Measurement and jet printing integrated device and method for complex curved surface

Abstract

The invention provides a measurement and jet printing integrated device and method for a complex curved surface, and belongs to the field of advanced manufacturing, and the device comprises a motion module, a jet printing and measurement module, an integrated control module, a voltage control module and an air pressure control module. And the motion module can move independently, so that the functions of measuring and jet printing function switching and jet printing height adjustment according to the measured height are realized. The jet printing and measuring module is used for achieving the functions of pattern jet printing and jet printing height detection in the technological process. According to the method, the mode that the actual height of the jet printing needle and the surface of the workpiece is measured multiple times in the jet printing process and the height of the spray head is adjusted is adopted, the height change of the spray head in the complex curved surface jet printing process is reduced, the defects caused by inaccurate digital analog in the complex curved surface jet printing machining process are reduced, and the production efficiency is improved. The problems that in a complex curved surface application scene, the jet printing height of an existing jet printing method cannot be changed according to the curved surface height, so that the jet printing quality is low, and defects are serious are solved, and the jet printing quality is improved.

Description

Technical Field

[0001] The invention belongs to the field of advanced manufacturing and relates to a device and method for integrating measurement and printing of complex curved surfaces. Background Art

[0002] Electrofluidic printing technology, which has developed rapidly in recent years, is a micro-droplet injection forming technology based on electrofluidic dynamics. It has been widely used in aerospace, intelligent sensing and new energy fields. Different from the principle of using extrusion force to control fluid movement in traditional printing technologies such as thermal printing and piezoelectric printing, electrofluidic dynamic jet printing, that is, printing, uses high-voltage electric field force to induce fluid movement. In the electrofluidic printing process, the ink at the end of the needle overcomes its own viscosity, surface tension and air resistance under the action of electric field force and gravity to form a stable cone, called Taylor cone. The electric field force acts as a driving force to pull the polarized droplets out of the tip of the Taylor cone. When the electric field force on the droplets is sufficient to overcome the surface tension of the droplets, the droplets are released from the tip of the nozzle. By designing the motion path, the droplets are accurately deposited at the specified position of the printing substrate, thereby forming a specific structure on the substrate surface. Since the size of the ejected droplets is much smaller than the inner diameter of the nozzle, the accuracy of the electrofluidic printing technology is not limited by the inner diameter of the nozzle. It not only retains the high flexibility advantages of traditional inkjet printing technology, but also can print high-viscosity solutions to achieve sub-microscale and high-resolution manufacturing. Electrofluidic printing technology can print a variety of substrates, including composite materials, glass, nanofiber paper, and polycarbonate filter paper. Therefore, electrofluidic printing technology has broad application scenarios in future development.

[0003] In recent years, three-dimensional curved electronic products have become a trend in the microelectronics industry. Forming circuits directly on the surface of product structures can make electronic products more miniaturized, intelligent, and lightweight. While retaining the basic functions of planar integrated circuits, electronic devices can be more widely used in complex and changing scenarios. It has important significance and application value in the fields of health detection, environmental perception, and frequency-selective surfaces. For example, the large curvature structure on the surface of an aircraft is covered with intelligent skins, the internal circuit connections of curved display devices, and the production of portable medical testing equipment. Compared with the indirect manufacturing method of transferring planar circuits to curved circuits through flexible substrates, the use of electrofluidic printing technology to directly manufacture on complex curved surfaces has the advantages of simple process, high material utilization, flexible manufacturing, and high fit for non-extensible surfaces. Electrofluidic printing technology based on complex surfaces has broad application scenarios in three-dimensional curved electronic manufacturing.

[0004] The electrofluid printing process is the result of the coupling of multiple forces such as electrostatic force, surface tension, gravity, and pressure. In order to improve the quality of printed structure molding, it is necessary to adjust and optimize process parameters such as electric field strength, air pressure, and the distance between the nozzle and the substrate. Among them, the distance between the nozzle and the substrate is an important parameter affecting the quality of printing. In the use scenario of complex curved substrate printing, the existing equipment cannot adjust the distance between the nozzle and the substrate in real time during the printing process, and the printing process requires high precision in the digital model of the workpiece. When the actual model of the substrate deviates greatly from the digital model, the nozzle motion trajectory cannot be adjusted accordingly, resulting in a large deviation between the distance between the nozzle and the substrate and the set value, resulting in structural deformation, scratches between the nozzle and the substrate, and other phenomena, resulting in low printing quality, nozzle deformation and blockage, and other problems.

[0005] In view of the above-mentioned problems faced in the complex curved surface printing manufacturing process, it is urgent to develop a device and / or method for adjusting the distance between the nozzle and the curved surface substrate according to the actual condition of the workpiece. Summary of the invention

[0006] The purpose of this application is to solve the problems existing in the above-mentioned prior art and to provide an improved method and device for measuring and printing complex curved surfaces.

[0007] To achieve the above-mentioned purpose, some embodiments of the present application provide an integrated measurement and printing device for complex surfaces, characterized in that it includes a motion module, a printing and measurement module, an integrated control module, a voltage control module, an air pressure control module and a machine tool system; wherein the printing and measurement module is configured to perform graphic printing and measure the printing height during the graphic printing process; the motion module is configured to achieve switching between measurement and printing by moving in three directions of XYZ, and is configured to adjust the printing height according to the measured height; the integrated control module is configured to receive the measured height, calculate the height adjustment method, and issue a control instruction to control the operation of the voltage control module and the air pressure control module; the voltage control module provides the current required for printing, and has the function of changing the voltage parameters according to the function; the air pressure control module provides the air pressure required for printing, and sets the air pressure by controlling the air valve switch; the machine tool system is configured to control each spindle of the machine tool system according to the path control code to complete the graphic path movement.

