CN107297892B - A kind of 3D curved surface EFI being patterned device and method - Google Patents
A kind of 3D curved surface EFI being patterned device and method Download PDFInfo
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- CN107297892B CN107297892B CN201710485691.2A CN201710485691A CN107297892B CN 107297892 B CN107297892 B CN 107297892B CN 201710485691 A CN201710485691 A CN 201710485691A CN 107297892 B CN107297892 B CN 107297892B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The invention belongs to curved face object patterned surface correlative technology fields, and disclose a kind of 3D curved surface EFI being patterned equipment, including workbench, loading and unloading module, EFI impression block, vision module and curing module, wherein the form of station dial is presented in workbench, and the switching of each station is executed by the rotation of itself；EFI impression block includes that cover corresponds to multiple EFI print and precuring station and set up jet-printing head one by one more, and the free pose of executable curved surface adjusts and electric jet printing operation；Vision module includes positioning camera, measurement camera, detection camera, substrate observation camera and jet stream observation camera, and for executing high-precision on-line checking to the process procedure in each station.The invention also discloses corresponding processes.The present invention is based on electrofluid Printing techniques, have the characteristics that high flexibility, high-resolution spray printing, can realize curved surface spray printing in high quality, typical such as 3D hand-set lid patterning process suitable for the patterning with multiple patterns curved surface.
Description
Technical field
The invention belongs to curved face object patterned surface correlative technology fields, more particularly, to a kind of 3D curved surface EFI
Being patterned device and method.
Background technique
Typical 3D curved surface includes the component of 3D hand-set lid etc.Smart phone is developed so far, and configuration design becomes
Competitive focal point, curve screens receive greatly to favor with unique visual effect and operating experience.3D curved surface cover board due to have it is frivolous,
Transparent cleaning, anti-fingerprint, anti-dazzle, hard, scratch resistant, weatherability are good, and curved edge touch function brings outstanding touch-control hand
Sense, the features such as can solve antenna arrangement space deficiency problem and enhance reception function, thus produces apparent advantage.For 3D
The curve surface printing of hand-set lid etc, refer to realized on curved surface cover board opaque colored areas, logo, key icon and other
The production of pattern, however the patterned process of this type objects is very difficult, belongs to one of common recognition of industry.
Flexographic process in the prior art generally includes following a few classes: screen printing technique, is with scraper plate in printing plate
Areas applies pressure and is expressed to ink on stock from mesh, and layer of ink is thick and solid, but is difficult to ensure and holds when curve surface printing
It prints object, screen frame and wiping plate shape to coincide, curvature sharp change in elevation product Mo Yanchong；OCA composite print technology, will print
Picture and text are combined to target surface by OCA optical cement, and technique is relative complex；Ion coloring technology is replaced with nonferrous metal ion
Other ions of glass superficial layer are changed to show color, color is shallower, and process costs are high；In addition, also for example including light
Carve some other technologies such as ink-printing techniques, laser engraving ink technology.
However, further investigations have shown that: firstly, above-mentioned patterning techniques can not well solve 3D curved face object
The seamless connection problem of full manufacture link, Use Limitation rate is relatively low, cumbersome, and there are all kinds of limitations；Secondly,
In practical manufacturing process, it is necessary to obtain high response, high-precision real-time control to the elevation information of curved surface, and then realize high-resolution
The curved surface of rate patterns, and existing measurement scheme can only measure measured object often appropriate only to the measurement for being directed to planar object
Body and can not obtain testee in the accurate deformation information from face direction to the range information of camera.Correspondingly, this field is urgently
It need to seek more perfect solution, in view of the above technical problems to meet increasing technique requirement at present.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of 3D curved surface being patterned of EFI to set
Standby and method, wherein re-starting design by overall construction to the patterning equipment and layout type, and to multiple keys
For example many aspects such as the concrete composition of EFI impression block, vision module and workbench and set-up mode improve component, together
When go back the measurement module of curved surface height and measuring principle has been exclusively carried out for Journal of Sex Research, accordingly patterned with existing 3D curved surface
Technology is compared, can not only with contactless mode come efficiently execute clamping position-elevation carrection-repeatedly EFI print and it is pre- solid
Multiple complicated procedures of forming such as change-quality testing and final curing, and high-precision, station conversion can be achieved during whole operation conveniently
Seamless connection, significantly improve whole production efficiency；Additionally it is possible to can be obtained in jet printing process based on monocular vision
The curved surface elevation information measurement for obtaining higher precision, thus further ensures that available high-resolution, the 3D curved surface EFI of high flexibility
Being patterned effect.
To achieve the above object, according to one aspect of the present invention, a kind of 3D curved surface EFI being patterned equipment is provided,
The equipment includes workbench, loading and unloading module, EFI impression block, vision module and curing module, it is characterised in that:
The form of station dial is presented in the workbench, and the switching of each station is executed by the rotation of itself, this
A little stations successively include the positioning and clamping station of curved surface, the elevation carrection station of curved surface, multiple EFI print and precuring station, with
And quality testing station；In addition, being equipped with the fixture for clamping curved surface on each station, and each station can be mutual
Independently execute relevant operation；
The side of the station dial is arranged in the loading and unloading module comprising machine of the end equipped with vacuum chuck
Tool arm, and for will periodically be adsorbed to the curved surface of operation, and be transferred to each station or removed from it；
The EFI impression block includes more set jet-printing heads, these jet-printing heads correspond to each EFI print and precuring work
Position and set up one by one, and each jet-printing head has an one-movement-freedom-degree in tri- axis direction of XYZ respectively, and turns along multistation
Thus the radial freedom degree of disk adjusts the relative position between curved surface；
The vision module includes positioning camera, measurement camera, detection camera, substrate observation camera and jet stream observation phase
Machine, wherein the positioning camera is installed on the top of the positioning and clamping station, and for observing and determining curved surface in the fixture
On correct installation site；The measurement camera is installed on the top of the elevation carrection station, the height for real-time measurement curved surface
Characteristic information is spent, instructs the movement of the jet-printing head, with this then to ensure to realize constant height between its nozzle and curved surface
Degree, and select nozzle accordingly to form required linear array；The detection camera is installed on the top of the quality testing station, and is used for
Detection is executed to the spray printing quality on curved surface；In addition, the nozzle keeping parallelism of the substrate observation camera and each jet-printing head
Ground is installed and is moved together therewith, and is used to execute vision positioning before execution EFI print to determine the initial position of spray printing,
Established pattern is shot in entire jet printing process simultaneously；The ink that jet stream observation camera is used to spray the jet-printing head
Drop volume executes image and shoots and measure online；
The curing module includes precuring device and final curing device, wherein each precuring device corresponds to each institute
It states jet-printing head and is arranged and moves together therewith, and for carrying out one to curved surface after the jet-printing head completes each spray printing
Secondary precuring operation；The side of the station dial is then arranged in the final curing device, and for the overall diagram on curved surface
Case executes last be fully cured.
