slider rails. The front and rear sliding distribution of the support blocks 23 can be changed according to the edge shape of the printed sample to form the corresponding notch shape.

[0049] Specifically, such as Figure 4 As shown, the variable support panel is provided with a connecting groove, one side of the support block is provided with a sliding groove, and the other side of the support block is provided with a sliding block adapted to the sliding groove. Adjacent support blocks are connected through sliding grooves and sliding blocks, and the support blocks at both ends are fixedly installed in the connecting groove.

[0050] Further features of the present invention, such as Figure 5a and Figure 5bAs shown, the molding platform workbench 5 includes a base platform 24 installed in the frame, a rotary motor 25 installed on the base platform 24, a lead screw 26 installed on the rotary motor 25, a movable seat 27 cooperating with the lead screw 26, a tiltable base 28 connected to the movable seat 27, a rotary platform housing 29 installed on the tiltable base 28, a turbine base 30 installed on the rotary platform housing 29, a turbine 31 installed on the turbine base 30, a molding platform 36 installed on the turbine 31, a worm gear 32 meshing with the turbine 31, a large gear 33 installed on the worm gear 32, a small gear 34 meshing with the large gear 33, and a stepper motor 35 connected to the small gear 34. The rotary motor 25 drives the lead screw 26 to move, and the lead screw 26 drives the tiltable base 28 to move through the movable seat 27. Finally, the tiltable base 28 completes the tilting action of the molding platform 36. The stepper motor 35 drives the gear set to rotate, and the gear set drives the worm gear 31 and worm 32 to rotate. The worm gear 31 drives the molding platform 36 to complete the rotation action.

[0051] The aforementioned molding platform workbench is driven by a stepper motor 35 to drive a gear set and a worm gear 31 and a worm 32 to drive the molding platform 36 to rotate 360 ​​degrees without dead angles. Its tiltable base 28 is driven by a rotary motor 25 to drive a lead screw 26 to complete the tilting action of the molding platform 36. In conjunction with the aforementioned motion support panel mechanism, an angled cantilever structure can be printed at any position around the sample body.

[0052] Further features of the present invention, such as Figure 6 As shown, the nozzle motion mechanism includes an XY-axis motion mechanism and a nozzle extrusion mechanism mounted on the XY-axis motion mechanism. The XY-axis motion mechanism includes an X-axis motor 37, an X-motor output shaft synchronous belt 38 connected to the X-axis motor 37, an X-axis optical axis 39 connected to the X-motor output synchronous belt 38, an X-axis transmission belt 40 connected to the X-axis optical axis 39, an X-axis slider 41 connected to the X-axis transmission belt 40, a Y-axis fixing plate 45 mounted on the X-axis slider 41, a second Y-axis motor 46 mounted on the Y-axis fixing plate 45, a Y-axis synchronous belt 44 mounted on the second Y-axis motor 46, and a Y-axis slider 42 mounted on the Y-axis synchronous belt 44.

[0053] Specific, two said X direction optical axis rotatable mounting in the top of the rack, and parallel to each other, the X axis motor fixedly installed on the rack, the X axis motor through the motor output synchronous belt drive power output to the X direction optical axis, two said X direction transmission belt below provided with two parallel fixed guide rail on the rack, two said guide rail on the X direction slider is slidably mounted, the X direction transmission belt and the corresponding X direction sliding top surface fixedly connected, two said X direction slider between fixedly provided with two parallel connecting rods, the Y direction slider is slidably mounted on two connecting rods, one of said X direction slider back surface fixedly provided with Y axis fixed plate, the second Y axis motor is fixedly installed on the Y axis fixed plate, another said X direction slider is provided with a roller, the output end of the second Y axis motor and the roller are connected through the Y axis synchronous belt, the lower surface of the Y direction slider and the Y axis synchronous belt are fixedly connected, the nozzle extrusion mechanism 43 is installed on the Y direction slider 42.

[0054] In the above technical solution, the X motor 37 drives the X motor output shaft synchronous 38 belt movement and through the X axis optical axis 39 drive X direction transmission belt 40 movement, X direction transmission belt 40 drive X direction slider 41 X direction movement, X direction slider 41 drive Y axis movement mechanism X direction movement; the second Y axis motor 46 drive Y synchronous belt 44 movement, Y synchronous belt 44 drive nozzle extrusion mechanism 43 on the Y direction slider 42 Y direction movement. The above XY axis movement mechanism together completes the XY direction movement of the nozzle extrusion mechanism. With the above movement support mechanism, the forming platform workbench and the Z axis support device cooperate to move to complete the printing of the complex three-dimensional biological structure suitable for the cantilever structure.

