Control device for 3D printing of biological materials

Abstract

The invention discloses a control device for 3D printing of biological materials, and relates to the technical field of biotechnology devices. The control device for 3D printing of the biological materials comprises a sterile cabin, a motion control system, a bio-ink supply system and a printing nozzle, wherein the bio-ink supply system comprises a main body frame, a plurality of groups of storage parts, a converging pipe, a mixing unit, a connecting pipe, a discharging control part and a driving unit. The control device for 3D printing of the biological materials is provided with a plurality of independent storage parts, and it is guaranteed that all components of biological ink are stable. The discharging control part accurately controls the discharging amount of all the components through a driving unit, and accurate matching is achieved by adjusting the rotating speed of a discharging guide wheel. And meanwhile, the device realizes mixing at any time, so that the storage problem caused by mixing in advance is avoided, and the deterioration risk is reduced. By means of the accurate matching and the mode of mixing while using, the quality of the bio-ink is remarkably improved, and a foundation is laid for 3D printing of high-quality biological materials.

Description

Technical Field

[0001] The present invention relates to the technical field of biotechnology devices, and in particular to a control device for 3D printing of biological materials. Background Art

[0002] Bio 3D printing technology is widely used in the fields of tissue engineering, drug screening, disease models, etc. For example, in tissue engineering, bio 3D printing can produce biological tissues with specific morphology and functions, such as skin, cartilage, bones, etc., providing new possibilities for clinical treatment and organ transplantation.

[0003] At present, the control device for biomaterial 3D printing usually needs to configure bio-ink during use, and load the configured and mixed bio-ink into the device container to control and perform biomaterial 3D printing. The traditional printing method has the following shortcomings:

[0004] First, the current bio-ink is composed of multiple components. When mixing, the operation is cumbersome and requires weighing and mixing each component one by one. In addition, the operation is greatly affected by human factors, which easily leads to inaccurate ratios.

[0005] Second, the various components of current bio-inks require different storage environments. For example, hydrogels usually need to be maintained at 10-15°C and pH 5-6 to prevent collagen gelation, and cell solutions usually need to be maintained at around 37°C and pH 7-7.5 to maintain the stability of the internal environment of the cells. When the solutions are mixed, the entire mixture cannot be preserved for a long time. Therefore, when printing biomaterials multiple times, it is necessary to prepare the mixture multiple times. After long-term use, the risk of bio-ink deterioration is increased, thereby affecting the printed biomaterials. In view of the shortcomings of the prior art, the present invention provides a control device for 3D printing of biomaterials to solve the above problems. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a control device for 3D printing of biomaterials, which is equipped with multiple independent storage units and can accurately control the temperature and pH value to ensure the stability of the components. The feeding control unit uses a drive unit to accurately control the feeding amount of each component, and achieves precise proportioning by adjusting the speed of the feeding guide wheel. At the same time, the device can be mixed as needed, avoiding the storage problems caused by early mixing and reducing the risk of deterioration. This precise proportioning and mixing as needed significantly improves the quality of biological ink and lays the foundation for high-quality 3D printing of biomaterials.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a control device for 3D printing of biological materials, including a sterile cabin, a motion control system, a biological ink supply system and a printing nozzle;

[0008] The sterile cabin is arranged at the target position and supports the control device, and a microcomputer is arranged on the sterile cabin and the microcomputer has a built-in modeling software;

[0009] The motion control system is arranged inside the sterile cabin and connected to a microcomputer;

[0010] The bio-ink supply system is arranged at the mobile end of the motion control system;

[0011] The print nozzle is arranged at the bio-ink output end of the bio-ink supply system;

[0012] The bio-ink supply system includes a main frame, a plurality of storage units, a confluence pipe, a mixing unit, a connecting pipe, a material discharge control unit and a driving unit;

[0013] The main frame is arranged at the moving end position of the motion control system;

[0014] A plurality of storage groups are arranged on the main frame, and each of the plurality of storage groups is provided with a feeding pipe;

[0015] The merging pipe is connected with the plurality of groups of feeding pipes;

[0016] The mixing unit is connected to the confluence pipe and is used to mix the mixed liquid transported by the confluence pipe;

[0017] The connecting pipe is arranged between the end of the mixing unit and the printing nozzle;

[0018] The material discharge control unit is arranged on the material discharge pipe;

[0019] The driving unit is arranged on the main frame and is used to provide power to the mixing unit and the material discharge control part.

