Printing apparatus with multiple printing heads, and sideline printing apparatus
By setting multiple printing needles on multiple print heads and by fitting and adjusting the printing height data, the spatial efficiency and accuracy problems of multi-needle printing devices in high-precision scenarios are solved, achieving efficient and high-precision printing results.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- ENOVATE3D (HANGZHOU) TECH DEV CO LTD
- Filing Date
- 2025-12-16
- Publication Date
- 2026-06-25
AI Technical Summary
Existing multi-needle printing devices struggle to balance space efficiency and printing accuracy in high-precision scenarios. Independent adjustment mechanisms result in large needle spacing, making it difficult to meet high-precision wiring requirements.
Multiple printheads are used, each with multiple print needles. By acquiring and fitting the height data of the surface to be printed, the height data of the single printing area is set, and the printheads are controlled to print in their respective areas to avoid needle collision. At the same time, the flatness and position are adjusted by rotating the printheads.
While improving printing efficiency, it ensures printing accuracy and avoids the collision problem caused by excessive needle spacing, thus achieving efficient and high-precision multi-needle printing.
Smart Images
Figure CN2025142722_25062026_PF_FP_ABST
Abstract
Description
A printing device with multiple printheads and a side line printing device. Technical Field
[0001] Several embodiments of this specification relate to the field of printing technology, specifically to a printing apparatus having multiple printheads and a side line printing apparatus. Background Technology
[0002] Current printing technology generally adopts a single-point processing mode, that is, using a single printing needle to output material to complete the printing task. This method is relatively inefficient.
[0003] To significantly improve printing efficiency, some printing devices employ multi-head printing technology, which uses multiple printheads simultaneously. However, these multiple printheads often have independent height adjustment mechanisms, rather than sharing a single adjustment system. While this independent adjustment design increases printing speed, it also increases space requirements, resulting in larger spacing between printheads, making it difficult to meet the needs of fine tasks such as high-precision wiring. This limitation makes existing multi-head printing devices less than ideal for high-precision scenarios.
[0004] Therefore, there is an urgent need to develop a new printing technology that can achieve efficient multi-needle printing without sacrificing space efficiency and printing accuracy. Summary of the Invention
[0005] This specification provides a printing device with multiple printheads and a side line printing device, which can achieve efficient multi-head printing without sacrificing space efficiency and printing accuracy.
[0006] The technical solution is as follows:
[0007] In a first aspect, embodiments of this specification provide a printing apparatus having multiple printheads, including:
[0008] The system includes a printing mechanism, a first acquisition module, a fitting module, a second acquisition module, a third acquisition module, a height setting module, and a control module. The printing mechanism includes at least two printing sub-mechanisms, and each printing sub-mechanism includes a print head with at least two printing needles.
[0009] The first acquisition module acquires the height data corresponding to each of multiple preset points on the surface to be printed;
[0010] The fitting module obtains a fitting line or fitting surface by fitting the height data corresponding to each of the multiple preset points on the surface to be printed, and acquires the height data at each position on the fitting line or fitting surface.
[0011] The second acquisition module acquires at least one single-print area corresponding to each of the multiple print heads on the fitting line or fitting surface;
[0012] The third acquisition module acquires the height data corresponding to each of the multiple single-print areas based on the height data at various positions on the fitting line or fitting surface.
[0013] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the height data corresponding to each of the multiple single printing areas.
[0014] The control module controls multiple print heads to print on at least one corresponding single-print area according to the print height data corresponding to the single-print area.
[0015] As a preferred embodiment, the control module also performs individual material output control on the multiple printing needles on each print head.
[0016] As a preferred embodiment, the height data corresponding to each of the multiple single-print areas obtained by the third acquisition module based on the height data at various positions on the fitting line or fitting surface includes the highest point height data and the lowest point height data within the single-print area.
[0017] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest and lowest point height data within each single printing area.
[0018] As a preferred embodiment, the height data corresponding to each of the multiple single-print areas obtained by the third acquisition module based on the height data at various positions on the fitting line or fitting surface also includes the height data corresponding to each of multiple points that are evenly distributed within the single-print area.
[0019] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements, the highest point height data, the lowest point height data, and the height data corresponding to multiple points that are evenly distributed within each single printing area.
[0020] As a preferred embodiment, the preset printing interval requirement includes a printing interval range and an optimal printing interval value;
[0021] The height setting module includes a candidate height value acquisition unit, an absolute value calculation unit, and a setting unit;
[0022] The alternative height value acquisition unit acquires at least one alternative height value corresponding to each of the multiple single printing areas based on the printing interval range and the highest and lowest point height data of each of the multiple single printing areas within the single printing area.
[0023] The absolute value calculation unit calculates the absolute deviation and data corresponding to each single printing area under different alternative height values based on the height data of multiple points evenly distributed in the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value.
[0024] The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviation and data corresponding to the single printing area under its different alternative height values.
[0025] As a preferred embodiment, the alternative height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit;
[0026] The first range acquisition subunit acquires the first printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the highest point height data of each of the multiple single printing areas within the single printing area.
[0027] The second range acquisition subunit acquires the second printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the lowest point height data of each of the multiple single printing areas within the single printing area.
[0028] The height value acquisition subunit acquires at least one alternative height value corresponding to each of the multiple single-print areas based on the first printing height range and the second printing height range corresponding to each of the multiple single-print areas.
[0029] As a preferred embodiment, each printing sub-mechanism includes a print head with at least two print needles arranged in a linear arrangement, and each printing sub-mechanism also includes a height data acquisition module, a first adjustment module, a second adjustment module, and an image data acquisition module disposed below the printing sub-mechanism.
