Spraying equipment and printing system

Abstract

This invention relates to a spraying apparatus and a printing system. The spraying apparatus includes: a single-needle assembly comprising a spray needle and an actuator configured to generate mechanical vibration upon excitation by a received drive signal, thereby dispersing a target liquid in the spray needle into atomized droplets and outputting it from the spray needle; a single-needle mounting assembly for fixing the single-needle assembly and an airflow guiding unit; and an airflow guiding unit including an air inlet and an air outlet, the air outlet being positioned to adapt to the spray needle, the airflow guiding unit being configured to output airflow through the air outlet to guide the atomized droplets to a substrate surface. This invention achieves uniform atomization of the target liquid, controllable droplet size distribution, and precise application of a small, controllable amount of liquid to the target object.

Description

Technical Field

[0001] This invention relates generally to digital inkjet printing, and more specifically, to spraying apparatus and inkjet printing system. Background Technology

[0002] Traditional inkjet printing solutions are categorized into solid-state inkjet and liquid-state inkjet based on their working principles. In traditional liquid-state inkjet solutions, such as thermal inkjet technology, the basic principle is to heat the nozzle to create ink bubbles, which are then sprayed onto the substrate. However, these traditional liquid-state inkjet methods suffer from drawbacks such as uneven atomization, uncontrollable droplet size distribution, and liquid waste.

[0003] In summary, the shortcomings of traditional liquid spraying solutions are: uneven atomization, uncontrollable droplet size distribution, and waste of the target liquid. Summary of the Invention

[0004] This invention provides a spraying device and a printing system that can achieve uniform atomization of the target liquid, controllable droplet size distribution, and precise application of a small amount of controllable liquid to the target object.

[0005] According to a first aspect of the present invention, a spraying apparatus is provided, comprising: a single-needle assembly including a spray needle and an actuation device configured to generate mechanical vibration upon excitation by a received drive signal, such that a target liquid in the spray needle is dispersed into atomized droplets and exited from the spray needle; a single-needle mounting assembly for fixing the single-needle assembly and an airflow guiding unit; and an airflow guiding unit including an air inlet and an air outlet, the air outlet being positioned to adapt to a spray needle, the airflow guiding unit being configured to output airflow via the air outlet to guide the atomized droplets to a substrate surface.

[0006] According to a second aspect of the present invention, a spraying system is provided, the spraying system comprising: a spraying apparatus according to a first aspect of the present invention; a spraying apparatus moving device for moving the spraying apparatus; and a spraying apparatus adapter block for fixing a single-needle mounting assembly of the spraying apparatus to the spraying apparatus moving device.

[0007] In some embodiments, the single-needle mounting assembly includes: a main body for fixing the single-needle assembly; a nozzle mounting portion for fixing the nozzle of the single-needle assembly, the nozzle mounting portion being located at the lower part of the main body; and a side extension portion, the space defined by the side extension portion and the inner wall of the main body portion being used for fixing at least the actuating device of the single-needle assembly, the side extension portion being provided with a coupling portion.

[0008] In some embodiments, the single-needle mounting assembly further includes: an electrode contact portion, one end of which is coupled to a coupling portion of the side extension portion, and the other end of which is electrically contacted with a first side of the actuator; and an insulating fixing block fixed to the main body portion, wherein a conductive element passes through the middle of the insulating fixing block, one end of which is electrically contacted with a second side of the actuator, and the other end of which is electrically contacted with the positive terminal of a drive signal, the negative terminal of which is connected to the main body portion of the single-needle mounting assembly, wherein the main body portion, the side extension portion, and the needle mounting portion are integrally formed of conductive metal.

[0009] In some embodiments, the coupling portion of the side extension is a slot provided in the middle of the side extension, and a piezoelectric element is disposed on the second side of the actuator.

[0010] In some embodiments, the airflow guiding unit further includes: an air inlet duct configured to be fixed to the upper part of the main body, one end of the air inlet duct being an air inlet; and a detachable air knife head coupled to the other end of the air inlet duct in a detachable manner, the detachable air knife head including an air outlet.

[0011] In some embodiments, the detachable air knife head further includes: an air cavity defined by a peripheral wall and an end cover of the detachable air knife head, the peripheral wall extending longitudinally along the air cavity, the end cover being disposed at one end of the peripheral wall, and an air outlet being a circular opening located at the center of the end cover; and a guide portion integrally formed with the end cover, the guide portion including a longitudinal extension portion and a radial extension portion, the longitudinal extension portion including a first guide surface, the radial extension portion including a second guide surface and a third guide surface, the first guide surface and the second guide surface being adjacent to each other and forming an obtuse angle, and the second guide surface and the third guide surface being adjacent to each other and forming an obtuse angle.

[0012] In some embodiments, the detachable air knife head further includes an air cavity defined by a first air cavity outer wall extending longitudinally along the air cavity and a second air cavity outer wall having a bent portion, an end cover plate of the second air cavity outer wall being parallel to the substrate, an air outlet being a straight slit disposed on the end cover plate, and the inner surface of the bent portion of the second air cavity outer wall being used to guide the airflow in the air cavity to the straight slit.

[0013] In some embodiments, the airflow guiding unit further includes an air inlet pipe fixing plate, including an angled first surface and a second surface, the first surface being disposed between the air inlet pipe and the detachable air knife head, and the second surface being fixed to the upper surface of the main body.

[0014] In some embodiments, the spraying apparatus further includes: a positive terminal coupled to a conductive element penetrating the middle of the insulating fixing block, for electrically connecting the positive terminal of the drive signal to the conductive element; and a negative terminal coupled to an electrical coupling element of the main body, for electrically connecting the negative terminal of the drive signal to the main body.

