Adaptable surface treatment repair system

Patent metadata

Field	Value
Publication number	US-10773529-B2
Application number	US-201916279640-A
Country	US
Kind code	B2
Filing date	Feb 19, 2019
Priority date	Aug 30, 2016
Publication date	Sep 15, 2020
Grant date	Sep 15, 2020

Abstract

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.

First claim

What is claimed is:

1. A method of repairing a surface treatment on a contoured surface, the method comprising:
attaching a surface treatment repair assembly to the contoured surface, the surface treatment repair assembly including a robotic unit and an array of applicator heads, each applicator head being configured to apply a repair treatment to the contoured surface;
determining a location of the surface treatment relative to the surface treatment repair assembly using an optical sensor to scan the contoured surface and generate an image data set of the contoured surface;
identifying a damaged portion of the surface treatment and defining a target area for surface treatment repair based on comparing the image data set generated by the optical sensor and a pristine image data set;
positioning the surface treatment repair assembly with the array of applicator heads adjacent to the surface treatment; and
selectively operating each applicator head to repair the surface treatment.

2. The method of claim 1 , in which an orientation sensor is provided on the surface treatment repair assembly and configured to generate an orientation data set indicative of an orientation of each applicator head relative to the contoured surface.

3. The method of claim 2 , further comprising maintaining each applicator head in a normal position relative to the contoured surface based on the orientation data set.

4. The method of claim 1 , in which the array of applicator heads comprises one or more inkjet printing heads, and selectively operating each applicator head comprises applying a decorative layer to the contoured surface.

5. The method of claim 1 , in which positioning the surface treatment repair assembly with the array of applicator heads adjacent to the surface treatment comprises operating a first stage linear actuator operatively coupled to the array of applicator heads and configured to actuate the array of applicator heads, and operating a second stage linear actuator operatively coupled each applicator head of the array of applicator heads and configured to actuate each applicator head of the array of applicator heads.

6. The method of claim 5 , in which operating the first stage linear actuator comprises adjusting a position of the array of applicator heads relative to the target area, and in which operating the second stage linear actuator comprises adjusting each applicator head relative to the contoured surface.

7. A method of repairing a surface treatment on a contoured surface, the method comprising:
attaching a surface treatment repair assembly to the contoured surface, the surface treatment repair assembly including a robotic unit, having an articulated support arm, and an array of applicator heads mounted on the articulated support arm of the robotic unit, wherein each applicator head of the array of applicator heads is configured to apply a repair treatment to the contoured surface;
determining a location of the surface treatment relative to the surface treatment repair assembly using an optical sensor to scan the contoured surface and generate an image data set of the contoured surface;
identifying a damaged portion of the surface treatment and defining a target area for surface treatment repair based on comparing the image data set generated by the optical sensor and a pristine image data set;
moving the robotic unit to position the array of applicator heads adjacent to the target area; and
selectively operating each applicator head of the array of applicator heads to repair the damaged portion of the surface treatment on the contoured surface.

8. The method of claim 7 , in which an orientation sensor is provided on the surface treatment repair assembly, the orientation sensor being configured to generate an orientation data set indicative of an orientation of each applicator head relative to the contoured surface and generate an orientation data set, and in which the method comprises further positioning each applicator head of the array of applicator heads based on the orientation data set.

9. The method of claim 8 , in which positioning each applicator head of the array of applicator heads is performed in real time.

10. The method of claim 8 , in which positioning each applicator head of the array of applicator heads comprises maintaining each applicator head in a normal orientation relative to a contour of the contoured surface based on the orientation data set.

11. The method of claim 7 , in which the array of applicator heads comprises a plurality of inkjet printing heads, and selectively operating each applicator head of the array of applicator heads comprises applying a decorative layer to the target area.

12. The method of claim 7 , in which selectively operating each applicator head of the array of applicator heads comprises applying a surface protective layer to the target area.

13. The method of claim 7 , in which positioning the surface treatment repair assembly with the array of applicator heads adjacent to the surface treatment comprises operating a first stage linear actuator operatively coupled to the array of applicator heads and configured to actuate the array of applicator heads, and operating a second stage linear actuator operatively coupled each applicator head of the array of applicator heads and configured to actuate each applicator head of the array of applicator heads.

14. The method of claim 13 , in which operating the first stage linear actuator comprises adjusting a position of the array of applicator heads relative to the target area, and in which operating the second stage linear actuator comprises adjusting each applicator head relative to the contoured surface.

15. A method of repairing a surface treatment on a contoured surface of an airplane, the method comprising:
attaching a surface treatment repair assembly to the contoured surface, the surface treatment repair assembly including a robotic unit, having an articulated support arm, and an array of applicator heads mounted on the articulated support arm of the robotic unit, wherein each applicator head of the array of applicator heads is configured to apply a repair treatment to the contoured surface;
determining a location of the surface treatment relative to the surface treatment repair assembly using an optical sensor to scan the contoured surface and generate an image data set of the contoured surface, and an orientation sensor to determine an orientation of each applicator head and generate an orientation data set;
identifying a damaged portion of the surface treatment and defining a target area for surface treatment repair based on comparing the image data set generated by the optical sensor and a pristine image data set;
moving the robotic unit to position the array of applicator heads adjacent to the target area;
positioning each applicator head of the array of applicator heads based on the orientation data set; and
selectively operating each applicator head of the array of applicator heads to repair the damaged portion of the surface treatment on the contoured surface.

16. The method of claim 15 , in which positioning each applicator head of the array of applicator heads is performed in real time.

17. The method of claim 15 , in which positioning each applicator head of the array of applicator heads comprises maintaining each applicator head in a normal orientation relative to a contour of the contoured surface based on the orientation data set.

18. The method of claim 15 , in which the array of applicator heads comprises a plurality of inkjet printing h

Assignees

• Boeing Co

Inventors

• Kerr Caitlin E
• Hoehn Justin T
• Vasa Dhananjay B
• Arthur Shane E
• Moriarty Bennett M
• Mellin Matthew H
• Trumbo Ryan M
• Spalding John F
• Eng Raymond C
• Biondich Kyle S

Classifications

• B05D5/005

  Repairing damaged coatings · CPC title

• B05B12/084

  responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern · CPC title

• B05D1/26

  performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface · CPC title

• B05B13/002

  Machines or plants for applying coating liquids or other fluent materials by inkjet · CPC title

• B05B13/0431

  with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces · CPC title