[0030] The height data acquisition module acquires the height data corresponding to at least two printing needles on the print head;
[0031] The first adjustment module adjusts the flatness of the print head by rotating it, based on the height data corresponding to at least two print needles.
[0032] The image data acquisition module acquires the bottom image of the print head after flatness adjustment to obtain a primary recognition image containing the bottom image of the print head, and obtains the primary image position coordinates of at least two print needles on the print head in the primary recognition image.
[0033] The second calibration module adjusts the position of the print head in the planar direction by rotating the print head, based on the image position coordinates of at least two print needles on the print head in a single recognition image.
[0034] As a preferred embodiment, the second calibration module further performs a pre-rotation operation on the print head in the planar direction after obtaining a primary recognition image containing an image of the bottom of the print head;
[0035] The image data acquisition module also acquires the bottom image of the pre-rotated print head in the same image acquisition direction as when acquiring the first recognition image to obtain a second recognition image containing the bottom image of the print head, and obtains the second image position coordinates of at least two print needles on the print head that were recognized in the first recognition image in the second recognition image.
[0036] The second calibration module obtains the rotation center coordinates of the print head in the planar direction based on the primary image position coordinates of at least two print needles on the print head in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have been recognized in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles on the print head that have been recognized in the primary recognition image in the secondary recognition image and the rotation center coordinates, the module rotates the print head to adjust the position of the print head in the planar direction.
[0037] As a preferred embodiment, the second calibration module includes a perpendicular bisector acquisition unit and a center acquisition unit;
[0038] The perpendicular bisector acquisition unit obtains the line connecting the primary and secondary image position coordinates of at least two printing needles on the print head in a primary recognition image and the secondary image position coordinates of at least two printing needles on the print head that have been recognized in a primary recognition image in a secondary recognition image, and obtains the perpendicular bisector of the line connecting the primary and secondary image position coordinates of the at least two printing needles.
[0039] The center acquisition unit obtains the rotation center position coordinates of the print head in the planar direction based on the perpendicular bisector of the line connecting the primary and secondary image position coordinates of each of the at least two print needles.
[0040] Secondly, embodiments of this specification also provide a side line printing device, including the printing device with multiple printheads described in the first aspect of the above embodiments, and:
[0041] The first acquisition module acquires the height data of each of the multiple preset points on the side line of the surface to be printed that needs to be printed with side lines.
[0042] The fitting module obtains a fitting line by fitting the height data corresponding to multiple preset points on the side line of the surface to be printed, and acquires the height data at each position on the fitting line.
[0043] The second acquisition module acquires at least one single-print line segment corresponding to each of the multiple print heads on the fitted line;
[0044] The third acquisition module acquires the height data corresponding to each of the multiple single-print line segments based on the height data at various positions on the fitted line.
[0045] The height setting module sets the printing height data corresponding to each of the multiple single-print line segments based on the preset printing interval requirements and the height data corresponding to each of the multiple single-print line segments.
[0046] The control module controls multiple print heads to print on at least one single-print line segment according to the printing height data corresponding to the single-print line segment.
[0047] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:
[0048] By setting up multiple print heads, and each print head has multiple print needles, the printing height of multiple print needles can be adjusted synchronously by adjusting the printing height of the print head. This eliminates the need for a separate height adjustment mechanism for each print needle, allowing for a smaller spacing between the multiple print needles. This improves printing efficiency while ensuring printing accuracy.
[0049] Due to production errors, the surface to be printed may have unevenness. Since the print head has multiple print heads, the single-print area of the print head will be larger. However, the print head needs to maintain a uniform printing height when printing on the surface. Therefore, avoiding print head collisions is crucial. In several embodiments of this specification, the height data corresponding to multiple preset points on the surface to be printed is first obtained. Then, a fitting line or surface is obtained by fitting the height data of the multiple preset points on the surface, and the height data at each position on the fitting line or surface is obtained. Further, at least one single-print area corresponding to each print head on the fitting line or surface is obtained. Further still, based on the height data at each position on the fitting line or surface, the height data corresponding to each of the multiple single-print areas is obtained. Finally, based on preset printing interval requirements and the height data corresponding to each of the multiple single-print areas, the printing height data corresponding to each of the multiple single-print areas is set, and the multiple print heads are controlled to print on their respective at least one single-print area according to the printing height data corresponding to the single-print area. This avoids the aforementioned print head collision problem.
[0050] Based on the height data of at least two printheads, the flatness of the printhead is adjusted by rotating it. This ensures that at least two printheads are at the same height, thus achieving overall flatness adjustment of the printhead. After flatness adjustment, all printheads at the bottom of the printhead should be at the same height. Subsequently, based on the image position coordinates of at least two printheads in a single recognition image, the printhead is rotated to adjust its position in the planar direction. This adjusts the position of at least two printheads in the planar direction, thereby achieving overall planar position adjustment of the printhead.
[0051] For methods that adjust the printhead's position in a planar direction by rotating the printhead, the accuracy of the rotation center is crucial. Otherwise, it's difficult to adjust the overall planar position of the printhead, as the required rotation angle is unknown. Furthermore, due to prolonged use, the printing device's rotation axis may shift, causing a deviation in the factory-default rotation center position. Therefore, this specification employs a pre-rotation operation, using the same image acquisition direction as when acquiring the first recognition image, to acquire a second bottom image of the pre-rotated printhead, resulting in a secondary recognition image containing the printhead's bottom image. The secondary recognition image then obtains the secondary image position coordinates of at least two printheads whose position coordinates were recognized in the first image. Finally, based on these coordinates, the rotation center position coordinates of the printhead in the planar direction are obtained. Attached Figure Description
[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0053] Figure 1 is a schematic diagram of a printing device with multiple printheads provided in an embodiment of this specification.
