CN110341323A - A kind of real-time curved surface ink-jet print system and method - Google Patents
A kind of real-time curved surface ink-jet print system and method Download PDFInfo
- Publication number
- CN110341323A CN110341323A CN201810320672.9A CN201810320672A CN110341323A CN 110341323 A CN110341323 A CN 110341323A CN 201810320672 A CN201810320672 A CN 201810320672A CN 110341323 A CN110341323 A CN 110341323A
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- spray head
- curved surface
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- ink
- sensor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45186—Print on workpieces
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Ink Jet (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of real-time curved surface ink-jet print system and methods.The system comprises: ink discharge device comprising spray head is used for curved surface jet ink to be printed；Sensor is connected with the ink discharge device, for perceiving and feeding back the distance between current spray head and curved surface to be printed information；Mechanical arm enables spray head to carry out inkjet printing with suitable attitude motion to the next position with six-freedom degree for carrying the spray head and sensor, and the posture information that Real-time Feedback spray head is current；And, control device is connect with the sensor, mechanical arm respectively, for receiving the feedback information of the sensor and mechanical arm, and the pose adjustment value of motion path and spray head is calculated in real time, and control spray head jet ink prints assignment graph on curved surface to be printed.Real time print may be implemented in the present invention, reduces cost, simplifies hardware configuration and operating procedure, application prospect are extensive.
Description
Technical field
The present invention relates to a kind of real-time curved surface ink-jet print system and methods, it is more particularly related to which one kind exists
The system and method for carrying out real time print with the mode of six shaft mechanical arm inkjet printings on three-dimension curved surface, belong to three-dimensional printing technology
Field.
Background technique
Traditional flexographic techniques include silk-screen printing, bat printing, letterset etc., mainly in simple, ruled surface
It is printed, does not have printing capability to Spatial General 6 R Irregular Boundary Surface, and there are inefficiency, complex process, there are dirts
The problems such as dye.Curved surface inkjet printing is a kind of novel flexographic techniques, there is unique advantage in terms of curved surface printing, and
With the increase of the personalized three-dimensional article market demand, curved surface inkjet printing starts to become research hotspot.
In the prior art, inkjet printing is carried out on three-dimension curved surface, mainly using " first scanning, then calculate, beat afterwards
The operating mode of print ", step include: to provide the pattern to be printed；By the three-dimensional measurement of print area；Space is generated according to measurement
Point coordinate, generates corresponding three-dimensional grid；Generate spray head or the printing path by printing objects；Spray head is counted by printing objects edge
Path movement is calculated, while spray head being driven to be printed.In this way, since scanning will use two-dimensional silhouette scanner, at
This height, and can not achieve real time print.
Ke Leige ﹒ Ao Er etc. is disclosed a kind of device and method for printing three-dimensional article (data of publication of application 2014
09 day 07 month, application publication number: CN103909743A), which also achieves curved surface inkjet printing, but biography is not referred in text
How quantity, localization method of sensor etc., sensor used can guarantee that spray head does not illustrate perpendicular to by print surface, and
Its sensor used be optical sensor include laser sensor, since number of sensors does not explain, if using one or
If two sensors, it is only capable of feedback a little or the range information of two o'clock, it can not plane where positioning nozzle.Therefore,
CN103909743A does not simultaneously specify how sensor used can guarantee spray head perpendicular to by print surface.
Summary of the invention
The main purpose of the present invention is to provide a kind of real-time curved surface ink-jet print system and methods, to overcome the prior art
In deficiency.
In order to realize that aforementioned invention purpose, the technical solution adopted by the present invention include:
The embodiment of the invention provides a kind of real-time curved surface ink-jet print systems comprising:
Ink discharge device comprising spray head is used for curved surface jet ink to be printed；
Sensor is connected with the ink discharge device, for perceiving and feeding back between current spray head and curved surface to be printed
Range information；
Mechanical arm, with six-freedom degree, for carrying the spray head and sensor, and Real-time Feedback spray head is current
Posture information enables spray head to carry out inkjet printing with suitable attitude motion to the next position；
And control device, it is connect respectively with the sensor, mechanical arm, for receiving the sensor and machinery
The feedback information of arm, and the pose adjustment value of motion path and spray head is calculated in real time, and control spray head jet ink is wait beat
Assignment graph is printed on print curved surface.
