The Boeing Company

Theboeing Company

Matthew H Mellin

Shane Edward Arthur

John Eric Miller

Bennett M Moriarty

Raymond C Eng

Kyle Steven Biondich

George P Halamandaris

Kjersta Larson-smith

Dhananjay B Vasa

Justin T Hoehn

Anthony Wayne Baker

Jeffrey Hayden Olberg

Kjersta Lynn Larson-Smith

Edward R Greene

Steven A Dorris

John F Spalding

Luke Charles Ingram

Mark S Bunker

Raj A Desai

Ryan M Trumbo

Caitlin Elizabeth Kerr

Matt Christner

Travis King

Jonathan Schwedhelm

Ryan Petz

Jesse Castleberry

Silas Lawton Studley

Tobias Weber

Josiah Brubaker

Ahmad R Yaghoobi

Temourshah Ahmady

Krishna Srinivasmurthy

Andreas Bartl

Ryan Siok

Wendy Zaballos

James Grady Whitlaw

Jairo A Diaz

Krishna P Srinivasmurthy

John Miller

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 printing system is provided comprising a print head including a plurality of ink nozzles; an actuator configured to move the print head relative to a substrate; a print head position sensing system configured to detect an actual position of the print head relative to the substrate; and a controller. The controller is configured to: receive the actual position of the print head detected by the print head position sensing system corresponding to a target print head position; determine a positional offset between the actual position and the target print head position; generate a nozzle firing pattern based on the positional offset; and control the print head to print the nozzle firing pattern at the target print head position using the plurality of ink nozzles.

Printing system for generating nozzle firing patterns based on positional offsets

Inkjet printing systems and methods dynamically control meniscus pressure at a nozzle to more reliably deliver ink to a substrate. The systems and methods include inferring an angle of a longitudinal axis of a printhead relative to the vertical reference axis based on an orientation signal from an orientation sensor, determining a target feed fluid pressure upstream of the nozzle and a target recirculation fluid pressure downstream of the nozzle, thereby to maintain a target pressure differentiation across the nozzle based, at least in part, on the inferred angle of the longitudinal axis, and controlling a variable feed pump speed and a variable recirculation pump speed to obtain the target feed fluid pressure and the target recirculation fluid pressure.

Inkjet printing system having dynamically controlled meniscus pressure

A method, apparatus, system, and computer program product for applying a color to an aircraft. The color for an exterior surface of the aircraft is determined by the computer system from a design of the aircraft. A position of the color in three-dimensional space is determined by the computer system. The position is in a color space coordinate system. An inkjet printer in the inkjet printers with a point cloud in the plurality of point clouds having a smallest Euclidean distance to the position of the color is selected by the computer system. The inkjet printer is used to apply the color on the exterior surface of the aircraft.

Aircraft inkjet printing

A multi-axis gantry system comprising a multi-axis gantry apparatus and vacuum system, and method for repositioning is disclosed. The multi-axis gantry system comprises a frame. The frame includes a plurality of curved base members, a first rail, a second rail, a bridge slidably moveable along the first rail and the second rail, a carriage including an end effector, and a first plurality of pucks and a second plurality of pucks. The vacuum system comprises a vacuum controller, a first vacuum source and a second vacuum source. Each of the first and second vacuum sources is in fluid communication with one or more pucks of the first and second pluralities of pucks. The frame is reconfigurable from a first configuration mountable on a first work surface to a second configuration mountable on a second work surface that may be different from the first work surface.

Gantry system and method

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 of applying a surface treatment on a contoured surface includes attaching a surface treatment repair assembly to the contoured surface that includes a robotic unit and an array of applicator heads, each applicator head being configured to apply a repair treatment to the contoured surface. A location of the surface treatment relative to the surface treatment repair assembly is determined using an optical sensor configured to scan the contoured surface and generate an image data set of the contoured surface. A damaged portion of the surface treatment is identified and a target area for surface treatment repair is defined based on comparing the image data set generated by the optical sensor and a pristine image data set. The surface treatment repair assembly is positioned with the array of applicator heads adjacent to the surface treatment, and each applicator head is selectively operated to repair the surface treatment.

Adaptable surface treatment repair system

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.

Actuated print head assembly for a contoured surface

Growing community of inventors

Charleston, SC, United States of America

Matthew H Mellin