Ink-jet printer and printing method thereof

Abstract

The ink-jet printer comprises a cross beam mechanism, a printing trolley, a material transferring module, a cup clamping jig and a curing device, the cross beam mechanism is arranged in the first direction, the printing trolley is arranged on the cross beam mechanism, a driving mechanism is installed at one end of the cross beam mechanism, and a spray head is installed below the printing trolley; a nozzle is arranged on the cross beam mechanism, the nozzle sprays ink drops to a to-be-printed object below the nozzle to form an image-text, a cup clamping jig is arranged below the cross beam mechanism and used for installing at least two to-be-printed objects, a material transferring module is arranged at one end of the cup clamping jig, and a curing device is arranged below the material transferring module and comprises a first curing device body and a second curing device body; the two curing devices are symmetrically arranged on the two sides of the lower portion of the material transferring module correspondingly and irradiate the to-be-printed object passing through the material transferring module in a reciprocating mode, and curing work of the to-be-printed object is completed jointly. According to the invention, ink-jet printing and effective curing can be carried out on common and special curved-surface objects (with convex parts), and the application range of the ink-jet printer is expanded.

Description

Technical Field

[0001] The invention relates to an inkjet printer and a printing method thereof. The inkjet printer uses UV ink and an ultraviolet light curing method, in particular to an inkjet printer and a printing method thereof for printing curved surface objects with protruding parts, such as printing mugs with handles. Background Art

[0002] The existing printing technology on the market can only perform unidirectional rotation inkjet printing on regular curved surface objects. For example, the curved surface object inkjet printer with patent number CN 112373194 A can only perform unidirectional rotation printing, and cannot perform graphic printing on cylindrical objects with protruding parts (such as mugs) waiting to be printed, because the nozzle needs to be close to the object to be printed when performing inkjet work, usually at a distance of 1.4mm-3mm. If the height of the protruding part of the object to be printed is greater than the distance between the nozzle and the printing medium, then when the protruding part rotates to the edge of the nozzle, it must stop to avoid the protruding part hitting the nozzle; and most of the existing unidirectional rotation inkjet devices are only equipped with one ultraviolet curing device. When it is necessary to perform reciprocating rotation inkjet on a curved surface object with a protruding part, a curing blind area that cannot be irradiated by ultraviolet light will appear.

[0003] Therefore, it is necessary to design an inkjet printer that can detect the position of the protruding parts of the object to be printed, and can use a fixture to clamp one or more objects to be printed with protruding parts. During the printing process, the control system can control the reciprocating rotation of the object to be printed to avoid colliding with the nozzle. At the same time, the UV curing device can overcome the curing blind spot and can completely dry the ink. Summary of the invention

[0004] To overcome the above-mentioned defects, the present invention discloses an inkjet printer, comprising a beam mechanism, a printing carriage, a material transfer module, a cup clamping fixture and a curing device, wherein the beam mechanism is arranged along a first direction, a printing carriage is arranged on the beam mechanism, a driving mechanism is installed at one end of the beam mechanism, and the driving mechanism can drive the printing carriage to reciprocate along the first direction, a nozzle is installed below the printing carriage, and the nozzle sprays ink droplets onto the object to be printed below to form images and texts, a cup clamping fixture is arranged below the beam mechanism, the cup clamping fixture is used to install at least two objects to be printed, a material transfer module is arranged at one end of the cup clamping fixture, and the material transfer module is used to drive the object to be printed to rotate around its own central axis, and is characterized in that a curing device is arranged below the material transfer module, the curing device comprises a first curing device and a second curing device, the first curing device and the second curing device are symmetrically arranged at two sides below the material transfer module, the first curing device and the second curing device irradiate the object to be printed that passes back and forth, and jointly complete the curing operation of the object to be printed.

[0005] As in the above-mentioned inkjet printer, the object to be printed is a curved object with protruding parts.

[0006] For example, in the inkjet printer described above, the angle difference between the curing device and the horizontal direction needs to be less than or equal to (180-DA) ÷ 2, where DA represents the blind area angle where the protruding part of the object cannot rotate to avoid the nozzle.

[0007] As in the above-mentioned inkjet printer, a lifting mechanism is arranged under the material transfer module, and the lifting mechanism drives the material transfer module and the cup clamping fixture to rise or fall in the vertical direction according to the size of the object to be printed, thereby adjusting the distance between the upper surface of the object to be printed and the nozzle to achieve a suitable printing distance.

