Printing device with multiple printing heads and side line printing device

Abstract

The invention relates to a printing device with a plurality of printing heads and a side line printing device, and the device comprises a first obtaining module which obtains height data corresponding to a plurality of preset point positions of a to-be-printed surface; the fitting module is used for fitting to obtain a fitting line or a fitting surface and acquiring height data of each position on the fitting line or the fitting surface; the second acquisition module is used for acquiring at least one single-time printing area corresponding to each of the plurality of printing heads on the fitting line or the fitting surface; the third acquisition module is used for acquiring height data corresponding to a plurality of single-time printing areas on the basis of the height data of the fitting line or the height data of each position on the fitting surface; the height setting module is used for setting printing height data corresponding to the multiple single-time printing areas on the basis of a preset printing interval requirement and the height data corresponding to the multiple single-time printing areas; and the control module is used for controlling the plurality of printing heads to print according to the printing height data corresponding to the single printing area. According to the invention, efficient multi-needle printing is realized.

Description

Technical Field

[0001] Multiple embodiments of the present specification relate to the field of printing technology, and specifically to a printing device with multiple print heads and a side line printing device. Background Art

[0002] Current printing technology generally adopts a single-point processing mode, that is, using a single printing needle to output materials to complete the printing task. This method is relatively inefficient.

[0003] In order to significantly improve printing efficiency, some printing devices use multi-head printing technology, that is, using multiple printing needles to discharge materials at the same time. However, these multiple printing needles are often equipped with independent height adjustment mechanisms instead of sharing a set of adjustment systems. Although this independent adjustment design increases the printing speed, it also increases the space occupied, resulting in a larger spacing between the printing needles, which is difficult to meet the needs of fine operations such as high-precision wiring. This limitation makes the existing multi-needle printing device less than ideal in scenarios with high-precision requirements.

[0004] Therefore, there is an urgent need to develop a new printing technology that can achieve efficient multi-needle printing without sacrificing space efficiency and printing accuracy. Summary of the invention

[0005] The embodiments of the present specification provide a printing device with multiple print heads and a side line printing device, which can achieve efficient multi-needle printing without sacrificing space efficiency and printing accuracy.

[0006] The technical solution is as follows:

[0007] In a first aspect, an embodiment of the present specification provides a printing device having multiple print heads, including:

[0008] A printing mechanism, a first acquisition module, a fitting module, a second acquisition module, a third acquisition module, a height setting module, and a control module, wherein the printing mechanism includes at least two printing sub-mechanisms, and each printing sub-mechanism includes a printing head having at least two printing needles;

[0009] The first acquisition module acquires height data corresponding to each of a plurality of preset points on the surface to be printed;

[0010] The fitting module obtains a fitting line or a fitting surface by fitting the height data corresponding to each of a plurality of preset points on the surface to be printed, and obtains the height data at each position on the fitting line or the fitting surface;

[0011] The second acquisition module acquires at least one single printing area corresponding to each of the plurality of print heads on the fitting line or the fitting surface;

[0012] The third acquisition module acquires height data corresponding to each of the plurality of single-printing areas based on the height data at each position on the fitting line or the fitting surface;

[0013] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the height data corresponding to each of the multiple single printing areas;

[0014] The control module controls the multiple print heads to print on at least one single printing area corresponding to each of them according to the printing height data corresponding to the single printing area.

[0015] As a preferred solution, the control module also performs separate discharge control on the multiple printing needles on each printing head.

[0016] As a preferred solution, the height data corresponding to each of the plurality of single-printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface includes the highest point height data and the lowest point height data within the single-printing area;

[0017] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the highest point height data and the lowest point height data in the single printing areas corresponding to each of the multiple single printing areas.

[0018] As a preferred solution, the height data corresponding to each of the multiple single printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface also includes height data corresponding to each of the multiple points evenly distributed in the single printing area;

[0019] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest point height data, the lowest point height data and the height data corresponding to each of the multiple evenly distributed points within the single printing area.

[0020] As a preferred solution, the preset printing interval requirement includes a printing interval range and an optimal printing interval value;

[0021] The height setting module includes an alternative height value acquisition unit, an absolute value calculation unit, and a setting unit;

[0022] The candidate height value acquisition unit acquires at least one candidate height value corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data and the lowest point height data in the single printing area corresponding to each of the plurality of single printing areas;

[0023] The absolute value calculation unit calculates, for each single printing area, the absolute deviation and data corresponding to each of the single printing areas at different corresponding alternative height values ​​based on the height data corresponding to each of the multiple points evenly distributed corresponding to the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value;

[0024] The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviations and data corresponding to the single printing area at different corresponding candidate height values.

[0025] As a preferred solution, the candidate height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit;

[0026] The first range acquisition subunit acquires first printing height ranges corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data within the single printing area corresponding to each of the plurality of single printing areas;

[0027] The second range acquisition subunit acquires a second printing height range corresponding to each of the plurality of single printing areas based on the printing interval range and the lowest point height data within the single printing area corresponding to each of the plurality of single printing areas;

[0028] The height value acquisition subunit acquires at least one candidate height value corresponding to each of the multiple single printing areas based on the first printing height range and the second printing height range corresponding to each of the multiple single printing areas.

[0029] As a preferred solution, each printing sub-mechanism includes a printing head having at least two linearly arranged printing needles, and each printing sub-mechanism also includes a height data acquisition module, a first adjustment module, a second adjustment module, and an image data acquisition module disposed below the printing sub-mechanism;

[0030] The height data acquisition module acquires height data corresponding to at least two printing pins on the print head;

[0031] The first adjustment module adjusts the flatness of the print head by rotating the print head based on the height data corresponding to the at least two print needles;

[0032] The image data acquisition module acquires a bottom image of the print head after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head, and obtains the primary image position coordinates corresponding to at least two printing pins on the print head in the primary recognition image;

[0033] The second adjustment module adjusts the position of the print head in a plane direction by rotating the print head based on the primary image position coordinates corresponding to at least two print pins on the print head in a primary recognition image.

