An integrated measurement and printing device and method for complex curved surfaces

Abstract

This invention provides an integrated measurement and printing device and method for complex curved surfaces, belonging to the field of advanced manufacturing. The device includes a motion module, a printing and measurement module, an integrated control module, a voltage control module, and a pneumatic control module. The motion module can move independently, enabling switching between measurement and printing functions and adjusting the printing height according to the measurement height. The printing and measurement module is used to perform graphic printing and to detect the printing height during the process. This invention employs a method of repeatedly measuring the actual height between the printing needle and the workpiece surface during printing and adjusting the nozzle height accordingly. This reduces the height variation of the nozzle during printing on complex curved surfaces, minimizing defects caused by inaccurate digital models. It solves the problem of low printing quality and severe defects caused by the inability of the printing height to adapt to changes in the surface height in existing printing methods for complex curved surface applications, thus improving printing quality.

Description

Technical Field

[0001] This invention belongs to the field of advanced manufacturing and relates to an integrated device and method for measuring and printing on complex curved surfaces. Background Technology

[0002] Electrohydraulic inkjet printing, a rapidly developing microdroplet jetting technology based on electrohydraulic dynamics, has wide applications in aerospace, intelligent sensing, and new energy fields. Unlike traditional inkjet printing technologies such as thermal inkjet printing and piezoelectric inkjet printing, which use extrusion pressure to control fluid movement, electrohydraulic inkjet printing uses a high-voltage electric field to induce fluid movement. During electrohydraulic inkjet printing, the ink at the tip of the nozzle overcomes its own viscosity, surface tension, and air resistance to form a stable cone shape, called a Taylor cone, under the influence of electric field force and gravity. The electric field force acts as the driving force, pulling the polarized droplet from the tip of the Taylor cone. When the electric field force on the droplet is sufficient to overcome the surface tension of the droplet, the droplet is released from the nozzle tip. By designing the motion path, the droplet is accurately deposited at a specified position on the printing substrate, thereby forming a specific structure on the substrate surface. Because the size of the ejected droplet is much smaller than the inner diameter of the nozzle, the accuracy of electrohydraulic inkjet printing technology is not limited by the inner diameter of the nozzle. It retains the high flexibility of traditional inkjet printing technology while also being able to print high-viscosity solutions, achieving submicro-scale, high-resolution manufacturing. Electrohydraulic inkjet printing technology can print on a wide variety of substrates, including composite materials, glass, nanofiber paper, and polycarbonate filter paper. Therefore, electrohydraulic inkjet printing technology has broad application prospects in the future.

[0003] In recent years, three-dimensional curved surface electronic products have become a trend in the microelectronics industry. Directly molding circuits onto the surface of a product structure allows for miniaturization, increased intelligence, and lighter weight, while retaining the basic functions of planar integrated circuits, enabling electronic devices to be used more widely in complex and varied scenarios. This has significant implications and application value in fields such as health monitoring, environmental sensing, and frequency-selective surfaces. Examples include covering intelligent skins for high-curvature structures on aircraft surfaces, connecting internal circuits in curved display devices, and producing portable medical testing equipment. Compared to indirect manufacturing methods that transfer planar circuits to curved surfaces using flexible substrates, direct manufacturing on complex curved surfaces using electrofluid inkjet printing technology offers advantages such as process simplicity, high material utilization, flexible manufacturing, and high adhesion to non-stretchable surfaces. Electrofluid inkjet printing technology based on complex curved surfaces has broad application scenarios in the manufacturing of three-dimensional curved electronic products.

[0004] Electrohydraulic inkjet printing is the result of the coupling of multiple forces, including electrostatics, surface tension, gravity, and pressure. To improve the quality of the printed structure, it is necessary to adjust and optimize process parameters such as electric field strength, air pressure, and the distance between the nozzle and the substrate. Among these, the distance between the nozzle and the substrate is a crucial parameter affecting printing quality. In applications involving printing on complex curved substrates, existing equipment cannot adjust the distance between the nozzle and the substrate in real time during the printing process, which places high demands on the accuracy of the workpiece's digital model. When there is a significant deviation between the actual substrate model and the digital model, the nozzle's movement trajectory cannot be adjusted accordingly, leading to a large deviation between the distance between the nozzle and the substrate and the set value. This results in structural deformation, nozzle rubbing against the substrate, and other phenomena, leading to low printing quality and nozzle deformation and clogging.

[0005] In response to the problems encountered in the manufacturing process of inkjet printing on complex curved surfaces, there is an urgent need to develop a device and / or method to adjust the distance between the printhead and the curved substrate according to the actual condition of the workpiece. Summary of the Invention

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

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

[0008] In some embodiments, the printing and measuring module includes an air plug, a lead tube cover, a circuit adapter, a lead tube, a lead tube clamp, a third mounting plate, a base plate, a positioning lead tube, a printing material tube, a printing needle, a positioning lead tube clamp, a rangefinder, and a rangefinder clamp; wherein the third mounting plate is mounted on the second mounting plate for connecting the printing and measuring module to the motion module; the base plate is mounted on the lower part of the third mounting plate for defining the positions of the lead tube, the lead tube clamp, and the rangefinder; the lead tube clamp and the rangefinder clamp are mounted on the third mounting plate; the lead tube clamp holds the lead tube to fix its position; the rangefinder clamp holds the rangefinder to fix its position; the circuit adapter is connected to the lead tube cover for connecting the circuit, and the lead tube cover is mounted on the upper part of the lead tube; the bottom of the lead tube is mounted on the base plate, and the middle part of the lead tube is fixed to the third mounting plate by the lead tube clamp; the lower part of the lead tube is adjacent to the left side of the positioning lead tube. The positioning cylinder is used to fix the position of the positioning cylinder, the inner diameter of which matches the outer diameter of the conductive middle section to define the position of the conductive middle section; the printing material cylinder is threadedly connected to the upper end of the conductive middle section to store the printing paste, and the conductive middle section is installed at the lower end of the printing material cylinder to electrify the printing paste; the air plug is sealed at the upper end of the printing material cylinder to provide a seal; the printing material cylinder is connected to the air pressure control module through an air pipe to receive high-pressure gas from the air pipe to expel the printing paste from the printing material cylinder; the printing needle is threadedly connected to the lower end of the conductive middle section; the positioning cylinder is installed outside the conductive middle section to determine its position; the end of the positioning cylinder is connected to the guide cylinder, the positioning cylinder has a built-in channel, and the conductive contact is connected to the power transmission line, through which current is transmitted to the conductive middle section; the rangefinder is fixed to the third mounting plate by the rangefinder clamp to measure the height value during the printing process.

