Printing method and device supporting mixed printing of soft and hard heterogeneous materials

Abstract

The invention discloses a printing method and device supporting mixed printing of soft and hard heterogeneous materials, independent pickup and placement of a hard sheet in a space are realized through adjustment of positive and negative air pressures, and creation of a complex heterogeneous microstructure material is realized through further combination with glue dripping and glue uniformizing, so that the manufacturing method is innovated, and the manufacturing cost is reduced. The hard components can be more orderly arranged in a material domain, the automation degree is high, the reliability is high, and the method is suitable for general materials without external field response capability; the manufacturing of high-performance materials with complex microstructures can be achieved, the distribution orientation and position of hard components in a material domain can be flexibly adjusted according to needs, the situation that the spatial position of the hard components cannot be accurately controlled in an existing multi-material three-dimensional printing technical scheme is changed, operation is easy, reliability is high, and the manufacturing cost is low. And important guarantee is provided for development of high-performance materials.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing additive manufacturing, and specifically relates to a printing method and device that supports mixed printing of soft and hard heterogeneous materials. Background Art

[0002] Some biological materials in nature (such as mother-of-pearl, bone, etc.) have very excellent comprehensive properties. The fundamental reason is that there are both high-strength hard components and soft components with good flexibility inside the material, and the two constitute the microstructure of the material in a highly ordered manner, so that the material can maintain high strength while using the energy dissipation mechanism brought by the heterogeneous microstructure to significantly improve toughness. Inspired by this, using multi-material 3D printing technology to perform high-precision integrated forming of soft and hard heterogeneous components and constructing a delicate and orderly three-dimensional structure at the microscopic scale of the material is an effective way to develop artificial high-performance materials. However, the current multi-material 3D printing technology is still very immature. Due to incompatible forming conditions (such as temperature), it is currently difficult to integrate high-strength components such as ceramics or glass with polymer components with good flexibility characteristics in any form with high precision. Instead, hard components with fixed forms such as particles, fibers or sheets are mixed with polymer prepolymers as reinforcing phases, and the easy forming properties of polymers are used to manufacture multiphase materials. This causes the hard components to be randomly distributed in the material domain and disordered, and cannot form a delicate and orderly microstructure, limiting the improvement of material performance. The development of multi-material 3D printing technology that supports the orderly distribution of soft and hard heterogeneous components in three-dimensional space is of great significance for the development of high-performance materials.

[0003] Existing multi-material 3D printing technology mainly uses external field assistance to achieve orderly distribution of hard components. For example, by applying a magnetic field with controllable direction and intensity to the hard flakes that are initially randomly distributed in the liquid photosensitive resin, the flakes can be guided to distribute along the direction of the magnetic field, and the spatial orientation can be permanently fixed by the subsequent curing of the resin to form a certain ordered microstructure; in addition, the mechanical shearing effect generated by the force field can also guide the fiber to rotate in a specific direction, thereby generating a microstructure with uniform orientation of the hard components. The multi-material 3D printing scheme using external field assistance involves the use of an external field generating device with a high energy density, which is relatively complicated and even dangerous in operation. Sometimes, the material is required to have external field response capabilities, which limits the types of hard components. On the other hand, the external field can generally only be used to adjust the overall spatial orientation of the hard component, and it is impossible to independently control the precise position of each hard component unit, resulting in only a certain degree of orderly arrangement of the hard components. Therefore, how to develop a more powerful multi-material 3D printing method to achieve free manipulation of hard components and the creation of complex microstructures is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The object of the present invention is to provide a printing method and device supporting the hybrid printing of hard and soft heterogeneous materials to solve the above problems.

[0005] To achieve the above object, the present invention provides the following technical solution: The specific steps of a printing method supporting the hybrid printing of hard and soft heterogeneous materials are as follows:

[0006] S1. Prepare raw materials: Place the hard thin sheets cut into specific shapes one by one into the grids in the positioning grooves; Add a certain amount of photosensitive resin into the resin syringe.

[0007] S2. Determine printing parameters: Determine the pick-and-place print head, determine the coordinates to be placed of the pick-and-place print head, and in combination with the thickness of the hard thin sheet, plan the movement path of the three-axis moving platform during the entire printing process and write it into code; Determine the extrusion pressure and extrusion time according to the viscosity of the photosensitive resin and the layer thickness.