[0020] Preferably, the mixing unit comprises:

[0021] A sleeve, disposed between the confluence pipe and the connection pipe;

[0022] A first shaft body, disposed inside the sleeve and connected to an output end of the drive unit;

[0023] The spiral plate is arranged on the first shaft and located inside the sleeve.

[0024] Preferably, the material feeding control unit comprises:

[0025] A valve body portion, arranged on the feed pipe;

[0026] A second shaft body, rotatably connected to the valve body and connected to an output end of the driving unit;

[0027] The material discharge guide wheel is arranged on the second shaft and located inside the valve body.

[0028] Preferably, the driving unit comprises:

[0029] The motor body is arranged on the main frame;

[0030] A third shaft body is arranged at the output end of the motor body;

[0031] A plurality of worm gears are arranged on the third shaft;

[0032] A worm wheel, disposed on the second shaft and meshing with the worm;

[0033] A first pulley is disposed on the third shaft;

[0034] A second pulley is disposed on the first shaft;

[0035] The first transmission belt is sleeved on the first pulley and the second pulley.

[0036] Preferably, the driving unit further comprises a speed regulating mechanism for controlling the material feeding control part, and the speed regulating mechanism comprises:

[0037] A fourth shaft body, rotatably connected to the main frame;

[0038] A first cone, disposed on the fourth shaft;

[0039] A second cone, disposed on the second shaft;

[0040] A second transmission belt is sleeved on the first cone and the second cone;

[0041] The limiting frame is arranged on the main frame and sleeved on the outer side of the second transmission belt.

[0042] Preferably, the main frame is provided with an adjustment component for adjusting the position of the limit frame, and the adjustment component includes:

[0043] An electric push rod is arranged on the main frame;

[0044] The sliding block is arranged at the output end of the electric push rod and is slidably connected to the main frame.

[0045] Preferably, independent temperature adjustment units and pH adjustment units are respectively disposed inside the plurality of groups of storage parts.

[0046] Preferably, the main frame is provided with a connecting column, and the connecting column is provided with a docking plate, and the docking plate supports and limits the connecting pipe and the printing nozzle respectively.

[0047] Preferably, a thickened portion is provided on the sleeve, and a stirring rod is rotatably connected inside the thickened portion, and the stirring rod is coaxial with the first shaft.

[0048] Preferably, the main frame is provided with a support column for providing support and positioning for the sleeve.

[0049] The present invention discloses a control device for 3D printing of biological materials, which has the following beneficial effects:

[0050] 1. The control device for 3D printing of biomaterials accurately controls the mixing ratio of each component of bio-ink through the synergistic effect of the feeding control unit and the drive unit. The mixing method automatically performs the proportioning, and there is no need to weigh each component multiple times. The operation is time-saving and labor-saving, which effectively solves the problem of inaccurate proportioning in traditional mixing methods and improves the 3D printing effect of biomaterials. The storage, mixing and transportation of bio-ink components are integrated. When printing, according to the printing instructions, the feeding amount of each component is accurately controlled by the feeding control unit. After preliminary mixing in the confluence tube, it is further mixed evenly by the mixing unit and then transported to the printing nozzle. This design realizes the mixing of bio-ink as it is used, avoids the storage problems caused by early mixing, reduces the risk of bio-ink deterioration, and ensures the quality of printed biomaterials.