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

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

[0011] In some embodiments, the motion module includes a machine tool connecting plate, a first mounting plate, a left slide rail, a mounting platform, a Y-axis, a baffle, a right slide rail, an X-axis, a second mounting plate, a slider, a Z-axis, a rotary gimbal, a movable gimbal, and an observation camera; wherein, the machine tool connecting plate is used to fix the integrated measurement and printing device facing complex curved surfaces to the spindle of the machine tool system; the Z-axis is fixed to the machine tool connecting plate via the first mounting plate, and is used to realize the vertical movement of the printing and measurement modules; the left slide rail is installed on the left side of the first mounting plate, and is used to limit the movement of the slider; the right slide rail is installed on the right side of the first mounting plate, and is used to limit the movement of the slider; the limiting slider limits the movement direction of the Z-axis; the baffle is installed on... The first mounting plate is used to prevent foreign objects from falling into the Z-axis; the second mounting plate is mounted on the X-axis for mounting the printing and measurement module; the mounting platform is mounted at the end of the Z-axis; the X-axis and the Y-axis are mounted on the mounting platform, wherein the X-axis is used to realize the horizontal left-right movement of the printing and measurement module, and the Y-axis is used to realize the horizontal forward-backward movement of the printing and measurement module; the observation camera is mounted on the moving pan-tilt head for capturing the position of the printing needle to observe the printing situation; the rotating pan-tilt head is mounted on the X-axis for adjusting the pitch and horizontal rotation angles of the observation camera, and the moving pan-tilt head is mounted on the lower part of the rotating pan-tilt head for linearly adjusting the forward-backward and left-right positions of the observation camera.

[0012] In some embodiments, the integrated control module includes an industrial computer, a display, and input devices. The display and input devices are connected to the industrial computer for inputting control commands and displaying images transmitted from the observation camera. The industrial computer is connected to the motion module, the printing and measurement module, the voltage control module, the pneumatic control module, and the machine tool system for issuing control commands, receiving height measurement feedback, and controlling the operation of the remaining systems. The voltage control module includes a function generator and a high-voltage amplifier, which are placed inside the cabinet. The voltage control module receives control commands from the integrated control module, provides the required current, and transmits the current to the printing and measurement module. The printing and measurement module generates an electric field at the printing needle tip through the received current, improving the quality of the printed image. The pneumatic control module includes an air valve and a pneumatic controller, which are placed in a specific location within the cabinet. The pneumatic control module receives control commands from the integrated control module, provides high-pressure gas, and controls the start and stop of high-pressure gas flow through the air valve, transmitting the high-pressure gas to the printing and measurement module.

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

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

[0015] Other embodiments of this application provide a control method for the integrated measurement and printing device for complex curved surfaces as described in any one of the above-mentioned methods, comprising the following steps: importing the workpiece model into path planning software, determining the printing area, planning the machine tool motion path, generating machine tool control code, wherein the integrated control module uses an industrial computer to process the machine tool control code, adding air pressure, voltage, and measurement and printing control commands, and importing the final path control code into the machine tool system; starting the machine tool system, motion module, printing and measurement module, integrated control module, voltage control module, and air pressure control module, and checking the operation of each device; clamping the workpiece on the machine tool fixture, and running... The calibration procedure drives the spindles of the machine tool system, moving the motion module and the printing and measurement module. This moves the printing needle to the first graphic measurement position, with the vertical height at a safe level. The Z-axis of the motion module then moves the printing and measurement module downwards, observed by the camera, until the printing needle contacts the workpiece surface. The Z-axis is then driven upwards to the measurement height, causing the X and Y axes of the motion module to switch the positions of the printing needle and the rangefinder. The rangefinder's measuring spot is aligned with the measurement position, allowing the rangefinder to measure the height. The initial height is set based on the measured height value. The machine tool system's operating path is then used to determine the starting height. The control code causes each spindle of the machine tool system to execute the first graphic path: the voltage control module is configured to provide a pre-set function value current, which is transmitted to the conductive section through the line; the pneumatic control module is configured to control the start and stop input of high-pressure gas according to the program code, and the high-pressure gas is delivered to the printing material cylinder through the air pipe, causing the printing paste to be extruded from the printing needle, completing the first graphic printing; the drive spindles of the machine tool system move the workpiece to the next graphic printing position; the drive motion module's X, Y, and Z axes work to align the rangefinder's measuring spot with the position to be measured, enabling the rangefinder to execute... Multiple measurements are performed, and the results are transmitted back to the industrial computer in the integrated control module. The industrial computer calculates the actual printing height based on the measurement results and feeds the measured height back to the motion control module. This drives the X, Y, and Z axes of the motion module to move the printing needle to the printing position and readjusts the height of the printing needle based on the measured actual printing height. The machine tool system then runs the path control code again, the industrial computer sends a control signal, the voltage control module provides the set current, and the pneumatic control module controls the input of high-pressure gas according to the control signal to expel the charged printing ink from the printing needle to complete the next graphic printing.