[0008] In some embodiments, the printing and measuring module includes an air plug, a wire tube cover, a circuit adapter, a wire tube, a wire tube fixture, a third mounting plate, a base plate, a positioning wire tube, a printing material tube, a printing needle, a positioning wire tube fixture, a rangefinder, and a rangefinder fixture; wherein the third mounting plate is mounted on the second mounting plate and is used to connect the printing and measuring module to the motion module; the base plate is mounted on the lower part of the third mounting plate and is used to define the positions of the wire, the wire tube fixture and the rangefinder; the wire tube fixture and the rangefinder fixture are mounted on the third mounting plate; the wire tube fixture clamps the wire tube to fix its position; the rangefinder fixture clamps the rangefinder to fix its position; the circuit adapter is connected to the wire tube cover for switching circuits, and the wire tube cover is mounted on the upper part of the wire tube; the bottom of the wire tube is mounted on the base plate, and the middle of the wire tube is fixed to the third mounting plate by the wire tube fixture; the lower part of the wire tube is connected to the left part of the positioning wire tube The invention is used to fix the position of the positioning wire drum, and the inner diameter of the positioning wire drum cooperates with the outer diameter of the conductive middle section to define the position of the conductive middle section; the printing material drum is threadedly connected to the upper end of the conductive middle section for storing the printing slurry, and the conductive middle section is installed at the lower end of the printing material drum for charging the printing slurry; the air plug is sealedly installed at the upper end of the printing material drum to play a sealing role; the printing material drum is connected to the air pressure control module through the air pipe so as to receive high-pressure gas from the air pipe to squeeze the printing slurry out of the printing material drum; the printing needle is threadedly connected to the lower end of the conductive middle section; the positioning wire drum is installed outside the conductive middle section for determining the position of the conductive middle section; the end of the positioning wire drum is connected to the wire drum, and the positioning wire drum has a built-in channel, and the conductive contact is connected to the power transmission line, and the current is transmitted to the conductive middle section through the wire drum and the channel of the positioning wire drum; the rangefinder is fixed to the third mounting plate through the rangefinder fixture for measuring the height value during the printing process.

[0009] In some embodiments, the device further includes a sliding cover and a housing, wherein the sliding cover is mounted on the upper end of the housing to prevent foreign matter from entering the printing and measuring module; and the housing is fixed on the third mounting plate for packaging.

[0010] In some embodiments, the integrated control module is communicatively connected with the motion module, the printing and measurement module, the voltage control module and the air pressure control module; the integrated control module is configured to output control instructions to control the electrical parameter settings of the voltage control module, the air pressure control module air parameter settings and the motion axis movement of the motion module; the current generated by the voltage control module is transmitted to the printing and measurement module through a line to energize the printing needle, the air pressure control module outputs high-pressure gas that is connected to the printing and measurement module through an air pipe to provide the air pressure required for printing, the printing and measurement module is installed on the motion module, and the movement of each motion axis in the motion module realizes the switching of the measurement and printing functions of the printing and measurement module.

[0011] In some embodiments, the motion module includes a machine tool connecting plate, a first mounting plate, a left slide rail, a mounting platform, a Y motion axis, a baffle, a right slide rail, an X motion axis, a second mounting plate, a slider, a Z motion axis, a rotating pan-tilt table, a mobile pan-tilt table, and an observation camera; wherein the machine tool connecting plate is used to fix the integrated measurement and printing device for complex surfaces to the spindle of the machine tool system; the Z motion axis is fixed to the machine tool connecting plate through the first mounting plate to realize the vertical movement of the printing and measuring module; the left slide rail is installed on the left side of the first mounting plate to limit the movement of the slider, and the right slide rail is installed on the right side of the first mounting plate to limit the movement of the slider, and the limited slider limits the movement direction of the Z motion axis; the baffle is installed on the The first mounting plate is used to prevent foreign matter from falling into the Z motion axis; the second mounting plate is installed on the X motion axis for installing the printing and measuring module; the mounting platform is installed at the end of the Z motion axis; the X motion axis and the Y motion axis are installed on the mounting platform, wherein the X motion axis is used to realize the horizontal left and right movement of the printing and measuring module, and the Y motion axis is used to realize the horizontal front and back movement of the printing and measuring module; the observation camera is installed on the mobile gimbal for photographing the position of the printing needle to observe the printing situation; the rotating gimbal is installed on the X motion axis for the observation camera to adjust the pitch angle and horizontal rotation angle, and the mobile gimbal is installed at the lower part of the rotating gimbal for linearly adjusting the front and back and left and right positions of the observation camera.

[0012] In some embodiments, the integrated control module includes an industrial computer, a display, and an input device. The display and the input device are connected to the industrial computer for inputting control instructions and displaying the images sent back by the observation camera; the industrial computer is connected to the motion module, the printing and measurement module, the voltage control module, the air pressure control module, and the machine tool system for issuing control instructions, receiving height measurement feedback, and controlling the operation of the remaining systems; the voltage control module includes a function generator and a high-voltage amplifier, and the function generator and the high-voltage amplifier are placed in the cabinet. The voltage control module is used to receive the control instructions of the integrated control module, provide the required current, and transmit the current to the printing and measurement module. The printing and measurement module generates an electric field at the printing needle through the received current to improve the quality of the printed graphics; the air pressure control module includes an air valve and an air pressure controller. The air pressure controller is placed at a specific position in the cabinet. The air pressure control module is used to receive the control instructions of the integrated control module, provide high-pressure gas, control the start and stop of the high-pressure gas through the air valve, and transmit the high-pressure gas to the printing and measurement module.

[0013] In some embodiments, the machine tool system includes: a machine tool Z spindle, a machine tool Y spindle, a machine tool C axis, a machine tool bed, a workpiece, a machine tool X spindle, a machine tool fixture, and a machine tool B axis; the machine tool Z spindle is installed on the upper part of the machine tool bed for vertical movement; the machine tool Y spindle and the machine tool X spindle are installed in the middle of the machine tool bed for horizontal forward and backward and left and right movement; the machine tool B axis is installed on the machine tool bed for rotating the workpiece along the Y motion axis direction, and the machine tool C axis is installed in the middle of the machine tool B axis for axial rotation of the workpiece; the machine tool fixture is fixed on the machine tool C axis for fixing the workpiece; the workpiece is installed on the machine tool fixture.

[0014] In some embodiments, the positioning wire barrel clamp is installed on the outside of the positioning wire barrel, and the positioning wire barrel is divided into two parts, left and right parts, which are connected by a second bolt. By tightening the second bolt, the positioning wire barrel is clamped to fix the position of the conductive middle section; a third bolt is installed on the rangefinder clamp to apply clamping force.

