WO2020238133A1 - 3d printer and 3d printing method - Google Patents

Abstract

Disclosed are a 3D printer and a 3D printing method, relating to the technical field of 3D printing. The 3D printer of the present application comprises a chassis, an environment control module, a work station switching module, a print head moving module, a material conveying module, a temperature control module, and a master control module; a conveying print head, multiple work stations, and multiple printing vessels are provided in the chassis; the conveying print head is located above the work stations; the printing vessels are provided on the work stations; the conveying print head comprises a print head; the environment control module is provided in the chassis; the work station switching module is provided in the chassis and is configured to drive the printing vessels to be transferred between the work stations; the print head moving module is connected with the print head and is configured to drive the print head to be transferred between the work stations; the material conveying module is connected with the conveying print head and is configured to convey a material to the conveying print head; the temperature control module is provided on the material conveying module, the work stations, and the print head, and is configured to adjust temperature. Therefore, the present application can be applicable for mass production.

Description

3D printer and 3D printing method

Cross references to related applications

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office with the application number 201910444416.5 and titled "3D printer temperature control system and 3D printer" on May 24, 2019, and submitted to China on May 24, 2019 The patent office's application number is 201910444124.1, the priority of the Chinese patent application named "3D printer and 3D printing method", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the technical field of 3D printing, and specifically to a 3D printer and a 3D printing method.

Background technique

The existing 3D printing system is only suitable for single-piece mold sample printing. When mass production is required, after the sample is printed, it is necessary to manually remove the sample on the printing table, and then control the printer operation. Printing takes a certain amount of time, so in the mass production process, people need to regularly remove samples on the printing table, or through complex programming to make the 3D printing system move to other locations after the first sample is printed The second sample is printed, resulting in the following shortcomings of the existing 3D printing system, which is difficult to apply to mass production printing: (1) The operation is cumbersome, and manual assistance is required when printing samples in large quantities; (2) All samples are printed After completion, post-processing and other operations are performed uniformly, resulting in different samples waiting for post-processing after printing is completed, resulting in differences; (3) Different samples are printed at different locations, and there are subtle differences in environmental factors during printing.

Summary of the invention

This application provides a 3D printer, including a chassis, an environmental control module, a station switching module, a nozzle moving module, a material conveying module, a temperature control module, and a main control module. The chassis is provided with conveying nozzles, multiple stations, and multiple For printing vessels, the conveying nozzle is arranged above the workstation, and the printing vessels are arranged on the workstation. The conveying nozzle includes a printing nozzle; the environmental control module is arranged in the chassis and is electrically connected to the main control module. The environmental control module is configured to adjust the chassis The internal environmental conditions; the station switching module is arranged in the chassis and is electrically connected to the main control module. The station switching module is configured to drive the printing vessel and/or the station so that the printing vessel can be transferred between the various stations; The nozzle moving module is connected to the printing nozzle and electrically connected with the main control module. The nozzle moving module is configured to drive the printing nozzle to transfer between stations; the material conveying module is connected to the conveying nozzle and electrically connected to the main control module , The material conveying module is configured to convey materials to the conveying nozzle. The temperature control module is arranged on the material conveying module, the work station and the printing nozzle, and is electrically connected with the main control module, and the temperature control module is configured to adjust the temperature.

Optionally, the cabinet includes a body and a cover, and an opening is provided on the body, and the opening can be used as a channel for extracting and putting printing utensils from the cabinet. The cover is arranged on the body and is located at the opening. The environmental control module includes a temperature and humidity sensor, an ultraviolet light source, a ventilation device, and a cooling and humidifying device; the temperature and humidity sensor is arranged on the inner surface of the cover and is configured as a detection cabinet The temperature and humidity inside; the ultraviolet light source is arranged on the inner surface of the cover and is configured to provide ultraviolet light; the ventilation device includes a first fan and a filter device, and is arranged on the body, and the ventilation device is configured to purify the external air and pass in In the cabinet; the cooling and humidifying device is arranged on the inner surface of the cover and is configured to provide water vapor and gas.

Optionally, the cover is hingedly arranged on the body, and when the cover is closed on the body, the cover is configured to close the opening of the body, and a cavity is formed in the body for use. It is used as a working space for the production of printed objects. At this time, the case can still communicate with the outside air, and a transparent window is provided on the cover to observe the printing process; the environmental control module includes a position sensor, which is located on the cover or the body. The sensor is configured to detect the angle formed by the cover and the body. The main control module is configured to, when the included angle detected by the position sensor exceeds a set value, control the ventilating device to filter the air outside the chassis and continuously pass it into the work of the 3D printer In the space.

Optionally, the setting of the environmental control module keeps the inside of the chassis at a relatively uniform temperature, avoiding only partial temperature, especially the temperature of the contact part of the workstation and the product being produced, from being too low or too high, and avoiding the temperature of the bottom surface of the product from being too low Or it is too high and has a temperature difference in the vertical direction, so that the product layers maintain a certain uniformity, thereby avoiding the problem of insufficient gelation caused by insufficient temperature control of the upper layer of the product, so that the 3D printer Can produce higher height products. In addition, the setting of the environmental control module can also prevent the heat generated during the printing process from accumulating in the work space and affect the temperature control effect of other temperature control modules, and provide a stable working environment for printing through the temperature control of the environment to reduce differences Print product differences between batches.

Optionally, the ventilation device includes a first fan and a filter device. The arrangement of the first fan and the filter device purifies the air outside at room temperature (20-25°C) and then passes it into the chassis to achieve a certain cooling effect, so that the temperature of the working space of the 3D printer can be maintained.

Optionally, the plurality of stations include a storage station, a pretreatment station, a printing station, a post-processing station, a detection station, and an object storage station, which are sequentially arranged.

Optionally, each station is provided with at least one pit, and the station is made of a metal material with high thermal conductivity, so that the pit is in a low temperature environment with uniform temperature, forming a cold trap platform, so that A certain degree of uniformity is maintained between the various layers of the product, so that the 3D printer can produce higher-level products. Wherein, the metal material can be aluminum, silver or copper. The pit is a flat-bottomed blind hole that can be configured to place printed products.

Optionally, the apertures of the pits gradually decrease from top to bottom.

Optionally, a printing vessel configured to receive printed products and configured to isolate temperature is provided in the pit. The printing vessel can be a flat structure or a cup structure. The printing vessel isolates the contact between the product and the inner wall of the pit, and isolates the temperature conduction to avoid damage to the product structure.

Optionally, the object storage station includes a finished product seat, a defective product seat, and a plurality of first moving devices, and the plurality of first moving devices are respectively connected to the finished product seat and the inferior product seat and configured to move The finished product seat and the inferior product seat.

Optionally, the delivery nozzle further includes a pretreatment nozzle and a post-treatment nozzle, the printing nozzle is arranged above the printing station, the pretreatment nozzle is arranged above the pretreatment station, and the post-treatment nozzle is arranged Above the post-processing station, the printing station, pre-processing station and post-processing station can move away from the printing nozzle by the movement of the station, and below the pre-processing nozzle and post-processing nozzle.

The material conveying module includes two conveying components. The two conveying components are a printing material conveying component and a processing liquid conveying component. The printing material conveying component is connected with the printing nozzle and is configured to convey printing materials; the processing liquid conveying component and the printing nozzle, pretreatment The nozzles or post-processing nozzles are connected and configured to deliver the treatment liquid.

Optionally, a single conveying assembly includes a storage, a transmission tube, and a squeezing device, the storage is configured to store printing materials or processing liquid; the transmission tube is configured to connect the storage and the delivery nozzle together; the squeezing device is connected to the storage and is configured to The printing material or processing liquid in the storage is driven to flow and enter the transfer tube. In a single conveying assembly, at least one storage is provided. The storage temperature control unit is arranged at the memory.

Optionally, the memory includes a syringe tube and a piston push rod arranged in the syringe tube, the extrusion device includes a drive motor, a screw and a pushing table, the drive motor is arranged on the first tray, the screw is connected to the drive motor in transmission, and the pushing table It can be slidably connected to the screw and connected to the piston push rod, so that the squeezing device gives a pushing force to the piston push rod, so that the printing material or processing liquid in the syringe tube flows and enters the transfer tube.

Optionally, the single conveying assembly includes a force sensor, which is provided on the storage and configured to detect the force of the squeezing device on the storage. The force sensor transmits the measured force signal back to the main control module. The main control module can learn the force exerted by the squeezing device on the memory and judge whether the memory is installed correctly.

Optionally, the single conveying assembly further includes a guide rail, the guide rail is arranged on the chassis, and the first tray is slidably arranged on the chassis through the guide rail.

Optionally, the storage includes a liquid storage bag, the squeezing device includes a peristaltic pump arranged on the first tray, and the transfer tube is connected to the liquid storage bag after passing through the peristaltic pump. The processing liquid or printing material in the liquid storage bag can be pumped to the transfer tube by a peristaltic pump.

As mentioned above, the composition of a single conveying component includes at least five implementation forms, and the printing material conveying component and the processing liquid conveying component can be any one of them, so the composition of the printing material conveying component and the processing liquid conveying component can be the same , It can also be inconsistent.

Optionally, the temperature control module includes: a plurality of liquid-cooled temperature control units, which are respectively configured to control the temperature of the workstation, the printing nozzle, the printing material, or the processing liquid.

A refrigerating liquid circulating circuit, the refrigerating liquid circulating circuit comprising a refrigerating liquid pipe and a refrigerating liquid radiating device, the refrigerating liquid pipe connecting the refrigerating liquid radiating device and each of the liquid cooling temperature control units to form a refrigerating liquid circulating circuit.

The transmission temperature control unit is arranged on the material conveying module and is configured to perform temperature control on the material conveying module.

Optionally, the plurality of liquid cooling temperature control units include a station temperature control unit, a storage temperature control unit, a transmission temperature control unit, an extrusion temperature control unit, and a refrigerating liquid circulation circuit, and the station temperature control unit is located at the station The storage temperature control unit is arranged at the material conveying module and is configured to control the temperature of the printing material or the processing liquid; the transmission temperature control unit is arranged on the conveying tube and is configured to The temperature of the transmission tube is controlled; the extrusion temperature control unit is arranged at the printing nozzle and is configured to control the temperature of the printing nozzle.

A single liquid-cooled temperature control unit includes a temperature control component; the temperature control component includes: a heat absorption end, a heat dissipation end and a temperature control part. The heat absorption end is set on the print nozzle, material conveying module or workstation, and is connected with the print nozzle and material conveying Module or station contact; the cooling end is provided with a channel for the refrigerant liquid to pass through, and a liquid inlet and a liquid outlet communicating with the channel. The liquid inlet and the liquid outlet are both connected with the refrigerant pipe; the temperature control part is set on the suction Between the hot end and the heat sink.

The component combination method and temperature control principle of each liquid-cooled temperature control unit are the same, which not only facilitates the layout and disassembly of the liquid-cooled temperature control unit, but also facilitates the main control module to control the temperature of each liquid-cooled temperature control unit and the temperature adjustment scheme The design is convenient for fine control.

Among them, the heat-absorbing end and the heat-dissipating end are both made of a metal material with high thermal conductivity (such as brass). When the temperature sensor detects that the temperature of the temperature-controlled component is higher than the set temperature, the heat-absorbing end directly contacts the temperature-controlled component, absorbs the heat of the temperature-controlled component, and then transfers the heat from the heat-absorbing end to the heat sink through the temperature control element At the same time, the cooling liquid pipe sends the refrigerant into the channel from the liquid inlet. The cooling end transfers the heat to the cooling liquid in the channel, and then the cooling liquid that absorbs heat leaves the channel from the liquid outlet, and the cooling end Restore the initial temperature and repeat it to achieve the cooling effect; when the temperature sensor detects that the temperature of the component to be controlled is lower than the set temperature, the main control module provides a reverse current to the temperature control component to transfer the heat from the heat sink to the heat sink End, thereby increasing the temperature of the component to be controlled, and playing a heating role. The temperature control part may be a heat pump.

Optionally, the single liquid-cooled temperature control unit further includes a heat-insulating outer layer, and the heat-insulating outer layer is provided on the outside of the temperature control component, and wraps or partially wraps the temperature control component to form heat insulation.

The arrangement of the outer thermal insulation layer can reduce the heat exchange between the temperature control component and the outside, so that it can achieve the thermal insulation effect. Wherein, the heat insulation outer layer is made of a material with low thermal conductivity, and the material with low thermal conductivity may be plastic or ABS resin.

Optionally, the cooling liquid heat dissipation device includes a cooling liquid storage tank, a heat exchanger, and a cooling liquid pump; the cooling liquid storage tank is arranged in the cabinet and is configured to store the cooling liquid; the heat exchanger and the The refrigerant liquid storage tank is connected and is configured to cool the refrigerant liquid; the cold liquid pump is arranged between the refrigerant liquid storage tank and the heat exchanger, and is configured to store the refrigerant liquid in the refrigerant liquid storage tank. The refrigerating liquid is sent to each of the liquid-cooled temperature control units and heat exchangers through the refrigerating liquid pipe. Among them, the cooling fluid can be water or antifreeze cooling fluid.

Optionally, a plurality of pairs of fifth liquid inlets and fifth liquid outlets corresponding to the fifth liquid inlet are provided on the refrigerant liquid storage tank, and the fifth liquid inlet and the fifth liquid outlet are both connected to the refrigerant liquid pipe Connected. Among them, the logarithm of the fifth liquid inlet and the fifth liquid outlet corresponds to the number of cold liquid pumps. The refrigerant circulation circuit and the circulation direction can be adjusted as needed, and each additional cold liquid pump adds a fifth liquid inlet and a fifth liquid outlet, which can be increased by increasing the number of cold liquid pumps Independent refrigerating liquid cycle to ensure that each corresponding liquid-cooled temperature control unit obtains sufficient refrigeration effect of refrigerating liquid with suitable temperature.

Optionally, the heat exchanger includes a second fan and a sixth liquid inlet and a sixth liquid outlet provided on the second fan.

Optionally, two fifth liquid inlets and two fifth liquid outlets respectively corresponding to the two fifth liquid inlets are provided on the refrigerant liquid storage tank. Correspondingly, there are two cold liquid pumps, which are arranged under the same refrigerant liquid storage tank, and respectively control two independent refrigerant liquid circulation circuits.

Optionally, the refrigerant liquid circulation circuit includes two: First, the refrigerant liquid in the refrigerant liquid storage tank flows out through the fifth liquid outlet under the action of the cold liquid pump, and enters the heat exchanger to the sixth liquid inlet, and then The sixth liquid outlet flows out, flows to the feed thermostat, then flows to the liquid supply thermostat, then flows to the station temperature control unit, and finally flows back to the refrigerant storage tank through the fifth liquid inlet, forming A refrigerant circuit; secondly, the refrigerant in the refrigerant storage tank flows out through the fifth liquid outlet under the action of the cold liquid pump to the extrusion temperature control unit, and finally flows back to the refrigerant storage through the fifth liquid inlet Inside the box, a refrigerant liquid circulation loop is formed.

This setting can not only improve the cooling effect of the extrusion temperature control unit, that is, the print nozzle, which is beneficial to improve product quality and production speed, but also reduce the need for feeding temperature controller, liquid supply temperature controller and station temperature control unit The cost of temperature control is conducive to reducing costs and reducing pipeline complexity.

Optionally, the station temperature control unit includes a forming station temperature controller and an object temperature controller, and the forming station temperature controller is located at the storage station, pretreatment station, printing station, post-processing station and inspection station. Location; the object thermostat is located at the object storage station.

The station temperature control unit includes a molding station temperature controller and an object temperature controller, so that the present application can respectively perform precise temperature control on the object during the molding process and the finished object.

Optionally, the at least one liquid cooling temperature control unit is a station temperature control unit, wherein the plurality of stations includes a printing station, and the station temperature control unit is provided at the bottom of the printing station.

The delivery nozzle can deliver the printing material to the printing station to form a 3D printed product. Therefore, the station temperature control unit is set at the bottom of the printing station, and the high thermal conductivity of the pit makes the product under the influence of the low temperature surrounding the printing station, which is beneficial to the molding of the product, and maintains the stability of the product structure and the layers of the product. Uniformity between.

Optionally, the multiple stations include post-processing stations, and the station temperature control unit is arranged at the bottom of the printing station and the post-processing station.