[0054] Figure 2 is a schematic diagram of the printhead used in the embodiments of this specification when printing on the surface to be printed.
[0055] Figure 3 is a schematic diagram illustrating the principle of adjusting the position of the printhead in the planar direction according to the embodiments of this specification.
[0056] Figure 4 is a bottom view of the printing sub-mechanism involved in the embodiments of this specification.
[0057] Figure 5 is a schematic diagram illustrating the method of obtaining the coordinates of the center of rotation of a circle by means of the perpendicular bisector in an embodiment of this specification.
[0058] Figure 6 is a flowchart illustrating a printing method provided in an embodiment of this specification.
[0059] Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification.
[0060] In the diagram: 1: Print head; 11: Printing needle; 2: Height adjustment mechanism; 3: Adjustment turntable; 4: Adjustment turntable; 5: Surface to be printed. Detailed Implementation
[0061] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.
[0062] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.
[0063] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
[0064] Referring to Figure 1, which is a schematic diagram of a printing device with multiple printheads according to an embodiment of this specification, the printing device includes at least a printing mechanism, a first acquisition module (not shown in Figure 1), a fitting module (not shown in Figure 1, which is a back-end data processing module), a second acquisition module (not shown in Figure 1, which is a back-end data processing module), a third acquisition module (not shown in Figure 1, which is a back-end data processing module), a height setting module (not shown in Figure 1, which is a back-end data processing module), and a control module (not shown in Figure 1, which is a back-end data processing module). The printing mechanism includes at least two printing sub-mechanisms, and each printing sub-mechanism includes at least two printheads 11.
[0065] The first acquisition module acquires the height data corresponding to each of the five or more preset points on the surface to be printed;
[0066] The fitting module obtains a fitting line or fitting surface by fitting the height data corresponding to each of the five or more preset points on the surface to be printed, and acquires the height data at each position on the fitting line or fitting surface.
[0067] The second acquisition module acquires at least one single-print area corresponding to each of the multiple printheads 1 on the fitting line or fitting surface (Note: This can be set according to the actual line printing requirements, and it should be noted that a single-print area refers to the area printed by one printhead 1 at the same printing height once).
[0068] The third acquisition module acquires the height data corresponding to each of the multiple single-print areas based on the height data at various positions on the fitting line or fitting surface.
[0069] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the height data corresponding to each of the multiple single printing areas.
[0070] The control module controls multiple printheads 1 to print on at least one corresponding single-print area according to the print height data corresponding to the single-print area.
[0071] By setting multiple printheads 1 and multiple print needles 11 on each printhead 1, the printing height of multiple print needles 11 can be adjusted synchronously by adjusting the printing height of the printhead 1. This eliminates the need to set a separate height adjustment mechanism 2 for each print needle 11, allowing the needle spacing of multiple print needles 11 to be smaller, thereby improving printing efficiency while ensuring printing accuracy.
[0072] Referring to Figure 2, the surface 5 to be printed will have unevenness due to production errors (note that for ease of illustration, Figure 2 only shows the side view of the surface 5 to illustrate the height variation). Since the print head 1 has multiple print needles 11, the single-print area of the print head 1 will be larger. However, the print head 1 needs to maintain a uniform printing height when printing on the surface 5. Therefore, avoiding needle collisions during printing is particularly important. Thus, in several embodiments of this specification, the height data corresponding to multiple preset points on the surface 5 to be printed is first obtained; then, the height data corresponding to each of the multiple preset points on the surface 5 to be printed is obtained... The height data is fitted to obtain a fitting line or surface, and the height data at various positions on the fitting line or surface is obtained. Further, at least one single-print area corresponding to each of the multiple printheads 1 on the fitting line or surface is obtained. Further still, based on the height data at various positions on the fitting line or surface, the height data corresponding to each of the multiple single-print areas is obtained. Finally, based on the preset printing interval requirements and the height data corresponding to each of the multiple single-print areas, the printing height data corresponding to each of the multiple single-print areas is set, and the multiple printheads 1 are controlled to print on their respective at least one single-print area according to the printing height data corresponding to the single-print area. This is to avoid the aforementioned pin collision problem.
[0073] Referring to FIG1, in several embodiments of this specification, the control module also performs individual material discharge control on the multiple printing needles 11 on each printhead 1 (i.e., material supply and discharge control are performed through multiple separately configured feeding needle tubes).
[0074] It is understandable that for printing, there should be corresponding printing height requirements, which may include, but are not limited to, the printing height not exceeding a preset height and / or the printing height not being lower than a preset height. Therefore, in several embodiments of this specification:
[0075] The height data corresponding to each of the multiple single-print areas obtained by the third acquisition module based on the height data at various positions on the fitted line or fitted surface includes the highest point height data and the lowest point height data within the single-print area.
[0076] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest and lowest point height data within each single printing area.
[0077] This ensures that both the highest and lowest points within a single printing area meet the preset printing interval requirements.
[0078] It is also understandable that, in addition to the highest and lowest points within a single printing area, to achieve better overall printing results, the height data of more points within the single printing area should be considered. Therefore, in several embodiments of this specification:
[0079] The height data corresponding to each of the multiple single-print areas obtained by the third acquisition module based on the height data at various positions on the fitting line or fitting surface also includes the height data corresponding to each of the multiple points that are evenly distributed within the single-print area.
[0080] The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements, the highest point height data, the lowest point height data, and the height data corresponding to multiple points that are evenly distributed within each single printing area.
