A device and method for manufacturing a complex curved electromagnetic functional structure by electrohydrodynamic jetting

Abstract

The application discloses a kind of complex curved surface electromagnetic functional structure electrofluid jet printing manufacturing device and method, belong to advanced manufacturing technical field, including body module, outer shell module, jet printing module, control module, wherein body module includes bed body part and movement part, through complex curved surface electromagnetic functional structure paving software, using zoning paving method to generate numerical control G code program, through industrial computer control machine tool driver, cooperate bed body and movement module, complete the accurate execution of complex curved surface jet printing path in jet printing manufacturing process.The application can realize the high-precision, high-efficiency, non-damage manufacturing of multiple types and multiple materials electromagnetic functional structure, with jet printing full-process automation, fast forming, high efficiency and other characteristics.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of advanced manufacturing technology, and relates to a device and a method for manufacturing a complex curved electromagnetic functional structure by electrohydrodynamic jet printing. BACKGROUND

[0002] An electromagnetic functional structure is the basis for a metamaterial device to realize electromagnetic filtering, electromagnetic invisibility, polarization deflection and other functions. The electromagnetic functional structure is usually composed of basic unit structures arranged and combined periodically in one or two dimensions. The unit shapes are various, and according to the filtering characteristics, the electromagnetic functional structure can be divided into four types: bandpass, bandstop, high-pass and low-pass. Nowadays, in order to meet the application requirements of miniaturization, light weight and integration, the electromagnetic functional structure needs to realize conformal, high-performance, high-precision, high-efficiency and non-damage manufacturing of complex curved electromagnetic functional structures, thus promoting the continuous innovation and development of the manufacturing process and corresponding equipment of the electromagnetic functional structure in this field.

[0003] At present, the processing technology of the electromagnetic functional structure includes laser etching, chemical deposition and spraying. The above-mentioned process technologies have some application limitations in the application process. For example, the high-energy laser beam used in laser etching can cause thermal influence and substrate damage of the functional structure; the chemical deposition method has high manufacturing precision of the functional structure, but needs expensive equipment, and it is difficult to realize large-size conformal manufacturing of the functional structure on a complex curved surface; the spraying process is a high-efficiency preparation method for the functional structure of a two-dimensional metamaterial device, but the precision of the technology is poor. In the face of the increasingly complex use scenarios of the electromagnetic functional structure and the low level of the electromagnetic functional structure manufacturing, it is urgent to develop new process methods and corresponding supporting equipment to solve the problem that the electromagnetic functional structure cannot realize conformal, high-precision, high-efficiency and non-damage manufacturing on a complex curved surface.

[0004] Electrohydrodynamic jet printing technology is a new technology in the field of additive manufacturing. It uses electrohydrodynamic effect to focus to form different jet printing modes, including droplets, jets and sprays. The electrohydrodynamic jet printing technology has many advantages such as high resolution, wide material adaptability, simple process, efficient and environmentally friendly manufacturing process, and can realize on-demand printing of micro / nano-scale patterns. Since the electrohydrodynamic jet printing technology can accurately realize in-situ additive manufacturing, combined with precise relative motion control between the workpiece and the jet printing device, conformal manufacturing of pattern structures on a curved surface can be realized. SUMMARY

[0005] The purpose of the present application is to meet the requirements of high precision, high efficiency, non-damage and conformality for the manufacturing of the electromagnetic functional structure on a curved surface, and to propose an improved manufacturing device and method for the complex curved electromagnetic functional structure,

[0006] To achieve the above object, some embodiments of the present application propose a complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing device, which comprises a machine body module, a jet printing module and a control module; the machine body module comprises a bed body part and a moving part; the jet printing module is installed on the machine body module and is configured to realize jet printing work in all directions of the curved surface base body in cooperation with the moving part; the control module is coupled to the jet printing module and the machine body module, and is used for coordinated control of real-time movement of the moving part and adjustment of jet printing parameters of the jet printing module.

[0007] In some embodiments, the bed body part comprises a base, a sliding seat, a saddle, a bed body and a support seat; the bed body is installed above the base, the sliding seat is installed on the X-axis sliding block on the upper surface of the bed body, and the Y-axis and the X-axis are installed on the sliding seat; the saddle is installed on the Y-axis linear guide rail, and the Z-axis is installed on the saddle; the support seat is installed on the base; the moving part comprises an X-axis, a Y-axis, a Z-axis and a B / C rotating shaft; the X-axis linear guide rail in the X-axis is fixed on the upper surface of the bed body, and the X-axis sliding block is fixed on the lower surface of the sliding seat and cooperates with the X-axis linear guide rail; the Y-axis linear guide rail in the Y-axis is fixed on the lower surface of the saddle, and the Y-axis sliding block is fixed on the surface of the sliding seat and cooperates with the Y-axis linear guide rail; the Z-axis linear guide rail in the Z-axis is fixed on the back of the supporting plate, and the Z-axis sliding block is fixed on the front surface of the saddle and cooperates with the Z-axis linear guide rail; the B / C rotating shaft is fixed on the bed body and the support seat, and the circular disc surface fixed with the C-axis in the B / C rotating shaft is a rotary table, which is provided with a clamp and a hole position for installing a workpiece.

[0008] In some embodiments, the jet printing module comprises an electrojet printing valve, a storage pipe, an auxiliary U-axis, a nozzle replacement device, a clamp, a third adapter plate, a first adapter plate, a supporting plate, an auxiliary Z-axis, a second adapter plate, an auxiliary X / Y-axis, a micro displacement table, a laser solidifier, an observation camera, a positioning camera and a laser range finder; the auxiliary Z-axis is fixed on the first adapter plate, the first adapter plate is fixed on the supporting plate, the auxiliary X / Y-axis is fixed on the second adapter plate, and the second adapter plate is fixed on the auxiliary Z-axis; the electrojet printing valve, the laser range finder and the positioning camera are fixed on the third adapter plate through the clamp, and the storage pipe of the functional material is connected with the electrojet printing valve; the laser solidifier and the observation camera are fixed on the third adapter plate through the micro displacement table, and the third adapter plate is fixed on the X / Y-axis; the nozzle replacement device is fixed on the auxiliary U-axis, the auxiliary U-axis is fixed on the supporting plate, and the supporting plate is fixed on the Z-axis.