The delivery nozzle can deliver the post-treatment liquid to the post-treatment station, so as to post-process the product. Therefore, setting the station temperature control unit at the bottom of the printing station and the post-processing station not only causes the product to be affected by the low temperature during the printing process, but also enables the product to be affected by the low temperature during the post-processing process, which is beneficial to improve Quality of products.

Optionally, the plurality of stations includes a pretreatment station, and the station temperature control unit is provided at the bottom of the pretreatment station, the printing station, and the post-treatment station.

The delivery nozzle can deliver the pretreatment liquid to the pretreatment station to pretreat the product. Therefore, the station temperature control unit is set at the bottom of the pretreatment station, printing station and post-treatment station, which not only makes the product affected by low temperature in the printing process and post-treatment process, but also makes the product also in the pretreatment process. It can be affected by low temperature, which is beneficial to improve the quality of products.

Optionally, the multiple stations include a storage station, a pretreatment station, a printing station, a post-processing station, a detection station, and an object storage station. The station temperature control unit is arranged at the bottom of the above-mentioned multiple stations.

The storage station, the pretreatment station, the printing station, the post-processing station, the inspection station and the object storage station are located on the same straight line and are set in sequence. Then the 3D printer can first store a number of printing vessels configured to place products in the storage station, and extract the printing vessels one by one, and then put a printing vessel into the pretreatment station for pretreatment work, and then put the printing vessel The printing station performs printing processing to form a product, then puts the printing vessel into the post-processing station for post-processing work, and then puts the printing vessel into the inspection station for inspection work; finally puts the printed vessel into the article storage Work station for archiving work. Among them, the classification of finished products and defective products can be carried out in the filing work.

The station temperature control unit is arranged at the bottom of the above-mentioned multiple stations, which can control the temperature of the entire 3D printed product production process, which is beneficial to improve the quality of the product.

Optionally, the station temperature control unit is an integral structure, and is located at the bottom of the pretreatment station, printing station, post-processing station, inspection station and object storage station, or at the storage station, pretreatment station The bottom of the station, printing station, post-processing station, inspection station and object storage station.

Optionally, the station temperature control unit may be divided into a plurality of independent station temperature control components, which are respectively and independently arranged at the bottom of each station or the bottom of any several stations in the plurality of stations.

Optionally, the storage temperature control unit includes a supply temperature controller and a liquid supply temperature controller: the supply temperature controller is provided at the printing material conveying assembly and is configured to control the temperature of the printing material; the liquid supply temperature controller is provided It is located at the processing liquid conveying component and is configured to control the temperature of the processing liquid.

The storage temperature control unit includes a material supply temperature controller and a liquid supply temperature controller, so that the present application can accurately control the temperature of the printing material and the processing liquid to prevent the printing material or the processing liquid from sedimentation and deterioration during storage .

Optionally, the conveying temperature control unit is arranged on a material conveying pipe connected to the first storage.

The conveying temperature control unit is arranged on the material conveying pipe connected to the first storage, and the temperature of the printing material in the conveying pipe can be controlled in a targeted manner, so that the printing material, such as gelatin hydrogel, is in a sol state during transportation. Transportation instead of the traditional gel state, so as to facilitate transportation, so as to realize the long-distance transportation of gelatin hydrogel and other materials in small pipes, and keep the components uniform during transportation.

Optionally, the at least one liquid cooling temperature control unit is an extrusion temperature control unit, and the extrusion temperature control unit is provided at the printing nozzle and configured to cool the printing nozzle.

The extrusion temperature control unit is set so that when the printing material in the heated transfer tube, such as gelatin hydrogel material, is in the fast sol state, the printing material is transported to the printing nozzle and then cooled to make it gel. It can not only avoid the surface defects of the hydrogel material in the extrusion process caused by the direct extrusion of the gel state hydrogel material, the uneven composition, the uneven diameter of the extruded wire and the problem of easy breakage, but also improve The quality of the output filaments during printing makes the diameter of the filaments more uniform, reduces the risk of filament breaks, thereby improving the accuracy of the printed product; and can separate the first memory from the print nozzle, and there is no need to set the conveying component on the print nozzle. Streamline the structure and design of the print nozzle to facilitate the precise movement of the print nozzle and improve the accuracy of the printed product.

In one embodiment, the temperature control module includes a plurality of temperature sensors, and the plurality of temperature sensors are arranged at the station temperature control unit, the transmission temperature control unit, the storage temperature control unit and the extrusion temperature control unit, and are configured to detect temperature and feedback To the main control module, the setting of the temperature sensor makes each temperature control unit have the functions of temperature detection and information feedback.

This application uses temperature sensors to detect the temperature of multiple components in the chassis, and feeds back temperature information, and then uses the main control module to control the temperature adjustment scheme and exchange information with the temperature sensor, and the main control module can control all components in this application The components of the temperature adjustment function are controlled to adjust the working state and power and other parameters to achieve accurate and comprehensive temperature control.

Optionally, the nozzle movement module includes a printing platform, an XY-direction movement system and a Z-direction movement system. The printing platform is set in the chassis and on one side of the printing station; the XY-direction movement system is connected to the printing nozzle and is set to print The platform is configured to move the print nozzle in the X direction or the Y direction; the Z direction movement system is connected to the printing platform and is configured to move the printing platform in the Z direction; wherein the X direction, the Y direction and the Z direction are perpendicular to each other.

Optionally, the nozzle moving module further includes a dust cover, which is connected to the printing platform and can move with the print nozzle, and is configured to block the print nozzle, thereby preventing the overflow of pollutants and preventing contamination of the printing area. Among them, the dust cover can be a flexible organ-type dust cover, or a protective cover composed of three discs with holes.

Optionally, the XY-direction motion system includes an X-direction guide rail and a Y-direction guide rail, a pulley set, a first belt, a fifth drive motor, and a sixth drive motor. The pulley set includes multiple pulleys, which are arranged on the printing platform and can go around itself Rotation in the axis direction; the first belt is arranged on the pulley block and connected with the print head; the Y-direction guide rail is arranged on the printing platform along the Y direction; the X-direction guide rail is arranged on the printing platform along the X direction, and the X-direction guide rail is slidably arranged on On the Y-direction guide rail; the print head can be slidably arranged on the X-direction guide rail; the fifth drive motor is connected to a pulley in the pulley block, and is configured to drive the print head to move in the X direction and the Y direction; the sixth drive motor and the pulley block A pulley transmission connection is configured to drive the print head to move in the X direction and the Y direction.

Among them, the pulleys in the pulley set are configured to stretch and adjust the direction of the first belt, and the number of pulleys in the pulley set can be increased or deleted as required.

Therefore, the working principle of the XY direction motion system is the working principle of CoreXY, so that the operation of the fifth drive motor and the sixth drive motor can be converted into the movement of the print head in the X direction and the Y direction.

Among them, the XY-direction motion system can be a device made using the working principle of CoreXY, or a three-axis orthogonal module (XYZ three-axis motion platform), a parallel robot (DELTA Parallel Mechanism) or a planar joint robot. Principle of the device.

Optionally, the Z-direction motion system includes a Z-direction drive motor and a Z-direction screw: the Z-direction screw is in transmission connection with the Z-direction drive motor, and the printing platform is movably set on the Z-direction screw.

Optionally, the printing nozzle includes a printing needle, a first base and a housing. The first base is arranged on the X-direction guide rail and connected to the belt; the housing is arranged on the first base and covers the printing needle.

Optionally, the housing includes a needle housing and a spray head housing. The needle housing is arranged outside the printing needle and connected to two transmission tubes. The two transmission tubes are a transmission tube of the processing liquid delivery assembly and the printing material delivery assembly. A transmission tube.

Optionally, the printing needle includes an outer needle and an inner needle. Both the outer needle and the inner needle have a cavity, and the inner needle is inserted in the cavity of the outer needle.

Optionally, at least one inner needle is provided, and the inner needle has a needle head which is arranged in the cavity of the outer needle or is arranged outside the cavity of the outer needle through the outer needle.

Therefore, the number, length and arrangement of the inner needles can be changed to realize the mixing, covering, and alternating operations of multiple materials in the 3D printing process to enrich the achievable 3D printing structures.

Optionally, a needle cleaning cylinder is provided in the housing, and the needle cleaning cylinder is arranged in the housing and located at one side of the printing station, wherein the printing nozzle is driven by the nozzle moving module, Move to the needle cleaning barrel accordingly. That is, the needle cleaning cylinder is located within the movement range of the print nozzle. The needle cleaning cylinder can be configured to receive waste from the print nozzle and to calibrate the position of the print nozzle.

Optionally, the station switching module includes a second base, a clamping member and a second moving device. The second base is arranged on the chassis and located on one side of the station; the clamping member is movably arranged on the second base , Configured to clamp the printing vessel; the second moving device is connected with the clamping member and configured to move the clamping member and/or the station.

Optionally, the gripping member includes a second pallet, a first fork, and a second fork. The second pallet is movably arranged on the second base, and the second pallet is provided with a sliding groove; the first fork and the second fork The two pallets are fixedly connected. The first fork is provided with a plurality of first through holes configured to clamp the printing vessel; the second fork is slidably arranged in the sliding groove, and the second fork is provided with a structure Clamp the second through hole of the printing vessel. Wherein, the second pallet is provided with a first magnetic member, the second fork is provided with a second magnetic member matching the first magnetic member; and the second base is provided with a third magnetic member , A fourth magnetic piece matched with the third magnetic piece is provided on the second tray.

Optionally, the multiple stations are installed on a fixed plate, and the fixed plate is movably arranged in the chassis. The second moving device includes a transverse movement component, a longitudinal movement component, and a lifting component. The transverse movement component is in transmission connection with the second fork and is configured to drive the second fork to move in the X direction; the longitudinal movement The assembly is drivingly connected to the fixed plate and is configured to drive the fixed plate to move in the Y direction; the lifting assembly is drivingly connected to the second tray and is configured to drive the second tray to move in the Z direction.

This application also provides a 3D printing method, using the above 3D printer, including the following steps:

The main control module obtains data such as the number and shape of the object to be printed;

The main control module controls the movement of the printing nozzle through the nozzle movement module and extrudes corresponding printing materials;

The main control module is installed in the material conveying module through the temperature control module to adjust the temperature of each component;

A plurality of printing vessels are placed at one of the stations, and the main control module controls the station switching module to sequentially take out the printing vessels, and causes the printing vessels to enter each of the stations sequentially, and Perform preprocessing, printing, post-processing, detection and filing operations on the printing vessel to complete printing. It can realize mass production of printed objects in an assembly line.

Optionally, before the printing starts, the following steps are further included. The main control module controls the printing nozzle to move to the needle cleaning cylinder through the nozzle moving module, and performs cleaning and position calibration of the printing nozzle.

This application also provides a 3D printing method, using the above 3D printer, including the following steps:

When the printing vessel is located at the inspection station, the inspection station inspects quality information and records the quality information obtained by the inspection;

The main control module judges whether the object in the printing vessel is defective at this time:

If yes, the first moving device moves the defective product seat to a place where the inspection station is docked, and the station switching module sequentially moves the printing vessel to the defective product seat;

If not, the first moving device moves the finished product seat to a place where the inspection station is docked, and the station switching module sequentially moves the printing vessel to the finished product seat.

Optionally, when the station switching module sequentially moves the printing vessel to the inferior product seat, it further includes the following steps. Through the joint operation of the first moving device and the station switching module, the printing The utensil is moved to the corresponding storage position in the defective seat.

Optionally, when the station switching module sequentially moves the printing vessel to the finished product seat, the following steps are further included, and through the joint operation of the first moving device and the station switching module, The printing vessel is moved to the corresponding storage position in the defective product seat.

Among them, the finished product seat or the defective product seat contains a position for storing multiple printing vessels (in the form of mounting holes). The second fork is moved by the station switching module in the y-axis direction, and the finished product is moved by the first moving device in the x-axis direction. To complete the precise positioning of the printing vessel placement position.

This application also provides a 3D printing method, using the above 3D printer, including the following steps:

The main control module judges whether the object in the defective seat needs to be repaired and printed according to the recorded inspection quality information:

If yes, take out the printing vessels one by one and send them to the printing station for repair printing;

If not, the objects in the defective seat are not repaired and printed.

The beneficial effects of the embodiments of the present application include: the 3D printer can transfer the printing utensils to realize the assembly line production of printed objects, and sequentially perform operations such as extracting the printing utensils, pre-processing, printing, post-processing, inspection, and filing, so that it can be applied to Mass production. The assembly line production of this 3D printer also avoids the time difference between the same batch of different products in the traditional batch printing process after the printing is completed and the unified post-processing, so that the printing process of each sample is more similar, and the difference between different products is reduced. difference. In addition, the design of this 3D printer allows each product to be printed in the same printing station, and the environment where each product is printed is the same, which reduces the difference between different products, and this application increases the temperature The control module can achieve the effect of precise temperature control.

Description of the drawings

FIG. 1 is a schematic diagram of the structure of the 3D printer provided by this embodiment;

2 is a schematic diagram of the structure of the 3D printer provided by this embodiment;

FIG. 3a is a schematic diagram of the structure of the 3D printer provided by this embodiment;

Figure 3b is a rear view of the 3D printer provided by this embodiment;

Figure 4 is a top view of the 3D printer provided by this embodiment;

Figure 5 is a schematic structural diagram of the object storage station provided by this embodiment;

FIG. 6 is a schematic structural diagram of the temperature control module provided by this embodiment;

Figure 7 is one of the structural schematic diagrams of a single liquid-cooled temperature control unit provided by this embodiment;

Figure 8 is the second structural diagram of a single liquid-cooled temperature control unit provided by this embodiment;

FIG. 9a is a schematic diagram of the structure of the station temperature control unit and the station provided by this embodiment;

Figure 9b is a cross-sectional view of the station temperature control unit and the station provided by this embodiment;

Figure 10a is a cross-sectional view of the extrusion temperature control unit provided by this embodiment;

Figure 10b is a schematic structural diagram of a second thermal insulation outer layer provided by this embodiment;

10c is a cross-sectional view of the extrusion temperature control unit and the printing needle provided by this embodiment;

Figure 10d is a schematic structural diagram of an extrusion temperature control unit provided by this embodiment;

FIG. 11a is a top view of the first memory provided by this embodiment;

Figure 11b is a cross-sectional view of the liquid supply temperature controller and the first storage provided by this embodiment;

Figure 11c is a bottom view of the liquid supply temperature controller provided by this embodiment;

FIG. 12a is a top view of the second memory provided by this embodiment;

Figure 12b is a cross-sectional view of the feeding temperature controller and the second storage provided by this embodiment;

Figure 12c is a bottom view of the feeding temperature controller provided by this embodiment;

Figure 13a is a schematic structural diagram of a liquid-cooled temperature control unit and a refrigerating liquid circulation circuit provided by this embodiment;

Figure 13b is a schematic diagram of the structure of the refrigerant storage tank and the refrigerant pump provided by this embodiment;

Figure 13c is a schematic structural diagram of the heat exchanger provided by this embodiment;

Figure 14a is a schematic structural view of the conveying assembly provided by this embodiment;

Figure 14b is a schematic structural diagram of the conveying assembly provided by this embodiment;

Figure 14c is a schematic structural diagram of the conveying assembly provided by this embodiment;

Figure 14d is a schematic structural diagram of the conveying assembly provided by this embodiment;

Figure 15a is a top view of the processing liquid delivery assembly provided by this embodiment;

Figure 15b is a bottom view of the processing liquid delivery assembly provided by this embodiment;

Figure 15c is a cross-sectional view of the processing liquid delivery assembly provided by this embodiment;

Figure 16a is a top view of the printing material conveying assembly provided by this embodiment;

Figure 16b is a bottom view of the printing material conveying assembly provided by this embodiment;

Figure 16c is a cross-sectional view of the printing material conveying assembly provided by this embodiment;

Figure 16d is a cross-sectional view of the printing material conveying assembly provided by this embodiment;

Figure 17a is a cross-sectional view of the station and forming station thermostat provided by this embodiment;

Figure 17b is a cross-sectional view of the station and forming station thermostat provided by this embodiment;

Figure 17c is a cross-sectional view of the tank and printing vessel provided by this embodiment;

Figure 18a is a bottom view of the nozzle moving module provided by this embodiment;

Figure 18b is a schematic structural diagram of the nozzle moving module provided by this embodiment;

Figure 19a is a schematic structural diagram of a print nozzle provided by this embodiment;

Figure 19b is an exploded schematic diagram of the print nozzle provided by this embodiment;

Figure 20a is a cross-sectional view of the printing needle provided by this embodiment;

Figure 20b is a cross-sectional view of the printing needle provided by this embodiment;

Figure 20c is a cross-sectional view of the printing needle provided by this embodiment;

Figure 20d is a cross-sectional view of the printing needle provided by this embodiment;

Figure 20e is a cross-sectional view of the printing needle provided by this embodiment;

Figure 21a is a schematic structural diagram of a station switching module provided by this embodiment;

Figure 21b is a top view of the clamping piece provided by this embodiment;

Figure 21c is a schematic structural diagram of the first fork provided by this embodiment;

Figure 21d is a right side view of the station switching module provided by this embodiment;

Figure 21e is a left view of the station switching module provided by this embodiment;

Figure 21f is a top view of the station switching module provided by this embodiment;

Figure 22a is a front view of the 3D printer provided by this embodiment;

FIG. 22b is a schematic diagram of the structure of the 3D printer provided by this embodiment.

