阅读说明：本技术 一种用于电流体动力喷印的轨迹诱导沉积控制系统及方法 (Track-induced deposition control system and method for electrohydrodynamic jet printing ) 是由 陈建魁 黄萌萌 尹周平 金一威 于 2019-09-26 设计创作，主要内容包括：本发明属于电流体动力喷印相关技术领域,并公开了一种用于电流体动力喷印的轨迹诱导沉积控制系统,其包括电流体动力喷印模块、视觉监测模块、系统控制模块、轨迹诱导沉积模块等多个功能模块；其中视觉监测模块用于获取墨滴的飞行轨迹、判断飞行速度与方向、观测落点、观测沉积形貌；系统控制模块用于实时控制诱导辅助电极背板的电极信号变化,以实现墨滴轨迹诱导及形态控制；轨迹诱导沉积模块则用于根据沉积图案设计辅助电极阵列分布,电场变化时调整墨滴轨迹朝目标落点飞行,同时在靠近落点时使墨滴能减速并平稳沉积。通过本发明,可进行精确的墨滴轨迹诱导并平稳沉积,能防止墨滴偏移、摊开、飞溅等,实现高精度、高质量电流体动力喷印。(The invention belongs to the technical field related to electrohydrodynamic jet printing, and discloses a track-induced deposition control system for electrohydrodynamic jet printing, which comprises a plurality of functional modules, such as an electrohydrodynamic jet printing module, a vision monitoring module, a system control module, a track-induced deposition module and the like; the visual monitoring module is used for acquiring the flight track of the ink drop, judging the flight speed and direction, observing the landing point and observing the deposition morphology; the system control module is used for controlling the electrode signal change of the induction auxiliary electrode back plate in real time so as to realize ink drop track induction and form control; the track induction deposition module is used for designing the distribution of the auxiliary electrode array according to the deposition pattern, adjusting the ink drop track to fly towards a target drop point when the electric field changes, and enabling the ink drop to decelerate and stably deposit when the electric field is close to the drop point. The invention can perform accurate ink drop track induction and stable deposition, can prevent ink drops from shifting, spreading, splashing and the like, and realizes high-precision and high-quality electrohydrodynamic jet printing.)

1. A droplet trajectory-inducing deposition control system for electrohydrodynamic printing, characterized in that the system comprises an electrohydrodynamic printing module (1), a vision monitoring module (2), a system control module (3) and a trajectory-inducing deposition module (4), wherein:

the electrohydrodynamic jet printing module (1) is used for applying voltage between a jet head and a substrate (41) and enabling ink droplets to be electrically jetted from the jet head to the substrate (41);

the vision monitoring module comprises a first positioning camera (21), a second positioning camera (22), a drop point observation camera (23) and a morphology observation camera (24), wherein the first positioning camera and the second positioning camera are respectively used for observing the states of charged ink drops (10) in flight in an XOZ plane and a YOZ plane, so that flight images of the charged ink drops are acquired by combining the observation data of the two directions, and simultaneously image information is fed back to the system control module (3) in real time to acquire information such as the track, the flight speed and the direction of the charged ink drops; the drop point observation camera is used for observing the actual drop point of the charged ink drop in real time and feeding back a drop point coordinate image to the system control module (3) in real time; the appearance observation camera is used for observing the appearance of the charged ink drop falling on the substrate in real time and feeding back an appearance image to the system control module (3) in real time; wherein the X-axis direction is defined as a direction along a horizontal lateral direction, the Y-axis direction is defined as a direction along a horizontal longitudinal direction, and the Z-axis direction is defined as a direction along a vertical direction;

the system control module (3) is used for receiving various image information from the vision monitoring module and respectively and correspondingly outputting induction control signals containing ink drop tracksDroplet deposition buffer control signal E_cAnd drop landing adjustment signalA series of adjustment signals;

the track-induced deposition module (4) comprises an electrode back plate control unit (42) and an induced auxiliary electrode back plate (43), wherein the electrode back plate control unit (42) is used for receiving a series of adjusting signals from the system control module and controlling the induced auxiliary electrode back plate (43) to execute corresponding electric signal adjustment; the induction auxiliary electrode back plate (43) is in an array structure jointly composed of a plurality of induction auxiliary electrodes (44), and under the control of the electrode back plate control unit (42), induction electric fields are generated by different charging states of the induction auxiliary electrodes in different areas in the array structure, so that the tracks of the charged ink drops are adjusted to fly towards a target landing point, and/or the charged ink drops are accelerated to be decelerated and stably deposited on a substrate in an area close to the landing point.

