A dual-nozzle device for ultrasonic-assisted extrusion of biological 3D printing

Abstract

The invention discloses a biological 3D printing dual-nozzle device for ultrasound-assisted extrusion, relates to the technical field of biological 3D printing, solves the problem of defects in the biological 3D printing dual-machine nozzle device, during printing, the ultrasonic vibrator inside the piston rod will emit ultrasonic waves to assist the extrusion of biological ink, reduce the shear stress generated at the nozzle of the nozzle, so that the cells in the biological ink will not be squeezed and damaged, and their survival rate will be increased; the rotating disk structure makes one nozzle at the lowest point when the extrusion mechanism is in the printing position, when the dual nozzles are switched, the position of the nozzle is gradually raised, and it will not hit the printed object, eliminating the process of Z-axis lifting, and will not cause the outflow and accumulation of biological ink, and after switching the nozzle, the internal biological ink cannot flow out, and the phenomenon of cavity will not be generated, the rotated nozzle is not perpendicular to the ground, and has a certain angle with the vertical line of the ground, and a small amount of biological ink in the nozzle will not flow out, thereby improving printing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of biological 3D printing, and in particular to a biological 3D printing double nozzle device with ultrasound-assisted extrusion. Background Art

[0002] 3D printing technology, also known as additive manufacturing, is a technology that uses digital model files and specific materials to construct objects by printing layer by layer. Bio 3D printing is the application of 3D printing in the medical field. It is a manufacturing technology that uses computer three-dimensional models as drawings, assembles special biological inks, and assembles seed cells to print layer by layer to construct biologically active tissues or organs. Extrusion bioprinting is the most widely used of all biological 3D printing methods. It uses pneumatic pressure or mechanical force to spray a continuous stream of biological materials onto a substrate. Bio 3D printers are divided into single nozzles and dual nozzles. Dual nozzles are more suitable for printing complex model structures. Compared with traditional 3D printing, since the bio 3D printing material is bio-ink, which is more complex, and the bio-ink contains seed cells, it has higher requirements for nozzle structure, extrusion force and nozzle switching method.

[0003] During the extrusion process, shear stress will be generated at the nozzle. Since the bio-ink contains seed cells, we need to control the shear stress at the nozzle to avoid damaging the cell structure. However, the current extrusion-type biological 3D printing dual nozzle device still has a large shear stress at the nozzle, which reduces the cell survival rate after printing. In addition, the existing printing nozzle achieves continuous feeding by air pressure, which is easy to cause unstable feeding and affect the printing effect. And because the printed bio-ink is a gel material, when one of the dual nozzles is in a non-printing state, the bio-ink will have a certain fluidity and flow out of the nozzle, so that a cavity is generated inside the nozzle, and the printing will be discontinuous during printing, affecting the printing quality. When the nozzle is switched, due to the viscosity and fluidity of the bio-ink, the printing line will often be pulled, and when the ordinary dual nozzle is switched left and right, it is easy to scratch the print body and affect the print structure. Solving this problem by Z-axis lifting and retraction will cause problems such as bio-gel outflow accumulation and cavity during Z-axis lifting, which will affect the molding quality of the print body. Patent application publication number CN 113478606A (A 3D printing dual-nozzle device with clay as support material and method of use) provides a rotating component to control the nozzle switching method. In this solution, there is a rotating component between the first and second nozzles, and the two nozzles are switched by rotation. This switching method can deal with the problem of biological ink outflow, but the invention still has a certain distance between the two nozzles after rotation, and they still need to be moved after switching to make the two nozzles print in the same position, making the printing process more complicated.

[0004] In summary, the existing dual-machine nozzle device for biological 3D printing has the following defects: 1. There is a large shear stress at the nozzle orifice, which is easy to damage the cells in the biological ink; 2. When the nozzle is in a non-printing state or when the nozzle is switched, problems such as bio-ink accumulation and cavity will occur, affecting the printing quality; 3. When rotating and switching the nozzle, there is a distance between the two nozzles, and the nozzle still needs to be moved; 4. The nozzle structure design is unreasonable, and it is inconvenient to disassemble and install during cleaning and replacement. Summary of the invention

[0005] In view of the above-mentioned problem of defects in the biological 3D printing dual-machine nozzle device, the purpose of the present invention is to provide an ultrasonic assisted extrusion biological 3D printing dual-nozzle device.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A biological 3D printing double nozzle device for ultrasound-assisted extrusion, comprising: a switching mechanism 1, a left temperature control mechanism 3, a right temperature control mechanism 4, a left extrusion mechanism 5 and a right extrusion mechanism 6, wherein the switching mechanism 1 comprises: a mounting seat 11, a rotary stepping motor 12 and a rotating disk 14, wherein the rotating disk 14 is assembled at the bottom of the mounting seat 11, and the rotary stepping motor 12 is used to drive the rotating disk 14 to rotate; the switching mechanism 1 also comprises: a left fixed plate 15 and a right fixed plate 16, wherein two arcuate side plates are symmetrically arranged on the front side of the rotating disk 14, wherein the left fixed plate 15 is mounted in the arcuate side plate on the left side, and the right fixed plate 16 is mounted in the arcuate side plate on the right side, wherein the left fixed plate 15 and the arcuate side plate on the left side are combined to form a first circular cavity, wherein the right fixed plate 16 and the arcuate side plate on the right side are combined to form a second circular cavity, wherein the left temperature control mechanism 3 and the left extrusion mechanism 5 are mounted in the first circular cavity, and the right temperature control mechanism 4 and the right extrusion mechanism 6 are mounted in the second circular cavity.

[0008] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, among which, also includes: a limit device 2, the limit device 2 includes: a left limit switch 21 and a right limit switch 22, a vertical plate is provided in the middle of the rotating disk 14, the vertical plate is provided on the rear side of the two curved side plates, the left limit switch 21 is installed on the left front side of the vertical plate, and the right limit switch 22 is installed on the right front side of the vertical plate.

[0009] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the switching mechanism 1 also includes: a coupling 13, the rotary stepper motor 12 is arranged on the rear side of the vertical plate, and the rotary stepper motor 12 and the rotating disk 14 are connected by transmission through the coupling 13.

[0010] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the left temperature control mechanism 3 includes: a left heating plate 31 and a left temperature sensor 32, the left heating plate 31 is fitted on the inner wall of the first circular cavity, and a first mounting groove is opened at the bottom of the first circular cavity, and the left temperature sensor 32 is installed in the first mounting groove; the right temperature control mechanism 4 includes: a right heating plate 41 and a right temperature sensor 42, the right heating plate 41 is fitted on the inner wall of the second circular cavity, and a second mounting groove is opened at the bottom of the second circular cavity, and the right temperature sensor 42 is installed in the second mounting groove.

[0011] The above-mentioned ultrasound-assisted extrusion biological 3D printing dual nozzle device, wherein the left extrusion mechanism 5 includes: a left feed and discharge assembly 52, the left feed and discharge assembly 52 includes: a left extrusion barrel 521, a first feed pipe 522, a left extrusion nozzle 523, a left rotating cylinder 524, a left piston rod 525, a first sealing ring 526, a first stainless steel disc 527, a first ultrasonic vibrator 528, and a first piston upper part 529. The left extrusion barrel 521 is installed in the first circular cavity, and the left heating plate 31 is sleeved on the outer surface of the left extrusion barrel 521. The left extrusion barrel 521 is provided with a first feed hole and a first extrusion hole. The first feed hole and the first inlet The material pipe 522 is connected, the first extrusion hole is connected to the left extrusion nozzle 523, the left rotating cylinder 524 is installed in the left extrusion barrel 521, the outer wall of the left piston rod 525 is circumferentially provided with a first annular groove, the first sealing ring 526 is installed in the first annular groove, the left piston rod 525 is installed in the left rotating cylinder 524 and is sealed by the first sealing ring 526, the first stainless steel disc 527 is installed at the bottom of the left piston rod 525, the first ultrasonic vibrator 528 is installed in the left piston rod 525 and connected to the first stainless steel disc 527, and the first piston upper part 529 is connected to the top of the left piston rod 525.