[0034] As a preferred solution, the second calibration module further performs a pre-rotation operation on the print head in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head;

[0035] The image data acquisition module also acquires a bottom image of the pre-rotated print head in the same image acquisition direction as that used to acquire the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtains the secondary image position coordinates corresponding to at least two print pins on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image;

[0036] The second adjustment module obtains the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print needles on the print head that respectively correspond in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head is rotated to achieve position adjustment of the print head in the plane direction.

[0037] As a preferred solution, the second adjustment module includes a perpendicular midline acquisition unit and a circle center acquisition unit;

[0038] The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles on the printing head based on the primary image position coordinates corresponding to the at least two printing needles on the printing head in the primary recognition image and the secondary image position coordinates corresponding to the at least two printing needles on the printing head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles;

[0039] The center acquisition unit acquires the rotation center position coordinates of the print head in the plane direction based on the perpendicular bisector of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads.

[0040] In a second aspect, an embodiment of the present specification further provides a side line printing device, comprising a printing device with multiple print heads as described in the first aspect of the above embodiment, and:

[0041] The first acquisition module acquires height data corresponding to each of a plurality of preset points on the side line of the surface to be printed where side line printing is required;

[0042] The fitting module obtains a fitting line by fitting the height data corresponding to each of a plurality of preset points on the side line of the surface to be printed where the side line needs to be printed, and obtains the height data at each position on the fitting line;

[0043] The second acquisition module acquires at least one single printing line segment corresponding to each of the plurality of print heads on the fitting line;

[0044] The third acquisition module acquires the height data corresponding to each of the plurality of single-printed line segments based on the height data at each position on the fitting line;

[0045] The height setting module sets the printing height data corresponding to each of the plurality of single printing line segments based on the preset printing interval requirement and the height data corresponding to each of the plurality of single printing line segments;

[0046] The control module controls the multiple print heads to print on at least one single printing line segment corresponding to each of them according to the printing height data corresponding to the single printing line segment.

[0047] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least:

[0048] By setting up multiple print heads and setting up multiple print needles on each print head, the printing height of multiple print needles can be adjusted synchronously by adjusting the printing height of the print head, and there is no need to set up a height adjustment mechanism for each print needle separately, so that the needle spacing between multiple print needles can be smaller, thereby ensuring printing accuracy while improving printing efficiency.

[0049] Due to production errors, the surface to be printed may have ups and downs. Since there are multiple printing needles on the print head, the single printing area of ​​the print head will become larger. When the print head performs printing operations on the surface to be printed, it is necessary to maintain a uniform printing height. Therefore, it is particularly important to avoid the problem of the print head hitting the needle when printing on the surface to be printed. Therefore, in multiple embodiments of the present specification, the height data corresponding to each of the multiple preset points on the surface to be printed is first obtained; then, a fitting line or a fitting surface is obtained by fitting the height data corresponding to each of the multiple preset points on the surface to be printed, and the height data at each position on the fitting line or the fitting surface is obtained; further, at least one single printing area corresponding to each of the multiple print heads on the fitting line or the fitting surface is obtained; further, based on the height data at each position on the fitting line or the fitting surface, the height data corresponding to each of the multiple single printing areas is obtained; finally, based on the preset printing interval requirements and the height data corresponding to each of the multiple single printing areas, the printing height data corresponding to each of the multiple single printing areas is set, and the multiple print heads are controlled to print on at least one single printing area corresponding to each of them according to the printing height data corresponding to the single printing area. To avoid the above-mentioned problem of hitting the needle.

[0050] Based on the height data corresponding to at least two printing needles, the flatness of the print head is adjusted by rotating the print head, that is, by using the height data corresponding to at least two printing needles, at least two printing needles are at the same height, thereby adjusting the overall flatness of the print head. After the flatness of the print head is adjusted, all needles at the bottom of the print head should be at the same height, and then based on the image position coordinates corresponding to at least two printing needles on the print head in a first recognition image, the position of the print head in the plane direction is adjusted by rotating the print head, that is, by using the image position coordinates corresponding to at least two printing needles in a first recognition image, the position of at least two printing needles in the plane direction is adjusted, thereby adjusting the overall position of the print head in the plane direction.

[0051] For the method of adjusting the position of the print head in the plane direction by rotating the print head, it is particularly important to accurately position the center of the rotation circle, otherwise it will be difficult to adjust the position of the print head in the plane direction, because it is impossible to know how much the rotation angle can adjust the position of the print head in the plane direction. For the printing device, due to its long-term use, its rotation axis may be offset, which leads to the default position of the center of the rotation circle of the printing device when it leaves the factory. Therefore, in this specification, a pre-rotation operation is performed, and the bottom image is acquired again for the print head that has undergone the pre-rotation operation in the same image acquisition direction as when acquiring the first recognition image to obtain a secondary recognition image containing the bottom image of the print head, and the secondary image position coordinates corresponding to at least two print needles on the print head that have recognized the image position coordinates in the first recognition image in the second recognition image are obtained, and the rotation center position coordinates of the print head in the plane direction are further obtained based on the first image position coordinates corresponding to the at least two print needles on the print head in the first recognition image and the second image position coordinates corresponding to the at least two print needles on the print head that have recognized the image position coordinates in the first recognition image in the second recognition image. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a schematic diagram of the structure of a printing device with multiple print heads provided in an embodiment of this specification.

