Printing method, device and equipment based on multi-degree-of-freedom steering multi-needle structure and storage medium

Abstract

The invention discloses a printing method, device and equipment based on a multi-degree-of-freedom steering multi-needle structure and a storage medium, and belongs to the technical field of additive manufacturing. The printing method based on the multi-degree-of-freedom steering multi-needle structure comprises the following steps: acquiring parameter information of a printing surface of a to-be-printed product; all the printing heads and all the printing faces are matched, all the matched printing heads are controlled to rotate according to the parameter information of all the printing faces, and printing is conducted on the multiple printing faces at the same time; the printing device based on the multi-degree-of-freedom steering multi-needle structure comprises an information acquisition module used for acquiring parameter information of a printing surface of a to-be-printed product; and the control module is used for matching the printing heads with the printing faces, controlling the matched printing heads to rotate according to the parameter information of the printing faces and printing the multiple printing faces at the same time. By means of the printing method and the printing device, efficient and rapid printing of products with avoiding areas or multiple printing faces can be achieved, and the printing method and the printing device have wide application prospects in actual production.

Description

Technical Field

[0001] The present invention belongs to the technical field of additive manufacturing, and particularly relates to a printing method, device, equipment and storage medium based on a multi-degree-of-freedom steering multi-needle structure. Background Art

[0002] With the rapid iteration of electronic products, the development of 3D printing technology has been increasingly widely used in industries such as semiconductors and displays. Currently, single-needle or multi-needle structures are usually used for printing target products. However, there are still some problems and deficiencies in existing printing devices:

[0003] First of all, the existing multi-needle structure is difficult to achieve complex spatial movements, with low control precision, which is difficult to meet the requirements of high-precision operations and limits its application scope. Especially when facing complex products with multiple printing surfaces, it is difficult to efficiently print multiple printing surfaces simultaneously.

[0004] Secondly, the existing multi-needle structure is usually controlled by an integrated controller, and the directions and positions of each print head cannot be adjusted separately to quickly print the avoidance area of the product. This control method makes the printing system lack flexibility when processing products with complex shapes and is difficult to optimize and adjust according to the characteristics of different printing surfaces.

[0005] Finally, for products with avoidance areas, the existing technology can only use a single needle to adjust the platform angle for printing, resulting in low efficiency and high cost. This method not only increases the printing time but may also affect the printing accuracy and stability due to frequent adjustment of the platform angle.

[0006] Therefore, there is an urgent need to provide a technical solution that can achieve multi-degree-of-freedom steering and simultaneously print multiple printing surfaces based on a multi-needle structure to improve printing efficiency and accuracy and meet the requirements of multi-surface printing of complex products. Summary of the Invention

[0007] The main purpose of the present invention is to provide a printing method, device, equipment and storage medium based on a multi-degree-of-freedom steering multi-needle structure to solve the problem that the existing technology cannot efficiently and quickly print products with avoidance areas or multiple printing surfaces.

[0008] In a first aspect, the present invention provides a printing method based on a multi-degree-of-freedom steering multi-needle structure, the method comprising:

[0009] Obtaining parameter information of the printing surfaces of the product to be printed;

[0010] Matching each print head with each printing surface, and controlling the rotation of the matched print heads according to the parameter information of each printing surface for simultaneous printing of multiple printing surfaces.

[0011] Further, the obtaining parameter information of all printing surfaces of the printed product includes:

[0012] Obtain the number of printing surfaces of the printed product and the printing paths of each printing surface.

[0013] Furthermore, obtain the parameter information of the printing surface of the product to be printed according to the visual positioning module.

[0014] Furthermore, the matching of each print head and each printing surface, and the rotation of the matched print heads according to the parameter information of each printing surface includes:

[0015] Each print head corresponds to and matches one printing surface, and the parameter information obtained by the visual positioning module is fed back to the driving module, and the driving module is used to control the print heads matched with each printing surface to rotate in any direction.

[0016] Furthermore, control each print head and the corresponding printing surface to print at an inclination angle of 0° to 90°.

[0017] Furthermore, the needle body in the multi-needle structure is selected from alloy steel needles, ceramic needles, glass needles or plastic needles, and the maximum rotatable angle of the needle body is greater than 300°.

[0018] Furthermore, this printing method is applicable to printing lenses.