[0012] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the left extrusion mechanism 5 also includes: a left extrusion motor assembly 51, the left extrusion motor assembly 51 includes: a left stepping motor 511, a first motor mounting plate 512, a first guide rail 513, a first lead screw 514, a first slider 515, a left extrusion plate 516, a first bearing 517 and a first fixed plate 518, the first guide rail 513 is installed on the inner wall of the first circular cavity, the first slider 515 is assembled on the first guide rail 513 and can slide along the first guide rail 513, the first slider 515 is assembled on the first lead screw 514, the first bearing 517 is assembled at the bottom of the first circular cavity, and the first One end of the first lead screw 514 is connected to the output end of the left stepper motor 511, and the other end of the first lead screw 514 is connected to the first bearing 517. The left stepper motor 511 is used to drive the first lead screw 514 to rotate and then drive the first slider 515 to slide along the first guide rail 513. The first motor mounting plate 512 is installed on the rotating disk 14, and the left stepper motor 511 is installed on the first motor mounting plate 512. The lower end of the left extrusion plate 516 is connected to the first slider 515, and the upper end of the left extrusion plate 516 is provided with a first mounting groove. The first fixing plate 518 is installed in the first mounting groove, and the top of the first piston upper part 529 is installed in the first mounting groove.

[0013] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the left extrusion mechanism 5 also includes: a left rotating push rod assembly 53, and the left rotating push rod assembly 53 includes: a left connecting seat 531 and a left electric push rod 532, the left connecting seat 531 is installed on the switching mechanism 1, one end of the left electric push rod 532 is connected to the left connecting seat 531, and the other end of the left electric push rod 532 is connected to the protrusion of the left rotating cylinder 524, and the left electric push rod 532 is used to push the left rotating cylinder 524 to rotate.

[0014] The above-mentioned ultrasound-assisted extrusion biological 3D printing dual nozzle device, wherein the right extrusion mechanism 6 includes: a right feed and discharge assembly 62, the right feed and discharge assembly 62 includes: a right extrusion barrel 621, a second feed pipe 622, a right extrusion nozzle 623, a right rotating cylinder 624, a right piston rod 625, a second sealing ring 626, a second stainless steel disc 627, a second ultrasonic vibrator 628, and a second piston upper part 629. The right extrusion barrel 621 is installed in the second circular cavity, and the right heating plate 41 is sleeved on the outer surface of the right extrusion barrel 621. The right extrusion barrel 621 is provided with a second feed hole and a second extrusion hole, and the second feed hole and the second inlet The material pipe 622 is connected, the second extrusion hole is connected to the right extrusion nozzle 623, the right rotating cylinder 624 is installed in the right extrusion barrel 621, the outer wall of the right piston rod 625 is circumferentially provided with a second annular groove, the second sealing ring 626 is installed in the second annular groove, the right piston rod 625 is installed in the right rotating cylinder 624 and is sealed by the second sealing ring 626, the bottom of the right piston rod 625 is installed with the second stainless steel disc 627, the second ultrasonic vibrator 628 is installed in the right piston rod 625 and connected to the second stainless steel disc 627, and the second piston upper part 629 is connected to the top of the right piston rod 625.

[0015] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the right extrusion mechanism 6 also includes: a right extrusion motor assembly 61, the right extrusion motor assembly 61 includes: a right stepping motor 611, a second motor mounting plate 612, a second guide rail 613, a second lead screw 614, a second slider 615, a right extrusion plate 616, a second bearing 617 and a second fixed plate 618, the second guide rail 613 is installed on the inner wall of the second circular cavity, the second slider 615 is assembled on the second guide rail 613 and can slide along the second guide rail 613, the second slider 615 is assembled on the second lead screw 614, the second bearing 617 is assembled at the bottom of the second circular cavity, and the second slider 615 is assembled on the second lead screw 614. One end of the second lead screw 614 is connected to the output end of the right stepper motor 611, and the other end of the second lead screw 614 is connected to the second bearing 617. The right stepper motor 611 is used to drive the second lead screw 614 to rotate and thereby drive the second slider 615 to slide along the second guide rail 613. The second motor mounting plate 612 is mounted on the rotating disk 14, and the right stepper motor 611 is mounted on the second motor mounting plate 612. The lower end of the right extrusion plate 616 is connected to the second slider 615, and the upper end of the right extrusion plate 616 is provided with a second mounting groove, and the second fixing plate 618 is mounted in the second mounting groove, and the top of the second piston upper part 629 is mounted in the second mounting groove.

[0016] The above-mentioned ultrasonic-assisted extrusion biological 3D printing dual nozzle device, wherein the right extrusion mechanism 6 also includes: a right rotating push rod assembly 63, the right rotating push rod assembly 63 includes: a right connecting seat 631 and a right electric push rod 632, the right connecting seat 631 is installed on the switching mechanism 1, one end of the right electric push rod 632 is connected to the right connecting seat 631, and the other end of the right electric push rod 632 is connected to the protrusion of the right rotating cylinder 624, and the right electric push rod 632 is used to push the right rotating cylinder 624 to rotate.

[0017] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0018] (1) In the present invention, during printing, the ultrasonic vibrator inside the piston rod will emit ultrasonic waves to assist in the extrusion of the bio-ink, reduce the shear stress generated at the nozzle of the nozzle, prevent the cells in the bio-ink from being squeezed and damaged, and increase their survival rate;

[0019] (2) In the present invention, the rotating disk structure enables one nozzle to be at the lowest point when the extruder is in the printing position. When the dual nozzles are switched, the position of the nozzle gradually rises and will not touch the printed object, thus eliminating the Z-axis lifting process and causing no accumulation of bio-ink. Moreover, after the nozzles are switched, the internal bio-ink cannot flow out and no cavity phenomenon is generated. The rotated nozzle is not perpendicular to the ground and has a certain angle with the vertical line of the ground. A small amount of bio-ink inside the nozzle will not flow out, thereby improving printing efficiency.

[0020] (3) In the present invention, a rotary stepper motor is used to switch the nozzles. When switching from one nozzle to another, the rotary stepper motor drives the rotating disk to rotate a certain angle, so that the printing position of the nozzle that continues to work after the switch coincides with the printing position of the nozzle that has stopped working before the switch, without the need for the nozzle to move on the X-axis and Y-axis.

[0021] (4) In the present invention, some slide groove structures are used in the design of the nozzle structure. During installation and disassembly, these slide groove structures can be used to facilitate installation and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a left printing nozzle of an ultrasound-assisted extrusion biological 3D printing dual nozzle device of the present invention in an extrusion state.

[0023] Figure 2 It is a schematic diagram of the overall structure of the right printing nozzle of an ultrasound-assisted extrusion biological 3D printing dual nozzle device of the present invention, and the left extrusion mechanism and the right extrusion mechanism structure.

[0024] Figure 3It is a schematic structural diagram of a nozzle switching mechanism of a dual nozzle device for ultrasonic-assisted extrusion biological 3D printing of the present invention.

[0025] Figure 4 It is a limit device of an ultrasonic-assisted extrusion biological 3D printing double nozzle device of the present invention, and a schematic diagram of the structure of a left temperature control mechanism and a right temperature control mechanism.