[0051] 2. The control device for 3D printing of biomaterials, the driving unit provides power to the feeding control unit and the mixing unit at the same time, reduces the power drive components, reduces the complexity of the device, and makes the device run stably. At the same time, through the synergistic effect of the valve body, the second shaft, the feeding guide wheel and the driving unit, the feeding speed of each bio-ink component is determined by the rotation speed of the feeding guide wheel, thereby accurately controlling the mixing ratio of each component. The speed regulating mechanism can further adjust the feeding speed to ensure that each bio-ink component is mixed at the target feeding amount, so that when printing biomaterials with different types of bio-inks, the mixing ratio of each component can be adaptively adjusted to ensure a good printing effect of the biomaterial.

[0052] 3. The control device for 3D printing of biomaterials has improved the mixing unit, and a thickened portion is set on the sleeve, and a stirring rod coaxial with the first shaft body is rotatably connected inside. When the first shaft body and the spiral plate drive the biological ink mixture inside the sleeve to advance and mix, the stirring rod rotates synchronously to stir the mixture for a second time. This secondary stirring design mixes the various components of the biological ink more fully, ensures the uniformity of the mixing, thereby improving the subsequent printing effect of the biological material and meeting the high requirements of the biological ink quality for the 3D printing of biological materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0055] Figure 2 is a schematic structural diagram of a drive unit of the present invention;

[0056] Figure 3 It is a structural schematic diagram of the docking plate of the present invention;

[0057] Figure 4 It is a schematic diagram of the installation position of the motor body of the present invention;

[0058] Figure 5 For the present invention Figure 4 Enlarged view of part A;

[0059] Figure 6 It is a structural schematic diagram of the speed regulating mechanism of the present invention;

[0060] Figure 7 It is a structural schematic diagram of the regulating assembly of the present invention;

[0061] Figure 8 It is a structural schematic diagram of the material feeding control part of the present invention;

[0062] Fig. 9 is a disassembly diagram of the second shaft of the present invention;

[0063] Fig.10 It is a structural schematic diagram of the confluence pipe of the present invention;

[0064] Fig.11 It is a schematic structural diagram of the mixing unit of the present invention;

[0065] Fig.12 It is a disassembly schematic diagram of the connecting pipe of the present invention.

[0066] In the figure: 100, sterile cabin; 200, motion control system; 300, bio-ink supply system; 400, print head; 1, main frame; 101, connecting column; 102, docking plate; 103, support column; 2, storage part; 201, feed pipe; 3, confluence pipe; 4, mixing unit; 401, sleeve; 402, first shaft; 403, spiral plate; 404, thickened part; 405, stirring rod; 5, connecting pipe; 6, feed control part; 601, valve body ; 602, second axis; 603, unloading guide wheel; 7, driving unit; 701, motor body; 702, third axis; 703, worm; 704, worm wheel; 705, first pulley; 706, second pulley; 707, first transmission belt; 71, speed regulating mechanism; 711, fourth axis; 712, first cone; 713, second cone; 714, second transmission belt; 715, limit frame; 72, adjustment component; 721, electric push rod; 722, slider. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] The embodiment of the present application provides a control device for 3D printing of biomaterials, which solves the problems of the traditional bio-ink mixing method being cumbersome to operate, greatly influenced by human factors, and prone to inaccurate proportions. At the same time, the various bio-ink components have different storage environments and cannot be stored for a long time after mixing. Multiple printings require multiple preparations of the mixed liquid, which increases the risk of deterioration.

[0069] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] Embodiment 1:

[0071] The embodiment of the present invention discloses a control device for 3D printing of biological materials. Figure 1-12 As shown, it includes a sterile cabin 100, a motion control system 200, a biological ink supply system 300 and a printing nozzle 400;

[0072] The sterile cabin 100 is set at the target position and supports the control device. The sterile cabin 100 is equipped with a microcomputer and the microcomputer has a built-in modeling software. The sterile cabin 100 provides a sterile, constant temperature and constant humidity environment for the entire 3D bioprinting process, ensuring that the biological ink and the cell activity during the printing process are not affected by external pollution and adverse environmental factors. The sterile cabin 100 supports the entire control device and has a built-in microcomputer. The microcomputer is installed with modeling software for designing three-dimensional biological models.

