CN112873838B - Biological ink printing condition screening platform and screening method - Google Patents
Biological ink printing condition screening platform and screening method Download PDFInfo
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- CN112873838B CN112873838B CN202110141828.9A CN202110141828A CN112873838B CN 112873838 B CN112873838 B CN 112873838B CN 202110141828 A CN202110141828 A CN 202110141828A CN 112873838 B CN112873838 B CN 112873838B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/205—Means for applying layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/236—Driving means for motion in a direction within the plane of a layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/245—Platforms or substrates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
Abstract
The invention relates to the technical field of printing, in particular to a biological ink printing condition screening platform which comprises a first moving platform horizontally moving along an X-axis direction, wherein a second moving platform moving along a Y-axis direction is arranged on the first moving platform, a printing head assembly is arranged on the second moving platform, the printing head assembly is connected with a plurality of injection devices for conveying biological ink through pipelines, a printing platform is arranged below the printing head assembly, and an acute angle is formed between the upper surface of the printing platform and the horizontal plane; the printing platform is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to be changed linearly; and the method also comprises image recognition for recognizing the shape and the width of the printed lines on the printing platform. The invention adopts the image recognition technology, and has the advantages of intellectualization, automation, reagent saving, equipment loss reduction, simple and quick operation and the like; the working efficiency of printing condition screening and biological ink ratio screening is improved.
Description
Technical Field
The invention relates to the technical field of printing, in particular to a biological ink printing condition screening platform and a screening method.
Background
For the screening of biological ink and printing conditions, a repeatability experiment is a commonly used screening strategy at present, such as a repeatability printing line, and printing parameters are adjusted by observing the repeatability through human eyes, although the strategy is feasible, the strategy has more obvious defects in practical experiments:
(1) the experimental operation is complicated: to the traditional approach of screening biological 3D printing parameter, find the best printing parameter through the repeatability experiment, every experiment all resets the parameter, and under the condition that has a plurality of printing parameters, the number of times of experiment can be the exponential type and increase, and operating procedure is complicated changeable, is unfavorable for biological printer's life, more is unfavorable for biological 3D printing parameter's screening.
(2) The experimental time is long: finding the optimal printing parameters for a particular bio-ink requires an average of over 400 experimental accumulations, finding only the parameters suitable for printing requires a significant amount of time, and even more time during mixed culture after incorporation of the cells to demonstrate the feasibility of the experimental protocol. In addition, the proportion of the bio-ink suitable for printing not only needs to adjust the proportion or concentration of the bio-ink itself, but also the parameters suitable for printing need further experiments, so that the 3D printing of the living beings can be subjected to a longer experimental period before clinical application.
(3) The experimental data lack continuity: when testing the printability of a bio-ink, the distance between the print head and the substrate platform is manually adjusted or by programming values in the code, although suitable ranges of printing parameters can be found, the values are discrete, not continuous, and occasionally.
From the above factors, there is a problem of low efficiency in screening biological 3D printing parameters. The Chinese patent application, publication number is: CN109251492A discloses bio-ink, a preparation method and an application thereof, which discloses a setting method of printing program settings of bio-ink: the injection speed of the injection device is adjusted to be 0.1-40 mu L/min, the vertical distance between the nozzle and the printing bottom plate is 0.05-2.5mm, the platform moving speed is 10-2000mm/s, and the voltage is stabilized at 0.5-5.0 kV. According to the technical scheme, a single printing parameter is set, the optimal printing condition cannot be screened, and the problem of low biological 3D printing parameter screening efficiency cannot be solved.
Disclosure of Invention
The invention aims to overcome the problem of low efficiency in the process of screening biological 3D printing parameters in the prior art, and provides a biological ink printing condition screening platform.
In order to solve the technical problems, the invention adopts the technical scheme that: a biological ink printing condition screening platform comprises a first moving platform which horizontally moves along the X-axis direction, a second moving platform which moves along the Y-axis direction is arranged on the first moving platform, a printing head assembly is arranged on the second moving platform, the printing head assembly is connected with a plurality of injection devices used for conveying biological ink through pipelines, a printing platform is arranged below the printing head, and the upper surface of the printing platform and the horizontal plane form an acute angle; the printing platform is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to be changed linearly; and the method also comprises image recognition for recognizing the shape and the width of the printed lines on the printing platform.