[0015] In some embodiments, the spraying apparatus further includes: a drive signal generating unit configured to adjust the frequency and duty cycle of the output drive signal based on different received spraying demand commands, so as to adjust the size and output speed of the atomized droplets. The drive signal generating unit is separately disposed from the single needle assembly and the single needle mounting assembly, and the positive and negative terminals of the drive signal are electrically connected to the positive and negative terminals of the main body via wires, respectively.

[0016] In some embodiments, the drive signal generation unit includes an overheat protection unit and an overcurrent protection unit.

[0017] In some embodiments, the overcurrent protection unit includes at least a first switching device and a second switching device. The overcurrent protection unit is configured to: turn on the second switching device and turn off the first switching device when the load current is less than a predetermined current threshold; and turn on the first switching device and turn off the second switching device when the load current is greater than or equal to the predetermined current threshold, thereby disconnecting the drive signal output by the drive signal generation unit, or making the drive signal output by the drive signal generation unit low.

[0018] In some embodiments, the spraying apparatus is configured to adjust the speed of the input airflow at the air inlet of the airflow guide unit based on the received control command, thereby changing the speed of the airflow at the air outlet of the airflow guide unit in order to adjust the output speed, flight path and distribution of the atomized droplets.

[0019] In some embodiments, the drive signal generating unit is further configured to: determine whether rotational speed detection data of a motor is detected, the motor being used to drive the movement of a substrate; in response to determining that no rotational speed detection data of the motor is detected, determine the frequency of the drive signal based on a predetermined dotting frequency; in response to determining that rotational speed detection data of the motor is detected, calculate the moving distance of the substrate based on the rotational speed detection data; and determine the frequency of the drive signal based on the calculated moving distance of the substrate and the predetermined dotting density.

[0020] In some embodiments, the spraying apparatus is used for any of the following: functional polymer printing on a substrate; spraying markings on a wafer; applying an adhesive to a substrate; applying a lubricant to a substrate; dispensing a liquid, such as a biological agent, blood, a chemical agent, or a liquid containing cells; constructing a three-dimensional structure on a substrate; and forming micro-contacts on a substrate by printing.

[0021] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify key or principal features of the invention, nor is it intended to limit the scope of the invention. Attached Figure Description

[0022] Figure 1A A schematic diagram of a spraying apparatus according to some embodiments of the present invention is shown in a side front view.

[0023] Figure 1B A schematic diagram of a spraying apparatus according to some embodiments of the present invention is provided.

[0024] Figure 2 A schematic diagram illustrating a detachable air knife head according to some embodiments of the present invention is provided.

[0025] Figure 3A A schematic diagram illustrating, by way of oblique side view, of a detachable air knife head according to other embodiments of the present invention.

[0026] Figure 3B A schematic diagram illustrating the front view of a detachable air knife head according to other embodiments of the present invention is provided.

[0027] Figure 3C A schematic diagram illustrating the airflow area formed on the substrate surface by the detachable air knife head according to the present invention.

[0028] Figure 4 A schematic diagram illustrating a spraying system according to some embodiments of the present invention is provided.

[0029] Figure 5 A flowchart illustrating a method for generating drive signals according to some embodiments of the present invention is provided.

[0030] Figure 6 A block diagram schematically illustrates an electronic device suitable for implementing embodiments of the present invention.

[0031] Figure 7 The circuit diagram of an overcurrent protection unit according to some embodiments of the present invention is illustrated.

[0032] Figure 8 The circuit diagram of an overheat protection unit according to some embodiments of the present invention is illustrated.

[0033] Figure 9 A schematic diagram of a drive signal generating unit according to some embodiments of the present invention is provided.

[0034] In the various figures, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0035] Preferred embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0036] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects.

[0037] As described above, the shortcomings of traditional liquid spraying solutions are: uneven atomization, uncontrollable droplet size distribution, and waste of target liquid.

[0038] To at least partially address one or more of the aforementioned problems and other potential issues, exemplary embodiments of the present invention provide a spraying apparatus comprising a single-needle assembly consisting of a single spray needle and a single actuator, a single-needle mounting assembly, and an airflow guiding unit. The actuator generates mechanical vibration under the excitation of a received drive signal, dispersing the target liquid in the spray needle into a mist-like droplet and outputting it through the needle. When excited by a high-frequency electrical signal, the single needle of the present invention generates mechanical vibration at a corresponding frequency, producing a standing wave in the needle tube. This causes the target liquid to resonate at the needle tip and disperse into tiny suspended mist-like droplets. This results in more uniform mist droplets and droplet size controllable by the drive signal. Furthermore, by adapting the position of the air outlet of the airflow guiding unit to a single spray needle and directing the airflow from the outlet to guide the mist-like droplets to the substrate surface, the present invention can guide the mist-like droplets output from the spray needle to the substrate surface to form a uniform coating, and makes the droplet size distribution controllable, avoiding waste. Therefore, this invention can achieve uniform atomization of the target liquid, controllable droplet size distribution, and significant savings in target liquid. Furthermore, by employing a single-needle mounting assembly to fix the single-needle assembly and an airflow guiding unit adapted to the single-needle assembly, the spraying device of this invention is smaller in size and simpler in structure, significantly reducing the manufacturing and maintenance costs of the spraying device.