[0073] The motion control system 200 is arranged inside the sterile cabin 100 and connected to the microcomputer; the motion control system 200 controls the precise movement of the print head 400 in three-dimensional space through a high-precision motor and transmission mechanism to achieve layer-by-layer deposition of the bio-ink. The motion control system 200 receives instructions from the microcomputer and drives the print head 400 to move according to a predetermined path and speed.

[0074] The bio-ink supply system 300 is arranged at the mobile end of the motion control system 200; the bio-ink supply system 300 is responsible for storing, mixing and conveying the bio-ink. The storage unit 2 stores different bio-ink components respectively, and the discharge amount of each component is accurately controlled by the discharge control unit 6, and then mixed in the confluence pipe 3, and finally further mixed evenly by the mixing unit 4 and conveyed to the printing nozzle 400.

[0075] The bio-ink supply system 300 provides a stable and uniform supply of bio-ink to the print head 400 .

[0076] The print head 400 is disposed at the bio-ink output end of the bio-ink supply system 300; the print head 400 receives the bio-ink delivered by the bio-ink supply system 300, and sprays the bio-ink onto the printing platform through a tiny nozzle with precise amount and speed to form a three-dimensional biological structure.

[0077] The bio-ink supply system 300 includes a main frame 1, a plurality of storage units 2, a confluence pipe 3, a mixing unit 4, a connecting pipe 5, a material discharge control unit 6 and a driving unit 7;

[0078] The main frame 1 is arranged at the moving end of the motion control system 200 ; the main frame 1 is used to provide support for the entire bio-ink supply system 300 , ensuring that the entire bio-ink supply system 300 is stably stressed when the motion control system 200 moves.

[0079] A plurality of storage units 2 are arranged on the main frame 1, and a feed pipe 201 is arranged on each of the plurality of storage units 2; independent temperature adjustment units and pH adjustment units are arranged inside the plurality of storage units 2, so that the stability and activity of each bio-ink component are ensured to be in a healthy state inside the plurality of storage units 2;

[0080] The merging pipe 3 is connected to the multiple groups of feeding pipes 201; the merging pipe 3 is used to merge the various components of the bio-ink transported by the multiple groups of feeding pipes 201 together.

[0081] The mixing unit 4 is connected to the confluence pipe 3 and is used to mix the mixed liquid transported by the confluence pipe 3;

[0082] The connecting tube 5 is disposed between the end of the mixing unit 4 and the printing nozzle 400 ; the connecting tube 5 is used to connect the end of the mixing unit 4 and the printing nozzle 400 , so that the biological ink mixed by the mixing unit 4 can be easily transported to the printing nozzle 400 position.

[0083] The feeding control unit 6 is disposed on the feeding pipe 201 ; the feeding control unit 6 is used to accurately control the feeding amount of the biological ink components inside each storage unit 2 , so as to ensure that the final mixing ratio of the biological ink components inside each storage unit 2 meets the requirements.

[0084] The driving unit 7 is disposed on the main frame 1 and is used to provide power to the mixing unit 4 and the material discharge control unit 6 .

[0085] The mixing unit 4 comprises:

[0086] The sleeve 401 is arranged between the confluence pipe 3 and the connection pipe 5;

[0087] The first shaft 402 is disposed inside the sleeve 401 and connected to the output end of the driving unit 7;

[0088] The spiral plate 403 is disposed on the first shaft 402 and located inside the sleeve 401 .

[0089] The mixing unit 4 has a compact structure, which facilitates the rapid mixing of the components entering the sleeve 401 from the confluence tube 3, and delivers the mixed bio-ink product to the inside of the connecting tube 5 and the print head 400. When the driving unit 7 drives the first shaft 402 to rotate, the first shaft 402 drives the spiral plate 403 to rotate, and the spiral plate 403 mixes the components of the bio-ink inside the sleeve 401.

[0090] The material feeding control unit 6 comprises:

[0091] The valve body 601 is disposed on the feed pipe 201;

[0092] The second shaft 602 is rotatably connected to the valve body 601 and connected to the output end of the driving unit 7;

[0093] The material discharge guide wheel 603 is disposed on the second shaft 602 and located inside the valve body 601 .