[0009] In some embodiments, the control module comprises a machine tool driver, a jet printing module driver, an industrial computer, a flow field controller, an electric field controller, an operation platform; the machine tool driver controls X-axis, Y-axis, Z-axis, B / C rotating shaft to realize movement, communicates with the industrial computer to realize direct control of the operation platform on the machine tool driver box; the jet printing module driver controls the electrospray valve, auxiliary X / Y-axis, auxiliary Z-axis, auxiliary U-axis to realize initial test spraying movement control of jet printing, and communicates with the industrial computer to realize direct control of the operation platform; the flow field controller is connected with the storage pipe at the output end to realize driving force supply, and communicates with the industrial computer to realize direct control of the operation platform; the electric field controller is connected with the electrospray valve at the output end to realize electric parameter application, and communicates with the industrial computer to realize direct control of the operation platform; the operation platform is connected with the industrial computer to realize real-time display and control.

[0010] In some embodiments, the second adapter plate side shape is L-shaped, and the third adapter plate side shape is a 90-degree clockwise rotated L-shaped; the B-axis in the B / C rotating shaft can realize ±110-degree swinging, and the C-axis can realize 360-degree rotation; X-axis, Y-axis, Z-axis, B / C rotating shaft are connected through the adjustment of the numerical control system to realize mutual linkage between the five movement axes.

[0011] Some embodiments of the present application propose a method for manufacturing the complex curved surface electromagnetic functional structure by using the above-mentioned complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing device, which adopts any one of the above-mentioned complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing device, and the method comprises the following steps: determining the shape of the curved surface substrate, importing the substrate digital model into the functional structure paving software, paving the electromagnetic functional structure to be manufactured on the curved surface substrate surface, selecting the jet printing path trajectory, and exporting all the trajectories into the G code program of machine tool movement; after the curved surface substrate is clamped to the turntable workbench, the jet printing module is moved, the starting point of jet printing manufacturing is found, and the starting point is set as the movement starting point and the jet printing starting point through the control module;

[0012] Again, the G code program is started, and the jet printing manufacturing of the electromagnetic functional structure is sequentially carried out according to the program, while various auxiliary tools start to work; finally, after the electromagnetic functional structure of the curved surface substrate is completely processed, it is removed from the turntable workbench.

[0013] In some embodiments, the complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing method has the following specific steps: step S1: fixing workpieces of different shaped bases on a rotating disc workbench, determining a starting point and manufacturing size range of the workpiece jet printing manufacturing, and determining a type of the electromagnetic functional structure; step S2: importing a model of the workpiece into electromagnetic functional structure paving and path planning software in an industrial computer, performing regional paving of the structure according to different curvature values of the curved surface base, ensuring that a deformation amount of the structure is minimum, after the regional paving is completed, completing path planning through path teaching, integrating each regional path into an overall program package, and generating a numerical control G code path trajectory program after post-processing by the industrial computer; step S3: installing a storage pipe into an electrofluidic jet printing valve, connecting an output of a flow field controller to the storage pipe, and connecting an output of an electric field controller to the electrofluidic jet printing valve; turning on an observation camera, a positioning camera, a laser range finder, and a laser curing device; step S4: starting an equipment power supply button and electrofluidic jet printing control software, completing jet head selection replacement, trial jetting, and installation positioning by means of the auxiliary X / Y axis, the auxiliary Z axis, and the auxiliary U axis according to a structure type and precision of jetting, and simultaneously calibrating following positions of the observation camera, the laser range finder, and the laser curing device; step S5: starting the generated numerical control G code trajectory program, performing online scanning of a jetting track by means of the laser range finder, and calculating a real-time scanning interval value and a set jetting interval value by the industrial computer; in the jetting process, the jetting program is sequentially executed according to the trajectory program, and real-time interval compensation is performed; step S6: causing the operation table to display a current jetting program execution state in real time, adjusting jetting parameters according to real-time image effects provided by the observation camera, and recording defective positions of the electromagnetic functional structure for secondary accurate jetting repair; and step S7: after the jetting is completed, moving the workpiece to a dismounting area, and finally curing the workpiece according to electromagnetic functional structure curing requirements.

[0014] In some embodiments, in step S2, the electromagnetic functional structure paving is performed according to curvatures of different positions of the workpiece, that is, a performance-oriented microelement paving method, which specifically includes the following steps: for a non-developable curved surface, first performing overall performance simulation of the structure by simulation software to determine an allowable error size of the electromagnetic functional structure under the condition of meeting performance requirements, setting the error size as a theoretical maximum deformation amount of the electromagnetic functional structure, dividing a micro area according to a measured curvature, adjusting the theoretical maximum deformation amount to a permissible maximum deformation amount according to the measured curvature, and finally completing the electromagnetic functional structure paving in the micro area within the error range.

[0015] In some embodiments, the method can achieve a processing precision of the electromagnetic functional structure as follows: a point structure relative standard deviation < 5%, a line structure size precision ± 5 μm, and a surface structure film forming uniformity ≥ 95%.

[0016] In some embodiments, the material of the electromagnetic functional structure in step S3 includes conductive metal paste, conductive metal ink, semiconductor polymer and glue-like material; the automatic replacement of the nozzle in step S4 and the automatic adjustment of the printing parameters are realized; when the nozzle is selected and the parameters are adjusted, the viscosity of the functional material, the type of the electromagnetic functional structure and the size of the electromagnetic functional structure are input into the parameter library, the appropriate nozzle specification and the initial printing parameters are selected according to the database, the target electromagnetic functional structure is trial-printed in the trial printing area, the quality of the trial-printed structure is observed, and the printing parameters are fine-tuned if the quality is poor.

[0017] The beneficial effects of the present application include but are not limited to:

[0018] The present application combines the electrospray printing technology with the strategy of surface substrate posture adjustment motion, develops a complex curved surface substrate electromagnetic functional structure manufacturing device and the corresponding method, and further provides an optimal curved surface substrate electromagnetic functional structure manufacturing scheme according to the material properties, precision requirements and substrate conditions.

[0019] In the complex curved surface electromagnetic functional structure electrospray printing manufacturing device provided in some embodiments of the present application, the posture position of the workpiece can be adjusted during the printing process by the five-axis motion machine tool, and the posture of the workpiece of any curved surface shape can be adjusted due to the five degrees of freedom. The electrospray printing part moves the printing valve to the specified position to start the printing work on the basis of the five-axis motion, and the printing valve can automatically select and replace the nozzle type and switch the working mode according to the type of the functional structure due to the various sizes and shapes of the functional structure. In order to compensate for the topography error of the workpiece surface to meet the requirements of conformal manufacturing, in-situ measurement of the workpiece surface is performed before the printing starts, the measured data is compensated into the printing interval in the printing process, and conformal manufacturing is realized.