Icon: 100-3D printer; 1-chassis; 11-body; 111-opening; 12-cover; 121-transparent window; 13-needle cleaning cylinder; 14-working space; 15-power socket; 2-delivery nozzle; 21 -Pretreatment nozzle; 211-First ultraviolet light source; 212-Pretreatment liquid removal tube; 22-Post-treatment nozzle; 221-Second ultraviolet light source; 222-Post-treatment liquid removal tube; 23-Print nozzle; 231- Print needle; 2311-outer needle; 23111-cavity; 23112-protrusion; 23113-groove; 2312-inner needle; 23121-needle; 2312a-first inner needle; 2312b-second inner needle; 232-first Base; 233-housing; 2331-needle housing; 2332-sprinkler housing; 24-light curing module; 3-station; 30-printing vessel; 31-storage station; 311-storage cylinder; 312- buckle; 313- Fifth tray; 314-spring; 315-fourth drive motor; 316-third screw; 317-slider; 318-slot barrel; 3181-slot barrel cover; 32-pretreatment station; 321-first sensor; 33-printing station; 34-post-processing station; 35-inspection station; 36-object storage station; 361-finished product seat; 362-defective product seat; 363-first moving device;3631-third drive motor 3632-third pulley; 3633-third belt; 364-mounting plate; 3641-mounting hole; 37-pit; 4-environmental control module; 41-temperature and humidity sensor; 42-ultraviolet light source; 43-ventilation device; 431-first fan; 432-filter device; 44-cooling and humidifying device; 45-position sensor; 5-station switching module; 51-second base; 511-third magnetic part; 52-clamping part; 521- First fork; 5211-first through hole; 5212-cut corner; 5213-pushing fork; 522-second fork; 5221-second through hole; 5222-second magnetic member; 5223-third pole; 523-second tray; 5231-first pole; 5232-second pole; 5233-sliding groove; 5234-first magnetic member; 5235-fourth magnetic member; 53-second moving device; 531-transverse Components; 5311-transverse motor; 5312-transverse pulley; 5313-transverse belt; 532-longitudinal component; 5321-fixed plate; 533-lifting component; 6-printer moving module; 61-printing platform; 62-XY Directional motion system; 621-X direction guide rail; 622-Y direction guide rail; 623-pulley group; 624-first belt; 626-fifth drive motor; 6261-fifth belt; 6262-fifth pulley; 627-sixth drive Motor; 6271-second belt; 6272-second pulley; 63-Z direction motion system; 631-Z direction screw; 632-Z direction drive motor; 633-dust cover; 7 -Material conveying module; 70-conveying component; 701-storage; 7011-syringe tube; 7012-piston push rod; 7013-liquid bag; 702-transmission tube; 703-extrusion device; 7031-drive motor; 7032 Screw; 7033-pushing table; 7034-peristaltic pump; 704-rail; 705-first tray; 706-force sensor; 71-treatment liquid delivery assembly; 711-first storage; 7111-first syringe tube; 7112 First piston push rod; 7113-first storage bag; 7114-first bottom plate; 713-first squeezing device; 7131-first drive motor; 7132-first screw; 7131-first push table; 7134- The first peristaltic pump; 714-first rail; 715-third tray; 716-first force sensor; 72-printing material delivery assembly; 721-second storage; 7211-second syringe tube; 7212-second piston Push rod; 7213-Second liquid storage bag; 7214-Second bottom plate; 723-Second extrusion device; 7231-Second drive motor; 7232-Second screw; 7233-Second push table; 7236-Second peristalsis Pump; 725-fourth tray; 726-second force sensor; 7234-fourth pulley; 7235-fourth belt; 8-temperature control module; 80-liquid cooling temperature control unit; 81-station temperature control unit; 801 -Temperature control components; 8011-heat-absorbing end; 8012-heating end; 8013-temperature control part; 8014-liquid inlet; 8015-liquid outlet; 8016-channel; 802-insulation outer layer; 803-first temperature 8031-first heat-absorbing end; 8032-first heat sink; 8033-first temperature control element; 8034-first liquid inlet; 8035-first liquid outlet; 8036-first channel; 804- The first thermal insulation outer layer; 811-molding station thermostat; 812-object thermostat; 82-storage temperature control unit; 821-feeding thermostat; 822-third temperature control component; 8221-third Heat-absorbing end; 8222-third heat sink; 8223-third temperature control part; 8224-third liquid inlet; 8225-third liquid outlet; 8226-third channel; 823-liquid supply thermostat; 824 -The fourth temperature control component; 8241-fourth heat sink; 8242-fourth heat sink; 8243-fourth temperature control element; 8244-fourth liquid inlet; 8245-fourth liquid outlet; 8246-fourth Channel; 83-transmission temperature control unit; 84-extrusion temperature control unit; 841-second temperature control component; 8411-second heat absorption end; 8412-second heat dissipation end; 8413-second temperature control element; 8414 Second liquid inlet; 8415-second liquid outlet; 8416-second channel; 842-second insulating outer layer; 8421-first through hole; 8422-second through hole; 8423-third through hole; 8424-fourth through hole; 85-temperature sensor; 861-refrigerating liquid pipe; 862-refrigerating liquid heat dissipation Device; 863-refrigerating liquid storage tank; 8631-fifth liquid inlet; 8632-fifth liquid outlet; 864-heat exchanger; 8641-second fan; 8642-sixth liquid inlet; 8643-sixth outlet Liquid port; 865-cold pump; 9-main control module; 91-human-computer interaction interface; 911-touch screen; 912-button; 913-rocker; 914-emergency stop switch; 92-industrial computer; 93- Switch; 94-micro control unit; 95-detection unit.

Detailed ways

The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

Please refer to FIG. 1, which is a schematic structural diagram of a 3D printer 100 provided in this embodiment. The 3D printer 100 may include a chassis 1, an environment control module 4, a station switching module 5, a nozzle moving module 6, a material conveying module 7, a temperature control module 8 and a main control module 9. The main control module 9 is electrically connected to the environmental control module 4, the station switching module 5, the nozzle moving module 6, the material conveying module 7 and the temperature control module 8 respectively.

The main control module 9 can be arranged on the chassis 1 or can be arranged outside the chassis 1 as an independent control cabinet.

The main control module 9 includes a human-computer interaction interface 91, an industrial computer 92, a switch 93, a microcontroller unit 94 (MCU), and a detection unit 95.

Optionally, the human-computer interaction interface 91 can be a computer input and output device such as a display screen, touch screen, buttons, knobs, switches, and joysticks. The human-computer interaction interface 91 is configured to input instructions and read information, thereby realizing human-computer interaction , Information exchange.

The industrial computer 92 can transmit the command and other information conveyed by the human-computer interaction interface 91 to the switch 93. Optionally, it can be transmitted to a cloud device via public network communication or transmitted to a mobile terminal device or personal computer via wireless local area network communication.

Optionally, the detection unit 95 may be a high-definition camera, optical coherence tomography (optical coherence tomography, OCT), or infrared detection and other detection components. For example, the depth imaging capability of the detection component may be used to obtain information about the object printed by the 3D printer 100 For a three-dimensional image, the detection unit 95 is configured to detect whether the object meets the standard.

The switch 93 integrates and judges the information transmitted by the industrial computer 92, the detection information fed back by the detection unit 95, and the feedback information from the environmental control module 4, the station switching module 5, the nozzle moving module 6, the material conveying module 7 and the temperature control module 8. , And then output instructions, through the micro-control unit 94, control the environmental control module 4, the station switching module 5, the nozzle moving module 6, the material conveying module 7 and the temperature control module 8, or feedback information through the human-computer interaction interface 91, or directly It is transmitted to other electronic devices through the industrial computer 92 for data storage or backup.

Optionally, the industrial control computer 92, the switch 93 and the micro control unit 94 can establish a connection through local area network communication. Optionally, the information exchange of the switch 93 adopts a unified protocol, and a new functional module communication interface can be connected to the switch 93 to expand the new functional module and be compatible with the original system.

Optionally, the micro-control unit 94 may be a single-chip microcomputer or other control chip with functions such as data storage, analysis, calculation, and transmission. The micro-control unit 94 can control the motors in the nozzle moving module 6 through a three-axis motion controller, and the three-axis motion controller feeds back the current motion state and real-time position of the nozzle moving module 6. The micro-control unit 94 can control the motors of the station switching module 5 and the material conveying module 7 through the auxiliary motion controller, or can control the environmental control module 4 through the auxiliary motion controller; the micro-control unit 94 can control the temperature control module through the temperature controller 8, and accept the temperature information feedback from the temperature control module 8.

Please refer to FIG. 2, which is a schematic structural diagram of the 3D printer 100 of this embodiment. The 3D printer 100 includes a chassis 1. The chassis 1 is provided with a conveying nozzle 2, a plurality of stations 3, and a plurality of printing vessels 30. The conveying nozzle 2 is arranged above the station 3, and the printing vessel 30 is arranged on the station 3. The nozzle 2 includes a printing nozzle 23. The environmental control module 4 is arranged in the chassis 1 and is electrically connected to the main control module 9. The environmental control module 4 is configured to adjust the environmental conditions in the chassis 1. The station switching module 5 is arranged in the chassis 1 and is electrically connected to the main control module 9. The station switching module 5 is configured to drive the printing vessel 30 and/or the station 3, so that the printing vessel 30 is between each station 3 Make the transfer. The nozzle moving module 6 is connected to the printing nozzle 23 and electrically connected to the main control module 9. The nozzle moving module 6 is configured to drive the printing nozzle 23 to transfer between the respective stations 3. The material conveying module 7 is connected to the conveying nozzle 2 and electrically connected to the main control module 9. The material conveying module 7 is configured to convey materials to the conveying nozzle 2. The temperature control module 8 (please refer to FIG. 1) is arranged on the material conveying module 7, the station 3 and the printing nozzle 23, and is electrically connected to the main control module 9. The temperature control module 8 is configured to adjust the temperature.

The case 1 includes a body 11 and a cover 12. The body 11 is provided with an opening 111. The cover 12 is provided on the body 11 and located at the opening 111. The opening 111 can be used as a passage for the printing vessel 30 to be taken out and put into the cabinet 1.

Optionally, the cover 12 and the body 11 are hingedly arranged, and when the cover 12 is closed on the body 11, the cover 12 is configured to close the opening 111 of the body 11. At this time, the chassis 1 can still communicate with the outside air.

When the cover 12 is closed on the body 11, the case has a cavity that is used as a working space 14 for producing printed objects. Optionally, a transparent window 121 is provided on the cover 12 to observe the printing process.

Optionally, the man-machine interaction interface 91 is provided on the outer surface of the chassis 1, and the man-machine interaction interface 91 includes a touch display screen 911, buttons 912, a rocker 913 and an emergency stop switch 914. The emergency stop switch 914 is configured to cut off the power of the 3D printer 100 to protect the 3D printer 100 in an emergency.

The case 1 can be a rectangular parallelepiped structure, and the height direction of the case 1 is used as the Z axis to establish a coordinate system. The width direction of the case 1 is the X axis, the length direction of the case 1 is the Y axis, and the bottom surface of the case 1 is the X-Y reference plane.

Please refer to FIG. 3a, which is a schematic structural diagram of the 3D printer 100 provided in this embodiment. The environmental control module 4 includes a temperature and humidity sensor 41, an ultraviolet light source 42, a ventilation device 43 and a cooling and humidifying device 44. The temperature and humidity sensor 41 is provided on the inner surface of the cover 12, and the temperature and humidity sensor 41 is configured to detect the temperature and humidity in the cabinet 1. The ultraviolet light source 42 is disposed on the inner surface of the cover 12, and the ultraviolet light source 42 is configured to provide ultraviolet light. The ventilation device 43 is provided on the body 11, and the ventilation device 43 is configured to provide air. The cooling and humidifying device 44 is provided on the inner surface of the cover 12, and the cooling and humidifying device 44 is configured to provide water vapor and gas. The position sensor 45 is provided on the inner surface of the cover 12, and the position sensor 45 is configured to detect the angle formed by the cover 12 and the body 11.

When the position sensor 45 detects the angle formed between the cover 12 and the body 11, that is, when the opening angle exceeds the value set in the main control module 9, the ventilation device 43 filters the air outside the chassis 1 to form a void. Bacterial clean air is continuously passed into the working space 14 of the 3D printer 100 to maintain the aseptic environment of the working space 14 of the 3D printer 100 and cool down. The temperature and humidity sensor 41 is configured to detect the temperature and humidity in the chassis 1 and feed it back to the main control module 9 so that the environment control module 4 keeps the working space 14 of the 3D printer 100 in a constant temperature, constant humidity and sterile state.

The cooling and humidifying device 44, according to the instruction of the main control module 9, when the temperature of the working space 14 in the chassis 1 is too high, slowly pass in filtered external air to reduce the temperature, and the humidity of the working space 14 in the chassis 1 is too low At this time, aseptic water vapor is released to increase the humidity of the working space 14 in the case 1, so as to slow down the dehydration and solidification of the printed object.

The ultraviolet light source 42 includes a high-band ultraviolet light source 42 and a low-band ultraviolet light source 42. The high-band ultraviolet light source 42 can emit ultraviolet light with a wavelength of 200-275 nm to directly sterilize the directly irradiated part; the low-band ultraviolet light source 42 can emit Ultraviolet light with a wavelength of 320-420nm uses ionized air to generate ozone in the working space 14 of the 3D printer 100, thereby sterilizing the area that cannot receive direct ultraviolet radiation. After the sterilization is completed, the ventilating device 43 can remove residual ozone when passing the filtered sterile air into the working space 14 of the 3D printer 100.

Optionally, the micro-control unit 94 (see FIG. 1) of the main control module 9 can collect the information detected by the position sensor 45 and the temperature and humidity sensor 41 through an auxiliary signal collector, and perform analysis and processing.

Please refer to FIG. 3b. FIG. 3b is a rear view of the 3D printer 100 provided in this embodiment. The ventilation device 43 includes a first fan 431 and a filter device 432 and is arranged on the body 11. The first fan 431 can suck air outside the chassis 1 through the filter device 432 and lead to the working space 14 of the 3D printer 100. Optionally, the filtering device 432 may be a filtering net structure.

The arrangement of the first fan and the filter device purifies the air outside at room temperature (20-25°C) and then passes it into the chassis to achieve a certain cooling effect, so that the temperature of the working space of the 3D printer can be maintained. A power socket 15 is provided on the back of the body 11, and the power socket 15 is configured to provide power. The environmental control module 4, the station switching module 5, the nozzle moving module 6, the material conveying module 7, the temperature control module 8 and the main control module 9 can be electrically connected through a data line.

Please refer to FIG. 4. FIG. 4 is a top view of the 3D printer 100 provided in this embodiment. Optionally, the plurality of stations 3 include a storage station 31, a pre-processing station 32, a printing station 33, a post-processing station 34, a detection station 35, and an object storage station 36 arranged in sequence, and the straight line Y direction distribution.

