CN114701262B - Multi-independent nozzle printing equipment for non-flat substrate surface and printing method thereof - Google Patents
Multi-independent nozzle printing equipment for non-flat substrate surface and printing method thereof Download PDFInfo
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- CN114701262B CN114701262B CN202210203362.5A CN202210203362A CN114701262B CN 114701262 B CN114701262 B CN 114701262B CN 202210203362 A CN202210203362 A CN 202210203362A CN 114701262 B CN114701262 B CN 114701262B
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- 238000007639 printing Methods 0.000 title claims abstract description 234
- 239000000758 substrate Substances 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000012806 monitoring device Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 239000007921 spray Substances 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 9
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 8
- 229910052710 silicon Inorganic materials 0.000 description 8
- 239000010703 silicon Substances 0.000 description 8
- 239000000919 ceramic Substances 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- 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
- 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
- B41J3/40731—Holders for objects, e. g. holders specially adapted to the shape of the object to be printed or adapted to hold several objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M5/00—Duplicating or marking methods; Sheet materials for use therein
- B41M5/0082—Digital printing on bodies of particular shapes
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Screen Printers (AREA)
- Ink Jet (AREA)
Abstract
The multi-independent spray head printing equipment comprises a multi-head printing device, a calibrating device, a positioning monitoring device for positioning the multi-head printing device and a substrate fixing device for fixing a substrate, wherein the multi-head printing device is matched with the substrate fixing device, the calibrating device is installed on the substrate fixing device and is matched with the multi-head printing device so as to calibrate the multi-head printing device in a Z direction, the printing heads in a plurality of printing units are conveniently located at the same height, the follow-up Z direction offset adjustment is conveniently carried out on the printing heads according to the scanning result of a laser height measuring sensor, and the positioning monitoring device is matched with the multi-head printing device and the substrate fixing device so as to position the multi-head printing device, monitor the printing process and improve the printing precision.
Description
Technical Field
The invention belongs to 3D printing equipment, and particularly relates to multi-independent spray head printing equipment for a non-flat substrate surface and a printing method thereof.
Background
Along with the development of industry, in various fields, the requirements on the processing precision of finish machining are also higher and higher, for example, the processing precision of circuit board forming, paint material spraying on the surface of a glass substrate, paint spraying on the surface of an electrical appliance insulating material and the like is poorer, and the processing precision of circuit printing equipment or spraying equipment on the market at present can only achieve plane printing and cannot meet the requirements on a space structure.
Along with the continuous update of 3D printing equipment, some 3D printing equipment for printing circuit boards also appear on the market at present, in accurate parts printing process such as circuit boards, the discharge amount of printhead is very little, interval between printhead and the substrate is also very little, in time the very little change of substrate height takes place also causes very big influence to the printing precision of printing the substrate easily, the printing precision of current printing equipment is low, often neglect the subtle high change of substrate, lead to the product yields greatly reduced, and current printing equipment print efficiency is very low, greatly reduced the application prospect of print circuit.
Disclosure of Invention
Aiming at the defects, the technical problem to be solved by the invention is to provide a multi-independent spray head printing device for a non-flat substrate surface and a printing method thereof, so as to improve the precision and efficiency of molding and preparing linear materials on the non-flat substrate surface.
In order to solve the technical problems, the invention adopts the technical proposal that,
the multi-independent spray head printing equipment for the non-flat substrate surface comprises a multi-head printing device, a calibrating device, a positioning monitoring device for positioning the multi-head printing device and a substrate fixing device for fixing a substrate, wherein the multi-head printing device is matched with the substrate fixing device, the calibrating device is arranged on the substrate fixing device and is matched with the multi-head printing device so as to calibrate the multi-head printing device, and the positioning monitoring device is matched with the multi-head printing device and the substrate fixing device so as to position the multi-head printing device;
the multi-head printing device comprises a plurality of printing head units which are arranged in parallel and a laser height measuring sensor, a position rough adjusting assembly, a printing head and a position fine adjusting member are arranged in the printing head units, the printing head is arranged on the position rough adjusting assembly, the position fine adjusting member is matched with the position rough adjusting assembly so as to finely adjust the position of the printing head, the laser height measuring sensor is matched with the printing head, the laser height measuring sensor scans the surface height of a substrate, and the relative height of each printing head in the printing process is adjusted according to the scanning result.