2. The system for drop trajectory induced deposition control according to claim 1, characterized in that for each of said induced auxiliary electrodes (44), it switches on different switches, preferably by said electrode backplane control unit (42), thereby achieving three operating states of no charge, positive charge or negative charge.

3. The drop trajectory induced deposition control system of claim 1 or 2, wherein the electrode backplane control unit (42) is preferably configured to provide an electrode state control signal vector for each of the induced auxiliary electrodes (44) according to the following equation:

wherein the content of the first and second substances,representing an electrode state control signal vector; q_efRepresenting an electrode state control signal corresponding to an induction auxiliary electrode in the e-th row and the f-th column in the arrayed structure; k represents an electrostatic force constant, q₀Representing the amount of charge carried by each charged ink drop;representing a position vector between the induction auxiliary electrode and the charged ink drop in the e-th row and the f-th column, wherein each induction auxiliary electrode is assigned to be 1 when having a positive charge value, is assigned to be-1 when having a negative charge value, and is assigned to be 0 when not having a charge value; in addition, i is the number of columns of the electrode array in the electrode array structure, and j is the number of rows of the electrode array in the electrode array structure.

4. The drop trajectory induced deposition control system according to any of claims 1-3, characterized in that it is preferable for the system control module (3) to output the drop trajectory induced control signal vector in correspondence with the following formula

Wherein m represents the mass of a single charged ink droplet;respectively representing a displacement vector, a velocity vector and an acceleration vector of the charged ink drop measured at the observation time t;representing the velocity vector of the charged ink drop at the time of completion of the induction,representing the displacement vector of the charged ink drop at the moment of induction completion, and ξ represents a preset air flow influencing factor.

5. The drop trajectory induced deposition control system according to any of claims 1-4, characterized in that it is preferable for the system control module (3) to output the drop deposition buffer control signal E in correspondence according to the following formula_cThereby performing a deposition buffering overall process of the charged ink droplets:

wherein E is_cA buffer control signal indicating the outputted droplet deposition and having a direction vertically upward; m represents the mass of a single charged ink droplet; v. of_s、a_sRespectively representing the velocity value and the acceleration value of the charged ink drop measured at the s observation moment; h is₀The start height is buffered for a preset drop deposition.

6. The drop trajectory induced deposition control system of any of claims 1-5, wherein the system control module (3) is preferably configured to output the drop landing adjustment signal vector in accordance with the following equationThereby performing the whole process of landing adjustment of the charged ink droplets:

wherein T represents the preset drop point error adjustment time of the charged ink drop, mu represents the surface dynamic friction coefficient of the substrate, and g is the gravity acceleration;representing the initial landing location vector and the actual landing location vector of the charged ink drop, respectively.

7. A method of drop trajectory-induced deposition control for electrohydrodynamic printing, the method being performed using a system according to any of claims 1-6, the method comprising the steps of:

(i) after the system is initialized, a plurality of setting parameters are input;

(ii) at the initial moment, the electrohydrodynamic jet printing module ejects charged ink drops, and the vision monitoring module observes the positions of the charged ink drops in real time and feeds image information back to the system control module; in this process, the trajectory-inducing deposition module does not generate an additional electric field;

(iii) the system control module obtains the track of the charged ink drop and the real-time speed and acceleration by processing the image information, and when the charged ink drop deviates from the preset track, the system control module sends a track induction signal to the track induction deposition module, and generates an electric field through the induction auxiliary electrode back plate to correspondingly adjust the ink drop track;

(iv) when the charged ink drops approach the substrate, the system control module sends a deposition buffering signal to the track induction deposition module, and the track induction deposition module generates an electric field with the same electric quantity as the charged ink drops so that the charged ink drops are subjected to repulsion force to decelerate and impact;

(v) the visual monitoring module observes the drop point position of the charged ink drop in real time and feeds image information back to the system control module, the system control module obtains the drop point coordinate of the charged ink drop by processing the image information, and when the charged ink drop deviates from a preset drop point, the system control module sends a drop point adjusting signal to the track induction deposition module, an electric field is generated through the induction auxiliary electrode back plate, and the drop point of the ink drop is correspondingly adjusted;

(vi) the vision monitoring module observes the form of the charged ink drop in real time and feeds image information back to the system control module, the system control module obtains the shape information of the charged ink drop by processing the image information, and when the shape of the ink drop is not consistent with the preset shape, the system control module sends a shape adjusting signal to the track induction deposition module, an electric field is generated through the induction auxiliary electrode back plate, and the deposition shape of the ink drop is correspondingly adjusted.