As one of preferable preferred embodiment, the sensor includes at least three close to switch, this three close to opening
It closes not on the same line.
Further, it is described close to switch include laser type close to switch, capacitive approach switch, inductance type is close opens
It closes, electromagnetic type is switched close to switch or ultrasonic type are close.
As one of preferable preferred embodiment, the sensor is tri-state close to switch, can respectively spray head with to
Print the distance between curved surface greater than, equal to, less than a setting numerical value when to the control device feed back range information.
As one of preferable preferred embodiment, the real-time curved surface ink-jet print system further includes that at least three anticollisions pass
Sensor is at least used to perceive and feeds back the current range information of spray head to the control mechanism.
As one of preferable preferred embodiment, the sensor and the spray head are mounted on the mechanical arm, are followed
The manipulator motion.
As one of preferable preferred embodiment, the ink discharge device further includes ink-feeding device, passes through spray with the spray head
Black pipeline is connected, for providing ink to the spray head.
The embodiment of the invention also provides a kind of real-time curved surface inkjet printing methods, are based on aforementioned real-time curved surface inkjet printing
System and implement comprising:
Curved surface to be printed and figure to be printed are provided；
The spray head is adjusted to initial position, and determines the direction of advance of printing height and the spray head；
The sensor reads range information, and the mechanical arm reads posture information, and feeds back to control device；
And the control device calculates the position for reaching next point according to current distance information and posture information in real time
With spray head posture, move the mechanical arm adjustment posture to the next position, the spray head carries out ink-jet while movement and beats
Print.
As one of preferable preferred embodiment, the control device make the central point of the spray head remain distance to
The equal height of print surface prints, and makes the spray orifice face of the spray head always perpendicular to surface to be printed.
As one of preferable preferred embodiment, in the ink jet printing process, the sensor is real by range information
When feed back to control device, the mechanical arm by the posture information Real-time Feedback of the spray head to control device, and the control
Device calculates the next position of motion path and the pose adjustment value of the spray head in real time.
As one of preferable preferred embodiment, in the ink jet printing process, when the mechanical arm adjusts posture, energy
Acceleration adjustment is made in response before enough bases.
Compared with prior art, the beneficial effect comprise that
1) real-time curved surface ink-jet print system provided by the invention can calculate motion path in real time, adjust spray head appearance in real time
State apart from the height such as curved surface to be printed and is being approximately perpendicular at curved surface to be printed progress inkjet printing；
2) attitude value of the distance value and spray head of the sensor monitoring of real-time curved surface ink-jet print system provided by the invention
Real-time Feedback, control unit calculate in real time, obtain the next point coordinates of motion and spray head pose adjustment value, are replaced often with this form
The operating mode of " scanning-calculating-printing " seen realizes real time print, reduces cost, and it is single that complexity is transferred to control
In member, simplify hardware configuration and operating procedure；
3) sensor of real-time curved surface ink-jet print system provided by the invention uses three-point fox method, not at least three
In collinear range sensor, guarantee that printing precision perpendicular to curved surface to be printed, is improved in spray orifice face；Also, sensing used
Device is tri-state close to switch, and it is accurate to be quick on the draw, and action error is small；
4) accelerating algorithm is added in the control unit of real-time curved surface ink-jet print system provided by the invention, meter can be optimized
It calculates as a result, being further ensured that print quality；
5) accordion structure of six shaft mechanical arms of real-time curved surface ink-jet print system provided by the invention makes system can be
It is printed on the object bigger than own vol, to realize that large area prints；
6) spray head of real-time curved surface ink-jet print system provided by the invention can not only print general dye ink, may be used also
Application range has been expanded significantly such as graphene ink with printing function ink；
7) real-time curved surface ink-jet print system provided by the invention is difficult to make due to realizing real time print for certain
The structures such as the inner sidewall being scanned with scanner can also be printed, and expand application range, and use more convenient, behaviour
Make simpler.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 a is a kind of structural schematic diagram of real-time curved surface ink-jet print system among a typical embodiments of the invention.