Further, the coarse adjustment assembly comprises a coarse adjustment interval piece, a coarse adjustment installation seat, a coarse adjustment alignment piece and a fine adjustment installation seat, wherein the coarse adjustment installation seat is fixedly installed on the coarse adjustment interval piece, the coarse adjustment alignment piece is fixedly installed on the coarse adjustment installation seat, the fine adjustment installation seat is fixedly installed on the coarse adjustment alignment piece, the printing heads and the fine adjustment position pieces are respectively installed on the fine adjustment installation seat, the fine adjustment position pieces are matched with the coarse adjustment alignment piece, the coarse adjustment interval piece adjusts the interval between the adjacent printing heads, the coarse adjustment alignment piece is used for aligning the adjacent printing heads to the same horizontal line, and the height is adjusted to the same horizontal plane.
Further, the alignment coarse adjustment piece comprises a two-way sliding table, a transverse coarse adjustment module and a vertical coarse adjustment module, wherein the transverse coarse adjustment module and the vertical coarse adjustment module are respectively arranged on the two-way sliding table, and the fine adjustment installation seat is respectively arranged on the two-way sliding table and is propped against the vertical coarse adjustment module.
Further, the horizontal coarse adjustment module and the vertical coarse adjustment module respectively comprise a coarse adjustment bolt, a coarse adjustment seat and a coarse adjustment fixing seat, the coarse adjustment seat and the coarse adjustment fixing seat are respectively arranged on two adjacent sliding tables of the two-way sliding table, the coarse adjustment bolt is arranged on the coarse adjustment seat, the coarse adjustment bolt is rotationally connected with the coarse adjustment fixing seat, the coarse adjustment fixing seat and the coarse adjustment fixing seat are adjusted through the coarse adjustment bolt, and the position fine adjustment piece is oppositely arranged through the coarse adjustment fixing seat and the coarse adjustment bolt.
Further, the fine adjustment mounting seat is fixedly connected with a fine adjustment mounting portion and a printing head mounting portion, a fine adjustment through hole is formed in the fine adjustment mounting portion, the position fine adjustment member is mounted in the position fine adjustment hole, a printing head through hole and an adjusting through hole are formed in the printing head mounting portion, the adjusting through hole and the fine adjustment through hole are coaxially distributed, and the printing head is mounted in the printing head through hole.
Further, the positioning monitoring device comprises a printing observation assembly, a vertical observation assembly and an inversion observation assembly, wherein the printing observation assembly and the vertical observation assembly are respectively arranged on the multi-head printing device, the printing observation assembly is matched with the printing head so as to observe the printing process of the printing head, the vertical observation assembly is matched with the substrate fixing device so as to identify positioning points on the substrate, the inversion observation assembly is arranged on the substrate fixing device, and the inversion observation assembly is matched with the printing head so as to observe the distance between adjacent printing heads.
Further, print and observe the subassembly and include observing camera, camera anchor clamps and camera motion platform, camera anchor clamps slidable mounting is on the camera motion platform, observes the camera and installs on the camera anchor clamps, installs photoelectric switch on the camera motion platform, installs on the camera anchor clamps and shelters from the piece, shelters from piece and photoelectric switch adaptation to confirm the position of observing the camera.
Further, the camera fixture comprises a camera fixture head, an oblique connecting block, a camera connecting seat, a camera vertical adjusting block and a camera double-shaft adjusting block, wherein the camera fixture head is adjustably arranged on the oblique connecting block through the camera double-shaft adjusting block, the oblique connecting block is adjustably arranged on the camera connecting seat through the camera vertical adjusting block, the camera vertical height is adjusted through the camera vertical adjusting block, and the camera transverse position and the distance between the camera and the printing head are adjusted through the camera double-shaft adjusting block.
Further, the calibrating device comprises an adjusting table clamp, an adjusting table, a reference component and a contact sensor, wherein the adjusting table clamp is arranged on the substrate fixing device, the adjusting table is arranged on the adjusting table clamp, the reference component is arranged on the adjusting table, the reference component is adjusted to be horizontal through the matching of the adjusting table and the positioning monitoring device, the contact sensor is arranged on the reference component, and the contact sensor is matched with the printing heads to align the printing heads in height.
Further, the multi-head printing device further comprises a printing gantry seat, a printing lifting mechanism and a printing mounting plate, wherein the printing gantry seat is fixedly arranged on the substrate fixing device, the printing mounting plate is arranged on the printing gantry seat in a lifting mode through the printing lifting mechanism, the printing head unit and the printing observation assembly are respectively arranged on the printing mounting plate, the printing mounting plate is further provided with a laser height measurement sensor, and the laser height measurement sensor is used for scanning the height of the substrate.
Further, the substrate fixing device comprises an equipment base, a substrate fixing sucker and a substrate moving assembly, wherein the substrate moving assembly is fixedly arranged on the equipment base, and the substrate moving assembly is fixedly arranged on the substrate moving assembly.