[0026] Figure 5 It is a schematic structural diagram of a left extrusion motor assembly and a right extrusion motor assembly of a biological 3D printing dual nozzle device for ultrasound-assisted extrusion of the present invention.

[0027] Figure 6 It is a cross-sectional view of a left extrusion motor assembly of a biological 3D printing dual nozzle device for ultrasonic assisted extrusion of the present invention.

[0028] Figure 7 It is a structural schematic diagram of a left inlet and outlet component and a right inlet and outlet component of a biological 3D printing dual nozzle device for ultrasonic assisted extrusion of the present invention.

[0029] Figure 8 yes Figure 7 A partial enlarged view of .

[0030] Fig. 9 It is a schematic structural diagram of a left-rotating push rod assembly and a right-rotating push rod assembly of a biological 3D printing double nozzle device for ultrasonic assisted extrusion of the present invention.

[0031] Fig.10 It is a schematic diagram of the assembly structure of a biological 3D printing dual nozzle device for ultrasonic assisted extrusion of the present invention, when the left extrusion barrel and the left rotating cylinder are in a feeding state (left) and the right extrusion barrel and the right rotating cylinder are in a discharging state.

[0032] Fig.11 It is a schematic diagram of the structure of a left-rotating cylinder and a right-rotating cylinder of a dual-nozzle device for ultrasonic-assisted extrusion biological 3D printing of the present invention.

[0033] In the attached figure: 1, switching mechanism; 2, limit device; 3, left temperature control mechanism; 4, right temperature control mechanism; 5, left extrusion mechanism; 6, right extrusion mechanism; 11, mounting seat; 12, rotating stepper motor; 13, coupling; 14, rotating disk; 15, left fixed plate; 16, right fixed plate; 21, left limit switch; 22, right limit switch; 31, left heating plate; 32, left temperature sensor; 41, right heating plate; 42, right temperature sensor sensor; 51, left extrusion motor assembly; 52, left feed and discharge assembly; 53, left rotation push rod assembly; 511, left stepping motor; 512, first motor mounting plate; 513, first guide rail; 514, first lead screw; 515, first slider; 516, left extrusion plate; 517, first bearing; 518, first fixing plate; 521, left extrusion barrel; 522, first feed pipe; 523, left extrusion nozzle; 524, left rotation Rotating drum; 525, left piston rod; 526, first sealing ring; 527, first stainless steel disc; 528, first ultrasonic vibrator; 529, first piston upper part; 531, left connecting seat; 532, left electric push rod; 61, right extrusion motor assembly; 62, right feeding and discharging assembly; 63, right rotating push rod assembly; 611, right stepping motor; 612, second motor mounting plate; 613, second guide rail; 614, second lead screw; 615, second slider; 616, right extrusion plate; 617, second bearing; 618, second fixed plate; 621, right extrusion barrel; 622, second feed pipe; 623, right extrusion nozzle; 624, right rotating cylinder; 625, right piston rod; 626, second sealing ring; 627, second stainless steel disc; 628, second ultrasonic vibrator; 629, second piston upper part; 631, right connecting seat; 632, right electric push rod. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0035] Please refer to Figures 1 to 11As shown, a biological 3D printing double nozzle device for ultrasound-assisted extrusion is shown, which includes: a switching mechanism 1, a left temperature control mechanism 3, a right temperature control mechanism 4, a left extrusion mechanism 5 and a right extrusion mechanism 6. The switching mechanism 1 includes: a mounting seat 11, a rotating stepping motor 12 and a rotating disk 14. The rotating disk 14 is assembled at the bottom of the mounting seat 11, and the rotating stepping motor 12 is used to drive the rotating disk 14 to rotate; the switching mechanism 1 also includes: a left fixed plate 15 and a right fixed plate 16. Two arc side plates are symmetrically arranged on the front side of the rotating disk 14. The left fixed plate 15 is installed in the arc side plate located on the left side, and the right fixed plate 16 is installed in the arc side plate located on the right side. The left fixed plate 15 and the arc side plate located on the left side are combined to form a first circular cavity, and the right fixed plate 16 and the arc side plate located on the right side are combined to form a second circular cavity. The left temperature control mechanism 3 and the left extrusion mechanism 5 are installed in the first circular cavity, and the right temperature control mechanism 4 and the right extrusion mechanism 6 are installed in the second circular cavity.

[0036] Furthermore, in a preferred embodiment, it also includes: a limit device 2, the limit device 2 includes: a left limit switch 21 and a right limit switch 22, a vertical plate is provided in the middle of the rotating disk 14, the vertical plate is provided on the rear side of the two curved side plates, the left limit switch 21 is installed on the left front side of the vertical plate, and the right limit switch 22 is installed on the right front side of the vertical plate.

[0037] Furthermore, in a preferred embodiment, the switching mechanism 1 further includes: a coupling 13 , the rotary stepping motor 12 is disposed at the rear side of the vertical plate, and the rotary stepping motor 12 and the rotating disk 14 are transmission-connected via the coupling 13 .

[0038] Further, in a preferred embodiment, the left temperature control mechanism 3 includes: a left heating plate 31 and a left temperature sensor 32, the left heating plate 31 is fitted on the inner wall of the first circular cavity, a first mounting groove is provided at the bottom of the first circular cavity, and the left temperature sensor 32 is installed in the first mounting groove; the right temperature control mechanism 4 includes: a right heating plate 41 and a right temperature sensor 42, the right heating plate 41 is fitted on the inner wall of the second circular cavity, a second mounting groove is provided at the bottom of the second circular cavity, and the right temperature sensor 42 is installed in the second mounting groove.

[0039] Further, in a preferred embodiment, the left extrusion mechanism 5 includes: a left inlet and outlet assembly 52, the left inlet and outlet assembly 52 includes: a left extrusion barrel 521, a first feed pipe 522, a left extrusion nozzle 523, a left rotating cylinder 524, a left piston rod 525, a first sealing ring 526, a first stainless steel disc 527, a first ultrasonic vibrator 528, and a first piston upper part 529. The left extrusion barrel 521 is installed in the first circular cavity, and the left heating plate 31 is sleeved on the outer surface of the left extrusion barrel 521. The left extrusion barrel 521 is provided with a first feed hole and a first extrusion hole, and the first feed hole and the first inlet hole are provided. The material pipe 522 is connected, the first extrusion hole is connected to the left extrusion nozzle 523, the left rotating cylinder 524 is installed in the left extrusion barrel 521, the outer wall of the left piston rod 525 is circumferentially provided with a first annular groove, the first sealing ring 526 is installed in the first annular groove, the left piston rod 525 is installed in the left rotating cylinder 524 and is sealed by the first sealing ring 526, a first stainless steel disc 527 is installed at the bottom of the left piston rod 525, a first ultrasonic vibrator 528 is installed in the left piston rod 525 and connected to the first stainless steel disc 527, and the first piston upper part 529 is connected to the top of the left piston rod 525.

[0040] Further, in a preferred embodiment, the left extrusion mechanism 5 also includes: a left extrusion motor assembly 51, the left extrusion motor assembly 51 includes: a left stepping motor 511, a first motor mounting plate 512, a first guide rail 513, a first lead screw 514, a first slider 515, a left extrusion plate 516, a first bearing 517 and a first fixing plate 518, the first guide rail 513 is mounted on the inner wall of the first circular cavity, the first slider 515 is assembled on the first guide rail 513 and can slide along the first guide rail 513, the first slider 515 is assembled on the first lead screw 514, the first bearing 517 is assembled at the bottom of the first circular cavity, and the first lead screw 514 is assembled on the bottom of the first circular cavity. One end of the lever 514 is connected to the output end of the left stepper motor 511, and the other end of the first lead screw 514 is connected to the first bearing 517. The left stepper motor 511 is used to drive the first lead screw 514 to rotate and then drive the first slider 515 to slide along the first guide rail 513. The first motor mounting plate 512 is installed on the rotating disk 14, and the left stepper motor 511 is installed on the first motor mounting plate 512. The lower end of the left extrusion plate 516 is connected to the first slider 515, and the upper end of the left extrusion plate 516 is provided with a first mounting groove. The first fixing plate 518 is installed in the first mounting groove, and the top of the first piston upper part 529 is installed in the first mounting groove.

