Multi-needle five-axis printing system and method

Abstract

The invention provides a multi-needle five-axis printing system and method.The multi-needle five-axis printing system comprises at least two printing mechanisms and an adjusting mechanism, the printing mechanisms are arranged on the Z axis of five-axis printing equipment in a sliding mode, and the printing mechanisms are used for printing products on the surface of a printing substrate; and the adjusting mechanism is used for adjusting the relative position of each printing mechanism and the printing substrate. According to the five-axis printing equipment, the at least two printing mechanisms arranged on the Z axis of the five-axis printing equipment in a sliding mode are adopted, different printing effects can be achieved through the multiple printing mechanisms, and the relative positions of the printing mechanisms and the printing base plate are adjusted through the adjusting mechanism; the problem that in the multi-needle five-axis printing process, due to the rotating motion of a product, when one printing needle works, the other printing needles interfere with the product can be solved, meanwhile, the space curved surface dispensing efficiency is greatly improved, the automation degree is high, and industrialization is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of five-axis printing, and in particular to a multi-needle five-axis printing system and method. Background Art

[0002] Five-axis printing is an innovative technology in the field of additive manufacturing. It adds two additional rotation axes so that the print head can print on multiple planes, not just one. This design enables the five-axis printer to manufacture parts with complex geometries without support, greatly improving the flexibility of printing and the strength of the parts. The core of five-axis printing is that it adds two rotation axes (usually A and B axes), so it can print more complex and detailed models.

[0003] At present, the existing five-axis printing equipment mostly uses a single printing needle. However, since a product may require multiple line types with different widths, it is necessary to set up multiple needles with different inner diameters. If the multi-print needle printing mechanism is directly applied to the five-axis printing equipment, since the product will rotate during the printing process, it is easy for one of the print needles to work and the other print needles to interfere with the product.

[0004] The Chinese patent document discloses "a five-axis linkage device for printing graphics on a curved surface", and its authorization publication number is CN206201478U. The five-axis linkage device of the patent includes a five-axis linkage module for controlling the inkjet position, an inkjet printing module for inkjet, and a laser curing module. The five-axis linkage mechanism is used to move the printed curved surface so that the direction of the nozzle is always perpendicular to the printing surface, and the surface ink is sprayed on the curved surface as required, and the surface ink is cured by laser at the same time, and finally the required graphics are formed. The patent uses a five-axis linkage mechanism to move the printed curved surface so that the direction of the nozzle is always perpendicular to the printing surface, and the surface ink is sprayed on the curved surface as required, and the surface ink is cured by laser at the same time, and finally the required graphics are formed. The five-axis linkage device of the patent still uses a single nozzle, which obviously cannot solve the problem of interference between multiple printing nozzles and products. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a multi-needle five-axis printing system and method, which is used to solve the problem that when one of the print needles is working, the other print needles interfere with the product because the product will rotate during the printing process.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a multi-needle five-axis printing system, comprising at least two printing mechanisms and an adjustment mechanism slidably arranged on the Z-axis of the five-axis printing device, wherein the printing mechanism is used to print products on the surface of the printing substrate, and the adjustment mechanism is used to adjust the relative position of each printing mechanism and the printing substrate.

[0007] In the above technical solution of the present application, at least two printing mechanisms slidingly arranged on the Z-axis of the five-axis printing device are used, and a variety of line types with different widths are printed through needles with different inner diameters to achieve different printing effects. The relative position of each printing mechanism and the printing substrate is adjusted by setting an adjustment mechanism. This not only avoids the problem of interference between the remaining printing needles and the product when one of the printing needles is working due to the rotational movement of the product during multi-needle five-axis printing, but also greatly improves the efficiency of spatial curved surface dispensing, has a high degree of automation, and is easy to industrialize.

[0008] Preferably, the multi-needle five-axis printing system further comprises a needle observation mechanism, and the needle observation mechanism is used to monitor the printing status of each printing mechanism in real time to improve the printing accuracy.

[0009] Preferably, the needle observation mechanism includes an observation camera arranged corresponding to the printing mechanism, the printing mechanism includes a feeding cylinder and a printing needle arranged at the bottom of the feeding cylinder, and the observation camera is used to observe the printing status of the printing needle in real time to improve printing accuracy.