[0008] As mentioned above, the inkjet printer also includes an ink scraper maintenance device, which is arranged below one end of the beam mechanism. The ink scraper maintenance device is used to scrape the nozzle installed below the printing carriage to prevent the nozzle hole from being blocked. When the printer stops working, the ink scraper maintenance device performs moisturizing maintenance on the nozzle.

[0009] The inkjet printer as mentioned above further comprises a protruding portion detection module, which is installed below the crossbeam mechanism and is used to detect the protruding portion of the object to be printed.

[0010] The present invention also discloses a printing method used by the above-mentioned inkjet printer, comprising the following steps: a) the material transfer module drives the clamping cup fixture to rotate unidirectionally along the rotation center axis of the object to be printed, and detects the position information of the protruding parts of the object to be printed; b) the control system controls the object to be printed to rotate back and forth, and at the same time controls the nozzle to spray ink downward to form images and texts on the object to be printed, and the curing device performs pre-curing treatment on the object; c) the software determines whether printing is completed, if not, continue with step b); if yes, proceed to step d); d) perform the final curing process.

[0011] As in the above-mentioned printing method, the pre-curing process in step b) is that the first curing device and the second curing device move to the working position according to the protruding part information of the object to be printed calculated by the software, and pre-curing it using a low energy curing level. As in the above-mentioned printing method, the step d) includes the first curing device returning to the origin position, the second curing device approaching the object and turning on the high energy curing level, the material transfer shaft module rotating the object to be printed around its own rotation center axis, and the second curing device performing a final complete curing process on the ink droplets on the surface of the object.

[0012] As in the above-mentioned printing method, the angle difference between the curing device and the horizontal direction needs to be less than or equal to (180-DA) ÷ 2, where DA represents the blind area angle of the protruding part of the object that cannot rotate to avoid the nozzle.

[0013] The inkjet printer and printing method designed by this patent can detect the position of the protruding parts of the object to be printed, and can use a fixture to clamp one or more objects to be printed with protruding parts. During the printing process, the control system can control the reciprocating rotation of the object to be printed to avoid colliding with the nozzle. At the same time, the ultraviolet light curing device can overcome the curing blind area and can effectively and completely dry the ink, thereby expanding the application field of the inkjet printer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of an inkjet printer in one embodiment of the present invention; Figure 2 A schematic diagram of the structure of the beam mechanism in one embodiment of the present invention; Figure 3 A schematic diagram of a jig for an inkjet printer according to an embodiment of the present invention; Figure 4 A schematic diagram of the positions of a first curing device and a second curing device in one embodiment of the present invention; Figure 5 A schematic diagram of the positions of a first protruding portion sensor and a second protruding portion sensor in one embodiment of the present invention; Figure 6 A flowchart of a printing method in one embodiment of the present invention; Figure 7 Schematic diagram of the positions of the nozzle, the object to be printed and the curing device during the pre-curing process in an embodiment of the present invention; Figure 8 A schematic diagram of the positions of the nozzle, the object to be printed and the curing device during the final curing process in an embodiment of the present invention; Fig. 9 A schematic diagram of a through-beam sensor detecting a protruding portion of an object to be printed in one embodiment of the present invention; Figure 10-12 This is a schematic diagram of a sensor detecting a protruding portion of an object in another embodiment of the present invention.

[0015] The serial numbers in the figure are represented as: beam mechanism 1, lifting mechanism 2, material transfer module 3, printing carriage 4, UV curing module 5, ink scraper maintenance device 6, cup clamping fixture 7, protruding part detection module 8, first motor 11, first direction guide rod 12, first direction guide rail 13, first direction slider 14, first direction grating 15, structural steel beam 16, steel beam support column 17, first drag chain 18, drag chain plate 19, material transfer motor 31, coupling 32, material transfer shaft 33, free top shaft 34, tail vertical plate 35, material transfer shaft head end vertical plate 36, material transfer module base plate 37, material lifting cylinder 38, guide rail 39, slider 310, first curing device 5a, second curing device 5b, first protruding part sensor 81a, second protruding part sensor 81b, object to be printed 0. DETAILED DESCRIPTION

[0016] The present invention is described in detail below through embodiments.

