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WO2018185636A1 - Appareil de peinture automatisé - Google Patents

Appareil de peinture automatisé Download PDF

Info

Publication number
WO2018185636A1
WO2018185636A1 PCT/IB2018/052258 IB2018052258W WO2018185636A1 WO 2018185636 A1 WO2018185636 A1 WO 2018185636A1 IB 2018052258 W IB2018052258 W IB 2018052258W WO 2018185636 A1 WO2018185636 A1 WO 2018185636A1
Authority
WO
WIPO (PCT)
Prior art keywords
paint
nozzle
head
nozzles
stroke
Prior art date
Application number
PCT/IB2018/052258
Other languages
English (en)
Inventor
Patric LUETHI
Thomas Netter
Original Assignee
Oilpainter Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oilpainter Ag filed Critical Oilpainter Ag
Publication of WO2018185636A1 publication Critical patent/WO2018185636A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
    • B05B1/04—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape in flat form, e.g. fan-like, sheet-like
    • B05B1/042—Outlets having two planes of symmetry perpendicular to each other, one of them defining the plane of the jet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
    • B05B1/1627—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock
    • B05B1/1636—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock by relative rotative movement of the valve elements
    • B05B1/1645—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock by relative rotative movement of the valve elements the outlets being rotated during selection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
    • B05B1/169—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets having three or more selectively effective outlets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/1409—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet the selection means being part of the discharge apparatus, e.g. part of the spray gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • B05B15/555—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids discharged by cleaning nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/02—Spray pistols; Apparatus for discharge
    • B05B7/04—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
    • B05B7/0408—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge with arrangements for mixing two or more liquids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • B01F33/80—Mixing plants; Combinations of mixers
    • B01F33/84—Mixing plants with mixing receptacles receiving material dispensed from several component receptacles, e.g. paint tins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/1418—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet for supplying several liquids or other fluent materials in selected proportions to a single spray outlet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • B05B15/557—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids the cleaning fluid being a mixture of gas and liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B05B3/025—Rotational joints
    • B05B3/027—Rotational joints with radial fluid passages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/28—Processes for applying liquids or other fluent materials performed by transfer from the surfaces of elements carrying the liquid or other fluent material, e.g. brushes, pads, rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
    • B05D5/06—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures to obtain multicolour or other optical effects

Definitions

  • an aspect of the present disclosure is directed to an apparatus for automatically applying paint to an object, or substrate, in paint strokes as well as a method for operating such an apparatus.
  • an apparatus comprises:
  • An object support The purpose of the object support is to hold the object to be painted (e.g. a canvas) at a defined position in respect to the apparatus, namely such that the target surface of the object (i.e. the surface to be painted) is located in a "target plane" of the apparatus.
  • the object to be painted e.g. a canvas
  • a paint head This is the part moved relative to the object as defined below.
  • a displacement device adapted and structured to displace said paint head The displacement is along a first and second direction relative and parallel to the target plane.
  • the term "relative" implies that the displacement device can, for each direction, either move the paint head while leaving the object at rest, or move the object while leaving the paint head at rest, or move both these items.
  • the paint head is moved while the object is at rest.
  • One or more nozzles may have the same shape.
  • a plurality of nozzles may have different shapes.
  • the one or more nozzles are arranged on the paint head and used to apply the paint to the object.
  • a nozzle selector is adapted and structured to move, for example orient, one of the nozzles to a "paint delivery position" on the paint head.
  • the paint delivery position may be the orientation location where the nozzle faces the target plane for applyi ng the paint in paint strokes while the paint head is being moved along the target plane.
  • a nozzle elevator drive The nozzle elevator drive is adapted and structured to change a distance between the nozzle in the forward position and the target plane.
  • the nozzle selector may allow to select one of the differently shaped nozzles to be used to apply paint to the object in paint strokes.
  • the apparatus may further com prise a nozzle holder rotatably held in the paint head.
  • the nozzles may be mounted on the nozzle holder and the nozzle selector may be adapted and structured to rotate the nozzle holder to bring one of the nozzles into said forward position.