[0010] Preferably, the multi-needle head five-axis printing system further comprises a positioning camera, and the positioning camera is used for initial positioning of the printing substrate.

[0011] Preferably, the multi-needle five-axis printing system further comprises a 3D camera assembly, and the 3D camera assembly is used to extract the printing path of the product in the X direction, the Y direction and the Z direction.

[0012] In the above technical solution of the present application, a 3D camera component is used to perform non-contact measurement of the printing profile and thickness of the printing mechanism on the printing substrate, and various printing parameters of the product are monitored in real time based on efficient data collection to improve printing accuracy.

[0013] Preferably, the 3D camera assembly includes a base plate, an angle adjustment mechanism arranged on the base plate and a 3D camera, the base plate is slidably arranged on the Z axis of the five-axis printing device and can be adjusted along the Z axis, and the angle adjustment mechanism is used to adjust the 3D camera to be parallel to the Z axis of the five-axis printing device.

[0014] In the above technical solution of the present application, an angle adjustment mechanism can be used to monitor the parallelism of the Z-axis of the 3D camera and the five-axis printing device. Only by ensuring that the Z-axis of the 3D camera and the five-axis printing device are parallel can the accuracy of the five-axis algorithm be ensured and the processing accuracy of the product be improved.

[0015] Preferably, the angle adjustment mechanism includes an adjustment seat arranged on the bottom plate and an X-direction angle adjustment table, a Y-direction angle adjustment table and a Z-direction rotation table arranged on the adjustment seat, the X-direction angle adjustment table, the Y-direction angle adjustment table and the Z-direction rotation table are fixedly connected, and the 3D camera is fixedly connected to the Z-direction rotation table, so that the 3D camera can be parallel to the Z-axis of the five-axis printing device.

[0016] Preferably, the adjusting mechanism has at least one, and the adjusting mechanism is correspondingly arranged on the printing mechanism. The adjusting mechanism comprises a driving mechanism, and the driving mechanism is used to drive the corresponding printing mechanism to move in a direction approaching or away from the printing substrate.

[0017] Preferably, the adjustment mechanism further comprises a mounting base slidably arranged on the Z-axis of the five-axis printing device, and the driving mechanism comprises a lifting electric cylinder arranged on the mounting base, and the telescopic rod of the lifting electric cylinder is fixedly connected to the adjustment mechanism.

[0018] Preferably, the driving mechanism further comprises a linear guide rail arranged on the mounting base, a slider is slidably arranged on the linear guide rail, and the printing mechanism is fixedly connected to the slider.

[0019] In the above technical solution of the present application, the use of linear guide rails can limit the movement trajectory of the printing mechanism, which is more accurate and easy to control, avoiding collision and damage between the printing mechanism and other components during movement, and improving the stability of the multi-needle five-axis printing system.

[0020] Preferably, the driving mechanism further comprises a limit block arranged at the bottom of the linear guide rail, and the limit block is used to limit the travel of the printing mechanism along the linear guide rail.

[0021] In the above technical solution of the present application, a limit block is used to limit the travel of the printing mechanism along the linear slide rail, thereby preventing the printing mechanism from colliding with the printing substrate when moving in a direction close to the printing substrate, thereby improving the stability of the multi-needle five-axis printing system.

[0022] The present invention also provides a multi-needle five-axis printing method, which is based on the multi-needle five-axis printing system and includes the following steps: using each printing mechanism of the five-axis printing device to print products on the surface of the printing substrate respectively; during the printing process, using an adjustment mechanism to adjust the relative position of each printing mechanism and the printing substrate to avoid interference between the printing mechanism and the product.

[0023] In the above technical solution of the present application, when one of the printing mechanisms is working, the other printing mechanisms in a non-working state can use an adjustment mechanism to adjust the relative position of each printing mechanism and the printing substrate to avoid interference between the printing mechanism and the product. At the same time, it also greatly improves the efficiency of spatial curved surface dispensing, has a high degree of automation, and is easy to industrialize.

[0024] Preferably, the multi-needle five-axis printing system further comprises a needle observation mechanism, wherein the needle observation mechanism comprises an observation camera arranged corresponding to the printing mechanism, and the printing mechanism comprises a feeding barrel and a printing needle arranged at the bottom of the feeding barrel; During the printing process, the observation camera is used to observe the printing status of each printing needle in real time.