Technical Field

The invention belongs to the technical field related to electrohydrodynamic jet printing, and particularly relates to a track-induced deposition control system and method for electrohydrodynamic jet printing.

Background

The electrohydrodynamic jet printing technique performs a printing operation by applying a high voltage between a head and a substrate so that ink droplets are electrically ejected from the head to the substrate. In the parallel multi-nozzle spraying, the charged ink drops are influenced by an electric field and an air flow formed by adjacent ink drops to generate track deviation, the volume of the ink drops is continuously reduced along with the improvement of process requirements, and the problem of printing quality reduction caused by point drop errors formed by the track deviation in flight cannot be ignored; in addition, when the liquid drops collide with the substrate, phenomena such as splashing and rebounding easily occur due to high speed of the liquid drops, and the control of the deposition appearance of the ink drops is also not facilitated.

Disclosure of Invention

In view of the above-mentioned drawbacks or needs for improvement of the prior art, the present invention provides a trajectory-induced deposition control system and method for electrohydrodynamic jet printing, wherein intensive research and analysis are conducted on specific conditions and needs for generating charged ink droplets based on electrohydrodynamic jet printing, on one hand, components such as an auxiliary electrode array are purposefully used to additionally generate induced electricity, and further, a series of control operations including trajectory induction, deposition buffering and drop point adjustment are performed on the ink droplets, so that trajectory deviation caused by various factors such as electric field and air current and drop point errors caused by possible slippage on a substrate can be effectively eliminated; on the other hand, the repulsion generated by the electric field before the ink drop is impacted is utilized to decelerate and buffer, and the deposition morphology of the ink drop is controlled, so that the phenomena of splashing, rebounding and the like caused by the impact of the ink drop can be avoided, and compared with the prior art, the drop point precision can be obviously improved, good morphology can be formed more quickly, and better electrohydrodynamic jet printing quality can be achieved.

To achieve the above object, according to one aspect of the present invention, there is provided an ink droplet trajectory-inducing deposition control system for electrohydrodynamic printing, characterized in that the system comprises an electrohydrodynamic printing module, a vision monitoring module, a system control module, and a trajectory-inducing deposition module, wherein:

the electrohydrodynamic spray printing module is used for applying voltage between the spray head and the substrate and enabling ink droplets to be sprayed to the substrate from the spray head in an electrified manner;

the vision monitoring module comprises a first positioning camera, a second positioning camera, a drop point observation camera and a morphology observation camera, wherein the first positioning camera and the second positioning camera are respectively used for observing the states of charged ink droplets in flight in an XOZ plane and a YOZ plane, so that flight images of the charged ink droplets are obtained by combining the observation data of the two directions, and simultaneously image information is fed back to the system control module in real time to obtain the information of the tracks, the flight speeds, the flight directions and the like of the charged ink droplets; the drop point observation camera is used for observing the actual drop point of the charged ink drop in real time and feeding back a drop point coordinate image to the system control module in real time; the appearance observation camera is used for observing the appearance of the charged ink drop falling on the substrate in real time and feeding back an appearance image to the system control module in real time; wherein the X-axis direction is defined as a direction along a horizontal lateral direction, the Y-axis direction is defined as a direction along a horizontal longitudinal direction, and the Z-axis direction is defined as a direction along a vertical direction;

the system control module is used for receiving various image information from the vision monitoring module and respectively and correspondingly outputting induction control signals containing ink drop tracksDroplet deposition buffer control signal E_cAnd drop landing adjustment signalA series of adjustment signals;

the track-induced deposition module comprises an electrode back plate control unit and an induced auxiliary electrode back plate, wherein the electrode back plate control unit is used for receiving a series of adjusting signals from the system control module and controlling the induced auxiliary electrode back plate to execute corresponding electric signal adjustment; the induction auxiliary electrode back plate is of an array structure formed by a plurality of induction auxiliary electrodes, and under the control of the electrode back plate control unit, induction electric fields are generated by different charged states of the induction auxiliary electrodes in different areas in the array structure, so that the track of charged ink droplets is adjusted to fly towards a target landing point, and/or the charged ink droplets are accelerated and stably deposited on the substrate when approaching the area of the landing point.