[0094] The unloading control unit 6 has a compact structure and is easy to use. It is convenient for unloading the biological ink components inside each storage unit 2. When the driving unit 7 drives the second shaft 602 to rotate, the second shaft 602 drives the unloading guide wheel 603 to rotate. The rotation speed of the unloading guide wheel 603 determines the unloading speed of each biological ink component. The faster the rotation speed, the faster the corresponding biological ink component unloading speed. The unloading amount of the biological ink cost under each storage unit 2 is determined by the unloading speed per unit time, thereby controlling the mixing ratio of each biological ink cost.

[0095] The drive unit 7 comprises:

[0096] The motor body 701 is arranged on the main frame 1;

[0097] The third shaft 702 is disposed at the output end of the motor body 701;

[0098] A plurality of worm gears 703 are disposed on the third shaft 702;

[0099] The worm wheel 704 is disposed on the second shaft 602 and meshes with the worm 703;

[0100] The first pulley 705 is disposed on the third shaft 702;

[0101] The second pulley 706 is disposed on the first shaft 402;

[0102] The first transmission belt 707 is mounted on the first pulley 705 and the second pulley 706 .

[0103] The driving unit 7 has a compact structure and stable operation. The driving unit 7 can synchronously drive the mixing unit 4 and multiple groups of feeding control units 6 to operate;

[0104] The driving unit 7 uses a motor body 701 to provide power. When the motor body 701 is working, the motor body 701 drives the third shaft body 702 to rotate, the third shaft body 702 drives multiple groups of worms 703 to rotate, the multiple groups of worms 703 respectively drive the corresponding worm wheels 704 to rotate, the worm wheels 704 drive the second shaft body 602 to rotate, and the second shaft body 602 further drives the unloading guide wheel 603 to rotate, so as to realize the unloading of each storage part 2;

[0105] When the third shaft 702 rotates, it will synchronously drive the first pulley 705 to rotate, the first pulley 705 drives the first transmission belt 707 to rotate, the first transmission belt 707 drives the second pulley 706 to rotate, the second pulley 706 then drives the first shaft 402 to rotate, the first shaft 402 drives the spiral plate 403 to rotate, so the spiral plate 403 is used to mix the various bio-ink components entering the sleeve 401 from the confluence tube 3;

[0106] The driving unit 7 further includes a speed regulating mechanism 71 for controlling the material feeding control unit 6. The speed regulating mechanism 71 includes:

[0107] The fourth shaft 711 is rotatably connected to the main frame 1;

[0108] The first cone 712 is disposed on the fourth shaft 711;

[0109] The second cone 713 is disposed on the second shaft 602;

[0110] The second transmission belt 714 is sleeved on the first cone 712 and the second cone 713;

[0111] The limiting frame 715 is arranged on the main frame 1 and sleeved on the outer side of the second transmission belt 714 .

[0112] The speed regulating mechanism 71 is used to control the feeding speed of the feeding pipe 201 under each storage part 2, so as to ensure that each bio-ink component after feeding from each storage part 2 is mixed with the target feeding amount, so as to ensure that the mixing ratio of each bio-ink component meets the requirements, thereby ensuring a good 3D printing effect of the biomaterial;

[0113] The speed regulating mechanism 71 has a simple structure and is easy to operate. It is easy to adjust the unloading speed of each unloading control part 6, wherein the first cone 712 and the second cone 713 respectively form a cone, and the limit frame 715 is used to provide a limit for the second transmission belt 714. When the limit frame 715 is in different positions, the second transmission belt 714 is in different positions on the first cone 712 and the second cone 713. When the second transmission belt 714 is in different positions on the first cone 712 and the second cone 713, the second cone 713 drives the first cone 712 to transmit at different speeds. Therefore, by adjusting the position of the limit frame 715, the unloading speed of the corresponding unloading control part 6 can be adjusted.