[0025] Preferably, the multi-needle head five-axis printing system further comprises a positioning camera, and before printing, the positioning camera is used to perform initial positioning of the printing substrate.

[0026] Preferably, the multi-needle five-axis printing system further comprises a 3D camera assembly. During printing, the 3D camera assembly is used to extract the printing path of the product in the X direction, the Y direction and the Z direction.

[0027] Preferably, the adjusting mechanism is correspondingly arranged on the printing mechanism, and the adjusting mechanism comprises a driving mechanism. During printing, the driving mechanism is used to drive the corresponding printing mechanism to move relative to the printing substrate.

[0028] As described above, the multi-needle five-axis printing system and method of the present invention have the following beneficial effects: (1) At least two printing mechanisms are slidably arranged on the Z axis of the five-axis printing device, and a variety of line types with different widths are printed through needles with different inner diameters to achieve different printing effects. The relative position of each printing mechanism and the printing substrate is adjusted by setting an adjustment mechanism. This can not only avoid the problem that when one of the printing needles is working due to the rotation of the product during the multi-needle five-axis printing process, the interference between the other printing needles and the product can be avoided, but also the efficiency of spatial curved surface dispensing is greatly improved, with a high degree of automation and easy industrialization; (2) The 3D camera assembly can be used to extract the printing path of the product in the X, Y and Z directions. The angle adjustment mechanism can be used to monitor the parallelism between the 3D camera and the Z axis of the five-axis printing device. Only by adjusting the measurement angle to ensure that the 3D camera and the Z axis of the five-axis printing device are parallel can the accuracy of the five-axis algorithm be ensured and the processing accuracy of the product be improved; (3) The use of linear guides can limit the motion trajectory of the printing mechanism, which is more accurate and easy to control. The use of limit blocks can limit the travel of the printing mechanism along the linear guide rails, avoiding collision and damage between the printing mechanism and other components during movement, thereby improving the stability of the multi-needle five-axis printing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Shown is a schematic diagram of the structure of a multi-needle five-axis printing system.

[0030] Figure 2 Shown is a schematic diagram of the structure of the 3D camera assembly.

[0031] Figure 3 Shown is a schematic diagram of the installation structure of the printing mechanism and the adjustment mechanism.

[0032] Figure 4 Display as Figure 3 Another perspective of the picture.

[0033] Explanation of the accompanying drawings: printing mechanism 1, feeding barrel 11, printing needle 12, clamp 13, observation camera 2, positioning camera 3, 3D camera assembly 4, base plate 41, 3D camera 42, adjustment seat 43, X-direction angle adjustment table 44, Y-direction angle adjustment table 45, Z-direction rotating table 46, mounting base 5, lifting electric cylinder 51, linear guide rail 52, slider 521, limit block 522, servo module 6. DETAILED DESCRIPTION

[0034] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] Unless otherwise clearly specified and limited, the terms "connection", "fixation" and "setting" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] like Figure 1 As shown, the embodiment of the present application provides a multi-needle five-axis printing system, including a servo module 6 arranged on the Z axis of the five-axis printing device and a bottom plate 41 arranged on the slider of the servo module, the bottom plate can be adjusted up and down along the Z axis, and the bottom plate is provided with two printing mechanisms 1, a needle observation mechanism, a positioning camera 3, a 3D camera assembly 4 and an adjustment mechanism arranged on one of the printing mechanisms, the printing mechanism is used to print products on the surface of the printing substrate, the adjustment mechanism is used to adjust the relative position of each printing mechanism and the printing substrate, the needle observation mechanism is used to monitor the printing status of each printing mechanism in real time, the positioning camera is used for the initial positioning of the printing substrate, and the 3D camera assembly is used to extract the printing path of the product in the X direction, Y direction and Z direction. The adjustment mechanism includes a driving mechanism, and the driving mechanism is used to drive the corresponding printing mechanism to move in a direction close to or away from the printing substrate.

[0038] like Figure 2 As shown, the 3D camera assembly includes an angle adjustment mechanism and a 3D camera 42 arranged on a bottom plate 41, and the angle adjustment mechanism is used to adjust the 3D camera to be parallel to the Z axis of the five-axis printing device. The angle adjustment mechanism includes an adjustment seat 43 arranged on the bottom plate 41 and an X-direction angle adjustment stage 44, a Y-direction angle adjustment stage 45 and a Z-direction rotating stage 46 arranged on the adjustment seat. The two sides of the adjustment seat are vertically and symmetrically provided with waist holes, and the adjustment seat can be adjusted up and down along the Z direction through the waist holes. The X-direction angle adjustment stage, the Y-direction angle adjustment stage and the Z-direction rotating stage are fixedly connected, and the 3D camera is fixedly connected to the Z-direction rotating stage.