[0017] Figure 1An inkjet printing device designed for the present invention. The inkjet printing device includes a beam mechanism 1, a lifting mechanism 2, a material transfer module 3, a printing carriage 4, an ultraviolet curing module 5, an ink scraping maintenance device 6, a cup clamping fixture 7, and a protruding part detection module 8. The beam mechanism 1 is arranged along a first direction, and the first direction is defined as the X-axis direction. A printing carriage 4 is arranged on the beam mechanism 1, and a driving mechanism is installed at one end of the beam mechanism 1. The driving mechanism can drive the printing carriage 4 to reciprocate along the first direction (X-axis direction). An ink cartridge for containing ink and a corresponding negative pressure control system can be arranged on the printing carriage 4. A nozzle base plate is arranged below the printing carriage 4, and a nozzle is installed on the nozzle base plate. The nozzle sprays ink droplets on the object to be printed to form a picture and text. The ink can include magenta ink (M), yellow ink (Y), cyan ink (C), black ink (K), white ink (W), pre-treatment ink (P) or some special color inks. In this embodiment, the ink used by the printing nozzle is UV ink. A cup clamping fixture 7 is arranged below the crossbeam mechanism 1. The cup clamping fixture 7 is used to mount a number of objects to be printed. The objects to be printed are objects with curved surfaces and protruding parts, such as cups. A material transfer module 3 is arranged at one end of the cup clamping fixture 7. The material transfer module 3 is used to drive the objects to be printed on the cup clamping fixture 7 to rotate around its own central axis. A lifting mechanism 2 is arranged below the material transfer module 3. The lifting mechanism 2 drives the material transfer module 3 to rise or fall in the vertical direction according to the size of the object to be printed, so as to adjust the distance between the upper surface of the object to be printed and the nozzle to reach a suitable printing distance. UV curing modules 5 are arranged below both sides of the material transfer module 3. The UV curing modules 5 are used to cure the ejected ink. An ink scraping maintenance device 6 is arranged below one end of the crossbeam mechanism 1. The ink scraping maintenance device 6 is used to scrape the nozzle installed below the printing carriage 4 to prevent the nozzle from being blocked; when the printer stops working, the ink scraping maintenance device 6 can also perform moisturizing maintenance on the nozzle to prevent the ink in the nozzle from drying and solidifying, avoiding damage to the nozzle, and ensuring the quality of printing. In addition, a protruding portion detection module 8 is installed below the other end of the beam mechanism 1 and on the opposite side of the ink scraper maintenance device 6. The protruding portion detection module 8 is used to detect the protruding portion of the object to be printed. When the object to be printed is a cup, the handle of the cup is detected.

[0018] like Figure 2As shown, the crossbeam mechanism 1 includes a first motor 11, a first direction guide rod 12, a first direction guide rail 13, a first direction slider 14, a first direction grating 15, a structural steel beam 16 and a steel beam support column 17. A first motor 11 is arranged at one end of the crossbeam mechanism 1, and the output shaft of the first motor 11 is connected to the first direction guide rod 12, and the first direction guide rod 12 is connected to the printing carriage 4. A structural steel beam 16 is arranged below the first direction guide rod 12, and the structural steel beam 16 is arranged along the first direction. The structural steel beam 16 is supported by steel beam support columns 17 that are symmetrical along the vertical direction. A first direction guide rail 13 is installed on the inner side wall of the structural steel beam 16, and the first direction guide rail 13 is used in conjunction with the first direction slider 14. A first direction grating 15 is also arranged below the first direction guide rod 12 along the first direction, and the first direction grating 15 is used to record and feedback the real-time position information of the printing carriage 4. During the printing process, the control system controls the first motor 11 to drive the printing carriage 4 to reciprocate along the first direction (X-axis direction) at a substantially constant speed. A first direction slider 14 is installed behind the printing carriage 4. The first direction slider 14 cooperates with the first direction guide rail 13 above the structural steel beam 16 to constrain the movement direction. The crossbeam mechanism 1 also includes a first drag chain 18, which is installed on the drag chain plate 19. The first drag chain 18 reciprocates along the first direction (X-axis direction) with the printing carriage 4. During the movement of the printing carriage 1 along the first direction (X-axis direction), the control system also needs to control the nozzle below it to spray ink droplets onto the object to be printed.

[0019] Figure 3 The three-dimensional schematic diagram of the cup clamping jig used in the inkjet printer installed in the material transfer module. The jig for the inkjet printer includes the material transfer module 3 and the cup clamping jig 7. The cup clamping jig 7 is a modular design, which is used to clamp multiple objects to be printed with protruding parts and then be installed on the material transfer module 3 at one time. The material transfer module 3 controls the cup clamping jig 7 and the objects to be printed installed thereon to perform reciprocating rotation.