In this technical scheme, first moving platform drives the second moving platform and removes, and the second moving platform drives the printhead assembly and removes above print platform, because print platform's upper surface and level are the acute angle for print platform's upper surface is the slope setting, and at the printing in-process, the distance of beating between printhead assembly and print platform's the upper surface is linear variation. In addition, the printing platform is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to be changed linearly, and the temperature control part enables the temperature of the upper surface of the printing platform to be changed linearly; the optimal line width and shape on the printing platform can be identified through the image identification system, and the optimal printing temperature and distance under the joint influence of the temperature and the distance can be obtained according to the optimal line width and shape. By adjusting the proportion of the biological liquid injected by each injection device, the optimal proportion of the biological ink can be obtained according to the optimal line width and shape of the printing.
Preferably, the print head assembly comprises a housing and a print head mounted in the housing, the housing being fixedly connected to the second moving platform, the print head being in communication with the injection device via the conduit.
Preferably, the print head is provided with a helical channel at one end communicating with the conduit.
Preferably, the vertical distance between the print head and the upper surface of the printing platform is 0.05mm to 2.5 mm.
Preferably, the temperature control part is at least two circulating water channels, wherein one circulating water channel is used for cold water circulation, and the other circulating water channel is used for hot water circulation; the circulating water channel is arranged in the printing platform and is parallel to the X-axis or Y-axis direction.
Preferably, the upper surface temperature of the printing platform varies linearly along the Y-axis or X-axis direction in a range of 0 ℃ to 40 ℃.
Preferably, the first moving platform comprises a first guide groove arranged along the X-axis direction, a first sliding block arranged in the first guide groove and slidably connected with the first guide groove, and a mounting rack fixedly connected with the first sliding block; the first guide groove is internally provided with a first driving motor, an output shaft of the first driving motor is provided with a first threaded rod, and the first threaded rod is positioned in the first guide groove and is in threaded connection with the first sliding block.
Preferably, the second moving platform comprises second guide grooves mounted on the two mounting frames, and a second sliding block arranged in the second guide grooves and connected with the second guide grooves in a sliding manner; and a second driving motor is further arranged in the second guide groove, a second threaded rod is mounted on an output shaft of the second driving motor, the second threaded rod is positioned in the second guide groove and is in threaded connection with a second sliding block, and the second sliding block is connected with the printing head assembly.
Preferably, the image recognition system comprises a camera for photographing a line printed on the printing platform and a processor electrically connected to the camera.
The invention also provides a method for screening the printing condition of the biological ink, which comprises the steps of screening the printing condition and screening the proportion of the biological ink, wherein the screening of the printing condition comprises the following steps:
s101: setting the injection pressure of the injection device as a certain value, and controlling the proportion of injecting each bio-ink of each injection device as a certain value in the printing process;
s102: setting the motion speeds of the first moving platform and the second moving platform so that the printing head assembly moves at a fixed speed;
s103: identifying the width and the form of the line on the printing platform by using an image identification system to obtain the optimal line width and form, and obtaining the corresponding optimal printing distance and printing temperature according to the optimal line width and form;
s104: in the printing process, the movement speeds of the first moving platform and the second moving platform are adjusted in real time, so that the printing head assembly moves at a variable speed;
s105: identifying the width and the form of the line on the printing platform by using an image identification system, obtaining the optimal width and the form of the line under the condition that the printing head assembly moves at a variable speed, and obtaining the optimal moving speed of the printing head assembly according to the optimal width and the form of the line;
s106: adjusting the moving speed of the printing head assembly to the optimal moving speed according to the optimal moving speed of the printing head assembly obtained in the step S5, and simultaneously adjusting the injection pressure of the injection device in real time during the printing process;
s107: identifying the width and the shape of the line on the printing platform by using an image identification system, obtaining the optimal width and shape of the line under the condition that the injection pressure changes in real time, and obtaining the optimal injection pressure of the injection device according to the optimal width and shape of the line;
the biological ink proportion screening method comprises the following steps: and in the printing process, controlling each injection device to inject each biological ink component proportion into a variable value in the printing process, identifying the width and the form of the line on the printing platform by using an image identification system, obtaining the optimal line width and form under the condition that each biological ink component proportion is changed, and obtaining the optimal biological ink proportion according to the optimal line width and form.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, by arranging the printing platform, the distance between the upper surface of the printing platform and the printing head group is changed linearly; the printing platform is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to be changed linearly, and the temperature control part enables the temperature of the upper surface of the printing platform to be changed linearly; the optimal line width and shape on the printing platform can be identified through the image identification system, and the optimal printing temperature and distance under the joint influence of the temperature and the distance can be obtained according to the optimal line width and shape. By adjusting the proportion of the biological liquid injected by each injection device, the optimal proportion of the biological ink can be obtained according to the optimal line width and shape of the printing. According to the biological ink printing condition screening platform provided by the invention, the temperature of the printing platform and the distance between the printing platform and the printing head assembly are continuously changed, so that the repeatability times of experiments can be greatly reduced, under the condition that two or even multiple printing conditions are changed simultaneously, the width and the form of a printing line are identified through the image identification system, the printing conditions of each point can be obtained, the test times are reduced, and the optimal printing parameters of materials and the optimal proportion of biological ink can be obtained without hundreds of experiments. The invention adopts the image recognition technology, and has the advantages of intellectualization, automation, reagent saving, equipment loss reduction, simple and quick operation and the like; the working efficiency of printing condition screening and biological ink ratio screening is improved.