[0019] In a second aspect, the present invention provides a printing device based on a multi-degree-of-freedom steering multi-needle structure, and the device includes:

[0020] An information acquisition module, configured to acquire parameter information of the printing surface of the product to be printed;

[0021] A control module, configured to match each print head and each printing surface, control the rotation of the matched print heads according to the parameter information of each printing surface, and print multiple printing surfaces simultaneously.

[0022] Furthermore, the control module includes a driving module, and the driving module is used to control the rotation of the print heads matched with each printing surface.

[0023] In a third aspect, the present invention provides a computer device, including: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the above printing method.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the above printing method.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) It is applicable to the efficient and rapid printing of products with avoidance areas or multi-printing surfaces. Through the vision positioning module, the present invention can accurately obtain the parameter information of the printing surface of the product to be printed, and timely feedback this parameter information to the driving module for collaborative control of each needle to perform multi-degree-of-freedom rotation. It has the advantage of AOI self-adaptation, meets complex operation requirements, and helps to achieve the efficient and rapid printing of products with avoidance areas or multi-printing surfaces;

[0027] (2) The control accuracy and production efficiency are improved. Especially, the printing speed is significantly increased compared with the traditional single-needle or multi-needle structure. In the field of additive manufacturing, it is expected to develop smaller and more flexible multi-needle structures, which are applicable to high-precision application scenarios, such as semiconductors, MiniLED, MicroLED, OLED, VR, AR, large-size display printing, etc. in the display field, and can also be applicable to technical fields such as intelligent robots, minimally invasive medical surgery, and aerospace. Description of the Drawings

[0028] Figure 1 Schematic diagram of the printing process of the single-needle structure;

[0029] Figure 2 Schematic diagram of the existing multi-needle structure;

[0030] Figure 3 Schematic diagram of the multi-degree-of-freedom steering multi-needle structure of the present invention;

[0031] Figure 4 Schematic diagram of the structure of the printing device including the multi-needle structure;

[0032] Figure 5 Test result diagram of the line scan lens arch height measured by the height sensor in the printing area of the single-needle structure and the lens arch height measured by the profilometer;

[0033] Figure 6 Test result diagram of the line scan lens arch height measured by the height sensor in the first avoidance area of the single-needle structure and the lens arch height measured by the profilometer;

[0034] Figure 7 Test result diagram of the line scan lens arch height measured by the height sensor in the second avoidance area of the single-needle structure and the lens arch height measured by the profilometer;

[0035] Figure 8 Test result diagram of the line scan lens arch height measured by the height sensor in the printing area of the multi-needle structure and the lens arch height measured by the profilometer;

[0036] Figure 9 Test result diagram of the line scan lens arch height measured by the height sensor in the first avoidance area of the multi-needle structure and the lens arch height measured by the profilometer;

[0037] Figure 10Measuring height of the line-scanning lens in the second avoidance area and step height of the lens by a multi-needle structure, and test result diagram of step height measurement of the lens

[0038] Figure 11 Schematic diagram of the hardware structure of the computer device of the present invention

[0039] Explanation of reference numerals in the drawings: 1 - First avoidance area, 2 - Second avoidance area, 3 - Printing area, 4 - Printing platform Detailed implementation manners

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention

[0041] As described in the background art section of the present invention, although the existing multi-needle structure can perform large-area and rapid printing and forming on products, when facing some emerging products, the rotational degrees of freedom of each needle in the existing multi-needle structure are usually limited, it is difficult to achieve complex spatial movements, and the control accuracy is relatively low, making it difficult to meet the requirements of high-precision operations, which limits its application scope. When the target printed product is a special-shaped structure, there are multiple avoidance areas when printing on the printing area 3 by direct writing printing

[0042] Specifically, for the position of the product avoidance area, currently, the angle of the printing platform 4 and the placement position of the product are usually adjusted, and a single needle is used to print multiple avoidance areas in sequence. As Figure 1 shown, the single-needle structure needs to first print the printing area 3, then rotate the product and adjust the placement position of the product, and then print the first avoidance area 1 and the second avoidance area 2 in sequence, which reduces the production efficiency and increases the cost of the product; while the existing multi-needle structures are usually controlled by an integrated controller and cannot separately adjust the rotational directions and positions of each needle, thus unable to achieve fast and efficient printing of the avoidance areas. As Figure 2 shown, when the product has multiple printing surfaces and the multiple printing surfaces are not in the same plane, the multi-needle structure can also only print each printing surface in sequence, extremely affecting the printing efficiency

[0043] The first aspect of the present invention provides a printing method based on a multi-degree-of-freedom steering multi-needle structure, and the method includes:

[0044] Obtaining parameter information of the printing surface of the product to be printed

[0045] Match each print head with each printing surface, and control the rotation of the matched print heads according to the parameter information of each printing surface for simultaneous printing on multiple printing surfaces. The print head can rotate in any direction or at any angle according to the specific situation of the matched printing surface, and simultaneous printing on multiple printing surfaces helps to improve printing efficiency.