The printing method of the multi-independent nozzle printing equipment for the non-flat substrate surface comprises the following steps,
step one: printing material filling, starting the printing equipment to mechanically zero all motion axes;
step two: mounting the substrate to a substrate fixture;
step three: scanning the substrate height through a laser altimeter sensor, and adjusting the substrate to a relative horizontal state;
step four: adjusting the spacing between adjacent printing heads by using the inverted observation assembly so that the spacing between the adjacent printing heads is kept consistent;
step five: adjusting the height of each printing head through a calibration device so that each printing head is positioned in the same horizontal plane;
step six: adjusting each print head to be on the same horizontal plane;
step seven: using a laser height measurement sensor to perform full-width height data scanning on the adjusted base material, and obtaining respective Z-direction height data of each needle point at the corresponding XY position through software;
step eight: finding Mark point positions of the substrate to be processed by using a vertical observation camera, and determining processing starting positions;
step nine: starting processing; in the processing process, the position fine adjustment part compensates according to the height data of the substrate surface obtained by previous scanning so as to ensure that the needle point is a constant distance from the substrate surface;
step ten: and after the processing is finished, returning all mechanical motion axes to zero, and taking down the base material.
The invention has the advantages that (1) the relative height of the printing head in the printing process is adjusted through the calibrating device, so that the Z-direction offset adjustment of the printing head is conveniently carried out according to the scanning result of the laser height measuring sensor, the Z-direction control precision of the device is greatly improved, and the printing device is convenient to print on a non-flat substrate surface.
(2) By arranging a plurality of printing units in the multi-head printing device, printing at a plurality of printing positions can be simultaneously carried out, and the printing efficiency is greatly improved.
(3) The piezoelectric ceramic actuator can print on a substrate with a non-flat surface and has higher layer thickness control capability, even if the surface of the substrate to be processed is uneven, the piezoelectric ceramic actuator can compensate according to the height data of the substrate surface obtained by previous scanning so as to ensure that the needle tip is a constant distance from the substrate surface, and in addition, the response frequency of the piezoelectric ceramic actuator is as high as 1KHz, even under higher running speed, the accurate compensation of the height can be ensured.
(4) Through vision counterpoint, dotting counterpoint, can realize higher XY counterpoint precision and comparatively convenient.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of a multi-head printing device mated with a print viewer assembly.
Fig. 3 is a schematic view of the structure of fig. 2 after being rotated at a certain angle.
Fig. 4 is a schematic structural view of the calibration device.
Fig. 5 is a schematic structural view of the printing unit.
Fig. 6 is a schematic view of the structure of fig. 5 rotated at a certain angle.
Fig. 7 is a schematic structural view of a vertical viewing assembly.
Reference numerals: a multi-head printing device 1, a calibrating device 2, a positioning monitoring device 3, a substrate fixing device 4, a laser height sensor 1-1, a printing head 1-2, a position fine adjusting piece 1-3, a distance coarse adjusting piece 1-4, a coarse adjusting installation seat 1-5, the device comprises an alignment coarse adjustment piece 1-6, a fine adjustment mounting seat 1-7, a bidirectional sliding table 1-8, a transverse coarse adjustment module 1-9, a vertical coarse adjustment module 1-10, a coarse adjustment bolt 1-11, a coarse adjustment seat 1-12, a coarse adjustment fixing seat 1-13, a fine adjustment mounting part 1-14, a printing head mounting part 1-15, an adjustment through hole 1-16, a printing gantry seat 1-17, a printing lifting mechanism 1-18, a printing mounting plate 1-19, an adjustment table clamp 2-1, an adjustment table 2-2, a reference component 2-3, a contact sensor 2-4, a reference clamp 2-5, a silicon wafer 2-6, a printing observation component 3-1, a vertical observation component 3-2, an inverted observation component 3-3, an observation camera 3-4, a camera clamp 3-5, a camera moving table 3-6, a photoelectric switch 3-7, a shielding piece 3-8, a camera clamp head 3-9, an oblique connection block 3-10, a camera connecting seat 3-11, a camera vertical adjustment block 3-12, a double-shaft adjustment block 3-13, a manual adjustment block 3-14, a vertical sliding block 3-16, a vertical chuck component 4-3-6, and a base seat 4.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The multi-independent nozzle printing equipment for the non-flat substrate surface comprises a multi-head printing device 1, a calibrating device 2, a positioning monitoring device 3 for positioning the multi-head printing device 1 and a substrate fixing device 4 for fixing a substrate, wherein the multi-head printing device 1 is matched with the substrate fixing device 4, the calibrating device 2 is arranged on the substrate fixing device 4 and is matched with the multi-head printing device 1 so as to calibrate the multi-head printing device 1 in a Z direction, so that printing heads in a plurality of printing units are at the same height, the follow-up Z direction offset adjustment is conveniently carried out on the printing heads according to the scanning result of the laser height sensor 1-1, and the positioning monitoring device 3 is matched with the multi-head printing device 1 and the substrate fixing device 4 so as to position the multi-head printing device 1, monitor the printing process and improve the printing precision.