[0015] Some other embodiments of the present application provide a control method for the integrated measurement and printing device for complex surfaces as described in any of the above items, which includes the following steps: importing the model of the workpiece into the path planning software, determining the printing area, planning the machine tool motion path, generating the machine tool control code, the integrated control module uses an industrial computer to process the machine tool control code, adding air pressure, voltage, and measurement and printing control instructions, and importing the final path control code into the machine tool system; starting the machine tool system, motion module, printing and measurement module, integrated control module, voltage control module and air pressure control module, and checking the operation of each device; clamping the workpiece on the machine tool fixture, and running The calibration procedure drives the spindles of the machine tool system to drive the motion module and the printing and measuring module to move, so that the printing needle moves to the first graphic measurement position, and the vertical height is at a safe height; the Z motion axis in the motion module drives the printing and measuring module to move downward, and observes through the observation camera until the printing needle touches the workpiece surface, drives the Z motion axis to lift upward to the measurement height, and moves the X motion axis and Y motion axis in the motion module to switch the position of the printing needle and the rangefinder, aligns the measuring light spot of the rangefinder with the position to be measured, and makes the rangefinder work to measure the height value; sets the starting height based on the measured height value; and runs the path of the machine tool system The control code enables each spindle of the machine tool system to move and execute the first graphic path: the voltage control module is configured to provide a preset function value current, which is transmitted to the conductive middle section through the line; the air pressure control module is configured to control the high-pressure gas to start and stop input according to the program code, and the high-pressure gas is transmitted to the printing material cylinder through the air pipe, so that the printing slurry is squeezed out from the printing needle to complete the first graphic printing; the spindles of the machine tool system are driven to move the workpiece to the next graphic printing position; the X-axis, Y-axis, and Z-axis of the motion module are driven to work so that the distance meter measurement light spot is aligned with the position to be measured, so that the distance meter executes The machine tool system performs multiple measurements, transmits the measurement results back to the industrial computer in the integrated control module, and the industrial computer calculates the actual printing height based on the measurement results; and feeds back the measured height to the motion control module, drives the X, Y and Z axes in the motion module to move the printing needle to the printing position, and readjusts the height of the printing needle according to the measured actual printing height; the machine tool system runs the path control code again, the industrial computer sends a control signal, the voltage control module provides a set current, and the air pressure control module controls the high-pressure gas input according to the control signal to extrude the charged printing slurry from the printing needle to complete the next graphic printing.

[0016] In some embodiments, a downward movement command is input into the industrial computer, and the Z movement axis in the motion module drives the printing and measuring module to move downward; the measured height value is input into the control software of the industrial computer to set the starting height; the industrial computer sends a signal to the voltage control module and the air pressure control module according to the voltage and air pressure control command in the control code.

[0017] Compared with the prior art, the effects and benefits of the present invention are: The present invention designs an integrated printing measurement device, which can measure the actual height of the workpiece during the printing process, and adjust the vertical distance between the nozzle and the substrate, thereby improving the printing quality in complex curved surface printing scenarios. By measuring the actual height of the printing position multiple times during the printing process, closed-loop control of the printing height parameters is achieved, reducing the height change of the printing needle during the complex curved surface printing process, improving the printing quality, and reducing the impact of the actual workpiece and the digital model error on the printing instruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1a This is a schematic diagram of the structure of the integrated measurement and printing device for complex curved surfaces proposed by the present invention.

[0019] Figure 1b for Figure 1a The structural side view of the integrated measurement and printing device for complex surfaces.

[0020] Figure 2 This is a schematic diagram of the structure of the printing and measuring modules of the integrated measurement and printing device for complex surfaces proposed by the present invention.

[0021] Figure 3 This is a schematic structural diagram of the jet valve printing part of the integrated measurement and printing device for complex curved surfaces proposed by the present invention.

[0022] Figure 4 This is a schematic diagram of the overall structure of the machine tool of the integrated measuring and printing device for complex surfaces described in the present invention.

[0023] In the figure: 1 is a motion module; 2 is a printing and measuring module; 3 is an integrated control module; 4 is a voltage control module; 5 is an air pressure control module; 6 is a machine tool system; 11 is a machine tool connection plate; 12 is a first mounting plate; 13 is a left slide rail; 14 is a mounting platform; 15 is a Y motion axis; 16 is a baffle; 17 is a right slide rail; 18 is an X motion axis; 19 is a second mounting plate; 110 is a slider; 111 is a Z motion axis; 112 is a rotating pan head; 113 is a mobile pan head; 114 is an observation camera; 21 is an air plug; 22 is a wire tube cover; 23 is a circuit adapter; 24 is a slide cover; 25 is a first bolt; 26 is Wire bobbin; 27 is a wire bobbin fixture; 28 is a third mounting plate; 29 is a second bolt; 210 is a bottom plate; 211 is a positioning wire bobbin; 212 is a printing material bobbin; 213 is a printing needle; 214 is a fastening bolt; 215 is a second bolt; 216 is a positioning wire bobbin fixture; 217 is a distance meter; 218 is a third bolt; 219 is a distance meter fixture; 220 is a housing; 31 is a conductive middle section; 32 is a conductive contact; 41 is a machine tool Z spindle; 42 is a machine tool Y spindle; 43 is a machine tool C axis; 44 is a machine tool bed; 45 is a workpiece; 46 is a machine tool X spindle; 47 is a machine tool fixture; 48 is a machine tool B axis; 51 is a display; 52 is a function generator; 53 is an air pressure controller; 54 is a high-voltage amplifier; 55 is a motion axis controller; 56 is an industrial computer; 57 is a cabinet; 58 is an input device. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the technical scheme and the accompanying drawings.