Fig. 1 b is the structural schematic diagram of control device among a typical embodiments of the invention.
Fig. 1 c is the structural schematic diagram of host computer among a typical embodiments of the invention.
Fig. 2 is a kind of mounting means schematic diagram of sensor among a typical embodiments of the invention.
Fig. 3 is a kind of mounting means schematic diagram of obstacle avoidance sensor among a typical embodiments of the invention.
Fig. 4 and Fig. 5 is the reference frame schematic diagram of mechanical arm among a typical embodiments of the invention.
Description of symbols: 1- mechanical arm, 2- sensor, 3- spray head, 4- ink-feeding device, 5- control cabinet, 6- host computer, 7-
Fixed device, 8- obstacle avoidance sensor, 9- waist, 10- large arm, 11- forearm, 12- wrist.
Specific embodiment
In view of deficiency in the prior art, inventor is studied for a long period of time and is largely practiced, and is able to propose of the invention
Technical solution as follows will be further explained the technical solution, its implementation process and principle etc..
A kind of real-time curved surface ink-jet print system that the one aspect of the embodiment of the present invention provides comprising:
Ink discharge device comprising spray head is used for curved surface jet ink to be printed；
Sensor is connected with the ink discharge device, for perceiving and feeding back between current spray head and curved surface to be printed
Range information；
Mechanical arm, with six-freedom degree, for carrying the spray head and sensor, and Real-time Feedback spray head is current
Posture information enables spray head to carry out inkjet printing with suitable attitude motion to the next position；
And control device, it is connect respectively with the sensor, mechanical arm, for receiving the sensor and machinery
The feedback information of arm, and the pose adjustment value of motion path and spray head is calculated in real time, and control spray head jet ink is wait beat
Assignment graph is printed on print curved surface.
Wherein, it about " six-freedom degree ", please refers to shown in Fig. 5,6 freedom degrees include: the rotation of waist 9, large arm 10
Pitching, the pitching of forearm 11, the rotation of forearm 11, the pitching of wrist 12, the rotation of wrist 12.
As one of preferable preferred embodiment, the sensor includes at least three close to switch, this three close to opening
It closes not on the same line.
Further, it is described close to switch include laser type close to switch, capacitive approach switch, inductance type is close opens
Pass, the close switch of electromagnetic type or the close switch of ultrasonic type etc., but not limited to this.
As one of preferable preferred embodiment, the sensor is tri-state close to switch, can respectively spray head with to
Print the distance between curved surface greater than, equal to, less than a setting numerical value when to the control device feed back range information, totally three kinds
State, it is accurate to be quick on the draw, and action error is small.
As one of preferable preferred embodiment, the real-time curved surface ink-jet print system further includes that at least three anticollisions pass
Sensor, connect with the spray head, is at least used to perceive and feeds back the current range information of spray head to the control mechanism.
Further, each obstacle avoidance sensor and each sensor are corresponded and are connected with each other.
Wherein, the obstacle avoidance sensor is distributed in around spray head, and range sensor, obstacle avoidance sensor are preferably abutted on position
It can be any one sensor for capableing of perceived distance, set a safety value, when detecting that distance is less than the safety value,
Currently executing instruction can be interrupted, preferentially adjusts range sensor that movement allows the obstacle avoidance sensor to abut far from being printed
Curved surface, the relationship representative both in Fig. 3 abut.
As one of preferable preferred embodiment, the sensor and the spray head are mounted on the mechanical arm, are followed
The manipulator motion, curved surface to be printed are motionless.
As one of preferable preferred embodiment, the mechanical arm includes six shaft mechanical arms, and has accordion structure, is made
System can be printed on the object bigger than own vol, to realize that large area prints.
As one of preferable preferred embodiment, the spray head includes a plurality of spray orifices, is porous structure, in print procedure
In, according to the digital information for wanting print pattern, corresponding spray orifice jet ink.Spray head of the invention can not only print general
Dye ink can expand significantly application range such as graphene ink with printing function ink.