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

[0017] Compared with the prior art, the effects and benefits of the present invention are:

[0018] This invention designs an integrated printing and measurement device that can measure the actual height of the workpiece during the printing process and adjust the vertical distance between the printhead and the substrate, thereby improving the printing quality in complex curved surface printing scenarios. By measuring the actual height of the printing position multiple times during the printing process, closed-loop control of the printing height parameter is achieved, reducing the height variation of the printing needle during complex curved surface printing, improving printing quality, and reducing the impact of errors between the actual workpiece and the digital model on the printing command. Attached Figure Description

[0019] Figure 1a This is a schematic diagram of the integrated measurement and printing device for complex curved surfaces proposed in this invention.

[0020] Figure 1b for Figure 1a A side view of the structure of the integrated measurement and printing device for complex curved surfaces.

[0021] Figure 2 This is a schematic diagram of the printing and measurement module of the integrated measurement and printing device for complex curved surfaces proposed in this invention.

[0022] Figure 3 This is a schematic diagram of the spray valve printing section of the integrated measurement and printing device for complex curved surfaces proposed in this invention.

[0023] Figure 4 This is a schematic diagram of the overall machine tool structure of the integrated measurement and printing device for complex curved surfaces described in this invention.

[0024] In the diagram: 1 is the motion module; 2 is the printing and measurement module; 3 is the integrated control module; 4 is the voltage control module; 5 is the pneumatic control module; 6 is the machine tool system; 11 is the machine tool connection plate; 12 is the first mounting plate; 13 is the left slide rail; 14 is the mounting platform; 15 is the Y-axis; 16 is the baffle; 17 is the right slide rail; 18 is the X-axis; 19 is the second mounting plate; 110 is the slider; 111 is the Z-axis; 112 is the rotating gimbal; 113 is the moving gimbal; 114 is the observation camera; 21 is the air plug; 22 is the top cover of the wire tube; 23 is the circuit adapter; 24 is the sliding cover; 25 is the first bolt; 26 is... 27 is the wire tube; 28 is the wire tube clamp; 29 is the third mounting plate; 210 is the second bolt; 211 is the base plate; 212 is the positioning wire tube; 213 is the inkjet material tube; 214 is the inkjet needle; 215 is the fastening bolt; 216 is the second bolt; 217 is the positioning wire tube clamp; 218 is the rangefinder; 219 is the third bolt; 220 is the rangefinder clamp; 31 is the outer casing; 32 is the conductive middle section; 43 is the conductive contact; 44 is the machine tool Z spindle; 45 is the machine tool Y spindle; 46 is the machine tool C axis; 47 is the machine tool bed; 48 is the workpiece; 59 is the machine tool X spindle; 40 is the machine tool clamp; 41 is the machine tool B axis; 52 is the display; 53 is the function generator; 54 is the pneumatic controller; 55 is the high-voltage amplifier; 56 is the motion axis controller; 57 is the industrial computer; 58 is the cabinet; 59 is the input device. Detailed Implementation

[0025] The present invention will be further described below with reference to the technical solution and accompanying drawings.

[0026] like Figure 4As shown, some embodiments of this application provide an integrated measurement and printing device for complex curved surfaces, including a motion module 1, a printing and measurement module 2, an integrated control module 3, a voltage control module 4, a pneumatic control module 5, and a machine tool system 6. The motion module 1 has multiple motion axes, such as an X-axis for left-right movement along the X-axis, a Y-axis for forward-backward movement along the Y-axis, and a Z-axis for up-down movement along the Z-axis. Each motion axis can move independently to achieve switching between measurement and printing functions, and has the function of adjusting the printing height according to the measurement height and observing the printing effect. The printing and measurement module 2 integrates printing and measurement functions to complete graphic printing and measure the printing height during the process. The integrated control module 3 receives the height measurement signal from the printing and measurement module 2, calculates the adjustment method, and issues control commands to control the operation of the motion module 1, the printing and measurement module 2, the voltage control module 4, and the air pressure control module 5. The voltage control module 4 provides the current required for printing and has the function of changing the voltage parameters according to a function. The air pressure control module 5 provides the air pressure required for printing, controls the air valve switch, and has the function of setting the air pressure. The machine tool system 6 controls its spindle to complete the graphic path movement according to the path control code.

[0027] The integrated control module 3 is the main control module. The other modules are connected to the integrated control module 3 via wired or wireless means, for example, via wired lines. By inputting control commands into the integrated control module 3, the electrical parameters of the voltage control module 4, the air parameters of the air pressure control module 5, and the movement of each motion axis of the motion module 1 can be controlled. The printing and measurement module 2 is the device execution module. The current generated by the voltage control module 4 is transmitted to the printing and measurement module 2 through the lines, energizing the printing needle 213. The air pressure control module 5 outputs high-pressure gas, which is connected to the printing and measurement module 2 through an air pipe to provide the air pressure required for printing. The printing and measurement module 2 is mounted on the motion module 1. The movement of each motion axis in the motion module 1 enables the switching between the measurement and printing functions of the printing and measurement module 2.

