Multi-printhead end effector and associated system and method

Patent metadata

Field	Value
Publication number	US-12344010-B2
Application number	US-202218087505-A
Country	US
Kind code	B2
Filing date	Dec 22, 2022
Priority date	Dec 22, 2022
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

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.

First claim

What is claimed is:

1. An end effector for printing ink on a surface, the end effector comprising:
a primary block comprising:
a primary-block body;
a plurality of primary-printing modules coupled to the primary-block body so that each one of the plurality of primary-printing modules is translationally movable, parallel to a z-axis and relative to the primary-block body; and
first actuators, each coupled to a corresponding one of the plurality of primary-printing modules and operable to selectively extend and retract the corresponding one of the plurality of primary-printing modules, parallel to the z-axis and relative to the primary-block body,

wherein each one of the plurality of primary-printing modules comprises:
at least one primary printhead;
a second actuator configured to rotate the at least one primary printhead, relative to the primary-block body, about a first axis that is parallel to or collinear with an x-axis, which is perpendicular to the z-axis; and
a third actuator configured to rotate the at least one primary printhead, relative to the primary-block body, about a second axis that is parallel to or collinear with a y-axis, which is perpendicular to the x-axis and the z-axis.

2. The end effector of claim 1 , wherein each one of the plurality of primary-printing modules further comprises:
at least two primary printheads; and
a fourth actuator configured to rotate at least one of the at least two primary printheads, relative to at least one other of the at least two primary printheads, about a third axis that is parallel to the second axis.

3. The end effector of claim 2 , wherein each one of the plurality of primary-printing modules comprises at least three primary printheads.

4. The end effector of claim 1 , wherein each one of the plurality of primary-printing modules is selectively movable, via actuation of the first actuator corresponding with each one of the plurality of primary-printing modules, independent of any other one of the plurality of primary-printing modules.

5. The end effector of claim 1 , wherein:
each one of the at least one primary printhead comprises two ink outlets;
each one of the two ink outlets is configured to dispense ink having a color; and
the color of the ink dispensed by one of the two ink outlets is different than the color of the ink dispensed by an other one of the two ink outlets.

6. The end effector of claim 5 , wherein:
each one of the plurality of primary-printing modules further comprises at least three primary printheads; and
the color of the ink dispensed by any one of the two ink outlets is different than the color of the ink dispensed by any other one of the two ink outlets of any other one of the at least three primary printheads.

7. The end effector of claim 1 , wherein the plurality of primary-printing modules comprises at least six primary-printing modules.

8. The end effector of claim 7 , wherein:
the at least six primary-printing modules are grouped into at least three sets of two primary-printing modules;
the two primary-printing modules of each one of the at least three sets of primary-printing modules are aligned in a direction parallel to the y-axis; and
the two primary-printing modules of each one of the at least three sets of primary-printing modules are offset, in a direction parallel to the x-axis, from the two primary-printing modules of any other one of the at least three sets of two primary-printing modules such that the at least three sets of two primary-printing modules are staggered.

9. The end effector of claim 1 , wherein the plurality of primary-printing modules are staggered, in a direction parallel to the x-axis, from any other one of the plurality of primary-printing modules.

10. The end effector of claim 1 , wherein the primary block defines at least twenty-four axes of motion.

11. The end effector of claim 1 , wherein the end effector further comprises a trailing block coupled with the primary block so that the trailing block is movable relative to the primary block, wherein the trailing block comprises:
a trailing-block body;
a plurality of trailing-printing modules coupled to the trailing-block body so that each one of the plurality of trailing-printing modules is translationally movable, parallel to a second z-axis and relative to the trailing-block body; and
a fifth actuator coupled to each one of the plurality of trailing-printing modules and operable to selectively extend and retract a corresponding one of the plurality of trailing-printing modules, parallel to the second z-axis and relative to the trailing-block body,
wherein each one of the plurality of trailing-printing modules comprises:
at least one trailing printhead; and
at least one of:
a sixth actuator configured to rotate the at least one trailing printhead, relative to the trailing-block body, about a fourth axis that is parallel to or collinear with a second x-axis, which is perpendicular to the second z-axis; or
a seventh actuator configured to rotate the at least one trailing printhead, relative to the trailing-block body, about a fifth axis that is parallel to or collinear with a second y-axis, which is perpendicular to the second x-axis and the second z-axis.

12. The end effector of claim 11 , wherein each one of the plurality of trailing-printing modules comprises the sixth actuator and the seventh actuator.

13. The end effector of claim 11 , wherein each one of the plurality of trailing-printing modules further comprises:
at least two trailing printheads; and
an eighth actuator configured to rotate at least one of the two trailing printheads, relative to at least one other of the two trailing printheads, about a sixth axis that is parallel to the fifth axis.

14. The end effector of claim 11 , wherein each one of the plurality of trailing-printing modules further comprises at least three trailing printheads.

15. The end effector of claim 11 , wherein:
the primary block further comprises one of:
at least one attachment rail; or
a carriage configured to slidably engage with the at least one attachment rail;

the trailing block further comprises at least the other one of:
the at least one attachment rail; or
the carriage configured to slidably engage with the at least one attachment rail;

the carriage comprises a rotary bearing configured to be selectively rotatable about a seventh axis that is parallel to or collinear with the second x-axis;
a ninth actuator coupled to the carriage and operable to selectively extend and retract the trailing block, relative to the primary block, along the at least one attachment rail; and
a tenth actuator coupled to the carriage and configured to rotate the trailing block, relative to the primary block, about the seventh axis.

16. The end effector of claim 11 , wherein:
the end effector comprises a plurality of trailing blocks;
the plurality of trailing blocks comprises an upper trailing block coupled to a first portion of the primary block;
the plurality of trailing blocks further comprises a lower trailing block coupled to a second portion of the primary block; and
the first portion is spaced apart from the second portion.

17. The end effector of claim 16 , wherein:
the upper trailing block and the lower trailing block are positionable in any position, between and inclusive of, a fully-expanded position and a fully-retracted position;
when in the fully-expanded position the upper trailing block and the lower trailing block are expanded laterally, relative to the primary block, to form the end effector in a v-block fo

Assignees

• Boeing Co

Inventors

• Arthur Shane E
• Miller John E
• Mellin Matthew
• Larson-Smith Kjersta
• Baker Anthony
• Ingram Luke
• Dorris Steven
• Schwedhelm Jonathan
• Bunker Mark
• Petz Ryan
• King Travis
• Christner Matt
• Brubaker Josiah
• Siok Ryan
• Zaballos Wendy
• Castleberry Jesse

Classifications

• B41J25/304

  Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface · CPC title

• B41J3/4073

  Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects (B41J3/283, B41J3/286 take precedence; building up a 3D object using individual droplets from jetting heads B29C64/112) · CPC title

• B05B15/68

  Arrangements for adjusting the position of spray heads (B05B15/628, B05B15/652, B05B15/656 take precedence) · CPC title

• B05B13/005

  mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers · CPC title

• B41J3/543 Primary

  with multiple inkjet print heads (B41J2/17503, B41J2/2103 take precedence) · CPC title