[0041] Further, in a preferred embodiment, the left extrusion mechanism 5 also includes: a left rotating push rod assembly 53, the left rotating push rod assembly 53 includes: a left connecting seat 531 and a left electric push rod 532, the left connecting seat 531 is installed on the switching mechanism 1, one end of the left electric push rod 532 is connected to the left connecting seat 531, and the other end of the left electric push rod 532 is connected to the protrusion of the left rotating cylinder 524, and the left electric push rod 532 is used to push the left rotating cylinder 524 to rotate.

[0042] Further, in a preferred embodiment, the right extrusion mechanism 6 includes: a right inlet and outlet assembly 62, the right inlet and outlet assembly 62 includes: a right extrusion barrel 621, a second feed pipe 622, a right extrusion nozzle 623, a right rotating cylinder 624, a right piston rod 625, a second sealing ring 626, a second stainless steel disc 627, a second ultrasonic vibrator 628, and a second piston upper part 629. The right extrusion barrel 621 is installed in the second circular cavity, the right heating plate 41 is sleeved on the outer surface of the right extrusion barrel 621, and the right extrusion barrel 621 is provided with a second feed hole and a second extrusion hole, and the second feed hole and the second inlet The material pipe 622 is connected, the second extrusion hole is connected to the right extrusion nozzle 623, the right rotating cylinder 624 is installed in the right extrusion barrel 621, the outer wall of the right piston rod 625 is circumferentially provided with a second annular groove, the second sealing ring 626 is installed in the second annular groove, the right piston rod 625 is installed in the right rotating cylinder 624 and is sealed by the second sealing ring 626, a second stainless steel disc 627 is installed at the bottom of the right piston rod 625, a second ultrasonic vibrator 628 is installed in the right piston rod 625 and connected to the second stainless steel disc 627, and the second piston upper part 629 is connected to the top of the right piston rod 625.

[0043] Further, in a preferred embodiment, the right extrusion mechanism 6 also includes: a right extrusion motor assembly 61, the right extrusion motor assembly 61 includes: a right stepping motor 611, a second motor mounting plate 612, a second guide rail 613, a second lead screw 614, a second slider 615, a right extrusion plate 616, a second bearing 617 and a second fixing plate 618, the second guide rail 613 is mounted on the inner wall of the second circular cavity, the second slider 615 is assembled on the second guide rail 613 and can slide along the second guide rail 613, the second slider 615 is assembled on the second lead screw 614, the second bearing 617 is assembled at the bottom of the second circular cavity, and the second lead screw 614 is assembled on the second lead screw 614. One end of the lever 614 is connected to the output end of the right stepper motor 611, and the other end of the second lead screw 614 is connected to the second bearing 617. The right stepper motor 611 is used to drive the second lead screw 614 to rotate and thereby drive the second slider 615 to slide along the second guide rail 613. The second motor mounting plate 612 is mounted on the rotating disk 14, and the right stepper motor 611 is mounted on the second motor mounting plate 612. The lower end of the right extrusion plate 616 is connected to the second slider 615, and the upper end of the right extrusion plate 616 is provided with a second mounting groove, the second fixing plate 618 is mounted in the second mounting groove, and the top of the second piston upper part 629 is mounted in the second mounting groove.

[0044] Further, in a preferred embodiment, the right extrusion mechanism 6 also includes: a right rotating push rod assembly 63, the right rotating push rod assembly 63 includes: a right connecting seat 631 and a right electric push rod 632, the right connecting seat 631 is installed on the switching mechanism 1, one end of the right electric push rod 632 is connected to the right connecting seat 631, and the other end of the right electric push rod 632 is connected to the protrusion of the right rotating cylinder 624, and the right electric push rod 632 is used to push the right rotating cylinder 624 to rotate.

[0045] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0046] The present invention also has the following implementation modes based on the above:

[0047] In a further embodiment of the present invention, a specific implementation mode 1: Figure 1-10As shown, an ultrasonically assisted extrusion biological 3D printing dual nozzle device of the present embodiment includes a nozzle switching mechanism 1, a limiting device 2, a left temperature control mechanism 3, a right temperature control mechanism 4, a left extrusion mechanism 5 and a right extrusion mechanism 6. The nozzle switching mechanism 1 is composed of a mounting seat 11, a rotating stepping motor 12, a coupling 13, a rotating disk 14, a left fixed plate 15 and a right fixed plate 16. A rotating stepping motor 12 is installed in the middle of the mounting seat 11, and the rotating stepping motor 12 is connected to the rotating disk 14 through the coupling 13. The left fixed plate 15 and the right fixed plate 16 are respectively installed in the two curved side plates of the rotating disk 14. The limiting device 2 includes a left limit switch 21 and a right limit switch 22, which are respectively installed on the left and right sides of the vertical plate structure of the rotating disk 14 of the switching mechanism 1. The left temperature control mechanism 3 includes a left heating plate 31 and a left temperature sensor 32. After installation, the left heating plate 31 is attached to the inner wall of the circular cavity composed of the rotating disk 14 and the left fixed plate 15. The left temperature sensor 32 is installed in the rectangular groove below the semicircular cavity of the rotating disk 14. The right temperature control mechanism 4 includes a right heating plate 41 and a right temperature sensor 42. The connection method is the same as that of the left temperature control mechanism 3. The left temperature control mechanism 3 and the right temperature control mechanism 4 are symmetrically installed on both sides of the rotating disk 14 of the switching mechanism 1. The left extrusion mechanism 5 includes a left extrusion motor assembly 51, a left feed and discharge assembly 52 and a left rotating push rod assembly 53. The left extrusion motor assembly 51 includes a left stepping motor 511, a first motor mounting plate 512, a first guide rail 513, a first lead screw 514, a first The slider 515, the left extrusion plate 516, the first bearing 517 and the first fixed plate 518, etc., the first motor mounting plate 512, the first guide rail 513 and the first bearing 517 are mounted on the rotating disk 14, the left stepping motor 511 is fixed on the first motor mounting plate 512, one end of the first lead screw 514 is connected to the left stepping motor 511, and the other end is mounted on the first bearing 517, a first slider 515 is mounted on the first lead screw 514, the left stepping motor 511 can rotate to drive the first slider 515 to move up and down through the first lead screw 514, the first slider 515 is connected to the lower end of the left extrusion plate 516 by screws, the first fixed plate 518 is mounted in the groove of the left extrusion plate 516, and the left inlet and outlet assembly 52 includes a left extrusion barrel 521, a first The feed pipe 522, the left extrusion nozzle 523, the left rotating cylinder 524, the left piston rod 525, the first sealing ring 526, the first stainless steel disc 527, the first ultrasonic vibrator 528 and the first piston upper part 529, etc., the left heating plate 31 is sleeved on the outside of the left extrusion barrel 521, and they are installed together in a circular structure composed of the left fixed plate 15 and the rotating disk 14. The two holes at the lower end of the left extrusion barrel 521 are respectively connected to the first feed pipe 522 and the left extrusion nozzle 523, the left rotating cylinder 524 is installed inside the left extrusion barrel 521, the first sealing ring 526 is sleeved in the groove of the left piston rod 525, the first ultrasonic vibrator 528 is connected to the first stainless steel disc 527, and is fixed inside the left piston rod 525 through the first stainless steel disc 527.The first piston upper portion 529 is connected to the left piston rod 525 by screws, and its tail portion is installed in the groove formed by the left extrusion plate 516 and the first fixed plate 518. The left rotating push rod 53 assembly includes a left connecting seat 531 and a left electric push rod 532. The left connecting seat 531 is fixed to the mounting seat 11 by screws. The left electric push rod 532 can be extended and contracted, and its two ends are respectively connected to the left connecting seat 531 and the protrusion of the left rotating cylinder 524 by screws. The right extrusion mechanism 6 includes a right extrusion motor assembly 61, a right feeding and discharging assembly 62 and a right rotating push rod assembly 63. The right extrusion motor assembly 61 includes a right stepping motor 611, a second motor mounting plate 612, a second guide rail 613, The second lead screw 614, the second slider 615, the right extrusion plate 616, the second bearing 617 and the second fixed plate 618, etc. The right inlet and outlet assembly 62 includes a right extrusion barrel 621, a second feed pipe 622, a right extrusion nozzle 623, a right rotating cylinder 624, a right piston rod 625, a second sealing ring 626, a second stainless steel disc 627, a second ultrasonic vibrator 628 and a second piston upper part 629, etc. The right rotating push rod assembly 63 includes a right connecting seat 631 and a right electric push rod 632. The left extrusion mechanism 5 and the right extrusion mechanism 6 are symmetrically installed on both sides of the rotating disk 14 of the switching mechanism 1. The installation method of the components of the right extrusion mechanism 6 is the same as that of the left extrusion mechanism 5.