[0020] For non-developable surfaces, in order to realize the performance improvement of the functional structure, a performance-oriented micro-element paving method is proposed to reduce error deformation and improve performance indicators. In order to realize the online pre-curing of the printed functional structure, a laser curing device is used to track the printing path, thereby realizing pre-curing. In the process of printing, professional numerical control G code programs are generated through path planning software to ensure high stability and controllability in the printing process. The electrospray valve uses a specially developed flow field controller and an electric field controller to adjust the parameters, realizing high-precision and high-efficiency on-demand printing of multiple materials.

[0021] The device and method described in the present application have the advantages of reliable structure, fast manufacturing efficiency, high printing precision, wide material applicability and automatic path planning of the printing path. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1The structural schematic diagram of the complex curved surface electromagnetic functional structure electrofluid jet printing manufacturing device according to the embodiment of the present application.

[0023] Figure 2 The internal structure and mounting relationship schematic diagram of the complex curved surface electromagnetic functional structure electrofluid jet printing manufacturing device according to the embodiment of the present application.

[0024] Figure 3 The structural schematic diagram of the jet printing module according to the embodiment of the present application.

[0025] Figure 4 The internal schematic diagram of the control module according to the embodiment of the present application.

[0026] Figure 5 The X-axis, Y-axis, Z-axis slider and linear guide rail mounting position schematic diagram of the complex curved surface electromagnetic functional structure electrofluid jet printing manufacturing device according to the embodiment of the present application.

[0027] Figure 6 The structural schematic diagram of the B / C rotating shaft according to the embodiment of the present application.

[0028] Figure 7 The workpiece and B / C rotating shaft mounting position schematic diagram according to the embodiment of the present application.

[0029] In the figure: 1 represents the machine body module; 2 represents the outer shell module; 3 represents the jet printing module; 4 represents the control module; 11 represents the base; 12 represents the sliding seat; 13 represents the Y-axis; 14 represents the saddle; 15 represents the Z-axis; 16 represents the X-axis; 17 represents the bed; 18 represents the B / C rotating shaft; 19 represents the support seat; 31 represents the electrospray printing valve; 32 represents the storage pipe; 33 represents the auxiliary U-axis; 34 represents the nozzle replacement device; 35 represents the clamp; 36 represents the third adapter plate; 37 represents the first jet printing module bolt; 38 represents the first adapter plate; 39 represents the supporting plate; 310 represents the auxiliary Z-axis; 311 represents the second adapter plate; 312 represents the auxiliary X / Y-axis; 313 represents the micro displacement table; 314 represents the laser solidification device; 315 represents the observation camera; 316 represents the positioning camera; 317 represents the laser range finder; 41 represents the machine tool driver, 42 represents the jet printing module driver, 43 represents the industrial computer, 44 represents the flow field controller, 45 represents the electric field controller, 46 represents the operation table; 131 represents the Y-axis slider; 132 represents the Y-axis linear guide rail; 151 represents the Z-axis slider; 152 represents the Z-axis linear guide rail; 161 represents the X-axis linear guide rail; 162 represents the X-axis slider; 181 represents the first machine body bolt; 182 represents the second machine body bolt; 183 represents the rotary table workbench; 184 represents the workpiece; 185 represents the third machine body bolt; 186 represents the fourth machine body bolt. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] In this application, the X-axis, Y-axis, Z-axis and B / C rotation axes refer to motion mechanisms in corresponding directions, respectively, wherein the X, Y, Z, B, and C directions are the directions represented by the coordinate systems in the accompanying drawings, respectively. The X-axis may refer to an X-axis motion module, which may include an X-axis drive unit, an X-axis linear guide, and an X-axis slider, wherein the X-axis drive unit may, for example, include an X-axis servo motor, an X-axis lead screw, and an X-axis nut; the Y-axis may refer to a Y-axis motion module, which may include a Y-axis drive unit, a Y-axis linear guide, and a Y-axis slider, wherein the Y-axis drive unit may, for example, include a Y-axis servo motor, a Y-axis lead screw, and a Y-axis nut; the Z-axis may refer to a Z-axis motion module, which may include a Z-axis drive unit, a Z-axis linear guide, and a Z-axis slider, wherein the Z-axis drive unit may, for example, include a Z-axis servo motor, a Z-axis lead screw, and a Z-axis nut. The B / C rotary axis can be a composite structure of the B and C axes, where the B-axis motion module can include a B-axis rotary table, a B-axis servo motor, a B-axis encoder, and a B-axis reducer. The C-axis motion module can include a C-axis rotary spindle, a C-axis servo motor, a C-axis encoder, and a C-axis reducer. Similarly, the auxiliary X / Y axis refers to a composite motion module in the X / Y directions, which also includes a drive unit, guide rails, and a slider. The auxiliary Z axis is a motion module in the Z direction, which also includes a drive unit, guide rails, and a slider. The auxiliary U axis is a motion module parallel to the X axis, which also includes a drive unit, guide rails, and a slider.

[0032] like Figure 1 As shown, the electro-fluid printing manufacturing device for complex curved electromagnetic functional structures according to an embodiment of the present application comprises four main components: a body module 1, an outer housing module 2, a printing module 3, and a control module 4. The body module 1 is the mechanical structure of the equipment, responsible for carrying and determining its movement; the outer housing module 2 is the peripheral protective portion of the equipment, providing safety, protection, and ease of operation; the printing module 3 is the functional core of the device for implementing printing manufacturing, determining the printing effect of the electromagnetic functional structure; and the control module 4 controls communication and feedback between the various components of the equipment.

[0033] The combination of the machine body module 1, the cover shell module 2 and the control module 4 can be defined as a five-axis motion machine tool which provides motion conditions for the jet printing module 3 and the workpiece 184. The specific working relationship of the complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing device of the embodiments of the present application is that the control module 4 controls the X-axis 16, the Y-axis 13, the Z-axis 15 and the B / C rotating shaft 18 through the control system coordination control; when jet printing of a certain electromagnetic functional structure is performed, the X-axis 16, the Y-axis 13, the Z-axis 15 and the B / C rotating shaft 18 make interpolation motion to adjust the real-time jet printing position on the curved surface substrate to be perpendicular to the electrofluidic jet printing valve 31; the jet printing module 3 realizes on-demand jet printing of various electromagnetic functional structures by adjusting the jet printing parameters during the jet printing process. The above working relationship is continuously adjusted to complete the preparation of the overall electromagnetic functional structure of the curved surface substrate.