[0028] The motion module 1 can move independently and is used to switch between measurement and printing functions. It is configured to adjust the printing height according to the measurement height and observe the printing effect. Figure 1a , Figure 1bAs shown, the motion module 1 includes a machine tool connecting plate 11, a first mounting plate 12, a left slide rail 13, a mounting platform 14, a Y-axis 15, a baffle 16, a right slide rail 17, an X-axis 18, a second mounting plate 19, a slider 110, a Z-axis 111, a rotating gimbal 112, a moving gimbal 113, and an observation camera 114. Specifically, the machine tool connecting plate 11 is used to fix the motion module 1 and the printing and measurement module 2 of the integrated measurement and printing device for complex curved surfaces of this application to the Z-spindle of the machine tool system 6. The Z-axis 111 is fixed to the machine tool connecting plate 11 via the first mounting plate 12, and is used to realize the vertical movement of the printing and measuring module 2 relative to the machine tool system 6. The left slide rail 13 is installed on the left side of the first mounting plate 12 to limit the movement of the slider 110, and the right slide rail 17 is installed on the right side of the first mounting plate 12 to limit the movement of the slider 110. Limiting the slider 110 limits the movement direction of the Z-axis 111, thereby improving the movement stability of the Z-axis 111. The baffle 16 is installed on the first mounting plate 12 to prevent foreign objects from falling into the Z-axis 111. The second mounting plate 19 may be L-shaped and is installed on the X-axis 18 for mounting the printing and measuring module 2. The mounting platform 14 is mounted at the end of the Z-axis 111. The X-axis 18 and Y-axis 15 are mounted on the mounting platform 14. The X-axis 18 is used to realize the horizontal left-right movement of the printing and measurement module 2, and the Y-axis 15 is used to realize the horizontal forward-backward movement of the printing and measurement module 2. The observation camera 114 is mounted on the moving gimbal 113 to capture the position of the printing needle 213 and observe the printing process. The second mounting plate 19 is mounted on the X-axis 18 and is used to mount the printing and measurement module 2. The rotating gimbal 112 is mounted on the X-axis 18 and is used to adjust the pitch and horizontal rotation angles of the observation camera 114. The moving gimbal 113 is mounted on the lower part of the rotating gimbal 112 and is used for linear adjustment of the forward-backward and left-right positions of the observation camera 114. The observation camera 114 is mounted on the mobile gimbal 113 and is used to photograph the position of the printing needle 213 and observe the printing process. The rotating gimbal 112 and the printing and measurement module 2 are respectively fixed at corresponding positions on the X-axis 18. By adjusting the rotating gimbal 112 and / or the mobile gimbal 113, the detection and observation of the printing needle 213 can be achieved.

[0029] The printing and measurement module 2 integrates printing and measurement functions to complete graphic printing and detect the printing height during the printing process. Figure 2 , Figure 3As shown, the printing and measuring module includes an air plug 21, a wire tube cover 22, a circuit adapter 23, a sliding cover 24, a first bolt 25, a wire tube 26, a wire tube clamp 27, a third mounting plate 28, a second bolt 29, a base plate 210, a positioning wire tube 211, a printing material tube 212, a printing needle 213, a fastening bolt 214, a second bolt 215, a positioning wire tube clamp 216, a rangefinder 217, a third bolt 218, a rangefinder clamp 219, and a housing 220. The third mounting plate 28 is mounted on the second mounting plate 19 and is used to connect the printing and measuring module 2 and the motion module 1. The outer shell 220 is fixed to the third mounting plate 28 by the first bolt 25 and is used to enclose other components of the printing and measuring module 2. The sliding cover 24 is mounted on the upper end of the outer shell 220 to prevent foreign objects from entering the printing and measuring module 2. The base plate 210 is mounted on the lower part of the third mounting plate 28 and is used to define the positions of the wire cylinder 26, the wire cylinder clamp 27, and the rangefinder 217 mounted thereon. The wire cylinder clamp 27 and the rangefinder clamp 219 are mounted on the third mounting plate 28. The wire cylinder clamp 27 is used to clamp the wire cylinder 26 to fix its position. The rangefinder clamp 219 is used to clamp the rangefinder 217 to fix its position. The circuit adapter 23 is connected to the wire cylinder cover 22 for connecting the circuit. The wire cylinder cover 22 is mounted on the upper part of the wire cylinder 26. The bottom of the conductor tube 26 is mounted on the base plate 210, and its middle part is fixed to the third mounting plate 28 by the conductor tube clamp 27 as a line channel for the power transmission conductor. The lower part of the conductor tube 26 is connected to the left side of the positioning tube 211 to fix the position of the positioning tube 211. The positioning tube 211 is divided into left and right parts, and the positioning tube 211 cooperates with the conductive middle section 31 to define the position of the conductive middle section 31.

[0030] like Figure 2 , Figure 3As shown, the printing material cylinder 212 is threadedly connected to the upper end of the conductive middle section 31 for storing printing paste. The conductive middle section 31 is installed at the lower end of the printing material cylinder 212 to electrify the printing paste. The air plug 21 is installed at the upper end of the printing material cylinder 212 for sealing. The air pressure control module 5 introduces high-pressure gas into the printing material cylinder 212 through an air pipe, thereby extruding the printing paste from the printing material cylinder 212. The printing needle 213 is threadedly connected to the lower end of the conductive middle section 31. The positioning spool 211 is installed outside the conductive middle section 31 to determine its position. The end of the positioning spool 211 is connected to the conductor spool 26. The positioning spool 211 has an internal channel for the transmission conductor to pass through. The conductive contact 32 is connected to the transmission conductor. The transmission conductor is connected through the conductor spool 26 and the positioning spool 21. 1. Current is supplied to the conductive middle section 31; the positioning spool clamp 216 is installed outside the positioning spool 211, which is divided into left and right parts, connected by a second bolt 215. By tightening the second bolt 215, the positioning spool 211 is clamped, fixing the position of the conductive middle section 31; a third bolt 218 is installed on the rangefinder clamp 219 to apply clamping force to fix the rangefinder clamp; the rangefinder is fixed to the third mounting plate 28 by the rangefinder clamp 219 and is used to measure the height value during the printing process.