[0048] In a further embodiment of the present invention, specific implementation mode 2; Figure 1 , Figure 2 As shown, the rotary stepper motor 12 drives the rotary disk 14 to rotate by rotating. The structure of the rotary disk 14 is similar to the converter of a microscope, so that the print positions of the nozzles of the left extrusion mechanism 5 and the right extrusion mechanism 6 remain unchanged after the rotation. Other components and connection relationships are the same as those of the first embodiment.

[0049] In a further embodiment of the present invention, in a third specific embodiment: Figure 4 As shown, when the device starts working, the left heating plate 31 and the right heating plate 41 start working at the same time to heat the bio-ink. When the left temperature sensor 32 detects that the temperature is higher than the set temperature, the left heating plate 31 stops working. When the left temperature sensor 32 detects that the temperature is lower than the set temperature, the left heating plate 31 starts working. When the right temperature sensor 42 detects that the temperature is higher than the set temperature, the right heating plate 41 stops working. When the right temperature sensor 42 detects that the temperature is lower than the set temperature, the right heating plate 41 starts working. Other components and connection relationships are the same as those in the second specific embodiment.

[0050] In a further embodiment of the present invention, in a fourth specific embodiment: Fig. 9 , Fig.10As shown, the extension and contraction of the left electric push rod 532 can drive the left rotating cylinder 524 to rotate a certain angle. The fan-shaped baffle at the lower end of the left rotating cylinder 524 is used to block the feed port and the discharge port at the lower end of the left extrusion barrel 521. When the left electric push rod 532 is extended, the fan-shaped baffle of the left rotating cylinder 524 blocks the feed port, and the left feed and discharge assembly 52 is in the discharge state. When the left electric push rod 532 is contracted, the fan-shaped baffle of the left rotating cylinder 524 blocks the discharge port, and the left feed and discharge assembly 52 is in the feed state. The feed and discharge states of the right feed and discharge assembly 62 are the same as the operation mode of the left feed and discharge assembly 52. ​​Other components and connection relationships are the same as those in the third specific embodiment.

[0051] In a further embodiment of the present invention, in a fifth embodiment: Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the feeding and discharging states of the left inlet and outlet assembly 52 and the right inlet and outlet assembly 62 are opposite. When the left inlet and outlet assembly 52 is in the discharging state, the right inlet and outlet assembly 62 is in the feeding state, and when the left inlet and outlet assembly 52 is in the feeding state, the right inlet and outlet assembly 62 is in the discharging state. Other components and connection relationships are the same as those in the fourth embodiment.

[0052] In a further embodiment of the present invention, in specific implementation mode 6: Figure 4 , Figure 5 , Figure 6 As shown, when the left extrusion barrel 521 of the left inlet and outlet assembly 52 is full, the feeding state of the left inlet and outlet assembly 52 ends, while the discharging state of the right inlet and outlet assembly 62 remains unchanged. When the left inlet and outlet assembly 52 is in the feeding state, the first slider 515 moves upward under the drive of the left stepping motor 511. When the side protrusion of the first slider 515 touches the left limit switch 21, the left limit switch 21 gives a signal to the single-chip microcomputer to stop the left stepping motor 511 from rotating, and the feeding state of the left inlet and outlet assembly 52 ends. The right inlet and outlet assembly 62 is the same as the left inlet and outlet assembly 52. ​​Other components and connection relationships are the same as those in the specific embodiment 5.

[0053] In a further embodiment of the present invention, in specific implementation mode seven: Figure 7 , Figure 8As shown, when the left inlet and outlet assembly 52 is in the discharging state, the first ultrasonic vibrator 528 of the left inlet and outlet assembly 52 can emit ultrasonic waves after being turned on. The ultrasonic waves are transmitted to the biological ink in the left extrusion barrel 521 through the first stainless steel disc 527, driving the biological ink to vibrate and assisting extrusion. At this time, the right inlet and outlet assembly 62 is in the feeding state, and the second ultrasonic vibrator 628 of the right inlet and outlet assembly 62 is turned off. When the right inlet and outlet assembly 62 is in the discharging state, similarly, the second ultrasonic vibrator 628 of the right inlet and outlet assembly 62 is turned on, and the first ultrasonic vibrator 528 of the left inlet and outlet assembly 52 is turned off. Other components and connection relationships are the same as those in the sixth embodiment.

[0054] In a further embodiment of the present invention, specific implementation mode eight; Figure 4-10 As shown in the figure, when the left extrusion mechanism 5 is extruding, the rotary stepper motor 12 rotates to the right, so that the left extrusion mechanism 5 is in the printing position, the left electric push rod 532 is contracted, the left feed and discharge assembly 52 is in the discharge state, the left stepper motor 511 drives the left movable extrusion plate 516 to move downward through the first slider 515, and the first ultrasonic vibrator 528 inside the left piston rod 525 starts to work. Under the extrusion effect of the left piston rod 525 and the vibration effect of the first ultrasonic vibrator 528, the left extrusion barrel 521 is The part of the bio-ink reaches the left extrusion nozzle 523 through the discharge port for printing. At this time, the right extrusion mechanism 6 is in the feeding position, the right electric push rod 632 is extended, the right feeding and discharging assembly 62 is in the feeding state, the second ultrasonic vibrator 628 inside the right piston rod 625 does not work, the right stepping motor 611 drives the right moving extrusion plate 616 to move upward through the second slider 615, and the bio-ink in the second feeding pipe 622 enters the right extrusion barrel 621 through the feeding port to achieve material replenishment. Other components and connection relationships are the same as those of the specific embodiment seven.