[0025] like Figure 4As shown, some embodiments of the present application provide an integrated measurement and printing device for complex surfaces, including a motion module 1, a printing and measurement module 2, an integrated control module 3, a voltage control module 4, an air pressure control module 5, and a machine tool system 6. The motion module 1 has multiple motion axes, for example, an X motion axis for left and right movement along the X axis, a Y motion axis for front and back movement along the Y axis, and a Z motion axis for up and down movement along the Z axis. Each motion axis can move independently to realize the switching between measurement and printing functions, and has the function of adjusting the printing height according to the measurement height and observing the printing effect. The printing and measurement module 2 integrates printing and measurement functions, and is used to realize the function of completing graphic printing and measuring the printing height during the process. The integrated control module 3 is used to receive the measurement height signal from the printing and measuring module 2, calculate the adjustment method, and issue control instructions to control the operation of the motion module 1, the printing and measuring module 2, the voltage control module 4 and the air pressure control module 5; the voltage control module 4 provides the current required for printing, and has the function of changing the voltage parameters according to the function; the air pressure control module 5 provides the air pressure required for printing, controls the air valve switch, and has the function of setting the air pressure; the machine tool system 6 controls its spindle according to the path control code to complete the graphic path movement.

[0026] The integrated control module 3 is the main control module, and the other modules are connected to the integrated control module 3 by wired or wireless means, for example, by wired lines. By inputting control instructions in the integrated control module 3, the electrical parameter setting of the voltage control module 4, the gas parameter setting of the air pressure control module 5, and the movement of each motion axis of the motion module 1 can be controlled. The printing and measuring module 2 is a device execution module. The current generated by the voltage control module 4 is transmitted to the printing and measuring module 2 through the line, so that the printing needle 213 therein is charged. The air pressure control module 5 outputs high-pressure gas, which is connected to the printing and measuring module 2 through the air pipe to provide the air pressure required for printing. The printing and measuring module 2 is installed on the motion module 1, and the movement of each motion axis in the motion module 1 realizes the switching of the measurement and printing functions of the printing and measuring module 2.

[0027] The motion module 1 can move independently and is used to switch between measurement and printing functions. It is configured to have the functions of adjusting the printing height according to the measurement height and observing the printing effect. Figure 1a , Figure 1bAs shown, the motion module 1 includes a machine tool connection plate 11, a first mounting plate 12, a left slide rail 13, a mounting platform 14, a Y motion axis 15, a baffle 16, a right slide rail 17, an X motion axis 18, a second mounting plate 19, a slider 110, a Z motion axis 111, a rotating pan-tilt table 112, a mobile pan-tilt table 113 and an observation camera 114. Specifically, the machine tool connection plate 11 is used to fix the motion module 1 and the printing and measuring module 2 of the integrated device for measuring and printing complex surfaces of the present application to the Z spindle of the machine tool of the machine tool system 6. The Z motion axis 111 is fixed to the machine tool connection plate 11 through the first mounting plate 12, and is used to realize the vertical movement of the printing and measuring module 2 relative to the machine tool system 6; the left slide rail 13 is installed on the left side of the first mounting plate 12, and is used to limit the movement of the slider 110. The right slide rail 17 is installed on the right side of the first mounting plate 12, and is used to limit the movement of the slider 110. The limited slider 110 limits the movement direction of the Z motion axis 111, and improves the movement stability of the Z motion axis 111. The baffle 16 is installed to the first mounting plate 12, and is used to prevent foreign matter from falling into the Z motion axis 111. The second mounting plate 19 can be L-shaped, installed on the X motion axis 18, and is used to install the printing and measuring module 2. The mounting platform 14 is mounted at the end of the Z motion axis 111, and the X motion axis 18 and the Y motion axis 15 are mounted on the mounting platform 14, wherein the X motion axis 18 is used to realize the left and right movement of the printing and measuring module 2 in the horizontal direction, and the Y motion axis 15 is used to realize the front and back movement of the printing and measuring module 2 in the horizontal direction. The observation camera 114 is mounted on the mobile gimbal 113, and is used to photograph the position of the printing needle 213 and observe the printing situation. The second mounting plate 19 is mounted on the X motion axis 18, and is used to mount the printing and measuring module 2. The rotating gimbal 112 is mounted on the X motion axis 18, and is used to adjust the pitch angle and horizontal rotation angle of the observation camera 114. The mobile gimbal 113 is mounted at the lower part of the rotating gimbal 112, and is used for linear adjustment of the front and back, left and right positions of the observation camera 114. The observation camera 114 is installed on the mobile gimbal 113, and is used to photograph the position of the printing needle 213 and observe the printing situation; the rotating gimbal 112 and the printing and measuring module 2 are respectively fixed at corresponding positions on the X-motion axis 18. By adjusting the rotating gimbal 112 and / or the mobile gimbal 113, detection and observation of the printing needle 213 can be achieved.

[0028] The printing and measuring module 2 integrates printing and measuring functions, and is used to complete the graphic printing and detect the printing height during the printing process. Figure 2 , Figure 3As shown, the printing and measuring module includes an air plug 21, a wire tube cover 22, a circuit adapter 23, a sliding cover 24, a first bolt 25, a wire tube 26, a wire tube fixture 27, a third mounting plate 28, a second bolt 29, a bottom plate 210, a positioning wire tube 211, a printing material tube 212, a printing needle 213, a fastening bolt 214, a second bolt 215, a positioning wire tube fixture 216, a rangefinder 217, a third bolt 218, a rangefinder fixture 219 and a housing 220. The third mounting plate 28 is mounted on the second mounting plate 19 and is used to connect the printing and measuring module 2 and the motion module 1; the housing 220 is fixed on the third mounting plate 28 by the first bolt 25 and is used to encapsulate other components of the printing and measuring module 2; the sliding cover 24 is mounted on the upper end of the housing 220 and is used to prevent foreign matter from entering the printing and measuring module 2; the bottom plate 210 is mounted on the lower part of the third mounting plate 28 and is used to define the positions of the wire barrel 26, the wire barrel fixture 27 and the rangefinder 217 mounted thereon. The wire barrel fixture 27 and the rangefinder fixture 219 are mounted on the third mounting plate 28; the wire barrel fixture 27 is used to clamp the wire barrel 26 to fix its position; the rangefinder fixture 219 is used to clamp the rangefinder 217 to fix its position. The circuit adapter 23 is connected to the wire barrel upper cover 22 for circuit switching, and the wire barrel upper cover 22 is mounted on the upper part of the wire barrel 26. The bottom of the wire barrel 26 is mounted on the bottom plate 210, and the middle part is fixed on the third mounting plate 28 through the wire barrel clamp 27 as a line channel for the power transmission wire; the lower part of the wire barrel 26 is connected to the left part of the positioning wire barrel 211 to fix the position of the positioning wire barrel 211. The positioning wire barrel 211 is divided into left and right parts, and the positioning wire barrel 211 cooperates with the conductive middle section 31 to limit the position of the conductive middle section 31.