Drawings
FIG. 1 is a schematic structural diagram of a bio-ink printing condition screening platform according to the present invention;
fig. 2 is a schematic structural diagram of a printhead assembly in the bio-ink printing condition screening platform according to the present invention.
The graphic symbols are illustrated as follows: 1. a first mobile platform; 2. a second mobile platform; 3. a printhead assembly; 4. a pipeline; 5. an injection device; 6. a printing platform; 7. a circulating water channel; 8. lines; 31. a housing; 32. a print head; 11. a first guide groove; 12. a first slider; 13. a mounting frame; 14. a first drive motor; 15. a first threaded rod; 21. a second guide groove; 22. a second slider; 23. a second drive motor; 24. a second threaded rod; 9. mounting blocks; 10. and (7) storing the bin.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Example 1
As shown in fig. 1 to 2, a biological ink printing condition screening platform comprises a first moving platform 1 moving horizontally along an X-axis direction, a second moving platform 2 moving along a Y-axis direction is arranged on the first moving platform 1, a printing head assembly 3 is arranged on the second moving platform 2, the printing head assembly 3 is connected with a plurality of injection devices 5 for delivering biological ink through a pipeline 4, a printing platform 6 is arranged below the printing head assembly 3, and an acute angle is formed between the upper surface of the printing platform 6 and the horizontal plane; the printing platform 6 is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to be changed linearly; image recognition for identifying the form and width of the lines 8 on the printing platform 6 is also included. It should be noted that each injection device 5 delivers different components of bio-ink to the printhead assembly 3 through the conduit 4, and that delivery of bio-ink components of different ratios can be achieved by controlling each injection device 5. The injection means 5 may be an injection pump or an air compressor. Each bio-ink composition is stored in a storage bin 10, and the bio-ink composition in the storage bin 10 is delivered to the printhead assembly 3 through the conduit 4 by the injection device 5. When the bio-ink hydrogel is screened, two reagents, namely gelatin and sodium alginate, are used, only two pipelines 4 and two injection devices 5 are needed, and the number of the needed pipelines 4 can be selected according to different types of the needed reagents. In order to make the image recognition system have a better recognition effect on the lines 8, different fluorescent dyes can be added into the biological ink components respectively. In this embodiment, first moving platform 1 drives second moving platform 2 to move, and second moving platform 2 drives printhead assembly 3 and moves in print platform 6 top, because print platform 6's upper surface and level are the acute angle for print platform 6's upper surface is the slope setting, and at the printing in-process, the distance between printhead assembly 3 and print platform 6's upper surface is linear variation. In addition, the temperature control part enables the temperature of the upper surface of the printing platform 6 to change linearly; the optimal width and shape of the lines 8 on the printing platform 6 can be identified through the image identification system, and the optimal printing temperature and distance under the joint influence of the temperature and the distance can be obtained according to the optimal width and shape of the lines 8. By adjusting the ratio of the components of the bio-ink injected by each injection device 5, the optimum ratio of the bio-ink can be obtained according to the width and shape of the line 8 which is optimum for printing.
The print head assembly 3 includes a housing 31 and a print head 32 mounted in the housing 31, the housing 31 is fixedly connected to the second moving platform 2, and the print head 32 is communicated with the injection device 5 through a pipeline 4. In this embodiment, the second moving platform 2 moves the housing 31, so as to move the print head 32 above the printing platform 6. Since the print head 32 is connected to the injection device 5 via the conduit 4, each different injection device 5 can deliver different components of the bio-ink to the print head 32 via the conduit 4. It should be noted that the housing 31 is connected to the second mobile platform 2 via the mounting block 9.
