The Boeing Company

Theboeing Company

John Eric Miller

Shane Edward Arthur

Matthew H Mellin

Dennis Ray Mathis

Bennett M Moriarty

Raymond C Eng

Kyle Steven Biondich

George P Halamandaris

Kjersta Larson-smith

Dennis R Mathis

Anthony Wayne Baker

Jeffrey Hayden Olberg

Steven A Dorris

Luke Charles Ingram

Mark S Bunker

Dhananjay B Vasa

Justin T Hoehn

Matt Christner

Ryan Petz

Jesse Castleberry

Travis King

Jonathan Schwedhelm

Tyler Emerson Berkey

Silas Lawton Studley

James Alan Aske

Josiah Brubaker

James Grady Whitlaw

Jairo A Diaz

Ryan Siok

Wendy Zaballos

An end effector and associated systems and methods for printing ink on a surface is disclosed. The end effector comprises a main block including a back plate. The end effector also includes a plurality of slice assemblies slidably coupled to the back plate. Each one of the plurality of slice assemblies includes a printhead and a y-actuator. The y-actuator is selectively operable to extend and retract the printhead, parallel to a y-axis in first directions, and relative to the back plate. The end effector further includes a plurality of z-actuators coupled to the back plate. Each one of the plurality of z-actuators is selectively operable to extend and retract a corresponding one of the plurality of slice assemblies, parallel to a z-axis in second directions, which is perpendicular to the y-axis and relative to the back plate.

Multi-printhead end effector and associated system and method

The present disclosure includes a method and apparatus for changing livery on a vehicle. A method of inkjet printing an exterior surface of a vehicle, includes preparing at least a portion of the exterior surface of the vehicle in a first bay using crossflow or downflow air handling and using explosion protected equipment. That method includes inkjet printing at least the portion of the exterior surface of the vehicle in a second bay. This method includes clear-coating at least the portion of the exterior surface of the vehicle in a third bay using downflow or crossflow air handling, using air filtration and using explosion protected equipment.

Inkjet printing vehicle livery

The present disclosure includes a method and apparatus for ink jet printing an exterior surface of a vehicle including a reversibly moveable crossbeam mounted above an open pit; a first track located above the reversibly moveable crossbeam, a first reversibly moveable monument including a first serial robotic manipulator including a first end effector defining a first end effector range of motion based on fully extended reversible movement of the first serial robotic manipulator; a second track located in the open pit beneath the reversibly moveable crossbeam; a second reversibly moveable monument coupled to the second pair of rails, the second reversibly moveable monument including a second end effector defining a second end effector range of motion based on fully extended reversible movement of the second serial robotic manipulator. The first end effector range of motion overlaps the second end effector range of motion.

Robotics for inkjet printing vehicle livery

An end effector for printing ink on a surface is disclosed. The end effector comprises a primary block comprises a primary-block body. A plurality of primary-printing modules are coupled to the primary-block body and translationally moveable, via a corresponding first actuator. Each one of the primary-printing modules includes at least one printhead which is adjustable, relative to the primary-block body. The printhead may be adjusted by at least one of a second actuator, configured to rotate the printhead about a first axis, or a third actuator, configured to rotate the printhead about a second axis. In some examples, a fourth actuator is configured to rotate at least one printhead, relative to at least one other printhead, about a third axis. Additionally, at least one trailing block can be coupled to the primary block so that the at least one trailing block is movable relative to the primary block.

A device actuation system for actuating a treatment device includes a first drive gear rotatably mountable to the treatment device, a coupler rail slidably mountable to the treatment device, a second drive gear rotatably mountable to the coupler rail, and a coupler gear rotatably mountable to the treatment device and engageable with the coupler rail. In addition, the device actuation system includes a drive rail locatable between the first drive gear and the second drive gear of the gear system. The coupler gear is rotatable to move the coupler rail in a manner maintaining the second drive gear in continuous engagement with the drive rail against the first drive gear. The first drive gear and the second drive gear are rotatable in a manner causing at least one of translation and rotation of the treatment device relative to the drive rail.