In the present invention, since the spray head of use has multiple spray orifices, face (referred to as " spray orifice where determining spray orifice
Face ") posture, at least need determine face at 3 points, that is, at least need not be located at collinear three range sensors, ability
Guarantee spray orifice face perpendicular to surface to be printed.
In the present invention, sensor uses three-point fox method, at least three not in collinear range sensor, protects
Spray orifice face is demonstrate,proved perpendicular to by printing curved surface, improves printing precision.
As one of preferable preferred embodiment, the ink discharge device further includes ink-feeding device, passes through spray with the spray head
Black pipeline is connected, for providing ink to the spray head.
Further, the ink-feeding device is also fixedly connected with a fixed device.
As one of preferable preferred embodiment, the control device includes control unit (such as control cabinet) and host computer.
Further, in some more specific embodiments, the control can be optimized by following optimization method
The calculated result of unit, is further ensured that print quality.The principle of the preferred method includes: one counting mark of setting to mark
Currently call pose adjustment calculation method, when detect call identical calculation method twice in succession or more than twice when, than
The movement of falling head is such as continuously performed, program calls accelerating algorithm automatically at this time, increases single step adjusted value by corresponding multiple
Greatly, to achieve the purpose that be adjusted as early as possible to target value.
Wherein, as of the invention one of one more preferably case study on implementation, the system comprises:
Mechanical arm has six-freedom degree, carries spray head and sensor, can be believed with the current posture of Real-time Feedback spray head
Breath enables spray head to carry out inkjet printing with suitable attitude motion to next coordinate points；Sensor, for perceiving and feeding back spray
Current range information；Ink discharge device, including spray head and ink-feeding device are used for surface jet ink to be printed；Control dress
It sets, including control cabinet and host computer, for the feedback information of receiving sensor and mechanical arm, runs control unit, calculate in real time
The pose adjustment value of motion path and spray head, and control spray head jet ink printing curve.
Real-time curved surface ink-jet print system of the invention can calculate motion path in real time, adjust spray head posture in real time,
Distance is by the height such as printing curved surface and is approximately perpendicular to by progress inkjet printing at printing curved surface.
A kind of real-time curved surface inkjet printing methods that the other side of the embodiment of the present invention provides are based on aforementioned real-time song
Face ink-jet print system and implement comprising:
Curved surface to be printed and figure to be printed are provided；
The spray head is adjusted to initial position, and determines the direction of advance of printing height and the spray head；
The sensor reads range information, and the mechanical arm reads posture information, and feeds back to control device；
And the control device calculates the position for reaching next point according to current distance information and posture information in real time
With spray head posture, move the mechanical arm adjustment posture to the next position, the spray head carries out ink-jet while movement and beats
Print.
As one of preferable preferred embodiment, the control device make the central point of the spray head remain distance to
The equal height of print surface prints, and makes the spray orifice face of the spray head always perpendicular to surface to be printed.
As one of preferable preferred embodiment, in the ink jet printing process, the sensor is real by range information
When feed back to control device, the mechanical arm by the posture information Real-time Feedback of the spray head to control device, and the control
Device calculates the next position of motion path and the pose adjustment value of the spray head in real time.
In the present invention, control device calculates the next position of motion path and the pose adjustment value of the spray head in real time
Computing Principle is as follows:
At least three on the same line can not position a plane, plane where the plane and spray head close to switch
It is overlapped or parallel.It is each close to switch can Real-time Feedback distance by the far and near state of printing curved surface, read all close to opening
The available one group of state value of the state of pass can correspond to the pose of adjustment spray head based on each group of state value, make each close
Switch is adjusted with by the vertical range of printing curved surface to the direction close to setting value, while also to be guaranteed before printing on direction
Moving Unit step-length, so that the plane where making spray head is approximately perpendicular to curved surface to be printed always.Each of mechanical arm execution
Movement instruction requires to transfer corresponding calculating side after the distance state value and mechanical arm coordinate value for reading current sensor
Pose adjusted is calculated in method.
In another aspect of this invention, the spray head is porous, in print procedure, according to the number letter for wanting print pattern
Breath, corresponding spray orifice jet ink.
As one of preferable preferred embodiment, in the ink jet printing process, when the mechanical arm adjusts posture, energy
Acceleration adjustment is made in response before enough bases.