[0029] like Figure 2 , Figure 3As shown, the printing material cylinder 212 is threadedly connected to the upper end of the conductive middle section 31 for storing the printing slurry, and the conductive middle section 31 is installed at the lower end of the printing material cylinder 212 for charging the printing slurry. The air plug 21 is installed at the upper end of the printing material cylinder 212 to play a sealing role. The air pressure control module 5 passes high-pressure gas into the printing material cylinder 212 through an air pipe, thereby squeezing the printing slurry out of the printing material cylinder 212; the printing needle 213 is threadedly connected to the lower end of the conductive middle section 31; the positioning wire cylinder 211 is installed outside the conductive middle section 31 for determining the position of the conductive middle section 31; the end of the positioning wire cylinder 211 is connected to the wire cylinder 26, and the positioning wire cylinder 211 has a built-in channel for the transmission wire to pass through, and the conductive contact 32 is connected to the transmission wire, through the wire cylinder 26 and the positioning wire cylinder 21 1, transmitting current to the conductive middle section 31; the positioning wire barrel clamp 216 is installed on the outside of the positioning wire barrel 211, the positioning wire barrel 211 is divided into two parts, the left and right parts are connected by a second bolt 215, and the positioning wire barrel 211 is clamped by tightening the second bolt 215 to fix the position of the conductive middle section 31; the third bolt 218 is installed on the rangefinder clamp 219, which is used to apply a clamping force to fix the rangefinder clamp; the rangefinder is fixed to the third mounting plate 28 through the rangefinder clamp 219, and is used to measure the height value during the printing process.

[0030] The integrated control module 3 is used to receive the measured height, calculate the adjustment method, issue control instructions, and control the operation of other modules. Figure 4 As shown, the integrated control module 3 includes an industrial computer 56, a display 51, and an input device 58; the display 51 and the input device 58 are connected to the industrial computer 56 for inputting control instructions and displaying the image returned by the observation camera 114; the industrial computer 56 is connected to the motion module 1, the printing and measurement module 2, the voltage control module 4, the air pressure control module 5, and the machine tool system 6 for issuing control instructions, receiving height measurement feedback, and controlling the operation of the remaining systems.

[0031] The voltage control module 4 provides the current required for printing and has the function of changing the voltage parameters according to the function. Figure 4 As shown, the voltage control module 4 includes a function generator 52 and a high-voltage amplifier 54, and the function generator 52 and the high-voltage amplifier 54 are placed at a predetermined position of a cabinet 57. The voltage control module 4 is used to receive the control instruction of the integrated control module 3, provide the required current, and transmit the current to the printing and measuring module 2. The printing and measuring module 2 generates an electric field at the printing needle 213 through the received current, thereby improving the quality of the printed graphics.

[0032] Likewise Figure 4 As shown, the air pressure control module 5 provides the air pressure required for the printing of the printing and measuring module 2, controls the switch of the air valve therein, and has the function of setting the air pressure. To this end, the air pressure control module 5 includes the air valve and the air pressure controller 53. The air pressure controller 53 is placed at a predetermined position of the cabinet 57. The air pressure control module 5 is used to receive the control instruction of the integrated control module 3, provide high-pressure gas, control the start and stop of the high-pressure gas through the air valve, and deliver the high-pressure gas to the printing and measuring module 2.

[0033] For example Figure 4 As shown, the machine tool system 6 includes: a machine tool Z spindle 61, a machine tool Y spindle 62, a machine tool C axis 63, a machine tool bed 64, a workpiece 65, a machine tool X spindle 66, a machine tool fixture 67 and a machine tool B axis 68, that is, an axis unit rotating around the axis of the machine tool Y spindle. Specifically: the machine tool Z spindle 61 is installed on the upper part of the machine tool bed 64, and is used to realize movement along the Z motion axis, that is, the vertical direction; the machine tool Y spindle 62 and the machine tool X spindle 66 are installed in the middle of the machine tool bed 64, and are used to move forward and backward and left and right in the horizontal direction; the machine tool B axis 68 is installed on the machine tool bed 64, and is used to rotate the workpiece 65 along the Y motion axis 15 direction, and the machine tool C axis 63 is installed in the middle of the machine tool B axis 68, and is used to drive the workpiece 65 to rotate axially; the machine tool fixture 67 is fixed on the machine tool C axis 63, and is used to position and clamp the workpiece 65; the workpiece 65 is installed on the machine tool fixture 67.

[0034] The above-mentioned integrated measuring and printing device for complex curved surfaces can be used to implement a method for measuring and printing complex curved surfaces at the same time. The method may include the following steps.

[0035] Step 1: Import the model of the workpiece 65 into the path planning software, determine the printing area, plan the movement path of the machine tool system 6, generate the path planning code of the machine tool, use the industrial computer 56 to process the path planning code, add air pressure, voltage, and measurement printing control instructions to form a path control code, and then import the path control code into the machine tool system 6.

[0036] Step 2: Start the machine tool system 6, the motion module 1, the printing and measuring module 2, the integrated control module 3, the voltage control module 4 and the air pressure control module 5, and check the operation status of the above modules.