[0034] As shown in Figure 2 , Figure 5 , Figure 6 The internal structure of the machine tool is divided into two parts, namely the bed body part and the motion part. The bed body part is the mechanical body of the device and the bearing support, which provides installation positions for other modules of the device and ensures the stability of the device; the motion part plays a role in adjusting the jet printing position and adjusting the workpiece position, and the motion part is installed on the bed body part at a predetermined position through bolts.

[0035] The bed body part can include a base 11, a slide 12, a saddle 14, a bed body 17 and a support seat 19. From the installation position, the base 11, the bed body 17 installed on the base, the slide 12 installed on the bed body and the saddle 14 are sequentially arranged from bottom to top, which is the support skeleton of the machine tool and can be processed by the lost foam casting process, which determines the stability and precision of the machine tool. In addition, installation positions of the X-axis 16, the Y-axis 13, the Z-axis 15 and the B / C rotating shaft 18 are reserved at corresponding positions of these components. The base 11 is at the bottom, the bed body 17 is installed above the base 11 through the third machine body bolt 185, the bed body 17 is connected to the slide 12 through the X-axis 16 and located below the slide 12, so that the slide 12 can move in the X direction on the X-axis 16, the saddle 14 is connected to the slide 12 through the Y-axis 13 and located above the slide 12, the Z-axis 15 is installed on the front surface of the saddle 14 so as to move together with the saddle 14 on the Y-axis 13, the Z-axis 15 includes a supporting plate 39, the jet printing module 3 is carried on the supporting plate 39, and the Z-axis 15 is configured to move the supporting plate 39 in the Z direction so as to drive the jet printing module 3 to move on the Z-axis, and the B / C rotating shaft 18 is installed on the bed body 17 and the support seat 19.

[0036] Specifically, the bed body 17 is installed above the base 11 by the third machine body bolt 185; the slide 12 is installed on the X-axis linear guide rail 161 of the X-axis 16 on the upper surface of the bed body 17, and the Y-axis 13 and the X-axis sliding groove 162 of the X-axis linear guide rail 161 are installed on the slide 12; the Y-axis 13 comprises a Y-axis sliding block 131 and a Y-axis linear guide rail 132 matched with the Y-axis sliding block 131, and the saddle 14 is installed on the Y-axis linear guide rail 132, and the Z-axis 15 is installed on the front surface of the saddle 14.

[0037] The support seat 19 is installed on the base 11 by the first machine body bolt 181. The base 11 is a bearing base of the machine tool, and various components above the machine tool are installed on the base 11; the bed body 17 and the support seat 19 serve to fix the B / C rotating shaft 18. Specifically, the base 11 is provided with a first platform 11A extending from the bed body 17 for installing the B / C rotating shaft 18, wherein the first end of the B / C rotating shaft 18 is coupled to the first platform 11A by the support seat 19, and the second end is coupled to the bed body 17. The workpiece 184 is installed on the B / C rotating shaft 18, wherein the B rotating direction is defined as the rotating direction parallel to the XY plane, and the C rotating direction is defined as the rotating direction in the YZ plane.

[0038] As shown in Figure 6 , the first machine body bolt 181 is a fastening connecting piece of the support seat 19 and the base 11; the second machine body bolt 182 is a fastening connecting piece of the B / C rotating shaft 18 and the support seat 19; the turntable workbench 183 is a circular disc surface fixed in the C-axis moving part of the B / C rotating shaft 18, and has a clamp and a hole position for installing the workpiece 184. The workpiece 184 is a curved surface base of a spray printing electromagnetic functional structure, and needs to complete the manufacturing of the electromagnetic functional structure on the corresponding position of the surface according to the processing requirements; the third machine body bolt 185 is a fastening connecting piece of the bed body 17 and the base 11; the fourth machine body bolt 186 is a fastening connecting piece of the B / C rotating shaft 18 and the bed body 17; the slide 12 is a bearing and sliding component, which determines the relative sliding of the X-axis 16 and the Y-axis 13, and simultaneously bears the weight of the saddle 14 and the Z-axis 15; the saddle 14 is a base for fixing the Z-axis 15, and serves to stabilize and slide. The base 11, the bed body 17, the slide 12, the saddle 14, and the support seat 19 can be machined by the lost foam casting process, and the material is, for example, ht300 gray cast iron. These components together form a complete bed structure, and provide installation support and movement space for other functional parts.

[0039] As shown in Figure 2 , Figure 5As shown, the X-axis linear guide rail 161 in the X-axis 16 is fixed on the upper surface of the bed 17, and the X-axis slider 162 is fixed on the lower surface of the slide 12 and cooperates with the X-axis linear guide rail 161 to ensure smooth sliding; the Y-axis linear guide rail 132 in the Y-axis 13 is fixed on the lower surface of the saddle 14, and the Y-axis slider 131 is fixed on the upper surface of the slide 12 and cooperates with the Y-axis linear guide rail 132 to ensure smooth sliding; the Z-axis linear guide rail 152 in the Z-axis 15 is fixed on the back of the supporting plate 39, and the Z-axis slider 151 is fixed on the front surface of the saddle 14 and cooperates with the Z-axis linear guide rail 152 to ensure smooth sliding; the B / C rotating shaft 18 is fixed to the bed 17 through the fourth machine body bolt 186 and fixed to the support seat 19 through the first machine body bolt 181. The above motion modules can be linked to each other to achieve five degrees of freedom motion and realize the posture positioning of complex surfaces.

[0040] The outer shell module 2 is a safety protection plate and a decorative plate outside the machine body module 1, so that the device is not only beautiful but also safe, standard and easy to operate. The safety protection plate and the decorative plate can be made of steel plate and processed by sheet metal technology, and the safety protection plate and the decorative plate are installed on the corresponding positions of the machine body module 1 through bolts.

[0041] As shown in Figure 3 The printing module 3 is an executor for implementing the printing function, which adjusts the printing parameters and prints specific electromagnetic functional structures on demand. The printing module 3 is installed on the machine body module 1 and cooperates with the X-axis 16, the Y-axis 13, the Z-axis 15 and the B / C rotating shaft 18 to realize omnidirectional printing of the curved surface substrate. The printing module 3 is not only an important part of the whole device but also determines the quality of the printed electromagnetic functional structures on the workpiece. In some embodiments, the printing module 3 includes an electro-printing valve 31, a storage pipe 32, an auxiliary U-axis 33, a nozzle replacement device 34, a clamp 35, a third adapter plate 36, a first printing module bolt 37, a first adapter plate 38, a supporting plate 39, an auxiliary Z-axis 310, a second adapter plate 311, an auxiliary X / Y-axis 312, a micro-displacement table 313, a laser solidifier 314, an observation camera 315, a positioning camera 316 and a laser range finder 317.