  • the axis of rotation of the nozzle holder is called the "nozzle holder axis”.
  • it may be parallel to the target plane.
  • the paint head may comprise a rotatable member.
  • This rotatable member may carry the nozzles and may be rotated about a "paint head axis" perpendicular to the target plane, and the apparatus may further com prise a paint head drive adapted and structured for rotating the rotatable member about the paint head axis.
  • the rotatable member may allow to orient the nozzle in the forward position.
  • the exit opening of the nozzle in the forward position may lie in the paint head axis.
  • rotating the paint head merely changes the orientation but not the position of the nozzle's exit openi ng in respect to the target plane.
  • the "exit opening" of the nozzle may be the one where the paint exits from the nozzle as it is applied to the object to be painted.
  • the apparatus comprises a washing device for cleaning the nozzles on the paint head. This allows to clean the nozzles without removing them from the paint head.
  • the apparatus for applying pai nt to an object may com prise a paint head, a motion system for carrying the paint head, the paint head comprising: a nozzle support member com prising a paint feed duct and a nozzle holder, the nozzle holder com pris ing one or more nozzles, a nozzle selector, and a mechanical transmission between the nozzle selector and the nozzle holder.
  • the apparatus for applying paint to an object may com prise a paint head, a motion system for carrying the object to be painted, the paint head com prising: a nozzle support mem ber comprising a paint feed duct and a nozzle holder, the nozzle holder comprising one or more nozzles, a nozzle selector, and a mechanical transm ission between the nozzle selector and the nozzle holder.
  • the washing device may comprise a flushing duct adapted and structured for feeding a washing fluid through the nozzles.
  • the washing fluid may com prise a m ixture of water and air.
  • the washing device may comprise a washing chamber laterally adjacent to the object support for washing the nozzles.
  • the paint head may comprise for one or more of the nozzles, a recess or opening adjacent to said nozzle and a brush held in said recess or opening, and in particular where said brush is glued into said recess or opening.
  • the recess or opening may be arranged in said nozzle holder.
  • One or more of said nozzles may have differently shaped exit openings.
  • One or more of said exit openings may have a diameter D1 with a maximum extension along a main axis, wherein, in a direction perpendicular to said main axis, a diameter D2 of said exit openings is smaller in a center of said exit openings as compared to a diameter D3 at a location at a distance from said center.
  • the invention relates to a method for operating this apparatus.
  • This method comprises the step of applying a paint stroke to the object by moving the nozzle in the forward position relative to the object while feeding paint to the nozzle in the forward position.
  • Different paint strokes may be applied consecutively to the object, wherein said paint strokes differ by color and/or by the nozzle to be used, wherein strokes using the same color and nozzle may be grouped together and carried out consecutively.
  • the apparatus may further comprise a nozzle elevator drive adapted and structured to change a distance between the nozzle in the forward position and the target volume or plane.
  • the apparatus may comprise a paint feeder adapted and structured to feed paint to the nozzle at said forward position.
  • the displacement device may be configured to displace the paint head with respect to said target plane in a first and a second direction parallel to said target plane.
  • a method of applying paint to a substrate may comprise providing a nozzle on a rotatable nozzle holder in a painting position relative to the substrate and feeding paint through the nozzle while moving the nozzle holder relative to the substrate.
  • the apparatus may comprise a controller operable to control the apparatus for applying paint to a substrate.
  • the controller may be operable to control movement of the paint head relative to the object to be painted; control supply of paint to the nozzle of the paint head in the forward position; and control paint strokes applied by the nozzles according to a determined order and position.
  • the apparatus for automatically applying paint to an object may comprise a paint head that is fixed in one or more dimensions.
  • the paint head may be fixed to a traverse beam.
  • the paint head may be fixed in the X, Y, and Z directions.
  • the apparatus may comprise a robot to carry an object to be painted.
  • the robot may comprise a jointed link arm .
  • the robot may comprise a suction device, for example a vacuum chuck. The robot may displace the object to be painted relative to the paint head.
  • the apparatus for automatically applying paint to an object may be connected to a computer, for example the controller, by a communication network.