As a further preference, for each of the induced auxiliary electrodes, it is preferable to turn on different switches through the electrode backplane control unit, thereby achieving three operation states of no charge, positive charge, or negative charge.

As a further preference, for the electrode backplane control unit, it preferably provides an electrode state control signal vector for each induced auxiliary electrode according to the following formula:

wherein the content of the first and second substances,indicating the electrode state control signal directionAn amount; q_efRepresenting an electrode state control signal corresponding to an induction auxiliary electrode in the e-th row and the f-th column in the arrayed structure; k represents an electrostatic force constant, q₀Representing the amount of charge carried by each charged ink drop;representing a position vector between the induction auxiliary electrode and the charged ink drop in the e-th row and the f-th column, wherein each induction auxiliary electrode is assigned to be 1 when having a positive charge value, is assigned to be-1 when having a negative charge value, and is assigned to be 0 when not having a charge value; in addition, i is the number of columns of the electrode array in the electrode array structure, and j is the number of rows of the electrode array in the electrode array structure.

As a further preference, it is preferable for the system control module to output the drop trajectory induction control signal vector in correspondence with the following formula

Wherein m represents the mass of a single charged ink droplet;respectively representing a displacement vector, a velocity vector and an acceleration vector of the charged ink drop measured at the observation time t;representing the velocity vector of the charged ink drop at the time of completion of the induction,representing the displacement vector of the charged ink drop at the moment of induction completion, and ξ represents a preset air flow influencing factor.

As a further preference, it is preferable for the system control module to output the droplet deposition buffering control correspondingly according to the following formulaSignal E_cThereby performing a deposition buffering overall process of the charged ink droplets:

wherein E is_cA buffer control signal indicating the outputted droplet deposition and having a direction vertically upward; m represents the mass of a single charged ink droplet; v. of_s、a_sRespectively representing the velocity value and the acceleration value of the charged ink drop measured at the s observation moment; h is₀The start height is buffered for a preset drop deposition.

As a further preference, it is preferable for the system control module to correspondingly output the drop landing adjustment signal vector in an open-loop control manner according to the following formulaThereby performing the whole process of landing adjustment of the charged ink droplets:

wherein T represents the preset drop point error adjustment time of the charged ink drop, mu represents the surface dynamic friction coefficient of the substrate, and g is the gravity acceleration;representing the initial landing location vector and the actual landing location vector of the charged ink drop, respectively.

According to another aspect of the present invention, there is also provided a corresponding method of drop trajectory induced deposition control for electrohydrodynamic printing, the method comprising the steps of:

(i) after the system is initialized, a plurality of setting parameters are input;

(ii) at the initial moment, the electrohydrodynamic jet printing module ejects charged ink drops, and the vision monitoring module observes the positions of the charged ink drops in real time and feeds image information back to the system control module; in this process, the trajectory-inducing deposition module does not generate an additional electric field;

(iii) the system control module obtains the track of the charged ink drop and the real-time speed and acceleration by processing the image information, and when the charged ink drop deviates from the preset track, the system control module sends a track induction signal to the track induction deposition module, and generates an electric field through the induction auxiliary electrode back plate to correspondingly adjust the ink drop track;

(iv) when the charged ink drops approach the substrate, the system control module sends a deposition buffering signal to the track induction deposition module, and the track induction deposition module generates an electric field with the same electric quantity as the charged ink drops so that the charged ink drops are subjected to repulsion force to decelerate and impact;

(v) the visual monitoring module observes the drop point position of the charged ink drop in real time and feeds image information back to the system control module, the system control module obtains the drop point coordinate of the charged ink drop by processing the image information, and when the charged ink drop deviates from a preset drop point, the system control module sends a drop point adjusting signal to the track induction deposition module, an electric field is generated through the induction auxiliary electrode back plate, and the drop point of the ink drop is correspondingly adjusted;

(vi) the vision monitoring module observes the form of the charged ink drop in real time and feeds image information back to the system control module, the system control module obtains the shape information of the charged ink drop by processing the image information, and when the shape of the ink drop is not consistent with the preset shape, the system control module sends a shape adjusting signal to the track induction deposition module, an electric field is generated through the induction auxiliary electrode back plate, and the deposition shape of the ink drop is correspondingly adjusted.