[0042] As shown in Figure 3As shown, the auxiliary Z-axis 310 is fixed on the first adapter plate 38, and the first adapter plate 38 is fixed on the support plate 39 through the first printing module bolt 37; the upper surface of the auxiliary X / Y-axis 312 is fixed on the second adapter plate 311, and the second adapter plate 311 is fixed on the auxiliary Z-axis 310, and the side surface of the second adapter plate 311 is in the shape of L; the electrospray valve 31 is fixed on the third adapter plate 36 through the clamp 35, and the functional material storage pipe 32 is connected with the electrospray valve 31; the laser range finder 317 is fixed on the third adapter plate 36 through the clamp 35; the positioning camera 316 is fixed on the third adapter plate 36 through the clamp 35; the observation camera 315 is fixed on the third adapter plate 36 through the micro displacement table 313; the laser solidifier 314 is fixed on the third adapter plate 36 through the micro displacement table 313, and the side surface of the third adapter plate 36 is in the shape of L rotated 90 degrees clockwise; the third adapter plate 36 is fixed on the lower surface of the auxiliary X / Y-axis 312; and the nozzle replacement device 34 is fixed on the auxiliary U-axis 33. The auxiliary U-axis 33 is fixed on the support plate 39, and the support plate 39 is fixed on the Z-axis 15.

[0043] Among the components of the above-mentioned printing module 3, the auxiliary X / Y-axis 312, the auxiliary Z-axis 310 and the auxiliary U-axis 33 complete the selection of the nozzle size of the electrospray valve corresponding to different electromagnetic functional structures and the test printing work of the electrospray valve 31 through the motion matching nozzle replacement device 34. The above-mentioned printing module 3 is configured to realize the automatic replacement selection of the nozzle of the electrospray valve, the switching of different working modes of the electrospray valve and the follow-up adjustment of the nozzle of the electrospray valve according to the error of the substrate topography through the coordination of the industrial computer 43, so as to meet the electrospray printing of multiple types and multiple materials of electromagnetic functional structures.

[0044] Before the printing work starts, the storage pipe 32 of the functional material is installed on the electrospray valve 31, and the flow field controller 44 and the electric field controller 45 are connected, and at the same time, the laser range finder 317, the positioning camera 316, the observation camera 315 and the laser solidifier 314 are turned on. The flow field controller 44 and the electric field controller 45 determine the parameter adjustment in the printing process, the workpiece surface topography error can be compensated through the laser range finder 317, the printing starting point can be quickly and accurately positioned through the positioning camera 316, the printing quality and state can be monitored in real time through the observation camera 315, and the electromagnetic functional structure can be pre-solidified in real time through the laser solidifier 314.

[0045] The control module 4 is installed on one side of the body module 1, for example, on the left side, for coordinating the real-time motion of the motion part and adjusting the printing parameters of the printing module. As shown in FIG. 1, the control module 4 is connected with the industrial computer 43, the flow field controller 44, the electric field controller 45, the laser range finder 317, the positioning camera 316, the observation camera 315, the laser solidifier 314, the micro displacement table 313, the nozzle replacement device 34, the auxiliary X / Y-axis 312, the auxiliary Z-axis 310, the auxiliary U-axis 33 and the auxiliary X / Y-axis 312. Figure 4As shown, the control module 4 includes five-axis machine tool driver 41, jet printing module driver 42, industrial computer 43, flow field controller 44, electric field controller 45 and operation platform 46. The machine tool driver 41 is configured to control the X-axis 16, Y-axis 13, Z-axis 15, B / C rotating shaft 18 to realize movement, communicate with the industrial computer 43, and realize direct control of the machine tool driver 41 by the operation platform 46; the jet printing module driver 42 controls the electro-jet printing valve 31, auxiliary X / Y-axis 312, auxiliary Z-axis 310, auxiliary U-axis 33 to realize the initial test printing movement control of jet printing, and communicates with the industrial computer 43 to realize direct control of the operation platform 46; the flow field controller 44 is connected with the storage pipe 32 at the output end to realize driving force supply, and communicates with the industrial computer 43 to realize direct control of the operation platform 46; the electric field controller 45 is connected with the electro-jet printing valve 31 at the output end to realize electric parameter application, and communicates with the industrial computer 43 to realize direct control of the operation platform 46; the operation platform 46 is connected with the industrial computer 43 to realize real-time display and control. The above control modules cooperate with each other to realize posture adjustment of the curved surface substrate and on-demand jet printing manufacturing of the electromagnetic functional structure.

[0046] The machine tool driver 41 is connected with the X-axis 16, Y-axis 13, Z-axis 15 and B / C rotating shaft 18 respectively to realize power supply and movement control of the motor module of the movement part, realize five-degree-of-freedom machining of the machine tool through linkage cooperation between the five axes, and solve the device problem of conformal manufacturing of complex curved surface electromagnetic functional structure.

[0047] The industrial computer 43 is connected with the machine tool driver 41, jet printing module driver 42, flow field controller 44, electric field controller 45 and operation platform 46, wherein the operation platform 46 can control the movement of the machine tool through the numerical control G code program of the electromagnetic functional structure completed by post-processing; the jet printing module driver 42 is controlled by the electrofluidic jet printing software to realize the work of the jet printing module; the flow field controller 44 is controlled to provide stable driving force for the storage pipe 32 to realize appropriate supply of functional materials; the electric field controller 45 is controlled to create a high-voltage electric field for the electro-jet printing valve 31 to realize formation of conical jet flow. On the basis of the above, the G code program of the five-axis machine tool is used to realize jet printing manufacturing of complex curved surface electromagnetic functional structure.

[0048] Further, each of the motion parts is a high-precision motion module component, the X-axis 16, the Y-axis 13 and the Z-axis 15 have a motion speed range of 042 m / min, a stroke of 800 mm, 400 mm and 600 mm respectively, a positioning accuracy of 0.005 mm, a repeat positioning accuracy of 0.003 mm and a straightness of 0.003 mm; in the B / C rotating shaft 18, the B-axis can realize ±110° swing and the C-axis can realize 360° rotation, the B / C rotating shaft has a division accuracy of 10 seconds and a repeat division accuracy of 5 seconds. The X-axis 16, the Y-axis 13, the Z-axis 15 and the B / C rotating shaft 18 can realize mutual linkage among the five motion axes through the adjustment of the numerical control system, and accurate positioning of the complex curved surface base and accurate walking of the spray printing valve are realized.