[0081] In several embodiments of this specification, the preset printing interval requirement includes a printing interval range and an optimal printing interval value;
[0082] The height setting module includes a candidate height value acquisition unit, an absolute value calculation unit, and a setting unit;
[0083] The alternative height value acquisition unit acquires at least one alternative height value corresponding to each of the multiple single printing areas based on the printing interval range and the highest and lowest point height data of each of the multiple single printing areas within the single printing area.
[0084] The absolute value calculation unit calculates the absolute deviation and data corresponding to each single printing area under different alternative height values based on the height data of multiple points evenly distributed in the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value.
[0085] The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviation and data corresponding to the single printing area under its different alternative height values.
[0086] The absolute deviation and data corresponding to the different alternative height values of the single-printed area are calculated using the following formula:
[0087]
[0088] in, Indicates the first The single-print area in its corresponding first... The absolute deviation and data corresponding to each of the candidate height values. Indicates the first The total number of uniformly distributed points corresponding to a single printed area. Indicates the first The first single-print area corresponds to the first One alternative height value, Indicates the first The first single-print area corresponds to the first Height data of points that are evenly distributed. This indicates the optimal printing interval value.
[0089] That is, this instruction manual provides a specific method for setting the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest point height data, lowest point height data, and height data of each of the multiple points evenly distributed within the single printing area. In this method, the height data of more points within the single printing area can be comprehensively considered to improve the overall printing effect.
[0090] In several embodiments of this specification, the alternative height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit;
[0091] The first range acquisition subunit acquires the first printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the highest point height data of each of the multiple single printing areas within the single printing area.
[0092] The second range acquisition subunit acquires the second printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the lowest point height data of each of the multiple single printing areas within the single printing area.
[0093] The height value acquisition subunit acquires at least one alternative height value corresponding to each of the multiple single-print areas based on the first printing height range and the second printing height range corresponding to each of the multiple single-print areas.
[0094] The following examples illustrate this:
[0095] Assuming the printing interval range is 5-10 micrometers, and the highest point height of a single printing area A is 6 micrometers, then the first printing height range is 11-16 micrometers. Assuming the lowest point height of a single printing area A is 3 micrometers, then the second printing height range is 8-13 micrometers. Therefore, the alternative height values for a single printing area A are 11 micrometers, 12 micrometers, and 13 micrometers, respectively.
[0096] Referring to Figure 1, which is a schematic diagram of the overall structure of a printing device with multiple printheads according to an embodiment of this specification, two printing sub-mechanisms are shown in the figure. Each printing sub-mechanism includes at least two printheads 1 with two linearly arranged print needles 11. Each printing sub-mechanism also includes a height data acquisition module (Note: not shown in Figure 1, but may be, but is not limited to, a tool setter), a first adjustment module (Note: the first adjustment module adjusts the flatness of the printhead 1 by rotating the adjustment turntable 3), a second adjustment module (Note: the second adjustment module adjusts the position of the printhead 1 in the planar direction by rotating the adjustment turntable 4, where the adjustment turntable 4 can be seen in Figure 4, and the arrow in Figure 4 indicates the rotatable direction of the adjustment turntable 4), and an image data acquisition module (Note: not shown in Figure 1, but may be, but is not limited to, a camera) disposed below the printing sub-mechanism.
[0097] The height data acquisition module acquires the height data corresponding to at least two printing needles 11 on the print head 1;
[0098] The first adjustment module adjusts the flatness of the print head 1 by rotating it, based on the height data corresponding to at least two print needles 11. (Note: This ensures that each print needle 11 is on the same height plane; and multiple height data acquisitions and rotation adjustments can be performed during the flatness adjustment process to ensure that the flatness meets the preset requirements.)
[0099] The image data acquisition module acquires the bottom image of the print head 1 after flatness adjustment to obtain a primary recognition image containing the bottom image of the print head 1, and obtains the primary image position coordinates of at least two printing needles 11 on the print head 1 in the primary recognition image.
[0100] The second adjustment module adjusts the position of the print head 1 in the planar direction by rotating the print head 1, based on the image position coordinates of at least two print needles 11 on the print head 1 in a single recognition image.
[0101] Understandably, before printing, a calibration process is required for the printing device. This includes not only calibrating the needles to be level, i.e., adjusting all the needles to the same height plane, but also adjusting the position of the print head 1 as a whole on the same plane so that the print head 1 reaches the specified position.
[0102] Therefore, in several embodiments of this specification, based on the height data corresponding to at least two printing needles 11, the flatness of the print head 1 is adjusted by rotating the print head 1. That is, by using the height data corresponding to at least two printing needles 11, at least two printing needles 11 are made to be at the same height, thereby achieving the overall flatness adjustment of the print head 1. After the flatness adjustment, all needles at the bottom of the print head 1 should be at the same height. Subsequently, based on the image position coordinates corresponding to at least two printing needles 11 in a single recognition image, the position of the print head 1 in the planar direction is adjusted by rotating the print head 1. That is, by using the image position coordinates corresponding to at least two printing needles 11 in a single recognition image, the position of at least two printing needles 11 in the planar direction is adjusted, thereby achieving the overall planar position adjustment of the print head 1.
[0103] Understandably, the purpose of adjusting the overall planar position of the print head 1 is to ensure that the linearly arranged print needles 11 on the print head 1 face the corresponding preset direction, so that the corresponding preset route can be printed by moving the platform set below the printing mechanism.
[0104] Please refer to Figure 3, which is a schematic diagram illustrating the principle of adjusting the position of printhead 1 in the planar direction. The figure uses two printheads 11 as an example:
[0105] Assuming that the position coordinates of print head 1 and print needle 2 in a single image recognition are used to adjust the position of print head 1 in the planar direction, the position coordinates of print needle 1 in the single image are taken as coordinate A, and the position coordinates of print needle 2 in the single image are taken as coordinate B. Furthermore, given the position of the rotation center C of print head 1 and the preset direction, it can be determined how much angle print head 1 needs to rotate around the rotation center C so that line segment AB is parallel to the preset direction after the rotation operation.