In addition, the print head 32 is provided with a spiral passage at one end communicating with the duct 4. In this embodiment, the spiral channel prolongs the mixing time of each bio-ink component, so that each bio-ink component is mixed more uniformly, which is beneficial to the printing effect.
Wherein the vertical distance between the print head 32 and the upper surface of the printing platform 6 is 0.05mm to 2.5 mm.
In addition, the temperature control part is at least two circulating water channels 7, wherein one circulating water channel 7 is used for cold water circulation, and the other circulating water channel is used for hot water circulation; the circulation water passage 7 is provided in the printing table 6 and is parallel to the X-axis or Y-axis direction. In the present embodiment, when the two circulation water passages 7 are arranged in parallel to the X-axis direction, the temperature change of the upper surface of the printing platform 6 changes linearly in the Y-axis direction; when the two circulation water passages 7 are arranged in parallel to the Y-axis direction, the temperature change of the upper surface of the printing platform 6 linearly changes along the X-axis direction.
Wherein the linear variation range of the upper surface temperature of the printing platform 6 along the Y-axis or X-axis direction is 0 ℃ to 40 ℃. It should be noted that when cold water of 0 ℃ is supplied to one of the circulating water channels 7, and hot water of 40 ℃ is supplied to the other circulating water channel 7, the temperature variation range of the upper surface temperature of the printing platform 6 along the Y-axis or X-axis direction can be 0 ℃ to 40 ℃.
In addition, the first moving platform 1 comprises a first guide groove 11 arranged along the X-axis direction, a first slide block 12 arranged in the first guide groove 11 and connected with the first guide groove in a sliding manner, and an installation frame 13 fixedly connected with the first slide block 12; a first driving motor 14 is further arranged in the first guide groove 11, a first threaded rod 15 is mounted on an output shaft of the first driving motor 14, and the first threaded rod 15 is located in the first guide groove 11 and is in threaded connection with the first sliding block 12. In this embodiment, the first driving motor 14 drives the first threaded rod 15 to rotate, the first threaded rod 15 drives the first sliding block 12 to move in the first guide slot 11, and since the first sliding block 12 is fixedly connected with the mounting frame 13, the first sliding block 12 drives the mounting frame 13 to move along the X-axis direction.
The second moving platform 2 comprises a second guide groove 21 arranged on the two mounting frames 13 and a second sliding block 22 arranged in the second guide groove 21 and connected with the second guide groove in a sliding manner; a second driving motor 23 is further arranged in the second guide groove 21, a second threaded rod 24 is mounted on an output shaft of the second driving motor 23, the second threaded rod 24 is located in the second guide groove 21 and is in threaded connection with a second slider 22, and the second slider 22 is connected with the printing head assembly 3. In this embodiment, the second driving motor 23 drives the second threaded rod 24 to rotate, the second threaded rod 24 drives the second slider 22 to move in the second guiding slot 21, and since the second slider 22 is connected to the print head assembly 3, during the movement of the second slider 22, the second slider 22 drives the print head assembly 3 to move along the Y-axis direction.
In addition, the image recognition system includes a camera for photographing the line 8 on the printing platform 6 and a processor electrically connected to the camera. The camera photographs the printed lines 8, the background is removed after the photographed pictures are filtered, a processor is used for intercepting, partitioning and image recognition, a relation graph of the width and the shape of the lines 8 is formed, and the screening of the printing conditions can be realized through the coordinates corresponding to the points with the best printing effect.
The working principle is as follows: the deposit of line 8 of printing is on print platform 6, because the distance between print platform 6 upper surface and the printer head 32 is linear variation, and the temperature of print platform 6 upper surface also is linear variation, and print platform 6 realizes printing the simultaneous change of distance and temperature, and suitable printing parameter can be selected according to the width and the form of line 8 to the image recognition identification system. Similarly, the screening principle of each biological ink component proportion is that on the basis of screening printing conditions, fusion and extrusion of different biological ink component proportions are realized by using the spiral pipeline 4 connected with the printing head 32, then the biological ink component proportions are deposited on the printing platform 6, and the image recognition system can find the optimum screening result of the ink proportion and the printing parameters after setting the shape and the width of the lines 8.