[0055] The application also discloses a 3D printing method suitable for the cantilever structure. Figure 7 As shown in the figure, the embodiment specifically describes the 3D printing method of the three-dimensional biological structure, which is based on a CT scanning device and CAD software, and utilizes a 3D printing device of the three-dimensional biological structure to quickly print a controllable complex multi-branch long-height three-dimensional biological structure.

[0056] The 3D printing method of the three-dimensional biological structure with the cantilever structure is specifically implemented as follows:

[0057] Step (1) according to the CT scanning device data, applying CAD software to design an accurate three-dimensional biological structure model;

[0058] Step (2) converting the entity data of the three-dimensional biological structure model designed by the CAD software into an STL (STereoLithography) format file, performing layering and slicing processing through layering software, forming corresponding codes and inputting the codes into the 3D printing device of the three-dimensional biological structure;

[0059] Step (3) is to control the nozzle extrusion mechanism to extrude the slurry onto the forming platform according to the code, and control the movement of the nozzle extrusion mechanism to form a three-dimensional biological structure on the forming platform; when a cantilever structure needs to be printed, the Z-axis support mechanism drives the motion support plate mechanism to move close to the forming platform, the motion support plate mechanism moves to the specified position through the XY direction movement, and the forming platform workbench drives the forming platform to rotate and tilt to the specified position to make the existing printed part on the forming platform adhere to the variable support panel, and then the nozzle moves continuously through the nozzle movement mechanism to continue printing. If the cantilever needs to be printed, repeat the above steps until the printing is completed, so as to generate a three-dimensional biological cantilever structure with complex shape, which overcomes the difficulty of traditional manufacturing of cantilever structure, and the motion support plate mechanism can realize the printing of Z-direction long-size structure.

[0060] The following specific embodiments are given in combination with the above technical solutions:

[0061] Embodiment 1

[0062] This embodiment provides a preparation process of biological material: to form a three-dimensional biological structure, there are many kinds of materials to choose from. Taking a three-dimensional structure formed by mixing polyvinyl alcohol and calcium silicate powder as an example, a 6% (wt) polyvinyl alcohol solution is configured, and the polyvinyl alcohol solution and calcium silicate powder are mixed in a mass ratio of 5.1 g to 4 g.

[0063] As shown in Figures 1-7 , the three-dimensional biological structure shown in Figure 8 is printed, and the steps are as follows:

[0064] Step (1) applies CAD software to design an accurate three-dimensional biological structure model;

[0065] Step (2) converts the entity data of the three-dimensional biological structure model designed by the above CAD software into an STL format file, and processes it through layering software to form a corresponding code input into the three-dimensional biological structure 3D printing device;

[0066] Step (3) controls the nozzle of the three-dimensional biological structure 3D printing device to spray according to the code, and controls the nozzle movement mechanism to move the nozzle, to form the a-b part of the biological structure on the forming platform, as shown in Figure 8 B-8C;

[0067] Step (4) as shown in Figure 8As shown in D, when the first cantilever structure needs to be printed, the control unit controls the Z-axis motor in the Z-axis support mechanism to work, so that the support surface of the motion support plate mechanism moves to the same height as the upper surface of the previously printed structure b, and then the X and Y-axis motors are controlled to work, so that the variable support surface plate moves to perfectly fit the outer edge of the previously printed structure b, and then the nozzle continues to work to generate the c part of the biological structure on the variable support surface and the forming platform;

[0068] Step (5) is as shown in Figure 8 As shown in E-8F, when the second cantilever structure needs to be printed, the control unit rotates the motor of the workbench to drive the forming platform to rotate the sample by 180 degrees, and then rotates the motor to drive the lead screw to tilt the forming platform by 30 degrees, and then moves the variable support surface to the same height as the inclined surface of the previously printed structure c in step (4), and then controls the XY-axis motor to work, so that the variable support surface also perfectly fits the previously printed structure c, and then the nozzle continues to work to generate the d part of the biological structure on the support surface, as shown in Figure 8 G,

[0069] Step (6) removes the printed part from the forming platform to obtain a three-dimensional biological structure as shown in Figure 8 A.

[0070] For similar cantilever structures as shown in Figure 8 , the method can also be used to print complex three-dimensional biological structures of other different cantilever structures, not just Figure 8 such structures.

[0071] Example 2

[0072] This embodiment provides a process for preparing biological materials: to form a three-dimensional biological structure, there are many materials to choose from. For example, a three-dimensional structure formed by mixing polyvinyl alcohol and calcium silicate powder, a 6% (wt) polyvinyl alcohol solution is prepared, and the polyvinyl alcohol solution and calcium silicate powder are mixed in a mass ratio of 5.1g to 4g.