[0055] In a further embodiment of the present invention, specific implementation method nine; Figure 4-10As shown in the figure, when the right extruder 6 is extruding, the rotary stepper motor 12 rotates to the left, so that the right extruder 6 is in the printing position, the right electric push rod 632 contracts, the right feeding and discharging assembly 62 is in the discharging state, and the right stepper motor 611 drives the right moving extrusion plate 616 to move downward through the second slider 615, and the second ultrasonic vibrator 628 inside the right piston rod 625 starts to work. Under the extrusion effect of the right piston rod 625 and the vibration effect of the second ultrasonic vibrator 628, the right extruder barrel 621 is The biological ink of the part reaches the right extrusion nozzle 623 through the discharge port for printing. At this time, the left extrusion mechanism 5 is in the feeding position, the left electric push rod 532 is extended, the left feeding and discharging assembly 52 is in the feeding state, the first ultrasonic vibrator 528 inside the left piston rod 525 does not work, the left stepping motor 511 drives the left moving extrusion plate 516 to move upward through the first slider 515, and the biological ink in the first feeding tube 522 enters the left extrusion barrel 521 through the feeding port to achieve material replenishment. Other components and connection relationships are the same as those of the specific embodiment eight.

[0056] In a further embodiment of the present invention, specific implementation mode ten; Figure 4-8 As shown, at the end of printing, it is often necessary to clean the printing equipment, which involves the installation and disassembly of the left feed and discharge assembly 52 and the right feed and discharge assembly 62. When installing the left feed and discharge assembly 52, the left movable extrusion plate 516 is raised to the highest position through the single-chip microcomputer, and the first fixed plate 518 in the groove of the left movable extrusion plate 516 is pulled out, and then the left fixed plate 15 on the rotating disk 14 is taken out downward along the slide groove, and the left feed and discharge assembly 52 with the left heating plate 31 is installed, and then the left extrusion barrel 521 is rotated so that the discharge port is screwed into the arc groove on the bottom surface of the rotating disk 14, and then the left fixed plate 15 is installed upward on the rotating disk 14, and then the left fixed plate 15 is installed upward on the rotating disk 14. The left movable extrusion plate 516 is fixed, and the single chip microcomputer is used to move the left movable extrusion plate 516 downward. When the extrusion plate contacts the upper part 529 of the first piston, the movement is stopped, and the first fixed plate 518 is inserted into the groove of the left movable extrusion plate 516 to complete the installation. When the left inlet and outlet assembly 52 is disassembled, the left movable extrusion plate 516 is raised to the highest position by the single chip microcomputer, and the first fixed plate 518 in the groove of the left movable extrusion plate 516 is pulled out, and the left fixed plate 15 on the rotating disk 14 is taken out along the slide groove, and the left inlet and outlet assembly 52 with the left heating plate 31 is rotated, and then taken out to complete the disassembly. The installation and disassembly of the right inlet and outlet assembly 62 are the same as those of the left inlet and outlet assembly 52. ​​Other components and connection relationships are the same as those of the specific embodiment nine.

[0057] In a further embodiment of the present invention, preferably, six holes are symmetrically provided on both sides of the mounting seat 11, and the mounting seat 11 can be detachably mounted by screws.

[0058] In a further embodiment of the present invention, preferably, the motor mounting plane of the mounting base 11 has a certain angle with the horizontal plane, and the motor connection plane of the rotating disk 14 has a certain angle with the mounting plane of the left rotating push rod assembly 53 and / or the right rotating push rod assembly 63.

[0059] In a further embodiment of the present invention, preferably, grooves that match the first guide rail 513 / the second guide rail 613 are symmetrically provided on the rotating disk 14, and screw holes are provided on the grooves. The first guide rail 513 / the second guide rail 613 are installed on the rotating disk 14 by screws, and grooves that match the first bearing 517 / the second bearing 617 are symmetrically provided on the rotating disk 14, and the first bearing 517 / the second bearing 617 are embedded in the rotating disk 14.

[0060] In a further embodiment of the present invention, preferably, the rotating disk 14 has a structure as follows: Figure 3 As shown, two curved side panels are provided on the front side of the rotating disk 14, and the two curved side panels are symmetrically arranged. Both curved side panels are in the shape of curved plates, and both side edges of each curved side panel are provided with a slide groove structure. Both side edges of the left fixed plate 15 and both side edges of the right fixed plate 16 match the two slide groove structures of any curved side panel. The left fixed plate 15 is installed in the curved side panel on the left side, and the fixed plate 16 is installed in the curved side panel on the right side.

[0061] In a further embodiment of the present invention, preferably, the first slider 515 / the second slider 615 are each provided with a protrusion on the side thereof for touching the left limit switch 21 / the right limit switch 22 during operation.

[0062] In a further embodiment of the present invention, preferably, a countersunk hole is opened on the left extrusion plate 516, the left extrusion plate 516 is fixed to the first slider 515 by screws, the upper end of the left extrusion plate 516 has a groove structure, the first fixed plate 518 is assembled in the groove, the first piston upper part 529 is connected to the left rotating push rod assembly 53, and the first piston upper part 529 is detachably clamped on the first fixed plate 518.

[0063] In a further embodiment of the present invention, preferably, a countersunk hole is opened on the right extrusion plate 616, the right extrusion plate 616 is fixed to the second slider 615 by screws, the upper end of the right extrusion plate 616 has a groove structure, the second fixed plate 618 is assembled in the groove, the second piston upper part 629 is connected to the right rotating push rod assembly 63, and the second piston upper part 629 is detachably clamped on the second fixed plate 618.

[0064] In a further embodiment of the present invention, preferably, the lower ends of the left extrusion barrel 521 and the right extrusion barrel 621 each have two tubular through holes, which are a feed port and a discharge port, respectively.

[0065] In a further embodiment of the present invention, preferably, the left rotating cylinder 524 and the right rotating cylinder 624 are hollow tubular structures, which are fitted with the inner wall of the extrusion barrel, and the lower ends of the left rotating cylinder 524 and the right rotating cylinder 624 are provided with a fan-shaped baffle, and the upper ends of the left rotating cylinder 524 and the right rotating cylinder 624 are provided with an extended fixed cross plate with holes, the left electric push rod 532 and the fixed cross plate with holes of the left rotating cylinder 524 are connected by screws, and the right electric push rod 632 and the fixed cross plate with holes of the right rotating cylinder 624 are connected by screws.

[0066] In a further embodiment of the present invention, preferably, the left piston rod 525 and the right piston rod 625 are hollow tubular structures, the first piston upper portion 529 is fixed to the upper portion of the left piston rod 525 by screws, the second piston upper portion 629 is fixed to the upper portion of the right piston rod 625 by screws, the lower ends of the left piston rod 525 and the right piston rod 625 are both provided with circular grooves, the first stainless steel disc 527 is fixed to the circular groove of the left piston rod 525 by gluing, the second stainless steel disc 627 is fixed to the circular groove of the right piston rod 625 by gluing, and one end of the first ultrasonic vibrator 528 is welded to the first stainless steel disc 52 7, the other end of the first ultrasonic vibrator 528 contacts the first piston upper part 529, the first ultrasonic vibrator 528 is fixed inside the left piston rod 525, one end of the second ultrasonic vibrator 628 is connected to the second stainless steel disc 627 by welding, the other end of the second ultrasonic vibrator 628 contacts the second piston upper part 629, the second ultrasonic vibrator 628 is fixed inside the right piston rod 625, an annular groove is circumferentially formed on the outer wall of the lower end of the left piston rod 525 and the right piston rod 625, the first sealing ring 526 is sleeved on the annular groove of the left piston rod 525, and the second sealing ring 626 is sleeved on the annular groove of the right piston rod 625.