[0054] Figure 2 It is a schematic diagram of the print head involved in the embodiment of this specification printing on the surface to be printed.

[0055] Figure 3 It is a schematic diagram of the principle of adjusting the position of the print head in the plane direction involved in the embodiment of this specification.

[0056] Figure 4 It is a schematic diagram of the bottom view of the printing sub-mechanism involved in the embodiment of this specification.

[0057] Figure 5 It is a schematic diagram of obtaining the position coordinates of the center of a rotating circle through a perpendicular bisector according to an embodiment of this specification.

[0058] Figure 6 It is a flowchart of a printing method provided in an embodiment of this specification.

[0059] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of this specification.

[0060] In the figure: 1: print head; 11, print needle; 2, height adjustment mechanism; 3, adjustment turntable; 4, adjustment turntable; 5, surface to be printed. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0062] The terms "first", "second", "third", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0063] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present specification. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described with respect to some examples may be combined in other examples.

[0064] Reference Figure 1 As shown, Figure 1 A schematic diagram of the structure of a printing device with multiple print heads provided in an embodiment of the present specification, the printing device at least includes a printing mechanism, a first acquisition module (Note: Figure 1 Not shown), fitting module (Note: Figure 1 Not shown in the figure, it is a back-end data processing module), a second acquisition module (Note: Figure 1 Not shown in the figure, it is a back-end data processing module), the third acquisition module (Note: Figure 1 Not shown in the figure, it is a back-end data processing module), height setting module (Note: Figure 1 Not shown in the figure, it is a back-end data processing module), control module (Note: Figure 1(not shown in the figure, which is a back-end data processing module), the printing mechanism includes at least two printing sub-mechanisms, each of which includes a printing head 1 having at least two printing needles 11;

[0065] The first acquisition module acquires height data corresponding to each of a plurality of preset points on the surface 5 to be printed;

[0066] The fitting module obtains a fitting line or a fitting surface by fitting the height data corresponding to each of the plurality of preset points on the surface to be printed 5, and obtains the height data at each position on the fitting line or the fitting surface;

[0067] The second acquisition module acquires at least one single printing area corresponding to each of the plurality of print heads 1 on the fitting line or fitting surface (Note: it can be set according to the actual line printing requirements, and it should be noted that the single printing area refers to the area where one print head 1 prints once at the same printing height);

[0068] The third acquisition module acquires height data corresponding to each of the plurality of single-printing areas based on the height data at each position on the fitting line or the fitting surface;

[0069] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the height data corresponding to each of the multiple single printing areas;

[0070] The control module controls the multiple print heads 1 to print on at least one single printing area corresponding to each of them according to the printing height data corresponding to the single printing area.

[0071] By setting up multiple print heads 1 and setting up multiple print needles 11 on each print head 1, the printing height of the multiple print needles 11 can be adjusted synchronously by adjusting the printing height of the print head 1, and there is no need to set up a height adjustment mechanism 2 for each print needle 11 separately, so that the needle spacing between the multiple print needles 11 can be smaller, thereby ensuring the printing accuracy while improving the printing efficiency.

[0072] Reference Figure 2 As shown, the surface 5 to be printed may have ups and downs due to production errors (Note: for the convenience of display, Figure 2Only the side view direction of the surface 5 to be printed is shown in the figure to reflect the height change), and since the print head 1 has multiple printing needles 11, the single printing area of ​​the print head 1 will become larger, and the print head 1 needs to maintain a uniform printing height when printing on the surface 5 to be printed. Therefore, it is particularly important to avoid the problem of the print head 1 hitting the needle when printing on the surface 5 to be printed; therefore, in multiple embodiments of the present specification, the height data corresponding to each of the multiple preset points on the surface 5 to be printed are first obtained; then, the fitting line or fitting surface is obtained by fitting the height data corresponding to each of the multiple preset points on the surface 5 to be printed. , and obtain the height data at each position on the fitting line or fitting surface; further, obtain at least one single printing area corresponding to each of the multiple print heads 1 on the fitting line or fitting surface; further, based on the height data at each position on the fitting line or fitting surface, obtain the height data corresponding to each of the multiple single printing areas; finally, based on the preset printing interval requirements and the height data corresponding to each of the multiple single printing areas, set the printing height data corresponding to each of the multiple single printing areas, and control the multiple print heads 1 to print on at least one single printing area corresponding to each of them according to the printing height data corresponding to the single printing area. To avoid the above-mentioned needle collision problem.

[0073] Reference Figure 1 As shown, in multiple embodiments of the present specification, the control module also performs separate discharge control on multiple printing needles 11 on each print head 1 (ie, feed and discharge control is performed through multiple separately provided feed needle tubes).

[0074] It is understandable that for printing, there should be corresponding printing height requirements, which may be but not limited to that the printing height shall not exceed a preset height and / or the printing height shall not be lower than a preset height. Therefore, in multiple embodiments of this specification:

[0075] The height data corresponding to each of the plurality of single-printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface include the highest point height data and the lowest point height data within the single-printing area;

[0076] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the highest point height data and the lowest point height data in the single printing areas corresponding to each of the multiple single printing areas.

[0077] That is, it is ensured that both the highest point and the lowest point in the single printing area meet the preset printing interval requirements.

[0078] It can also be understood that, in addition to the highest point and the lowest point in the single printing area, if a better overall printing effect is desired, the height data of more points in the single printing area should be considered. Therefore, in multiple embodiments of this specification:

[0079] The height data corresponding to each of the plurality of single-printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface also include height data corresponding to each of the plurality of points evenly distributed in the single-printing area;

[0080] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest point height data, the lowest point height data and the height data corresponding to each of the multiple evenly distributed points within the single printing area.