Optionally, the delivery nozzle 2 includes a pretreatment nozzle 21, a post-treatment nozzle 22, and a printing nozzle 23. The pre-processing nozzle 21 is arranged above the pre-processing station 32; the post-processing nozzle 22 is arranged above the post-processing station 34; the printing nozzle 23 is arranged above the printing station 33. Among them, the top includes directly above and diagonally above. Since the pre-processing station 32, post-processing station 34 and printing station 33 can be moved under the action of the station switching module 5, the pre-processing station 32, post-processing station 34 and printing station 33 will move and leave respectively Directly below the pre-processing nozzle 21, the post-processing nozzle 22 and the printing nozzle 23, relatively speaking, the pre-processing station 32, the post-processing station 34 and the printing station 33 will move to the pre-processing nozzle 21 and the post-processing nozzle 22 respectively. And diagonally below the print head 23.

The material conveying module 7 includes two conveying components 70, and the two conveying components 70 are a printing material conveying component 72 and a processing liquid conveying component 71 respectively. The printing material conveying component 72 is connected to the printing nozzle 23, and the printing material conveying component 72 is configured to convey the printing material; the processing liquid conveying component 71 is connected to the printing nozzle 23, the pre-processing nozzle 21 or the post-processing nozzle 22, and the processing liquid conveying component 71 is configured to Transport treatment liquid.

Optionally, the 3D printer 100 can transfer the printing vessel 30 to realize the assembly line production of printed objects, and sequentially perform operations such as extracting the printing vessel 30, pre-processing, printing, post-processing, testing, and filing.

The main control module 9 can be arranged on the right side of the case 1, and the environmental control module 4, the nozzle moving module 6 and the station switching module 5 are arranged on the left side of the case 1, and are sequentially distributed along the X direction shown in FIG. The processing liquid delivery assembly 71 may be arranged on the right side of the main control module 9, the printing material delivery assembly 72 may be arranged on the left side of the main control module 9, and the right side of the nozzle moving module 6. Optionally, the pretreatment liquid may be a liquid material used for pretreatment, such as a cleaning liquid, a surface activation liquid, and the like. The post-treatment liquid may be a liquid material used for post-treatment such as a cross-linking liquid or a solvent used to dissolve the sacrificial material.

Optionally, the detection station 35 includes detection elements such as a camera, optical coherence tomography, or infrared detection. The detection element is set at the detection station 35 to detect the printed object and feed the information back to the main control module 9. Optionally, an identification code such as an object code is provided on the printing vessel 30, and the detection station 35 can scan, identify and record the identification code.

Optionally, the detection station 35 is provided with a pit 37 that matches the printing vessel 30 (please refer to FIG. 17a), and the detection element can be set on the inner surface of the pit 37 of the detection station 35, or set in the concave Above the pit 37.

The object storage station 36 includes a finished product seat 361 and a defective product seat 362. Optionally, in the process of moving the printing vessel 30 from the inspection station 35 to the object storage station 36, classification of printed objects can be performed to distinguish between finished products and defective products.

A needle cleaning cylinder 13 is provided in the case 1 and is located on one side of the printing station 33. The printing nozzle 23 is driven by the nozzle moving module 6 to move to the needle cleaning cylinder 13 accordingly. That is, the needle cleaning cylinder 13 is located within the moving range of the printing nozzle 23.

Before printing starts, the printing nozzle 23 can be moved to the needle cleaning cylinder 13 under the action of the nozzle moving module 6, and a piece of printing material can be extruded and discarded, so that the printing material left in the printing nozzle 23 can be removed to improve the printed objects. the quality of. Therefore, the needle cleaning cylinder 13 can be set as the origin of the coordinate system, that is, the origin of the workstation. The needle cleaning cylinder 13 is configured to calibrate the position of the printing nozzle 23 to improve the production accuracy of the printed object.

Optionally, a heating element such as an electric heater may be provided in the needle cleaning barrel 13 so that the temperature of the print nozzle 23 is not too low, which may cause the problem of unclean waste removal. Optionally, an optical sensor and other measuring elements may be provided in the needle cleaning cylinder 13 to judge the position of the print nozzle 23 and feed it back to the main control module 9.

The micro control unit 94 of the main control module 9 can position and calibrate the needle tip of the print nozzle 23 through a calibration sensor, wherein the calibration sensor can transmit the position information of the needle tip of the print nozzle 23 to the micro control unit 94. Optionally, the calibration sensor is provided in the needle cleaning cylinder 13.

Please refer to FIG. 5, which is a schematic structural diagram of the object storage station 36 provided by this embodiment. Optionally, the object storage station 36 may further include a plurality of first moving devices 363, which are respectively connected to the finished product seat 361 and the defective product seat 362, and the first moving device 363 is configured to move the finished product seat 361 And the defective seat 362.

The first moving device 363 may include a third driving motor 3631, two third pulleys 3632, and a third belt 3633. The third driving motor 3631, the two third pulleys 3632, and the third belt 3633 are drivingly connected to form a belt transmission. Optionally, the third driving motor 3631 may be a servo motor or a stepping motor.

When the inspection station 35 detects that the printed object is a finished product, the main control module 9 can control the first moving device 363 connected to the finished product seat 361 to move the finished product seat 361 so that the finished product seat 361 moves in the X direction and approaches the inspection station 35. It is convenient to move the printed object; the main control module 9 can control the first moving device 363 connected to the defective seat 362 to move the defective seat 362 so that the defective seat 362 moves in the X direction and away from the detection station 35, avoiding the finished seat 361 . When the detection station 35 detects that the printed object is a defective product, the finished product seat 361 and the defective product seat 362 move in opposite directions.

Optionally, there are multiple finished seats 361 and defective seats 362, and the number of first moving devices 363 is equal to the sum of the number of finished seats 361 and defective seats 362.

The finished product seat 361 and the defective product seat 362 are detachably provided with a mounting plate 364, a plurality of mounting holes 3641 are provided on the mounting plate 364, and the mounting plate 364 is configured to hold the printing vessel 30. Optionally, the mounting plate 364 may be an organ chip, a 6-well cell culture plate, a 12-well cell culture plate, a 24-well cell culture plate, a 48-well cell culture plate, or a 96-well cell culture plate. The setting of the mounting plate 364 facilitates the movement of multiple printing vessels 30 at a time.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of the temperature control module 8 provided by this embodiment. The temperature control module 8 may include a plurality of liquid cooling temperature control units 80, a refrigerant circulation circuit, and a transmission temperature control unit 83.

The plurality of liquid-cooled temperature control units 80 include a station temperature control unit 81, a storage temperature control unit 82 and an extrusion temperature control unit 84. The station temperature control unit 81 is arranged at the bottom of the station 3 and is configured to control the temperature of the station 3. The storage temperature control unit 82 is provided at the material conveying module 7 (see FIG. 4), and is configured to control the temperature of the printing material or the processing liquid. The extrusion temperature control unit 84 is provided at the printing nozzle 23 and is configured to control the temperature of the printing nozzle 23.

The refrigerant liquid circulation circuit is configured to cooperate with a plurality of liquid-cooled temperature control units 80 for temperature control.

The transmission temperature control unit 83 is provided on the transmission pipe 702 and is configured to control the temperature of the transmission pipe 702. Optionally, the transmission temperature control unit 83 includes a refrigerating fin structure sheathed outside the transmission tube 702, and the refrigerating fin structure can be configured to be cooled by the positive current, or configured to heat by the reverse current. The cooling fin structure can cover the entire transfer tube 702 or only a section or one end of the transfer tube 702.

Please refer to FIG. 7, which is a schematic structural diagram of a single liquid-cooled temperature control unit 80 provided in this embodiment. A single liquid-cooled temperature control unit 80 includes a temperature control component 801; the temperature control component 801 includes a heat absorption end 8011, a heat dissipation end 8012, and a temperature control element 8013. The heat absorption end 8011 is located at the print nozzle 23, the material conveying module 7 or the station 3. And contact with the print nozzle 23, the material conveying module 7 or the station 3; the cooling end 8012 is provided with a channel 8016 for the passage of refrigerant, and a liquid inlet 8014 and a liquid outlet 8015 communicating with the channel 8016, the liquid inlet 8014 and the liquid outlet 8015 are both connected with the refrigerant liquid pipe 861; the temperature control member 8013 is arranged between the heat absorption end 8011 and the heat dissipation end 8012.

The component combination method and temperature control principle of each temperature control module are the same, which not only facilitates the layout and disassembly of the temperature control module, but also facilitates the temperature control of each temperature control module by the main control module and the design of the temperature adjustment scheme, which is convenient for refinement control.

Both the heat-absorbing end 8011 and the heat-dissipating end 8012 are made of a metal material (such as brass) with high thermal conductivity. When the temperature sensor 85 detects that the temperature of the temperature-controlled component is higher than the set temperature, the heat-absorbing end 8011 directly contacts the temperature-controlled component, absorbs the heat of the temperature-controlled component, and then transfers the heat-absorbing end 8011 through the temperature control element 8013 The heat transferred to the radiating end 8012 causes the temperature of the radiating end 8012 to rise, and at the same time, the refrigerant pipe 861 sends the refrigerant through the liquid inlet 8014 into the passage 8016, and the radiator 8012 transfers the heat to the refrigerant in the passage 8016, and then absorbs The heat of the refrigerant leaves the channel 8016 from the liquid outlet 8015, and the heat dissipation end 8012 restores the initial temperature, and the process is repeated to achieve the cooling effect. When the temperature sensor 85 detects that the temperature of the component to be controlled is lower than the set temperature, the main control module 9 provides a reverse current to the temperature control element 8013 to transfer the heat from the heat dissipation end 8012 to the heat absorption end 8011, thereby increasing the The temperature of the temperature control component plays a heating role. The temperature control element 8013 may be a heat pump.

Please refer to FIG. 8, which is a schematic structural diagram of the liquid-cooled temperature control unit 80 provided in this embodiment. Optionally, the single liquid-cooled temperature control unit 80 further includes a heat-insulating outer layer 802. The heat-insulating outer layer 802 is provided on the outside of the temperature control component 801 to cover or partially cover the temperature control component 801. The heat-insulating outer layer 802 is constructed Insulation.

The arrangement of the outer thermal insulation layer can reduce the heat exchange between the temperature control component and the outside, so that it can achieve the thermal insulation effect. Wherein, the heat insulation outer layer is made of a material with low thermal conductivity, and the material with low thermal conductivity may be plastic or ABS resin.

Optionally, the temperature control module 8 may also include a plurality of temperature sensors 85, and the plurality of temperature sensors 85 may be respectively provided in the station temperature control unit 81, the storage temperature control unit 82, the transmission temperature control unit 83 and the extrusion temperature control unit At 84, the temperature sensor 85 is configured to detect temperature and feed it back to the main control module 9. Therefore, the setting of the temperature sensor 85 enables each temperature control unit to have the functions of temperature detection and information feedback.

The station temperature control unit 81 includes a forming station temperature controller 811 and an object temperature controller 812. The forming station temperature controller 811 is provided at the storage station 31, the pretreatment station 32, the printing station 33, and the post-processing station. 34 and 35 inspection stations; the object thermostat 812 is installed at 36 object storage stations (please refer to Figure 4).

The forming station temperature controller 811 can control the temperature of station 3 during the printing and forming process to improve the quality of the printed object. The object temperature controller 812 can control the temperature of the object storage station 36 after the printing and molding is completed, so as to extend the storage time of the object and avoid changes.

Please refer to FIG. 9a, which is a schematic diagram of the structure of the station temperature control unit and the station provided by this embodiment. Optionally, each station 3 is provided with at least one pit 37, and the station 3 is made of a metal material with high thermal conductivity. In this way, a low temperature environment with uniform temperature is formed in the pit 37 to form a cold trap platform, so that a certain degree of uniformity between the layers of the product is maintained, so that the 3D printer can produce higher-level products. The metal material can be aluminum, silver or copper. The pit 37 is a blind hole with a flat bottom, which can be configured to place a printed product.

Please refer to FIG. 9b, which is a cross-sectional view of the station temperature control unit and the station provided by this embodiment. Optionally, the aperture of the pit 37 decreases sequentially from top to bottom. The pit 37 is configured to accommodate a printing vessel 30 configured to receive a printed product and configured to isolate temperature. The printing vessel 30 may have a flat structure or a cup structure. The printing vessel 30 isolates the contact between the product and the inner wall of the pit, and isolates the temperature conduction to avoid damage to the product structure.

The station temperature control unit 81 includes a first temperature control component 803 and a first thermal insulation outer layer 804. The first temperature control component 803 includes a first heat absorption end 8031, a first temperature control member 8033, and a The first heat dissipation end 8032 and the first heat absorption end 8031 are located at the bottom of the printing station 33 and the post-processing station 34. The first heat dissipation end 8032 is provided with a first channel 8036, and the first channel 8036 is provided with a first channel 8036. The liquid inlet 8034 and the first liquid outlet 8035.

Optionally, the first heat insulation outer layer 804 is sheathed outside the station 3 and sheathed outside the first heat absorption end 8031 and the first temperature control member 8033.

Optionally, one of the temperature sensors 85 is provided at the bottom of the station 3 and located directly below the pit 37.

Among them, the station temperature control unit 81 may be an integral structure, which is located at the bottom of the printing station 33 and the post-processing station 34, or at the bottom of the pre-processing station 32, printing station 33, and post-processing station 34 , Or at the bottom of the pre-processing station 32, printing station 33, post-processing station 34, inspection station 35, and object storage station 36, or at the bottom of the storage station 31, pre-processing station 32, printing station The bottom of the position 33, the post-processing station 34, the inspection station 35 and the object storage station 36.

The station temperature control unit 81 can also be divided into a plurality of independent station 3 temperature control components 801, which are respectively and independently arranged at the bottom of each station 3 or the bottom of any of the plurality of stations 3.

Please refer to FIG. 10a, which is a cross-sectional view of the extrusion temperature control unit provided by this embodiment. Optionally, the extrusion temperature control unit 84 includes a second temperature control component 841 and a second heat insulation outer layer 842, and the second temperature control component 841 includes a second heat absorption end 8411 and a second control device arranged sequentially from the inside to the outside. The temperature element 8413 and the second heat dissipation end 8412. The second heat absorption end 8411 is cylindrical and has a first through hole 8421 for the printing needle 231 to pass through. The second temperature control element 8413 is cylindrical and is sleeved on the second Outside the heat-absorbing end 8411, the second heat-dissipating end 8412 has a cylindrical shape and is sleeved outside the second temperature control element 8413. A second channel 8416 is provided in the second heat dissipation end 8412, and a second liquid inlet 8414 and a second liquid outlet 8415 are provided on the second channel 8416.

Optionally, one of the temperature sensors 85 is provided on the inner surface of the first through hole 8421. The second heat insulation outer layer 842 is sleeved outside the second temperature control component 841.

Please refer to FIG. 10b. FIG. 10b is a schematic structural diagram of the second heat insulation outer layer provided by this embodiment. The second insulating outer layer 842 is provided with a second through hole 8422 through which the printing needle 231 passes, a third through hole 8423 through which the second liquid inlet 8414 passes, and a second through hole 8415 through which the second liquid outlet 8415 passes. Four through holes 8424.

The axis of the third through hole 8423 and the axis of the fourth through hole 8424 are arranged in parallel, and the axis of the third through hole 8423 and the axis of the second through hole 8422 are arranged perpendicularly. The cross section of the second insulating outer layer 842 has a "T" shape. The outer surface of the second insulating outer layer 842 is arc-shaped.

Please refer to FIG. 10c, which is a cross-sectional view of the extrusion temperature control unit and the printing needle provided in this embodiment. The printing needle 231 sequentially passes through the second through hole 8422 and the first through hole 8421 to form a fixation with the extrusion temperature control unit 84.

Please refer to FIG. 10d. FIG. 10d is a structural diagram of the extrusion temperature control unit and the printing needle provided in this embodiment. The second liquid inlet 8414 passes through the third through hole 8423, and the second liquid outlet 8415 passes through the fourth through hole 8424, so that the second heat insulation outer layer 842 is sleeved outside the second temperature control component 841.

The storage temperature control unit 82 includes a material supply temperature controller 821 and a liquid supply temperature controller 823: the material supply temperature controller 821 is located at the printing material conveying assembly 72 (refer to FIG. 4) and is configured to control the temperature of the printing material ; The liquid supply temperature controller 823 is provided at the processing liquid delivery assembly 71 (see FIG. 4) and is configured to control the temperature of the processing liquid.