[0114] When the worm gear 704 rotates, the worm gear 704 drives the first cone cylinder 712 to rotate, the first cone cylinder 712 drives the second transmission belt 714 to rotate, the second transmission belt 714 drives the second cone cylinder 713 to rotate, and the second cone cylinder 713 drives the second shaft 602 to rotate. The second transmission belt 714 has different transmission ratios at different positions of the first cone cylinder 712 and the second cone cylinder 713, thereby realizing the adjustment of the unloading speed at each position of the unloading control unit 6.

[0115] The main frame 1 is provided with an adjustment component 72 for adjusting the position of the limit frame 715, and the adjustment component 72 includes:

[0116] The electric push rod 721 is arranged on the main frame 1;

[0117] The slider 722 is disposed at the output end of the electric push rod 721 and is slidably connected to the main frame 1 .

[0118] The adjustment component 72 has a compact structure, which is convenient for realizing position adjustment of the limit frame 715, and then realizing position adjustment of the second transmission belt 714, so as to realize the rotation speed of the unloading guide wheel 603 inside each unloading control part 6, realize different unloading speeds and unloading amounts per unit time, and realize the unloading amount and mixing ratio of each biological ink component in each storage part 2;

[0119] When the adjustment component 72 is needed to adjust the position of the second transmission belt 714, it is directly driven by the electric push rod 721, the electric push rod 721 drives the slider 722 to move, the slider 722 drives the limit frame 715 to move, and the limit frame 715 further drives the second transmission belt 714 to adjust the position.

[0120] The design of the adjustment component 72, the speed regulation mechanism 71, the drive unit 7 and the feeding control unit 6 can enable various types of biological inks to quickly form a standard mixing ratio when they are mixed and produced inside the mixing unit 4, thereby achieving good standardization of the biological ink, good storage effect, good mixing effect, mixing on demand, and easy temporary storage of multiple groups of biological ink components, thereby improving the printing experience of biological materials and meeting usage requirements.

[0121] Embodiment 2:

[0122] The embodiment of the present invention discloses a control device for 3D printing of biological materials. Figure 1-12 As shown, it includes a sterile cabin 100, a motion control system 200, a biological ink supply system 300 and a printing nozzle 400;

[0123] The sterile cabin 100 is arranged at the target position and supports the control device. A microcomputer is arranged on the sterile cabin 100 and the microcomputer has a built-in modeling software.

[0124] The motion control system 200 is disposed inside the sterile cabin 100 and connected to a microcomputer;

[0125] The bio-ink supply system 300 is disposed at the mobile end of the motion control system 200;

[0126] The print head 400 is disposed at the bio-ink output end of the bio-ink supply system 300;

[0127] The bio-ink supply system 300 includes a main frame 1, a plurality of storage units 2, a confluence pipe 3, a mixing unit 4, a connecting pipe 5, a material discharge control unit 6 and a driving unit 7;

[0128] The main frame 1 is arranged at the moving end position of the motion control system 200;

[0129] A plurality of storage parts 2 are arranged on the main frame 1, and a feed pipe 201 is arranged on each of the plurality of storage parts 2;

[0130] The merging pipe 3 is connected to multiple groups of feeding pipes 201;

[0131] The mixing unit 4 is connected to the confluence pipe 3 and is used to mix the mixed liquid transported by the confluence pipe 3;

[0132] The connecting tube 5 is disposed between the end of the mixing unit 4 and the printing nozzle 400;

[0133] The material discharge control unit 6 is arranged on the material discharge pipe 201;

[0134] The driving unit 7 is disposed on the main frame 1 and is used to provide power to the mixing unit 4 and the material discharge control unit 6 .

[0135] As a further embodiment of the present invention, the mixing unit 4 comprises:

[0136] The sleeve 401 is arranged between the confluence pipe 3 and the connection pipe 5;

[0137] The first shaft 402 is disposed inside the sleeve 401 and connected to the output end of the driving unit 7;

[0138] The spiral plate 403 is disposed on the first shaft 402 and located inside the sleeve 401 .