[0081] In multiple embodiments of this specification, the preset printing interval requirement includes a printing interval range and an optimal printing interval value;

[0082] The height setting module includes an alternative height value acquisition unit, an absolute value calculation unit, and a setting unit;

[0083] The candidate height value acquisition unit acquires at least one candidate height value corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data and the lowest point height data in the single printing area corresponding to each of the plurality of single printing areas;

[0084] The absolute value calculation unit calculates, for each single printing area, the absolute deviation and data corresponding to each of the single printing areas at different corresponding alternative height values ​​based on the height data corresponding to each of the multiple points evenly distributed corresponding to the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value;

[0085] The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviations and data corresponding to each single printing area at different candidate height values ​​corresponding to the single printing area;

[0086] Among them, the absolute deviation and data corresponding to each single printing area at its corresponding different alternative height values ​​are calculated as follows:

[0087]

[0088] Among them, P xjIt represents the absolute deviation and data corresponding to the x-th single printing area at its corresponding j-th alternative height value, Nx represents the total number of uniformly distributed dots corresponding to the x-th single printing area, Hxj represents the j-th alternative height value corresponding to the x-th single printing area, hxi represents the height data of the ith uniformly distributed dot corresponding to the x-th single printing area, and H represents the optimal printing interval value.

[0089] That is, this manual provides a specific method for setting the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest point height data, the lowest point height data, and the height data corresponding to multiple evenly distributed points within the single printing area. Under this method, the height data of more points within the single printing area can be comprehensively considered to achieve a better overall printing effect.

[0090] In multiple embodiments of this specification, the candidate height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit;

[0091] The first range acquisition subunit acquires first printing height ranges corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data within the single printing area corresponding to each of the plurality of single printing areas;

[0092] The second range acquisition subunit acquires a second printing height range corresponding to each of the plurality of single printing areas based on the printing interval range and the lowest point height data within the single printing area corresponding to each of the plurality of single printing areas;

[0093] The height value acquisition subunit acquires at least one candidate height value corresponding to each of the multiple single printing areas based on the first printing height range and the second printing height range corresponding to each of the multiple single printing areas.

[0094] The following is an example:

[0095] Assuming that the printing interval range is 5 microns-10 microns, and assuming that the highest point height data of a single printing area A is 6 microns, the first printing height range is 11 microns to 16 microns. Assuming that the lowest point height data of a single printing area A is 3 microns, the second printing height range is 8 microns to 13 microns. The alternative height values ​​corresponding to the single printing area A are 11 microns, 12 microns, and 13 microns, respectively.

[0096] Reference Figure 1 As shown, Figure 1The overall structure diagram of a printing device with multiple print heads provided in one embodiment of the present specification is shown in the figure, and two printing sub-mechanisms are shown, and each printing sub-mechanism includes a print head 1 having at least two linearly arranged print needles 11, and each printing sub-mechanism also includes a height data acquisition module (Note: Figure 1 , which may be but is not limited to a tool setting instrument), a first adjustment module (Note: the first adjustment module adjusts the flatness of the print head 1 by rotating the adjustment turntable 3), a second adjustment module (Note: the second adjustment module adjusts the position of the print head 1 in the plane direction by rotating the adjustment turntable 4, wherein the adjustment turntable 4 can be referred to Figure 4 As shown, Figure 4 The arrow in the figure indicates the rotatable direction of the adjustment turntable 4) and the image data acquisition module (Note: Figure 1 (not shown in the figure, and may be, but is not limited to, a camera);

[0097] The height data acquisition module acquires height data corresponding to at least two printing pins 11 on the print head 1;

[0098] The first adjustment module adjusts the flatness of the print head 1 by rotating the print head 1 based on the height data corresponding to at least two print needles 11 (note: each print needle 11 is on the same height plane; and in the process of adjusting the flatness of the print head 1, multiple height data acquisition and rotation adjustments can be performed to ensure that the flatness meets the preset requirements);

[0099] The image data acquisition module acquires the bottom image of the print head 1 after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head 1, and obtains the primary image position coordinates corresponding to at least two printing pins 11 on the print head 1 in the primary recognition image;

[0100] The second adjustment module adjusts the position of the print head 1 in the plane direction by rotating the print head 1 based on the primary image position coordinates corresponding to at least two print pins 11 on the print head 1 in the primary recognition image.

[0101] It is understandable that the printing device needs to be calibrated before formal printing, which not only includes the needle leveling adjustment, that is, adjusting all needles to the same height plane, but also includes adjusting the position of the print head 1 as a whole on the same plane so that the print head 1 reaches the specified position.

[0102] Therefore, in multiple embodiments of the present specification, based on the height data corresponding to at least two printing needles 11, the print head 1 is rotated to adjust the flatness of the print head 1, that is, through the height data corresponding to at least two printing needles 11, at least two printing needles 11 are at the same height, thereby adjusting the overall flatness of the print head 1. After the flatness of the print head 1 is adjusted, all needles at the bottom of the print head 1 should be at the same height, and then based on the primary image position coordinates corresponding to at least two printing needles 11 on the print head 1 in a primary recognition image, the print head 1 is rotated to adjust the position of the print head 1 in the plane direction, that is, through the primary image position coordinates corresponding to at least two printing needles 11 in a primary recognition image, the position of at least two printing needles 11 in the plane direction is adjusted, thereby adjusting the overall position of the print head 1 in the plane direction.

[0103] It can be understood that the purpose of adjusting the overall planar position of the print head 1 is to make the linearly arranged print needles 11 on the print head 1 face the corresponding preset direction, and then printing the corresponding preset route can be performed by moving the carrier platform set under the printing mechanism.