[0031] The integrated control module 3 is used to receive measured height, calculate adjustment methods, issue control commands, and control the operation of other modules. For example... Figure 4 As shown, the integrated control module 3 includes an industrial computer 56, a display 51, and an input device 58. The display 51 and the input device 58 are connected to the industrial computer 56 and are used to input control commands and display the images transmitted back by the observation camera 114. The industrial computer 56 is connected to the motion module 1, the printing and measurement module 2, the voltage control module 4, the air pressure control module 5, and the machine tool system 6, and is used to issue control commands, receive height measurement feedback, and control the operation of the other systems.

[0032] The voltage control module 4 provides the current required for printing and has the function of changing voltage parameters according to a function. For example... Figure 4 As shown, the voltage control module 4 includes a function generator 52 and a high-voltage amplifier 54. The function generator 52 and the high-voltage amplifier 54 are placed in a predetermined position in the cabinet 57. The voltage control module 4 is used to receive control commands from the integrated control module 3, provide the required current, and transmit the current to the printing and measurement module 2. The printing and measurement module 2 generates an electric field at the printing needle 213 through the received current, thereby improving the quality of the printed pattern.

[0033] Similarly, Figure 4 As shown, the air pressure control module 5 provides the air pressure required for printing in the printing and measurement module 2, controls the opening and closing of the air valve therein, and has the function of setting the air pressure. Therefore, the air pressure control module 5 includes the air valve and an air pressure controller 53. The air pressure controller 53 is placed in a predetermined position in the cabinet 57. The air pressure control module 5 receives control commands from the integrated control module 3, provides high-pressure gas, and controls the start and stop of high-pressure gas flow through the air valve, delivering the high-pressure gas to the printing and measurement module 2.

[0034] For example Figure 4 As shown, the machine tool system 6 includes: machine tool Z spindle 61, machine tool Y spindle 62, machine tool C axis 63, machine tool bed 64, workpiece 65, machine tool X spindle 66, machine tool fixture 67, and machine tool B axis 68, which is a shaft unit that rotates around the axis of the machine tool Y spindle. Specifically: the machine tool Z spindle 61 is mounted on the upper part of the machine tool bed 64 and is used to realize movement along the Z motion axis, i.e., the vertical direction; the machine tool Y spindle 62 and the machine tool X spindle 66 are mounted in the middle of the machine tool bed 64 and are used for horizontal forward and backward and left and right movement; the machine tool B axis 68 is mounted on the machine tool bed 64 and is used to rotate the workpiece 65 along the Y motion axis 15; the machine tool C axis 63 is mounted in the middle of the machine tool B axis 68 and is used to drive the workpiece 65 to rotate axially; the machine tool fixture 67 is fixed on the machine tool C axis 63 and is used to position and clamp the workpiece 65; the workpiece 65 is mounted on the machine tool fixture 67.

[0035] The aforementioned integrated measurement and printing device for complex curved surfaces can be used to implement a method for measuring and printing on complex curved surfaces simultaneously. This method may include the following steps.

[0036] Step 1: Import the model of workpiece 65 into the path planning software, determine the printing area, plan the motion path of machine tool system 6, generate the path planning code of the machine tool, process the path planning code with industrial control computer 56, add control instructions for air pressure, voltage, and measuring printing to form path control code, and then import the path control code into machine tool system 6.

[0037] Step 2: Start the machine tool system 6, the motion module 1, the printing and measurement module 2, the integrated control module 3, the voltage control module 4, and the pneumatic control module 5, and check the operation of each module.

[0038] Step 3: Clamp the workpiece 65 onto the machine tool fixture 67, run the calibration program, and the spindles of the machine tool system 6, namely the Z-spindle 61, Y-spindle 62, C-axis 63, X-spindle 66, and B-axis 68, drive the motion module 1, the printing and measurement module 2, and the workpiece to move the printing needle 213 to the first graphic measurement position, with the vertical height at a safe height. Input a downward movement command into the industrial control computer 56, and the Z-axis 111 of the motion module 1 drives the printing needle... The printing and measuring module 2 moves downwards and is observed by the observation camera 114 until the printing needle 213 contacts the surface of the workpiece 65. The Z motion axis 111 is raised to the measurement height. The X motion axis 18 and Y motion axis 15 in the motion module 1 move, switching the position of the printing needle 213 and the rangefinder 217. The measuring light spot of the rangefinder 217 is aligned with the position to be measured. The rangefinder 217 works and measures the height value. The measured height value is input into the control software of the industrial control computer 56 to set the starting height.

[0039] Step 4: Run the path control code to make the spindle of the machine tool system 6 execute the first graphic path. The industrial control computer 56 sends signals to the voltage control module 4 and the pneumatic control module 5 according to the voltage and pneumatic control instructions in the path control code. The voltage control module 4 provides a pre-set function value current, which is transmitted to the conductive middle section 31 through the line. The pneumatic control module 5 controls the high-pressure gas to start and stop input according to the path control code by the integrated control module 3. The high-pressure gas is delivered to the printing material cylinder 212 through the air pipe, so that the printing paste is extruded from the printing needle 213, completing the first graphic printing.

[0040] Step 5: Drive each spindle of the machine tool system 6 to move the workpiece 65 to the printing position of the second pattern, i.e., the second printing position. The X-axis 18, Y-axis 15, and Z-axis 111 of the motion module 1 are activated, and the measuring light spot of the rangefinder 217 is aligned with the position to be measured. The rangefinder 217 takes multiple measurements and transmits the measurement results back to the industrial control computer 56 in the integrated control module 3. Based on the measurement results, the actual printing height is calculated. The measured height is fed back to the motion control module 1, and the X-axis 18, Y-axis 15, and Z-axis 111 of the motion module 1 are activated to move the printing needle 213 to the second printing position. The height of the printing needle is readjusted according to the measured height.

[0041] Step 6: The machine tool system 6 continues to run the path control code, causing the industrial control computer 56 to send a control signal. The voltage control module 4 provides the set current, and the pneumatic control module 5 controls the input of high-pressure gas according to the signal, so that the charged inkjet ink is extruded from the inkjet needle 213 to complete the printing of the second pattern.