Please refer to FIG. 11a, which is a top view of the first memory provided by this embodiment. Optionally, the first storage 711 is connected to the printing needle 231, the pre-processing nozzle 21 or the post-processing nozzle 22 through the transmission tube 702, and the first storage 711 is configured to store the treatment liquid and transport the treatment liquid to the printing needle 231 and the pretreatment worker. Bit 32 or post-processing station 34. The first storage 711 includes a first bottom plate 7114 and a first syringe tube 7111 provided on the first bottom plate 7114. There are two first syringe tubes 7111, one first syringe tube 7111 is connected to the post-treatment spray head 22 through the transfer tube 702, and the other first syringe tube 7111 is connected to the pretreatment spray head 21 through the transfer tube 702.

Please refer to FIG. 11b. FIG. 11b is a cross-sectional view of the liquid supply temperature controller and the first storage provided by this embodiment. Optionally, the fourth temperature control component 824 includes a fourth heat absorption end 8241, a fourth temperature control element 8243, and a fourth heat dissipation end 8242 that are sequentially arranged from top to bottom, and a fourth channel is provided in the fourth heat dissipation end 8242 8246, the fourth channel 8246 is provided with a fourth liquid inlet 8244 and a fourth liquid outlet 8245.

The first bottom plate 7114 is provided with a first mounting hole, and the fourth temperature control component 824 is inserted into the first mounting hole, and the fourth heat-absorbing end 8241 is in direct contact with the first syringe tube 7111.

Optionally, one of the temperature sensors 85 is provided between the fourth heat absorbing end 8241 and the first syringe tube 7111.

Please refer to FIG. 11c, which is a bottom view of the liquid supply temperature controller provided in this embodiment. The fourth liquid inlet 8244 and the fourth liquid outlet 8245 are both provided on the bottom surface of the fourth heat dissipation end 8242.

Referring to FIG. 12a, the second memory 721 is a top view of the second memory 721 provided in this embodiment. Optionally, the second storage 721 is connected to the printing needle 231 through the transmission tube 702, and the second storage 721 is configured to store printing materials and transport the printing materials to the printing station 33. The second storage 721 includes a second bottom plate 7214 and a second syringe tube 7211 arranged on the second bottom plate 7214. There are two second syringe tubes 7211, and both are connected to the printing needle 231 through the transmission tube 702.

Optionally, one of the temperature sensors 85 is provided at the connection between the second syringe tube 7211 and the transmission tube 702, or is provided on the transmission tube 702 connected to the second syringe tube 7211.

Please refer to FIG. 12b. FIG. 12b is a cross-sectional view of the feeding temperature controller and the second storage provided by this embodiment. Optionally, the feeding temperature controller 821 includes a third temperature control component 822, and the third temperature control component 822 includes a third heat absorption end 8221, a third temperature control element 8223, and a third heat dissipation end arranged in order from top to bottom. 8222, a third channel 8226 is provided in the third heat dissipation end 8222, and a third liquid inlet 8224 and a third liquid outlet 8225 are provided on the third channel 8226.

The second bottom plate 7214 is provided with a second mounting hole, and the third temperature control component 822 is inserted into the second mounting hole, and the third heat-absorbing end 8221 is in direct contact with the second syringe tube 7211.

Optionally, one of the temperature sensors 85 is provided between the third heat-absorbing end 8221 and the second syringe tube 7211.

Please refer to FIG. 12c. FIG. 12c is a bottom view of the feeding temperature controller provided in this embodiment. The third liquid inlet 8224 and the third liquid outlet 8225 are both provided on the bottom surface of the third heat dissipation end 8222.

Optionally, referring to FIG. 13a, the refrigerant liquid circulation circuit is formed by connecting the refrigerant liquid heat sink 862 and each liquid cooling temperature control unit 80 by a refrigerant liquid pipe 861.

The cooling liquid heat dissipation device 862 includes a cooling liquid storage tank 863, a heat exchanger 864 and a cooling liquid pump 865. The cooling liquid storage tank 863 is arranged in the case 1 and is configured to store the cooling liquid; the heat exchanger 864 and the cooling liquid storage tank 863 The cold liquid pump 865 is arranged between the refrigerant liquid storage tank 863 and the heat exchanger 864, and the cold liquid pump 865 is configured to transport the refrigerant liquid in the refrigerant liquid storage tank 863 to the heat exchange器864中.

The refrigerating liquid circulation circuit includes two: First, the refrigerant in the refrigerant storage tank 863 flows out under the action of the cold liquid pump 865, to the heat exchanger 864, then to the feed thermostat 821, and then to the liquid supply The thermostat 823 then flows to the station temperature control unit 81, and finally flows back to the refrigerant storage tank 863 to form a refrigerant circulation loop; second, the refrigerant in the refrigerant storage tank 863 is in the refrigerant pump 865 Under the action, it flows out to the extrusion temperature control unit 84, and finally flows back into the refrigerating liquid storage tank 863 to form a refrigerating liquid circulation loop. The cooling fluid can be water or antifreeze cooling fluid.

Please refer to FIG. 13b, which is a schematic diagram of the structure of the refrigerant storage tank and the refrigerant pump provided by this embodiment. Optionally, the refrigerant liquid storage tank 863 is provided with two fifth liquid inlets 8631 and two fifth liquid outlets 8632 corresponding to the two fifth liquid inlets 8631 respectively. Correspondingly, there are two cold liquid pumps 865, which are arranged under the same refrigerant storage tank 863, and respectively control two independent refrigerant circulation circuits. The cooling fluid can be water or antifreeze cooling fluid.

Please refer to Fig. 13c, which is a schematic structural diagram of the heat exchanger provided by this embodiment. Optionally, the heat exchanger 864 includes a second fan 8641 and a sixth liquid inlet 8642 and a sixth liquid outlet 8643 provided on the second fan 8641.

In this embodiment, by adding a station temperature control unit 81, a storage temperature control unit 82, and an extrusion temperature control unit 84 to respectively control the temperature of the station 3, the material conveying module 7 or the printing nozzle 23, and by adding a transmission temperature control unit 83 The temperature of the transfer tube 702 can be controlled, so that the multiple components in the chassis 1 can be heated and cooled according to their respective functions, so as to achieve the effect of precise temperature control, which can be adapted to printing materials such as hydrogel. Temperature-sensitive characteristics to control the gelation process and improve the quality of printed objects.

The storage temperature control unit 82 can control the temperature of the printing material and the processing liquid to make their physical properties in the best state. The transmission temperature control unit 83 can control the temperature of the printing material in the transmission tube 702 in a targeted manner, so that the printing material is transformed into a more fluid form, thereby facilitating transportation. The extrusion temperature control unit 84 can make the printing material in the transfer tube 702 solidify, making it easier to print and shape.

Please refer to FIG. 14a. FIG. 14a is a schematic structural diagram of the conveying assembly 70 provided in this embodiment. Optionally, the single delivery assembly 70 includes a storage 701, a transfer tube 702, and a squeezing device 703. The storage 701 includes a syringe tube 7011 and a piston push rod 7012 arranged in the syringe tube 7011, configured to store printing materials or processing liquids. The transfer pipe 702 is configured to connect the storage 701 and the delivery nozzle 2 together; the squeezing device 703 is connected to the piston push rod 7012 and is configured to push the piston push rod 7012. In a single conveying assembly 70, at least one storage 701 is provided. The storage temperature control unit 82 (see FIG. 6) is provided at the memory 701.

Optionally, in a single conveying assembly 70, two storages 701 are provided. The two storages 701 in the printing material conveying assembly 72 are configured to store printing materials, and are connected to the printing nozzle 23 through a transmission tube 702. The two storages 701 in the treatment liquid delivery assembly 71 are respectively configured to store the pretreatment liquid and the post treatment liquid, and are respectively connected to the pretreatment nozzle 21 and the post treatment nozzle 22 through the transmission pipe 702. Optionally, at least one treatment liquid delivery assembly 71 is provided, and more than one may be provided.

The conveying assembly 70 includes a first tray 705 which is arranged on the chassis 1. The extrusion device 703 includes a driving motor 7031, a screw 7032, and a pushing table 7033. The driving motor 7031 is arranged on the first tray 705. The screw 7032 is in transmission connection with the driving motor 7031. The pushing table 7033 is slidably connected to the screw 7032 and The piston push rod 7012 is connected. The conveying assembly 70 includes a force sensor 706 which is provided on the storage 701 and is configured to detect the force of the pressing device 703 on the storage 701. Optionally, the driving motor 7031 may be a servo motor or a stepping motor. Alternatively, the squeezing device 703 may be driven by an air cylinder.

Optionally, the micro-control unit 94 of the main control module 9 can collect the information detected by the force sensor 706 through an auxiliary signal collector, and perform further analysis and processing. The force sensor 706 is configured to detect the force of the pressing device 703 on the memory 701, that is, the force sensor 706 senses the force of the memory 701 in the direction of movement of the pushing table 7033 on the first tray 705. When the memory 701 is not installed on the first tray 705, the force sensor 706 transmits information to the micro-control unit 94 of the main control module 9 through the auxiliary signal collector, so that the main control module 9 informs the operation through the human-computer interaction interface 91 The memory 701 was not successfully installed.

When the storage 701 is installed on the first tray 705, and the pushing table 7033 starts to extrude the material in the storage 701, it can be judged whether the bubbles in the storage 701 have been discharged by the magnitude of the force received by the storage 701, and After the material is extruded, it can be judged whether the material in the memory 701 has been extruded by the magnitude of the force received by the memory 701, and the information detected by the force sensor 706 is transmitted to the micro-control unit of the main control module 9 through the auxiliary signal collector 94. Enable the main control module 9 to judge the measures that need to be taken through the human-computer interaction interface 91 (see FIG. 1).

Please refer to FIG. 14b, which is a schematic structural diagram of the conveying assembly 70 provided by this embodiment. Optionally, the single conveying assembly 70 further includes a guide rail 704, the guide rail 704 is arranged on the chassis 1, and the first tray 705 is slidably arranged on the chassis 1 through the guide rail 704.

Please refer to FIG. 14c, which is a schematic structural diagram of the conveying assembly 70 provided in this embodiment. Optionally, a single conveying assembly 70 includes a storage 701, a transmission tube 702 and a pressing device 703, a first tray 705, and a force sensor 706. The storage 701 includes a liquid storage bag 7013, and the storage 701 is configured to store printing materials or processing liquid. The squeezing device 703 includes a peristaltic pump 7034 arranged on the first tray 705, and the transfer tube 702 is connected to the storage bag 7013 after passing through the peristaltic pump 7034. The storage temperature control unit 82 (see FIG. 6) is provided at the memory 701.

Please refer to FIG. 14d, which is a schematic structural diagram of the conveying assembly 70 provided by this embodiment. Optionally, the single conveying assembly 70 further includes a guide rail 704, the guide rail 704 is arranged on the chassis 1, and the first tray 705 is slidably arranged on the chassis 1 through the guide rail 704.

Please refer to FIG. 15a. FIG. 15a is a top view of the processing liquid delivery assembly 71 provided by this embodiment. On the basis of the embodiment in FIG. 14b, the processing liquid delivery assembly 71 includes a corresponding first storage 711, a first squeezing device 713, a first guide rail 714, a third tray 715, and a first force sensor 716. The first storage 711 includes The corresponding first syringe tube 7111 and the first piston push rod 7112. The liquid supply thermostat 823 is arranged at the processing liquid delivery assembly 71, wherein the temperature sensor 85 of the liquid supply thermostat 823 can be arranged between the first storage 711 and the third tray 715.

Please refer to FIG. 15b. FIG. 15b is a bottom view of the processing liquid delivery assembly 71 provided in this embodiment. The first pressing device 713 includes a corresponding first driving motor 7131, a first screw 7132 and a first pushing table 7133. The first driving motor 7131 is in transmission connection with the first screw 7132. The first pushing table 7133 is provided on the first screw 7132 and can move along the axis of the first screw 7132 with the rotation of the first screw 7132. The first piston push rod 7112 is connected to the first push table 7133 and can move accordingly, so that the processing liquid in the first syringe tube 7111 is squeezed to the transfer tube 702.

Please refer to FIG. 15c, which is a top view of the processing liquid delivery assembly 71 provided by this embodiment. On the basis of the embodiment of FIG. 14d, the processing liquid delivery assembly 71 includes a corresponding first storage 711, a first squeezing device 713, a first guide rail 714, a third tray 715, and a first force sensor 716. The first storage 711 includes The corresponding first liquid storage bag 7113. The first squeezing device 713 includes a corresponding first peristaltic pump 7134. Wherein, the liquid supply temperature controller 823 is provided at the processing liquid delivery assembly 71, and the temperature sensor 85 is provided between the first storage 711 and the third tray 715.

Please refer to FIG. 16a. FIG. 16a is a top view of the printing material conveying assembly 72 provided by this embodiment. On the basis of the embodiment of FIG. 14a, the printing material conveying assembly 72 includes a corresponding second storage 721, a second pressing device 723, a fourth tray 725 and a second force sensor 726, and the second storage 721 includes a corresponding second needle The bobbin 7211 and the second piston push rod 7212.

Optionally, the supply temperature controller 821 is provided at the printing material conveying assembly 72, and the temperature sensor 85 of the supply temperature controller 821 may be provided between the second storage 721 and the fourth tray 725.

Optionally, the transmission temperature control unit 83 is provided on the transmission tube 702 connected to the second storage 721 and/or at the junction of the second storage 721 and the transmission tube 702, and the temperature sensor 85 of the transmission temperature control unit 83 can be provided On the transmission tube 702 connected to the second storage 721 or at the connection between the second storage 721 and the transmission tube 702.

Please refer to FIG. 16b. FIG. 16b is a bottom view of the printing material conveying assembly 72 provided in this embodiment. The second pressing device 723 includes a corresponding second driving motor 7231 (see FIG. 16c), a second screw 7232, and a second pushing table 7233. The second driving motor 7231 is in transmission connection with the second screw 7232, and the second pushing table 7233 is provided on the second screw 7232 and can move along the axis direction of the second screw 7232 with the rotation of the second screw 7232. The second piston push rod 7212 is connected to the second push table 7233 and can move accordingly, so that the printing material in the second syringe tube 7211 is squeezed to the transfer tube 702.

Please refer to FIG. 16c. FIG. 16c is a cross-sectional view of the printing material conveying assembly 72 provided by this embodiment. The second squeezing device 723 also includes a fourth pulley 7234 and a fourth belt 7235. The fourth pulley 7234 and the fourth belt 7235 connect the second driving motor 7231 and the second screw 7232 together, that is, the second driving motor 7231 passes The belt drive is in drive connection with the second screw 7232. Optionally, the second driving motor 7231 may be a servo motor or a stepping motor.

Please refer to FIG. 16d. FIG. 16d is a cross-sectional view of the printing material conveying assembly 72 provided by this embodiment. On the basis of the embodiment in FIG. 14c, the printing material delivery assembly 72 includes a corresponding second storage 721, a second pressing device 723, a fourth tray 725, and a second force sensor 726, and the second storage 721 includes a corresponding second storage. The liquid bag 7213 and the second squeezing device 723 include a corresponding second peristaltic pump 7236.

Optionally, one of the temperature sensors 85 is provided between the second storage 721 and the fourth tray 725. One of the temperature sensors 85 is provided on the transfer tube 702 connected to the second storage 721 or at the junction of the second storage 721 and the transfer tube 702.

Please refer to FIG. 17a. FIG. 17a is a cross-sectional view of the station 3 and the forming station temperature controller 811 provided in this embodiment. The storage station 31 is provided with a storage cylinder 311. The printing vessels 30 can be stacked layer by layer to form 30 groups of printing vessels. The 30 groups of printing vessels can be placed in the storage cylinder 311 and can be used by the station switching module 5 (see Figure 2) Extract one by one.

Optionally, a buckle 312 is provided on the open end of the storage cylinder 311, and the buckle 312 can abut the printing vessel 30 to prevent the printing vessel 30 from coming out of the storage cylinder 311. The buckle 312 can be connected to the station switching module 5 (see Figure 1) matches and is pushed apart, so that the printing vessels 30 are taken out from the storage cylinder 311 by the station switching module 5 one by one. Optionally, the cross section of the buckle 312 is "L" shaped.