As it is further preferred that the jet-printing head respectively includes nozzle, the annular below the nozzle and being grounded is arranged in
Electrode, between the nozzle and the annular electrode generate electric field high pressure generator, and be stored with ink and with
The nozzle keeps the spray printing container of connection；At work, under the inducing action of electric field force, ink is on the top of the nozzle
Taylor cone is formed, drop continues that a large amount of droplet is projected and be broken under the action of electric field force from the top of the taylor cone,
And then realization is to the patterning operations of curved surface.
As it is further preferred that the nozzle of the jet-printing head is preferably single injector or is collectively formed by multiple small nozzles
Array nozzle；When using the form of array nozzle, each small nozzle is arranged with certain difference in height, and preferably
Execute injection in following state: the small nozzle bottom end being selected is set to and in curve where perpendicular projection to spray printing
Curved surface transversal between keep substantially conformal.
As it is further preferred that each jet-printing head equipped with identical or different material ink, and for executing
The spray printing of curved surface different zones is achieved in the EFI print of multilayer complex pattern.
As it is further preferred that being executed preferably by the way of monocular vision for the measurement camera
The measurement of curved surface altitude feature information, and including measuring rack, source of parallel light component, height detection camera and range sensor,
Wherein:
The measurement rack is in the form of horizontally disposed symmetrical cross frame, and the installation foundation as other assemblies；
The quantity of the source of parallel light component is four, and each is mounted on four identical arm configurations of the measurement rack
End below, and can drive rotated so that its projected angle changes via matched motor respectively；It is each parallel
Light source assembly sets up parallel light tube and common group of transmission grating inside this mounting box separately by mounting box and successively respectively
At wherein the parallel light tube is used for the transmission grating emitting parallel light beam, and it is alternate to be then carved with width on the transmission grating
Two kinds of parallel scores so that the parallel light tube issue collimated light beam can be projected on curved surface to be measured to be formed it is light and dark
Parallel stripes；
The quantity of the height detection camera is only one, it is fixedly mounted below the center of the measurement rack, and with
Each source of parallel light component matches, for adopting figure with needed for obtaining to being formed by parallel stripes execution on curved surface to be measured
Two dimensional image；
The range sensor corresponds respectively to each source of parallel light component and is arranged, and when by adjusting described
When the height of measurement rack makes the height detection camera can get the clearly two dimensional image, for right under this position
The optical center of lens of the height detection camera is measured to the vertical range H between X " Y " plane, while for this height
The depth of parallelism detected between the imaging plane and X " Y " plane of camera is detected, wherein the X " Y " plane is in measurement
One reference planes of preceding built in advance, and it puts down with the horizontal X Y established using the optical center of lens of the height detection camera by origin
Face keeps being parallel to each other.
As it is further preferred that the wide seam of light transmission and light transmission in the light transmission gap being each provided with for the transmission grating
For narrow slit, their position carries out coding and sorting order by n binary modes, and preferably to this n × 2nLight penetrating slit is compiled
Code；Wherein the value of n is determined according to the visual field size of the detection camera, and is ensured so that the detection camera is obtained
Fringe number should meet m > 3n-1 in image；In addition, the light transmission narrow slit d2With the wide seam d of the light transmission1Between wide-to-narrow ratio it is preferably full
Sufficient formula d1/d2≥2。
It is another aspect of this invention to provide that additionally providing a kind of corresponding 3D curved surface EFI impression method, which is characterized in that should
Method includes the following steps:
(a) curved surface to spray printing is given by vacuum suction by the mechanical arm, and is transferred to the first of the workbench
At station namely the positioning and clamping station；
(b) the correct installation site of curved surface is determined by the positioning camera first, then the mechanical arm is according to this
Position discharges curved surface, and curved surface is sucked by fixture and completes clamping；
(c) workbench is converted to next station namely the elevation carrection station, and is completed by the measurement camera
Measurement operation to curved surface altitude feature information；
(d) workbench is converted to first on next station namely multiple EFI print and precuring station, and by
The jet-printing head executes the electrofluid spray printing of the first pattern to curved surface, then executes surface layer to ink by the precuring device
Precuring；Then, continue conversion to remaining EFI print and precuring station, carry out subsequent pattern spray printing and precuring behaviour
Make, until completing the patterning of entire curved surface；
(e) workbench is converted to next station namely quality testing station, and by the detection camera on curved surface
Spray printing quality execute detection；Then, the mechanical arm removes the curved surface examined, and is sent into final curing device on curved surface
Global pattern carries out final curing；
(f) mechanical arm will complete cured curved surface and be put into finished product area, and be ready for feeding next time.