In the bio-ink ratio and printing condition screening, the selection of the printing conditions mainly includes the extrusion pressure of the injection device 5, the moving speed of the printing head 32, the distance between the printing head 32 and the printing platform 6, and the temperature parameter of the printing platform 6. Extrusion pressure, speed of movement of the print head 32 and printing distance are the factors that most directly affect the width of the line 8. Insufficient extrusion pressure prevents the bio-ink from being extruded, and excessive extrusion pressure increases the deposition of the lines 8 per unit area, and the width of the lines 8 is significantly greater than the inner diameter of the print head 32. When the moving speed of the printing head 32 is high, the biological ink can be stretched, thinned and even broken; as the speed of movement of the print head 32 is slow, the bio-ink deposition increases over time and the width of the lines 8 also increases. The printing distance is the distance between the printing head 32 and the printing platform 6, when the distance is too large, the ink cannot be deposited on the printing platform 6 in the form of lines 8 after being extruded, and the ink can be in a dot or short line state; if the distance is too small, the ink deposited on the printing platform 6 does not have a cylindrical shape and the lines 8 do not have a three-dimensional appearance. The change of temperature also directly affects the deposition form of the lines 8, and when the temperature is too high, the water in the hydrogel can be volatilized, and the hydrogel is in a disappearing state on the printing platform 6.
Example 2
A biological ink printing condition screening method comprises printing condition screening and biological ink proportion screening, wherein the printing condition screening comprises the following steps:
s101: setting the injection pressure of the injection device 5 as a certain value, and controlling the proportion of each biological ink component injected by each injection device 5 in the printing process as a certain value;
s102: setting the movement speeds of the first moving platform 1 and the second moving platform 2 so that the printing head assembly 3 moves at a fixed speed;
s103: identifying the width and the form of the line 8 on the printing platform 6 by using an image identification system to obtain the optimal width and the form of the line 8, and obtaining the corresponding optimal printing distance and the printing temperature according to the optimal width and the form of the line 8;
s104: during the printing process, the movement speeds of the first moving platform 1 and the second moving platform 2 are adjusted in real time, so that the printing head assembly 3 moves at a variable speed;
s105: identifying the width and the shape of the line 8 on the printing platform 6 by using an image identification system, obtaining the optimal width and the shape of the line 8 under the condition that the printing head assembly 3 moves at a variable speed, and obtaining the optimal moving speed of the printing head assembly 3 according to the optimal width and the shape of the line 8;
s106: adjusting the moving speed of the print head assembly 3 to the optimal moving speed according to the optimal moving speed of the print head assembly 3 obtained in step S5, and simultaneously adjusting the injection pressure of the injection device 5 in real time during the printing process;
s107: identifying the width and the shape of the line 8 on the printing platform 6 by using an image identification system, obtaining the optimal width and the shape of the line 8 under the condition that the injection pressure changes in real time, and obtaining the optimal injection pressure of the injection device 5 according to the optimal width and the shape of the line 8;
the biological ink proportion screening comprises the following steps: during printing, each injection device 5 is controlled to inject each bio-ink component ratio into a variable value during printing, the width and the form of the line 8 on the printing platform 6 are recognized by an image recognition system, and when each bio-ink ratio is changed, the optimal width and form of the line 8 are obtained, and the optimal bio-ink ratio is obtained according to the optimal width and the form of the line 8.
It should be noted that the bio-ink ratio and the printing condition can be simultaneously screened by simultaneously changing the injection pressure for extruding the bio-ink, the moving speed of the print head 32, the distance between the print head 32 and the printing platform 6, the temperature of the printing platform 6 and the ratio of each bio-ink component.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a biological ink printing condition screening platform which characterized in that: the device comprises a first moving platform (1) which horizontally moves along the X-axis direction, wherein a second moving platform (2) which moves along the Y-axis direction is arranged on the first moving platform (1), a printing head assembly (3) is arranged on the second moving platform (2), the printing head assembly (3) is connected with a plurality of injection devices (5) used for conveying biological ink through pipelines (4), a printing platform (6) is arranged below the printing head assembly (3), and the upper surface of the printing platform (6) forms an acute angle with the horizontal plane; the printing platform (6) is also provided with a temperature control part which enables the temperature of the upper surface of the printing platform to change linearly; the printing system also comprises an image recognition system for recognizing the shape and the width of the printed lines (8) on the printing platform (6).
2. The bio-ink printing condition screening platform according to claim 1, wherein: the printing head assembly (3) comprises a shell (31) and a printing head (32) installed in the shell (31), the shell (31) is fixedly connected with the second moving platform (2), and the printing head (32) is communicated with the injection device (5) through the pipeline (4).