  • the apparatus and the robot may be connected to the computer by a common or a separate network.
  • One or more apparatuses for automatically applying paint to an object may be connected to the computer.
  • One or more robots may be connected to the computer.
  • the computer may be connected to the Internet.
  • FIG. 1 is a perspective view of an apparatus for automatically applying paint to an object according to an embodiment of the present disclosure
  • Fig. 2 is a perspective view of a paint head according to an embodiment of the present disclosure
  • Fig. 3 is a perspective view of the paint head of Fig. 2 rotated about the Z axis
  • Fig. 4 is a perspective view of the paint head of Fig. 2 rotated about the Z axis
  • FIG. 5 is an elevation view of transmission components of a nozzle selector and paint head drive according to an embodiment of the present disclosure
  • Fig. 6 is a perspective view of a portion of the paint head of Fig. 2,
  • FIG. 7 is a perspective view of a nozzle holder and support according to an embodiment of the present disclosure
  • FIG. 8 is an enlarged perspective view of a portion of the nozzle holder of Fig. 7,
  • FIG. 9 is a perspective view of the nozzle holder of Fig. 7 from a different angle
  • Fig. 10 is an enlarged perspective view of a portion of the nozzle holder of Fig. 9,
  • Fig. 1 1 is a sectional view of the nozzle holder and support of Fig. 7 along a plane extending perpendicularly to the nozzle holder axis,
  • Fig. 12 is a perspective view of a portion of a washing chamber according to another embodiment of the present disclosure.
  • Fig. 13 is an elevation view of an exit opening of a nozzle according to another embodiment of the present disclosure.
  • Figs. 14A- 14C illustrate three embodiments of brushes.
  • Fig. 15 illustrates a control system for the apparatus.
  • Fig. 16 is a perspective view of an apparatus for automatically applying paint to an object carried by a robotic arm .
  • Fig. 17A is schematic representation of a graphical interface for the apparatus' controller.
  • Fig. 17B is a schematic representation for a datafile loadable by the controller.
  • Fig. 18 is a block diagram presenting the components of the apparatus' controller.
  • Fig. 19A is a side view of a device for forming vaporized water.
  • Fig. 19B is a timing diagram for a method to form vaporized liquid.
  • Fig. 20 is a top view of a paint stroke comprising a predefined leading- or trailing edge.
  • Fig. 21 is a block diagram of a method for estimating a backward-forward parameter.
  • Fig. 22 is a top view of two strokes joined by a numerical control interpolation method.
  • Fig. 23 A is a top view and Fig. 23B is a cross-section of a stroke comprising a plurality of paint excess rails.
  • Fig. 23C is a cross-section of two paint strokes formed adjacent to each other, each paint stroke comprising one or more excess rails .
  • Fig. 24 is a top view of an object with a virtual representation of a mesh.
  • Fig. 25 is a top view of an object to be painted with a virtual representation of one or more job windows
  • Fig. 26 is a top view of a conveyor belt or translating canvas comprising one or more paint job windows.
  • Fig. 27 is a block diagram of a method for minimizing the number of end effector washing operations.
  • Fig. 28 is a perspective view of an embodiment of an artwork forming booth.
  • Fig. 29 is a block diagram of a method for operating an artwork forming booth.
  • Fig. 30 is a perspective view of an embodiment of an artwork forming production line.
  • Fig. 31 is a block diagram of a method for forming a trace of a desired color on an object.
  • Fig. 1 illustrates an embodiment of an apparatus 1 for painting on a substrate, or object.
  • a reference frame for example using ⁇ , ⁇ , ⁇ Cartesian coordinates, may be defined for the apparatus (Fig. 1 ).
  • the word “horizontal” may designate a plane parallel to the X-Y plane.
  • the term “vertical” may designate a direction parallel to the Z-axis.
  • the apparatus comprises a motion system 1 10.
  • the motion system may comprise one or more motion system components 10, 12, 14, 16, 18, for displacing a paint head 8 with one or more degrees of freedom.
  • the apparatus may paint within a work volume or area 104.