[0042] Working Principle: The motion module 1, printing and measurement module 2, voltage control module 4, and pneumatic control module 5 of this invention are connected to the integrated control module 3. Control commands are issued by the industrial control computer 56. During the printing process, the actual height between the printing needle 213 and the surface of the workpiece 65 is measured, and the printing height is adjusted. The voltage control module 4 outputs current, which is transmitted to the printing nozzle through a line to electrify the printing paste. The pneumatic control module 5 outputs high-pressure gas, which is delivered to the printing material cylinder through an air pipe to extrude the printing paste. The spindle of the machine tool system 6 positions itself to the printing position of the first graphic according to the path control code. The printing and measurement module 2 measures the printing height and determines the initial height. The spindle movement of the machine tool system 6 completes the printing of the first graphic. The motion module 1 adjusts the position of the printing and measurement module 2, and the rangefinder measures the actual height of the printing position of the second graphic. The integrated control module 3 controls the movement of the motion module 1 based on the height measured by the rangefinder, corrects the height parameters, and the machine tool system 6 executes the path control code to complete the printing of the second graphic. By repeating the above steps, the printing of each graphic in the entire area can be completed sequentially.

[0043] In a specific embodiment, the above steps can be implemented as follows:

[0044] Silver paste was selected as the inkjet printing paste, and square patterns were printed with a line width of 200μm.

[0045] Step 11: Connect motion module 1, voltage control module 4, and air pressure control module 5 to integrated control module 3. Design a square pattern in the path planning software and plan the path based on the workpiece digital model. Add voltage and air pressure control instructions to the path control code. Input and set the voltage and air pressure control parameters, setting the voltage pulse frequency to 150 Hz, pulse amplitude to 6 V, and air pressure to 200 kPa.

[0046] Step 12: Inject silver paste into the inkjet material cylinder until it is two-thirds full, insert the air plug, and screw the inkjet material cylinder 212 into the conductive middle section. Install the workpiece onto the machine tool fixture and clamp it.

[0047] Step 13: Clamp the workpiece 65 on the machine tool fixture 67, run the calibration program, and the machine tool spindle drives the motion module 1 and the printing and measurement module 2 to move. The printing needle 213 moves to the first graphic measurement position, and the vertical height is at the safe height. Input the downward movement command in the industrial control computer 56. The Z motion axis 111 in the motion module 1 drives the printing and measurement module 2 to move downward. Observe through the observation camera 114 until the printing needle 213 contacts the surface of the workpiece 65. The Z motion axis 111 rises to the measurement height, and the X motion axis 18 and Y motion axis 15 in the motion module 1 move. Switch the position of the printing needle 213 and the rangefinder 217, align the measuring light spot of the rangefinder 217 with the position to be measured, and the rangefinder 217 works. Measure and display the printing position height parameter 144; input the measured value into the control software of the industrial control computer 56 and set the starting height to 144.

[0048] Step 14: Run the machine tool's path control code. The machine tool spindle moves to execute the path of the first graphic. The industrial control computer 56 sends signals to the voltage control module 4 and the pneumatic control module 5 according to the voltage and pneumatic control instructions in the path control code. The voltage control module 4 provides a pre-set function value current and transmits it to the conductive middle section 31 through the line. The pneumatic control module 5 controls the high-pressure gas to start and stop input according to the signal and delivers the high-pressure gas to the printing material cylinder 212 through the air pipe, so that the silver paste is squeezed out from the printing needle 213, completing the printing of the first graphic.

[0049] Step 15: After printing one graphic, the machine tool spindle moves to the printing position of the second graphic. Motion module 1 adjusts the printing position and the position of measurement module 2. The rangefinder measures the actual height of the next graphic printing position, 150. The integrated control module 2 controls the motion module 1 to move according to the height measured by the rangefinder, readjusting the height of the printing needle 213 to 144. The machine tool executes the path program to complete the printing of the second graphic.

[0050] Step 16: Repeat the above operation to complete the area graphic printing.

[0051] In summary, this invention provides an integrated printing and measurement method and develops an integrated printing and measurement device. By measuring the actual height during the printing process and adjusting the printing height, it offers a new solution to the problems of low printing quality and severe defects caused by the printhead's inability to adapt to changes in surface height in complex curved surface applications. This method has wide applications in the field of complex curved surface printing.