[0046] In some specific embodiments, the obtaining of the parameter information of all printing surfaces of the printed product includes:

[0047] Obtain the number of printing surfaces of the printed product and the printing paths of each printing surface (including the printing paths of the printing surface in the X, Y, and Z directions).

[0048] In some specific embodiments, obtain the parameter information of the printing surface of the product to be printed according to the vision positioning module, and the vision positioning module can be selected from high-precision 3D cameras.

[0049] In some specific embodiments, the matching of each print head with each printing surface and the control of the rotation of the matched print heads according to the parameter information of each printing surface include:

[0050] Each print head corresponds to and matches one printing surface, and the parameter information obtained by the vision positioning module is fed back to the driving module. The driving module is used to control the print heads matched with each printing surface to rotate in any direction, so that each print head and the printing surface it matches are printed at an inclination angle of 0° to 90°, realizing simultaneous printing on multiple printing surfaces. Preferably, taking the printing at an inclination angle of 30° to 90° as an example, this design of the inclination angle enables the print head to better contact the printing surface, improving printing quality and efficiency. For example, when the printing surface is a horizontal plane, the print head can be vertically downward (90°); when the printing surface is a vertical plane, the print head can be in a horizontal direction or contact the printing surface at an angle of 30° to 89°. More preferably, in the embodiment, it can be controlled that each print head and the printing surface it matches are printed at an inclination angle of 45° to 90°. This angle range is suitable for most common printing tasks, which can not only ensure good contact between the print head and the printing surface but also avoid interference between the print head and other components of the product. Further preferably, control each print head and the printing surface it matches to be printed at an inclination angle of 60° to 90°. This larger inclination angle is suitable for printing relatively flat surfaces and can improve printing stability and consistency.

[0051] In some specific embodiments, the needle bodies in the multi-needle structure can be selected from alloy steel needles, ceramic needles, glass needles, plastic needles, etc. When selecting alloy steel needles, the steel needles have high hardness and wear resistance, and are suitable for long-term continuous printing operations. When selecting ceramic needles, the ceramic needles have excellent high-temperature resistance and chemical stability, and are suitable for use in high-temperature environments or occasions where special chemical substances need to be printed. The surface of the ceramic needle is smooth and has a low friction coefficient, which can reduce the resistance during the printing process and improve the printing accuracy. When selecting glass needles, the glass needles have good chemical inertness and transparency, and are suitable for occasions where it is necessary to observe the flow of the printing liquid. The glass needles also have good insulation performance, which is suitable for avoiding current interference when printing conductive materials. The maximum rotatable angle of the needle body is greater than 300°, and most preferably, it can achieve 360° rotation in any direction, which means that the print head can be rotated to any required angle, greatly enhancing the adaptability and flexibility of the printing system. By setting the driving module to adjust the relative positions of the print heads and the printing surface, not only can the problem of interference and collision between the remaining printing needles and the product when one printing needle is working due to the rotational movement of the printing needles during the multi-needle structure printing process be avoided, but also the printing efficiency of non-planar structure products is greatly improved, which is suitable for actual production applications.

[0052] In some specific embodiments, the printing methods include but are not limited to direct writing printing, screw valve printing, piezoelectric valve printing, inkjet printing, EHD printing, etc.

[0053] In some specific embodiments, the inner diameter of the needle head can be selected according to the product requirements. Needle heads with different inner diameters can print various line widths of different types, achieving different printing effects.