As it is further preferred that the measurement camera is executed preferably by the way of monocular vision in step (c)
The measurement process of curved surface altitude feature information, in which:
(c1) a camera rectangular coordinate system XYZ is established as origin using the optical center of lens of the height detection camera,
In the Z axis of the camera rectangular coordinate system and the optical axis coincidence of the height detection camera and be directed toward the lower section of the detection camera, X
Axis, Y-axis meet the right-hand rule, and two holdings in four source of parallel light components are symmetrically in this X-axis, remaining
Two same holdings are symmetrically in this Y-axis；Similarly, using the center of the imaging plane of the height detection camera as origin
An image rectangular coordinate system X ' Y ' Z is established, wherein the Z of the Z axis of the image rectangular coordinate system and the camera rectangular coordinate system
Axis coincides, and X ' axis, Y ' axis equally meet the right-hand rule；Then, one is established immediately below the height detection camera
With reference to rectangular coordinate system X " Y " Z, wherein this with reference to rectangular coordinate system Z axis and it is described detection camera optical axis coincidence, X " axis,
Y " axis equally meets the right-hand rule, and its X " Y " plane keeps mutually flat with the X/Y plane of the camera rectangular coordinate system
Row；
(c2) its range information for arriving the X " Y " plane is measured respectively first with four range sensors, according to
Gained range information adjusts X " Y " plane pose, makes itself and the detection camera imaging plane keeping parallelism；Meanwhile to described
Difference between range sensor and the detection camera photocentre in Z-direction compensates, and then measures and determines the inspection
The optical center of camera is surveyed to the vertical range H between the X " Y " plane；
(c3) the alternate bright fringes of width are projected on curved surface to be measured using source of parallel light component described in one group, and adopt
The source of parallel light component is driven to rotate with the motor, so that the slow inswept entire region to be measured of striped；The detection camera is adopted
Figure, and write down the projected angle α of each image；Then, it is successively repeated the above steps using source of parallel light component described in three groups of residue,
Respectively obtain four groups of images in region to be measured under the striped that the source of parallel light component described in four groups is projected；
(c4) obtained four groups of images are directed to, calculate separately to obtain each source of parallel light component on curved surface to be measured
Any point P to be formed on striped is projected in the deflection of Z-direction, and then ask in such a way that weighting is averaged to calculate
Practical distortion amount out；
(c5) traverse measurement rack, successively complete curved surface to be measured of traversal repeat step (c2) to step (c4), directly
Until the elevation information for obtaining entire curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1, the actual demand of the application combination 3D curved surface patterning application, to the overall construction and cloth of patterning equipment
Office's mode has re-started design, can not only be with contactless side accordingly compared with existing 3D curved surface patterning techniques
Formula efficiently to execute clamping position-elevation carrection-repeatedly EFI print and multiple complicated works such as precuring-quality testing and final curing
Sequence, and high-precision, the convenient seamless connection of station conversion can be achieved during whole operation, significantly improve whole production
Efficiency；
2, the present invention is also further to specific group of multiple key components for example EFI impression block, vision module and workbench
It is improved at many aspects such as set-up modes；Wherein, used EFI impression block total compact and portable, is convenient for
Being adjusted flexibly in multiple directions is executed, and the fine curved surface of higher resolution can be obtained with contactless patterning techniques
Pattern；The on-line monitoring and Real-time Feedback of multiple technological parameters in entire technical process can be performed in vision module, thus further
Improve the quality of final finished；In addition, the workbench of rotating disc type is simultaneously operable in multiple stations, station conversion is convenient, shows
Work improves production efficiency；
3, the present invention also further studies the visual component and its working principle of the measurement of curved surface elevation information, phase
The whole measurement process of curved surface elevation information should tightly can not only can be completed using single camera, and compared with existing equipment
Its structure more compact and reasonable, convenient for manipulation, and significantly improve final obtainable measurement accuracy；
4, the product yield in the present invention is high, and curved surface clamping and installation use vacuum chuck, avoids scratching curved surface, bent
Face positioning, measurement, jet printing process observation and spray printing quality testing pass through camera realization, good reliability；In addition, there are two rotations for tool
The fixture of freedom degree and the jet-printing head of three one-movement-freedom-degrees can effectively cooperate, and realize the spray printing of each position of curved surface, avoid silk
Net is printed on the problem for being difficult to ensure that stock, screen frame and wiping plate shape are identical in curve surface printing, with other curved face object figures
Case technology is compared, simple process, is not needed production printing plate, ink duct etc., is therefore particularly suitable for the 3D of all kinds of complex patterns
Curved surface patterns application.
Detailed description of the invention
Fig. 1 is illustrated according to the overall construction of 3D curved surface EFI being patterned equipment constructed by the preferred embodiment of the present invention
Figure；
Fig. 2 is the multiple stations and its flow path switch schematic diagram for illustrating equipment shown in Fig. 1；
Fig. 3 is 3D curved surface EFI the being patterned integrated artistic flow chart of equipment shown in Fig. 1；
Fig. 4 be according to designed by a preferred embodiment of the invention, for showing in the present invention electric Printing techniques electricity
The schematic diagram of field applying mode；
Fig. 5 a is surveyed according to the curved surface elevation information designed by another preferred embodiment of the present invention, based on monocular vision
Amount scheme schematic diagram；
Fig. 5 b is for the exemplary illustrated multiple coordinates constructed for the ease of later period curved surface elevation information calculation processing
The schematic diagram of system；
Fig. 5 c is the composed structure schematic diagram according to the source of parallel light component of preferred embodiment for the present invention design；
Fig. 5 d is that the schematic diagram to form multiple stripeds is projected for exemplary illustrated source of parallel light component；
Fig. 5 e is to design according to the preferred embodiment for the present invention, be formed by multiple stripeds progress to source of parallel light component
Coded treatment schematic diagram obtained；
Fig. 6 is to show mean camber pose adjustment mode schematic diagram of the present invention for exemplary；
Fig. 7 be according to designed by another preferred embodiment of the present invention, the structural schematic diagram of array nozzle；
Fig. 8 is the preferred working method schematic diagram for more specifically showing nozzle shown in Fig. 7；
Fig. 9 is that more specifically 3D curved surface EFI is patterned the action flow chart of chemical industry skill constructed by the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is illustrated according to the overall construction of 3D curved surface EFI being patterned equipment constructed by the preferred embodiment of the present invention
Figure, Fig. 2 are the multiple stations and its flow path switch schematic diagram for illustrating equipment shown in Fig. 1, and Fig. 3 is equipment shown in Fig. 1
3D curved surface EFI being patterned integrated artistic flow chart.As shown in Figure 1 to Figure 3, the equipment mainly include workbench 500, up and down
Expect the functional units such as module 100, EFI impression block 400, vision module 300 and curing module 200, below will to they one by one into
Row illustrates.