3. The bio-ink printing condition screening platform of claim 2, wherein: the printing head (32) is provided with a spiral channel at one end communicated with the pipeline (4).
4. The bio-ink printing condition screening platform of claim 2, wherein: the vertical distance between the printing head (32) and the upper surface of the printing platform (6) is 0.05mm to 2.5 mm.
5. The bio-ink printing condition screening platform according to claim 1, wherein: the temperature control part is provided with at least two circulating water channels (7), wherein one circulating water channel (7) is used for cold water circulation, and the other circulating water channel (7) is used for hot water circulation; the circulating water channel (7) is arranged in the printing platform (6) and is parallel to the X-axis or Y-axis direction.
6. The bio-ink printing condition screening platform of claim 5, wherein: the linear variation range of the temperature of the upper surface of the printing platform (6) along the Y-axis or X-axis direction is 0-40 ℃.
7. The bio-ink printing condition screening platform according to claim 1, wherein: the first moving platform (1) comprises a first guide groove (11) arranged along the X-axis direction, a first sliding block (12) arranged in the first guide groove (11) and connected with the first guide groove in a sliding manner, and a mounting frame (13) fixedly connected with the first sliding block (12); the first guide groove (11) is also internally provided with a first driving motor (14), an output shaft of the first driving motor (14) is provided with a first threaded rod (15), and the first threaded rod (15) is positioned in the first guide groove (11) and is in threaded connection with the first sliding block (12).
8. The bio-ink printing condition screening platform of claim 7, wherein: the second moving platform (2) comprises second guide grooves (21) arranged on the two mounting frames (13) and second sliding blocks (22) arranged in the second guide grooves (21) and connected with the second guide grooves in a sliding mode; a second driving motor (23) is further arranged in the second guide groove (21), a second threaded rod (24) is mounted on an output shaft of the second driving motor (23), the second threaded rod (24) is located in the second guide groove (21) and in threaded connection with the second sliding block (22), and the second sliding block (22) is connected with the printing head assembly (3).
9. The bio-ink printing condition screening platform according to any one of claims 1 to 8, wherein: the image recognition system comprises a camera for photographing a printed line (8) on a printing platform (6) and a processor electrically connected to the camera.
10. A screening method using the bio-ink printing condition screening platform according to any one of claims 1 to 9, comprising a printing condition screening step and a bio-ink ratio screening step, wherein the printing condition screening step comprises the following steps:
s101: setting the injection pressure of the injection device (5) as a certain value, and controlling the proportion of each biological ink component injected by each injection device (5) in the printing process as a certain value;
s102: setting the movement speeds of the first moving platform (1) and the second moving platform (2) to enable the printing head component (3) to move at a fixed speed;
s103: identifying the width and the form of the line (8) on the printing platform (6) by using an image identification system to obtain the optimal width and the form of the line (8), and obtaining the corresponding optimal printing distance and printing temperature according to the optimal width and the form of the line (8);
s104: in the printing process, the movement speeds of the first moving platform (1) and the second moving platform (2) are adjusted in real time, so that the printing head assembly (3) moves at a variable speed;
s105: identifying the width and the form of the line (8) on the printing platform (6) by using an image identification system, obtaining the optimal width and the form of the line (8) under the condition that the printing head assembly (3) moves at a variable speed, and obtaining the optimal moving speed of the printing head assembly (3) according to the optimal width and the form of the line (8);
s106: according to the optimal moving speed of the printing head assembly (3) obtained in the step S5, adjusting the moving speed of the printing head assembly (3) to the optimal moving speed, and simultaneously adjusting the injection pressure of the injection device (5) in real time in the printing process;
s107: identifying the width and the shape of the line (8) on the printing platform by using an image identification system, obtaining the optimal width and the shape of the line (8) under the condition that the injection pressure changes in real time, and obtaining the optimal injection pressure of the injection device (5) according to the optimal width and the shape of the line (8);
the biological ink proportion screening method comprises the following steps: in the printing process, each injection device (5) is controlled to inject each biological ink component proportion into a variable value in the printing process, the width and the form of the line (8) on the printing platform (6) are identified by an image identification system, the optimal width and the form of the line (8) are obtained under the condition that each biological ink component proportion is changed, and the optimal biological ink proportion is obtained according to the optimal width and the form of the line (8).
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