System and method for actuating a treatment device

A pitch-yaw actuation system includes a pitch frame, a yaw frame, a pitch actuator, a yaw actuator, and a universal joint assembly. The pitch frame is pivotably coupled to a device frame via a pitch hinge. The yaw frame is pivotably coupled to the pitch frame via a yaw hinge. The pitch actuator pivots the pitch frame about a pitch axis. The yaw actuator pivots the yaw frame about a yaw axis oriented orthogonal to the pitch axis. The universal joint assembly couples the yaw actuator to the yaw frame, and includes a universal joint slidably coupled to a linear guide mechanism. The guide mechanism axis is oriented at an angle that allows the universal joint to move in a manner accommodating misalignment of the yaw actuator with the yaw frame during pivoting of at least one of the pitch frame and the yaw frame.

Pitch-yaw actuation system and method for actuating a device head

A method and apparatus for supplying cables to robots at non-static locations. A work platform for supporting one or more humans is positioned above a base platform for supporting one or more are robots independently of the work platform. A cable carrier system for providing cables to the robots is positioned underneath the work platform and above the base platform.

Cable carrier crossover supplying four non-static locations

Systems, methods and computer program products for laser etching and robotic machining of large workpieces are disclosed. An example system includes a first ring of lasers configured to etch longitudinal gridlines on a workpiece, a second ring of lasers configured to etch circumferential gridlines on the workpiece, where the longitudinal gridlines and the circumferential gridlines define a working grid on the workpiece, and a machine vision system to scan the working grid and compare the working grid to a reference grid in a computer model of the workpiece and to determine offsets between the working grid and the reference grid for positioning a robotic machining tool.

Laser-etching and machine-vision positioning system

A surface treatment assembly for treating a contoured surface includes a surface treatment array formed from a plurality of base structures, each base structure operably coupled to a first phalange structure and a first phalange structure first end. A second phalange structure operatively coupled to each first phalange structure and a phalange joint disposed between each first phalange structure and each second phalange, thereby forming a finger structure. Moreover, at least one applicator head is coupled to a second phalange structure second end of each finger structure and configured to treat the contoured surface. A base structure actuator and a phalange joint actuator operatively coupled to and configured to manipulate the first phalange structure and the second phalange of each finger structure to adjust the surface treatment array relative to the contoured surface.

Adjustable cantilevered paint actuation system

A surface treatment support structure assembly for treating a contoured surface includes a support structure array formed from a plurality of base structures, each base structure being operably coupled with respect to one another and configured to slide along a longitudinal axis and rotate about a laterally translating axis which is perpendicular to the longitudinal axis. The support structure array further includes at least one applicator head coupled to each base structure of the support structure array, each of the at least one applicator head being configured to treat the contoured surface. Additionally, a base structure actuator is operatively coupled to and configured to manipulate each base structure along the longitudinal axis and the laterally translating axis such that the support structure array is adjusted relative to the contoured surface.

Variable cross-section compliance mechanism

A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

System for four collaborative robots and humans in a narrowing work envelope

A method and apparatus for positioning robots using a gantry. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more robots are supported on the base platform independently of the work platform. At least one gantry is positioned above the base platform and adjacent the work platform for supporting and positioning the robots along the work platform.

Belt drive dual robot gantry

A method and apparatus for supplying cables to robots at non-static locations. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more are robots supported on the base platform independently of the work platform. A cable carrier system is positioned above the base platform and underneath the work platform for providing cables to the robots.

A gantry system for processing an aircraft includes a gantry receiving a fuselage of the aircraft having a gantry frame with an arched member. The gantry system includes first and second locating arms extending between inner and outer ends movably coupled to the gantry frame. The gantry system includes a bracket assembly having a first locating arm bracket pivotably coupled to the first locating arm, a second locating arm bracket pivotably coupled to the second locating arm, and a head assembly bracket with a head assembly coupled thereto having an end effector for processing the fuselage. The head assembly is variably positionable by the first and second locating arms moving along the gantry frame for positioning the end effector relative to the fuselage.

Gantry system and method for processing an aircraft

An applicator assembly for treating a contoured surface including an attachment frame configured to secure and position an applicator head. In some embodiments, the applicator head is configured to apply a surface treatment to the contoured surface. The applicator assembly further includes, at least one sensor operatively coupled to the attachment frame and configured to scan the contoured surface and produce a contoured data set. Additionally, the applicator assembly includes an applicator actuator operatively coupled to the attachment frame and configured to manipulate the attachment frame such that the applicator assembly maintains an orientation of the applicator assembly relative to the contoured surface.

Growing community of inventors

Ladson, SC, United States of America

John Eric Miller