[0049] Further, the spray printing module 3 cooperates with the flow field controller 44 and the electric field controller 45 to realize high-precision spray printing of functional materials on demand. The spray printing module 3 is a multifunctional spray printing system, which includes an electro-spray printing valve 31, a spray head replacement device 34, a laser range finder 317 and a laser solidifier 314. The electro-spray printing valve 31 can switch multiple working modes through changing spray printing parameters, and realize the preparation of different types of electromagnetic functional structures such as points, lines and surfaces. The spray head replacement device 34 stores multiple types of spray heads, automatically selects the type of spray head according to the accuracy and shape requirements of the spray printing structure, and then completes the trial spray and positioning of the spray head in the trial spray printing area. For the case that the surface topography in a small range of the curved surface base is poor, the laser range finder 317 performs scanning motion before spray printing, and compensates the base error into the spray printing process during formal spray printing. The laser solidifier 314 is used for pre-solidification of the spray printing structure, which prevents the displacement or flow of the electromagnetic functional structure before solidification, and causes poor accuracy.

[0050] Further, the workpiece 184 can be processed into various types of curved surface electromagnetic functional structures with a size range of 500 mm in diameter x 700 mm in height. The electromagnetic functional structure processing accuracy can realize: the relative standard deviation of point structure <5%, the size accuracy of line structure ±5 μm, and the film uniformity of surface structure ≥95%.

[0051] The embodiment of the application also proposes a complex curved surface electromagnetic functional structure electrofluidic spray printing manufacturing method using the above device, which mainly includes the following method steps:

[0052] First, the specific shape of the curved surface base is determined, the digital model of the curved surface base is imported into electromagnetic functional structure paving software, the electromagnetic functional structure to be manufactured is paved on the surface of the curved surface base, and then the spray printing path trajectory is selected in sequence through the teaching function of the paving software, and all the trajectories are guided into the G code program of machine tool motion.

[0053] Secondly, after clamping the curved base to the rotary table, move the five-axis machine tool, find the starting point of the spray printing manufacturing, and set the starting point as the starting point of movement and the starting point of spray printing through the control module.

[0054] Thirdly, start the G code program, drive the complex curved surface electromagnetic functional structure electrohydrodynamic spray manufacturing device to spray and manufacture electromagnetic functional structures according to the program, and start various auxiliary tools to work.

[0055] Finally, after the electromagnetic functional structures on the curved base are completely processed, the curved base is removed from the rotary table.

[0056] The specific implementation steps of the method are as follows:

[0057] Step S1: Fix the workpiece 184 of the curved base with different shapes on the rotary table 183, and determine the starting point of the spray printing manufacturing, the manufacturing size range, and the type of electromagnetic functional structure of the workpiece 184.

[0058] Step S2: Import the workpiece 184 model into the electromagnetic functional structure paving and path planning software in the industrial computer 43, pave the structure in different regions according to different curvature values of the curved base, ensure that the deformation of the structure is minimized, and after the paving in different regions is completed, complete path planning through path teaching, integrate the paths in different regions into an overall program package, and complete post-processing through the industrial computer 43 to generate a G code program including all path trajectories.

[0059] Step S3: Install the storage pipe 32 of the functional material into the electro-spray printing valve 31, connect the output of the flow field controller 44 to the storage pipe 32, and connect the output of the electric field controller 45 to the electro-spray printing valve 31. Turn on the observation camera 315, the positioning camera 316, the laser range finder 317, and the laser solidifier 314.

[0060] Step S4: Start the power supply button, electrohydrodynamic spray printing control software, and the spray printing module 3 will complete the selection and replacement of the spray head, trial spraying and installation positioning according to the type and accuracy of the sprayed structure with the help of the auxiliary X / Y axis 312, the auxiliary Z axis 310, and the auxiliary U axis 33, and at the same time, calibrate the following positions of the observation camera 315, the laser range finder 317, and the laser solidifier 314.

[0061] Step S5: Start the generated G code program, and the laser range finder 317 will perform online scanning of the spray printing trajectory. The real-time scanning interval value and the set spray printing interval value are calculated through the industrial computer 43, the spray printing program is executed according to the spray printing trajectory during the spray printing process, and real-time interval compensation is performed.

[0062] Step S6: The operation platform 46 displays the current printing process execution state in real time, the observation camera 315 adjusts the printing parameters according to the real-time image effect, and the defective position of the electromagnetic functional structure is recorded for secondary accurate printing repair.

[0063] Step S7: After the printing is completed, the workpiece 184 is moved to the disassembly area, and the workpiece 184 is finally cured according to the curing requirements of the electromagnetic functional structure.

[0064] The following will be combined with the specific electromagnetic functional structure manufacturing schematic diagram, that is Figure 7 , supplementary description of the complex curved surface electromagnetic functional structure electrofluid printing specific manufacturing process operation method, which can include the following steps:

[0065] Step S1a: The non-developable surface base workpiece is clamped to the turntable workbench 183, and then the printing manufacturing starting point and processing range of the hexagonal grid electromagnetic functional structure are determined according to the shape of the non-developable surface base workpiece.

[0066] Step S2a: Adjust the movement of X-axis 16, Y-axis 13, Z-axis 15 and B / C rotating shaft 18 through the five-axis motion machine tool, so that the electrofluid printing valve nozzle and the base workpiece are perpendicular to each other.

[0067] Step S3a: Adjust the printing parameters of the printing module 3, so that the electrofluid printing valve 31 sprays functional materials to the target position, and combine the five-axis motion machine tool to move according to the hexagonal grid path, to sequentially manufacture hexagonal electromagnetic functional structures on the workpiece, and the laser curing device 314 follows the processed point of the electrofluid printing valve nozzle to pre-cure.

[0068] Step S4a: In the process of sequentially manufacturing hexagonal electromagnetic functional structures, the positioning camera 316 plays a role in positioning the printing starting point, ensuring the relative position of the sequentially manufactured hexagonal electromagnetic functional structures is accurate and correct until the manufacturing is completed.