[0106] The specific principle for obtaining this information is as follows: ∠c = ∠d, ∠a = ∠f, therefore ∠b = ∠e; furthermore, by simply knowing the angle between the preset direction and the line AB (i.e., equal to the size of ∠b), it is possible to determine how much the print head 1 needs to rotate around the center of rotation C (i.e., to know the size of ∠e) so that the line segment AB is parallel to the preset direction after the rotation operation.
[0107] It is understandable that image recognition may contain errors, therefore the position coordinates of the printing needle 11 in a single recognized image may be inaccurate. Therefore, in several embodiments of this specification, the angle data for the print head 1 to rotate around the rotation center C can be obtained by using the position coordinates of multiple printing needles 11 in a single image. Specifically, multiple printing needles 11 can be combined in pairs, and the rotation angle corresponding to each combination of printing needles 11 can be calculated (note: the calculation method is as described above, and will not be repeated here). Finally, an averaging operation is performed to obtain the final rotation angle data.
[0108] It should be noted that, for printing devices, due to prolonged use, the rotation axis may shift, which may cause the default rotation center position of the printing device at the factory to shift. Therefore, the above adjustment method is not applicable in this case, and the specific adjustment method will be explained in the following embodiments.
[0109] In several embodiments of this specification, the height data acquisition module includes a needle tip touch unit and a height data acquisition unit;
[0110] The needle tip contact unit achieves contact with the printing needle 11 on the print head 1 by the print head 1 descending and / or the needle tip contact unit rising;
[0111] The height data acquisition unit acquires the height data of the printing needle 11 based on the descending height of the print head 1 and / or the rising height of the needle tip contact unit when the needle tip contact unit touches the printing needle 11 on the print head 1.
[0112] It is understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can be achieved by the print head 1 descending, or by the needle tip contact unit rising, or by both the print head 1 descending and the needle tip contact unit rising simultaneously.
[0113] It is also understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can trigger a change in the electrical signal. Therefore, by combining the moment of the electrical signal change with the descending height of the print head 1 and / or the rising height of the needle tip contact unit, the height data of the printing needle 11 can be obtained.
[0114] In several embodiments of this specification, the needle tip contact unit may be, but is not limited to, a tool setter.
[0115] Referring to Figure 4, which is a bottom view of the printing sub-mechanism in the printing apparatus provided in the embodiment of this specification.
[0116] In several embodiments of this specification, the first calibration module includes a first rotating mechanism (i.e., the calibration turntable 3 shown in FIG1) and a first control unit, and the second calibration module includes a second rotating mechanism (i.e., the calibration turntable 4 shown in FIG4) and a second control unit.
[0117] The first rotating mechanism is rotatably mounted on the second rotating mechanism, and the print head 1 is fixedly connected to the first rotating mechanism;
[0118] The first control unit, based on the height data corresponding to each of the at least two printing needles 11, controls the rotation of the first rotating mechanism to drive the print head 1 to rotate, thereby adjusting the flatness of the print head 1;
[0119] The second control unit, based on the position coordinates of the first image corresponding to the at least two printing needles 11 on the print head 1 in a first recognition image, rotates the second rotation mechanism to drive the first rotation mechanism and the print head 1 as a whole to rotate, so as to adjust the position of the print head 1 in the planar direction.
[0120] In several embodiments of this specification, the second calibration module further performs a pre-rotation operation on the print head 1 in the planar direction after obtaining a primary recognition image containing an image of the bottom of the print head 1.
[0121] The image data acquisition module also acquires the bottom image of the pre-rotated print head 1 in the same image acquisition direction as when acquiring the first recognition image to obtain a second recognition image containing the bottom image of the print head 1, and obtains the second image position coordinates of at least two print needles 11 on the print head 1 that were recognized in the first recognition image in the second recognition image.
[0122] The second adjustment module obtains the rotation center coordinates of the print head 1 in the planar direction based on the primary image position coordinates of at least two print needles 11 on the print head 1 in the primary recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have been recognized in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles 11 on the print head 1 that have been recognized in the primary recognition image in the secondary recognition image and the rotation center coordinates, the module rotates the print head 1 to adjust the position of the print head 1 in the planar direction.
[0123] Understandably, for a method that adjusts the position of printhead 1 in a planar direction by rotating it, the accuracy of the rotation center is crucial. Otherwise, it would be difficult to adjust the overall planar position of printhead 1, as it would be impossible to know by what angle of rotation would achieve this adjustment. Furthermore, due to prolonged use, the rotation axis of the printing device may shift, causing a deviation in the factory-default rotation center position. Therefore, in this specification, a pre-rotation operation is performed, and the bottom image of the print head 1 after the pre-rotation operation is acquired again in the same image acquisition direction as when the first recognition image is acquired, so as to obtain a secondary recognition image containing the bottom image of the print head 1. The secondary image position coordinates of at least two print needles 11 on the print head 1 that were recognized in the first recognition image are obtained in the secondary recognition image. Furthermore, based on the primary image position coordinates of at least two print needles 11 on the print head 1 and the secondary image position coordinates of at least two print needles 11 on the print head 1 that were recognized in the first recognition image, the rotation center position coordinates of the print head 1 in the planar direction are obtained.