[0139] The sleeve 401 is provided with a thickened portion 404, and a stirring rod 405 is rotatably connected inside the thickened portion 404, and the stirring rod 405 is coaxial with the first shaft 402. The present invention makes a further improvement on the mixing unit 4, and a thickened portion 404 is provided on the sleeve 401. When the first shaft 402 and the spiral plate 403 drive the biological ink mixed liquid inside the sleeve 401 to advance and mix, it will pass through the thickened portion 404. Since the stirring rod 405 is coaxial with the first shaft 402, the stirring rod 405 and the first shaft 402 rotate synchronously, therefore, the stirring rod 405 stirs the mixed liquid for a second time, further improving the mixing quality of each component of the biological ink, thereby ensuring a good subsequent printing effect of biological materials.

[0140] The main frame 1 is provided with a connecting column 101, and a docking plate 102 is provided on the connecting column 101. The docking plate 102 supports and limits the connection pipe 5 and the print head 400 respectively. The main frame 1 is provided with a supporting column 103 for providing support and limitation for the sleeve 401.

[0141] The device is designed with a docking plate 102, so that the connecting tube 5 and the print head 400 are easy to install. At the same time, the print head 400 can be easily fixed on the docking plate 102 by bolts, so that the print head 400 is easy to disassemble and assemble, easy to maintain, and meets the use requirements. The design of the support column 103 allows the main frame 1 to provide reinforcement for the sleeve 401 to ensure that the sleeve 401 is stable in force.

[0142] The control device for 3D printing of biological materials is used in the following steps:

[0143] The first step is the preparation stage;

[0144] The components of the bio-ink are added to the storage part 2 respectively, and the temperature adjustment unit and the pH adjustment unit are adjusted to ensure the stability and activity of the components of the bio-ink.

[0145] Design the three-dimensional biological model in the modeling software of the microcomputer and generate printing instructions.

[0146] The second step is the printing stage;

[0147] The motion control system 200 and the bio-ink supply system 300 are started, and the motion control system 200 drives the print head 400 to move to the printing start position.

[0148] The bio-ink supply system 300 accurately controls the discharge amount of each bio-ink component through the discharge control unit 6 according to the printing instruction, mixes them in the confluence pipe 3, and then further mixes them evenly through the mixing unit 4 before being delivered to the printing nozzle 400.

[0149] After the print head 400 receives the biological ink, it stacks it layer by layer according to a predetermined three-dimensional model to form a three-dimensional biological structure.

[0150] The third step is the ending stage;

[0151] After printing is completed, the motion control system 200 and the bio-ink supply system 300 are turned off, and the print head 400 and the bio-ink supply system 300 are cleaned.

[0152] Bio-ink is the core material of 3D bioprinting, which is usually composed of hydrogel, cells and biomacromolecules;

[0153] Hydrogels provide cells with support and environment similar to natural tissues, promoting cell attachment and growth. Hydrogels can be natural materials or synthetic materials, such as alginate, collagen, gelatin, fibrin, etc., and synthetic materials such as polyethylene glycol diacrylate, etc. Natural hydrogels usually have good biocompatibility but poor mechanical properties; synthetic hydrogels may have better mechanical properties and adjustability.

[0154] Cells are the basis for building functional tissues, forming new tissues or organs through proliferation and differentiation. Depending on the printing requirements, bio-ink may contain multiple types of cells, such as stem cells, fibroblasts, hepatocytes, etc.

[0155] Biomacromolecules are used to simulate the microenvironment of human tissues and promote the normal growth and differentiation of cells. Biomacromolecules usually include growth factors, extracellular matrix components, such as collagen and hyaluronic acid. These components can provide cells with necessary nutrients and signal transduction pathways to support cell proliferation and differentiation.

