CNC Lineal and rotary UV inkjet printer

Hi I am looking to make a CNC Lineal and rotary UV inkjet printer.
I want to be able to print on round pipe around 36" long but will also need to make something to rotate the pipe so I can print on the other side
I know I can use the same principle as a CNC router/laser setup but its the print head stuff that I am stumped on.

Anyone know of any builds similar I can look at?