The storage cylinder 311 further includes a fifth tray 313, and the printing vessels 30 can be arranged on the fifth tray 313 in a group of printing vessels 30 formed by layering. The storage cylinder 311 further includes a spring 314, one end of the spring 314 is connected to the inner bottom surface of the storage cylinder 311, and the other end of the spring 314 is connected to the bottom surface of the fifth tray 313.

The printing station 33 is provided with a pit 37, and the bottom of the pit 37 is provided with a forming station temperature controller 811. The pre-processing station 32, the post-processing station 34, and the inspection station 35 are provided with a pit 37, and the bottom of the pit 37 is provided with a forming station temperature controller 811. The inner wall of the pit 37 matches the inner wall of the printing vessel 30.

Optionally, the plurality of stations 3 are made of metal material with high thermal conductivity, such as aluminum alloy or brass. Optionally, the plurality of stations 3 and the forming station thermostat 811 are covered with a heat-insulating outer layer 802, and the heat-insulating outer layer 802 is configured to prevent the temperature of the respective stations 3 from changing due to external influences. The heat-insulating outer layer 802 is made of materials with high heat-insulating properties, such as ABS resin or aerogel. A first sensor 321 is provided on the bottom or side of the pit 37 in the preprocessing station 32, and the first sensor 321 is configured to detect whether a printing vessel enters the preprocessing station. The first sensor 321 may be a gravity sensor or an optical sensor.

The pretreatment nozzle 21 is also provided with a first ultraviolet light source 211 and a pretreatment liquid removal tube 212. The first ultraviolet light source 211 is configured to emit ultraviolet light and sterilize the printing vessel 30, and the pretreatment liquid removal tube 212 is configured to The remaining pretreatment liquid in the pretreatment station 32 is removed.

The post-processing nozzle 22 is provided with a second ultraviolet light source 221 and a post-processing liquid removal tube 222. The second ultraviolet light source 221 is configured to emit ultraviolet light and photocures the printed object in the printing vessel 30. The second ultraviolet light source 221 can The disassembly site is set on the pretreatment station 32. The post-treatment liquid removal pipe 222 is configured to remove the post-treatment liquid remaining in the post-treatment station 34.

Please refer to FIG. 17b. FIG. 17b is a cross-sectional view of the station 3 and the forming station temperature controller 811 provided in this embodiment. The storage cylinder 311 also includes a fourth drive motor 315. The fourth drive motor 315 is connected with a third screw 316 for transmission. The third screw 316 is provided with a sliding block 317 along which the fifth tray 313 is fixed. connection. The fourth driving motor 315 may be a servo motor or a stepping motor.

Please refer to FIG. 17c. FIG. 17c is a cross-sectional view of the trough 318 and the printing vessel 30 provided in this embodiment. Optionally, the storage barrel 311 further includes a trough barrel 318. The stack of printing vessels 30 formed by the printing vessels 30 is put into the trough cylinder 318 and then into the storage cylinder 311. The grooved cylinder 318 is provided with a grooved cylinder cover 3181, and the grooved cylinder cover 3181 is configured to seal the grooved cylinder 318.

Please refer to FIG. 18a. FIG. 18a is a bottom view of the nozzle moving module 6 provided in this embodiment. Optionally, the nozzle moving module 6 includes a printing platform 61, an XY-direction movement system 62 and a Z-direction movement system 63. The printing platform 61 is arranged in the chassis 1 and on one side of the printing station 33; the XY-direction movement system 62 Connected to the print head 23 and set on the printing platform 61, the XY direction motion system 62 is configured to move the print head 23 in the X direction or the Y direction; the Z direction motion system 63 is connected to the print platform 61, and the Z direction motion system 63 is configured to The printing platform 61 is moved along the Z direction; wherein the X direction, the Y direction and the Z direction are perpendicular to each other.

The nozzle moving module 6 includes a dust cover 633 which is connected to the printing platform 61 and can move with the print nozzle 23. The dust cover 633 is configured to cover the print nozzle 23. Optionally, the dust cover 633 may be a flexible organ-type dust cover, or a protective cover composed of three discs with holes, so as to prevent contamination from overflowing and to prevent contamination of the printing area.

Optionally, the dust cover 633 includes three discs with holes. The three discs with holes are the first disc, the second disc, and the third disc. The second disc is connected to and covers the printing plate. On the platform 61, the first disc and the third disc are respectively located on the upper and lower sides of the second disc. Among them, the second disc has a second through hole, the second through hole is used as a space for the print head 23 to move, the first disc and the third disc have a first through hole and a third through hole, and the first through hole The hole and the third through hole allow the print nozzle 23 to pass through and are connected to the print nozzle 23, so that the first disk and the third disk can move with the print nozzle 23 and move during the movement process of the first disk and the third disk. In the first disk and the third disk, the second through hole is always in a closed state.

Optionally, the XY-direction movement system 62 includes an X-direction guide rail 621 and a Y-direction guide rail 622, a pulley block 623, a first belt 624, a fifth drive motor 626, and a sixth drive motor 627. The pulley block 623 includes a plurality of pulleys. The pulleys are arranged on the printing platform 61 and can rotate around its own axis; the first belt 624 is arranged on the pulley block 623 and is connected with the printing nozzle 23; the Y-direction guide rail 622 is arranged along the Y direction in the printing Platform 61; X-direction guide rail 621 is arranged on printing platform 61 along X-direction, and X-direction guide rail 621 is slidably arranged on Y-direction guide 622; printing nozzle 23 is slidably arranged on X-direction guide 621; fifth The driving motor 626 is connected to a fifth driving motor 626 in the transmission of a pulley in the pulley block 623, and is configured to drive the print head 23 to move in the X direction and the Y direction; the sixth driving motor 627 is drivingly connected to one pulley in the pulley block 623, and the sixth driving motor 627 It is configured to drive the print head 23 to move in the X direction and the Y direction.

Among them, the pulleys in the pulley set 623 are configured to stretch and adjust the direction of the first belt 624, and the number of pulleys in the pulley set 623 can be increased or deleted as needed.

Therefore, the working principle of the XY direction movement system 62 is the working principle of CoreXY, so that the operation of the fifth drive motor 626 and the sixth drive motor 627 can be converted into the movement of the print nozzle 23 in the X direction and the Y direction.

The main control module 9 uses the fifth drive motor 626 to make the pulley drive the first belt 624 to run for a distance of ΔA; the main control module 9 uses the sixth drive motor 627 to make the pulley drive the first belt 624 to run for a distance of ΔB; the main control module 9 can pass The formula Δx=(ΔA+ΔB)/2 and the formula Δy=(ΔA-ΔB)/2 precisely control the fifth drive motor 626 and the sixth drive motor 627 to realize the print head 23 in the x-axis direction and the y-axis direction. Precise movement. In the above formula, Δx is the movement distance of the print nozzle 23 in the x-axis direction; in the formula, Δy is the movement distance of the print nozzle 23 in the y-axis direction.

Among them, the XY-direction motion system 62 can be a device made using CoreXY's working principle, or a three-axis orthogonal module (XYZ three-axis motion platform), a parallel robot (Delta Parallel Mechanism) or a planar joint robot. A device made by working principle.

Please refer to FIG. 18b. FIG. 18b is a schematic structural diagram of the nozzle moving module 6 provided in this embodiment. Optionally, the Z-direction motion system 63 includes a Z-direction drive motor 632 and a Z-direction screw 631. The Z-direction screw 631 is in transmission connection with the Z-direction drive motor 632, and the printing platform 61 is movably arranged on the Z-direction screw 631.

The fifth driving motor 626 and a pulley in the pulley block 623 are connected together through a fifth belt 6261 and a fifth pulley 6262 for transmission. The sixth driving motor 627 is drivingly connected to one pulley in the pulley block 623 through a second belt 6271 and a second pulley 6272.

Among them, the fifth drive motor 626, the sixth drive motor 627, and the Z direction drive motor 632 may be stepper motors or servo motors.

Please refer to FIG. 19a. FIG. 19a is a schematic structural diagram of the printing nozzle 23 provided by this embodiment. Optionally, the printing nozzle 23 includes a printing needle 231, a first base 232, and a housing 233. The first base 232 is arranged on the X-direction guide 621 (see FIG. 18a) and connected to a belt; the housing 233 is arranged on the first base 232, and set outside the printing needle 231.

Optionally, the housing 233 includes a needle housing 2331 and a spray head housing 2332. The needle housing 2331 is arranged outside the printing needle 231 and is connected to two transmission tubes 702. The two transmission tubes 702 are each of the processing liquid delivery assembly 71. The conveying pipe 702 and a conveying pipe 702 of the printing material conveying assembly 72.

Please refer to FIG. 19b. FIG. 19b is an exploded schematic diagram of the printing nozzle 23 provided in this embodiment. The print head 23 also includes a light curing module 24. The light curing module 24 is arranged on the outside of the shower head housing 2332. The light curing module 24 is configured to provide light curing conditions for the extruded 3D printing material, such as ultraviolet radiation. The light curing module 24 receives instructions from the main control module 9 to control the time, intensity and other parameters of the light. The micro control unit 94 in the main control module 9 assists the motion controller to control the light curing module 24.

Wherein, the light curing module 24 may also be arranged on the inner side of the nozzle housing 2332, so that the 3D printing material can be light-cured from the inside while the printing nozzle 23 is heated.

Please refer to FIG. 20a. FIG. 20a is a cross-sectional view of the printing needle 231 provided in this embodiment. The printing needle 231 includes an outer needle 2311 and an inner needle 2312. The outer needle 2311 has a cavity 23111, and the inner needle 2312 penetrates the cavity 23111 of the outer needle 2311. Therefore, by changing the number, length and arrangement method of the inner needles 2312, the mixing, covering, and alternation of multiple materials can be provided in the 3D printing process to enrich the achievable 3D printing structure.

Optionally, the outer diameter of the inner needle 2312 is smaller than the inner diameter of the outer needle 2311, so that the outer surface of the inner needle 2312 does not contact the inner surface of the outer needle 2311. Optionally, at least one inner needle 2312 is provided, and the inner needle 2312 has a needle head 23121 which is arranged in the cavity 23111 of the outer needle 2311 or passes through the outer needle 2311 and is arranged outside the cavity 23111 of the outer needle 2311.

Optionally, one inner needle 2312 is provided, the needle head 23121 is provided in the cavity 23111 of the outer needle 2311, and the length of the inner needle 2312 is smaller than the length of the outer needle 2311. At this time, both the inner needle 2312 and the outer needle 2311 are connected with the transmission tube 702 of the printing material conveying assembly 72, so that individual printing can be realized.

Optionally, one inner needle 2312 is provided, and the needle head 23121 is provided outside the cavity 23111 of the outer needle 2311, that is, the length of the inner needle 2312 is greater than the length of the outer needle 2311. At this time, both the inner needle 2312 and the outer needle 2311 are connected with the transmission tube 702 of the printing material conveying assembly 72.

Please refer to FIG. 20b. FIG. 20b is a cross-sectional view of the printing needle 231 provided in this embodiment. Two inner needles 2312 are provided, and the needle heads 23121 of the two inner needles 2312 pass through the outer needle 2311 and are arranged outside the cavity 23111 of the outer needle 2311. The length of the inner needle 2312 is greater than the length of the outer needle 2311. At this time, the inner needle 2312 and the outer needle 2311 are both connected with the transfer tube 702 of the printing material conveying assembly 72, so that parallel printing can be realized.

Please refer to FIG. 20c. FIG. 20c is a cross-sectional view of the printing needle 231 provided in this embodiment. Optionally, two inner needles 2312 are provided, and the needle heads 23121 of the two inner needles 2312 are both provided in the cavity 23111 of the outer needle 2311. The length of the inner needle 2312 is smaller than the length of the outer needle 2311. At this time, the inner needle 2312 and the outer needle 2311 are connected with the transfer tube 702 of the printing material conveying assembly 72 or connected with the transfer tube 702 of the processing liquid conveying assembly 71, and printing can be carried out after mixing inside the outer needle 2311, thereby realizing mixing. Print evenly.

Please refer to FIG. 20d. FIG. 20d is a cross-sectional view of the printing needle 231 provided in this embodiment. There are two inner needles 2312, namely, a first inner needle 2312a and a second inner needle 2312b. The needle head 23121 of the first inner needle 2312a is set in the cavity 23111 of the outer needle 2311, and the length of the first inner needle 2312a is smaller than the length of the outer needle 2311; the needle head 23121 of the second inner needle 2312b passes through the outer needle 2311 and is located on the outer needle 2311 Outside the cavity 23111, the length of the second inner needle 2312b is greater than the length of the outer needle 2311. The inner wall of the outer needle 2311 protrudes inwardly with four protrusions 23112 in a circular array to fix the second inner needle 2312b. The first inner needle 2312a is disposed above the protrusion 23112. Four grooves 23113 in a circular array are provided on the outer wall of the outer needle 2311 and located at the corresponding position of the protrusion 23112 inward. The arrangement of the four grooves 23113 in a circular array can limit the movement of the inner needle and ensure that the cavity section of the inner needle and the outer needle is two concentric circles, so as to realize the extruded coaxial printing material (circular tube). ) Uniformity of wall thickness in all directions.

The first inner needle 2312a and the second inner needle 2312b are connected to the transfer tube 702 of the printing material conveying assembly 72 or to the transfer tube 702 of the processing liquid conveying assembly 71. After the first inner needle 2312a extrudes the material, the material will flow down along the inner wall of the outer needle 2311, especially the inner surface of the protrusion 23112, and pass through the gap between the outer wall of the second inner needle 2312b and the inner surface of the protrusion 23112 After being extruded from the outer needle 2311, it overlaps with the material extruded by the second inner needle 2312b to form a coaxial print.

Please refer to FIG. 20e. FIG. 20e is a cross-sectional view of the printing needle 231 provided in this embodiment. Optionally, two inner needles 2312 are provided, namely a first inner needle 2312a and a second inner needle 2312b. The needle head 23121 of the first inner needle 2312a is arranged in the cavity 23111 of the outer needle 2311, and the first inner needle 2312a The length of the second inner needle 2312b is smaller than the length of the outer needle 2311; the needle head 23121 of the second inner needle 2312b is set in the cavity 23111 of the outer needle 2311, and the length of the second inner needle 2312b is less than the length of the outer needle 2311. The inner wall of the outer needle 2311 protrudes inwardly with four protrusions 23112 in a circular array to fix the second inner needle 2312b. The first inner needle 2312a is disposed above the protrusion 23112. Four grooves 23113 in a circular array are provided on the outer wall of the outer needle 2311 and located at the corresponding position of the protrusion 23112 inward. The arrangement of the four grooves 23113 in a circular array can limit the movement of the inner needle and ensure that the cavity section of the inner needle and the outer needle is two concentric circles, so as to realize the extruded coaxial printing material (round tube ) Uniformity of wall thickness in all directions.

The first inner needle 2312a and the second inner needle 2312b are connected to the transfer tube 702 of the printing material conveying assembly 72 or to the transfer tube 702 of the processing liquid conveying assembly 71. After the first inner needle 2312a extrudes the material, the material will flow down along the inner wall of the outer needle 2311, especially the inner surface of the protrusion 23112, and pass through the gap between the outer wall of the second inner needle 2312b and the inner surface of the protrusion 23112 After overlapping with the material extruded by the second inner needle 2312b, it is extruded from the outer needle 2311 to form a coaxial print.

Please refer to FIG. 21a, which is a schematic structural diagram of the station switching module 5 provided by this embodiment. Optionally, the station switching module 5 includes a second base 51, a clamping member 52, and a second moving device 53, the second base 51 is provided on the chassis 1 and located on one side of the station 3; the clamping member 52 can Movably arranged on the second base 51, the clamping member 52 is configured to clamp the printing vessel 30; the second moving device 53 is connected to the clamping member 52, and the second moving device 53 is configured to move the clamping member 52 and/or the work Bit 3.

Please refer to FIG. 21b. FIG. 21b is a top view of the clamping member 52 provided by this embodiment. The clamping member 52 includes a second pallet 523, a first fork 521, and a second fork 522. The second pallet 523 is movably arranged on the second base 51 (see FIG. 21a), and the second pallet 523 is provided with Sliding groove 5233; the first fork 521 is fixedly connected to the second tray 523, and a plurality of first through holes 5211 configured to clamp the printing vessel 30 are provided on the first fork 521; the second fork 522 is slidable Disposed in the sliding groove 5233, the second fork 522 is provided with a second through hole 5221 configured to clamp the printing vessel 30.