[0037] Step 3: Clamp the workpiece 65 on the machine tool fixture 67, run the calibration program, and the spindles of the machine tool system 6, namely the Z spindle 61, the Y spindle 62, the C axis 63, the X spindle 66, and the B axis 68, drive the movement of the motion module 1, the printing and measuring module 2, and the workpiece, so that the printing needle 213 moves to the first graphic measurement position, and the vertical height is at a safe height. Enter a downward movement command in the industrial computer 56, and the Z motion axis 111 in the motion module 1 drives the printing needle 213 to move to the first graphic measurement position. The printing and measuring module 2 moves downward and is observed by the observation camera 114 until the printing needle 213 contacts the surface of the workpiece 65, the Z motion axis 111 is lifted upward to the measuring height, the X motion axis 18 and the Y motion axis 15 in the motion module 1 move, the positions of the printing needle 213 and the rangefinder 217 are switched, the measuring light spot of the rangefinder 217 is aligned with the position to be measured, the rangefinder 217 works, and the height value is measured; the measured height value is input into the control software of the industrial computer 56 to set the starting height.

[0038] Step 4: Run the path control code to make the spindle movement of the machine tool system 6 execute the first graphic path. The industrial computer 56 sends a signal to the voltage control module 4 and the air pressure control module 5 according to the voltage and air pressure control instructions in the path control code, so that the voltage control module 4 provides a current with a preset function value, which is transmitted to the conductive middle section 31 through the line. The air pressure control module 5 controls the start and stop input of high-pressure gas by the integrated control module 3 according to the path control code, and transmits the high-pressure gas to the printing material cylinder 212 through the air pipe, so that the printing slurry is squeezed out from the printing needle 213 to complete the first graphic printing.

[0039] Step 5: Drive the spindles of the machine tool system 6 to move the workpiece 65 to the printing position of the second graphic, that is, the second printing position. The X-axis 18, Y-axis 15, and Z-axis 111 of the motion module 1 work, and align the measuring light spot of the rangefinder 217 with the position to be measured. The rangefinder 217 measures multiple times, and transmits the measurement results back to the industrial computer 56 in the integrated control module 3. According to the measurement results, the actual printing height is calculated; the measured height is fed back to the motion control module 1, and the X-axis 18, Y-axis 15, and Z-axis 111 in the motion module 1 work to move the printing needle 213 to the second printing position, and readjust the height of the printing needle according to the measured height.

[0040] Step 6: The machine tool system 6 continues to run the path control code, so that the industrial computer 56 sends a control signal, the voltage control module 4 provides a set current, and the air pressure control module 5 controls the high-pressure gas input according to the signal, so that the charged printing slurry is squeezed out from the printing needle 213 to complete the printing of the second graphic.

[0041] Working principle: The motion module 1, the printing and measuring module 2, the voltage control module 4 and the air pressure control module 5 of the present invention are connected to the integrated control module 3, and the control command is issued through the industrial computer 56. During the printing process, the actual height between the printing needle 213 and the surface of the workpiece 65 is measured, and the printing height is adjusted. The voltage control module 4 outputs current, which is transmitted to the printing nozzle through the line to charge the printing slurry. The air pressure control module 5 outputs high-pressure gas, which is transmitted to the printing material cylinder through the air pipe to extrude the printing slurry. The spindle of the machine tool system 6 is positioned to the printing position of the first figure according to the path control code, and the printing and measuring module 2 measures the printing height and determines the initial height. The spindle movement of the machine tool system 6 completes the printing of the first figure. The motion module 1 adjusts the position of the printing and measuring module 2, and the rangefinder measures the actual height of the printing position of the second figure. The integrated control module 3 controls the movement of the motion module 1 according to the height measured by the rangefinder, corrects the height parameter, and the machine tool system 6 executes the path control code to complete the printing of the second figure. Repeat the above steps to complete the printing of each graphic in the entire area in sequence.

[0042] In a specific embodiment, the above steps can be implemented as follows: Silver paste was selected as the printing paste, and a square pattern was printed with a line width of 200 μm; Step 11: Connect the motion module 1, the voltage control module 4, the air pressure control module 5 and the integrated control module 3. Design a square pattern in the path planning software, plan the path based on the workpiece digital model, and add voltage and air pressure control instructions to the path control code. Input and set the voltage and air pressure control parameters, set the voltage pulse frequency to 150 Hz, the pulse amplitude to 6V, and the input air pressure to 200 kPa.

[0043] Step 12: Inject silver paste into the printing material cylinder until it reaches two-thirds of the printing material cylinder 212, insert the air plug, and screw the printing material cylinder 212 into the conductive middle section. Install the workpiece on the machine tool fixture and clamp the workpiece.

[0044] Step 13: Clamp the workpiece 65 on the machine tool fixture 67, run the calibration program, the machine tool spindle drives the motion module 1 and the printing and measuring module 2 to move, the printing needle 213 moves to the first graphic measurement position, the vertical height is at a safe height, input a downward movement command in the industrial computer 56, the Z motion axis 111 in the motion module 1 drives the printing and measuring module 2 to move downward, and observe through the observation camera 114 until the printing needle 213 contacts the surface of the workpiece 65, the Z motion axis 111 is lifted upward to the measurement height, the X motion axis 18 and the Y motion axis 15 in the motion module 1 move, switch the positions of the printing needle 213 and the rangefinder 217, align the measuring light spot of the rangefinder 217 with the position to be measured, the rangefinder 217 works, and measures and displays the printing position height parameter 144; input the measured value into the control software of the industrial computer 56, and set the starting height to 144; Step 14: Run the path control code of the machine tool, the machine tool spindle moves to execute the path of the first graphic, the industrial computer 56 sends a signal to the voltage control module 4 and the air pressure control module 5 according to the voltage and air pressure control instructions in the path control code, the voltage control module 4 provides a preset function value current and transmits it to the conductive middle section 31 through the line, the air pressure control module 5 controls the high-pressure gas to start and stop input according to the signal and transmits the high-pressure gas to the printing material cylinder 212 through the air pipe, so that the silver paste is squeezed out from the printing needle 213, and the printing of the first graphic is completed; Step 15: After completing the printing of one graphic, the machine tool spindle moves to the printing position of the second graphic, the motion module 1 adjusts the printing position and the position of the measuring module 2, the rangefinder measures the actual height 150 of the next graphic printing position, and the integrated control module 2 controls the movement of the motion module 1 according to the height measured by the rangefinder, and readjusts the height of the printing needle 213 to 144. The machine tool executes the path program to complete the printing of the second graphic.

[0045] Step 16: Repeat the above steps to complete the regional graphics printing.