Further, the ink of the nozzle printing includes dye ink and/or functional ink.Spray head of the invention is not
It is only capable of printing general dye ink, application range can have been expanded significantly such as graphene ink with printing function ink.
In another aspect of this invention, according to the actual conditions of curved surface are provided, part print parameters are adjustable, to reach best
Printing effect.
The attitude value Real-time Feedback of sensor monitors in method of the invention distance value and spray head, control unit are counted in real time
It calculates, obtains the next point coordinates of motion and spray head pose adjustment value, common " scanning-calculating-printing " is replaced with this form
Operating mode, realize real time print, reduce cost, complexity is transferred in control unit, simplify hardware configuration and behaviour
Make step.
Clear, complete description is carried out to technical solution of the present invention below in conjunction with attached drawing and typical case.
It please refers to shown in Fig. 1 a- Fig. 1 c, is one of the present embodiment curved surface ink-jet print system in real time, 2 He of sensor
Spray head 3 is mounted on the end flange of mechanical arm 1, and the output signal of sensor 2 accesses control cabinet 5；Ink discharge device includes spray head 3
With ink-feeding device 4, spray head 3 is connected to ink-feeding device 4 by ink jet, and ink-feeding device 4 is mounted on fixed device 7；Control dress
It sets including control cabinet 5 and host computer 6, mechanical arm 1 connects control cabinet 5 by interconnection line, and control cabinet 5 connects host computer by cable
6, control unit is run in host computer 6.
Wherein, sensor 2 be tri-state close to switch, i.e., respectively be greater than, be less than, be equal to operating distance when feedback signal,
Wherein operating distance be a distance segment, such as operating distance be a~b millimeter (a <b), then close to switch be less than a millimeters, greatly
It can feedback signal when between b millimeters and a~b millimeters.
Wherein, the tri-state includes laser type, condenser type, inductance type, electromagnetic type, ultrasonic type etc. close to switch, but not
It is limited to this.
System of the invention at least needs three close to switch, is distributed in around spray head 3 and not on the same line, guarantees
Plane and 3 bottom surface of spray head where sensor 2 is in the same plane or parallel, guarantees that the posture of spray head 3 and printing are high with this
Degree, Fig. 2 illustrate a kind of possible mounting means.
Bump against in order to avoid spray head 3 and by printing objects, in a control unit, when adjusting 3 posture of spray head, can incline as far as possible
To in spray head 3, far from surface to be printed, such as normal print height is a~b millimeters, then guarantee spray head 3 as far as possible prints at b millimeter.
In order to further increase the reliability of system, obstacle avoidance sensor 8 can be installed around spray head 3, three anticollisions is at least needed to pass
Sensor 8, Fig. 3 illustrates a kind of possible mounting means, when receiving the signal of obstacle avoidance sensor 8, can adjust appearance in time
State.
Printing starts, and spray head 3 is first moved to initial position, the posture of adjustment spray head 3 is perpendicular to by type list as far as possible
Face, and meet the requirement of printing height.Provide the direction of advance in print procedure, as shown in Figure 4 and Figure 5, such as regulation is advanced
Direction is the Y-direction of reference frame.Wherein, as shown in fig.5,6 freedom degrees of mechanical arm include: the rotation, big of waist 9
The pitching of arm 10, the pitching of forearm 11, the rotation of forearm 11, the pitching of wrist 12, the rotation of wrist 12.
The principle of the present invention and use operate as follows: in print procedure, control unit reads the value of sensor 2 first, sentences
Whether disconnected spray head 3 is vertical with curved surface, i.e., whether current pose needs to adjust；If you do not need to adjustment, then reading mechanical arm 1
Attitude value calculates position and the posture of next point according to current pose value；If necessary to adjust, then need first to calculate posture tune
Whole value, to obtain position and the posture of next point；Calculating finishes, and sends movement instruction, and detects whether to reach designated movement
Point.
After starting printing, spray head 3 in the process of moving in prepare spray regime, when receive start injection signal
Afterwards, spray head 3 starts ink-jet, with the mode of upright projection, carries out according to the corresponding spray orifice of the two-dimensional digital Graph Control of storage
Injection.