Claims

1. A measurement and printing integrated device for complex curved surfaces, characterized in that, It includes a motion module (1), a printing and measurement module (2), and an integrated control module (3); The motion module (1) is electrically coupled to the integrated control module (3). The motion module (1) includes an X-axis, a Y-axis, a Z-axis and an observation camera (114). The printing and measuring module (2) is mechanically coupled to the motion module (1) and electrically coupled to the integrated control module (3). The printing and measuring module (2) includes a printing needle and a rangefinder fixed relative to the position of the printing needle. The integrated control module (3) is configured to provide control signals to the motion module (1) and the printing and measurement module (2) so that the printing needle is positioned to align with the complex curved surface workpiece to print graphics on the surface of the complex curved surface workpiece at a preset printing height. During the printing process, the rangefinder is positioned to replace the position of the printing needle to measure the actual height between the printing needle and the surface of the complex curved workpiece in real time, thereby obtaining the measured height. The integrated control module (3) is configured to update the printing height based on the difference between the measured height and the printing height, and drive the Z-axis of the motion module (1) to adjust the printing height in real time based on the updated printing height. It also includes a machine tool system (6) that provides the mounting position for the complex curved surface workpiece; The machine tool system (6) is configured to run a calibration program, driving each spindle of the machine tool system to move the motion module (1) and the printing and measurement module (2), so that the printing needle (213) moves to the first graphic measurement position, with the vertical height at a safe height; so that the Z motion axis (111) in the motion module (1) drives the printing and measurement module (2) to move downward, observed by the observation camera (114), until the printing needle (213) contacts the surface of the complex curved workpiece (45), driving the Z motion axis (111) to lift upward to the measurement height, so that the X motion axis (18) and Y motion axis (15) in the motion module (1) move to switch the position of the printing needle (213) and the rangefinder (217), aligning the measuring light spot of the rangefinder (217) with the position to be measured, so that the rangefinder (217) works to measure the height value; and set the starting height based on the measured height value; And is configured to control each spindle of the machine tool system to complete the graphic path movement according to the path control code, including causing each spindle of the machine tool system to execute the first graphic path to complete the first graphic printing; and driving each spindle of the machine tool system to move the complex curved surface workpiece (45) to the next graphic printing position; driving the X motion axis (18), Y motion axis (15), and Z motion axis (111) of the motion module (1) to work so that the measuring light spot of the rangefinder (217) is aligned with the position to be measured, so that the rangefinder ( 217) Perform multiple measurements and transmit the measurement results back to the industrial computer (56) in the integrated control module (3). The industrial computer (56) calculates the actual printing height based on the measurement results and feeds back the measured height to the motion module (1), driving the X motion axis (18), Y motion axis (15), and Z motion axis (111) in the motion module (1) to work, moving the printing needle (213) to the printing position, and readjusting the height of the printing needle according to the measured actual printing height.

2. The integrated measurement and printing device for complex curved surfaces according to claim 1, characterized in that: The machine tool system (6) includes a machine tool fixture (47) for clamping the complex curved surface workpiece (45).

3. The integrated measurement and printing device for complex curved surfaces according to claim 2, characterized in that: The printing and measuring module includes an air plug (21), a lead tube cover (22), a circuit adapter (23), a lead tube (26), a lead tube clamp (27), a third mounting plate (28), a base plate (210), a positioning lead tube (211), a printing material tube (212), a printing needle (213), a positioning lead tube clamp (216), a rangefinder (217), and a rangefinder clamp (219); wherein the third mounting plate (28) is mounted on the second mounting plate (19) for connecting the printing and measuring module (2) to the motion module (1). The second mounting plate (19) is located on the motion module (1); the base plate (210) is installed on the lower part of the third mounting plate (28) to define the positions of the wire cylinder (26), the wire cylinder clamp (27) and the rangefinder (217); the wire cylinder clamp (27) and the rangefinder clamp (219) are installed on the third mounting plate (28); the wire cylinder clamp (27) clamps the wire cylinder (26) to fix its position; the rangefinder clamp (219) clamps the rangefinder (217) to fix its position. The circuit adapter (23) is connected to the upper cover (22) of the wire tube for connecting the circuit, and the upper cover (22) of the wire tube is installed on the upper part of the wire tube (26); The bottom of the wire tube (26) is mounted on the base plate (210), and the middle part of the wire tube (26) is fixed on the third mounting plate (28) by the wire tube clamp (27); the lower part of the wire tube (26) is connected to the left side of the positioning wire tube (211) to fix the position of the positioning wire tube (211), and the inner diameter of the positioning wire tube (211) matches the outer diameter of the conductive middle section (31) to define the position of the conductive middle section (31); the printing material tube (212) is threadedly connected to the upper end of the conductive middle section (31) to store the printing paste, and the conductive middle section (31) is installed at the lower end of the printing material tube (212) to electrify the printing paste; the air plug (21) seals. The printing material cylinder (212) is installed on the upper end of the printing material cylinder (212) to provide a sealing function; the printing material cylinder (212) is connected to the air pressure control module (5) through the air pipe to receive high-pressure gas from the air pipe to squeeze the printing paste out of the printing material cylinder (212); the end of the positioning cylinder (211) is connected to the conductor cylinder (26), the positioning cylinder (211) has a built-in channel, and the conductive contact (32) is connected to the power transmission line. The current is transmitted to the conductive middle section (31) through the channel of the conductor cylinder (26) and the positioning cylinder (211); the rangefinder (217) is fixed to the third mounting plate (28) through the rangefinder clamp (219) for measuring the height value during the printing process.

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

5. The integrated measurement and printing device for complex curved surfaces according to claim 4, characterized in that: It also includes a voltage control module (4) and a pneumatic control module (5). The integrated control module (3) is communicatively connected to the motion module (1), the voltage control module (4), and the pneumatic control module (5). The integrated control module (3) is configured to output control commands to control the electrical parameter setting of the voltage control module (4). The pneumatic parameter setting of the pneumatic control module (5) is related to the motion axis movement of the motion module (1). The current generated by the voltage control module (4) is transmitted to the printing and measurement module (2) through the line to energize the printing needle (213). The pneumatic control module (5) outputs high-pressure gas and connects it to the printing and measurement module (2) through the air pipe to provide the air pressure required for printing. The printing and measurement module (2) is installed on the motion module (1). The movement of each motion axis in the motion module (1) realizes the switching of the measurement and printing functions of the printing and measurement module (2).