  • a gantry system based on a gantry system, comprises a work volume 104 in the X, Y, and Z directions represented by part or all of the operating range of the gantry system , for example the X-range 1 01 , the Y-range 102, and the Z-range 103, respectively.
  • the gantry system presented in Fig. 1 may for example displace the paint head 8 in 3 degrees of freedom .
  • the apparatus may instead be based on a non-gantry system , for example a system comprising a jointed link arm system , for example a selective compliance articulated robot arm (SCARA), and may be characterized by a different geometric coordinate and operating range.
  • An articulated robot arm is a motion system 1 10 that may have one or more degrees of freedom , for example 2 degrees of freedom . Articulated robot arm systems used in manufacturing may comprise 6 or more degrees of freedom.
  • Painting may for example refer to applying a fluid to a substrate, modifying the appearance of a fluid applied to a substrate, or modifying a substrate prior to applying a fluid to it.
  • the modifying may for example be done using mechanical or thermal means.
  • the substrate may be, for example, a single, large piece of canvas 2, a plurality of individual canvases each wrapped onto a stretcher frame, or a substrate, two-dimensional or three-dimensional designated to be painted.
  • Apparatus 1 comprises in this embodiment an object support 4 for supporting the object to be painted.
  • object support 4 depends on the nature of the object to be painted. It may, for example, comprise one or more clamps 141 arranged for holding a canvas that may cover more than 50% of the apparatus' working area, a plurality of smaller canvases, or objects to be painted, for example arranged as an array.
  • the one or more clamps 141 may, for example, be mechanical, comprise an adhesive, use a suction system , comprise a roll-to-roll system , or a belt system.
  • An object or substrate to be painted for example a foil, a canvas, or a board, may be placed on object support 4 and be configured so that part or the entirety of the substrate to be painted be held at a defined position within the apparatus 1 such that a surface to be painted is arranged, for example, in a target plane 6.
  • the substrate to be painted may be placed on a movable support, for example so that the range, surface, or volume over which the substrate is painted is greater than the working volume or area of the apparatus 1.
  • the movable support may comprise a roll-to-roll system, a belt system, or a multi-degrees of freedom robotic system such as a gantry- or rail-type system or a jointed link arm system .
  • the apparatus 1 further comprises a paint head 8, which is arranged on a displacement device for displacing paint head 8 in first and second directions X, Y (as indicated in reference diagram 3) parallel to the target plane 6.
  • the displacement device 1 10 comprises rails 10 and 14, a traverse beam 12, and first and second drives 16 and 18.
  • a pair of parallel, horizontal rails 10 are arranged along opposite sides of object support 4.
  • Horizontal rails 10 extend in this embodiment in the X direction.
  • Traverse beam 12 is supported on the rails 10, is displaceable along the rails 10 in the X direction, and carries a rail 14 extending in the Y direction.
  • Paint head 8 is displaceable along rail 14 in the Y direction.
  • First drive 16 is configured to displace the traverse beam 12 along direction X.
  • Second drive 18 is configured to displace paint head 8 in the y direction.
  • paint head 8 carries one or more nozzles for applying paint strokes to object 2.
  • the apparatus 1 further comprises paint reservoirs 20 for paints of different colors, textures, viscosities, or the like. Paint colors may for example comprise blue or cyan, red or magenta, yellow, black, white, or spot colors.
  • the paint reservoirs 20 are pressurized in one embodiment to feed the paints through at least partially flexible ducts 22 to paint head 8.
  • the flexible ducts 22, as well as all other ducts and pumps described below, are part of a paint feeder (generally designated by reference number 23).
  • Apparatus 1 further comprises a control unit 24 configured to control operation of the paint head and movement of the paint head on the rails and beams.
  • the control unit 24 may comprise one or more computer controllers connected to a plurality of drives, for example drives 16, 18, 40, 47, and 60.
  • the control unit 24 may comprise one or more displays representing a user interface, for example to enable an operator to program or to monitor the operation of the apparatus 1.
  • Paint head 8 comprises a base member 26 and a rotatable member 28.
  • Base member 26 is slideably mounted to rail 14 of traverse beam 12, in one embodiment using one or more bearings 30 (Fig. 2).