As one of key component of the invention, workbench 500 is presented the form of station dial, passes through the rotation of itself
Transfer the switching for executing each station, these stations successively include the elevation carrection station, more of the positioning and clamping station of curved surface, curved surface
A EFI print and precuring station and quality testing station；In addition, being equipped with the folder for clamping curved surface on each station
Tool 502, and each station can execute relevant operation independently of each other.In other words, nozzle (itself either single injector,
It is also possible to array nozzle) 401, jet-printing head 402, precuring device 202, positioning camera 301, measurement camera, detection camera
302, the devices such as fixture 502 are integrated on station dial, and use has about 101 two rotary freedom mechanical arms
Material.
As shown in figure 3, completed on station dial from 2. to various processes 5., the patterning of multi-disc curved surface and pre- solid
Change, the location and installation of curved surface, elevation carrection, spray printing quality testing, these processes can carry out simultaneously, or select according to demand
Execution therein, embodies greater flexibility.Each station is preferably equipped with a dual rotary freedom degree fixture 502, on fixture
It equipped with vacuum chuck 503, to clamping curved surface and avoids damaging, SMC vacuum chuck series can be selected in sucker 503.It is above-mentioned
Modules do not rotate with turntable, carry out Switch of working position by the certain angle of rotation turntable, switch the time of station, according to
A time-consuming longest process determines.
Loading and unloading module 100, it is preferred to use mechanical arm 101 realizes periodic automatic loading/unloading, 101 end of mechanical arm
Pass through 102 adsorption curve of vacuum chuck.Joint Manipulator is preferably used in mechanical arm 101, and working space is big, and sucker 102 can
Using SMC vacuum chuck series.
As another key component of the invention, the EFI impression block 400 includes more set jet-printing heads 402, these spray printings
Head corresponds to each EFI print and precuring station and sets up one by one, and each jet-printing head has the tri- axis side XYZ respectively
Upward one-movement-freedom-degree, and along the radial freedom degree of station dial, thus adjust the relative position between curved surface.
More specifically, EFI impression block 400 is designed in this application using electrofluid jet printing technique.As shown in figure 4,
It is different from the conventional added electric field between nozzle 401 and substrate, it is equipped with the annular electrode 406 of a ground connection below nozzle 401, leads to
It crosses high pressure generator 405 and forms high voltage electric field between nozzle 401 and annular electrode 406, create the condition of EFI print, jet-printing head
402 by containing 404 ink supply of container of certain material ink, and under induction electric field force effect, ink is flowed out from jet-printing head 402,
401 top of nozzle forms taylor cone, and drop is projected from the top of taylor cone, and is crushed under electric field force effect and forms droplet,
Realize that drop diameter is less than the high-resolution printing of 401 diameter of nozzle.
In addition, EFI impression block 400 includes more set jet-printing heads 402, it is illustrated by taking three sets of jet-printing heads 402 as an example below.
The ink of each 402 spray printing different materials of jet-printing head, or the spray printing of curved surface different zones is carried out, so as to realize that multilayer is multiple
The spray printing of miscellaneous pattern.Every set jet-printing head 402 independently gathers around the one-movement-freedom-degree there are three direction, and have one along station dial diameter
To being conveniently adjusted the relative position between curved surface.Every set jet-printing head 402 is furnished with two observation phases that hereafter will specifically introduce
Machine, wherein substrate observation camera 308 is parallel with nozzle 401 installs and moves therewith, it is preferred to use coaxial light source, in switching work
The vision positioning before spray printing is carried out after position, finds the initial position of spray printing, and completed figure can be observed in jet printing process
Case, jet stream observation camera 309 is for measuring flight droplet volume.
Camera 309 is observed by using jet stream, it can be achieved that on-line measurement to flight droplet volume, and is measured in ink droplet
It is carried out during dropping to curved surface.Jet stream observation camera 309 is vertical with 401 direction of nozzle or has a certain degree, preferably
Using high speed camera, and stroboscopic LED is selected, and its flash frequency is the integral multiple of injection frequency, is mounted on 309 opposite of camera,
Magnifying glass or microscope can be installed additional, before camera lens when necessary to observe microscopic ink droplets.Ink-jet is carried out in real time according to measurement result
Control adjusts ink ejection amount, and less than normal to inkjet volume or drain spray nozzle compensates, and forms closed loop feedback.
As another key component of the invention, the vision module 300 includes positioning camera 301, measurement camera, detection
Camera 302, substrate observation camera 308 and jet stream observe camera 309, and wherein the positioning camera 301 is installed on the positioning and clamping
The top of station, and for observing and determining correct installation site of the curved surface on the fixture；The measurement camera is installed on institute
The jet-printing head is then instructed with this for the altitude feature information of real-time measurement curved surface in the top for stating elevation carrection station
Movement to ensure to realize constant height between its nozzle and curved surface, and selects nozzle to form required linear array accordingly；The detection
Camera 302 is installed on the top of the quality testing station, and for executing detection to the spray printing quality on curved surface；In addition, should
The nozzle of substrate observation camera 308 and each jet-printing head is installed in parallel and is moved together therewith, and for holding
Vision positioning is executed before row EFI print to determine the initial position of spray printing, while being shot in entire jet printing process established
Pattern；The droplet volume that jet stream observation camera 309 is used to spray the jet-printing head executes online shooting and measurement, is formed
Closed loop feedback.