In control unit, when reading current pose, the influence of back can be comprehensively considered, acceleration adjustment is made, such as connect
The continuous height of printing twice is greater than the set value, then makes the judgement for accelerating decline；According to the actual conditions of curved surface are provided, part is printed
Parameter adjustable, to reach optimal printing effect, such as control interface provides step-length, printing height, print speed, alarm distance ginseng
Number, can make appropriate adjustment according to the actual situation.
By above-mentioned technical proposal, real-time curved surface ink-jet print system of the invention can calculate motion path in real time, real
When adjust spray head posture, apart from the height such as curved surface to be printed and be approximately perpendicular at curved surface to be printed progress inkjet printing；
Also, the distance value of the sensor monitoring of real-time curved surface ink-jet print system of the invention and the attitude value Real-time Feedback of spray head,
Control unit calculates in real time, obtains the next point coordinates of motion and spray head pose adjustment value, replaces common " sweep with this form
Retouch-calculate-print " operating mode, realize real time print, reduce cost, complexity be transferred in control unit, letter
Change hardware configuration and operating procedure.
Although in conjunction with attached drawing, the present invention is described, and embodiment disclosed in attached drawing is intended to preferred to the present invention
Embodiment illustrates, and should not be understood as to a kind of limitation of the invention.
Technology contents and technical characteristic of the invention have revealed that as above, however those skilled in the art still may base
Make various replacements and modification without departing substantially from spirit of that invention, therefore, the scope of the present invention in teachings of the present invention and announcement
It should be not limited to the revealed content of embodiment, and should include various without departing substantially from replacement and modification of the invention, and be this patent Shen
Please claim covered.
Claims (14)
1. a kind of real-time curved surface ink-jet print system, characterized by comprising:
Ink discharge device comprising spray head is used for curved surface jet ink to be printed；
Sensor is connected with the ink discharge device, vertical between current spray head and curved surface to be printed for perceiving and feeding back
Range information；
Mechanical arm, with six-freedom degree, for carrying the spray head and sensor, and the posture that Real-time Feedback spray head is current
Information enables spray head to carry out inkjet printing with suitable attitude motion to the next position；
And control device, it is connect respectively with the sensor, mechanical arm, for receiving the sensor and mechanical arm
Feedback information, and the pose adjustment value of motion path and spray head is calculated in real time, and control spray head jet ink is in song to be printed
Assignment graph is printed on face.
2. real-time curved surface ink-jet print system according to claim 1, it is characterised in that: the sensor includes at least three
A to approach switch, this three approach switch not on the same line.
3. real-time curved surface ink-jet print system according to claim 2, it is characterised in that: described to include laser close to switch
Formula is switched close to switch, capacitive approach switch, inductance approach switch, electromagnetic type close to switch or ultrasonic type are close.
4. real-time curved surface ink-jet print system according to claim 2, it is characterised in that: the sensor is that tri-state is close
Switch, can respectively at a distance from spray head is between curved surface to be printed greater than, equal to, less than a setting numerical value when to the control
Device feeds back range information.
5. real-time curved surface ink-jet print system described in any one of -4 according to claim 1, it is characterised in that further include at least
Three obstacle avoidance sensors are at least used to perceive and feed back the current range information of spray head to the control mechanism.
6. real-time curved surface ink-jet print system according to claim 5, it is characterised in that: each obstacle avoidance sensor with
Each sensor is corresponded and is connected with each other.
7. real-time curved surface ink-jet print system according to claim 1, it is characterised in that: the sensor and the spray head
It is mounted on the mechanical arm, follows the manipulator motion.
8. real-time curved surface ink-jet print system according to claim 1 or claim 7, it is characterised in that: the mechanical arm includes six
Shaft mechanical arm, and there is accordion structure.
9. real-time curved surface ink-jet print system according to claim 1, it is characterised in that: the ink discharge device further includes supplying
Black device is connected with the spray head by ink-jet pipeline, for providing ink to the spray head.