[0039] Figure 1A A schematic diagram of a spraying apparatus 100 according to some embodiments of the present invention is shown in a side front view. Figure 1BThis is an exemplary schematic diagram of a spraying apparatus 100 according to some embodiments of the present invention, viewed from a side rearward direction. The spraying apparatus 100 includes at least a single-needle assembly, a single-needle mounting assembly, and an airflow guiding unit. The single-needle assembly includes a spray needle 106 and an actuation device 104. The actuation device 104 is configured to generate mechanical vibration under the excitation of a received drive signal, so that the target liquid in the spray needle 106 is dispersed into a mist of droplets and output. In some embodiments, the actuation device is a metal plate (e.g., but not limited to, a polygonal metal plate) configured with a piezoelectric element. For example, a first side of the actuation device is metal, a second side of the actuation device is configured with a piezoelectric element, and the spray needle 106 is disposed along the edge of the metal plate. The single-needle mounting assembly is used to at least secure the single-needle assembly and the airflow guiding unit. The airflow guiding unit is used to output airflow via an outlet 116 to guide the mist of droplets to the surface of a substrate. The airflow guiding unit includes at least an inlet 124 and an outlet 116. It should be understood that the airflow generated by the airflow guiding unit directs the atomized droplets toward the substrate surface, thereby utilizing the guiding effect of the airflow to form a uniform coating on the substrate surface. By employing the above methods, the present invention can achieve uniform atomization of the target liquid, controllable droplet size distribution, and improved spraying accuracy. It should be understood that the spraying device 100 also includes a drive signal generating unit, an airflow generating device, and a liquid supply device. Figure 1A and Figure 1B (Not shown in the image).

[0040] The drive signal generating unit is used to output a drive signal. The drive signal generating unit is separate from the single-needle assembly and the single-needle mounting assembly, and the positive and negative terminals of the drive signal are electrically connected to the positive and negative terminals of the main body of the single-needle mounting assembly via wires. The drive signal is, for example, a high-frequency electrical signal. The high-frequency electrical signal is applied, for example, to the piezoelectric element included in the actuator 104 in the single-needle assembly, generating mechanical vibration of a corresponding frequency and creating a standing wave in the nozzle, causing the target liquid material to resonate at the nozzle tip and disperse into tiny suspended mist droplets. These mist droplets are guided by the airflow output by the airflow guiding unit to the surface of the substrate to form a uniform coating. In some embodiments, the drive signal generating unit determines the frequency of the drive signal based on actively or indirectly received speed detection data (e.g., encoder signal) of the motor driving the substrate. The drive signal is, for example, a pulse between 0-1 MHz, and the voltage, frequency, and duty cycle of the pulse are adjustable. In some embodiments, the drive signal generating unit is configured to adjust the frequency and duty cycle of the output drive electrical signal based on different received spraying demand commands, so as to adjust the size and output speed of the atomized droplets. By employing the above means, the present invention can better control the spraying process.

[0041] In some embodiments, the drive signal generation unit includes an overheat protection unit and an overcurrent protection unit. By employing the above-described methods, the present invention can significantly increase the stability and safety of the spraying apparatus.

[0042] Regarding the liquid supply device, it is used to supply the target liquid to the nozzle of the single-needle assembly. The liquid supply device includes, for example, a supply tube, a micro constant-flow pump, and a reservoir. The micro constant-flow pump, for example, draws the target liquid to be atomized from the reservoir and delivers it to the nozzle in the single-needle assembly via the supply tube. The micro constant-flow pump is, for example, a more stable gear pump or a jet pump. By employing the above methods, the present invention enables precise and controllable flow rate control of the spraying device without liquid pulsation, thereby ensuring the stability and continuity of the target liquid supply. In some embodiments, the reservoir contains a fixed amount of liquid, such as 10 ml. The entire single-needle assembly can be individually packaged and disposable after a single spray. Therefore, the spraying device of the present invention can be used for quantitative liquid delivery micro-spraying in industries such as medicine.

[0043] Regarding the single-needle mounting assembly, it includes, for example, a main body 102, a needle mounting portion 128, and a side extension 132. In some embodiments, the single-needle mounting assembly further includes an electrode contact portion ( Figure 1A (Not shown in the image), insulating fixing block 108, positive terminal 120, negative terminal 122.

[0044] Regarding the main body 102, it is used to fix the single needle assembly.

[0045] Regarding the needle mounting portion 128, it is used to fix the needle 106 of the single needle assembly. The needle mounting portion is located at the lower part of the main body. For example, the needle mounting portion 128 extends from the lower part of the main body 102. In some embodiments, the needle mounting portion 128 is provided with a needle mounting channel 130 for limiting the position of the needle, through which the needle 106 passes. In some embodiments, the needle mounting channel 130 is configured to form a predetermined angle of inclination relative to the horizontal plane, thereby allowing the extension direction of the needle 106 to form a predetermined angle of inclination relative to the horizontal plane.

[0046] Regarding the nozzle 106, its end is connected to a supply tube 126. The supply tube 126 is used to supply the target liquid from the miniature constant flow pump and the storage bottle to the nozzle 106. It should be understood that the nozzle mounting part 128 and the nozzle 106 are insulated from each other.

[0047] Regarding the side extension 132, the space defined by it and the inner wall of the main body 102 is used to at least fix the actuation device 104 of the single needle assembly. In some embodiments, the space defined by the side extension 132 and the inner wall of the main body 102 is used to sequentially fix the stacked electrode contact portion, the actuation device 104 of the single needle assembly, and the insulating fixing block 108. The side extension 132 is provided with a coupling portion. In some embodiments, the coupling portion of the side extension is a slot 133 provided in the middle of the side extension, such as... Figure 1B As shown. The coupling portion of the side extension is set as a slot 133, which facilitates the easy installation and removal of the electrode contact portion and the actuator 104.

[0048] Regarding the electrode contact portion, one end of it is coupled to the coupling portion of the side extension portion, and the other end of the electrode contact portion is electrically connected to the first side of the actuator.