[0054] Specifically, the printing method includes:

[0055] Before printing, level each needle head of the multi-degree-of-freedom steering multi-needle structure. After initially measuring the height of each needle using a Z-axis tool setter, rotate a certain angle through an electric angle adjustment table according to the height difference to ensure that the height difference of each needle is within ±1.5 μm, and then adjust the steering angle of each needle according to the product morphology; generally, ceramic needles are selected as the printing needles of the multi-degree-of-freedom steering multi-needle structure. They have a wide application range, good durability and friction resistance, and help to significantly improve the printing efficiency. Specifically, when printing conventional lenses, 100 / 150 μm ceramic needles can be selected for printing. In addition, when the printed product is an array of microlenses (with a diameter range of 1-5 μm), glass needles can be selected for hole filling printing, which is more precise and accurate;

[0056] Obtain the number of printing surfaces of the product to be printed and the printing paths of each printing surface through the vision positioning module;

[0057] The parameter information obtained by the visual positioning module is fed back to the driving module, and the driving module independently controls the print heads matched with each printing surface to rotate in different directions and angles, so that each print head and the corresponding printing surface are printed at the best tilt angle. As Figure 3 shown, the leftmost needle of the multi-needle structure can rotate left by a certain angle for printing in the first avoidance area 1; the middle needle remains stationary for printing in the printing area 3; the rightmost needle can rotate right by a certain angle for printing in the second avoidance area 2.

[0058] The lenses printed by the present invention and the single-needle structure in the first avoidance area 1, the second avoidance area 2 and the printing area 3 are subjected to height detection by using a height measuring sensor and a step gauge. The control variable method is used during the detection process, that is, in the same environment, the same sample is printed in the same area with ceramic needles of the same diameter size, at the same speed, and with the same material, and whether there are differences in the lens arch heights of each area after printing the two is compared to determine the actual production feasibility of the multi-degree-of-freedom steering structure.

[0059] Use a height measuring sensor to test the height of the printed lens:

[0060] The first avoidance area 1 is adsorbed on the machine platform through air pressure (40 psi pressure), and the height of the lens printed in the first avoidance area 1 is automatically measured by the height measuring sensor and recorded. In the same way, the heights of the lenses printed in the second avoidance area 2 and the printing area 3 are also measured.

[0061] Use a step gauge to test the height of the printed lens:

[0062] Select the measurement height recipe, set the measurement length parameter to 2200 μm, the speed to 50 μm / s, the frequency to 1000 Hz, the needle pressure to 2 mg, and the measurement direction from left to right. First, adsorb the first avoidance area 1 on the measurement platform of the step gauge, measure the height of the lens printed in the first avoidance area 1 by the step gauge and record it. In the same way, the heights of the lenses printed in the second avoidance area 2 and the printing area 3 are also measured.

[0063] The lens height detection results are as Figures 8 - 10 shown. Compare this detection result with the height detection result of the product printed by the single-needle structure (as Figures 5 - 7 shown). Through the data, it can be obtained that the height data of the lens printed by the multi-needle structure with multi-degree-of-freedom steering is consistent with the height data of the lens printed by the single-needle or multi-needle structure respectively, which proves the feasibility of printing by the multi-needle structure with multi-degree-of-freedom steering. Using the printing method of the present invention will not affect the product parameters and helps to further improve the printing efficiency.

[0064] It can be seen that the present invention aims to accurately obtain the parameter information of the printing surface of the product to be printed through the vision positioning module, and timely feedback the parameter information to the driving module for collaborative control of each needle to perform multi-degree-of-freedom rotation, meeting the complex operation requirements, which helps to achieve efficient and rapid printing of products with avoidance areas or multiple printing surfaces; the core technology of the present invention lies in the collaborative cooperation between the multi-degree-of-freedom steering multi-needle structure and the control module to achieve efficient and rapid printing of products with avoidance areas or non-planar structures. At the same time, the control accuracy and production efficiency of the present invention are improved. In particular, the printing speed is significantly increased compared with the traditional single-needle or multi-needle structure. It is expected to develop smaller and more flexible multi-needle structures in the field of additive manufacturing, which are applicable to various precision manufacturing fields.

[0065] The second aspect of the present invention provides a printing device based on a multi-degree-of-freedom steering multi-needle structure, and the device includes:

[0066] An information acquisition module for acquiring the parameter information of the printing surface of the product to be printed;

[0067] A control module for matching each print head with each printing surface, controlling the rotation of the matched print heads according to the parameter information of each printing surface, and simultaneously printing multiple printing surfaces.

[0068] In some specific embodiments, the control module includes a driving module, and the driving module is used to control the rotation of the print heads matched with each printing surface.