[0067] In a further embodiment of the present invention, preferably, the rotary stepper motor 12, the left limit switch 21, the right limit switch 22, the left heating plate 31, the left temperature sensor 32, the right heating plate 41, the right temperature sensor 42, the left stepper motor 511, the right stepper motor 611, the first ultrasonic vibrator 528, the second ultrasonic vibrator 628, the left electric push rod 532 and the right electric push rod 632 are all controlled by an external single-chip microcomputer via wires.

[0068] In a further embodiment of the present invention, preferably, the mounting seat 11, the rotating disk 14, the left extrusion plate 516, the right extrusion plate 616, the left fixed plate 15 and the right fixed plate 16 are formed by FDM printing.

[0069] In a further embodiment of the present invention, during printing, the first ultrasonic vibrator 528 / the second ultrasonic vibrator 628 inside the left piston rod 525 / the right piston rod 625 will emit ultrasonic waves to assist in the extrusion of the bio-ink, reduce the shear stress generated at the nozzle of the nozzle, prevent the cells in the bio-ink from being squeezed and damaged, and increase their survival rate.

[0070] In a further embodiment of the present invention, the structure of the rotating disk 14 makes the left extrusion nozzle 523 / right extrusion nozzle 623 at the lowest point when the extrusion mechanism is in the printing position. When the dual nozzles are switched, the rotating disk 14 rotates driven by the rotating stepping motor 12, and the position of the left extrusion nozzle 523 / right extrusion nozzle 623 gradually rises without hanging on the printed object, eliminating the Z-axis lifting process and causing the outflow and accumulation of biological ink. After switching the left extrusion nozzle 523 / right extrusion nozzle 623, the left rotating cylinder 524 / right rotating cylinder 624 blocks the discharge port, and the internal biological ink cannot flow out, and no cavity phenomenon is generated. After rotation, the left extrusion nozzle 523 / right extrusion nozzle 623 is not perpendicular to the ground, but has a certain angle with the vertical line of the ground. A small amount of biological ink inside the left extrusion nozzle 523 / right extrusion nozzle 623 will not flow out, thereby improving printing efficiency.

[0071] In a further embodiment of the present invention, a rotary stepper motor 12 is used to switch the left extrusion nozzle 523 / right extrusion nozzle 623. When switching from one nozzle to another, the rotary stepper motor 12 drives the rotating disk 14 to rotate a certain angle, so that the printing position of the nozzle that continues to work after the switching coincides with the printing position of the nozzle that has stopped working before the switching, without the need for the nozzle to move on the X-axis and Y-axis.

[0072] In a further embodiment of the present invention, for example, when the left extrusion nozzle 523 is in the printing position, the left extrusion nozzle 523 is at the lowest point. When the dual nozzles are switched, the rotating disk 14 rotates driven by the rotating stepper motor 12, the left extrusion nozzle 523 rises, and the left rotating cylinder 524 blocks the discharge port, so that the internal biological ink cannot flow out. After rotation, the left extrusion nozzle 523 has a certain angle with the vertical line of the ground, and the small amount of biological ink inside the left extrusion nozzle 523 will not flow out. At the same time, the right extrusion nozzle 623 rotates to the previous printing position of the left extrusion nozzle 523 to continue printing.

[0073] In a further embodiment of the present invention, for example, when the right extrusion nozzle 623 is in the printing position, the right extrusion nozzle 623 is at the lowest point. When the dual nozzles are switched, the rotating disk 14 rotates driven by the rotating stepper motor 12, the right extrusion nozzle 623 rises, and the right rotating cylinder 624 blocks the discharge port, so that the internal biological ink cannot flow out. After rotation, the right extrusion nozzle 623 has a certain angle with the vertical line of the ground, and the small amount of biological ink inside the right extrusion nozzle 623 will not flow out. At the same time, the left extrusion nozzle 523 rotates to the previous printing position of the right extrusion nozzle 623 to continue printing.

[0074] In a further embodiment of the present invention, some slide groove structures are used in the design of the nozzle structure, and during installation and disassembly, these slide groove structures can be used to facilitate installation and replacement.

[0075] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual nozzle device for ultrasonic-assisted extrusion of biological 3D printing, characterized in that: include: A switching mechanism (1), a left temperature control mechanism (3), a right temperature control mechanism (4), a left extrusion mechanism (5) and a right extrusion mechanism (6), wherein the switching mechanism (1) comprises: a mounting seat (11), a rotating stepping motor (12) and a rotating disk (14), wherein the rotating disk (14) is mounted on the bottom of the mounting seat (11), and the rotating stepping motor (12) is used to drive the rotating disk (14) to rotate; the output end of the rotating stepping motor (12) is arranged to face downward; the switching mechanism (1) further comprises: a left fixed plate (15) and a right fixed plate (16), and the rotating disk (14) Two curved side plates are symmetrically arranged on the front side, the left fixed plate (15) is installed in the curved side plate on the left side, and the right fixed plate (16) is installed in the curved side plate on the right side, the left fixed plate (15) and the curved side plate on the left side together form a first circular cavity, the right fixed plate (16) and the curved side plate on the right side together form a second circular cavity, the left temperature control mechanism (3) and the left extrusion mechanism (5) are installed in the first circular cavity, and the right temperature control mechanism (4) and the right extrusion mechanism (6) are installed in the second circular cavity; The device also comprises: a limit device (2), the limit device (2) comprising: a left limit switch (21) and a right limit switch (22); a vertical plate is provided in the middle of the rotating disk (14), the vertical plate is provided at the rear side of the two curved side plates, the left limit switch (21) is installed on the left front side of the vertical plate, and the right limit switch (22) is installed on the right front side of the vertical plate; The left temperature control mechanism (3) comprises: a left heating plate (31) and a left temperature sensor (32); the left heating plate (31) is fitted on the inner wall of the first circular cavity; a first mounting groove is provided at the bottom of the first circular cavity; and the left temperature sensor (32) is installed in the first mounting groove; the right temperature control mechanism (4) comprises: a right heating plate (41) and a right temperature sensor (42); the right heating plate (41) is fitted on the inner wall of the second circular cavity; a second mounting groove is provided at the bottom of the second circular cavity; and the right temperature sensor (42) is installed in the second mounting groove; The left extrusion mechanism (5) comprises: a left material inlet and outlet assembly (52), the left material inlet and outlet assembly (52) comprising: a left extrusion barrel (521), a first feed pipe (522), a left extrusion nozzle (523), and a left rotating cylinder (524), the left extrusion barrel (521) being installed in a first circular cavity, the left heating plate (31) being sleeved on the outer surface of the left extrusion barrel (521), the left extrusion barrel (521) being provided with a first feed hole and a first extrusion hole, the first feed hole and the first The left extrusion nozzle (523) is connected to the feed pipe (522), the first extrusion hole is connected to the left extrusion nozzle (523), and the left rotating cylinder (524) is installed in the left extrusion barrel (521); the left inlet and outlet assembly (52) further comprises: a left piston rod (525) and a first ultrasonic vibrator (528), the left piston rod (525) is installed in the left rotating cylinder (524), and the first ultrasonic vibrator (528) is installed in the left piston rod (525) and connected to the first stainless steel disc (527); The right extrusion mechanism (6) comprises: a right material inlet and outlet assembly (62), the right material inlet and outlet assembly (62) comprises: a right extrusion barrel (621), a second feed pipe (622), a right extrusion nozzle (623), and a right rotating cylinder (624), the right extrusion barrel (621) is installed in the second circular cavity, the right heating plate (41) is sleeved on the outer surface of the right extrusion barrel (621), the right extrusion barrel (621) is provided with a second feed hole and a second extrusion hole, the second feed hole is connected to the second feed pipe (622), the second extrusion hole is connected to the right extrusion nozzle (623), and the right rotating cylinder (624) is installed in the right extrusion barrel (621); The left-rotating cylinder (524) and the right-rotating cylinder (624) are hollow tubular structures, which fit the inner wall of the extrusion barrel. The lower ends of the left-rotating cylinder (524) and the right-rotating cylinder (624) are both provided with a fan-shaped baffle. The fan-shaped baffle at the lower end of the left-rotating cylinder (524) is used to block the feed inlet and the discharge port at the lower end of the left extrusion barrel (521); the fan-shaped baffle at the lower end of the right-rotating cylinder (624) is used to block the feed inlet and the discharge port at the lower end of the right extrusion barrel (621). When the left extrusion nozzle (523) is in the printing position, the left extrusion nozzle (523) is at the lowest point. When the two nozzles are switched, the rotating disk (14) rotates under the drive of the rotating stepping motor (12), the left extrusion nozzle (523) rises, and the left rotating cylinder (524) blocks the discharge port, so that the biological ink inside cannot flow out. After the rotation, the left extrusion nozzle (523) has a certain angle with the vertical line of the ground, and the small amount of biological ink inside the left extrusion nozzle (523) will not flow out. At the same time, the right extrusion nozzle (623) rotates to the previous printing position of the left extrusion nozzle (523) to continue printing. When the right extrusion nozzle (623) is in the printing position, the right extrusion nozzle (623) is at the lowest point. When the dual nozzles are switched, the rotating disk (14) rotates under the drive of the rotating stepper motor (12), the right extrusion nozzle (623) rises, and the right rotating cylinder (624) blocks the discharge port, so that the biological ink inside cannot flow out. After the rotation, the right extrusion nozzle (623) has a certain angle with the vertical line of the ground, and the small amount of biological ink inside the right extrusion nozzle (623) will not flow out. At the same time, the left extrusion nozzle (523) rotates to the previous printing position of the right extrusion nozzle (623) to continue printing.