[0049] Regarding the insulating fixing block 108, it is fixed to the main body 102. For example, as... Figure 1A As shown, an insulating fixing block 108 is mounted on the first surface of the main body 102 (i.e., the inner wall of the main body 102) using mounting bolts 107. The insulating fixing block 108 is used to insulate the side of the actuator 104 where the piezoelectric element 103 is located (i.e., the second side) from the main body 102. A conductive element passes through the middle of the insulating fixing block 108. One end of the conductive element is in electrical contact with the second side of the actuator 104 (i.e., the side where the piezoelectric element 103 is located), and the other end of the conductive element is in electrical contact with the positive electrode of the drive signal. Thus, the positive electrode of the drive signal is applied to the piezoelectric element 103 of the actuator through the conductive element. In some embodiments, the negative electrode of the drive signal is connected to the main body 102 of the single-needle mounting assembly. The main body 102 is made of conductive metal. Since the coupling portion of the side extension 132 is coupled to one end of the electrode contact portion, and the other end of the electrode contact portion is electrically contacted with the first side (i.e., the metal side) of the actuator 104, the negative terminal of the drive signal is applied to the first side of the actuator.

[0050] Regarding the positive terminal 120, it is coupled to a conductive element that extends through the middle of the insulating fixing block, and is used to electrically connect the positive terminal of the drive signal to the conductive element, and then connect the positive terminal of the drive signal to the piezoelectric unit 103 of the actuator 104 via the conductive element. Regarding the negative terminal 122, it is coupled to an electrical coupling element of the main body, and is used to electrically connect the negative terminal of the drive signal to the main body.

[0051] The airflow guiding unit includes, for example, an air inlet duct 110 and a detachable air knife head. The detachable air knife head includes an air chamber, an air outlet 116, and a guide portion. The air inlet duct 110 is configured to be fixed to the upper part of the main body. One end of the air inlet duct 110 is an air inlet 124, and the other end of the air inlet duct 110 is detachably coupled to the detachable air knife head 114 to form the airflow guiding unit. It should be understood that the detachable coupling between the air inlet duct 110 and the air knife head allows for convenient replacement of the matching air knife head according to the painting task. In some embodiments, the air inlet duct 110 and the detachable air knife head are threaded together. Threaded coupling of the air inlet duct 110 and the detachable air knife head ensures good air chamber tightness while maintaining detachability. In some embodiments, an air inlet duct fixing plate 118 is also provided between the air inlet duct 110 and the detachable air knife head 114.

[0052] Regarding the air inlet duct fixing plate 118, it is used to fix the airflow guiding unit to the main body 102. The air inlet duct fixing plate 118 includes a first surface 118-1 and a second surface 118-2 at an angle (e.g., but not limited to 90 degrees). The first surface 118-1 is disposed between the air inlet duct and the removable air knife head, and the second surface 118-2 is fixed to the upper surface of the main body 102. For example, as Figure 1B As shown, the second surface 118-2 is fixed to the upper surface of the main body 102 by bolts 119.

[0053] It should be understood that the optimized design of the single-needle assembly, airflow guiding unit, and single-needle mounting assembly not only improves the performance of the equipment but also significantly reduces the user's operation and maintenance costs.

[0054] Figure 2 A schematic diagram illustrating a detachable air knife head according to some embodiments of the present invention is provided. The detachable air knife head 114 includes an air chamber, an air outlet 116, and a guide portion.

[0055] Regarding the air chamber of the detachable air knife head 114, it is defined, for example, by a first air chamber outer wall 112 extending longitudinally along the air chamber and a second air chamber outer wall 113 having a bent portion.

[0056] Regarding the outer wall 112 of the first air chamber, its outer contour is configured as a polyhedral column. It should be understood that the aforementioned polyhedral columnar outer contour facilitates the convenient disassembly of the detachable air knife. The inner wall of the outer wall 112 of the first air chamber defines a first part of the air chamber. The inner wall of the outer wall 112 of the first air chamber has a coupling structure, such as, but not limited to, a thread, at one end near the air inlet pipe 110.

[0057] The outer wall 113 of the second air chamber has a longitudinally extending portion 113-1 and a radially extending portion 113-2. An end cover 115 of the radially extending portion 113-2 is parallel to the substrate (not shown), and an air outlet 116 is a straight slit 116 provided on the end cover 115. The inner wall of the outer wall 113 of the second air chamber defines a second part of the air chamber. The inner surface of the bent portion of the outer wall 113 of the second air chamber (i.e., the intersection of the longitudinally extending portion 113-1 and the radially extending portion 113-2) guides the airflow within the air chamber longitudinally to the straight slit 116, and outputs it through the straight slit 116.

[0058] Figure 3A A schematic diagram illustrating, by way of oblique side view, of a detachable air knife head according to other embodiments of the present invention. Figure 3B A schematic diagram in front view is provided as an example of a detachable air knife head according to other embodiments of the present invention. The detachable air knife head 214 includes an air chamber, an air outlet 216, and a guide portion 211.

[0059] The air chamber of the detachable air knife head 214 is defined, for example, by a first air chamber outer wall 212 extending longitudinally along the air chamber and an end cover plate 216. The first air chamber outer wall 212 is configured, for example, as a cylindrical or multi-faceted barrel shape. The end cover plate 215 is disposed at one end of the first air chamber outer wall 212. The air outlet 216 is a circular opening located at the center of the end cover plate 215.

[0060] Regarding the guide portion 211, which is integrally formed with, for example, the end cover 215, the guide portion 211 includes a longitudinal extension 211-1 and a radial extension 211-2. For example... Figure 3B As shown, the longitudinal extension 211-1 includes a first guide surface 202. The radial extension 211-2 includes a second guide surface 204 and a third guide surface 206. The first guide surface 202 and the second guide surface 204 are adjacent to each other and form an obtuse angle, and the second guide surface 204 and the third guide surface 206 are adjacent to each other and form an obtuse angle. The first guide surface 202 is configured to be perpendicular to the end cover 215 and tangent to the edge of the air outlet 216.