6. The integrated measurement and printing device for complex curved surfaces according to claim 5, characterized in that: The motion module (1) also includes a machine tool connecting plate (11), a first mounting plate (12), a left slide rail (13), a mounting platform (14), a baffle (16), a right slide rail (17), a second mounting plate (19), a slider (110), a rotating gimbal (112), and a moving gimbal (113). The machine tool connecting plate (11) is used to fix the integrated measurement and printing device facing complex curved surfaces to the spindle of the machine tool system; the Z motion axis (111) is fixed on the machine tool connecting plate (11) through the first mounting plate (12) to realize the vertical movement of the printing and measurement module (2); the left slide rail (13) is installed on the left side of the first mounting plate (12) to limit the movement of the slider (110); the right slide rail (17) is installed on the right side of the first mounting plate (12) to limit the movement of the slider (110); the limiting slider (110) limits the movement direction of the Z motion axis (111); The baffle (16) is installed on the first mounting plate (12) to prevent foreign objects from falling into the Z-axis (111); the second mounting plate (19) is installed on the X-axis (18) to install the printing and measuring module (2); the mounting platform (14) is installed at the end of the Z-axis (111); the X-axis (18) and the Y-axis (15) are installed on the mounting platform (14), wherein the X-axis (18) is used to realize the horizontal left and right movement of the printing and measuring module (2), and the Y-axis (15) is used to realize the horizontal left and right movement of the printing and measuring module (2). The motion axis (15) is used to realize the horizontal forward and backward movement of the printing and measurement module (2); the observation camera (114) is mounted on the moving gimbal (113) to photograph the position of the printing needle (213) to observe the printing situation; the rotating gimbal (112) is mounted on the X motion axis (18) for the observation camera (114) to adjust the pitch angle and horizontal rotation angle; the moving gimbal (113) is mounted on the lower part of the rotating gimbal (112) for linearly adjusting the forward, backward and left and right positions of the observation camera (114).

7. The integrated measurement and printing device for complex curved surfaces according to claim 6, characterized in that: The integrated control module (3) includes an industrial computer (56), a display (51), and an input device (58). The display (51) and the input device (58) are connected to the industrial computer (56) for inputting control commands and displaying the images transmitted back by the observation camera (114). The industrial computer (56) is connected to the motion module (1), the printing and measurement module (2), the voltage control module (4), the air pressure control module (5), and the machine tool system (6) for issuing control commands, receiving height measurement feedback, and controlling the operation of the other systems. The voltage control module (4) includes a function generator (52) and a high voltage amplifier (54). The function generator (52) and the high voltage amplifier (54) are placed in the cabinet (57). The voltage control module (4) is used to receive the control command of the integrated control module (3), provide the required current, and send the current to the printing and measurement module (2). The printing and measurement module (2) generates an electric field at the printing needle (213) through the received current, thereby improving the quality of the printed pattern. The air pressure control module (5) includes an air valve and an air pressure controller (53). The air pressure controller (53) is placed in a specific position in the cabinet (57). The air pressure control module (5) is used to receive control commands from the integrated control module (3), provide high-pressure gas, control the high-pressure gas to start and stop entering through the air valve, and deliver the high-pressure gas to the printing and measurement module (2).

8. The integrated measurement and printing device for complex curved surfaces according to claim 7, characterized in that, The positioning spool clamp (216) is installed on the outside of the positioning spool (211). The positioning spool (211) is divided into left and right parts, which are connected by a second bolt (215). By tightening the second bolt (215), the positioning spool (211) is clamped and the position of the conductive middle section (31) is fixed. The third bolt (218) is installed on the rangefinder clamp (219) to apply clamping force.

9. A method of using the integrated measurement and printing device for complex curved surfaces as described in claim 8, characterized in that, Includes the following steps; The model of the complex curved surface workpiece is imported into the path planning software to determine the printing area, plan the machine tool motion path, and generate machine tool control code. The integrated control module (3) uses an industrial computer (56) to process the machine tool control code, add air pressure, voltage, and measurement printing control instructions, and import the final path control code into the machine tool system (6). Start the machine tool system (6), motion module (1), printing and measurement module (2), integrated control module (3), voltage control module (4) and pneumatic control module (5), and check the operation of each device; The complex curved surface workpiece (45) is clamped on the machine tool fixture (47). The calibration program is run, and the spindles of the machine tool system are driven to move the motion module (1) and the printing and measurement module (2), so that the printing needle (213) moves to the first graphic measurement position and the vertical height is at the safe height. The Z motion axis (111) in the motion module (1) drives the printing and measurement module (2) to move downward. The observation is carried out by the observation camera (114) until the printing needle (213) contacts the surface of the complex curved surface workpiece (45). The Z motion axis (111) is driven to lift upward to the measurement height, so that the X motion axis (18) and Y motion axis (15) in the motion module (1) move to switch the position of the printing needle (213) and the rangefinder (217). The measuring light spot of the rangefinder (217) is aligned with the position to be measured, so that the rangefinder (217) works to measure the height value. The starting height is set based on the measured height value. The machine tool system runs the path control code, causing each spindle of the machine tool system to execute the first graphic path: the voltage control module (4) is configured to provide a pre-set function value current, which is transmitted to the conductive middle section (31) through the line; the air pressure control module (5) is configured to control the high pressure gas to start and stop input according to the program code, and to deliver the high pressure gas to the printing material cylinder (212) through the air pipe, so that the printing paste is squeezed out from the printing needle (213) to complete the first graphic printing; Each spindle of the drive machine tool system moves the complex curved surface workpiece (45) to the next graphic printing position; drives the X-axis (18), Y-axis (15), and Z-axis (111) of the motion module (1) to work so that the measuring light spot of the rangefinder (217) is aligned with the position to be measured, so that the rangefinder (217) performs multiple measurements and transmits the measurement results back to the industrial computer (56) in the integrated control module (3). The industrial computer (56) calculates the actual printing height based on the measurement results and feeds back the measured height to the motion module (1), drives the X-axis (18), Y-axis (15), and Z-axis (111) of the motion module (1) to work, moves the printing needle (213) to the printing position, and readjusts the height of the printing needle according to the measured actual printing height. The machine tool system runs the path control code again, the industrial control computer (56) sends a control signal, the voltage control module (4) provides the set current, and the air pressure control module (5) controls the input of high pressure gas according to the control signal to make the charged inkjet paste squeezed out from the inkjet needle (213) to complete the next graphic printing.

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

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