The multi-head printing device 1 comprises a plurality of printing head units which are arranged in parallel and a laser height measurement sensor 1-1, and a plurality of printing positions can be printed at the same time by arranging a plurality of printing units in the multi-head printing device, so that the printing efficiency is greatly improved.
The printer head unit is internally provided with a position coarse adjustment assembly, a printer head 1-2 and a position fine adjustment member 1-3, the printer head 1-2 is arranged on the position coarse adjustment assembly, the position coarse adjustment assembly is manually adjusted, so that the XYZ three-way of the printer head 1-2 is primarily adjusted, the adjustment efficiency is improved, the position fine adjustment member 1-3 is matched with the position coarse adjustment assembly, the Z position of the printer head is adjusted through the position fine adjustment assembly, so that the position fine adjustment of the printer head is carried out, the Z-direction height of the printer head can be timely adjusted according to the change of the height of the surface of a substrate in the printing process, the yield of a product is ensured, the laser height measurement sensor 1-1 is matched with the printer head 1-2, on one hand, the height of the surface of the substrate is scanned through the laser height measurement sensor 1-1, the relative height of each printer head 1-2 in the printing process is adjusted according to the scanning result, and on the other hand, the substrate is adjusted through the laser height measurement sensor 1-1 in the clamping process, so that the substrate is ensured to be in a relative height after the installation is finished.
In this embodiment, in order to improve the adjustment accuracy of the position fine adjustment member 1-3, the position fine adjustment member 1-3 employs a piezoelectric ceramic actuator.
The multi-head printing device 1 further comprises a printing gantry base 1-17, a printing lifting mechanism 1-18 and a printing mounting plate 1-19, wherein the printing gantry base 1-17 is fixedly arranged on the base material fixing device 4, the printing mounting plate 1-19 is arranged on the printing gantry base 1-17 in a lifting mode through the printing lifting mechanism 1-18, a printing head unit and a printing observing component 3-1 are respectively arranged on the printing mounting plate 1-19, a laser height sensor 1-1 is further arranged on the printing mounting plate 1-19, the laser height sensor 1-1 is used for scanning the height of a base material, the printing head is driven to move up and down through the printing lifting mechanism 1-18, so that the printing head is moved to a position where printing starts.
The coarse adjustment assembly comprises a coarse adjustment interval piece 1-4, a coarse adjustment interval mounting seat 1-5, a coarse adjustment interval piece 1-6 and a fine adjustment interval mounting seat 1-7, the coarse adjustment interval piece 1-4 is mounted on a printing mounting plate 1-19, the coarse adjustment interval mounting seat 1-5 is fixedly mounted on the coarse adjustment interval piece 1-4, the coarse adjustment interval piece 1-6 is fixedly mounted on the coarse adjustment interval mounting seat 1-5, the fine adjustment interval piece 1-7 is fixedly mounted on the coarse adjustment interval piece 1-6, the printing heads 1-2 and the fine adjustment interval pieces 1-3 are respectively mounted on the fine adjustment interval mounting seat 1-7, the coarse adjustment interval piece 1-4 is used for adjusting the interval between the adjacent printing heads 1-2, the fine adjustment interval piece 1-3 is matched with the fine adjustment interval piece 1-6, the fine adjustment interval piece 1-6 is used for aligning the adjacent printing heads 1-2 on the same horizontal line, the fine adjustment interval piece is used for adjusting the height to the same horizontal plane, and the printing heads are adjusted before printing precision is ensured.
The alignment coarse adjustment piece 1-6 comprises a bidirectional sliding table 1-8, a transverse coarse adjustment module 1-9 and a vertical coarse adjustment module 1-10, wherein the transverse coarse adjustment module 1-9 and the vertical coarse adjustment module 1-10 are respectively arranged on the bidirectional sliding table 1-8, and the fine adjustment mounting seat 1-7 is respectively arranged on the bidirectional sliding table 1-8 and is propped against the vertical coarse adjustment module 1-10, so that bidirectional adjustment of a printing head is conveniently carried out through the bidirectional sliding table 1-8.
In this embodiment, the bidirectional slider 1-8 includes three slider plates arranged parallel to each other, the lateral coarse adjustment module 1-9 is connected to the first and second slider plates, drives the first and second slider plates to perform relative movement, aligns the adjacent printheads 1-2 to the same horizontal line, and the vertical coarse adjustment module 1-10 is connected to the second and third slider plates, drives the second and third slider plates to perform relative movement, and aligns the printheads 1-2 to the same height.