Generally, compared with the prior art, the above technical solution according to the present invention mainly has the following technical advantages:

1. according to the invention, the special condition of electrification of ink drops generated by electrohydrodynamic jet printing is closely combined for research, an additional electric field induction method is pertinently adopted to accurately induce tracks of the ink drops, the real-time track observation of the spatial position and the form of the ink drops is accurately obtained in a real-time camera observation and image analysis and information feedback mode, the track deviation caused by various factors such as an electric field and air current and the drop point error caused by possible slippage on a substrate can be correspondingly eliminated, the method is suitable for various application scenes, is not influenced by factors such as ink drop material parameters, substrate structure and jet speed, and can realize accurate drop point correction;

2. the invention further utilizes the additionally generated electric field to generate repulsion before the ink drop is impacted to perform deceleration buffering on the ink drop, thereby reducing impact kinetic energy, avoiding the phenomena of splashing, rebounding and the like caused by the impact of the ink drop and enabling the ink drop to be more stably deposited on the substrate;

3. the invention further utilizes the extra generated electric field to adjust the drop point and the deposition morphology of the ink drop, so that the ink drop can be deposited on the substrate more accurately, the ink drop can form good morphology more quickly, and the electrohydrodynamic jet printing quality is improved.

Drawings

FIG. 1 is a schematic diagram of the overall configuration of a trajectory-induced deposition control system for electrohydrodynamic printing constructed in accordance with the present invention;

FIG. 2 is a schematic diagram of the back plate of the induced auxiliary electrode according to the preferred embodiment of the present invention;

FIG. 3 is a schematic diagram of an array of induced auxiliary electrode backplanes according to a preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of drop trajectory induction and deceleration buffering in accordance with a preferred embodiment of the present invention;

FIG. 5 is a control schematic for overall process control of ink drops in accordance with the present invention;

fig. 6 is a schematic view for exemplarily illustrating a process flow of droplet trajectory induced deposition control according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic diagram of the overall configuration of a trajectory-induced deposition control system for electrohydrodynamic printing constructed in accordance with the present invention. As shown in fig. 1, the system mainly includes functional modules such as an electrohydrodynamic jet printing module, a vision monitoring module, a system control module, and a trajectory-induced deposition module, which will be specifically explained below one by one.

The electrohydrodynamic jet printing module 1 is used to apply a voltage between the head and the substrate 41 and to electrically charge ink droplets ejected from the head to the substrate 41.

As one of the key improvements of the present invention, the vision monitoring module 2 is designed to include a first positioning camera 21, a second positioning camera 22, a landing observation camera 23 and a topography observation camera 24, wherein the first and second positioning cameras are respectively used for observing the states of the charged ink droplets 10 in flight in the XOZ plane and the YOZ plane, so as to combine the observation data of the two directions to obtain the flight images of the charged ink droplets, and simultaneously feed back the image information to the system control module 3 in real time and obtain the information of the trajectory, flight speed and direction of the charged ink droplets; the drop point observation camera is used for observing the actual drop point of the charged ink drop in real time and feeding back a drop point coordinate image to the system control module 3 in real time; the appearance observation camera is used for observing the appearance of the charged ink drop falling on the substrate in real time and feeding back an appearance image to the system control module 3 in real time.

The system control module 3 is used for receiving various image information from the vision monitoring module in the invention and respectively and correspondingly outputting induction control signals containing ink drop tracksDroplet deposition buffer control signal E_cAnd drop landing adjustment signalA series of adjustment signals.

Furthermore, as another key improvement of the present invention, the trajectory-inducing deposition module 4 preferably comprises an electrode backing plate control unit 42 and an inducing auxiliary electrode backing plate 43, wherein the electrode backing plate control unit 42 is configured to receive a series of adjustment signals from the system control module and control the inducing auxiliary electrode backing plate 43 to perform corresponding electrical signal adjustment; the inducing auxiliary electrode back plate 43 is specifically designed to present an array structure composed of a plurality of inducing auxiliary electrodes 44, and under the control of the electrode back plate control unit 42, an inducing electric field is generated by different charging states of the inducing auxiliary electrodes in different areas of the array structure, so as to adjust the trajectory of the charged ink droplet to fly toward a target landing point, and/or to cause the charged ink droplet to obtain deceleration and be smoothly deposited on the substrate in an area close to the landing point.