[0156] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0157] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control device for 3D printing of biological materials, characterized in that: include: A sterile cabin (100) is arranged at a target location and supports the control device, wherein a microcomputer is provided on the sterile cabin (100) and the microcomputer has a built-in modeling software; A motion control system (200) is disposed inside the sterile cabin (100) and connected to a microcomputer; A biological ink supply system (300) is arranged at the moving end of the motion control system (200); A print head (400), arranged at a bio-ink output end of the bio-ink supply system (300); The biological ink supply system (300) comprises: A main frame (1) is arranged at the moving end of the motion control system (200); A plurality of storage parts (2) are arranged on the main frame (1), and each of the plurality of storage parts (2) is provided with a material discharge pipe (201); A merging pipe (3) connected to the plurality of groups of feed pipes (201); A mixing unit (4), connected to the confluence pipe (3) and used to mix the mixed liquid transported by the confluence pipe (3); A connecting tube (5) is arranged between the end of the mixing unit (4) and the printing nozzle (400); A material discharge control unit (6) is arranged on the material discharge pipe (201); A driving unit (7) is arranged on the main frame (1) and is used to provide power to the mixing unit (4) and the material discharge control unit (6).

2. A control device for 3D printing of biological materials according to claim 1, characterized in that: The mixing unit (4) comprises: A sleeve (401) is arranged between the merging pipe (3) and the connecting pipe (5); A first shaft (402) is disposed inside the sleeve (401) and connected to an output end of the drive unit (7); The spiral plate (403) is arranged on the first shaft (402) and is located inside the sleeve (401).

3. A control device for 3D printing of biological materials according to claim 2, characterized in that: The material feeding control unit (6) comprises: A valve body (601) is arranged on the feed pipe (201); A second shaft (602) is rotatably connected to the valve body (601) and connected to an output end of the drive unit (7); The material discharge guide wheel (603) is arranged on the second shaft (602) and is located inside the valve body (601).

4. A control device for 3D printing of biological materials according to claim 3, characterized in that: The driving unit (7) comprises: A motor body (701) is arranged on the main body frame (1); A third shaft (702) is arranged at the output end of the motor body (701); A plurality of groups of worm gears (703) are arranged on the third shaft (702); A worm wheel (704) is disposed on the second shaft (602) and meshes with the worm (703); A first pulley (705) is disposed on the third shaft (702); A second pulley (706) is disposed on the first shaft (402); The first transmission belt (707) is sleeved on the first pulley (705) and the second pulley (706).

5. A control device for 3D printing of biological materials according to claim 4, characterized in that: The driving unit (7) further comprises a speed regulating mechanism (71) for controlling the material unloading control unit (6), wherein the speed regulating mechanism (71) comprises: A fourth shaft (711) rotatably connected to the main frame (1); A first cone (712) is disposed on the fourth shaft (711); A second cone (713) is disposed on the second shaft (602); A second transmission belt (714) is sleeved on the first cone cylinder (712) and the second cone cylinder (713); The limiting frame (715) is arranged on the main frame (1) and sleeved on the outside of the second transmission belt (714).

6. A control device for 3D printing of biological materials according to claim 5, characterized in that: The main frame (1) is provided with an adjustment component (72) for adjusting the position of the limit frame (715), and the adjustment component (72) comprises: An electric push rod (721) is arranged on the main frame (1); The slider (722) is arranged at the output end of the electric push rod (721) and is slidably connected to the main frame (1).

7. A control device for 3D printing of biological materials according to claim 1, characterized in that: Independent temperature adjustment units and pH adjustment units are respectively arranged inside the plurality of groups of storage parts (2).

8. A control device for 3D printing of biological materials according to claim 1, characterized in that: The main frame (1) is provided with a connecting column (101), and the connecting column (101) is provided with a docking plate (102), and the docking plate (102) supports and limits the connection pipe (5) and the printing nozzle (400) respectively.

9. A control device for 3D printing of biological materials according to claim 2, characterized in that: The sleeve (401) is provided with a thickened portion (404), the inside of which is rotatably connected to a stirring rod (405), and the stirring rod (405) is coaxial with the first shaft (402).

10. A control device for 3D printing of biological materials according to claim 9, characterized in that: The main frame (1) is provided with a support column (103) for providing support and positioning for the sleeve (401).

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