In this embodiment, the coarse pitch adjusting member 1-4 includes a pitch adjusting module and a unidirectional slider, and the unidirectional slider is driven to move by the pitch adjusting module, where the unidirectional slider includes two slider plates that are connected to each other.
The space adjusting module, the transverse coarse adjusting module 1-9 and the vertical coarse adjusting module 1-10 respectively comprise a coarse adjusting bolt 1-11, a coarse adjusting seat 1-12 and a coarse adjusting fixing seat 1-13, wherein the coarse adjusting seat 1-12 and the coarse adjusting fixing seat 1-13 are respectively arranged on two adjacent sliding tables of the two-way sliding table 1-8, the coarse adjusting bolt 1-11 is arranged on the coarse adjusting seat 1-12, the coarse adjusting bolt 1-11 is rotationally connected with the coarse adjusting fixing seat 1-13, so that the space between the coarse adjusting fixing seat 1-13 and the coarse adjusting seat 1-12 is adjusted through the coarse adjusting bolt 1-11, the position fine adjusting piece 1-3 is oppositely arranged with the coarse adjusting bolt 1-11 through the coarse adjusting fixing seat 1-13, and the position fine adjusting piece 1-3 is convenient to finely adjust the vertical coarse adjusting module 1-10.
The fine adjustment mounting seat 1-7 is fixedly connected with a fine adjustment mounting part 1-14 and a printing head mounting part 1-15, a fine adjustment through hole is formed in the fine adjustment mounting part 1-14, the position fine adjustment part 1-3 is mounted in the position fine adjustment hole, a printing head through hole and an adjustment through hole 1-16 are formed in the printing head mounting part 1-15, the adjustment through hole 1-16 and the fine adjustment through hole are coaxially distributed, the coarse adjustment bolt 1-11 of the vertical coarse adjustment module 1-10 is adjusted through the adjustment through hole 1-16, and the printing head 1-2 is mounted in the printing head through hole.
The calibration device 2 comprises an adjusting table clamp 2-1, an adjusting table 2-2, a reference component 2-3 and a contact sensor 2-4, wherein the adjusting table clamp 2-1 is installed on the substrate fixing device 4, the adjusting table 2-2 is installed on the adjusting table clamp 2-1, the reference component 2-3 is installed on the adjusting table 2-2, the adjusting table 2-2 in the embodiment is a two-axis angular displacement adjusting table, the reference component 2-3 is adjusted to be horizontal through the matching of the adjusting table 2-2 and the positioning monitoring device 3 during adjustment, the contact sensor 2-4 is installed on the reference component 2-3, and the contact sensor 2-4 is matched with the printing heads 1-2 so as to perform height alignment on the printing heads 1-2.
The reference assembly 2-3 comprises a reference clamp 2-5 and a silicon wafer 2-6, wherein the silicon wafer 2-6 and the contact sensor 2-4 are respectively arranged on the reference clamp 2-5, when the reference assembly is used, the upper plane of the contact sensor 2-4 is parallel to an XY motion plane by adjusting the two-axis angular displacement adjustment table 2-2, the XY relative distance between the needle point and the visual field center of the vertical observation camera can be obtained by printing a point on the silicon wafer 2-6 and identifying the central position by the vertical observation camera, the XY relative distance between the visual field center of the vertical observation camera and the light spot of the laser height measurement sensor 32 can be obtained by using the laser height measurement sensor 1-1 to respectively scan the data of any two points of two sharp angles of the silicon wafer 2-6, the XY coordinates of the upper two points of the edge can be obtained, and then the linear equation of the edge can be solved, the intersection point coordinates of the two edges, namely the XY sharp coordinates of the silicon wafer 2-6 can be solved, and the XY sharp point coordinates of the silicon wafer 17 can be visually identified by the vertical observation camera, and the XY sharp point between the visual field center of the vertical observation camera 10 and the laser height measurement sensor 32 can be obtained
The positioning monitoring device 3 comprises a printing observation assembly 3-1, a vertical observation assembly 3-2 and an inverted observation assembly 3-3, wherein the printing observation assembly 3-1 and the vertical observation assembly 3-2 are respectively installed on the multi-head printing device 1, the printing observation assembly 3-1 is matched with the printing head 1-2 so as to observe the printing process of the printing head 1-2, the vertical observation assembly 3-2 is matched with the substrate fixing device 4 so as to identify positioning points on a substrate, the inverted observation assembly 3-3 is installed on the substrate fixing device 4, the inverted observation assembly 3-3 is matched with the printing head 1-2 so as to observe the distance between the adjacent printing heads 1-2, and the distance between the printing heads can be conveniently adjusted through the inverted observation assembly 3-3.