10. a kind of real-time curved surface inkjet printing methods are based on real-time curved surface inkjet printing of any of claims 1-9
System and implement, characterized by comprising:
Curved surface to be printed and figure to be printed are provided；
The spray head is adjusted to initial position, and determines the direction of advance of printing height and the spray head；
The sensor reads range information, and the mechanical arm reads posture information, and feeds back to control device；
And the control device calculates position and the spray for reaching next point according to current distance information and posture information in real time
Head posture moves the mechanical arm adjustment posture to the next position, and the spray head carries out inkjet printing while movement.
11. real-time curved surface inkjet printing methods according to claim 10, it is characterised in that: the control device makes described
The central point of spray head remains that the equal height apart from surface to be printed prints, and make the spray orifice face of the spray head always perpendicular to
Surface to be printed.
12. real-time curved surface inkjet printing methods according to claim 10, it is characterised in that: in the ink jet printing process
In, for the sensor by range information Real-time Feedback to control device, the mechanical arm is real-time by the posture information of the spray head
Control device is fed back to, and the control device calculates the next position of motion path and the pose adjustment of the spray head in real time
Value.
13. real-time curved surface inkjet printing methods according to claim 10, it is characterised in that: in the ink jet printing process
In, when the mechanical arm adjusts posture, acceleration adjustment can be made according to response before.
14. real-time curved surface inkjet printing methods described in any one of 0-13 according to claim 1, it is characterised in that: the spray
The ink of head printing includes dye ink and/or functional ink.
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| CN112045829A (en) * | 2020-08-12 | 2020-12-08 | 湖北北新建材有限公司 | Automatic two-control side-spraying input method and device |
| CN112078253A (en) * | 2020-09-11 | 2020-12-15 | 谢瑞 | Spraying system and spraying method |
| CN114147738A (en) * | 2021-11-26 | 2022-03-08 | 中国人民解放军32286部队50分队 | 3D curved surface spray-painting system based on industrial robot and working method thereof |
| CN114211881A (en) * | 2021-10-27 | 2022-03-22 | 上海中船临港船舶装备有限公司 | Control system and control method for profile spray printing angle |
| US20220097410A1 (en) * | 2020-09-29 | 2022-03-31 | Seiko Epson Corporation | Three-dimensional object printing apparatus and three-dimensional object printing method |
| CN114683711A (en) * | 2020-12-28 | 2022-07-01 | 佛山希望数码印刷设备有限公司 | System and method for digitally printing three-dimensional surface |
| CN115213173A (en) * | 2021-04-15 | 2022-10-21 | 大族激光科技产业集团股份有限公司 | Laser cleaning system and working method thereof |
| CN115214245A (en) * | 2021-04-21 | 2022-10-21 | 佛山希望数码印刷设备有限公司 | Method and system for ink-jet printing of manipulator through PLC |
| CN115867441A (en) * | 2020-07-01 | 2023-03-28 | 日声股份有限公司 | Laser printing on curved surfaces |
| CN116394664A (en) * | 2023-06-07 | 2023-07-07 | 合肥海闻打印技术有限公司 | Automobile curved surface part ink-jet printing device based on multi-axis mechanical arm and control system |
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| CN115867441A (en) * | 2020-07-01 | 2023-03-28 | 日声股份有限公司 | Laser printing on curved surfaces |
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| CN114211881A (en) * | 2021-10-27 | 2022-03-22 | 上海中船临港船舶装备有限公司 | Control system and control method for profile spray printing angle |
| CN114211881B (en) * | 2021-10-27 | 2023-12-15 | 上海中船临港船舶装备有限公司 | Profile jet printing angle control system and control method |
| CN114147738A (en) * | 2021-11-26 | 2022-03-08 | 中国人民解放军32286部队50分队 | 3D curved surface spray-painting system based on industrial robot and working method thereof |
| CN116394664A (en) * | 2023-06-07 | 2023-07-07 | 合肥海闻打印技术有限公司 | Automobile curved surface part ink-jet printing device based on multi-axis mechanical arm and control system |
| CN116394664B (en) * | 2023-06-07 | 2023-08-18 | 合肥海闻打印技术有限公司 | Automobile curved surface part ink-jet printing device based on multi-axis mechanical arm and control system |
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