[0073] As shown in Figures 1-7 , a three-dimensional biological structure as shown in Figure 9 is printed, and the steps are as follows:

[0074] Step (1) applies CAD software to design an accurate three-dimensional biological structure model;

[0075] Step (2) converts the entity data of the three-dimensional biological structure model designed by the above-mentioned CAD software into an STL format file, and processes it by layering software to form corresponding codes which are input into the 3D printing device of the three-dimensional biological structure;

[0076] Step (3) is shown in Fig. b, in which the 3D printing device of the three-dimensional biological structure controls the ejection of the nozzle according to the code, and controls the movement of the nozzle to form the first part of the biological structure on the forming platform. Figure 9

[0077] Step (4) is shown in Fig. c, in which the control unit controls the Z-axis motor in the Z-axis support mechanism to work, so that the support surface of the movement support plate mechanism moves to the same height as the upper surface of the first structure 1 that has been printed in the previous step, and then controls the X and Y-axis motors to work, so that the variable support surface plate moves to perfectly fit the structure according to the shape of the edge of the first structure 1 that has been printed in the previous step, and then the nozzle continues to work to generate the second part of the biological structure on the variable support surface and the forming platform. Figure 9

[0078] Step (5) is shown in Fig. d, in which the control unit rotates the motor of the workbench to work, so that it drives the sample on the forming platform to rotate by 180 degrees. Figure 9

[0079] Step (6) is shown in Fig. e, in which the upper surface of the variable support surface plate is moved to the same height as the upper surface of the first structure 1 that has been printed in the previous step, and then the XY-axis motor is controlled to work, so that the variable support surface plate also perfectly fits the first structure 1 that has been printed in the previous step, and then the nozzle continues to work to generate the third part of the biological structure on the support surface. Figure 9

[0080] Step (7) is shown in Fig. f, in which the printed part is taken out of the forming platform to obtain the three-dimensional biological structure shown in Fig. a. Figure 9

[0081] The embodiments of the present application are described in detail above with reference to the accompanying drawings, but the present application is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and variations of the embodiments including components can be made without departing from the principles and spirits of the present application, and still fall within the protection scope of the present application.​​​​​

Claims

1. A 3D printing device suitable for cantilever structures, characterized in that, The system includes a frame and a nozzle motion mechanism, a Z-axis support mechanism, a motion support plate mechanism, and a forming platform worktable mounted on the frame. The Z-axis support mechanism includes a Z-axis motor, a Z-axis lead screw, a Z-axis support platform, a Z-axis optical axis, and a lead screw nut. The Z-axis motor is mounted on the bottom of the frame via a motor mounting bracket. The bottom end of the Z-axis lead screw is fixedly connected to the output end of the A-axis motor, and the top end of the Z-axis lead screw is connected to the top of the frame via a bearing. The lead screw nut is fixed to the Z-axis support platform. The Z-axis lead screw passes through the Z-axis support platform and is threadedly connected to the lead screw nut. Two Z-axis optical axes are fixed to the frame. The Z-axis support platform has through holes for the Z-axis optical axes to pass through. A Z-platform is provided on the upper surface of the Z-axis support platform, and the motion support plate mechanism is mounted on the upper surface of the Z-platform. The motion support plate mechanism includes an X-axis support mechanism and a Y-axis support mechanism. The Y-axis support mechanism includes a Y-axis drive mechanism and a Y-plate. The Y-axis drive mechanism includes a fixed base, a Y-axis transmission screw, a Y-axis screw slider, a Y-axis guide rail, a Y-axis slider, and a first Y-axis motor. The fixed base is fixedly installed at the middle position of the upper surface of the Z-plate. The Y-axis transmission screw is rotatably installed on the fixed base along the Y-axis direction through bearings. The first Y-axis motor is connected to one end of the Y-axis transmission screw through a coupling. The Y-axis screw slider is installed on the Y-axis transmission screw and is threadedly connected. Two Y-axis guide rails are fixed to the upper surface of the Z-plate and are symmetrically arranged on both sides of the Y-axis transmission screw. The Y-axis slider is slidably installed on the Y-axis guide rails. The lower surface of the Y-plate is fixedly installed on the Y-axis screw slider and the Y-axis slider. The X-axis support mechanism includes an X-axis drive mechanism and an X-plate. The X-axis drive mechanism has the same structure as the Y-axis drive mechanism, and their transmission directions are perpendicular to each other. The X-axis drive mechanism is fixed on the Y-plate, and the X-plate is fixedly installed on the X-axis drive mechanism. A variable support panel is fixedly installed on the X-plate, and several support blocks are provided on the variable support panel. The support block unit is located above the forming platform workbench, and the nozzle motion mechanism is located on the top of the frame.