[0008] S3. Pre-printing: Perform printing on the premise of turning off the pressure of the pick-and-place print head and the dispensing print head; Observe whether the movement path of the pick-and-place print head during the printing process is reasonable.

[0009] S4. Formal printing:

[0010] S401. Use the dispensing print head to extrude an appropriate amount of photosensitive resin droplets onto the surface of the hard thin sheet that has been placed in a certain layer.

[0011] S402. Control the printing table to slowly rotate at an appropriate acceleration until it reaches a certain speed and then keep rotating at a constant speed. The droplets gradually penetrate into the gaps between adjacent thin sheets as the printing table rotates and uniformly spread into a liquid film with a certain thickness on the surface of the thin sheets.

[0012] S403. Control the pick-and-place print head to move to the positioning groove where the hard thin sheet is placed. When the print head approaches the center of the hard thin sheet from above until it is 1 mm adjacent, stop moving, apply negative pressure to pick up the thin sheet at the end of the print head by suction, and then transfer it to the printing area. Determine the coordinates where the thin sheet is to be placed according to the design requirements of the micro-structure, control the print head to move to this coordinate, and stop moving when the height difference is 1 mm. Apply positive pressure to remove the suction and place the thin sheet in the specified area. Repeat the pick-up and placement operations until all the thin sheets in this layer are placed.

[0013] S404. Turn on the projector to irradiate the liquid resin on the outermost layer of the printing area, so that the hard thin sheet forms a firm bond with the cured soft matrix along with the curing of the resin.

[0014] S405. After the exposure is completed, transfer to the next printing cycle and repeat the steps of dispensing - spin - coating - picking - transferring - placing - exposing, finally achieving high - precision hybrid assembly of hard and soft heterogeneous components in three - dimensional space;

[0015] S406. Run the correct code that has been verified and wait for the printing to proceed until it ends.

[0016] Preferably, the hard thin sheets in S1 include glass, ceramic, and acrylic.

[0017] Preferably, in S2, the pick - and - place printhead is determined according to the placement position of the hard thin sheet in the positioning groove; the coordinates to be placed of the pick - and - place printhead are determined according to the specific position of each thin sheet in the material domain based on the microstructure pattern to be created, and then the coordinates to be placed of the pick - and - place printhead are determined.

[0018] Preferably, the thickness of the liquid film in S402 is controlled by the rotation speed.

[0019] A printing device for a printing method supporting hybrid printing of hard and soft heterogeneous materials, including a three - axis platform, a projector, a pick - and - place component, and a dispensing printhead.

[0020] Preferably, the three - axis platform specifically includes an optical breadboard, a liftable breadboard, an X - axis moving platform, a Y - axis moving platform, a Z - axis moving platform, an XY - axis moving platform connecting plate, and a horizontal - to - vertical bracket;

[0021] The liftable breadboard and the X - axis moving platform are fixed to the optical breadboard by hexagon socket head cap screws. At the same time, in order to fix the Y - axis moving platform and the Z - axis moving platform, the XY - axis moving platform connecting plate and the horizontal - to - vertical bracket are fixed on the X - axis moving platform and the liftable breadboard respectively.

[0022] Preferably, the pick - and - place component includes

[0023] a pick - and - place syringe, a detachable syringe clamp, a pick - up syringe fixing plate, a 100 - mm optical rod, a printing table connecting plate, a 75 - mm optical rod, a positioning groove fixing plate, a positioning groove, a brushless motor, a brushless motor fixing plate, a flange, a printing barrel connector, and a printing barrel;

[0024] The pick-and-place syringe is inserted into the detachable syringe clamp and fixed from the left with an Allen head nut. The detachable syringe clamp is fixed on the projector and the pick-and-place syringe fixing plate. The projector, the pick-and-place syringe fixing plate, and the Z-axis moving platform can be connected by four 100-mm optical support rods. The projector is installed on the projection and pick-and-place syringe fixing plate. On the Y-axis moving platform, the Y-axis and the printing table connecting plate are fixed and four 75-mm optical support rods are screwed thereon. The positioning groove fixing plate is propped against the 75-mm optical support rod through the threaded holes on the side. The positioning groove is directly placed in the groove of the positioning groove fixing plate. The brushless motor is fixed on the brushless motor fixing plate. The brushless motor fixing plate is fixed on the 75-mm optical support rod through the reserved holes. The flange is fixed on the brushless motor shaft with a setscrew. The printing barrel connector and the printing barrel are press-fitted on the flange in sequence.