[0104] See also Figure 3 As shown, Figure 3 The schematic diagram is a principle diagram of adjusting the position of the print head 1 in the plane direction, and two print needles 11 are taken as an example:

[0105] Assume that based on the corresponding primary image position coordinates of the first and second printing pins on the printing head 1 in the primary identification image, the position adjustment of the printing head 1 in the plane direction is realized, and the primary image position coordinates of the first printing pin are coordinates A, and the primary image position coordinates of the second printing pin are coordinates B. Further, based on the known position of the rotation center C of the printing head 1 and the preset direction, it can be known how much the printing head 1 needs to rotate around the rotation center C so that the line segment AB is parallel to the preset direction after the rotation operation.

[0106] The specific principle of obtaining the information is: ∠c=∠d, ∠a=∠f, therefore ∠b=∠e; further, by only knowing the angle between the preset direction and the straight line AB (i.e. equal to the size of ∠b), it is possible to know how much the print head 1 needs to rotate around the center of rotation C (i.e. knowing the size of ∠e) so that the line segment AB is parallel to the preset direction after the rotation operation.

[0107] It is also understandable that there may be errors in image recognition, so there may be errors in the image position coordinates of the print head 11 in a recognized image. Furthermore, in multiple embodiments of this specification, the image position coordinates of more print heads 11 can be used to obtain the angle data that the print head 1 needs to rotate around the rotation center C. Specifically, multiple print heads 11 can be combined in pairs, and the corresponding rotation angles of each print head 11 combination can be calculated (Note: the calculation method can be referred to above, and no further details are given here), and finally an average operation is performed to obtain the final rotation angle data.

[0108] It should be noted that, for the printing device, due to its long-term use, its rotation axis may be offset, which may cause the default rotation center position of the printing device to be offset when it leaves the factory. Therefore, the above adjustment method is not applicable in this case, and the specific adjustment method will be explained in the following embodiments.

[0109] In various embodiments of the present specification, the height data acquisition module includes a needle tip touch unit and a height data acquisition unit;

[0110] The needle tip contact unit is used to contact the printing needle 11 on the printing head 1 by the printing head 1 descending and / or the needle tip contact unit ascending;

[0111] The height data acquisition unit acquires the height data of the printing needle 11 based on the descending height of the printing head 1 and / or the ascending height of the needle tip contact unit when the needle tip contact unit contacts the printing needle 11 on the printing head 1 .

[0112] It is understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can be achieved only by the lowering of the print head 1, or only by the rising of the needle tip contact unit, and of course, can also be achieved by both the lowering of the print head 1 and the rising of the needle tip contact unit.

[0113] It can also be understood that the contact between the print needle 11 on the print head 1 and the needle tip touch unit can trigger a change in the electrical signal. Therefore, by combining the moment of the electrical signal change, the descending height of the print head 1 and / or the rising height of the needle tip touch unit, the height data of the print needle 11 can be obtained.

[0114] In multiple embodiments of the present specification, the needle tip touching unit may be, but is not limited to, a tool setting instrument.

[0115] Reference Figure 4 As shown, Figure 4 It is a schematic diagram of the bottom view of the printing sub-mechanism in the printing device provided in the embodiment of this specification.

[0116] In multiple embodiments of the present specification, the first adjustment module includes a first rotation mechanism (i.e. Figure 1 The adjustment dial 3 shown in FIG. 1 ), a first control unit, the second adjustment module includes a second rotating mechanism (i.e. Figure 4 The calibration turntable 4 shown in ), the second control unit;

[0117] The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head 1 is fixedly connected to the first rotating mechanism;

[0118] The first control unit controls the rotation of the first rotating mechanism based on the height data corresponding to the at least two printing needles 11, thereby driving the printing head 1 to rotate, so as to adjust the flatness of the printing head 1;

[0119] The second control unit, based on the image position coordinates corresponding to at least two printing needles 11 on the print head 1 in a recognized image, rotates the second rotating mechanism to drive the first rotating mechanism and the print head 1 to rotate as a whole, so as to adjust the position of the print head 1 in the planar direction.

[0120] In multiple embodiments of the present specification, the second calibration module further performs a pre-rotation operation on the print head 1 in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head 1;

[0121] The image data acquisition module also acquires a bottom image of the pre-rotated print head 1 in the same image acquisition direction as that of the primary recognition image to obtain a secondary recognition image including the bottom image of the print head 1, and obtains the secondary image position coordinates corresponding to at least two printing pins 11 on the print head 1 whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image;

[0122] The second adjustment module obtains the rotation center position coordinates of the print head 1 in the plane direction based on the primary image position coordinates of at least two print needles 11 on the print head 1 that respectively correspond to each other in the primary recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head 1 is rotated to achieve position adjustment of the print head 1 in the plane direction.

[0123] It is understandable that for the method of adjusting the position of the print head 1 in the plane direction by rotating the print head 1, the accurate position of the rotation center is particularly important, otherwise it will be difficult to adjust the position of the print head 1 in the plane direction as a whole, because it is impossible to know how much rotation angle can achieve the adjustment of the position of the print head 1 in the plane direction as a whole. As for the printing device, due to its long-term use, its rotation axis may be offset, which will cause the default rotation center position of the printing device to be offset when it leaves the factory. Therefore, in the present specification, a pre-rotation operation is performed, and the bottom image of the print head 1 that has undergone the pre-rotation operation is acquired again in the same image acquisition direction as when acquiring the first recognition image to obtain a secondary recognition image including the bottom image of the print head 1, and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and that correspond to each other in the secondary recognition image are obtained. Further, based on the first image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and that correspond to each other in the secondary recognition image, the rotation center position coordinates of the print head 1 in the plane direction are obtained.