2. The 3D printing device for cantilever structures according to claim 1, characterized in that, The variable support panel is provided with a connecting groove, one side of the support block is provided with a sliding groove, and the other side of the support block is provided with a sliding block adapted to the sliding groove. Adjacent support blocks are connected through sliding grooves and sliding blocks, and the support blocks at both ends are fixedly installed in the connecting groove.

3. The 3D printing apparatus for cantilever structures according to claim 1, characterized in that, The molding platform workbench includes a base platform, a tiltable base, a tilt adjustment unit, a horizontal rotation mechanism, and a molding platform. The base platform is mounted on a base frame, the tilt adjustment unit is mounted on the base platform, the output end of the tilt adjustment unit is connected to one side of the tiltable base, the horizontal rotation mechanism is mounted on the tiltable base, and the molding platform is fixedly mounted on the output end of the horizontal rotation mechanism.

4. The 3D printing apparatus for cantilever structures according to claim 3, characterized in that, The tilt adjustment unit includes a rotary motor, a lead screw, and a movable seat. The movable seat is fixed to the lower surface of one side of the tiltable base. The top end of the lead screw is hinged to the movable seat. The rotary motor is fixedly mounted on the base platform. The base platform is provided with a threaded hole for the lead screw to pass through and for threaded connection with the lead screw.

5. The 3D printing apparatus for cantilever structures according to claim 3, characterized in that, The horizontal rotating mechanism includes a worktable housing, a turbine base, a turbine, a large gear, a small gear, a motor, and a forming platform. The worktable housing is fixedly mounted on a tiltable base. The motor is fixedly mounted on the worktable housing. The small gear is mounted on the output shaft of the motor. A rotatable worm gear is rotatably mounted inside the worktable housing. The large gear is mounted at one end of the worm gear. The large gear and the small gear mesh with each other. The turbine is rotatably mounted inside the worktable housing via the turbine base. The turbine meshes with the worm gear. The forming platform is fixedly located at the center of the turbine.

6. The 3D printing apparatus for cantilever structures according to claim 1, characterized in that, The nozzle motion mechanism includes an XY axis motion mechanism and a nozzle extrusion mechanism mounted on the XY axis motion mechanism.

7. The 3D printing apparatus for cantilever structures according to claim 6, characterized in that, The XY-axis motion mechanism includes an X-axis motor, an X-axis optical axis, an X-axis slider, a second Y-axis motor, and a Y-axis slider. The two X-axis optical axes are rotatably mounted on the top of the frame and are parallel to each other. The X-axis motor is fixedly mounted on the frame and outputs power to the X-axis optical axes via a synchronous drive. The ends of the two X-axis optical axes are connected by two X-axis transmission belts. Two parallel guide rails fixed to the frame are provided below the two X-axis transmission belts, and X-axis sliders are slidably mounted on each of the two guide rails. The top surface of the X-axis slider is fixedly connected to the top surface of the slider, and two parallel connecting rods are fixedly arranged between the two X-axis sliders. The Y-axis slider is slidably mounted on the two connecting rods. A Y-axis fixing plate is fixedly arranged on the back of one of the X-axis sliders. The second Y-axis motor is fixedly mounted on the Y-axis fixing plate. A roller is arranged on the other X-axis slider. The output end of the second Y-axis motor is connected to the roller through a Y-axis synchronous belt. The lower surface of the Y-axis slider is fixedly connected to the Y-axis synchronous belt. The nozzle extrusion mechanism is mounted on the Y-axis slider.

8. A 3D printing method suitable for cantilever structures, characterized in that, The 3D printing apparatus for cantilever structures according to any one of claims 1 to 7 includes the following steps: 1) Based on CT scan data, design a three-dimensional biological structure model using CAD software; 2) The entity data of the three-dimensional biological structure model designed by the above CAD software is processed by layering software to form corresponding code, which is then input into the 3D printing device of the three-dimensional biological structure. 3) The nozzle, under the action of the nozzle motion mechanism, extrudes the slurry onto the forming platform for initial printing. When the cantilever structure with an angle is to be printed, the Z-axis support mechanism drives the motion support plate mechanism to move closer to the forming platform. The motion support plate mechanism moves precisely to the designated position through XY movement. At the same time, the worktable drives the forming platform to rotate and tilt to the designated position so that the printed part on the forming platform fits with the variable support panel. Then, the nozzle motion mechanism drives the nozzle to continue printing. If the cantilever needs to be printed, the above steps are repeated until printing is completed, thus generating a complex three-dimensional biological cantilever structure.

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