[0039] like Figure 1 , Figure 3 and Figure 4As shown, the needle observation mechanism includes an observation camera 2 arranged corresponding to the printing mechanism, and the printing mechanism 1 includes a feed barrel 11, a printing needle 12 arranged at the bottom of the feed barrel, and a clamp 13. The observation camera is used to observe the printing state of the printing needle in real time. The adjustment mechanism also includes a mounting base 5 arranged on the bottom plate 41, and waist holes are vertically and symmetrically arranged on both sides of the mounting base. The mounting base can be adjusted up and down along the Z direction through the waist holes. The feed barrel and the printing needle are fixed to the mounting base 5 through the clamp. The driving mechanism includes a lifting electric cylinder 51 and a linear guide 52 arranged on the mounting base. A slider 521 is slidably arranged on the linear guide. The printing mechanism is fixedly connected to the slider, and the telescopic rod of the lifting electric cylinder is fixedly connected to the adjustment mechanism. A limit block 522 is provided at the bottom of the linear guide, and the limit block is used to limit the travel of the printing mechanism along the linear slide.

[0040] Application Example 1 Gluing the curved screen frame of a mobile phone can significantly improve the overall structural strength of the phone, making it more drop-resistant and durable. Secondly, due to the design characteristics of curved screen phones, gaps are easily generated between the screen and the middle frame. Gluing can effectively seal these gaps and prevent dust, moisture and other external impurities from invading, thereby extending the life of the phone and maintaining a good appearance. Furthermore, glue dispensing technology can also enhance the waterproof performance of the phone and provide additional protection for the phone. However, the glue type of the mobile phone middle frame glue is a spatial curved surface, and the traditional three-axis printing equipment cannot accurately print the spatial curved surface.

[0041] This embodiment also provides a printing method for dispensing glue on a curved screen frame of a mobile phone based on the multi-needle five-axis printing system, comprising the following steps: Before printing, use a positioning camera to initially position the curved screen frame of the mobile phone; The printing mechanisms of the five-axis printing equipment are used to print products on the surface of the curved screen frame of the mobile phone; During the printing process, the adjustment mechanism is used to adjust the relative position of each printing mechanism and the curved screen frame of the mobile phone, as shown in the following figure. Figure 3 and Figure 4As shown, when a printing mechanism without an adjustment mechanism starts printing, a driving mechanism is used to drive the corresponding printing mechanism to move in a direction away from the printing substrate, a lifting electric cylinder is used to drive the printing mechanism to drive the slider to move upward along the linear guide rail 52, and a limit block is used to limit the travel of the printing mechanism along the linear slide rail to avoid interference between the printing mechanism and the product. During the printing process, an observation camera is used to observe the printing state of the printing needle in real time, and a 3D camera 42 is used to extract the printing path of the product in the X direction, Y direction and Z direction in combination with the X-direction angle adjustment table, the Y-direction angle adjustment table and the Z-direction rotation table, and the printing contour and thickness of the printing mechanism on the printing substrate are measured non-contactly. Based on efficient data collection, various printing parameters of the product are monitored in real time to improve printing accuracy. When the printing mechanism without an adjustment mechanism completes printing, a lifting electric cylinder is used to drive the printing mechanism to drive the slider to move downward along the linear guide rail 52, and a limit block is used to limit the travel of the printing mechanism along the linear slide rail to avoid interference between the printing mechanism and the product. The printing mechanism is started to start printing. During the printing process, an observation camera is used to observe the printing status of the printing needle in real time. Combined with the X-direction angle adjustment table, the Y-direction angle adjustment table and the Z-direction rotation table, a 3D camera 42 is used to observe the printing path of the printing substrate surface along the X-direction, Y-direction and Z-direction directions in real time, and the printing contour and thickness of the printing mechanism on the curved screen frame of the mobile phone are measured non-contactly. Based on efficient data collection, various printing parameters of the product are monitored in real time to improve printing accuracy, thereby achieving precise dispensing of the curved screen frame of the mobile phone.