In addition, according to a preferred embodiment of the present invention, the above system induces the auxiliary electrode 44 to have three preferred states, as shown in the schematic diagram of fig. 2, and the signal transmitted by the electrode backplane control unit 42 preferably turns on different switches to realize three states of no charge, positive charge and negative charge, and the number of charges charged when each induced auxiliary electrode is turned on is the same.

According to another preferred embodiment of the present invention, the array pattern of the induced auxiliary electrode backplane is preferably designed as shown in fig. 3. The induction auxiliary electrodes are arranged in an array mode on the parallel plane of the deposition substrate, each induction auxiliary electrode in the j row and the i column is connected with the electrode back plate control unit and the ground, and the electrode back plate control unit controls different charged states of different areas of the induction auxiliary electrode array, so that an induction electric field is generated, and a series of operations such as accurate ink droplet track induction, deposition buffering, drop point and appearance adjustment are achieved.

Furthermore, according to another preferred embodiment of the present invention, the electrode backplane control unit in the trajectory-inducing deposition module (4) is configured to receive a control signal sent by the system control module 3Then, the control signal is processed, and the electrode backboard control module outputs electrode state control signals Q of each auxiliary electrode (44) according to the following formula_ef；

WhereinControl signal vector for electrode state, k constant for electrostatic force, q₀The amount of charge charged to the charged ink droplets,is the position vector between the e-th row and f-th column auxiliary electrode and the charged ink drop, and the e-th row and f-th column auxiliary electrode has three states, with a positive value of 1, a negative value of-1 and a non-charged value of 0.

Furthermore, in accordance with another preferred embodiment of the present invention, the system control module preferably performs the whole process of the ink droplet trajectory induction in a trajectory closed loop control manner, wherein:

for the ink drop track, the mass of the ink drop is set to be m, and the displacement vector, the velocity vector and the acceleration vector of the ink drop at the t moment are correspondingly determined by the vision system module to be mThe system control module outputs a drop trajectory induction signal vector according to the following formula:

whereinRepresenting the velocity vector of the charged ink drop at the time of completion of the induction,representing the displacement vector of the charged ink drop at the moment of induction completion, and ξ represents a preset air flow influencing factor.

Furthermore, in accordance with another preferred embodiment of the present invention, the system control module preferably performs the whole process of the droplet deposition buffering in an open-loop control manner, wherein:

for the ink drop deposition buffering, the mass of the ink drop is set to be m, and the corresponding s-moment speed value and the corresponding acceleration value of the ink drop determined by the vision system module are respectively v_s、a_sThen the system control module outputs an ink drop deposition buffer signal according to the following formula:

wherein h is₀Buffering the starting height for droplet deposition, E_cIs directed vertically upwards.

Furthermore, according to another preferred embodiment of the present invention, the system control module preferably performs the whole process of the drop point adjustment by using a drop point adjustment open-loop control method, wherein:

for the drop point adjustment, the drop mass and the initial drop point position vector are set as m,The vector of the actual drop point position of the ink drop determined by the vision system module isThe system control module outputs an ink drop landing adjustment signal vector according to the following formula:

wherein, the coefficient of dynamic friction of the surface of the mu substrate, g is the gravity acceleration, and T is the adjustment time of the drop point error.

Fig. 6 is a schematic view for exemplarily illustrating a control process flow of the droplet trajectory induction deposition system according to the present invention. Accordingly, the method comprises the steps of:

first, after the system is initialized, the following are inputtedThe plurality of setting parameters may include, for example: predetermined coordinates (x) of drop landing point₀，y₀，z₀) Mass m of ink drop and height h of deposited ink drop₀Diameter D of contact of ink droplet with deposition substrate₀Adjusting time T of drop point error, beginning to deposit and buffer 2, and planning a preset track l according to the drop point of a preset ink drop₀；