[0069] Specifically, as Figure 4 shown, the printing device based on the multi-degree-of-freedom steering multi-needle structure includes the following components:

[0070] Multi-needle structure: including multiple slender needles, a material storage tube and a flow channel. The needle body of the printing needle can be adaptively selected according to the printing requirements of the product, including but not limited to high-strength alloy steel needles, ceramic needles, glass needles, plastic needles, etc. The printing materials used include but not limited to organic polymer materials, metal materials, inorganic non-metallic materials, composite materials, etc.; the material storage tube is connected to the printing needle through the flow channel, and the printing device can automatically control the material discharge amount, material discharge time and material discharge sequence of each print head according to the required printed product to achieve high-precision printing; each material storage tube can be filled with the same or different printing materials; the number and arrangement position of the printing needles can be appropriately adjusted according to the actual situation. Among them, the number of printing needles is usually the same as the number of printing surfaces; the multi-needle structure can control the moving slider to rotate through a driving mechanism. In addition, a limiting block can also be used to limit the movement of the printing mechanism to avoid collision and damage with other components during the movement of the printing mechanism, improving the overall stability of the device;

[0071] Control system: It includes a vision sensor, a drive module, and a feedback module. The drive module includes a motor, a hydraulic or pneumatic system, etc., and is used to independently control the translational, rotational, and tilting movements of each needle.

[0072] Connecting device: It is used to connect the multi-needle structure and the drive mechanism to ensure the accurate transmission of motion.

[0073] In some specific embodiments, the surface of the needle body of the multi-needle structure can be coated with a lubricating coating to reduce the movement resistance.

[0074] In some specific embodiments, the drive module uses a micro-motor to achieve high-precision control.

[0075] In some specific embodiments, the control system integrates an artificial intelligence algorithm to achieve autonomous motion path planning.

[0076] The third aspect of the present invention provides a computer device, including: one or more processors and a memory, as well as interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways according to needs. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional implementation manners, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 11 Taking one processor as an example.

[0077] The processor can be a central processing unit, a network processor, or a combination thereof. Among them, the processor can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0078] Among them, the memory stores instructions executable by at least one processor, so that the at least one processor executes to implement the above printing method.

[0079] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device and the like. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory may optionally include a memory remotely provided relative to the processor, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0080] The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory may further include a combination of the above types of memory.

[0081] The computer device further includes a communication interface for the computer device to communicate with other devices or a communication network.

[0082] A fourth aspect of the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the above-mentioned printing method. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and to be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0083] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0084] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0085] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the present invention.

Claims

1. A printing method based on a multi-degree-of-freedom steering multi-needle structure, characterized in that, The method includes: Obtaining parameter information of the printing surface of the product to be printed; Matching each print head with each printing surface, and controlling the rotation of the matched print heads according to the parameter information of each printing surface for simultaneous printing on multiple printing surfaces.

2. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 1, wherein, The obtaining of the parameter information of all printing surfaces of the printed product includes: Obtaining the number of printing surfaces of the printed product and the printing paths of each printing surface.

3. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 1, characterized in that, Obtaining the parameter information of the printing surface of the product to be printed according to the vision positioning module.

4. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 3, characterized in that, The matching of each print head with each printing surface and controlling the rotation of the matched print heads according to the parameter information of each printing surface includes: Each print head corresponds to and is matched with one printing surface, and the parameter information obtained by the vision positioning module is fed back to the driving module, and the driving module is used to control the print heads matched with each printing surface to rotate in any direction.

5. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 4, characterized in that Controlling each print head and the printing surface matched therewith to print at an inclination angle of 0° to 90°.

6. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 1, wherein The needle body in the multi-needle structure is selected from alloy steel needles, ceramic needles, glass needles or plastic needles, and the maximum rotatable angle of the needle body is greater than 300°.

7. The printing method based on a multi-degree-of-freedom steering multi-needle structure according to claim 1, wherein, This printing method is used for printing lenses.

8. A printing device based on a multi-degree-of-freedom steering multi-needle structure, characterized in that, The device includes: An information acquisition module for obtaining parameter information of the printing surface of the product to be printed; A control module for matching each print head with each printing surface, controlling the rotation of the matched print heads according to the parameter information of each printing surface and performing simultaneous printing on multiple printing surfaces.

9. The printing device based on a multi-degree-of-freedom steering multi-needle structure according to claim 8, characterized in that, The control module includes a driving module, and the driving module is used to control the rotation of the print heads matched with each printing surface.

10. A computer device, characterized in that, It includes: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the printing method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause the computer to execute the printing method according to any one of claims 1 to 7.

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