[0061] Figure 3C A schematic diagram illustrating the wind field region formed on the substrate surface by the detachable air knife head 214 according to the present invention. Figure 3C As shown, the area of ​​airflow output by the detachable air knife head 214 on the surface of the substrate 222 is marked as 220.

[0062] It should be understood that the shape of the outlet and the airflow velocity of the detachable air knife head 214 can affect the flight path and distribution of the mist droplets output by the spray needle. Therefore, the size and distribution density of the droplets can be changed by altering the shape of the outlet and the airflow velocity at the inlet of the detachable air knife head 214, thereby meeting different spraying requirements.

[0063] Figure 4 A schematic diagram of a spraying system 230 according to some embodiments of the present invention is provided. The spraying system 230 includes a spraying device moving device 234, a spraying device 100, and a spraying device adapter block 232. Reference numeral 236 indicates an enlarged view of the end of the spraying device moving device 234.

[0064] Regarding the spraying device moving device 234, it is used to move the position of the spraying device 100. In some embodiments, the spraying device moving device 324 is a robotic arm, for example... Figure 4 The six-axis robotic arm is shown. The six-axis robotic arm is, for example, mounted on a mounting base plate 238. It should be understood that the six-axis robotic arm can move its position based on commands received from a control device, thereby moving the spraying device 100 fixed at its end to the spraying position, or spraying along a predetermined trajectory. It should be understood that by controlling the movement of the spraying device moving device 234, and thus precisely controlling the movement position or trajectory of the spraying device 100, the present invention can achieve precise micro-spraying control.

[0065] Regarding the spraying device adapter block 232, it is used to fix the single-needle mounting assembly to the end of the spraying device moving device 234. For example, the spraying device adapter block 232 is fixed to the main body 102 of the single-needle mounting assembly, thereby fixing the single-needle mounting assembly to the spraying device moving device 234. Figure 4 As shown, the spraying device adapter block 232 has a passage path for the liquid supply pipe 126, through which the liquid supply pipe 126, which communicates with the spray needle, extends from the side wall of the spraying device adapter block 234. Figure 4 Other parts of the liquid supply pipe 126, the wires connecting the positive terminal 120 and the negative terminal 122, and the air supply pipe coupled to the air inlet pipe 110 are not shown. It should be understood that the above-mentioned lines can extend along the six-axis robotic arm and be supported at the joints of the six-axis robotic arm.

[0066] In some embodiments, the target liquid is, for example, a biomaterial ink composed of a polymer or precursor containing a hydrogel of biological factors. The spraying system can be used, for example, for biopharmaceutical spraying. In some embodiments, the target liquid is, for example, an adhesive, a functional polymer, a lubricant, a biopharmaceutical, a three-dimensional structured liquid material, or an electrically conductive solution, etc. Accordingly, the spraying system can be used for any of the following: functional polymer printing; marking on wafers; applying adhesives; applying lubricants; liquid dispensing (liquids such as, but not limited to, biopharmaceuticals, blood, chemical agents, or liquids containing cells); three-dimensional structure construction; and forming micro-contacts by printing. It should be understood that the spraying apparatus of the present invention is suitable for a variety of scenarios with high spraying requirements due to its significant spraying precision. Examples include medical devices, hydrogen fuel cells, solar cell coatings, antibacterial coatings, float and flat glass, electronic products, nanotechnology, ultrasonic spray pyrolysis, bioaerosol spraying, etc.

[0067] Figure 5 A flowchart illustrating a method 500 for generating a drive signal according to some embodiments of the present invention is provided. It should be understood that method 500 may, for example, be implemented in... Figure 6 The described electronic device 600 performs the operation. It can also be performed at the drive signal generation unit. It should be understood that method 500 may also include additional actions not shown and / or the actions shown may be omitted; the scope of the invention is not limited in this respect.

[0068] Step 502: The drive signal generation unit determines whether the motor speed detection data has been detected. The motor is used to move the substrate to be sprayed.

[0069] Step 504: If the drive signal generation unit determines that no motor speed detection data has been detected, the frequency of the drive signal is determined based on the predetermined dotting frequency.

[0070] For example, if the drive signal generation unit determines that no motor speed detection data is detected, then the frequency of the drive signal is determined to be 1000 pulses per second.

[0071] Step 506: If the drive signal generating unit determines that the motor speed detection data has been detected, the moving distance of the substrate is calculated based on the speed detection data.

[0072] Step 508: The drive signal generating unit determines the frequency of the drive signal based on the calculated moving distance of the substrate and the predetermined dotting density.

[0073] For example, the drive signal generation unit acquires the rotational speed detection data of the motor used to drive the substrate; calculates the moving distance of the substrate based on the motor rotational speed detection data; and determines the frequency of the drive signal based on the calculated moving distance of the substrate and a predetermined dot density. Specifically, for example, the motor rotational speed detection data is an encoder signal. If the moving distance of the substrate corresponding to one revolution of the encoder is 5 mm, the corresponding drive signal is 10,000 pulses. If the moving distance of the substrate calculated based on the current encoder signal is 1 mm, then the corresponding drive signal is 2,000 pulses.

[0074] By employing the above methods, the present invention can automatically switch between different spraying modes based on the presence or absence of motor speed detection data for moving the substrate, and can adaptively adjust the number of printing dots according to speed changes when motor speed detection data is available, thereby making the spraying effect more uniform and stable.