[0046] In summary, the present invention provides an integrated printing and measuring method and develops an integrated printing and measuring device. By measuring the actual height and adjusting the printing height during the printing process, a new solution is proposed for the existing printing method in complex curved surface application scenarios, where the nozzle cannot change according to the height of the curved surface, resulting in low printing quality and serious defects. It has a wide range of application scenarios in the field of complex curved surface printing.

Claims

1. A measurement and printing integrated device for complex curved surfaces, characterized in that: It comprises a motion module (1), a printing and measuring module (2) and an integrated control module (3); The motion module (1) is electrically coupled to the integrated control module (3), and the motion module (1) comprises an X motion axis, a Y motion axis and a Z motion axis; The printing and measuring module (2) is mechanically coupled to the motion module (1) and electrically coupled to the integrated control module (3), and the printing and measuring module (2) comprises a printing needle and a distance meter fixed relative to the printing needle; The integrated control module (3) is configured to provide control signals to the motion module (1) and the printing and measuring module (2) so that the printing needle head is positioned to align with the workpiece to perform graphic printing on the surface of the workpiece at a preset printing height; During the printing process, the distance meter is positioned to replace the position of the printing needle head to measure the actual height between the printing needle head and the surface of the workpiece to obtain a measured height; The integrated control module (3) is configured to update the printing height according to the difference between the measured height and the printing height, and to drive the motion module (1) to move according to the updated printing height.

2. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: It also includes a machine tool system (6), wherein the machine tool system (6) provides an installation position for the workpiece and is configured to control each spindle of the machine tool system according to a path control code to drive the spindles to complete the graphic path movement.

3. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: The printing and measuring module comprises an air plug (21), a wire tube cover (22), a circuit adapter (23), a wire tube (26), a wire tube fixture (27), a third mounting plate (28), a bottom plate (210), a positioning wire tube (211), a printing material tube (212), a printing needle (213), a positioning wire tube fixture (216), a distance meter (217), and a distance meter fixture (219); wherein the third mounting plate (28) is mounted on the second mounting plate (19) for mounting the printing and measuring module (2 ) is connected to the motion module (1); the base plate (210) is mounted on the lower part of the third mounting plate (28) and is used to define the positions of the wire tube (26), the wire tube clamp (27) and the rangefinder (217); the wire tube clamp (27) and the rangefinder clamp (219) are mounted on the third mounting plate (28); the wire tube clamp (27) clamps the wire tube (26) to fix its position; the rangefinder clamp (219) clamps the rangefinder (217) to fix its position; The circuit adapter (23) is connected to the wire tube upper cover (22) for switching the circuit, and the wire tube upper cover (22) is installed on the upper part of the wire tube (26); The bottom of the wire barrel (26) is mounted on the bottom plate (210), and the middle of the wire barrel (26) is fixed to the third mounting plate (28) through the wire barrel clamp (27); the lower part of the wire barrel (26) is connected to the left part of the positioning wire barrel (211) for fixing the position of the positioning wire barrel (211), and the inner diameter of the positioning wire barrel (211) cooperates with the outer diameter of the conductive middle section (31) to define the position of the conductive middle section (31); the printing material barrel (212) is threadedly connected to the upper end of the conductive middle section (31) for storing printing slurry, and the conductive middle section (31) is mounted on the lower end of the printing material barrel (212) for charging the printing slurry; the air plug (21) is sealedly mounted on the upper end of the printing material barrel (212) to play a sealing role; the printing material barrel (212) ) is connected to the air pressure control module (5) through an air pipe so as to receive high-pressure gas from the air pipe to extrude the printing slurry into the printing material cylinder (212); the printing needle (213) is threadedly connected to the lower end of the conductive middle section (31); the positioning wire cylinder (211) is installed outside the conductive middle section (31) to determine the position of the conductive middle section (31); the end of the positioning wire cylinder (211) is connected to the wire cylinder (26), the positioning wire cylinder (211) has a built-in channel, the conductive contact (32) is connected to the power transmission line, and the current is transmitted to the conductive middle section (31) through the wire cylinder (26) and the channel of the positioning wire cylinder (211); the distance meter (217) is fixed to the third mounting plate (28) through the distance meter fixture (219) to measure the height value during the printing process.

4. The integrated measuring and printing device for complex curved surfaces according to claim 3, characterized in that: It also includes a sliding cover (24) and a housing (220), wherein the sliding cover (24) is mounted on the upper end of the housing (220) to prevent foreign matter from entering the printing and measuring module (2); and the housing (220) is fixed on the third mounting plate (28) for packaging.

5. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: The invention also comprises a voltage control module (4) and an air pressure control module (5), wherein the integrated control module (3) is in communication with the motion module (1), the voltage control module (4) and the air pressure control module (5); the integrated control module (3) is configured to output a control instruction to control the electrical parameter setting of the voltage control module (4), and the air pressure control module (5) to set the air parameters and move the motion axis of the motion module (1); the current generated by the voltage control module (4) is transmitted to the printing and measuring module (2) through a line to charge the printing needle (213); the air pressure control module (5) outputs high-pressure gas to be connected to the printing and measuring module (2) through an air pipe to provide the air pressure required for printing; the printing and measuring module (2) is mounted on the motion module (1), and the movement of each motion axis in the motion module (1) realizes the switching of the measurement and printing functions of the printing and measuring module (2).

6. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: The motion module (1) comprises a machine tool connecting plate (11), a first mounting plate (12), a left slide rail (13), a mounting platform (14), a Y motion axis (15), a baffle (16), a right slide rail (17), an X motion axis (18), a second mounting plate (19), a slider (110), a Z motion axis (111), a rotating pan-tilt table (112), a mobile pan-tilt table (113), and an observation camera (114); The machine tool connecting plate (11) is used to fix the integrated measuring and printing device for complex curved surfaces to the main shaft of the machine tool system; the Z motion axis (111) is fixed to the machine tool connecting plate (11) via a first mounting plate (12) and is used to realize the vertical movement of the printing and measuring module (2); the left slide rail (13) is mounted on the left side of the first mounting plate (12) and is used to limit the movement of the slider (110); the right slide rail (17) is mounted on the right side of the first mounting plate (12) and is used to limit the movement of the slider (110); the limiting slider (110) limits the movement direction of the Z motion axis (111); The baffle (16) is mounted on the first mounting plate (12) and is used to prevent foreign matter from falling into the Z motion axis (111); the second mounting plate (19) is mounted on the X motion axis (18) and is used to mount the printing and measuring module (2); the mounting platform (14) is mounted at the end of the Z motion axis (111); the X motion axis (18) and the Y motion axis (15) are mounted on the mounting platform (14), wherein the X motion axis (18) is used to realize horizontal left-right movement of the printing and measuring module (2), and the Y motion axis (15) is used to realize horizontal left-right movement of the printing and measuring module (2). The motion axis (15) is used to realize the horizontal forward and backward movement of the printing and measuring module (2); the observation camera (114) is installed on the mobile gimbal (113) and is used to photograph the position of the printing needle (213) to observe the printing situation; the rotating gimbal (112) is installed on the X motion axis (18) and is used for the observation camera (114) to adjust the pitch angle and horizontal rotation angle; the mobile gimbal (113) is installed at the bottom of the rotating gimbal (112) and is used to linearly adjust the front and rear and left and right positions of the observation camera (114).

7. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: The integrated control module (3) comprises an industrial computer (56), a display (51), and an input device (58); the display (51) and the input device (58) are connected to the industrial computer (56) and are used to input control instructions and display images transmitted back by the observation camera (114); the industrial computer (56) is connected to the motion module (1), the printing and measurement module (2), the voltage control module (4), the air pressure control module (5), and the machine tool system (6) and is used to issue control instructions, receive height measurement feedback, and control the operation of other systems; The voltage control module (4) comprises a function generator (52) and a high-voltage amplifier (52), wherein the function generator (52) and the high-voltage amplifier (52) are placed in the cabinet (57), and the voltage control module (4) is used to receive control instructions from the integrated control module (3), provide required current, and transmit the current to the printing and measuring module (2), and the printing and measuring module (2) generates an electric field at the printing needle (213) through the received current, thereby improving the quality of the printed image; The air pressure control module (5) comprises an air valve and an air pressure controller (53). The air pressure controller (53) is placed at a specific position of the cabinet (57). The air pressure control module (5) is used to receive control instructions from the integrated control module (3), provide high-pressure gas, control the start and stop of the high-pressure gas flow through the air valve, and transport the high-pressure gas to the printing and measuring module (2).

8. The integrated measuring and printing device for complex curved surfaces according to claim 1, characterized in that: The positioning wire barrel clamp (216) is installed outside the positioning wire barrel (211); the positioning wire barrel (211) is divided into two parts, a left part and a right part, which are connected by a second bolt (215); by tightening the second bolt (215), the positioning wire barrel (211) is clamped to fix the position of the conductive middle section (31); and a third bolt (218) is installed on the rangefinder clamp (219) to apply a clamping force.

9. A method for using the integrated measuring and printing device for complex curved surfaces according to any one of claims 1 to 8, characterized in that: The steps include: The model of the workpiece is imported into the path planning software, the printing area is determined, the machine tool movement path is planned, and the machine tool control code is generated. The integrated control module (3) uses an industrial computer (56) to process the machine tool control code, add air pressure, voltage, and measurement printing control instructions, and import the final path control code into the machine tool system (6); Start the machine tool system (6), the motion module (1), the printing and measuring module (2), the integrated control module (3), the voltage control module (4) and the air pressure control module (5), and check the operation status of each device; Clamp the workpiece (45) on the machine tool fixture (47), run the calibration program, drive the main axes of the machine tool system to drive the motion module (1) and the printing and measuring module (2) to move, so that the printing needle (213) moves to the first graphic measurement position, and the vertical height is at a safe height; the Z motion axis (111) in the motion module (1) drives the printing and measuring module (2) to move downward, and observes through the observation camera (114) until the printing needle (213) contacts the surface of the workpiece (45), drives the Z motion axis (111) to lift upward to the measurement height, and moves the X motion axis (18) and the Y motion axis (15) in the motion module (1) to switch the positions of the printing needle (213) and the rangefinder (217), aligns the measuring light spot of the rangefinder (217) with the position to be measured, and makes the rangefinder (217) work to measure the height value; and sets the starting height based on the measured height value; The machine tool system runs the path control code so that each spindle of the machine tool system moves to execute the first graphic path: the voltage control module (4) is configured to provide a current with a preset function value, which is transmitted to the conductive middle section (31) through a line; the air pressure control module (5) is configured to control the high-pressure gas to start and stop input according to the program code, and to transmit the high-pressure gas to the printing material cylinder (212) through the air pipe, so that the printing slurry is squeezed out of the printing needle (213), thereby completing the first graphic printing; The main axes of the machine tool system are driven to move the workpiece (45) to the next graphic printing position; the X-axis (18), Y-axis (15), and Z-axis (111) of the motion module (1) are driven to operate so that the measuring light spot of the distance meter (217) is aligned with the position to be measured, so that the distance meter (217) performs multiple measurements, and the measurement results are transmitted back to the industrial computer (56) in the integrated control module (3); the industrial computer (56) calculates the actual printing height based on the measurement results; and the measured height is fed back to the motion control module (1), the X-axis (18), Y-axis (15), and Z-axis (111) in the motion module (1) are driven to operate, the printing needle (213) is moved to the printing position, and the height of the printing needle is readjusted according to the measured actual printing height; The path control code is run again by the machine tool system, the industrial computer (56) sends a control signal, the voltage control module (4) provides a set current, and the air pressure control module (5) controls the input of high-pressure gas according to the control signal so that the charged printing slurry is squeezed out from the printing needle (213) to complete the next graphic printing.

10. The method according to claim 9, characterized in that: A downward movement instruction is input into the industrial computer (56), and the Z motion axis (111) in the motion module (1) drives the printing and measuring module (2) to move downward; the measured height value is input into the control software of the industrial computer (56) to set the starting height; and the industrial computer (56) sends a signal to the voltage control module (4) and the air pressure control module (5) according to the voltage and air pressure control instruction in the control code.

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