  • Base member 26 carries a paint interface 32 for connecting paint head 8 to the ducts 22 (only one of which is shown in Fig. 2).
  • paint pumps 34 which form part of paint feeder 23, are mounted to paint head 8 (in the embodiment of Fig. 2 they are mounted to base member 26 of paint head 8). There is in one embodiment one such pump for each color of paint to be fed to paint head 8.
  • the paint pumps 34 feed the paints to a mixing chamber in paint head 8. This mixing chamber is described in more detail below. Placing the paint pumps 34 on paint head 8 makes it easier to accurately control the flow and mixture of the paints even if viscous paints are used.
  • Rotatable member 28 of paint head 8 is mounted to base member 26 and is rotatable about a paint head axis 38 (cf. Fig. 6).
  • a paint head drive 40 is mounted to base member 26. Paint head drive 40 has a driven sprocket 48 driving a gear 44 mounted to rotatable member 28 (cf. Fig. 6).
  • Rotary union 41 connects ducts 42 of base member 26 to ducts 45 in rotatable member 28.
  • Ducts 42 and 45 are represented in dotted lines in Fig. 6, with only some of the ducts 45 being shown. Further ducts 45 may be employed without departing from the scope of the disclosure.
  • ducts 42, 45 for the different types of paints are kept separate until the ducts are fed to a mixing chamber 46 (which is also shown in dotted lines in Fig. 6).
  • Mixing chamber 46 is a part of or mounted in or on rotatable member 28 in one embodiment, i.e., close to the nozzles 50 (described in further detail in Figs. 6-13), in order to keep the length of travel of the mixed paint (and therefore the loss of paint and time when changing the color) short.
  • Paint head 8 further comprises a nozzle elevator drive 47 (Fig. 2) for raising and lowering rotatable member 28 in the Z direction, i.e., for changing the distance between a nozzle 50 in a forward position 54 (see below) and the target plane 6.
  • nozzle elevator drive 47 is mounted to base member 26 and is structured to displace rotational member 28 along vertical direction Z.
  • paint head 8 includes one or more nozzles 50 and a nozzle selector 52.
  • Nozzle selector 52 may transmit force to actuate nozzle holder 56. Actuation of the nozzle selector 52 may bring one of the nozzles 50 to the forward position 54 which, for example in the embodiment presented in Fig. 6, is the position in which the particular nozzle 50 lies closest to and faces target plane 6.
  • the forward position 54 for a nozzle 50 is a position in which the nozzle is configured or oriented to deliver paint to a substrate.
  • an exit opening of the nozzle 50 in forward position 54 is oriented along paint head axis 38, i.e. the axis 38 extends through the opening, and the opening remains oriented along the axis 38 and merely changes its orientation with respect to the axis 38 when rotatable member 28 is rotated relative to base member 26.
  • the nozzles 50 are mounted to a nozzle holder 56.
  • Nozzle holder 56 is rotatably held in paint head 8, in one embodiment in rotatable member 28.
  • Nozzle holder 56 is rotatable about a nozzle holder axis 58 in order to bring any one of the nozzles 50 arranged around a circumference of nozzle holder 56 into a forward position 54.
  • Nozzle holder axis 58 is in one embodiment parallel to target plane 6.
  • Nozzle selector 52 comprises a nozzle selector drive 60, which drives a mechanical transmission 501 , for example a gear train comprising elements 62, 64, 66, 68, 70, as shown in Fig. 5, in order to rotate nozzle holder 56 about nozzle holder axis 58 (cf. Fig. 5).
  • the gear train comprises a shaft 62 extending through multiple-passage rotary union 41 , as well as gears 64, 66, 68, and 70 arranged in rotatable member 28 in order to transfer the rotational motion into nozzle holder 56.
  • nozzle holder axis 58 is substantially perpendicular to and intersects with paint head axis 38.
  • Fig. 7 presents an embodiment for a nozzle holder 56.
  • the nozzle holder 56 may be represented as a cylindrical device comprising one or more nozzles.
  • nozzle holder 56 is in one embodiment rotatably mounted on a nozzle support member 72.