[0020] The structural design of the material transfer module 3 and the cup clamping fixture 7 is introduced in detail below: the material transfer module 3 includes a material transfer head end driving rotation module, a material transfer head end moving module, a material transfer tail end module and a material transfer module substrate 37. The material transfer module substrate 37 is arranged at the bottom of the material transfer module 3 as a reference plane.

[0021] A transfer head end driving rotation module is installed on one side above the transfer module substrate 37. The transfer head end driving rotation module includes a transfer motor 31, a coupling 32 and a transfer shaft 33. The output end of the transfer motor 31 is connected to the transfer shaft 33 through the coupling 32. The transfer shaft 33 is connected to the cup clamping fixture 7. The cup clamping fixture 7 is configured as a detachable integrated clamping module. Several objects to be printed are installed in the cup clamping fixture 7. The transfer motor 31 drives the transfer shaft 33 to drive the cup clamping fixture 7 to rotate forward or reverse around its own rotation center axis.

[0022] A transfer head end moving module is arranged below the transfer head end driving rotation module, and the transfer head end moving module includes a transfer shaft head end vertical plate 36, a material pushing cylinder 38, a guide rail 39 and a slider 310. The transfer shaft head end vertical plate 36 is connected to the transfer motor 31 through a connecting plate, and the slider 310 is connected to the lower end of the transfer shaft head end vertical plate 36. The slider 310 cooperates with the slide rail 39 arranged along the first direction, and a material pushing cylinder 38 is connected to the outer side of the bottom of the transfer shaft head end vertical plate 36. By pushing out or retracting the material pushing cylinder 38, the transfer shaft head end vertical plate 36 and the transfer head end driving rotation module connected thereto are moved in the first direction along the guide rail 39, so that the cup clamping fixture 7 is tightened and fixed.

[0023] A material transfer tail end module is installed above the material transfer module substrate 37 and on the opposite side of the material transfer head end driving rotation module. The position of the material transfer tail end module is fixed. The material transfer tail end module includes a free top center shaft 34 and a tail vertical plate 35. The tail vertical plate 35 is installed above the material transfer module substrate 37. A free top center shaft 34 is arranged on the inner side of the tail vertical plate 35 for clamping the cup clamping fixture 7 and fixing it on the material transfer module 3.

[0024] A first curing device 5a and a second curing device 5b are respectively installed on both sides of the material transfer module 3 and obliquely below the cup clamping fixture 7 ( Figure 4 As shown in ), the first curing device 5a and the second curing device 5b are used to perform preliminary curing and drying treatment on the ejected ink. The first curing device 5a and the second curing device 5b of the present invention are composed of a plurality of UV-LED lamp bead modules arranged along the first direction (X axis) for irradiating ultraviolet rays, and each UV-LED lamp bead module can independently control its switch and energy output value. A first protruding part sensor 81a and a second protruding part sensor 81b are respectively installed at the front and rear of one end of the beam mechanism 1, and the first protruding part sensor 81a and the second protruding part sensor 81b are used to detect the position information of the protruding part of the object to be printed installed on the clamping cup fixture 7.

[0025] The first curing device 5a and the second curing device 5b are respectively installed on the transfer shaft module substrate 37. The first curing device 5a and the second curing device 5b have independent motors, transmission mechanisms and guide mechanisms respectively. The independent motors can drive the first curing device 5a and the second curing device 5b to approach or move away from the object to be printed along the radial direction set by themselves.

[0026] Figure 6Flow chart of the printing process of the inkjet printer of the present invention. After the operator clamps and mounts a number of objects to be printed on the cup clamping fixture 7, the cup clamping fixture 7 is fixed on the material transfer module 3, and the start button is clicked to start printing. The material transfer module 3 will drive the cup clamping fixture 7 to rotate one circle along the rotation center axis of the object to be printed. In this process, the first protruding part sensor 81a and the second protruding part sensor 81b detect the position information of the protruding part of the object to be printed; the software calculates the printing area according to the position information of the two ends of the protruding part fed back by the first protruding part sensor 81a and the second protruding part sensor 81b, and limits the range of reciprocating rotation of the object to be printed.