Optionally, the first through hole 5211 penetrates the upper and lower surfaces of the first fork 521 and a side wall thereof. The second through hole 5221 penetrates the upper and lower surfaces of the second fork 522 and a side wall thereof.

Optionally, the first fork 521 is provided with a cut corner 5212 on two adjacent side walls of the first through hole 5211 respectively.

Optionally, there are four first through holes 5211 on the first fork 521, and the four first through holes 5211 are located on the same straight line (the straight line is arranged along the Y direction), corresponding to the storage station 31 and the preset Processing station 32, printing station 33, and post-processing station 34. One second through hole 5221 is provided on the second fork 522, and the position of the second through hole 5221 corresponds to the detection station 35. Among them, the second fork 522 is slidably arranged in the sliding groove 5233, and the When the fork 521 remains stationary, the second fork 522 is allowed to slide a certain distance in the sliding groove 5233, so that the printing vessel 30 on the inspection station 35 can be accurately moved to an installation on the object storage station 36 In hole 3641.

Please refer to FIG. 21c, which is a schematic structural diagram of the first fork 521 provided in this embodiment. The bottom surface of the first fork 521 is provided with a push fork 5213 that matches the buckle 312 (see FIG. 17a), and the push fork 5213 is in the shape of an L-shaped groove.

Please refer to FIG. 21d. FIG. 21d is a right side view of the station switching module 5 provided by this embodiment. The second moving device 53 includes a horizontal moving component 531, a vertical moving component 532 and a lifting component 533. The traverse assembly 531 is in transmission connection with the second fork 522 and is configured to drive the second fork 522 to move in the X direction; the lifting assembly 533 is in transmission connection with the second tray 523 and is configured to drive the second tray 523 to move in the Z direction . The lifting assembly 533 may include a motor and a screw, or may include an air cylinder or a hydraulic cylinder.

Please refer to FIG. 21e. FIG. 21e is a left view of the station switching module 5 provided in this embodiment. Wherein, the second tray 523 is provided with a first magnetic member 5234, the second fork 522 is provided with a second magnetic member 5222 matching the first magnetic member 5234; the second base 51 is provided with a third magnetic member 511, A fourth magnetic member 5235 matched with the third magnetic member 511 is provided on the second tray 523.

The traverse assembly 531 includes a traverse motor 5311, a traverse pulley 5312 and a traverse belt 5313. A first support rod 5231 and a second support rod 5232 extend downward from the bottom surface of the second tray 523. The first magnetic member 5234 is provided on the first support rod 5231, and the fourth magnetic member 5235 is provided on the second support rod 5232. A third pole 5223 extends downward from the bottom surface of the second fork 522, and the second magnetic member 5222 is disposed on the third pole 5223. The sliding groove 5233 is a through groove, and the third rod 5223 passes through the sliding groove 5233 so that the second fork 522 can be slidably arranged on the second pallet 523.

The third support rod 5223 is connected to the traverse belt 5313 and moves in the Y direction under the drive of the traverse belt 5313, so that the second fork 522 moves in the Y direction; the first support rod 5231 is in the first magnetic member 5234 and the second Under the action of the magnetic traction force between the magnetic parts 5222, the third support rod 5223 moves along the Y direction, so that the first fork 521, the second pallet 523, and the second fork 522 move synchronously.

When the second fork 522 moves to a certain distance, the synchronized second pallet 523 also moves to a certain distance. When the second support rod 5232 moves the position of the third magnetic member 511 on the second base 51, the second support A certain magnetic traction force is generated between the fourth magnetic member 5235 on the rod 5232 and the third magnetic member 511 on the second base 51, so that the second tray 523 and the second base 51 are fixed together, and the second fork 522 and The second tray 523 is separated. At this time, the second fork 522 can be configured to accurately move the printing vessel 30 on the inspection station 35 to an installation hole 3641 on the object station 3.

Optionally, the traverse motor 5311 may be a stepper motor or a servo motor. The first magnetic member 5234, the second magnetic member 5222, the third magnetic member 511, and the fourth magnetic member 5235 may be permanent magnets or electromagnets.

Please refer to FIG. 21f. FIG. 21f is a top view of the station switching module 5 provided by this embodiment. The plurality of stations 3 are installed on a fixed plate 5321, which is movably arranged in the chassis 1; the second moving device 53 also includes a longitudinal movement assembly 532, which is connected to the fixed plate 5321. The plate 5321 is connected in transmission and is configured to drive the fixed plate 5321 to move in the Y direction. Optionally, the longitudinal movement assembly 532 may include a motor and a screw.

Please refer to FIG. 22a. FIG. 22a is a front view of the 3D printer 100 provided in this embodiment. The case 1 is a vertical case. The case 1 includes a body 11, and an opening 111 is opened in the middle of the body. The opening 111 is a through hole passing through three side walls of the case 1, and the opening 111 is used as a working space 14 for 3D printing. The main control module 9 is arranged above the opening 111 and located on the right side of the case 1; the material conveying modules 7 are all arranged above the opening 111 and are located on the left side of the case 1 and the left side of the main control module 9. The nozzle moving module 6, the station 3, the station switching module 5, and the environmental control module 4 are arranged in the opening 111. Among them, the environmental control module 4, the nozzle moving module 6, the station 3 and the station switching module 5 are sequentially distributed along the X direction.

Please refer to FIG. 22b. FIG. 22b is a schematic structural diagram of the 3D printer 100 provided in this embodiment. In one embodiment, the opening 111 is a square hole, and the cover 12 is provided on the inner surface of the opening 111 and located above the station 3.

This embodiment also provides a 3D printing method using the aforementioned 3D printer 100, which includes the following steps:

The main control module 9 obtains data such as the number and shape of the object to be printed;

The main control module 9 controls the movement of the printing nozzle 23 through the nozzle movement module 6 and extrudes corresponding printing materials;

The main control module 9 adjusts the temperature of each component through the temperature control module 8 arranged on the material conveying module, the workstation and the printing nozzle;

A plurality of printing vessels 30 are placed at one of the stations 3. The main control module 9 controls the station switching module 5 to take out the printing vessels 30 in turn, and makes the printing vessels 30 enter each station 3 in turn, and perform the printing on the printing vessels 30 in turn. Pre-processing, printing, post-processing, testing and filing operations complete printing.

This embodiment also provides a 3D printing method using the aforementioned 3D printer 100, which includes the following steps:

When the printing vessel 30 is located at the inspection station 35, the inspection station 35 inspects the quality information and records the quality information obtained by the inspection;

The main control module 9 determines whether the object in the printing vessel 30 is defective at this time:

If it is, the first moving device 363 moves the defective product seat 362 to a place where the inspection station 35 is docked, and the station switching module 5 sequentially moves the printing vessel 30 to the defective product seat 362;

If not, the first moving device 363 moves the finished product seat 361 to a place where the inspection station 35 is docked, and the station switching module 5 sequentially moves the printing vessel 30 to the finished product seat 361.

This embodiment also provides a 3D printing method using the aforementioned 3D printer 100, which includes the following steps:

The main control module 9 judges whether the objects in the defective seat 362 need to be repaired and printed according to the recorded inspection quality information:

If yes, take out the printing vessels 30 in sequence and send them to the printing station 33 for repair printing;

If not, the object in the defective seat 362 is not repaired and printed.

The method of using the 3D printer 100, using the aforementioned 3D printer 100, includes the following steps:

Place the 3D printer 100 in the working environment of the clean room. The operator should adopt the working standards of the clean room, wear protective clothing and gloves, and spray alcohol to sterilize the gloves before opening the hood 12. Open the hood 12. , According to the operator's application requirements, select the print needle 231 corresponding to separate printing, parallel printing, coaxial printing and mixed printing to install on the nozzle housing 2332, install the nozzle housing 2332 on the first base 232, and close the cover 12; If the 3D printer 100 is placed in a working environment that is not an ultra-clean room, the ventilation device 43 is set to run continuously through the main control module 9 to ensure that the printing space is always positive pressure (that is, the space in the printer cover forms a small ultra-clean room ) Continuously blow out filtered air to ensure sterile printing space.

Power on the power socket 15 and wait for the touch screen 911 to light up. Input instructions through the button 912, joystick 913 and touch screen 911 to turn on the high-band ultraviolet light source 42 of the ultraviolet light source 42 in the environmental control module 4 for 30 minutes and then turn it off. Then the low-band ultraviolet light source 42 of the ultraviolet light source 42 in the environmental control module 4 is turned on for 30 minutes and then turned off, and then the first fan 431 of the ventilation device 43 is turned on to allow the clean air in the ultra-clean room to pass through the filter of the filter device 432 into the 3D printer 100 The working space 14 is set to automatically turn on the first fan 431 when the opening angle of the cover 12 exceeds 10 degrees or the setting is independent of the opening angle of the cover 12, and the first fan 431 is continuously turned on, and the cooling and humidifying device 44 turns the 3D printer 100 into the working space 14 The humidity control is 70%;

Input instructions through the button 912, rocker 913 and touch screen 911, set the storage temperature control unit 82 to control the temperature at 20°C, the transmission temperature control unit 83 to control the temperature at 35°C, and the extrusion temperature control unit 84 to set the control temperature to 10 ℃, set the molding station thermostat 811 to control the temperature to 10℃, set the object thermostat 812 to control the temperature to 10℃, and observe the touch screen 911, and wait for the system to display that each temperature control module 8 reaches the set temperature;

Withdraw the processing solution delivery assembly 71, install the first storage 711 containing phosphate buffer saline (PBS) on the third tray 715, and connect it with the first transfer tube 702, Two first reservoirs 711 containing calcium chloride solution are installed on the third tray 715 and connected to the second transfer pipe 702;

Open the cover 12, replace the printing material delivery assembly 72, install the first second reservoir 721 containing sodium alginate solution on the fourth tray 725, and connect it with the third transfer tube 702, and connect the second The second storage 721 of the Pluronic-F127 (Poloxamer 407 model of the Poloxamer series) is installed on the fourth tray 725 and connected to the fourth transfer tube 702, which will contain 24 printing vessels 30 After the storage cylinder 311 is installed on the top of the storage station 31 or the storage cylinder 311 is installed on the top of the storage station 31, the tank 318 containing 24 printing vessels 30 is loaded into the storage cylinder 311; a sterile Install the mounting plate 364 with 12 mounting holes 3641 on the finished product seat 361, install a sterile mounting plate 364 with 12 mounting holes 3641 on the defective seat 362, and close the cover 12;

Select and edit the model to be printed by pressing the button 912, the joystick 913 and the touch screen 911, and start 3D printing after confirming the model, and the 3D printing is an automatic operation.

After the corresponding mounting holes 3641 in the mounting plate 364 carried in the finished product seat 361 are equipped with a qualified bracket, the main control module 9 stops batch printing and prompts the operator to complete the printing through the touch screen 911, and the operator opens the cover 12. Take out the mounting board 364 carried in the finished product seat 361, and choose to add a new mounting board 364 to the finished product seat 361 to continue printing or close the cover 12 to terminate printing according to the actual needs of the operator. This embodiment also provides a printing method using the 3D printer 100, which includes the following steps:

Step 1: The vertical movement assembly 532 is operated to move the fixed plate 5321, and the station 3 is moved directly below the first fork 521, so that the push fork 5213 pushes the buckle 312 to allow the storage cylinder 311 to pass the printing vessel 30 The channel is opened, and the spring 314 pushes the fifth tray 313, so that the No. 1 printing vessel 30 moves up and fits with the first fork 521;

Step 2: The lifting assembly 533 is operated, the first fork 521 is lifted, and the No. 1 printing vessel 30 is extracted. At the same time, the pushing fork 5213 is moved away from the buckle 312, so that the passage in the storage cylinder 311 for the printing vessel 30 to pass is closed, so that No. 2 printing vessel 30 cannot leave the storage cylinder 311;

Step 3: The traverse component 531 operates, driving the second fork 522 along the storage station 31, pretreatment station 32, printing station 33, post-processing station 34, inspection station 35, and object storage station 36. The printing main line (in the same direction as the Y direction) traverses a distance of station 3. When the traverse starts, since the first magnetic member 5234 and the second magnetic member 5222 are in a bonded state, the third magnetic member 511 and the fourth magnetic member 511 The magnetic member 5235 is in a separated state, the second fork 522 drives the second pallet 523 to move horizontally by a distance of one station 3, and the second pallet 523 drives the first fork 521 to move horizontally. When the horizontal movement is over, the first A magnetic member 5234, a second magnetic member 5222, a third magnetic member 511 and a fourth magnetic member 5235 are all in a bonded state;

Step 4: The lifting assembly 533 operates to lower the first fork 521, and then the longitudinal movement assembly 532 operates to move the fixing plate 5321 away from the first fork 521 and return to the initial position;

Step 5: The traverse assembly 531 operates to drive the second fork 522 to return in the opposite direction of the printing main line. At this time, the first magnetic member 5234 and the second magnetic member 5222 are in a bonded state, and the third magnetic member 511 and the fourth magnetic member 511 The piece 5235 is in a separated state, and the second fork 522 drives the second pallet 523 to return the second fork 522 and the first fork 521 to the initial position;

Step 6: After the operations of steps 2-4, the No. 1 printing vessel 30 is moved from the storage station 31 through the first fork 521 to the pretreatment station 32, and the first sensor 321 confirms that the No. 1 printing vessel 30 is correct After entering the preprocessing station 32, upload the information to the main control module 9;

Step 7: In the processing liquid delivery assembly 71, the second driving motor 7231 corresponding to the first second storage 721 operates, and the corresponding second push table 7233 is pulled to pass the PBS solution in the first second storage 721 The transfer tube 702 is added to the pretreatment station 32 to clean the printing vessel 30 in the pretreatment station 32;

Step 8: Repeat the operations of steps 2-5, so that the No. 1 printing vessel 30 enters the printing station 33 from the pretreatment station 32, and the No. 2 printing vessel 30 enters the pretreatment station 32 from the storage station 31, and After confirming by the first sensor 321 that the No. 2 printing vessel 30 has correctly entered the preprocessing station 32, the information is uploaded to the main control module 9;

Step 9: Move the printing needle 231 into the needle cleaning cylinder 13 for cleaning and position calibration, and operate according to a printing method of independent printing, parallel printing, coaxial printing and mixed printing corresponding to the structure of the needle 23121. The printing is completed in the printing vessel 30 in the printing station 33 to obtain the coaxial bio-scaffold with the outer layer of sodium alginate and the inner layer of Pluronic-F127; at the same time, the operation of step 5 is repeated in the pretreatment station 32;

Step 10: Repeat steps 2-5 to move the No. 1 printing vessel 30 from the printing station 33 through the first fork 521 to the post-processing station 34, and at the same time the No. 2 printing vessel 30 from the pre-processing station 32 Entering the printing station 33, the No. 3 printing vessel 30 enters the preprocessing station 32 from the storage station 31, and the first sensor 321 confirms that the No. 3 printing vessel 30 enters the preprocessing station 32 correctly, and uploads the information to the main Control module 9;

Step 11: In the treatment liquid delivery assembly 71, the first driving motor 7131 corresponding to the second first storage 711 operates, and the corresponding first push table 7133 is pulled to remove the calcium chloride in the second first storage 711 The solution passes through the transfer tube 702 and the post-processing nozzle 22 to the post-processing station 34 to cross-link the bio-scaffold in the No. 1 printing vessel 30. At the same time, the pre-processing station 32 repeats the operation of step 5 to print Repeat step 7 in station 33;

Step 12: Repeat steps 2-3 to move the No. 1 printing vessel 30 from the post-processing station 34 through the first fork 521 to the inspection station 35, while the No. 2 printing vessel 30 enters from the printing station 33 Post-processing station 34, No. 3 printing vessel 30 enters printing station 33 from pretreatment station 32, No. 4 printing vessel 30 enters pretreatment station 32 from storage station 31, and is confirmed by the first sensor 321 No. 4 After the printer 30 enters the preprocessing station 32 correctly, the information is uploaded to the main control module 9;

Step 13: The inspection station 35 observes the support that is carried by the printing vessel 30, that is, the printed object, and evaluates the quality of the support. The inspection station 35 scans the identification code on the printing vessel 30 and controls The module 9 records the information of the No. 1 printing vessel 30 and the quality of the supporting bracket. At the same time, the operation of step 5 is repeated in the preprocessing station 32, and the operation of step 7 is repeated in the printing station 33. Repeat the operation of step 9 in processing station 34;