[0042] Application Example 2 In semiconductor devices, the design of curved electrodes can achieve better electric field distribution and higher electric field strength. This is very important for some power devices, optoelectronic devices or radio frequency devices. For example, in high-voltage devices, the design of curved electrodes can reduce the electric field concentration effect, increase the breakdown voltage of the device, and thus improve the reliability and stability of the device. Because the substrate is spherical, it is impossible to use traditional three-axis printing equipment to directly print electrodes on the surface, and a five-axis motion platform is required for processing.

[0043] This embodiment also provides a printing method for a curved electrode based on the multi-needle five-axis printing system, comprising the following steps: Before printing, a positioning camera is used to initially position the spherical substrate; Each printing mechanism of a five-axis printing device is used to print products on the surface of a spherical substrate; During the printing process, the relative positions of the printing mechanisms and the spherical substrate are adjusted by the adjustment mechanism, as shown in the following example: Figure 3 and Figure 4As shown, when a printing mechanism without an adjustment mechanism starts printing, a driving mechanism is used to drive the corresponding printing mechanism to move in a direction away from the spherical substrate, a lifting electric cylinder is used to drive the printing mechanism to drive the slider to move upward along the linear guide rail 52, and a limit block is used to limit the travel of the printing mechanism along the linear guide rail to avoid interference between the printing mechanism and the product. During the printing process, an observation camera is used to observe the printing state of the printing needle in real time, and a 3D camera 42 is used to extract the printing path of the product in the X direction, Y direction and Z direction in combination with the X-direction angle adjustment table, the Y-direction angle adjustment table and the Z-direction rotation table, and the printing contour and thickness of the printing mechanism on the printing substrate are measured non-contactly. Based on efficient data collection, various printing parameters of the product are monitored in real time to improve printing accuracy. When the printing mechanism without an adjustment mechanism completes printing, a lifting electric cylinder is used to drive the printing mechanism to drive the slider to move downward along the linear guide rail 52, and a limit block is used to limit the travel of the printing mechanism along the linear slide rail to avoid interference between the printing mechanism and the product. The printing mechanism is started to start printing. During the printing process, an observation camera is used to observe the printing status of the printing needle in real time. Combined with the X-direction angle adjustment table, the Y-direction angle adjustment table and the Z-direction rotation table, a 3D camera 42 is used to observe the printing path of the printing substrate surface along the X-direction, Y-direction and Z-direction directions in real time, and the printing contour and thickness of the printing mechanism on the spherical substrate are measured non-contactly. Based on efficient data collection, various printing parameters of the product are monitored in real time to improve printing accuracy, thereby achieving accurate printing of curved electrodes on the spherical substrate.

[0044] In summary, the present invention adopts at least two printing mechanisms slidingly arranged on the Z axis of the five-axis printing device, and prints a variety of line types with different widths through needles with different inner diameters to achieve different printing effects. By setting an adjustment mechanism to adjust the relative position of each printing mechanism and the printing substrate, it can not only avoid the problem that when one of the printing needles is working due to the rotational movement of the product during the multi-needle five-axis printing process, the other printing needles interfere with the product, but also greatly improve the efficiency of curved surface printing, with a high degree of automation and easy industrialization; the 3D camera component can be used to extract the printing path of the product in the X direction, Y direction and Z direction; the angle adjustment mechanism can be used to monitor the parallelism of the 3D camera and the Z axis of the five-axis printing device. Only by adjusting the measurement angle that ensures that the 3D camera is parallel to the Z axis of the five-axis printing device can the accuracy of the five-axis algorithm be ensured and the processing accuracy of the product be improved; the linear guide rail can be used to limit the motion trajectory of the printing mechanism, which is more accurate and easy to control. The limit block can be used to limit the stroke of the printing mechanism along the linear slide rail to avoid the printing mechanism from colliding with other components during the movement and causing damage, thereby improving the stability of the multi-needle five-axis printing system. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0045] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A multi-needle five-axis printing system, characterized in that: It comprises at least two printing mechanisms (1) slidably arranged on the Z axis of a five-axis printing device and an adjusting mechanism, wherein the printing mechanism is used to print products on the surface of a printing substrate, and the adjusting mechanism is used to adjust the relative position of each printing mechanism and the printing substrate.