[0075] In some embodiments, the drive signal generation unit includes an overheat protection unit and an overcurrent protection unit. By employing the above-described methods, the present invention can significantly increase the stability and safety of the spraying apparatus.

[0076] Figure 7 A circuit diagram of an overcurrent protection unit 700 according to some embodiments of the present invention is provided. Figure 7 As shown, the overcurrent protection unit 700 includes at least a first switching device Q1 and a second switching device Q2. In some embodiments, the overcurrent protection unit 700 is configured to: turn on the second switching device Q2 and turn off the first switching device Q1 when the load current is less than a predetermined current threshold; and turn on the first switching device Q1 and turn off the second switching device Q2 when the load current is greater than or equal to the predetermined current threshold, thereby disconnecting the drive signal output by the drive signal generation unit, or making the drive signal output by the drive signal generation unit low.

[0077] Specifically, the overcurrent protection unit 700 includes: a first power supply terminal VCC, a second power supply terminal 710, a load terminal (e.g., LOAD), a current indication branch 720, a first switching device Q1, a second switching device Q2, a first resistor R1, a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a sixth resistor R6. It should be understood that the first switching device Q1 and the second switching device Q2 are, for example, transistors. The illustrated embodiment is merely exemplary, and the first switching device Q1 and the second switching device Q2 can be other suitable types of devices, such as p-MOS transistors, MOSFETs, n-MOS transistors, etc.

[0078] Regarding the current indication branch 720, it is configured to provide current indication. It includes a second resistor R2 and a light-emitting diode (LED). The first end of the second resistor R2 is connected to the first power supply terminal VCC, the second end of the second resistor R2 is connected to one end of the LED, and the other end of the LED is grounded.

[0079] like Figure 7 As shown, the first terminal of the first resistor R1 is connected to the first power supply terminal VCC. The second terminal of the first resistor R1 is connected to the first terminal of the second switching device Q2 (e.g., the base of the second transistor). The second terminal of the second switching device Q2 (e.g., the collector of the second transistor) is connected to the load terminal of the overcurrent protection unit 700. The third terminal of the second switching device Q2 (e.g., the emitter of the third transistor) is connected to the first terminal of the fourth resistor R4. It should be understood that the voltage value at the second terminal of the first resistor R1 determines the conduction and cutoff of the second switching device Q2.

[0080] The second terminal of the first switching device Q1 (e.g., the collector of the first transistor) is connected to the second terminal of the first resistor R1. The first terminal of the first switching device Q1 (e.g., the base of the first transistor) is connected to the first terminal of the sixth resistor R6 and the second terminal of the third resistor R3. The second terminal of the fourth resistor R4 is connected to the third terminal of the first switching device Q1 (e.g., the emitter of the first transistor) and is grounded. The first terminal of the third resistor R3 is connected to the second power supply terminal 710 (e.g., providing a 5V voltage). It should be understood that the voltage value at the second terminal of the third resistor R3 determines the conduction and cutoff of the first switching device Q1. Figure 7 As shown, the third resistor R3, the sixth resistor R6, and the fourth resistor R4 are connected in series. The resistance value of the third resistor R3 is configured to be significantly higher than that of the sixth resistor R6 and the fourth resistor R4. For example, the third resistor R3 is, for example, but not limited to, 5.1k ohms. The sixth resistor R3 is, for example, but not limited to, 330 ohms. The fourth resistor R4 is, for example, but not limited to, 10 ohms.

[0081] It should be understood that when the current flowing through the load is very small, the voltage at the first terminal of the fourth resistor R4 is very low. Based on the resistance values ​​of the fourth resistor R4, the sixth resistor R6, and the third resistor R3, and according to the voltage divider principle, the voltage at the second terminal of the third resistor R3 is also very low. Therefore, the first switching device Q1 is turned off. When the current flowing through the load increases, the voltage at the first terminal of the fourth resistor R4 increases. Correspondingly, the voltage at the second terminal of the third resistor R3 also increases. When the voltage at the second terminal of the third resistor R3 exceeds a certain value, the first switching device Q1 turns on. Then, the second terminal of the first resistor R1 is grounded through the turned-on first switching device Q1. Therefore, the voltage at the second terminal of the first resistor R1 decreases, causing the second switching device Q2 to turn off, thereby disconnecting the driving signal output by the driving signal generation unit, or making the driving signal output by the driving signal generation unit low.

[0082] Figure 8 The circuit diagram of an overheat protection unit 800 according to some embodiments of the present invention is illustrated. The overheat protection unit 800 includes a power supply terminal VCC, a load terminal (e.g., LOAD), a temperature control chip 810, a third switching device Q3, and a seventh resistor R7. The power supply terminal VCC of the overheat protection unit 800 is provided with a voltage of, for example, 3.3V.

[0083] Regarding the temperature control chip 810, it is configured to cause the output of signal output terminal 814 to be low when the detected temperature is higher than a set temperature threshold. The temperature control chip 810 includes, for example, but not limited to, five pins. The fourth pin is, for example, a power input terminal; the first and second pins are, for example, grounded; the fifth pin is, for example, the signal output terminal 814; and the third pin is, for example, the temperature threshold control terminal 812.

[0084] Regarding the temperature threshold control terminal 812, it is configured, for example, to control the size of the set temperature threshold based on the input voltage; for instance, the lower the voltage input to the temperature threshold control terminal, the higher the set temperature threshold. It should be understood that different set temperature thresholds can be determined by adjusting the input voltage of the temperature threshold control terminal. Figure 8 As shown, the temperature threshold control terminal 812 is grounded, which makes the corresponding set temperature threshold higher.