  • Nozzle support member 72 may form a frusto-conical support surface 74 mating with a matching nozzle inlet surface 76 (Fig. 9) of nozzle holder 56.
  • a plurality of nozzle inlets 78 are arranged in nozzle inlet surface 76, each of which forms an entry opening of one of the nozzles 50.
  • Nozzle inlets 78 extend to respective nozzle outlets 86 of their respective nozzles 50.
  • the nozzle inlets 78 extend in a duct 1 151 that may extend radially from the nozzle inlet surface 76.
  • the nozzle holder 56 and the nozzles 50 may comprise non radial paths, for example that comprise a curve, for example wherein the cross-section of the nozzle's outlet is not parallel to the cross- section of the nozzle's inlet.
  • the nozzle holder 56 may comprise on one or more of its side faces 561 , 562 (Fig. 7) one or more openings with side entry 783.
  • An opening with side entry 783 is an embodiment for an opening 82 that further comprises an opening on one or more of the nozzle holder's non- circumferential faces.
  • An opening with side entry 783 may for example provide a method to slide a brush 84 or an interchangeable accessory into an enlarged portion 1 183 (shown in Fig. 1 1 ) of a non-circumferential face of the nozzle holder 56.
  • Paint feeder 23 further comprises a paint feed duct 80 (Figs. 6, 7 and 1 1 ), which is arranged in nozzle support member 72 and extends from mixing chamber 46 to the respective nozzle inlet 78 of the respective nozzle 50 that is at the forward position 54.
  • paint feed duct 80 comprises a feed duct exit 81 (Fig. 1 1 ) located adjacent to the nozzle inlet surface 76 and positioned to mate with the nozzle inlet 78 of the nozzle 50 at forward position 54. In the forward position 54, the nozzle inlet 78 of nozzle 50 is aligned with paint feed duct exit 81.
  • the feed duct exit 81 may comprise a feed duct exit seal 1 1 96.
  • the feed duct exit seal 1 196 may be embedded within the feed duct exit 81 or within a feed duct exit recess 1 182 surrounding the feed duct exit 81.
  • the feed duct exit recess 1 182 may be formed as a widening of the feed duct exit 81.
  • the feed duct exit recess 1 182 may be formed as a groove into support surface 74,
  • the feed duct exit seal 1 196 forms a sliding seal between the feed duct exit 81 and nozzle holder 56.
  • the feed duct exit seal 1 196 may be formed as a ring, for example of an elastomeric material or a first material coated by a second material.
  • a mixing device 83 (Fig. 7) is located in feed duct 80 to improve the mixing of the paints as they propagate through the feed duct 80.
  • the mixing device 83 may be helically shaped, for example as a helical rod or a helical spring. In some embodiments of the paint head 8, the mixing device 83 may be actuated.
  • paint head 8 in particular nozzle holder 56, comprises, for one or more of the plurality of nozzles 50, a recess or opening 82 adjacent to each nozzle 50.
  • Recess or opening 82 may be used to optionally hold a brush 84 (only one of which is shown in Fig. 7).
  • Brush 84 can, for example, be glued into recess or opening 82, although other attachments, such as bolts, snap-fitting, or the like, may be employed without departing from the scope of the disclosure.
  • Brush 84 may be used in one embodiment to modify the position, consistency, texture, and the like of applied paint, for example by forming two-dimensional patterns, mixing or interleaving different paints or colors.
  • Such mixing or interleaving can be formed with a single stroke, for example by interleaving two or more layers of paint.
  • the mixing or interleaving may be accomplished with a single stroke using multiple passes returning at the same locations, for example with a different stroke angle in the X-Y plane, a different orientation of the brush 84 around the Z axis, or a different elevation of the brush 84 as set by the nozzle selector 56 and elevator drive 47, for example.
  • the mixing or interleaving may be accomplished alternatively with a plurality of strokes, the strokes being parallel to one another, or intersecting at different selectable angles. Further, three-dimensional textures may also be formed.
  • Three-dimensional textures may be formed by, for example, stroking the paint with a brush forming a three-dimensional pattern within the paint layer using the elevator drive 47 to vary nozzle height during the stroke.