In this embodiment, the vision module 3-3 is caused to include an inverted camera and an inverted camera mount, the inverted camera being mounted on the substrate holding chuck 4-2 by causing the camera mount to mount.
The vertical observation assembly 3-2 comprises a manual fine adjustment slide block 3-14, a vertical camera clamp 3-15 and a vertical camera 3-16, wherein the vertical camera 3-16 is arranged on the manual fine adjustment slide block 3-14 through the vertical camera clamp 3-15, the height of the vertical camera 3-16 is adjusted through the manual fine adjustment slide block 3-14, and the vertical camera 3-16 is mainly used for identifying Mark points on a printing substrate, identifying sharp angle coordinates of a needle area silicon wafer 2-6, identifying center coordinates of a needle area contact sensor 2-4 and identifying center coordinates of the inverted camera; the vertical observation camera 10 can be used as a print effect observation lens after printing is completed.
The printing observation assembly 3-1 comprises an observation camera 3-4, a camera clamp 3-5 and a camera moving table 3-6, wherein the camera clamp 3-5 is slidably installed on the camera moving table 3-6, the observation camera 3-4 is installed on the camera clamp 3-5, a photoelectric switch 3-7 is installed on the camera moving table 3-6, a shielding sheet 3-8 is installed on the camera clamp 3-5, the shielding sheet 3-8 is matched with the photoelectric switch 3-7 to determine the position of the observation camera 3-4, and the camera moving table 3-6 is convenient to transversely translate the observation camera 3-4 and observe the printing process of a plurality of printing heads which are arranged in parallel.
The camera fixture 3-5 comprises a camera fixture head 3-9, an oblique connecting block 3-10, a camera connecting seat 3-11, a camera vertical adjusting block 3-12 and a camera double-shaft adjusting block 3-13, wherein the camera fixture head 3-9 is adjustably arranged on the oblique connecting block 3-10 through the camera double-shaft adjusting block 3-13, the oblique connecting block 3-10 is adjustably arranged on the camera connecting seat 3-11 through the camera vertical adjusting block 3-12, the camera vertical height is adjusted through the camera vertical adjusting block 3-12, the transverse position of the camera and the distance between the camera and the printing head 1-2 are adjusted through the camera double-shaft adjusting block 3-13, so that the camera 3-4 can be conveniently observed to focus on the printing part of the printing head, and the observation precision is improved.
The substrate fixing device 4 comprises a device base 4-1, a substrate fixing sucker 4-2 and a substrate moving assembly 4-3, wherein the substrate moving assembly 4-3 is fixedly arranged on the device base 4-1, the substrate moving assembly 4-3 is fixedly arranged on the substrate moving assembly 4-3, the substrate moving assembly 4-3 comprises a screw mechanism moving in the XY direction, and in the printing process, the substrate is driven to move through the screw mechanism moving in the XY direction, so that a printing head can conveniently print on the substrate.
The printing method of the multi-independent nozzle printing equipment for the non-flat substrate surface comprises the following steps,
step one: printing material filling, starting the printing equipment to mechanically zero all motion axes;
step two: mounting the substrate to a substrate fixture;
step three: scanning the substrate height through a laser altimeter sensor, and adjusting the substrate to a relative horizontal state;
step four: adjusting the spacing between adjacent printing heads by using the inverted observation assembly so that the spacing between the adjacent printing heads is kept consistent;
step five: adjusting the height of each printing head through a calibration device so that each printing head is positioned in the same horizontal plane; when the printer is used, the leftmost printing head is used as a reference, the center of the field of view of the inverted observation camera is aligned with the center of the spray head through visual identification alignment, the camera is moved rightward by a specified distance, the center of the printing head of the second printing head is aligned with the center of the field of view of the camera through manual adjustment, the purpose of adjusting the distance between the needles is achieved, and the distance between the rest needles is sequentially adjusted;
step six: adjusting each print head to be on the same horizontal plane; the specific operation is as follows: operating a high-precision moving platform to enable the printing needle to slowly contact the upper surface of the contact sensor until the printing needle reaches a detection threshold value, and recording the height Z0 at the moment; the rest needle heads are adjusted to the Z-direction height in the same way, so that the contact sensor indicator lamp can be just changed from on to off when the Z0 height is reached; then, a software control machine is required to check for one time, and the piezoelectric ceramic actuator is required to be controlled to compensate when the Z direction has errors;
step seven: using a laser height measurement sensor to perform full-width height data scanning on the adjusted base material, and obtaining respective Z-direction height data of each needle point at the corresponding XY position through software;
step eight: finding Mark point positions of the substrate to be processed by using a vertical observation camera, and determining processing starting positions;