[0027] The control system controls the object to rotate back and forth, and at the same time controls the nozzle to spray ink downward to form images and texts on the object to be printed. The curing device performs pre-curing treatment on the object, specifically: the first curing device 5a and the second curing device 5b are moved to the working position by the UV axis origin according to the protruding part information of the object to be printed calculated by the software. At this time, the positions of the first curing device 5a and the second curing device 5b are the pre-curing positions for image and text printing. During the printing process, the first curing device 5a and the second curing device 5b control the light source section switch of the curing device and the output energy level of the ultraviolet light according to the control system. At this time, the first curing device 5a and the second curing device 5b are preset to a low energy curing level.

[0028] Next, the software determines whether printing is completed. If not, the above-mentioned reciprocating rotation printing and pre-curing treatment are continued; if so, the final curing process is carried out, specifically: the first curing device 5a returns to the origin position of the UV axis-5a axis, and the second curing device 5b approaches the object along the UV axis-5b according to the distance preset by the program until it reaches the final curing position and turns on the high-energy curing level. The material transfer axis module 3 rotates the object around its own rotation center axis by a certain angle, and the rotation angle is determined by the printing area on the surface of the object. The second curing device 5b performs a final complete curing treatment on the ink droplets on the surface of the object. The object can be rotated back and forth for multiple times at the above-mentioned angle until the ink droplets are completely dried and printing is completed.

[0029] According to the following Figure 7The design principle of the printing and pre-curing process of the object 0 to be printed is specifically explained. Since the object 0 to be printed has a protruding part, such as the handle of a cup, the object 0 to be printed cannot be rotated 360 degrees, otherwise it will collide with the nozzle. In order to avoid the nozzle, the protruding part of the object 0 to be printed can reciprocate during the printing process. When one side of the protruding part is close to the nozzle, it rotates in the opposite direction. When it rotates in the opposite direction to the other side of the protruding part close to the nozzle, it changes direction and rotates back to the position where one side of the protruding part is close to the nozzle, and then rotates in the opposite direction, and repeats this process. According to the above reciprocating rotation method, if a curing device LA is set, since the object 0 to be printed cannot be rotated 360 degrees, the only curing device will have a blind area that cannot be irradiated when curing the image and text on the object. Therefore, it is necessary to set a second curing device LB at a symmetrical position to make up for the area that cannot be irradiated by one curing device. According to the simulation calculation of the blind area, the angle difference LP set between the curing device and the horizontal direction needs to be less than or equal to (180-DA) ÷ 2, where LP is Figure 7 The curing device radiation range shown in FIG. 1 is the angle between the outer edge of the horizontal line L passing through the center of the object to be printed and the horizontal line L, and DA represents the blind angle of the protruding part of the object that cannot rotate to avoid the nozzle. In addition, since the protruding part has a certain height HD, the first curing device LA and the second curing device LB should be set to ensure that the radial distance from the surface of the object to be printed O is greater than HD. At this time, the ability to cure the ink is weak, which is defined as a preliminary pre-curing process.

[0030] When the image and text are printed on the object 0 to be printed, the pre-curing process carried out synchronously is also completed, and then the final curing process is carried out. Figure 8 As shown, the graphics on the surface of the object to be printed 0 have been printed, and the printing carriage retreats to the initial printing position along the first direction (X-axis direction) to avoid being hit by the protruding parts of the object to be printed 0. At the same time, a curing device moves along the radial direction of the object to be printed 0. In this embodiment, the second curing device LB moves along the radial direction of the object to be printed 0. The control system controls the object to be printed 0 to reciprocate in a manner of avoiding the second curing device LB. During the reciprocating motion, the ability to cure the ink is relatively strong, and the curing device LB performs a final curing process on the ink droplets on the surface of the object.

[0031] Next, a brief description is given of how to obtain the position information of the height HD of the protruding portion of the object to be printed and the blind area angle DA at which the protruding portion of the object to be printed cannot rotate to avoid the nozzle. Fig. 9The object to be printed in this embodiment is a mug. A group of through-beam sensors are arranged at both ends of the beam mechanism 1. The through-beam sensors detect the height of the protruding parts of the object to be printed, thereby controlling the height of the cup clamping fixture 7 that fixes the object to be printed in the vertical direction, and at the same time determining the distance between the two curing devices and the object to be printed during the printing process.