[0025] Preferably, the dispensing print head includes a stepper motor, a stepper motor fixing plate, a 225-mm optical support rod, a support column, a coupling, a resin syringe, a syringe clamp, and a horizontal connecting rod.

[0026] The stepper motor is fixed on the stepper motor fixing plate. The stepper motor fixing plate is fixed on the optical breadboard through the 225-mm optical support rod. The support column is connected to the stepper motor shaft through the coupling. The resin syringe is inserted and fixed in the syringe clamp. The syringe clamp is connected to the support column through the horizontal connecting rod.

[0027] The technical effects and advantages of the present invention: By adjusting the positive and negative air pressures, the independent picking and placing of the hard thin sheet in space are realized. Further combined with dispensing and leveling the glue, the creation of materials with complex heterogeneous microstructures is realized. Innovation is made in the manufacturing method, enabling a more orderly arrangement of the hard components in the material domain. It has a high degree of automation and strong reliability, and is applicable to general materials without the ability of external field response.

[0028] It can realize the manufacturing of high-performance materials with complex microstructures, in which the distribution orientation and position of the hard components in the material domain can be flexibly adjusted according to needs, changing the situation where the spatial position of the hard components in the previous multi-material three-dimensional printing technology solutions cannot be precisely controlled. It is simple to operate and has strong reliability, providing an important guarantee for the development of high-performance materials. Brief Description of the Drawings

[0029] Figure 1 It is a schematic diagram of a multi-material three-dimensional printing method for supporting the hybrid assembly of hard and soft heterogeneous components provided by the present invention.

[0030] Figure 2 It is a schematic diagram of a multi-material three-dimensional printing device for supporting the hybrid assembly of hard and soft heterogeneous components provided by the present invention.

[0031] Figure 3Schematic separation diagram of the multi-material three-dimensional printing device provided by the present invention, including a projection and a pick-and-place system;

[0032] Figure 4 Schematic separation diagram of the multi-material three-dimensional printing device provided by the present invention, including a pick-and-place and a printing table system;

[0033] Figure 5 Schematic separation diagram of the multi-material three-dimensional printing device provided by the present invention, including a dispensing system.

[0034] In the figure: 1. Optical breadboard; 2. Liftable breadboard; 3. Horizontal-to-vertical bracket; 4. X-axis moving platform; 5. XY-axis moving platform connecting plate; 6. Y-axis moving platform; 7. Z-axis moving platform; 8. 100mm optical rod; 9. Pick-and-place syringe; 10. Removable syringe clamp; 11. Projection and pick-and-place syringe fixing plate; 12. Projector; 13. Y-axis and printing table connecting plate; 14. 75mm optical rod; 15. Positioning groove fixing plate; 16. Positioning groove; 17. Brushless motor; 18. Brushless motor fixing plate; 19. Flange; 20. Flange and printing barrel connector; 21. Printing barrel; 22. 225mm optical rod; 23. Stepper motor; 24. Stepper motor fixing plate; 25. Coupling; 26. Support column; 27. Resin syringe; 28. Syringe clamp; 29. Horizontal connecting rod. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. 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.

[0036] The present invention provides a printing method and device for supporting the hybrid printing of hard and soft heterogeneous materials as shown in the figure. The technical solutions provided by the present invention are as follows:

[0037] For a typical printing cycle, such as Figure 1As shown, it involves six key operations. First, use a dispensing print head to extrude an appropriate amount of photosensitive resin droplets onto the surface of a rigid thin sheet that has already been placed on a certain layer. Subsequently, control the printing table to slowly rotate with a suitable acceleration until it reaches a certain speed and then maintain a constant rotation speed. The droplets gradually penetrate into the gaps between adjacent thin sheets as the printing table rotates and evenly spread on the surface of the thin sheet to form a liquid film with a certain thickness, and the thickness of the liquid film is controlled by the rotation speed. Immediately afterwards, control the pick-and-place print head to move to the positioning groove where the rigid thin sheet is placed. When the print head approaches the center of the rigid thin sheet from above until it is one millimeter away from the adjacent sheet, stop moving. Apply negative pressure to pick up the thin sheet at the end of the print head using suction, and then transfer it to the printing area. Determine the coordinates where the thin sheet is to be placed according to the design requirements of the microstructure. Control the print head to move to this coordinate and stop moving when the height difference is one millimeter. Apply positive pressure to remove the suction and place the thin sheet in the specified area. Repeat the pick-up and placement operations until all the thin sheets in this layer are placed. Next, turn on the projector to irradiate the liquid resin on the outermost layer of the printing area, so that the rigid thin sheet forms a firm bond with the cured soft matrix along with the curing of the resin. After the exposure is completed, transfer to the next printing cycle and repeat the dispensing - leveling - pick-up - transfer - placement - exposure steps. By continuously accumulating rigid thin sheets and soft matrices in the thickness direction, the high-precision mixing and assembly of hard and soft heterogeneous components in three-dimensional space are finally realized, and the creation of a material with a specific microstructure is completed.