[0124] It should be noted that, in the recognition image acquired by the image data acquisition module, each point has a corresponding image coordinate, and when acquiring the secondary recognition image, the same image acquisition direction is used as when acquiring the primary recognition image. Therefore, the points on the primary recognition image and the secondary recognition image have correspondence. Therefore, through the position coordinates of the print needle 11 in the primary recognition image and the position coordinates of the print needle 11 in the secondary recognition image, the position change of the print needle 11 on the print head 1 after the pre-rotation can be known, and further, based on the position change of the print needle 11 after the pre-rotation, the position of the center of the rotation circle, that is, the position of the rotation axis, can be known.

[0125] Reference Figure 5 As shown, Figure 5 is a schematic diagram of obtaining the coordinates of the center of rotation through the perpendicular bisector involved in the embodiments of this specification. In multiple embodiments of this specification, the second adjustment module includes a perpendicular bisector obtaining unit and a center of rotation obtaining unit;

[0126] The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 based on the primary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 in the primary recognition image and the secondary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two printing needles 11;

[0127] The center acquisition unit acquires the rotation center position coordinates of the print head 1 in the plane direction based on the perpendicular bisectors of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads 11 .

[0128] It can be understood that the distances from a point on the perpendicular bisector of a line segment to the two end points of the line segment are the same, so the intersection of the perpendicular bisectors is the position of the center of the rotation circle.

[0129] The following is an example:

[0130] Reference Figure 5 As shown, the image data acquisition module obtains the image position coordinates of two printing needles 11 as an example for explanation. It is assumed that the two printing needles 11 are printing needles 11 at two end points, namely, printing needle 1 and printing needle 2. The first image position coordinate corresponding to printing needle 1 in the first recognition image is coordinate A, and the first image position coordinate corresponding to printing needle 2 in the first recognition image is coordinate B; the second image position coordinate corresponding to printing needle 2 in the second recognition image is coordinate A', and the second image position coordinate corresponding to printing needle 2 in the second recognition image is coordinate B'. Further connect coordinate A with coordinate A', and connect coordinate B with coordinate B'. Further obtain the perpendicular bisector of line segment AA' and the perpendicular bisector of line segment BB' respectively. Finally, the intersection coordinate C between the perpendicular bisector of line segment AA' and the perpendicular bisector of line segment BB' is the position coordinate of the center of rotation of printing head 1 in the plane direction.

[0131] It should be noted that for the convenience of display, Figure 5 In the figure, only the print head 1 in the first recognition image and the print head 1 in the second recognition image are shown. And it can be understood that only the position of the print head 1 in the first recognition image and the second recognition image has changed.

[0132] It can also be understood that when the image data acquisition module acquires the image position coordinates of three printing needles 11, three perpendicular midlines can be obtained. Under ideal conditions, the three perpendicular midlines should have only one intersection position, and the intersection position is the position of the center of rotation. However, due to certain errors in image recognition, the three perpendicular midlines may have three intersection positions. In this case, the coordinates of the center of rotation position can be obtained based on the coordinates of the three intersection positions. For example, the coordinates of the three intersection positions are (x1, y1), (x2, y2), and (x3, y3), respectively, then the coordinates of the center of rotation position can be ((x1+x2+x3) / 3, (y1+y2+y3) / 3). Similarly, when the image data acquisition module acquires the image position coordinates of a larger number of printing needles 11, the coordinates of the center of rotation position can also be obtained in the above manner, which will not be elaborated here.

[0133] In multiple embodiments of the present specification, the distance between any two printing needles 11 of at least two printing needles 11 for which the height data acquisition module acquires height data is greater than a preset distance;

[0134] The image data acquisition module acquires the image position coordinates once, and the distance between any two printing needles 11 among the at least two printing needles 11 is greater than the preset distance.

[0135] It is understandable that if the distance between two printing needles 11 is too close, when one of the needles touches the needle tip contact unit, the other printing needle 11 that is too close may also touch the needle tip contact unit, thereby causing errors in the obtained height data of the printing needles 11.

[0136] It can also be understood that if the print head 1 is tilted, then among the multiple printing needles 11 arranged linearly, the height data difference between two needles that are farther apart is greater, which is more meaningful as a reference for adjusting the flatness of the print head 1.

[0137] In multiple embodiments of the present specification, the at least two printing needles 11 whose image position coordinates are acquired by the image data acquisition module are consistent with the at least two printing needles 11 whose height data are acquired by the height data acquisition module.

[0138] That is, assuming that the at least two printing needles 11 whose height data is obtained by the height data obtaining module are printing needle a and printing needle b, then the at least two printing needles 11 whose image position coordinates are obtained by the image data obtaining module are also printing needle a and printing needle b.

[0139] It can be understood that after the flatness adjustment, the printing needles a and b are already on the same plane, and it is more reasonable to subsequently adjust the position of the entire printing head 1 in the plane direction based on these two needles on the same plane.

[0140] See next Figure 6 , Figure 6 A flow chart of a printing method provided in an embodiment of this specification is shown.

[0141] The printing method is based on a printing device with multiple print heads as described in any of the above embodiments, and may at least include:

[0142] Step 602, obtaining height data corresponding to each of a plurality of preset points on the surface to be printed 5;

[0143] Step 604, obtaining a fitting line or a fitting surface by fitting the height data corresponding to each of the plurality of preset points on the surface to be printed 5, and acquiring the height data at each position on the fitting line or the fitting surface;

[0144] Step 606, obtaining at least one single printing area corresponding to each of the plurality of print heads 1 on the fitting line or fitting surface;

[0145] Step 608: Based on the height data at each position on the fitting line or fitting surface, obtain the height data corresponding to each of the multiple single-printing areas.