step nine: starting processing; in the processing process, the position fine adjustment part compensates according to the height data of the substrate surface obtained by previous scanning so as to ensure that the needle point is a constant distance from the substrate surface;
step ten: and after the processing is finished, returning all mechanical motion axes to zero, and taking down the base material.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the terms corresponding to the reference numerals in the drawings are used more herein, the possibility of using other terms is not excluded; these terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (8)
1. The multi-independent nozzle printing equipment for the non-flat substrate surface is characterized by comprising a multi-head printing device (1), a calibrating device (2), a positioning monitoring device (3) for positioning the multi-head printing device (1) and a substrate fixing device (4) for fixing a substrate, wherein the multi-head printing device (1) is matched with the substrate fixing device (4), the calibrating device (2) is arranged on the substrate fixing device (4) and is matched with the multi-head printing device (1) so as to calibrate the multi-head printing device (1), and the positioning monitoring device (3) is matched with the multi-head printing device (1) and the substrate fixing device (4) so as to position the multi-head printing device (1);
the multi-head printing device (1) comprises a plurality of printing head units and laser height measuring sensors (1-1), wherein the printing head units are internally provided with a position rough adjusting assembly, printing heads (1-2) and a position fine adjusting piece (1-3), the printing heads (1-2) are arranged on the position rough adjusting assembly, the position fine adjusting piece (1-3) is matched with the position rough adjusting assembly so as to finely adjust the positions of the printing heads, the laser height measuring sensors (1-1) are matched with the printing heads (1-2), the surface heights of a base material are scanned through the laser height measuring sensors (1-1), and the relative heights of the printing heads (1-2) in the printing process are adjusted according to scanning results;
the coarse adjustment assembly comprises an alignment coarse adjustment member (1-6), the alignment coarse adjustment member (1-6) comprises a bidirectional sliding table (1-8), a transverse coarse adjustment module (1-9) and a vertical coarse adjustment module (1-10), the transverse coarse adjustment module (1-9) and the vertical coarse adjustment module (1-10) are respectively arranged on the bidirectional sliding table (1-8), the fine adjustment mounting seat (1-7) is respectively arranged on the bidirectional sliding table (1-8), and the position fine adjustment member (1-3) is propped against the vertical coarse adjustment module (1-10);
the coarse adjustment assembly further comprises a coarse adjustment member (1-4), a coarse adjustment mounting seat (1-5) and a fine adjustment mounting seat (1-7), the coarse adjustment mounting seat (1-5) is fixedly mounted on the coarse adjustment member (1-4), the alignment coarse adjustment member (1-6) is fixedly mounted on the coarse adjustment mounting seat (1-5), the fine adjustment mounting seat (1-7) is fixedly mounted on the alignment coarse adjustment member (1-6), the printing head (1-2) and the position fine adjustment member (1-3) are respectively mounted on the fine adjustment mounting seat (1-7), the position fine adjustment member (1-3) is matched with the alignment coarse adjustment member (1-6), the spacing between the adjacent printing heads (1-2) is adjusted by the coarse adjustment member (1-4), and the alignment coarse adjustment member (1-6) is used for aligning the adjacent printing heads (1-2) on the same horizontal line and the height is adjusted to the same horizontal plane.
2. The multi-independent head printing apparatus for a non-flat substrate surface according to claim 1, wherein the lateral coarse adjustment module (1-9) and the vertical coarse adjustment module (1-10) each include a coarse adjustment bolt (1-11), a coarse adjustment seat (1-12) and a coarse adjustment fixing seat (1-13), the coarse adjustment seats (1-12) and the coarse adjustment fixing seats (1-13) are respectively mounted on two adjacent slide plates of the two-way slide table (1-8), the coarse adjustment bolts (1-11) are mounted on the coarse adjustment seats (1-12), the coarse adjustment bolts (1-11) are rotatably connected with the coarse adjustment fixing seats (1-13) to adjust a space between the coarse adjustment fixing seats (1-13) and the coarse adjustment seats (1-12) through the coarse adjustment bolts (1-11), and the position fine adjustment member (1-3) is disposed opposite to the coarse adjustment bolts (1-11) through the coarse adjustment fixing seats (1-13).
3. The multi-independent nozzle printing apparatus for a non-flat substrate surface according to claim 1, wherein a fine adjustment mounting portion (1-14) and a print head mounting portion (1-15) are fixedly connected to the fine adjustment mounting base (1-7), a fine adjustment through hole is formed in the fine adjustment mounting portion (1-14), a position fine adjustment member (1-3) is mounted in the position fine adjustment hole, a print head through hole and an adjustment through hole (1-16) are formed in the print head mounting portion (1-15), the adjustment through hole (1-16) and the fine adjustment through hole are coaxially arranged, and the print head (1-2) is mounted in the print head through hole.