[0038] According to the above printing method, the three-dimensional printing device established by the present invention is as Figure 2 , Figure 3 , Figure 4 and Figure 5 shown. The printing device is composed of an optical metal breadboard 1, a liftable metal breadboard 2, a horizontal-to-vertical bracket 3, an X-axis moving platform 4, an XY-axis moving platform connecting plate 5, a Y-axis moving platform 6, a Z-axis moving platform 7, a 100-mm optical rod 8, a pick-and-place syringe 9 with adjustable positive and negative pressure, a detachable syringe clamp 10, a projection and pick-and-place syringe fixing plate 11, a projector 12 with an exposure function, a Y-axis and printing table connecting plate 13, a 75-mm optical rod 14, a positioning groove fixing plate 15, a positioning groove 16, a brushless motor 17, a brushless motor fixing plate 18, a flange 19, a flange and printing barrel connector 20, a printing barrel 21, a 225-mm optical rod 22, a stepping motor 23, a stepping motor fixing plate 24, a coupling 25, a support column 26, a photosensitive resin syringe 27, a syringe clamp 28, and a horizontal connecting rod 29. Among them, the printing barrel 21, the positioning groove fixing plate 15, and the positioning groove 16 are made of aluminum alloy, and other customized parts are all made of acrylic plates.

[0039] The optical breadboard 1 is fixed on the optical platform. The liftable breadboard 2 and the X-axis moving platform 4 are fixed on the optical breadboard 1 by hexagon socket head cap screws. Meanwhile, in order to fix the Y-axis moving platform 6 and the Z-axis moving platform 7, the XY-axis moving platform connecting plate 5 and the horizontal to vertical bracket 3 are respectively fixed on the X-axis moving platform 4 and the liftable breadboard 2, and the three-axis platform is installed. Then install the projection and pick-and-place components. The pick-and-place syringe 9 is inserted into the detachable syringe clamp 10 and fixed from the left with hexagon socket head cap nuts. The detachable syringe clamp 10 is fixed on the projection and pick syringe fixing plate 11 (the reserved holes can adjust the height of the picker). The projection and pick-and-place syringe fixing plate 11 and the Z-axis moving platform 7 can be connected by four 100mm optical support rods 8. After that, install the projector 12 on the projection and pick-and-place syringe fixing plate 11 (an incorrect order will cause the installation of the projector 12 to fail). In order to facilitate the installation of the brushless motor 17, the Y-axis and printing table connecting plate 13 is fixed on the Y-axis moving platform 6 and four 75mm optical support rods 14 are screwed on it. The positioning groove fixing plate 15 is pressed against the 75mm optical support rods 14 with hexagon socket head cap screws through the threaded holes on the side. The positioning groove 16 is directly placed in the groove of the positioning groove fixing plate 15. The brushless motor 17 (controls the flatness and thickness of each layer of resin through different rotation speeds and accelerations) is fixed on the brushless motor fixing plate 18. The brushless motor fixing plate 18 is fixed on the 75mm optical support rods 14 through the reserved holes. In order to horizontally fix the printing barrel, a flange 19 is added, which is fixed on the shaft of the brushless motor 17 by a setscrew. The flange, the printing barrel connector 20 and the printing barrel 21 are in interference fit on the flange 19 in sequence (facilitates taking the printed parts and cleaning the printing barrel after printing), and the pick table and the printing table are installed. Finally, install the dispensing print head. Since the pick-and-place operation takes most of the time during the printing process, when the dispensing print head is idle, a stepper motor is used to control it to leave the working area to prevent it from affecting the operation of the pick-and-place print head. The stepper motor 23 is fixed on the stepper motor fixing plate 24. The stepper motor fixing plate 24 is fixed on the optical breadboard 1 by 225mm optical support rods 22. The support column 26 is connected to the shaft of the stepper motor 23 through a coupling 25. Similarly, the resin syringe 27 is inserted and fixed in the syringe clamp 28. The syringe clamp 28 is connected to the support column 26 through a horizontal connecting rod 29. The above three-axis moving platform and the projector 12 are directly connected to the computer and controlled by code. The brushless motor 17 and the stepper motor 23 are connected to the computer with the help of a microcontroller as a slave computer. The air pipe channels of the pick-and-place syringe 9 and the resin syringe 27 are connected to a high-precision dispensing machine (not shown in the figure). The positive pressure or negative pressure is applied by the dispensing machine. The dispensing machine is also connected and controlled to the computer with the help of a microcontroller as a slave computer.