[0124] It should be noted that in the recognition image acquired by the image data acquisition module, each point has its own corresponding image coordinates. When acquiring the secondary recognition image, the image acquisition direction is the same as when acquiring the primary recognition image. Therefore, each point in the primary recognition image and the secondary recognition image is corresponding. Thus, by using the position coordinates of the printing needle 11 in the primary recognition image and the position coordinates of the printing needle 11 in the secondary recognition image, the position change of the printing needle 11 on the print head 1 after pre-rotation can be known. Furthermore, based on the position change of the printing needle 11 after pre-rotation, the position of the rotation center, i.e., the position of the rotation axis, can be obtained.
[0125] Referring to Figure 5, which is a schematic diagram illustrating the acquisition of the coordinates of the center of rotation of a circle via a perpendicular bisector according to an embodiment of this specification, in several embodiments of this specification, the second adjustment module includes a perpendicular bisector acquisition unit and a center acquisition unit.
[0126] The perpendicular bisector acquisition unit obtains the line connecting the primary image position coordinates of at least two printing needles 11 on the print head 1 in the primary recognition image and the secondary image position coordinates of at least two printing needles 11 on the print head 1 that have been recognized in the primary recognition image in the secondary recognition image, and obtains the perpendicular bisector of the line connecting the primary image position coordinates of at least two printing needles 11 and the secondary image position coordinates of at least two printing needles 11.
[0127] The center acquisition unit obtains the rotation center position coordinates of the print head 1 in the planar direction based on the perpendicular bisector of the line connecting the primary and secondary image position coordinates of each of the at least two print needles 11.
[0128] It is understandable that the distance from a point on the perpendicular bisector of a line segment to the two endpoints of the line segment is the same, so the intersection of the perpendicular bisectors is the position of the center of rotation.
[0129] The following examples illustrate this:
[0130] Referring to Figure 5, the explanation will be based on the image data acquisition module obtaining the image position coordinates of two printing needles 11. Assume the two printing needles 11 are located at opposite ends, designated as printing needle one and printing needle two, respectively. The primary image position coordinate of printing needle one in the first recognition image is coordinate A, and the primary image position coordinate of printing needle two in the first recognition image is coordinate B; the secondary image position coordinate of printing needle two in the second recognition image is coordinate A', and the secondary image position coordinate of printing needle two in the second recognition image is coordinate B'. Further, lines are drawn connecting coordinates A and A', and lines are drawn connecting coordinates B and B'. Then, the perpendicular bisectors of line segments AA' and BB' are obtained. Finally, the intersection point C between the perpendicular bisectors of line segments AA' and BB' represents the coordinates of the center of rotation of the printing head 1 in the planar direction.
[0131] It should be noted that, for ease of demonstration, Figure 5 only shows printhead 1 in the first recognition image and printhead 1 in the second recognition image. And understandably, only the position of printhead 1 changes between the first and second recognition images.
[0132] It's understandable that when the image data acquisition module obtains the image position coordinates of three printing needles 11, it can obtain three perpendicular bisectors. Ideally, these three perpendicular bisectors should have only one intersection point, which is the center of rotation. However, due to certain errors in image recognition, the three perpendicular bisectors may have three intersection points. In this case, the coordinates of the center of rotation can be obtained based on the coordinates of these three intersection points. For example, if the coordinates of the three intersection points are (x1, y1), (x2, y2), and (x3, y3), then the coordinates of the center of rotation can be ((x1 + x2 + x3) / 3, (y1 + y2 + y3) / 3). Similarly, when the image data acquisition module obtains the image position coordinates of a larger number of printing needles 11, the coordinates of the center of rotation can also be obtained in the same way, which will not be elaborated further here.
[0133] In several embodiments of this specification, the distance between any two of the at least two printing needles 11 used by the height data acquisition module to acquire height data is greater than a preset distance.
[0134] The distance between any two of the at least two printing needles 11 in the image data acquisition module is greater than a preset distance.
[0135] Understandably, if the distance between the two printing needles 11 is too close, when one of the needles touches the needle tip contact unit, the other printing needle 11 that is too close may also touch the needle tip contact unit, which will lead to errors in the obtained height data of the printing needles 11.
[0136] It is understandable that if the print head 1 is tilted, then among the multiple print needles 11 arranged in a linear manner, the greater the height difference between two needles that are farther apart, the more meaningful it is for adjusting the flatness of the print head 1.
[0137] In several embodiments of this specification, the at least two printing needles 11 used by the image data acquisition module to acquire image position coordinates are the same as the at least two printing needles 11 used by the height data acquisition module to acquire height data.
[0138] That is, assuming that the height data acquisition module acquires height data from at least two printing needles 11, namely printing needle a and printing needle b, then the image data acquisition module also acquires image position coordinates from at least two printing needles 11, namely printing needle a and printing needle b.
[0139] It is understandable that after the flatness adjustment, print head a and print head b are on the same plane. It is more reasonable to adjust the position of the entire print head 1 in the planar direction based on these two print heads that are on the same plane.
[0140] Please refer to Figure 6 next, which shows a flowchart of a printing method provided in an embodiment of this specification.
[0141] This printing method is based on a printing apparatus with multiple printheads as described in any of the above embodiments, and may include at least:
[0142] Step 602: Obtain the height data corresponding to each of the five preset points on the surface to be printed;
[0143] Step 604: Obtain a fitting line or fitting surface by fitting the height data corresponding to each of the five preset points on the surface to be printed, and obtain the height data at each position on the fitting line or fitting surface.
[0144] Step 606: Obtain at least one single-print area corresponding to each of the multiple printheads 1 on the fitting line or fitting surface;
[0145] Step 608: Based on the height data at various locations on the fitted line or fitted surface, obtain the height data corresponding to each of the multiple single-print areas.
[0146] Step 610: Based on the preset printing interval requirements and the height data corresponding to each of the multiple single printing areas, set the printing height data corresponding to each of the multiple single printing areas;
[0147] Step 612: Control multiple print heads 1 to print on at least one corresponding single-print area according to the print height data corresponding to the single-print area.