Then, according to the control signal outputted by the system control module, the corresponding execution module trajectory induction deposition module executes the following operations: at the initial moment, the electrohydrodynamic jet printing module jets charged ink drops, the track induction deposition module does not generate an extra electric field, the vision system module observes the positions of the ink drops in real time and feeds image information back to the system control module, the system control module obtains the ink drop tracks and real-time speed and acceleration by processing the image information, when the ink drops deviate from the preset tracks, the system control module sends a track induction signal to the track induction deposition module, an electrode back plate of the track induction deposition module generates an electric field, and the ink drop tracks are correspondingly adjusted;

more specifically, the working principle of the trajectory induction by the trajectory induction deposition unit is exemplarily illustrated in fig. 4: when the positively charged ink drop deviates from the predetermined straight track, the positively charged ink drop is positioned on the right plane of the predetermined drop point viewed from the YOZ plane, and in the induction auxiliary electrode array shown by the XOY plane, the track induction deposition unit controls the negative charge of the electrode on the left plane of the charged ink drop after receiving the track induction signal of the system control module, so that the positively charged ink drop is subjected to a vertically downward electric field force F of the electrofluid jet printing system_EWith attraction of electric charge F applied by the inducing auxiliary electrode_eAnd finally returning to the preset track under the action of the resultant force to realize the track planning.

And then, when the ink drops approach to the deposition substrate, the system control module sends a deposition buffering signal to the track induction deposition module, and the track induction deposition module generates an electric field with the same electric quantity as the ink drops so that the ink drops are subjected to deceleration impact by a repulsive force.

More specifically, the deposition buffering by the trajectory-induced deposition module is exemplarily illustrated in FIG. 4The working principle of punching is as follows: when the positively charged ink drops reach the preset deposition buffer height, the track induction deposition module controls all the electrodes to be positively charged after receiving the track induction signal of the system control module, so that the positively charged ink drops are subjected to a vertical downward electric field force F of the electrofluid jet printing system_EElectric charge repulsion force F exerted with the inducing auxiliary electrode_eThe resultant force of the two-dimensional displacement sensor decelerates under the action of the resultant force, and deposition buffering is achieved.

Then, the visual monitoring module observes the drop point position of the ink drop in real time and feeds image information back to the system control module, the system control module obtains the drop point coordinate of the ink drop by processing the image information, when the ink drop deviates from a preset drop point, the system control module sends a drop point adjusting signal to the track induction deposition unit, an electric field is generated through a polar back plate of the track induction deposition unit, and the drop point of the ink drop is correspondingly adjusted;

and finally, the vision monitoring module observes the ink drop shape in real time and feeds image information back to the system control module, the system control module obtains ink drop shape information by processing the image information, when the ink drop shape is not consistent with the preset shape, the system control module sends a shape adjusting signal to the track induction deposition unit, an electrode back plate of the track induction deposition unit generates an electric field, and the ink drop deposition shape is correspondingly adjusted.

In addition, in the flying process of the ink drops, when the ink drops are not in the preset track, track adjustment is continuously carried out, the visual system module observes the positions of the ink drops in real time, and the track adjustment is stopped until the ink drops are in the preset track. And in the ink droplet deposition buffering process, when the ink droplet is far away from the deposition substrate D and is in direct contact with the substrate, the deposition buffering can be continuously carried out, the visual monitoring module observes the position of the ink droplet in real time, and the deposition buffering process is stopped until the ink droplet impacts the deposition substrate.

After the ink drops impact the deposition substrate and are not positioned at the preset drop points, the drop point adjustment can be continuously carried out, the visual monitoring module observes the positions of the drop points in real time, and the drop point adjustment is stopped until the ink drops reach the preset drop points; after the drop point is determined, when the ink drop does not form the preset deposition morphology, the morphology adjustment is continuously carried out, the vision monitoring module observes the deposition morphology in real time, and the morphology adjustment is stopped until the ink drop forms the preset deposition morphology.

In conclusion, according to the invention, through the research on the law of the internal stress distribution state when the material roll is rolled, not only a novel ink droplet track induced deposition control system is provided, but also the specific control process and treatment process are described. Correspondingly, the method can not only accurately carry out track induction control in real time, but also eliminate track deviation caused by various factors such as an electric field, air flow and the like and drop point errors caused by possible slippage on the substrate, is not influenced by factors such as ink drop material parameters, substrate structure, jet speed and the like, is suitable for various application scenes, and can realize accurate drop point correction.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.