[0085] Regarding signal output terminal 814, it is configured, for example, to provide a voltage for turning on the third switching device Q3. For example... Figure 8As shown, signal output terminal 814 is connected to one end of the seventh resistor R7. The other end of the seventh resistor R7 is connected to the first terminal of the third switching device Q3 (e.g., the base of the third transistor). The second terminal of the third switching device Q3 (e.g., the collector of the third transistor) is connected to the load terminal of the overheat protection unit 800. The third terminal of the third switching device Q3 (e.g., the emitter of the transistor) is grounded. It should be understood that if the detected temperature is higher than the set temperature threshold, the output of the signal output terminal is low, and the third switching device Q3 is turned off, thereby disconnecting the drive signal output by the drive signal generation unit, or making the drive signal output by the drive signal generation unit low. If the detected temperature is lower than the set temperature threshold, the output of the signal output terminal is high, and the third switching device Q3 is turned on. Figure 9 A schematic diagram illustrating a drive signal generation unit 900 according to some embodiments of the present invention is provided. Figure 9 As shown, the drive signal generation unit 900 includes an overcurrent protection unit and an overheat protection unit 940 (which, for example, includes...). Figure 7 The overcurrent protection unit 700 shown is... Figure 8 The diagram shows an overheat protection unit 800, a drive signal generation chip 910, and multiple inductors.

[0086] Regarding the drive signal generator chip 910, it is used to generate drive signals for controlling the single-pin assembly. In some embodiments, the drive signal generator chip 910 is, for example, but not limited to, the MS8844. Figure 9 The diagram illustrates the pin numbers of the drive signal generation chip 910. The drive signal generation chip 910, for example but not limited to, can output four drive signals (e.g., corresponding to...). Figure 9 The output signals from pins OUT1 to OUT4 are used to control the four single-pin assemblies (e.g., ...). Figure 9 (Indicated by markings 930-1, 930-2, 930-3, and 930-4). Each output of the drive signal generation chip 910 is transmitted via an inductor (e.g., ...). Figure 9 The positive terminals (as indicated by markings 920-1, 920-2, 920-3, and 920-4) are provided to the corresponding single-needle assemblies. Each single-needle assembly (e.g., Figure 9 The negative terminals (indicated by markings 930-1, 930-2, 930-3, and 930-4) are connected, for example, to the overcurrent protection unit and the overheat protection unit 940. The positive terminal of the drive signal generation chip 910 (e.g., corresponding to...) Figure 9(The VM pin) is connected to a 5-36V voltage, for example. It should be understood that if the overcurrent protection unit and the overheat protection unit 940 detect an overcurrent when the load current is greater than or equal to a predetermined current threshold, or if the detected temperature is higher than a set temperature threshold, the overcurrent protection unit and the overheat protection unit 940 will disconnect, and the negative terminal of each single-pin component will not be properly grounded. At this time, each single-pin component cannot be driven.

[0087] In some embodiments, method 500 further includes: controlling the moving device 234 to raise or lower the height of the end of the spraying device 234 from the substrate, so as to raise or lower the position of the airflow guiding unit, thereby changing the flight path of the mist droplets and their landing point on the substrate.

[0088] In some embodiments, method 500 further includes controlling the air velocity at the inlet of the airflow guiding unit to adjust the flight speed and dispersion of the mist droplets. For example, increasing the air velocity at the inlet of the airflow guiding unit allows for faster adjustment of the mist droplet flight speed and greater dispersion, resulting in a sparser coating on the substrate. Decreasing the air velocity at the inlet of the airflow guiding unit allows for slower adjustment of the mist droplet flight speed and lower dispersion, resulting in a denser coating on the substrate.

[0089] Figure 6 A block diagram schematically illustrates an electronic device 300 suitable for implementing embodiments of the present invention. The electronic device 300 may be used to implement... Figure 2 Method 500 is shown. (For example...) Figure 6 As shown, the electronic device 600 includes a central processing unit (i.e., CPU 601), which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (i.e., ROM 602) or loaded from storage unit 608 into random access memory (i.e., RAM 603). The RAM 603 may also store various programs and data required for the operation of the electronic device 600. The CPU 601, ROM 602, and RAM 603 are interconnected via bus 604. An input / output interface (i.e., I / O interface 605) is also connected to bus 604.

[0090] Multiple components in electronic device 600 are connected to I / O interface 605, including: input unit 606, output unit 607, and storage unit 608. CPU 601 executes the various methods and processes described above, such as executing method 500. For example, in some embodiments, method 200 may be implemented as a computer software program stored on a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by CPU 601, one or more operations of method 200 described above may be performed. Alternatively, in other embodiments, CPU 601 may be configured to execute one or more actions of method 200 by any other suitable means (e.g., by means of firmware).

[0091] It should be further noted that the present invention can be a method, apparatus, system, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of the present invention.

[0092] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0093] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0094] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0095] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0096] These computer-readable program instructions can be provided to a processor in a voice interaction device, a general-purpose computer, a special-purpose computer, or a processing unit of another programmable data processing device, thereby producing a machine such that, when executed by the processing unit of the computer or other programmable data processing device, these instructions create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing device, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0097] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0099] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

[0100] The above are merely optional embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spraying device, characterized in that, include: A single-needle assembly includes a nozzle and an actuator configured to generate mechanical vibration upon excitation by a received drive signal, so as to disperse the target liquid in the nozzle into a mist of droplets and exit the nozzle. Single-needle mounting assembly for securing the single-needle assembly and airflow guide unit; and An airflow guiding unit includes an air inlet and an air outlet, the position of which is adapted to the one spray needle, and the airflow guiding unit is configured to output airflow through the air outlet to guide the mist droplets to the substrate surface.