[0148] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the printing method embodiments are basically similar to a printing apparatus embodiment with multiple printheads, so the description is relatively simple; relevant parts can be referred to in the description of a printing apparatus embodiment with multiple printheads.
[0149] This specification also provides a side line printing device, including a printing device with multiple printheads as described in any of the above embodiments, and:
[0150] The first acquisition module acquires the height data of each of the multiple preset points on the side line of the surface to be printed 5 where the side line needs to be printed.
[0151] The fitting module obtains a fitting line by fitting the height data corresponding to multiple preset points on the side line of the surface to be printed 5, and acquires the height data at each position on the fitting line.
[0152] The second acquisition module acquires at least one single-print line segment corresponding to each of the multiple print heads 1 on the fitted line;
[0153] The third acquisition module acquires the height data corresponding to each of the multiple single-print line segments based on the height data at various positions on the fitted line.
[0154] The height setting module sets the printing height data corresponding to each of the multiple single-print line segments based on the preset printing interval requirements and the height data corresponding to each of the multiple single-print line segments.
[0155] The control module controls multiple print heads 1 to print on at least one single-print line segment according to the printing height data corresponding to the single-print line segment.
[0156] In several embodiments of this specification, the control module further includes multiple first control units that control the printing height of multiple printheads 1 respectively, and a second control unit that controls the synchronous translation of multiple printheads 1 as a whole.
[0157] It should be noted that side-mounted wiring printing is an innovative printing technology that focuses on creating connections on the sides of printed circuit boards (PCBs) or printing arrayed interconnect structures on the sides of glass substrates to bridge the edges of wiring on both sides. This technology allows electronic designers to implement more complex wiring designs within limited space.
[0158] Side-line printing is particularly prevalent in display device manufacturing. This type of side-bridging method typically doesn't require printing very long lines; it only needs to bridge the edges of the lines on both sides. Therefore, what is printed are multiple short lines arranged along the side, connecting the edges of the lines on both sides. Thus, in this application scenario, the first acquisition module only needs to acquire the height data corresponding to multiple preset points on the side lines of the surface 5 to be printed (Note: It should be noted that the side line is an edge of the surface 5 to be printed; for example, if the surface 5 to be printed is a square, then the side line is a single edge of the square).
[0159] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the side-line printing device embodiment is basically similar to a printing device embodiment with multiple printheads, so the description is relatively simple; relevant parts can be referred to in the description of a printing device embodiment with multiple printheads.
[0160] This specification also provides a method for printing side lines, which may include at least:
[0161] Obtain the height data of each of the multiple preset points on the side line of the surface to be printed 5 that needs to be printed with side lines.
[0162] The fitting line is obtained by fitting the height data of each of the preset points on the side line of the surface to be printed 5, and the height data of each position on the fitting line is obtained.
[0163] Obtain at least one single-print line segment corresponding to each of the multiple printheads 1 on the fitted line;
[0164] Based on the height data at various positions on the fitted line, the height data corresponding to each of the multiple single-print line segments is obtained.
[0165] Based on the preset printing interval requirements and the height data corresponding to each of the multiple single-print line segments, set the printing height data corresponding to each of the multiple single-print line segments;
[0166] Multiple printheads 1 are controlled to print on at least one single-print line segment according to the printing height data corresponding to the single-print line segment.
[0167] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the side line printing method embodiment is basically similar to the side line printing device embodiment, so the description is relatively simple; relevant parts can be referred to the description of the side line printing device embodiment.
[0168] Please refer to Figure 7, which shows a schematic diagram of the structure of an electronic device provided in an embodiment of this specification.
[0169] As shown in Figure 7, the electronic device 700 may include at least one processor 701, at least one network interface 704, user interface 703, memory 705, and at least one communication bus 702.
[0170] The communication bus 702 can be used to realize the connection and communication of the above components.
[0171] The user interface 703 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.
[0172] The network interface 704 may include, but is not limited to, Bluetooth modules, NFC modules, Wi-Fi modules, etc.
[0173] The processor 701 may include one or more processing cores. The processor 701 connects to various parts within the electronic device 700 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 705, and by calling data stored in the memory 705. Optionally, the processor 701 may be implemented using at least one hardware form selected from DSP, FPGA, and PLC. The processor 701 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 701 and may be implemented as a separate chip.
[0174] The memory 705 may include RAM or ROM. Optionally, the memory 705 may include a non-transitory computer-readable medium. The memory 705 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 705 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 705 may also be at least one storage device located remotely from the aforementioned processor 701. As a computer storage medium, the memory 705 may include an operating system, a network communication module, a user interface module, and a printing program. The processor 701 may be used to call the printing application stored in the memory 705 and execute the steps of the printing methods mentioned in the foregoing embodiments.
[0175] This specification also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps in the above-described printing method embodiments. If the constituent modules of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.
[0176] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).
[0177] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.
[0178] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.
Claims
1. A printing apparatus having multiple printheads, characterized in that, It includes a printing mechanism, a first acquisition module, a fitting module, a second acquisition module, a third acquisition module, a height setting module, and a control module. The printing mechanism includes at least two printing sub-mechanisms, and each printing sub-mechanism includes a print head with at least two printing needles. The first acquisition module acquires the height data corresponding to each of multiple preset points on the surface to be printed; The fitting module obtains a fitting line or fitting surface by fitting the height data corresponding to each of the multiple preset points on the surface to be printed, and acquires the height data at each position on the fitting line or fitting surface. The second acquisition module acquires at least one single-print area corresponding to each of the multiple print heads on the fitting line or fitting surface; The third acquisition module acquires height data corresponding to each of multiple single-print areas based on the height data at various positions on the fitted line or fitted surface. The acquired height data includes the height data of the highest point and the height data of the lowest point within the single-print area. The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements and the highest and lowest point height data of each single printing area within the single printing area. The control module controls multiple print heads to print on at least one corresponding single-print area according to the print height data corresponding to the single-print area.