  • the pattern may be wavy, for example across the direction of the stroke or along the direction of the stroke.
  • a pattern may be formed along the direction of the stroke by changing the height of the brush 84 relative to the substrate.
  • the height of the brush 84 relative to the substrate may be changed by changing the height of the paint head 8 relative to the substrate.
  • the height of the brush 84 relative to the substrate may be changed by changing the angular setting of the nozzle holder 56.
  • Brush 84 may be of any type of pad or brush, synthetic or real bristle, coarse, fine, or the like, without departing from the scope of the disclosure.
  • one or more of the plurality of nozzles 50 have differently shaped exit openings 86. This allows varying, for example only, the stroke width of the apparatus 1 by switching between different nozzles 50 with different nozzle opening shapes and/or brushes.
  • the different nozzles 50 have exit openings having different widths.
  • the exit opening of a nozzle may have an orientation comprised in a range between 0° and 180°, for example a range between 5° and 100°, from a radius extending from the axis of rotation of the nozzle holder 56.
  • an exit opening oriented at 90° from said radius may enable paint to be projected tangentially to the nozzle holder, or for example tangentially to a horizontal substrate.
  • An exit opening oriented within 30° of a plane parallel to the surface of the substrate to be painted may enable forming elongated spurts of paint onto the substrate.
  • paint may be contained in the feed duct exit 81 and one or more nozzles 50, 1 150.
  • a portion of paint comprised, for example, within a nozzle 50, 1 150 m ay form a layer of paint on support surface 74.
  • the support surface 74 may comprise a coating, for example a coating that facilitates the flow of fluids at its surface, for example polytetrafluoroethylene.
  • the layer of paint on support surface 74 may function as a lubricant facilitating the rotation of the nozzle holder 56 around the support surface 74.
  • a method to lubricate the rotation of the nozzle holder 56 around the support surface 74 may be to first supply paint to one or more nozzles 50, 1 150 and to rotate the nozzle holder 56 around the support surface 74.
  • the lubrication method may for example be used at the beginning of a painting session or after maintenance of the paint head 8.
  • the nozzle holder 56 may comprise one or more fastener openings 1 170 to enable one or more fasteners, for example a screw or a latch, to fasten the nozzle holder 56 to nozzle holder gear 70.
  • the nozzle holder 56 may be removed from the nozzle holder gear 70 by releasing the fasteners.
  • a first nozzle holder may be replaced by a second nozzle holder comprising one or more nozzles characterized by one or more shapes, for example nozzle cross-sections, that are different from that of the first nozzle holder.
  • the nozzle holder 56 may comprise one or more nozzle sockets 1 155.
  • the nozzle socket 1 155 may be a cavity, for example on the nozzle holder's circumferential surface, for insertion of an interchangeable nozzle 1 150.
  • the nozzle socket 1 155 may comprise a nozzle socket duct 1156, the inlet of which may face, depending on the nozzle holder's 56 rotation angle around the support surface 74, the feed duct exit 81 or the flushing duct exit 1 1 94.
  • the interchangeable nozzle 1 150 may comprise a locking mechanism, for example comprising a spring element, to fasten it upon insertion into the nozzle socket.
  • the interchangeable nozzle 1 150 may comprise elastomer material, for example wherein the elastomer material deforms upon insertion of the interchangeable nozzle into the nozzle socket, thereby enabling the interchangeable nozzle to remain within the nozzle socket.
  • the nozzle socket 1 155 may comprise a socket liner 1152, for example a polymer liner, capable of compressive deformation to provide a retaining force upon insertion of an interchangeable nozzle.
  • the nozzle holder 56 may comprise one or more sockets 1 185 that do not comprise a nozzle socket duct.
  • a socket 1 185 may be formed as a cavity, for example cylindrical, parallelepipedic, or a combination, for example on the nozzle holder's circumferential surface.
  • the socket may comprise a plurality of cavities, for example a secondary cavity 1 186 at a depth greater than the surface of the socket 1 185.
  • the socket may be oriented radially or at a non- radial angle.
  • the socket 1 185 may comprise a socket liner 1 152.