Finally, the curing module 200 includes precuring device 202 and final curing device 201, wherein each precuring fills
It sets 202 to correspond to each jet-printing head and be arranged and move together therewith, and for completing each spray printing in the jet-printing head
Later, precuring operation is carried out to curved surface；The side of the station dial is then arranged in the final curing device 201, and
For executing last be fully cured to the global pattern on curved surface.
More specifically, precuring solidifies for realizing the surface layer of ink logo, it is preferred to use UV solidifies for example UVLED,
Its compact is mountable to move together at jet-printing head 402, selects linear light source or area source, can complete in 2s or so time
Precuring after each spray printing, passes through the working region above the mobile UVLED to curved surface of Three Degree Of Freedom mobile mechanism 403, carries out
Precuring.Final curing carries out being fully cured for entire curved surface pattern, preferably selection heat cure, and preferably using baking
Formula, final curing can carry out simultaneously multi-disc curved surface, to save time and cost.
It makes below in conjunction with overall work process of the Fig. 9 to above equipment of the invention and more specifically illustrating.
1) mechanical arm 101 is transferred at the positional stations of workbench 500 from material frame absorption to spray printing curved surface；
2) positioning camera 301 determines the correct installation site of curved surface, and mechanical arm sucker 102 discharges curved surface, fixture sucker 503
Adsorption curve completes clamping；
3) turntable turns an angle to station two, measures the elevation information of camera measurement curved surface, and it is special to obtain curve form
Sign；
4) turntable turns an angle to station three, and jet-printing head 402 carries out the electrofluid spray printing of the first pattern；
5) precuring device 202 carries out surface layer solidification to ink logo；
6) turntable turns an angle to next station, carries out subsequent pattern spray printing and precuring, entire until completing
The patterning of curved surface；
7) turntable turns an angle to detection station, detects the spray printing quality that camera 302 examines curved surface；
8) mechanical arm 101 removes the curved surface examined, and is sent into final curing equipment 201, and multi-disc curved surface carries out solid eventually simultaneously
Change；
9) mechanical arm 101 will complete cured curved surface and be put into finished product area, and be ready for feeding next time.
As where another key improvements of the invention, it is contemplated that the elevation information of curved surface itself directly influences subsequent more
A operation includes the quality and precision of clamping, spray printing, another preferred embodiment according to the invention, also further to measurement phase
The specific configuration and working principle of machine have made research and design.
As shown in Figure 5 a, which includes measuring machine frame 307, elevation carrection camera 303 ', source of parallel light component
304, range sensor 306 and motor 305 etc., wherein height detection camera 303 ' is only one, and four sets of remaining device is divided into four
Group is mounted in measurement rack 307, is evenly arranged in 303 ' surrounding of height detection camera.
More specifically, the measurement rack 307 is in the form of horizontally disposed symmetrical cross frame, and as other assemblies
Installation foundation；The quantity of the source of parallel light component 304 is four, and each is mounted on four phases of the measurement rack 307
Below the end of arm configuration, and it can drive rotated so that its projected angle changes via matched motor 305 respectively
Become；Each source of parallel light component sets up 32 and of parallel light tube inside this mounting box separately by mounting box 31 and successively respectively
Transmission grating 33 collectively constitutes, and wherein the parallel light tube 32 is used for the 33 emitting parallel light beam of transmission grating, the transmitted light
Two kinds of alternate parallel scores of width are then carved on grid 33, so that the collimated light beam that the parallel light tube 32 issues is to be measured
It can project to form light and dark parallel stripes on curved surface, more specifically, as shown in Fig. 5 c- Fig. 5 e, each source of parallel light component
Set up parallel light tube 32 and transmission grating 33 inside this mounting box separately by mounting box 31 and successively respectively to collectively constitute,
Wherein the parallel light tube 32 is used to emit to the transmission grating 33 monochromatic collimated light beam, is then carved with width on the transmission grating 33
Narrow two kinds of alternate parallel scores namely have the alternate light transmission gap of width so that the parallel light tube 32 issue it is flat
Row light beam can project to form light and dark parallel stripes on curved surface to be measured.As Fig. 5 d and 5e specifically shown in, light penetrating slit
Center line is grating constant to distance between adjacent indentations center line, and the wide slit width degree of light transmission is d1, light transmission slit width is d2.It is flat
The directional light that row light pipe 32 issues forms the different striped of width after transmission grating 33 on curved surface to be measured.To guarantee not produce
The monochromatic wavelength λ of the diffraction phenomena of the third contact of a total solar or lunar eclipse, parallel light tube 32 should be chosen according to light penetrating slit width, but be necessarily less than
Light slit width, i.e. λ < min { d1,d2}.It is selected further according to required precision, wavelength X is smaller, and diffraction phenomena is more unobvious.
The quantity of the height detection camera 303 ' is only one, it is fixedly mounted under the center of the measurement rack 307
Side, and matches with each source of parallel light component 304, for adopting figure to being formed by parallel stripes execution on curved surface to be measured
To obtain required two dimensional image；In addition, the range sensor 306 corresponds respectively to each source of parallel light component 304
And it is arranged, and when the height by adjusting the measurement rack 307 makes the height detection camera can get clearly institute
When stating two dimensional image, under this position to the optical center of lens of the height detection camera between the X " Y " plane hang down
Directly distance H is measured, at the same for the depth of parallelism between the imaging plane and X " Y " plane of this height detection camera into
Row detection, wherein the X " Y " plane is a reference planes of institute's built in advance before altitude response information measurement, and it with
It is parallel to each other using the horizontal X Y plane holding that the optical center of lens of the height detection camera is established by origin.