[0146] Step 610: setting the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the height data corresponding to each of the multiple single printing areas;

[0147] Step 612: Control the multiple print heads 1 to print on at least one single-printing area corresponding to each of them according to the printing height data corresponding to the single-printing area.

[0148] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the printing method embodiment, since it is basically similar to the printing device embodiment with multiple print heads, the description is relatively simple, and the relevant parts can be referred to the partial description of the printing device embodiment with multiple print heads.

[0149] In this specification, a side line printing device is also provided, including a printing device with multiple print heads as described in any of the above multiple embodiments, and:

[0150] The first acquisition module acquires height data corresponding to each of a plurality of preset points on the side line of the surface to be printed 5 where the side line printing is required;

[0151] The fitting module obtains a fitting line by fitting the height data corresponding to each of a plurality of preset points on the side line of the printing surface 5 where the side line printing is required, and obtains the height data at each position on the fitting line;

[0152] The second acquisition module acquires at least one single printing line segment corresponding to each of the plurality of print heads 1 on the fitting line;

[0153] The third acquisition module acquires the height data corresponding to each of the plurality of single-printed line segments based on the height data at each position on the fitting line;

[0154] The height setting module sets the printing height data corresponding to each of the plurality of single printing line segments based on the preset printing interval requirement and the height data corresponding to each of the plurality of single printing line segments;

[0155] The control module controls the multiple print heads 1 to print on at least one single printing line segment corresponding to each of them according to the printing height data corresponding to the single printing line segment.

[0156] In multiple embodiments of the present specification, the control module further includes multiple first control units for respectively controlling the printing heights of the multiple print heads 1 and a second control unit for overall controlling the multiple print heads 1 to perform synchronous translation.

[0157] It should be noted that side line printing is an innovative printing technology that focuses on establishing connections on the side of a printed circuit board (PCB) or printing arrayed interconnect structures on the side of a glass substrate to bridge the edges of lines on both sides through the side. This technology allows electronic designers to achieve more complex wiring designs in limited space.

[0158] Side line printing is particularly used in the field of display device manufacturing. This type of side bridging mode usually does not require printing very long lines. It only needs to bridge the edges of the front and back lines. Therefore, what is printed are multiple short lines arranged on the sides to connect the edges of the front and back lines. Therefore, in this application scenario, the first acquisition module only needs to obtain the height data corresponding to each of the multiple preset points on the side line of the surface 5 to be printed where the side line printing is required (Note: It should be noted that the side line is the side of the surface 5 to be printed. For example, if the surface 5 to be printed is a square, then the side line is a side of the square).

[0159] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the side line printing device embodiment, since it is basically similar to an embodiment of a printing device with multiple print heads, the description is relatively simple, and the relevant parts can be referred to the partial description of the embodiment of a printing device with multiple print heads.

[0160] In this specification, a side line printing method is also provided, and may at least include:

[0161] Acquire height data corresponding to each of a plurality of preset points on the side line of the surface to be printed 5 where side line printing is required;

[0162] A fitting line is obtained by fitting the height data corresponding to each of a plurality of preset points on the side line of the printing surface 5 where the side line printing is required, and the height data at each position on the fitting line is obtained;

[0163] Obtain at least one single printing line segment corresponding to each of the plurality of print heads 1 on the fitting line;

[0164] Based on the height data at each position on the fitting line, obtaining the height data corresponding to each of the plurality of single-printing line segments;

[0165] Based on the preset printing interval requirement and the height data corresponding to each of the plurality of single printing line segments, setting the printing height data corresponding to each of the plurality of single printing line segments;

[0166] The plurality of print heads 1 are controlled to print respectively on at least one single printing line segment corresponding to each of the plurality of print heads 1 according to the printing height data corresponding to the single printing line segment.

[0167] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the side line printing method embodiment, since it is basically similar to the side line printing device embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the side line printing device embodiment.

[0168] See also Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification is shown.

[0169] like Figure 7 As shown, the electronic device 700 may include: at least one processor 701 , at least one network interface 704 , a user interface 703 , a memory 705 , and at least one communication bus 702 .

[0170] The communication bus 702 may be used to realize the connection and communication among the above-mentioned components.

[0171] The user interface 703 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0172] The network interface 704 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0173] Among them, the processor 701 may include one or more processing cores. The processor 701 uses various interfaces and lines to connect the various parts of the entire electronic device 700, and executes various functions and processes data of the electronic device 700 by running or executing instructions, programs, code sets or instruction sets stored in the memory 705, and calling data stored in the memory 705. Optionally, the processor 701 can be implemented in at least one hardware form of DSP, FPGA, and PLC. The processor 701 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to handle wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 701, and it can be implemented separately through a chip.

[0174] Among them, the memory 705 may include RAM or ROM. Optionally, the memory 705 includes a non-transitory computer-readable medium. The memory 705 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 705 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 705 may also be at least one storage device located away from the aforementioned processor 701. The memory 705 as a computer storage medium may include an operating system, a network communication module, a user interface module and a printing program. The processor 701 can be used to call the printing application stored in the memory 705 and execute the steps of the printing method mentioned in the aforementioned embodiment.

[0175] The embodiment of this specification also provides a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes one or more steps in the above printing method embodiment. If the components of the above electronic device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0176] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of this specification is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0177] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0178] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims of this specification.