[0040] The specific operation process of this printing device is introduced as follows:

[0041] Step 101, Prepare raw materials: Place the hard thin sheets (such as glass, ceramics, and acrylics) cut into specific shapes in advance into the grids in the positioning groove 16 one by one, and then embed the entire positioning groove 16 in the positioning groove fixing plate 15; Immediately add a certain amount of photosensitive resin into the resin syringe 27, and insert the syringe into the syringe clamp 28 and fix it well;

[0042] Step 102, Determine printing parameters: Determine the coordinates to be picked up by the pick-and-place print head according to the placement position of the hard thin sheet in the positioning groove 16, determine the specific position of each thin sheet in the material domain according to the micro-structure pattern to be created, and then determine the placement coordinates of the pick-and-place print head. Combine the thickness of the hard thin sheet to plan the movement path of the three-axis moving platform during the entire printing process and write it into code; Determine the appropriate extrusion pressure and extrusion time according to the viscosity of the photosensitive resin and the layer thickness.

[0043] Step 103, Pre-printing: Perform printing on the premise of closing the pressure of the pick-and-place print head and the dispensing print head, and observe whether the movement path of the pick-and-place print head during printing is reasonable, such as whether there is a needle hitting phenomenon and other situations that should not occur. If so, stop immediately and modify the code until the expected effect is achieved.

[0044] Step 104, Formal printing: Open the pressure of the pick-and-place print head and the dispensing print head, run the correct code that has been tested, and wait for the printing to end. During this period, mainly pay attention to whether the printing materials are used up. If so, replace them in time.

[0045] Step 105, Complete printing: Remove the printing barrel 21 from the printing barrel connector 20, use a blade to remove the component from the printing table, and clean the residual resin and the table with alcohol.

[0046] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A printing method for supporting hybrid printing of hard and soft heterogeneous materials, characterized in that: The specific steps are as follows: S1. Prepare raw materials: Place the hard thin sheets cut into specific shapes one by one into the grids in the positioning grooves; add a certain amount of photosensitive resin into the resin syringe. S2. Determine printing parameters: Determine the pick-and-place print head, determine the coordinates to be placed of the pick-and-place print head, and combine with the thickness of the hard thin sheet to plan the movement path of the three-axis moving platform during the entire printing process and write it into code; determine the extrusion pressure and extrusion time according to the viscosity of the photosensitive resin and the layer thickness. S3. Pre-printing: Perform printing on the premise of turning off the pressure of the pick-and-place print head and the dispensing print head. Observe whether the movement path of the pick-and-place print head during printing is reasonable. S4. Formal printing: S401. Use the dispensing print head to extrude an appropriate amount of photosensitive resin droplets onto the surface of the hard thin sheet that has completed the placement of a certain layer. S402. Control the printing table to slowly rotate with a suitable acceleration until it reaches a certain speed and then keep rotating at a constant speed. The droplets gradually penetrate into the gaps between adjacent thin sheets as the printing table rotates and uniformly spread into a liquid film with a certain thickness on the surface of the thin sheets. S403. Control the pick-and-place print head to move to the positioning groove with the hard thin sheet. When the print head approaches the center of the hard thin sheet from above until it is 1 mm adjacent, stop moving, apply negative pressure to pick up the thin sheet at the end of the print head using suction, and then transfer it to the printing area. Determine the coordinates where the thin sheet is to be placed according to the design requirements of the micro-structure, control the print head to move to this coordinate, and stop moving when the height difference is 1 mm. Apply positive pressure to release the suction and place the thin sheet in the specified area. Repeat the pick-up and placement operations until all the thin sheets of this layer are placed. S404. Turn on the projector to irradiate the liquid resin on the outermost layer of the printing area, so that the hard thin sheet forms a firm bond with the cured soft matrix along with the curing of the resin. S405. After the exposure ends, transfer to the next printing cycle, repeat the steps of dispensing - leveling - picking up - transferring - placing - exposing, and finally achieve the high-precision mixing and assembly of the hard and soft heterogeneous components in three-dimensional space. S406. Run the correct code that has been verified and wait for the printing to proceed until it ends.