It, can the height detection camera for the ease of the curved surface height calculating process in later period as shown in Fig. 5 b demonstration
Optical center of lens is that origin establishes a camera rectangular coordinate system XYZ, wherein the camera give advice coordinate system Z axis and the height
It detects the optical axis coincidence of camera and is directed toward the lower section of the detection camera, X-axis, Y-axis meet the right-hand rule, and four described flat
Two holdings in line light source component are symmetrically in this X-axis, and remaining two same holdings are symmetrically in this Y-axis；Class
As, an image rectangular coordinate system X ' Y ' Z is established by origin of the center of the imaging plane of the height detection camera, wherein
The Z axis that the Z axis of the image rectangular coordinate system gives advice coordinate system with the camera coincides, and X ' axis, Y ' axis equally meet the right hand
Rule；Then, one is established immediately below the detection camera and refers to rectangular coordinate system X " Y " Z, and wherein this sits with reference to right angle
The Z axis of system and the optical axis coincidence of the detection camera are marked, X " axis, Y " axis equally meets the right-hand rule, and its X " Y " is flat
Face keeps being parallel to each other with the X/Y plane of the camera rectangular coordinate system.
In addition, as depicted in fig. 5e, the striped light beam that source of parallel light component generates can form multiple stripeds in X " Y " plane,
Stria wherein is indicated with " 1 ", indicates cord with " 0 ".By such coding mode, detection image shot by camera can be distinguished
In curved surface to be measured in striped and X " Y " plane striped corresponding relationship.It is when detection camera takes striped on curved surface to be measured
" 001010011 ", there are three types of possible outcomes: " 0 " " 010 " " 100 " " 11 ", " 00 " " 101 " " 001 " " 1 " and " 001 " " 010 "
" 011 " respectively corresponds serial number " x123x2”、“x351x4","123".Wherein, x1It is not 1 and x2Greater than 4, therefore first group of mistake；
Second group of sequence also mistake；Therefore only surplus third group sequence, and meet coding rule.Every stripe can correctly be known in visual field
Not.
Above curved surface elevation information measurement process can be summarized as follows key step:
Step 1: measuring its range information for arriving the X " Y " plane first with four range sensors respectively,
X " Y " plane pose is adjusted according to gained range information, makes itself and the height detection camera imaging plane keeping parallelism；Together
When, the difference between the range sensor and the height detection camera photocentre in Z-direction is compensated, is then measured
And determine the optical center of the height detection camera to the vertical range H between the X " Y " plane；
Step 2: projecting the alternate bright fringes of width using one group of source of parallel light component on curved surface to be measured,
And drive the source of parallel light component to rotate using the motor, so that the slow inswept entire region to be measured of striped；The height inspection
It surveys camera and adopts figure, and write down the projected angle α of each image；Then, successively using source of parallel light component described in remaining three groups, in repetition
Step is stated, four groups of images in the region to be measured under the striped that four groups of source of parallel light components are projected are respectively obtained；
Step 3: obtained four groups of images are directed to, calculate separately to obtain each source of parallel light component in song to be measured
Any point P to be formed on striped is projected on face in the deflection of Z-direction, and then count in such a way that weighting is averaged
Calculation finds out practical distortion amount；
Step 4: traverse measurement rack, successively complete curved surface to be measured of traversal repeat step 1 to step 3, directly
Until the elevation information for obtaining entire curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
Similarly, it is contemplated that the positioning accuracy of jet-printing head and operation equally directly influence subsequent multiple operation quality and essence
Degree, another preferred embodiment according to the invention have also further been made the specific configuration of jet-printing head and working principle and having been ground
Study carefully and designs.
As shown in fig. 6, jet-printing head 402 preferably can independently possess the one-movement-freedom-degree in three directions of x, y, z, nozzle is adjusted
401 guarantee to keep suitable height, folder between nozzle 401 and curved surface with the relative position of curved surface, the one-movement-freedom-degree of vertical direction
There are two rotary freedoms for tool 502, adjust the spatial attitude of curved surface, by judging the position of current spray printing in jet printing process,
In conjunction with curved surface altitude information, the pose of curved surface is constantly adjusted, guarantees that spray printing region surface is vertical with nozzle, passes through five degree of freedom system
System realizes curved surface spray printing, it is ensured that curved surface inking amount is uniform.
More specifically, preferred embodiment according to the invention, as shown in Figure 7 and Figure 8, the nozzle 401 of the jet-printing head
For single injector or the array nozzle collectively formed by multiple small nozzles；When using the form of array nozzle, Ge Ge little
Nozzle is arranged with certain difference in height, and preferably executes injection in following state: the small nozzle bottom end being selected is perpendicular
Curve where straight plane projection is set to and to keep substantially conformal between the curved surface transversal of spray printing.
When executing spray printing using single nozzle, it is ensured that nozzle with curved surface wait for spray printing in injection at it is vertical, to mention
High spray printing quality.In addition, in order to improve spray printing efficiency, array spray can be used for more large-scale and complicated 3D curved surface
Mouth 407.The array nozzle is for example arranged as shown in the figure with 3 × 6 array, and is furnished with single injector 401 and array nozzle
407 jet-printing head 402 uses simultaneously, and array nozzle 407 is for spray printing area to be larger and the lesser curved surface area of curvature, to mention
High efficiency, the curved surface area big for spray printing fine pattern and curvature of single injector 401, guarantees that ink droplet is uniform, improves spray printing quality.
Array nozzle 407 is made of a large amount of nozzles, there is certain difference in height between each row nozzle, when spray printing, first adjusts jet-printing head 402
Height with curved surface, according to the surface information that measurement camera obtains, selects a part spray by control algolithm to suitable range
Mouth is sprayed, curved surface where selected nozzle bottom end with it is conformal to spray printing curved surface, guarantee that the height of each nozzle and curved surface is in most
Good value, black nozzles indicate a kind of combination selected in figure, and the curved surface of different curvature is adapted to by different combinations.