Claims

1. A printing device having multiple print heads, characterized in that: It includes a printing mechanism, a first acquisition module, a fitting module, a second acquisition module, a third acquisition module, a height setting module, and a control module. The printing mechanism includes at least two printing sub-mechanisms, and each printing sub-mechanism includes a printing head with at least two printing needles. The first acquisition module acquires height data corresponding to each of a plurality of preset points on the surface to be printed; The fitting module obtains a fitting line or a fitting surface by fitting the height data corresponding to each of a plurality of preset points on the surface to be printed, and obtains the height data at each position on the fitting line or the fitting surface; The second acquisition module acquires at least one single printing area corresponding to each of the plurality of print heads on the fitting line or the fitting surface; The third acquisition module acquires height data corresponding to each of the plurality of single-printing areas based on the height data at each position on the fitting line or the fitting surface; The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the height data corresponding to each of the multiple single printing areas; The control module controls the multiple print heads to print on at least one single printing area corresponding to each of them according to the printing height data corresponding to the single printing area.

2. A printing device having multiple print heads according to claim 1, characterized in that: The control module also performs separate material discharge control on the multiple printing needles on each printing head.

3. A printing device having multiple print heads according to claim 1, characterized in that: The height data corresponding to each of the plurality of single-printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface include the highest point height data and the lowest point height data within the single-printing area; The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirement and the highest point height data and the lowest point height data in the single printing areas corresponding to each of the multiple single printing areas.

4. A printing device having multiple print heads according to claim 3, characterized in that: The height data corresponding to each of the plurality of single-printing areas obtained in the third acquisition module based on the height data at each position on the fitting line or fitting surface also include height data corresponding to each of the plurality of points evenly distributed in the single-printing area; The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest point height data, the lowest point height data and the height data corresponding to each of the multiple evenly distributed points within the single printing area.

5. A printing device having multiple print heads according to claim 4, characterized in that: The preset printing interval requirement includes a printing interval range and an optimal printing interval value; The height setting module includes an alternative height value acquisition unit, an absolute value calculation unit, and a setting unit; The candidate height value acquisition unit acquires at least one candidate height value corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data and the lowest point height data within the single printing area corresponding to each of the plurality of single printing areas; The absolute value calculation unit calculates, for each single printing area, the absolute deviation and data corresponding to each of the single printing areas at different corresponding alternative height values ​​based on the height data corresponding to each of the multiple points evenly distributed corresponding to the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value; The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviations and data corresponding to the single printing area at different corresponding candidate height values.

6. A printing device having multiple print heads according to claim 5, characterized in that: The candidate height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit; The first range acquisition subunit acquires first printing height ranges corresponding to each of the plurality of single printing areas based on the printing interval range and the highest point height data within the single printing area corresponding to each of the plurality of single printing areas; The second range acquisition subunit acquires a second printing height range corresponding to each of the plurality of single printing areas based on the printing interval range and the lowest point height data within the single printing area corresponding to each of the plurality of single printing areas; The height value acquisition subunit acquires at least one candidate height value corresponding to each of the multiple single printing areas based on the first printing height range and the second printing height range corresponding to each of the multiple single printing areas.

7. A printing device having multiple print heads according to claim 1, characterized in that: Each printing sub-mechanism includes a printing head having at least two printing pins arranged in a linear manner, and each printing sub-mechanism also includes a height data acquisition module, a first adjustment module, a second adjustment module, and an image data acquisition module arranged below the printing sub-mechanism; The height data acquisition module acquires height data corresponding to at least two printing pins on the print head; The first adjustment module adjusts the flatness of the print head by rotating the print head based on the height data corresponding to the at least two print needles; The image data acquisition module acquires a bottom image of the print head after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head, and obtains the primary image position coordinates corresponding to at least two printing pins on the print head in the primary recognition image; The second adjustment module adjusts the position of the print head in a plane direction by rotating the print head based on the primary image position coordinates corresponding to at least two print pins on the print head in a primary recognition image.

8. A printing device having multiple print heads according to claim 7, characterized in that: The second adjustment module also performs a pre-rotation operation on the print head in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head; The image data acquisition module also acquires a bottom image of the pre-rotated print head in the same image acquisition direction as that used to acquire the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtains the secondary image position coordinates corresponding to at least two print pins on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image; The second adjustment module obtains the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print needles on the print head that respectively correspond in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head is rotated to achieve position adjustment of the print head in the plane direction.

9. A printing device having multiple print heads according to claim 8, characterized in that: The second adjustment module includes a perpendicular midline acquisition unit and a circle center acquisition unit; The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles on the printing head based on the primary image position coordinates corresponding to the at least two printing needles on the printing head in the primary recognition image and the secondary image position coordinates corresponding to the at least two printing needles on the printing head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles; The center acquisition unit acquires the rotation center position coordinates of the print head in the plane direction based on the perpendicular bisector of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads.

10. A side line printing device, characterized in that: A printing device having a plurality of print heads comprising any one of claims 1 to 9, and: The first acquisition module acquires height data corresponding to each of a plurality of preset points on the side line of the surface to be printed where side line printing is required; The fitting module obtains a fitting line by fitting the height data corresponding to each of a plurality of preset points on the side line of the surface to be printed where the side line needs to be printed, and obtains the height data at each position on the fitting line; The second acquisition module acquires at least one single printing line segment corresponding to each of the plurality of print heads on the fitting line; The third acquisition module acquires the height data corresponding to each of the plurality of single-printed line segments based on the height data at each position on the fitting line; The height setting module sets the printing height data corresponding to each of the plurality of single printing line segments based on the preset printing interval requirement and the height data corresponding to each of the plurality of single printing line segments; The control module controls the multiple print heads to print on at least one single printing line segment corresponding to each of them according to the printing height data corresponding to the single printing line segment.

Images