Step 14: Repeat the operations of Steps 2-4, so that the No. 1 printing vessel 30 is picked up by the second fork 522, and the No. 2 printing vessel 30 is moved from the post-processing station 34 through the first fork 521 to the inspection station 35 At the same time, No. 3 printing vessel 30 enters post-processing station 34 from printing station 33, No. 4 printing vessel 30 enters printing station 33 from pretreatment station 32, and No. 5 printing vessel 30 enters pretreatment station from storage station 31 After the first sensor 321 confirms that the No. 5 printer 30 has entered the preprocessing station 32 correctly, the information is uploaded to the main control module 9;

Step 15: The traverse assembly 531 operates to drive the second fork 522 to traverse along the printing main line, so that the first magnetic member 5234 and the second magnetic member 5222 are separated, and the third magnetic member 511 and the fourth magnetic member 5235 are attached. To keep the position of the first fork 521 unchanged, the second fork 522 continues to move horizontally along the main printing line, and moves the No. 1 printing vessel 30 to the object storage station 36, corresponding to the finished product seat 361 and the defective product seat 362 respectively. The three driving motors 3631 operate, respectively driving the third pulley 3632 and the third belt 3633 connected with the third driving motor 3631 to adjust the position of the finished product seat 361 and the defective product seat 362 in the direction perpendicular to the main printing line (X direction). The evaluation result of the bracket in step 13, adjust the position of the No. 1 printing vessel 30 to the mounting plate 364 carried in the finished product seat 361 or the defective product seat 362 through the precise control of the traverse assembly 531 and the third drive motor 3631. Above the mounting hole 3641 (storage position);

Step 16: The lifting assembly 533 operates, and the first fork 521 is lowered, so that the No. 1 printing vessel 30 enters the corresponding mounting hole 3641 in the mounting plate 364 carried in the finished product seat 361 or the defective product seat 362, at the same time as this operation 2 No. 3 printing vessel 30 enters the inspection station 35, No. 3 printing vessel 30 enters the post-processing station 34, No. 4 printing vessel 30 enters the printing station 33, No. 5 printing vessel 30 enters the pre-processing station 32, and then moves the assembly 532 vertically Operate to make the fixed plate 5321 move away from the first fork 521 and return to the initial position;

Step 17: The traverse assembly 531 operates to drive the second fork 522 to return in the opposite direction of the printing main line. Then the first magnetic member 5234 and the second magnetic member 5222 enter the bonding state, and the traverse motor 5311 continues to operate to make the third The magnetic member 511 and the fourth magnetic member 5235 enter the separated state, the second fork 522 drives the second pallet 523, and further drives the first fork 521 to move, so that the second fork 522 and the first fork 521 return to their initial positions;

Step 18: Repeat the operations in steps 14-17.

This embodiment also provides a printing method using the 3D printer 100, which further includes the following steps:

Step 1: Use the button 912, the joystick 913 and the touch screen 911 to retrieve the detection results recorded in the batch printing process according to the identification code on the printing vessel 30, and select the ones that are caused by the interruption of the printing process and the exhaustion of materials. Samples with structural defects but can still be repaired through secondary printing;

Step 2: Open the cover 12, move the printing vessel 30 in the defective seat 362 to the printing station 33 corresponding to the sample record, and close the cover 12;

Step 3: Edit the model and print path for repairing the sample structure through the button 912, the joystick 913 and the touch screen 911, and execute the printing;

Step 4: Open the cover 12 and take out the printing vessel 30 containing the repaired biological scaffold.

The above descriptions are only preferred embodiments of the application, and are not used to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Industrial applicability

The 3D printer can transfer printing utensils to realize the assembly line production of printed objects, and perform operations such as extracting printing utensils, pre-processing, printing, post-processing, testing, filing, etc., so as to be suitable for mass production. The assembly line production of this 3D printer also avoids the time difference between the same batch of different products in the traditional batch printing process after the printing is completed and the unified post-processing, so that the printing process of each sample is more similar, and the difference between different products is reduced. difference. In addition, the design of this 3D printer allows each product to be printed in the same printing station, and the environment where each product is printed is the same, which reduces the difference between different products, and this application increases the temperature The control module can achieve the effect of precise temperature control, which can realize that the material or processing liquid is always at the most suitable temperature and phase state for the current operation during the 3D printing process. Its benefits include preventing precipitation and precipitation when storing the material or processing liquid. Denaturation, when the material is transferred, it is transformed into a more fluid phase to reduce transmission resistance, and when the material is printed, it is transformed into a phase that is easier to squeeze to improve printing quality. At the same time, the temperature control solution provided by this application can also guarantee Thermal management of each part of the 3D printer when it is working.

Claims (30)

A 3D printer is characterized in that it comprises: Main control module; A case, the case is provided with a conveying nozzle, a plurality of stations and a plurality of printing vessels, the conveying nozzle is arranged above the station, the printing vessel is arranged on the station, and the conveying nozzle Including print head; The environmental control module is arranged in the chassis and is electrically connected to the main control module, the environmental control module is configured to adjust the environmental conditions in the chassis; The station switching module is arranged in the chassis and electrically connected to the main control module. The station switching module is configured to drive the printing vessel and/or the station so that the printing vessel is Transfer between each of the stations; A nozzle moving module, the nozzle moving module is connected to the printing nozzle and electrically connected to the main control module, the nozzle moving module is configured to drive the printing nozzle to transfer between each of the stations; A material conveying module, the material conveying module is connected to the conveying nozzle and electrically connected to the main control module, and the material conveying module is configured to convey material to the conveying nozzle; The temperature control module is arranged on the material conveying module, the station and the printing nozzle, and is electrically connected to the main control module, and the temperature control module is configured to adjust the temperature. The 3D printer according to claim 1, wherein the chassis includes a body and a cover, the body is provided with an opening, and the cover is provided on the body and located at the opening; The environmental control module includes: A temperature and humidity sensor arranged on the inner surface of the cover and configured to detect the temperature and humidity in the cabinet; The ultraviolet light source is arranged on the cover and is configured to provide ultraviolet light; The ventilation device includes a first fan and a filtering device, and is arranged on the body, and the ventilation device is configured to purify external air and pass it into the chassis; The cooling and humidifying device is arranged on the cover and is configured to provide water vapor and gas. The 3D printer according to claim 1 or 2, wherein the cover is hingedly arranged on the body, and when the cover is closed on the body, the cover is configured to close the body Opening on The environmental control module further includes: A position sensor, arranged on the cover and configured to detect the angle formed by the cover and the body; The main control module is configured to, when the included angle detected by the position sensor exceeds a set value, control the ventilating device to filter the air outside the chassis and continuously pass it into the work of the 3D printer In the space. The 3D printer according to any one of claims 1 to 3, wherein a plurality of the stations includes a storage station, a pre-processing station, a printing station, a post-processing station, and a detection station arranged in sequence. And the object storage station. The 3D printer according to claim 4, wherein each of the stations is provided with at least one pit, and the station is made of a metal material with high thermal conductivity, so that the pit forms a cold Well platform; the pit is configured to place the printing vessel, the printing vessel is configured to accept the printed product and is configured to isolate the temperature. The 3D printer according to claim 4 or 5, wherein the object storage station includes a finished product seat, a defective product seat and a plurality of first moving devices, and the plurality of first moving devices are respectively connected to the finished product The seat is connected with the defective seat, and the first moving device is configured to move the finished seat and the defective seat. The 3D printer according to any one of claims 1-6, wherein the conveying nozzle includes a pre-processing nozzle and a post-processing nozzle, the printing nozzle is arranged above the printing station, and the pre-processing nozzle is arranged Above the pre-processing station, the post-processing nozzle is arranged above the post-processing station, and the printing station, pre-processing station and post-processing station can leave the printing nozzle by moving the station, and the pre-processing nozzle And below the post-processing nozzle; The material conveying module includes two conveying components, and the two conveying components are: A printing material conveying component, the printing material conveying component is connected to the printing nozzle and configured to convey printing materials; The processing liquid delivery component is connected with the printing nozzle, the pretreatment nozzle or the post-processing nozzle, and is configured to transport the processing liquid. The 3D printer according to claim 7, wherein the single conveying component comprises: The first tray is set on the chassis; Storage, configured to store printing materials or processing liquid; A transfer pipe configured to connect the storage and the delivery nozzle together; The squeezing device is connected to the storage and is configured to drive the printing material or the processing liquid in the storage to flow. The 3D printer according to claim 8, wherein: The storage includes a syringe tube and a piston push rod arranged in the syringe tube, The extrusion device includes: The drive motor is arranged on the first tray, The screw is connected to the drive motor, The push table is slidably connected to the screw and connected to the piston push rod. The 3D printer according to any one of claims 8-9, wherein the single conveying component includes a force sensor, the force sensor is provided on the memory, and is configured to detect that the pressing device The force of the memory. The 3D printer according to any one of claims 8-10, wherein: The storage includes a liquid storage bag, the squeezing device includes a peristaltic pump arranged on the first tray, and the transfer tube is connected to the liquid storage bag after passing through the peristaltic pump. The 3D printer according to any one of claims 1-11, wherein the temperature control module comprises: A plurality of liquid-cooled temperature control units are respectively configured to control the temperature of the station, the printing nozzle, the printing material or the processing liquid; A refrigerating liquid circulating circuit, the refrigerating liquid circulating circuit comprising a refrigerating liquid pipe and a refrigerating liquid heat dissipation device, and the refrigerating liquid pipe connects the refrigerant liquid heat dissipating device and each of the liquid cooling temperature control units to form a refrigerating liquid circulation circuit; The transmission temperature control unit is arranged on the material conveying module and is configured to perform temperature control on the material conveying module. The 3D printer according to claim 12, wherein the plurality of liquid cooling temperature control units comprise: The station temperature control unit is arranged at the bottom of the station and is configured to control the temperature of the station; The storage temperature control unit is arranged at the storage and is configured to control the temperature of the printing material or the processing liquid; The extrusion temperature control unit is arranged at the printing nozzle and is configured to control the temperature of the printing nozzle. The 3D printer according to claim 12, wherein the single liquid-cooled temperature control unit comprises a temperature control component; The temperature control assembly includes: a heat absorption end, a heat dissipation end, and a temperature control member. The heat absorption end is arranged on the printing nozzle, the material conveying module or the work station, and is connected with the printing nozzle, the material conveying module or the work station. Bit contact The heat-dissipating end is provided with a passage for the passage of a refrigerant liquid, and a liquid inlet and a liquid outlet communicating with the passage, and the liquid inlet and the liquid outlet are both connected to the refrigerant pipe; The temperature control element is arranged between the heat absorption end and the heat dissipation end, and the temperature control element is configured to transfer the heat of the heat absorption end to the heat dissipation end. The 3D printer according to claim 14, wherein the temperature control unit further comprises a heat-insulating outer layer, the heat-insulating outer layer is provided on the outside of the temperature control component, and covers the temperature control component or Partially covered, and the heat-insulating outer layer is configured as heat-insulating. The 3D printer according to any one of claims 13-15, wherein the cooling liquid heat dissipation device comprises a cooling liquid storage tank, a heat exchanger and a cooling liquid pump; The refrigerating liquid storage tank is arranged in the cabinet and is configured to store refrigerating liquid; The heat exchanger is connected to the refrigerating liquid storage tank and is configured to cool the refrigerating liquid; The cold liquid pump is arranged between the refrigerant liquid storage tank and the heat exchanger, and is configured to transfer the refrigerant liquid in the refrigerant liquid storage tank to each of the liquid cooling pipes through the refrigerant pipe. Temperature control unit and heat exchanger. The 3D printer according to claim 16, wherein the cooling liquid heat dissipation device comprises a plurality of the cooling liquid pumps; The refrigerant liquid in the refrigerant liquid storage tank flows through the heat exchanger, the storage temperature control unit and the station temperature control unit under the action of a cold liquid pump, and then flows back into the cold liquid storage tank; The refrigerant in the refrigerant liquid storage tank flows through the heat exchanger and the extrusion temperature control unit under the action of another cold liquid pump, and then flows back into the cold liquid storage tank. The 3D printer according to any one of claims 13-17, wherein the station temperature control unit is an integral structure; the station temperature control unit is arranged at the bottom of one or more of the stations , Configured to control the temperature of one or more of the workstations. The 3D printer according to any one of claims 13-17, wherein there are a plurality of the station temperature control units; and the plurality of station temperature control units are independently arranged at the plurality of stations. Bottom of, or separately and independently set at the bottom of any of the multiple stations. The 3D printer according to any one of claims 13-19, wherein the storage temperature control unit comprises: A supply temperature controller is provided at the printing material conveying assembly and is configured to control the temperature of the printing material; The liquid supply temperature controller is arranged at the processing liquid conveying assembly and is configured to control the temperature of the processing liquid. The 3D printer according to any one of claims 13-19, wherein the temperature control module further comprises: A plurality of temperature sensors are respectively provided at the station temperature control unit, the transmission temperature control unit, the storage temperature control unit and the extrusion temperature control unit, and the temperature sensors are configured to detect temperature and feed back to the main control Module. The 3D printer according to claim 4, wherein the nozzle moving module comprises: The printing platform is arranged in the chassis and on one side of the printing station; An XY-direction movement system connected to the printing nozzle and set on the printing platform, and the XY-direction movement system is configured to move the printing nozzle in the X direction or the Y direction; A Z-direction movement system connected to the printing platform, and the Z-direction movement system is configured to move the printing platform in the Z direction; Among them, the X direction, the Y direction and the Z direction are perpendicular to each other. The 3D printer according to claim 22, wherein the nozzle moving module further comprises a dust cover, the dust cover is connected to the printing platform and can move with the printing nozzle, and is configured to block述Printing nozzle. The 3D printer according to claim 1, wherein the printing nozzle comprises a printing needle, the printing needle comprises an outer needle and an inner needle, both the outer needle and the inner needle have a cavity, and the inner needle The inner needle is inserted into the cavity of the outer needle, the inner needle is provided with at least one, the inner needle has a needle, and the needle is arranged in the cavity of the outer needle or passes through the outer needle. The outer side of the cavity of the outer needle. The 3D printer according to claim 24, wherein the printing nozzle further comprises a light curing module, and the light curing module is arranged on the outside or inside of the housing of the nozzle. The 3D printer according to claim 24, wherein a needle cleaning cylinder is provided in the housing, and the needle cleaning cylinder is arranged in the housing and located on one side of the printing station, wherein the printing The spray head moves to the needle cleaning cylinder correspondingly according to the drive of the spray head moving module. The 3D printer according to any one of claims 1-26, wherein the station switching module comprises: The second base is set on the chassis and located on one side of the workstation; The clamping piece is movably arranged on the second base and configured to clamp the printing vessel; The second moving device is connected to the clamping member and is configured to move the clamping member and/or the station. A 3D printing method, characterized in that using the 3D printer according to any one of claims 1 to 27, comprises the following steps: The main control module obtains data on the number and shape of objects to be printed; The main control module controls the movement of the printing nozzle through the nozzle movement module and extrudes corresponding printing materials; The main control module is installed in the material conveying module through the temperature control module to adjust the temperature of each component; A plurality of printing vessels are placed at one of the stations, and the main control module controls the station switching module to sequentially take out the printing vessels, and make the printing vessels enter each of the stations sequentially, and Pre-processing, printing, post-processing, detection and filing operations are performed on the printing vessel. A 3D printing method, characterized in that using the 3D printer as claimed in claim 6, comprises the following steps: When the printing vessel is located at the inspection station, the inspection station detects quality information and records the quality information obtained by the inspection; The main control module judges whether the object in the printing vessel is defective at this time: If yes, the first moving device moves the inferior product seat to a place where the inspection station is docked, and the station switching module sequentially moves the printing vessel to the inferior product seat; If not, the first moving device moves the finished product seat to a place where the inspection station is docked, and the station switching module sequentially moves the printing vessel to the finished product seat. A 3D printing method, characterized in that using the 3D printer as claimed in claim 6, comprises the following steps: The main control module judges whether the object in the defective seat needs to be repaired and printed according to the recorded inspection quality information: If yes, take out the printing vessels one by one and send them to the printing station for repair printing; If not, the objects in the defective seat are not repaired and printed.

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