2. The ultrasonic-assisted extrusion biological 3D printing dual nozzle device according to claim 1, characterized in that: The switching mechanism (1) further comprises: a coupling (13); the rotating stepping motor (12) is arranged on the rear side of the vertical plate; the rotating stepping motor (12) and the rotating disk (14) are connected in a transmission manner via the coupling (13).

3. The ultrasonic-assisted extrusion biological 3D printing dual nozzle device according to claim 1, characterized in that: The left inlet and outlet assembly (52) further includes: a first sealing ring (526), ​​a first stainless steel disc (527), and a first piston upper part (529). The outer wall of the left piston rod (525) is circumferentially provided with a first annular groove, and the first sealing ring (526) is installed in the first annular groove. The left piston rod (525) and the left rotating cylinder (524) are sealed by the first sealing ring (526). The first stainless steel disc (527) is installed at the bottom of the left piston rod (525), and the first piston upper part (529) is connected to the top of the left piston rod (525).

4. The ultrasonic-assisted extrusion biological 3D printing dual nozzle device according to claim 3, characterized in that: The left extrusion mechanism (5) further comprises: a left extrusion motor assembly (51), the left extrusion motor assembly (51) comprising: a left stepping motor (511), a first motor mounting plate (512), a first guide rail (513), a first lead screw (514), a first slider (515), a left extrusion plate (516), a first bearing (517) and a first fixing plate (518), wherein the first guide rail (513) is mounted on the inner wall of the first circular cavity, the first slider (515) is mounted on the first guide rail (513) and can slide along the first guide rail (513), the first slider (515) is mounted on the first lead screw (514), the first bearing (517) is mounted on the bottom of the first circular cavity, and one end of the first lead screw (514) is The first guide rail (513) is connected to the output end of the left stepper motor (511), and the other end of the first lead screw (514) is connected to the first bearing (517). The left stepper motor (511) is used to drive the first lead screw (514) to rotate and thereby drive the first slider (515) to slide along the first guide rail (513). The first motor mounting plate (512) is mounted on the rotating disk (14), and the left stepper motor (511) is mounted on the first motor mounting plate (512). The lower end of the left extrusion plate (516) is connected to the first slider (515), and the upper end of the left extrusion plate (516) is provided with a first mounting groove. The first fixing plate (518) is mounted in the first mounting groove, and the top of the first piston upper part (529) is mounted in the first mounting groove.

5. The ultrasonic-assisted extrusion biological 3D printing dual nozzle device according to claim 4, characterized in that: The left extrusion mechanism (5) further comprises: a left rotating push rod assembly (53), the left rotating push rod assembly (53) comprising: a left connecting seat (531) and a left electric push rod (532), the left connecting seat (531) being mounted on the rotating disk (14), one end of the left electric push rod (532) being connected to the left connecting seat (531), the other end of the left electric push rod (532) being connected to a protrusion of the left rotating cylinder (524), and the left electric push rod (532) being used to push the left rotating cylinder (524) to rotate.

6. The ultrasonic-assisted extrusion biological 3D printing dual-nozzle device according to claim 1, characterized in that: The right inlet and outlet assembly (62) further includes: a right piston rod (625), a second sealing ring (626), a second stainless steel disc (627), a second ultrasonic vibrator (628), and a second piston upper part (629). The outer wall of the right piston rod (625) is circumferentially provided with a second annular groove. The second sealing ring (626) is installed in the second annular groove. The right piston rod (625) is installed in the right rotating cylinder (624) and is sealed by the second sealing ring (626). The bottom of the right piston rod (625) is installed with the second stainless steel disc (627). The second ultrasonic vibrator (628) is installed in the right piston rod (625) and is connected to the second stainless steel disc (627). The second piston upper part (629) is connected to the top of the right piston rod (625).

7. The ultrasonic-assisted extrusion biological 3D printing dual nozzle device according to claim 6, characterized in that: The right extrusion mechanism (6) further comprises: a right extrusion motor assembly (61), wherein the right extrusion motor assembly (61) comprises: a right stepping motor (611), a second motor mounting plate (612), a second guide rail (613), a second lead screw (614), a second slider (615), a right extrusion plate (616), a second bearing (617) and a second fixing plate (618), wherein the second guide rail (613) is mounted on the inner wall of the second circular cavity, the second slider (615) is mounted on the second guide rail (613) and can slide along the second guide rail (613), the second slider (615) is mounted on the second lead screw (614), the second bearing (617) is mounted on the bottom of the second circular cavity, and one end of the second lead screw (614) is The second bearing (617) is connected to the output end of the right stepper motor (611), and the other end of the second lead screw (614) is connected to the second bearing (617). The right stepper motor (611) is used to drive the second lead screw (614) to rotate and thereby drive the second slider (615) to slide along the second guide rail (613). The second motor mounting plate (612) is mounted on the rotating disk (14), and the right stepper motor (611) is mounted on the second motor mounting plate (612). The lower end of the right extrusion plate (616) is connected to the second slider (615), and the upper end of the right extrusion plate (616) is provided with a second mounting groove. The second fixing plate (618) is mounted in the second mounting groove, and the top of the second piston upper part (629) is mounted in the second mounting groove.

8. The ultrasonic-assisted extrusion biological 3D printing dual-nozzle device according to claim 7, characterized in that: The right extrusion mechanism (6) further comprises: a right rotating push rod assembly (63), the right rotating push rod assembly (63) comprising: a right connecting seat (631) and a right electric push rod (632), the right connecting seat (631) being mounted on the rotating disk (14), one end of the right electric push rod (632) being connected to the right connecting seat (631), the other end of the right electric push rod (632) being connected to a protrusion of the right rotating cylinder (624), and the right electric push rod (632) being used to push the right rotating cylinder (624) to rotate.

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