4. The multi-independent nozzle printing apparatus for non-flat substrate surfaces according to claim 1, wherein the positioning monitoring device (3) comprises a printing observation assembly (3-1), a vertical observation assembly (3-2) and an inverted observation assembly (3-3), the printing observation assembly (3-1) and the vertical observation assembly (3-2) are respectively installed on the multi-head printing device (1), the printing observation assembly (3-1) is matched with the printing head (1-2) to observe the printing process of the printing head (1-2), the vertical observation assembly (3-2) is matched with the substrate fixing device (4) to identify positioning points on the substrate, the inverted observation assembly (3-3) is installed on the substrate fixing device (4), and the inverted observation assembly (3-3) is matched with the printing head (1-2) to observe the space between the adjacent printing heads (1-2).
5. The multiple independent nozzle printing apparatus for non-planar substrate surfaces according to claim 4, wherein the print observation assembly (3-1) includes an observation camera (3-4), a camera jig (3-5) and a camera movement stage (3-6), the camera jig (3-5) is slidably mounted on the camera movement stage (3-6), the observation camera (3-4) is mounted on the camera jig (3-5), the photo-electric switch (3-7) is mounted on the camera movement stage (3-6), the shielding sheet (3-8) is mounted on the camera jig (3-5), and the shielding sheet (3-8) is adapted with the photo-electric switch (3-7) to determine the position of the observation camera (3-4).
6. The multi-independent head printing apparatus for a non-flat substrate surface according to claim 5, wherein the camera jig (3-5) comprises a camera jig head (3-9), an oblique connection block (3-10), a camera connection base (3-11), a camera vertical adjustment block (3-12) and a camera biaxial adjustment block (3-13), the camera jig head (3-9) is adjustably mounted on the oblique connection block (3-10) through the camera biaxial adjustment block (3-13), the oblique connection block (3-10) is adjustably mounted on the camera connection base (3-11) through the camera vertical adjustment block (3-12), the camera vertical height is adjusted through the camera vertical adjustment block (3-12), and the lateral position of the camera and the distance between the camera and the printing head (1-2) are adjusted through the camera biaxial adjustment block (3-13).
7. The multi-independent head printing apparatus for non-flat substrate surfaces according to claim 4, wherein the calibration device (2) comprises an adjustment stage jig (2-1), an adjustment stage (2-2), a reference assembly (2-3) and a contact sensor (2-4), the adjustment stage jig (2-1) is mounted on the substrate fixing device (4), the adjustment stage (2-2) is mounted on the adjustment stage jig (2-1), the reference assembly (2-3) is mounted on the adjustment stage (2-2), the reference assembly (2-3) is adjusted to be horizontal by the adjustment stage (2-2), the positioning monitoring device (3) being mated, the contact sensor (2-4) is mounted on the reference assembly (2-3), and the contact sensor (2-4) is mated with the print heads (1-2) to perform high alignment of the plurality of print heads (1-2).
8. A printing method for a multi-stand alone head printing apparatus for non-planar substrate surfaces as recited in any of claims 1-7 comprising the steps of,
step one: printing material filling, starting the printing equipment to mechanically zero all motion axes;
step two: mounting the substrate to a substrate fixture;
step three: scanning the substrate height through a laser altimeter sensor, and adjusting the substrate to a relative horizontal state;
step four: adjusting the spacing between adjacent printing heads by using the inverted observation assembly so that the spacing between the adjacent printing heads is kept consistent;
step five: adjusting the height of each printing head through a calibration device so that each printing head is positioned in the same horizontal plane;
step six: adjusting each print head to be on the same horizontal plane;
step seven: using a laser height measurement sensor to perform full-width height data scanning on the adjusted base material, and obtaining respective Z-direction height data of each needle point at the corresponding XY position through software;
step eight: finding Mark point positions of the substrate to be processed by using a vertical observation camera, and determining processing starting positions;
step nine: starting processing; in the processing process, the position fine adjustment part compensates according to the height data of the substrate surface obtained by previous scanning so as to ensure that the needle point is a constant distance from the substrate surface;
step ten: and after the processing is finished, returning all mechanical motion axes to zero, and taking down the base material.
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| CN202210203362.5A CN114701262B (en) | 2022-03-03 | 2022-03-03 | Multi-independent nozzle printing equipment for non-flat substrate surface and printing method thereof |
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| CN202210203362.5A CN114701262B (en) | 2022-03-03 | 2022-03-03 | Multi-independent nozzle printing equipment for non-flat substrate surface and printing method thereof |
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| CN117161413B (en) * | 2023-11-02 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
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| CN114701262A (en) | 2022-07-05 |
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