[0069] Further, in step S2, the electromagnetic functional structure can be laid according to the curvature of different positions of the workpiece 184, that is, the performance-oriented micro-element laying method, which specifically includes: for the non-developable surface, first simulate the overall performance of the structure through simulation software during laying, view the allowable error size of the electromagnetic functional structure under the requirement of meeting the performance, set the error size as the theoretical allowable maximum deformation of the electromagnetic functional structure, divide the micro area according to the measured curvature, adjust the theoretical allowable maximum deformation to the allowable maximum deformation according to the measured curvature, and then complete the electromagnetic functional structure laying in the error range.

[0070] Further, the material used in the step S3 for forming the electromagnetic functional structure includes conductive metal paste, conductive metal ink, semiconductor polymer and glue material.

[0071] Further, the automatic replacement of the nozzle and the automatic adjustment of the printing parameters in the step S4 include: the viscosity of the functional material, the type of the electromagnetic functional structure and the size of the electromagnetic functional structure are input into the parameter database when the nozzle is selected and the parameters are adjusted; then, the appropriate nozzle specification and the initial printing parameters are selected according to the parameter database, the target electromagnetic functional structure is trial-printed in the trial printing area; the quality of the trial-printed structure is checked, and the printing parameters are fine-tuned if the quality is poor. The parameter database used is a printing parameter database established by machine learning based on a large amount of experimental data obtained in the early stage.

[0072] In summary, the application provides a kind of complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing equipment and method, which solves the problems of expensive equipment, poor manufacturing quality, low manufacturing efficiency and non-conformal manufacturing in the current complex curved surface electromagnetic functional structure manufacturing process. The proposed complex curved surface electromagnetic functional structure electrofluidic jet printing manufacturing method and equipment innovatively designs a jet printing special machine tool for complex curved surface substrate, which can realize multi-type, multi-material, high-precision, high-efficiency and non-damage manufacturing of electromagnetic functional structure through five-axis motion posture adjustment and cooperation of multi-functional jet printing module. It has the characteristics of full-process automation, fast forming and high efficiency, and has good application prospect in the fields of precision machining and micro-nano machining.

[0073] The above-mentioned embodiments only express the implementation of the application, but cannot be interpreted as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the application, some modifications and improvements can be made, which are all within the scope of protection of the application.

Claims

1. A method for manufacturing complex curved surface electromagnetic functional structures by electro-fluid printing, characterized in that: The method comprises the following steps: Determine the shape of the curved surface substrate, import the digital model of the substrate into the functional structure paving software, pave the electromagnetic functional structure to be manufactured on the surface of the curved surface substrate, select the printing path trajectory, and export all the trajectories into the G code program of the machine tool movement; wherein, the paving of the electromagnetic functional structure is performed according to the curvature of different positions of the workpiece (184), including: for the non-developable curved surface, first simulate the overall performance of the structure through simulation software when paving, determine the error size allowed by the electromagnetic functional structure under the condition of meeting the performance requirements, set the error size to the theoretical maximum allowable deformation of the electromagnetic functional structure, divide the micro area according to the measured curvature of the workpiece substrate, adjust the theoretical maximum allowable deformation to the allowable maximum deformation according to the measured curvature, and finally complete the paving of the electromagnetic functional structure in the micro area within the error range; After the curved surface substrate is clamped onto the turntable workbench, the printing module (3) is moved to find the starting point of the printing manufacturing, and the starting point is set as the movement starting point and the printing starting point by the control module (4); Then, the G code program is started, and the printing and manufacturing of the electromagnetic functional structure is carried out in sequence according to the program; Finally, after the electromagnetic functional structure of the curved surface substrate is completely processed, it is removed from the turntable workbench.

2. The electrofluid printing method for manufacturing complex curved electromagnetic functional structures according to claim 1, characterized in that: The specific steps are as follows: Step S1: fixing a workpiece (184) of a different-shaped base on a turntable workbench (183), determining a starting point and a manufacturing size range for printing the workpiece (184), and the type of the electromagnetic functional structure; Step S2: importing the model of the workpiece (184) into the electromagnetic functional structure cladding and path planning software in the industrial control computer (43), and performing structural cladding in different regions according to different curvature values ​​of the surface substrate to ensure that the deformation of the structure is minimized. After the cladding of each region is completed, the path planning is completed through path teaching, and the paths of each region are integrated into an overall program package. After the completion of the processing by the industrial control computer (43), a numerical control G code path trajectory program is generated; Step S3: Install the material storage tube (32) into the electro-jet printing valve (31), connect the output port of the flow field controller (44) to the material storage tube (32), and connect the output port of the electric field controller (45) to the electro-jet printing valve (31); turn on the observation camera (315), the positioning camera (316), the laser rangefinder (317), and the laser curing device (314); Step S4: Start the power button of the equipment and the electro-fluid printing control software, and complete the nozzle selection and replacement, test spraying and installation positioning according to the type and accuracy of the sprayed structure with the help of the auxiliary X / Y axis (312), the auxiliary Z axis (310), and the auxiliary U axis (33), and calibrate the following position of the observation camera (315), the laser rangefinder (317) and the laser curing device (314); Step S5: Start the generated CNC G code trajectory program, use the laser rangefinder (317) to perform online scanning of the printing trajectory, the industrial computer (43) calculates the real-time scanning spacing value and the set printing spacing value, and executes the printing program in sequence according to the trajectory program during the printing process, while performing real-time spacing compensation; Step S6: The operation console (46) displays the current printing program execution status in real time, and the printing parameters are corrected and adjusted according to the real-time image effect provided by the observation camera (315), and the defective position of the electromagnetic functional structure is recorded for secondary accurate printing repair; Step S7: After the printing is completed, the workpiece (184) is moved to the disassembly area, and the workpiece (184) is finally cured according to the curing requirements of the electromagnetic functional structure.

3. The electrofluid printing method for manufacturing a complex curved electromagnetic functional structure according to claim 2, characterized in that: The electromagnetic functional structure processing accuracy that can be achieved by the method is: point structure relative standard deviation <5%, line structure dimensional accuracy ±5μm, and surface structure film formation uniformity ≥95%.

4. The electrofluid printing method for manufacturing a complex curved electromagnetic functional structure according to claim 2, characterized in that: In step S3, the materials used for the electromagnetic functional structure include conductive metal slurry, conductive metal ink, semiconductor polymer and glue material; in step S4, automatic replacement and selection of the nozzle and automatic adjustment of the printing parameters are realized. When selecting the nozzle and adjusting the parameters: first, the viscosity of the functional material, the type of the electromagnetic functional structure, and the size of the electromagnetic functional structure are input into the parameter library, and the appropriate nozzle specifications and initial printing parameters are selected according to the database. The target electromagnetic functional structure is tested in the test printing area to check the quality of the test printed structure. If the quality is poor, the printing parameters are fine-tuned.