2. The spraying apparatus according to claim 1, characterized in that, The single-pin mounting assembly includes: The main body is used to fix the single-needle assembly; A needle mounting section for fixing the needle of the single-needle assembly; the needle mounting section is located at the lower part of the main body; and The side extension, the space defined by the side extension and the inner wall of the main body, is used to at least fix the actuation device of the single needle assembly, and the side extension is provided with a coupling portion.

3. The spraying apparatus according to claim 2, characterized in that, The single-pin mounting assembly also includes: An electrode contact portion, one end of which is coupled to a coupling portion of a side extension portion, and the other end of which is electrically connected to a first side of the actuator; and An insulating fixing block is fixed to the main body. A conductive element passes through the middle of the insulating fixing block. One end of the conductive element is in electrical contact with the second side of the actuation device, and the other end of the conductive element is in electrical contact with the positive terminal of the drive signal. The negative terminal of the drive signal is connected to the main body of the single needle mounting assembly. The main body, the side extension, and the needle mounting part are integrally made of conductive metal.

4. The spraying apparatus according to claim 3, characterized in that, The coupling portion of the side extension is a slot located in the middle of the side extension, and a piezoelectric element is disposed on the second side of the actuation device.

5. The spraying apparatus according to claim 2, characterized in that, The airflow guiding unit also includes: An air inlet duct is configured to be fixed to the upper part of the main body, with one end of the air inlet serving as the air inlet; and A detachable air knife head is detachably coupled to the other end of the air inlet pipe, and the detachable air knife head includes the air outlet.

6. The spraying apparatus according to claim 5, characterized in that, The detachable air knife head also includes: An air chamber, defined by a detachable air knife head's peripheral wall and an end cover, the peripheral wall extending longitudinally along the air chamber, the end cover disposed at one end of the peripheral wall, and the air outlet being a circular opening located at the center of the end cover; and The guide portion is integrally formed with the end cover plate. The guide portion includes a longitudinal extension portion and a radial extension portion. The longitudinal extension portion includes a first guide surface, and the radial extension portion includes a second guide surface and a third guide surface. The first guide surface and the second guide surface are adjacent to each other and form an obtuse angle, and the second guide surface and the third guide surface are adjacent to each other and form an obtuse angle.

7. The spraying apparatus according to claim 5, characterized in that, The detachable air knife head also includes: An air chamber is defined by a first air chamber outer wall extending longitudinally along the air chamber and a second air chamber outer wall having a bent portion. The end cover of the second air chamber outer wall is parallel to the substrate. The air outlet is a straight slit disposed on the end cover. The inner surface of the bent portion of the second air chamber outer wall is used to guide the airflow in the air chamber to the straight slit.

8. The spraying apparatus according to claim 2, characterized in that, The airflow guiding unit also includes: The air inlet duct fixing plate includes an angled first surface and a second surface. The first surface is disposed between the air inlet duct and the detachable air knife head, and the second surface is fixed to the upper surface of the main body.

9. The spraying apparatus according to claim 3, characterized in that, Also includes: The positive terminal is coupled to the conductive element that extends through the middle of the insulating fixing block, and is used to electrically connect the positive terminal of the drive signal to the conductive element; as well as The negative terminal is coupled to the electrical coupling element of the main body and is used to electrically connect the negative terminal of the drive signal to the main body.

10. The spraying apparatus according to claim 9, characterized in that, Also includes: The drive signal generating unit is configured to adjust the frequency and duty cycle of the output drive signal based on different spraying demand commands received, so as to adjust the size and output speed of the atomized droplets. The drive signal generating unit is separately set from the single needle assembly and the single needle mounting assembly, and the positive and negative terminals of the drive signal are electrically connected to the positive and negative terminals of the main body via wires, respectively.

11. The spraying apparatus according to claim 10, characterized in that, The drive signal generation unit includes an overheat protection unit and an overcurrent protection unit.

12. The spraying apparatus according to claim 11, characterized in that, The overcurrent protection unit includes at least a first switching device and a second switching device. The overcurrent protection unit is configured to: turn on the second switching device and turn off the first switching device when the load current is less than a predetermined current threshold; and turn on the first switching device and turn off the second switching device when the load current is greater than or equal to the predetermined current threshold, thereby disconnecting the drive signal output by the drive signal generation unit, or making the drive signal output by the drive signal generation unit low.

13. The spraying apparatus according to claim 1, characterized in that, The spraying device is configured as follows: Based on the received control commands, the speed of the input airflow at the air inlet of the airflow guide unit is adjusted, thereby changing the speed of the airflow at the air outlet of the airflow guide unit, so as to adjust the output speed, flight path and distribution of the atomized droplets.

14. The spraying apparatus according to claim 10, characterized in that, The drive signal generating unit is further configured to: Determine whether the speed detection data of the motor is detected, the motor being used to drive the movement of the substrate; In response to determining that no motor speed detection data was detected, the frequency of the drive signal is determined based on a predetermined dotting frequency; In response to determining that the motor speed detection data has been detected, the moving distance of the substrate is calculated based on the speed detection data; as well as The frequency of the drive signal is determined based on the calculated moving distance of the substrate and the predetermined dotting density.

15. The spraying apparatus according to claim 1, characterized in that, The spraying device is used for any of the following: Functional polymer printing is performed on the substrate; Print markings on the chip; Apply an adhesive to the substrate; Apply lubricant to the substrate; Liquid dispensing, wherein the liquid is a biological agent, blood, a chemical agent, or a liquid containing cells; Three-dimensional structures are constructed on a substrate; as well as Micro-contacts are formed by printing on a substrate.

16. A spraying system, characterized in that, include: The spraying apparatus according to any one of claims 1-15; A moving device for the spraying equipment, used to move the spraying equipment; as well as A spraying device adapter block is used to fix the single-needle mounting assembly of the spraying device to the moving device of the spraying device.

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