2. The printing apparatus having multiple printheads according to claim 1, characterized in that, The control module also provides individual ejection control for the multiple printing needles on each print head.
3. A printing device with multiple printheads according to claim 1, characterized in that: The height data corresponding to each of the multiple single-print areas obtained by the third acquisition module based on the height data at various positions on the fitting line or fitting surface also includes the height data corresponding to each of the multiple points that are evenly distributed within the single-print area. The height setting module sets the printing height data corresponding to each of the multiple single printing areas based on the preset printing interval requirements, the highest point height data, the lowest point height data, and the height data corresponding to multiple points that are evenly distributed within each single printing area.
4. A printing apparatus having multiple printheads according to claim 3, characterized in that, The preset printing interval requirements include a printing interval range and an optimal printing interval value; The height setting module includes a candidate height value acquisition unit, an absolute value calculation unit, and a setting unit; The alternative height value acquisition unit acquires at least one alternative height value corresponding to each of the multiple single printing areas based on the printing interval range and the highest and lowest point height data of each of the multiple single printing areas within the single printing area. The absolute value calculation unit calculates the absolute deviation and data corresponding to each single printing area under different alternative height values based on the height data of multiple points evenly distributed in the single printing area, at least one alternative height value corresponding to the single printing area, and the optimal printing interval value. The setting unit sets the printing height data corresponding to each single printing area based on the absolute deviation and data corresponding to the single printing area under its different alternative height values.
5. A printing apparatus having multiple printheads according to claim 4, characterized in that, The alternative height value acquisition unit includes a first range acquisition subunit, a second range acquisition subunit, and a height value acquisition subunit; The first range acquisition subunit acquires the first printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the highest point height data of each of the multiple single printing areas within the single printing area. The second range acquisition subunit acquires the second printing height range corresponding to each of the multiple single printing areas based on the printing interval range and the lowest point height data of each of the multiple single printing areas within the single printing area. The height value acquisition subunit acquires at least one alternative height value corresponding to each of the multiple single-print areas based on the first printing height range and the second printing height range corresponding to each of the multiple single-print areas.
6. A printing apparatus having multiple printheads according to claim 1, characterized in that, Each printing sub-mechanism includes a print head with at least two print needles arranged in a linear arrangement. Each printing sub-mechanism also includes a height data acquisition module, a first adjustment module, a second adjustment module, and an image data acquisition module located below the printing sub-mechanism. The height data acquisition module acquires the height data corresponding to at least two printing needles on the print head; The first adjustment module adjusts the flatness of the print head by rotating it, based on the height data corresponding to at least two print needles. The image data acquisition module acquires the bottom image of the print head after flatness adjustment to obtain a primary recognition image containing the bottom image of the print head, and obtains the primary image position coordinates of at least two print needles on the print head in the primary recognition image. The second calibration module adjusts the position of the print head in the planar direction by rotating the print head, based on the image position coordinates of at least two print needles on the print head in a single recognition image.
7. A printing apparatus having multiple printheads according to claim 6, characterized in that, The second calibration module also performs a pre-rotation operation on the print head in the planar direction after obtaining a primary recognition image containing an image of the bottom of the print head; The image data acquisition module also acquires the bottom image of the pre-rotated print head in the same image acquisition direction as when acquiring the first recognition image to obtain a second recognition image containing the bottom image of the print head, and obtains the second image position coordinates of at least two print needles on the print head that were recognized in the first recognition image in the second recognition image. The second calibration module obtains the rotation center coordinates of the print head in the planar direction based on the primary image position coordinates of at least two print needles on the print head in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have been recognized in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles on the print head that have been recognized in the primary recognition image in the secondary recognition image and the rotation center coordinates, the module rotates the print head to adjust the position of the print head in the planar direction.
8. A printing apparatus having multiple printheads according to claim 7, characterized in that, The second calibration module includes a perpendicular bisector acquisition unit and a center acquisition unit; The perpendicular bisector acquisition unit obtains the line connecting the primary and secondary image position coordinates of at least two printing needles on the print head in a primary recognition image and the secondary image position coordinates of at least two printing needles on the print head that have been recognized in a primary recognition image in a secondary recognition image, and obtains the perpendicular bisector of the line connecting the primary and secondary image position coordinates of the at least two printing needles. The center acquisition unit obtains the rotation center position coordinates of the print head in the planar direction based on the perpendicular bisector of the line connecting the primary and secondary image position coordinates of each of the at least two print needles.
9. A side line printing device, characterized in that, Includes a printing apparatus having multiple printheads as described in any one of claims 1 to 8, wherein: The first acquisition module acquires the height data of each of the multiple preset points on the side line of the surface to be printed that needs to be printed with side lines. The fitting module obtains a fitting line by fitting the height data corresponding to multiple preset points on the side line of the surface to be printed, and acquires the height data at each position on the fitting line. The second acquisition module acquires at least one single-print line segment corresponding to each of the multiple print heads on the fitted line; The third acquisition module acquires the height data corresponding to each of the multiple single-print line segments based on the height data at various positions on the fitted line. The height setting module sets the printing height data corresponding to each of the multiple single-print line segments based on the preset printing interval requirements and the height data corresponding to each of the multiple single-print line segments. The control module controls multiple print heads to print on at least one single-print line segment according to the printing height data corresponding to the single-print line segment.