5. A device for electro-fluid printing of complex curved surface electromagnetic functional structures, characterized in that: The invention comprises a body module (1), a printing module (3) and a control module (4); the body module (1) comprises a bed portion and a moving portion; the printing module (3) is mounted on the body module (1) and is configured to cooperate with the moving portion to realize all-round printing of a curved substrate; the control module (4) is coupled to the printing module and the body module, and is used to coordinate and control the real-time movement of the moving portion and adjust the printing parameters of the printing module according to a G code program; wherein the G code program is obtained by the following method: determining the shape of the curved substrate, importing the substrate digital model into the functional structure cladding software, cladding the electromagnetic functional structure to be manufactured onto the curved substrate The surface is selected, the printing path trajectory is selected, and all the trajectories are exported into the G code program of the machine tool movement; wherein, the electromagnetic functional structure is paved according to the curvature of different positions of the workpiece (184), including: for the non-developable surface, the overall performance of the structure is first simulated by simulation software when paving, and the error size allowed by the electromagnetic functional structure is determined under the condition of meeting the performance requirements, and the error size is set to the theoretical maximum allowable deformation of the electromagnetic functional structure, and micro-area division is performed according to the measured curvature of the workpiece substrate, and the theoretical maximum allowable deformation is adjusted to the allowable maximum deformation according to the measured curvature, and finally the electromagnetic functional structure is paved in the micro-area within the error range.

6. The electro-fluid printing manufacturing device for complex curved surface electromagnetic functional structures according to claim 5, characterized in that: The bed body portion includes a base (11), a slide (12), a saddle (14), a bed (17), and a support seat (19); the bed (17) is mounted above the base (11), the slide (12) is mounted on an X-axis slider (162) on the upper surface of the bed (17), and the slide (12) is mounted on a Y-axis (13) and an X-axis (16); the saddle (14) is mounted on a Y-axis linear guide rail (132), and the Z-axis (15) is mounted on the saddle (14); and the support seat (19) is mounted on the base (11); The motion part includes an X-axis (16), a Y-axis (13), a Z-axis (15), and a B / C rotation axis (18); the X-axis linear guide rail (161) in the X-axis (16) is fixed on the upper surface of the bed (17), and the X-axis slider (162) is fixed on the lower surface of the slide (12) and cooperates with the X-axis linear guide rail (161); the Y-axis linear guide rail (132) in the Y-axis (13) is fixed on the lower surface of the saddle (14), and the Y-axis slider (131) is fixed on the upper surface of the slide (12) and cooperates with the Y-axis linear guide rail ( 132); the Z-axis linear guide rail (152) in the Z-axis (15) is fixed to the back of the support plate (39), and the Z-axis slider (151) is fixed to the front surface of the saddle (14) and cooperates with the Z-axis linear guide rail (152); the B / C rotating axis (18) is fixed on the bed (17) and the support seat (19), and the circular disk surface fixed to the C-axis in the B / C rotating axis (18) is a turntable workbench (183), and the turntable workbench (183) is provided with a fixture and a hole position for mounting a workpiece (184).

7. The electro-hydraulic printing manufacturing device for complex curved surface electromagnetic functional structures according to claim 6, characterized in that: The printing module (3) includes an electro-printing valve (31), a material storage tube (32), an auxiliary U-axis (33), a nozzle replacement device (34), a fixture (35), a third adapter plate (36), a first adapter plate (38), a support plate (39), an auxiliary Z-axis (310), a second adapter plate (311), an auxiliary X / Y-axis (312), a micro-displacement stage (313), a laser curing device (314), an observation camera (315), a positioning camera (316), and a laser rangefinder (317); the auxiliary Z-axis (310) is fixed on the first adapter plate (38), the first adapter plate (38) is fixed on the support plate (39), and the auxiliary X / Y-axis (312) is fixed on the second adapter plate. (311), the second adapter plate (311) is fixed to the auxiliary Z axis (310); the electro-jet printing valve (31), the laser rangefinder (317), and the positioning camera (316) are all fixed to the third adapter plate (36) through the clamp (35), and the material storage tube (32) is connected to the electro-jet printing valve (31); the laser curing device (314) and the observation camera (315) are fixed to the third adapter plate (36) through the micro-displacement stage (313), and the third adapter plate (36) is fixed to the auxiliary X / Y axis (312); the nozzle replacement device (34) is fixed to the auxiliary U axis (33), the auxiliary U axis (33) is fixed to the support plate (39), and the support plate (39) is fixed to the Z axis (15).

8. The electro-hydraulic printing manufacturing device for complex curved electromagnetic functional structures according to claim 7, characterized in that: The control module (4) includes a machine tool driver (41), a printing module driver (42), an industrial computer (43), a flow field controller (44), an electric field controller (45), and an operating table (46); the machine tool driver (41) controls the X axis (16), the Y axis (13), the Z axis (15), and the B / C rotation axis (18) to realize movement, and communicates with the industrial computer (43) to realize direct control of the machine tool driver (41) by the operating table (46); the printing module driver (42) controls the electro-printing valve (31), the auxiliary X / Y axis (312), the auxiliary Z axis (310), the auxiliary The auxiliary U-axis (33) realizes the initial test spray motion control of the printing, and communicates with the industrial control computer (43) to realize the direct control of the operating table (46); the output end of the flow field controller (44) is connected to the material storage tube (32) to realize the supply of driving force, and communicates with the industrial control computer (43) to realize the direct control of the operating table (46); the output end of the electric field controller (45) is connected to the electro-jet printing valve (31) to realize the application of electrical parameters, and communicates with the industrial control computer (43) to realize the direct control of the operating table (46); the operating table (46) is connected to the industrial control computer (43) to realize real-time display and control.

9. The electro-fluid printing manufacturing device for complex curved surface electromagnetic functional structures according to claim 8, characterized in that: The side shape of the second adapter plate (311) is L-shaped, and the side shape of the third adapter plate (36) is L-shaped rotated 90 degrees clockwise; the B axis of the B / C rotation axis (18) can achieve ±110-degree swinging, and the C axis can achieve 360-degree rotation; the X axis (16), the Y axis (13), the Z axis (15), and the B / C rotation axis (18) are interconnected through the coordination of the numerical control system to achieve the five motion axes.

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