2. The printing method for supporting hybrid printing of hard and soft heterogeneous materials according to claim 1, wherein: The hard thin sheets in S1 include glass, ceramic, and acrylic.

3. A printing method for supporting hybrid printing of hard and soft heterogeneous materials according to claim 1, characterized in that: In S2, the pick-and-place print head is determined according to the placement position of the hard thin sheet in the positioning groove; the coordinates to be placed of the pick-and-place print head are determined according to the specific position of each thin sheet in the material domain according to the micro-structure pattern to be created, and then the coordinates to be placed of the pick-and-place print head are determined.

4. A printing method for supporting hybrid printing of hard and soft heterogeneous materials according to claim 1, characterized in that: The thickness of the liquid film in S402 is controlled by the rotation speed.

5. A printing device for applying the printing method according to claim 1 for supporting hybrid printing of hard and soft heterogeneous materials, characterized in that: It includes a three-axis platform, a projector, a pick-and-place component, and a dispensing print head.

6. The printing device of a printing method for supporting hybrid printing of hard and soft heterogeneous materials according to claim 5, characterized in that: The three-axis platform specifically includes an optical breadboard, a liftable breadboard, an X-axis moving platform, a Y-axis moving platform, a Z-axis moving platform, an XY-axis moving platform connecting plate, and a horizontal-to-vertical bracket. The liftable breadboard and the X-axis moving platform are fixed on the optical breadboard by hexagon socket head cap screws. At the same time, in order to fix the Y-axis moving platform and the Z-axis moving platform, the XY-axis moving platform connecting plate and the horizontal-to-vertical bracket are fixed on the X-axis moving platform and the liftable breadboard respectively.

7. The printing device for a printing method supporting hybrid printing of hard and soft heterogeneous materials according to claim 6, characterized in that: The pick-and-place component includes a pick-and-place syringe, a detachable syringe clamp, a pick syringe fixing plate, a 100 mm optical rod, a printing table connecting plate, a 75 mm optical rod, a positioning groove fixing plate, a positioning groove, a brushless motor, a brushless motor fixing plate, a flange, a printing barrel connector, and a printing barrel; The pick-and-place syringe is inserted into the detachable syringe clamp and fixed from the left with an Allen screw nut. The detachable syringe clamp is fixed on the projector and the pick syringe fixing plate. The projector and the pick-and-place syringe fixing plate and the Z-axis moving platform can be connected by four 100 mm optical rods. The projector is installed on the projection and pick-and-place syringe fixing plate. The Y-axis and the printing table connecting plate are fixed on the Y-axis moving platform and four 75 mm optical rods are screwed on it. The positioning groove fixing plate is pressed against the 75 mm optical rod with an Allen bolt through the threaded holes on the side. The positioning groove is directly placed in the groove of the positioning groove fixing plate. The brushless motor is fixed on the brushless motor fixing plate. The brushless motor fixing plate is fixed on the 75 mm optical rod through the reserved holes. The flange is fixed on the brushless motor shaft with a set screw. The printing barrel connector and the printing barrel are press-fitted on the flange in sequence.

8. The printing device of a printing method for supporting hybrid printing of hard and soft heterogeneous materials according to claim 7, characterized in that: The dispensing print head includes a stepper motor, a stepper motor fixing plate, a 225 mm optical rod, a support column, a coupling, a resin syringe, a syringe clamp, and a horizontal connecting rod; The stepper motor is fixed on the stepper motor fixing plate. The stepper motor fixing plate is fixed on the optical breadboard through a 225 mm optical rod. The support column is connected to the stepper motor shaft through a coupling. The resin syringe is inserted and fixed in the syringe clamp. The syringe clamp is connected to the support column through a horizontal connecting rod.

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