2. The multi-needle head five-axis printing system according to claim 1, characterized in that: The multi-needle five-axis printing system further comprises a needle observation mechanism, and the needle observation mechanism is used for real-time monitoring of the printing status of each printing mechanism.

3. The multi-needle head five-axis printing system according to claim 2, characterized in that: The needle observation mechanism comprises an observation camera (2) arranged corresponding to the printing mechanism, the printing mechanism comprises a feeding barrel (11) and a printing needle (12) arranged at the bottom of the feeding barrel, and the observation camera is used to observe the printing status of the printing needle in real time.

4. The multi-needle head five-axis printing system according to claim 1, characterized in that: The multi-needle five-axis printing system further comprises a positioning camera (3) and a 3D camera assembly (4), wherein the positioning camera is used for initial positioning of the printing substrate, and the 3D camera assembly is used for extracting the printing path of the product in the X direction, Y direction and Z direction.

5. The multi-needle head five-axis printing system according to claim 4, characterized in that: The 3D camera assembly comprises a base plate (41), an angle adjustment mechanism arranged on the base plate, and a 3D camera (42); the base plate is slidably arranged on the Z axis of the five-axis printing device and can be adjusted along the Z axis; the angle adjustment mechanism is used to adjust the 3D camera to be parallel to the Z axis of the five-axis printing device.

6. The multi-needle head five-axis printing system according to claim 5, characterized in that: The angle adjustment mechanism comprises an adjustment seat (43) arranged on a bottom plate, and an X-direction angle adjustment platform (44), a Y-direction angle adjustment platform (45) and a Z-direction rotation platform (46) arranged on the adjustment seat, the X-direction angle adjustment platform, the Y-direction angle adjustment platform and the Z-direction rotation platform being fixedly connected, and the 3D camera being fixedly connected to the Z-direction rotation platform.

7. The multi-needle head five-axis printing system according to claim 1, characterized in that: The adjusting mechanism comprises at least one, the adjusting mechanism being correspondingly arranged on the printing mechanism, the adjusting mechanism comprising a driving mechanism, the driving mechanism being used to drive the corresponding printing mechanism to move in a direction approaching or away from a printing substrate; the adjusting mechanism also comprises a mounting base (5) slidably arranged on a Z-axis of the five-axis printing device, the driving mechanism comprising a lifting electric cylinder (51) arranged on the mounting base, the telescopic rod of the lifting electric cylinder being fixedly connected to the adjusting mechanism.

8. The multi-needle head five-axis printing system according to claim 7, characterized in that: The driving mechanism further comprises a linear guide rail (52) arranged on the mounting base, a slider (521) being slidably arranged on the linear guide rail, and the printing mechanism is fixedly connected to the slider; the driving mechanism further comprises a limit block (522) arranged at the bottom of the linear guide rail, the limit block being used to limit the travel of the printing mechanism along the linear guide rail.

9. A multi-needle five-axis printing method, characterized in that: Based on the multi-needle head five-axis printing system as described in any one of claims 1 to 8, the system comprises the following steps: using each printing mechanism of the five-axis printing device to print products on the surface of the printing substrate respectively, and during the printing process, using an adjustment mechanism to adjust the relative position of each printing mechanism and the printing substrate to avoid interference between the printing mechanism and the product.

10. The multi-needle head five-axis printing method according to claim 9, characterized in that: The multi-needle five-axis printing system further includes a needle observation mechanism, wherein the needle observation mechanism includes an observation camera arranged corresponding to the printing mechanism, and the printing mechanism includes a feeding barrel and a printing needle arranged at the bottom of the feeding barrel; During the printing process, the observation camera is used to observe the printing status of each printing needle in real time.

11. The multi-needle head five-axis printing method according to claim 9, characterized in that: The multi-needle five-axis printing system also includes a positioning camera and a 3D camera assembly. Before printing, the positioning camera is used to perform initial positioning of the printing substrate; During printing, the 3D camera assembly is used to extract the printing path of the product in the X direction, Y direction and Z direction.

12. The multi-needle head five-axis printing method according to claim 9, characterized in that: The adjusting mechanism is correspondingly arranged on the printing mechanism, and the adjusting mechanism comprises a driving mechanism. During printing, the driving mechanism is used to drive the corresponding printing mechanism to move relative to the printing substrate.

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