Fig. 8 exemplarily illustrates this method for forming conformal nozzle array by difference in height, shown in 407 lower section of nozzle
It is in the nozzle that do not go together immediately ahead of nozzle 407 for the section to spray printing curved surface and is projected in a perpendicular, mark black
Be selected nozzle be in the curve conformal to spray printing curved surface transversal on, i.e., these nozzles formed a space curve on spray
The direction of relative movement of mouth linear array, the strategy progress curved surface spray printing scanned by line, nozzle 407 and curved surface is perpendicular to figure mean camber
Section.The deformation that array nozzle 407 is realized using control algolithm can spray compared with realizing deformation by mechanical structure
Real-time adjustment is hit, conformal state is kept, adapts to the curved surface of different curvature, is had flexible well.
To sum up, a kind of 3D curved surface EFI provided by the invention is patterned chemical industry skill, uses electrofluid Printing techniques, Neng Gou
Carry out the printing of multi-disc 3D curved surface different zones different pattern, including following process flow on one workbench simultaneously: vision is fixed
Position → measurement curved surface features → multiple electrofluid spray printing → multiple precuring → spray printing quality testing → final curing.The technique is certainly
Dynamicization degree is high, and installation way is small to curved surface damage, and electrofluid Printing techniques can use phase with high resolution printed fine pattern
Machine positioned, measured, ink-jet observation and spray printing quality testing, can be realized the printing of curved surface pattern, thus is suitable for 3D curved surface
Patterning, and be suitable for such as 3D hand-set lid the patterning with complex pattern curved surface.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of 3D curved surface EFI being patterned equipment, which includes workbench, loading and unloading module, EFI impression block, vision
Module and curing module, it is characterised in that:
The form of station dial is presented in the workbench, and the switching of each station, these works are executed by the rotation of itself
Position successively includes the positioning and clamping station of curved surface, the elevation carrection station of curved surface, multiple EFI print and precuring station, Yi Jizhi
Measure detection station；In addition, being equipped with the fixture for clamping curved surface on each station, and each station can be mutually indepedent
Ground executes relevant operation；
The side of the station dial is arranged in the loading and unloading module comprising machinery of the end equipped with vacuum chuck
Arm, and for will periodically be adsorbed to the curved surface of operation, and be transferred to each station or removed from it；
The EFI impression block includes more set jet-printing heads, these jet-printing heads correspond to each EFI print and precuring station and
It sets up one by one, and each jet-printing head has the one-movement-freedom-degree in tri- axis direction of XYZ respectively, and along station dial
Thus radial freedom degree adjusts the relative position between curved surface；
The vision module includes that positioning camera, measurement camera, detection camera, substrate observation camera and jet stream observe camera,
In the positioning camera be installed on the top of the positioning and clamping station, and for observing and determining curved surface on the fixture just
True installation site；The measurement camera is installed on the top of the elevation carrection station, the altitude feature for real-time measurement curved surface
Then information instructs the movement of the jet-printing head with this, to ensure to realize constant height between its nozzle and curved surface, and according to
This selects nozzle to be combined into required linear array；The detection camera is installed on the top of the quality testing station, and for song
Spray printing quality on face executes detection；In addition, the nozzle of the substrate observation camera and each jet-printing head is pacified in parallel
It fills and moves together therewith, and for executing vision positioning to determine the initial position of spray printing, simultaneously before executing EFI print
Established pattern is shot in entire jet printing process；The ink droplet body that jet stream observation camera is used to spray the jet-printing head
Product executes image and shoots and measure online；
The curing module includes precuring device and final curing device, wherein each precuring device corresponds to each spray
It prints head and is arranged and moves together therewith, and for being carried out to curved surface primary pre- after the jet-printing head completes each spray printing
Curing operation；The side of the station dial is then arranged in the final curing device, and for holding to the global pattern on curved surface
Row is last to be fully cured.
2. 3D curved surface EFI being patterned equipment as described in claim 1, which is characterized in that the jet-printing head respectively includes spray
The annular electrode below the nozzle and being grounded is arranged in, for generating electric field between the nozzle and the annular electrode in mouth
High pressure generator, and be stored with ink and keep the spray printing container that is connected to the nozzle；At work, in electric field force
Under inducing action, ink forms taylor cone on the top of the nozzle, and drop continues to project from the top of the taylor cone and in electricity
It is broken into a large amount of droplet under the action of field force, and then realizes the patterning operations to curved surface.
3. 3D curved surface EFI being patterned equipment as claimed in claim 2, which is characterized in that the nozzle of the jet-printing head is single
Nozzle or the array nozzle collectively formed by multiple small nozzles；When using the form of array nozzle, each small nozzle
It is arranged with certain difference in height, and executes injection in following state: being thrown in perpendicular the small nozzle bottom end being selected
Curve where shadow is set to and to keep substantially conformal between the curved surface transversal of spray printing.
4. 3D curved surface EFI being patterned equipment as claimed in any one of claims 1-3, which is characterized in that each spray
Head is printed equipped with the ink of identical or different material, and the spray printing for executing curved surface different zones, be achieved in multilayer complexity
The EFI of pattern prints.