[0032] Figure 10-12 This is a schematic diagram of a sensor detecting a protruding part of an object in another embodiment of the present invention. Fig.10 The raised part of the object to be printed is located directly below, the left sensor LS is installed on the left, and the right sensor RS is installed on the right. The control system controls the object to be printed to rotate clockwise. When the outer edge of the raised part approaches the nozzle, Fig.11 As shown, the left sensor LS detects the encoder position signal P1 corresponding to the raised part at this time, and then the control system controls the object to be printed to rotate counterclockwise. When the outer edge of the other side of the raised part approaches the other side of the nozzle, as shown in FIG. Fig.12 As shown, the right sensor RS detects the encoder position signal P2 corresponding to the raised part at this time. At this time, the software can calculate the length of the printing area that the object to be printed has rotated to avoid the nozzle. The length is (P2-P1) ÷ the number of lines of the encoder rotating one circle × 2πR, where R represents the radius of the object to be printed. According to the position signals P1 and P2 fed back after the above sensors are triggered, the reciprocating motion trajectory of the object to be printed can be controlled to achieve the printing effect of the raised part automatically avoiding the nozzle.

Claims

1. An inkjet printer, comprising a beam mechanism, a printing carriage, a material transfer module, a cup clamping fixture and a curing device, wherein the beam mechanism is arranged along a first direction, a printing carriage is arranged on the beam mechanism, a driving mechanism is installed at one end of the beam mechanism, and the driving mechanism can drive the printing carriage to reciprocate along the first direction, a nozzle is installed below the printing carriage, and the nozzle sprays ink droplets onto the object to be printed below to form a picture and text, a cup clamping fixture is arranged below the beam mechanism, and the cup clamping fixture is used to install at least two objects to be printed, and a material transfer module is arranged at one end of the cup clamping fixture, and the material transfer module is used to drive the object to be printed to rotate around its own central axis, characterized in that A curing device is arranged below the material transfer module, and the curing device includes a first curing device and a second curing device. The first curing device and the second curing device are symmetrically arranged at two sides below the material transfer module, respectively. The first curing device and the second curing device irradiate the reciprocating object to be printed, and jointly complete the curing operation of the object to be printed.

2. The inkjet printer according to claim 1, wherein: The object to be printed is a curved surface object with protruding parts.

3. The inkjet printer according to claim 1, wherein: The angle difference between the curing device and the horizontal direction needs to be less than or equal to (180-DA) ÷ 2, where DA represents the blind area angle where the protruding part of the object cannot rotate to avoid the nozzle.

4. The inkjet printer according to claim 1, wherein: A lifting mechanism is arranged below the material transfer module, and the lifting mechanism drives the material transfer module and the cup clamping fixture to rise or fall in the vertical direction according to the size of the object to be printed, so as to adjust the distance between the upper surface of the object to be printed and the nozzle to achieve a suitable printing distance.

5. The inkjet printer according to claim 1, wherein: The inkjet printer also includes an ink scraper maintenance device, which is arranged below one end of the beam mechanism. The ink scraper maintenance device is used to scrape the nozzle installed below the printing carriage to prevent the nozzle hole from being blocked; when the printer stops working, the ink scraper maintenance device performs moisturizing maintenance on the nozzle.

6. The inkjet printer according to claim 2, wherein: The inkjet printer also includes a protruding part detection module, which is installed below the crossbeam mechanism and is used to detect the protruding parts of the object to be printed.

7. The printing method of the inkjet printer according to claim 1, characterized in that: The steps include: a) The material transfer module drives the cup fixture to rotate one circle along the rotation center axis of the object to be printed, and detects the position information of the protruding parts of the object to be printed; b) The control system controls the object to be printed to rotate back and forth, and at the same time controls the nozzle to spray ink downward to form images and texts on the object to be printed, and the curing device performs pre-curing treatment on the object; c) The software determines whether printing is completed. If not, proceed to step b); if yes, proceed to step d); d) Carry out the final curing process.

8. The printing method according to claim 7, characterized in that: In the pre-curing process in step b), the first curing device and the second curing device move to the working position according to the protruding part information of the object to be printed calculated by the software, and perform pre-curing process on it using a low energy curing level.

9. The printing method according to claim 7, characterized in that: The step d) includes the first curing device returning to the origin position, the second curing device approaching the object and starting the high energy curing level, the material transfer shaft module rotating the object to be printed around its own rotation center axis, and the second curing device performing a final complete curing process on the ink droplets on the surface of the object.

10. The printing method according to claim 7, characterized in that: The angle difference between the curing device and the horizontal direction needs to be less than or equal to (180-DA) ÷ 2, where DA represents the blind area angle where the protruding part of the object cannot rotate to avoid the nozzle.

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