5. 3D curved surface EFI being patterned equipment as claimed in any one of claims 1-3, which is characterized in that for the survey
For measuring camera, the measurement of curved surface altitude feature information is executed by the way of monocular vision, and including measuring rack, putting down
Line light source component, height detection camera and range sensor, in which:
The measurement rack is in the form of horizontally disposed symmetrical cross frame, and the installation foundation as other assemblies；
The quantity of the source of parallel light component is four, and each is mounted on the end of four identical arm configurations of the measurement rack
End lower section, and can drive rotated so that its projected angle changes via matched motor respectively；Each source of parallel light
Component sets up parallel light tube inside this mounting box separately by mounting box and successively respectively and transmission grating collectively constitutes,
In the parallel light tube be used for the transmission grating emitting parallel light beam, be then carved on the transmission grating width alternate two kinds it is flat
Row indentation so that the collimated light beam that the parallel light tube issues can be projected on curved surface to be measured to be formed it is light and dark parallel
Striped；
The quantity of the height detection camera is only one, it be fixedly mounted on it is described measurement rack center lower section, and with it is each
The source of parallel light component matches, for be formed by curved surface to be measured parallel stripes execution adopt figure to obtain required two
Tie up image；
The range sensor corresponds respectively to each source of parallel light component and is arranged, and when by adjusting the measurement
When the height of rack makes the height detection camera can get the clearly two dimensional image, it is used under this position to described
The optical center of lens of height detection camera is measured to the vertical range H between X " Y " plane, while for this height detection
The depth of parallelism between the imaging plane of camera and X " Y " plane is detected, wherein the X " Y " plane is believed in altitude response
A reference planes of institute's built in advance before breath measurement, and it is built with using the optical center of lens of the height detection camera by origin
Vertical horizontal X Y plane holding is parallel to each other.
6. 3D curved surface EFI being patterned equipment as claimed in claim 5, which is characterized in that respectively for the transmission grating
For the wide seam of the light transmission in light transmission gap having with for light transmission narrow slit, their position carries out coding row by n binary modes
Sequence, and to this n × 2nLight penetrating slit is encoded；Wherein the value of n is determined according to the visual field size of the detection camera, and
Ensure so that fringe number m should meet m > 3n-1 in detection camera image obtained；In addition, the light transmission narrow slit d2With institute
State the wide seam d of light transmission1Between wide-to-narrow ratio meet formula d1/d2≥2。
7. a kind of method for executing 3D curved surface EFI print using device as claimed in claim 5, which is characterized in that this method
Include the following steps:
(a) curved surface to spray printing is given by vacuum suction by the mechanical arm, and is transferred to the first station of the workbench
Namely at the positioning and clamping station；
(b) the correct installation site of curved surface is determined by the positioning camera first, then the mechanical arm is according to this position
It discharges curved surface, and curved surface is sucked by fixture and completes clamping；
(c) workbench is converted to next station namely the elevation carrection station, and is completed by the measurement camera to song
The measurement of face altitude feature information operates；
(d) workbench is converted to first on next station namely multiple EFI print and precuring station, and by described
Jet-printing head executes the electrofluid spray printing of the first pattern to curved surface, and it is pre- solid then to execute surface layer to ink by the precuring device
Change；Then, continue conversion to remaining EFI print and precuring station, carry out subsequent pattern spray printing and precuring operation, directly
To the patterning for completing entire curved surface；
(e) workbench is converted to next station namely quality testing station, and by the detection camera to the spray on curved surface
Print quality executes detection；Then, the mechanical arm removes the curved surface examined, and is sent into final curing equipment to the entirety on curved surface
Pattern carries out final curing；
(f) mechanical arm will complete cured curved surface and be put into finished product area, and be ready for feeding next time.
8. the method for claim 7, which is characterized in that in step (c), the measurement camera is using monocular vision
Mode executes the measurement process of curved surface altitude feature information, in which:
(c1) a camera rectangular coordinate system XYZ is established as origin using the optical center of lens of the height detection camera, wherein should
The optical axis coincidence of the Z axis of camera rectangular coordinate system and the height detection camera and the lower section for being directed toward the detection camera, X-axis, Y
Axis meets the right-hand rule, and two holdings in four source of parallel light components are symmetrically in this X-axis, two remaining
It is same to keep being symmetrically in this Y-axis；Similarly, it is established by origin of the center of the imaging plane of the height detection camera
One image rectangular coordinate system X ' Y ' Z, wherein the Z axis phase of the Z axis of the image rectangular coordinate system and the camera rectangular coordinate system
It is overlapped, X ' axis, Y ' axis equally meet the right-hand rule；Then, a reference is established immediately below the height detection camera
Rectangular coordinate system X " Y " Z, wherein this refers to the Z axis of rectangular coordinate system and the optical axis coincidence of the detection camera, X " axis, Y " axis
Equally meet the right-hand rule, and its X " Y " plane keeps being parallel to each other with the X/Y plane of the camera rectangular coordinate system；
(c2) its range information for arriving the X " Y " plane is measured respectively first with four range sensors, according to gained
Range information adjusts X " Y " plane pose, makes itself and the detection camera imaging plane keeping parallelism；Meanwhile to the distance
Difference between sensor and the detection camera photocentre in Z-direction compensates, and then measures and determines the detection phase
The optical center of machine is to the vertical range H between the X " Y " plane；
(c3) the alternate bright fringes of width are projected on curved surface to be measured using source of parallel light component described in one group, and use institute
Stating motor drives the source of parallel light component to rotate, so that the slow inswept entire region to be measured of striped；The detection camera adopts figure, and
Write down the projected angle α of each image；Then, it is successively repeated the above steps using source of parallel light component described in three groups of residue, respectively
Four groups of images in region to be measured under the striped projected to the source of parallel light component described in four groups；
(c4) obtained four groups of images are directed to, calculates separately to obtain each source of parallel light component and be thrown on curved surface to be measured
Any point P to be formed on striped is penetrated in the deflection of Z-direction, and then find out reality in such a way that weighting is averaged to calculate
Border deflection；
(c5) traverse measurement rack, successively complete curved surface to be measured of traversal, repeats step (c2) to step (c4), until obtaining
Until obtaining the entirely elevation information of curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
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Effective date of registration: 20220121 Address after: 430000 280, floor 2, building 1, phase I plant of optoelectronic supporting industrial park, No. 117, zuoling Road, zuoling Town, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee after: Wuhan guochuangke Photoelectric Equipment Co.,Ltd. Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: HUAZHONG University OF SCIENCE AND TECHNOLOGY |
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