  • the socket may receive different implements, for example an interchangeable tool 1 180, for example a blade, knife, spatula, rake, brush, embossing tool, or a powered device, for example a heating device or a drill.
  • the orientation of the interchangeable tool 1 180 for example about the axis of the socket 1 185, may be set upon insertion of the interchangeable tool.
  • the interchangeable tool may for example be used to work on the object 2, for example the object's substrate material or the paint on the object, whether the paint is wet, dry, or partly dry.
  • the interchangeable tool may for example form cuts, holes, embossings, scraping marks, rails, spreads, mounds, burns , or crusts on the object, the paint, or other material comprised on the object.
  • the interchangeable nozzle 1 150 or the interchangeable tool 1 180 may be inserted and removed by an operator or by a robotic pick-and-place operation of the paint head 8.
  • the nozzle holder 56 may comprise magnetic or electromagnetic components, for example in place of the socket liner 1 152, for example to guide insertion, fasten, or release one or more of the interchangeable nozzle 1 150 or the interchangeable tool 1 180.
  • the nozzle holder 56 may comprise one or more openings 82. An opening may hold a brush 84 or an interchangeable tool 1 180.
  • the orientation of openings 82 may, for example, be parallel to or within 30° of the axis of a nozzle 50.
  • the opening 82 may comprise an enlarged portion 1 183, for example within the nozzle holder, below the nozzle holder's circumferential surface.
  • the enlarged portion 1 183 is illustrated in Fig. 1 1 with a circular cross-section but may comprise a differently shaped cross-section.
  • the enlarged portion 1 183 may enable a brush 84 to be inserted within the nozzle holder 56 and remain in position until removed.
  • the brush 84 may be inserted and removed by an operator or by a robotic pick-and-place operation of the paint head 8.
  • the brush 84 may be inserted or removed by sliding it into or out of the nozzle holder 56 from one of the faces of the nozzle holder 56 or be inserted into the opening from the circumference of the nozzle holder 56.
  • the enlarged portion may comprise a locking component 1 193, for example comprising an elastomer material.
  • the locking component may lock the brush 84 upon its insertion into the opening 82, for example via elastic deformation of the locking component 1 193.
  • An interchangeable tool 1 180 may be formed to fit an opening 82 or an opening with side opening 783 and be inserted or removed similarly to a brush 84.
  • Fig. 13 shows the cross-section of one embodiment of an exit opening 86 of one or more of the plurality of nozzles 50.
  • the exit opening 86 is elongate and has a maximum length D1.
  • the direction of maximum length D1 is referred to as the nozzle's main axis 88.
  • This main axis 88 is in one embodiment parallel to nozzle holder axis 58.
  • the width D2 at or near a center 90 of the exit opening 86 is smaller as compared to the width D3 at least at one location at a distance from center 90.
  • the cross section of exit opening 86 is narrowed at its center 90 and widens into two widened sections 92 in one embodiment.
  • the cross section of exit opening 86 encourages the paint to flow outwards into the widened sections 92 even though the path to arrive there is longer. This results in a more uniform distribution of paint along main axis 88 of the nozzle 50.
  • the nozzle inlets 78 may be circular. As shown with dashed lines in Fig. 1 0, the cross section of a nozzle 50 in one embodiment changes continuously between its respective nozzle inlet 78 and exit opening 86.
  • widened sections 92 are shown with the same shape, it should be understood that the sections 92 may have different shapes, including different lengths and/or widths, and therefore different shapes, without departing from the scope of the disclosure.
  • the nozzles 50 are shown with a single inlet 78 and opening 86, it should be understood that nozzles comprising more exit openings from which paint exits the nozzle for application to the object to be painted may also be used.
  • a nozzle may also comprise one or more entry openings connected to one or more sources of paint. The cross section size or geometry of the entry openings may differ from the cross section size or geometry of the exit openings.
  • paint head 8 has been described herein as being mounted to and moving on a gantry type system , it should be understood that paint head 8 may be mounted for independent movement relative to the object 2 in many ways without departing from the scope of the disclosure.
  • paint head 8 may be mounted to a robotic arm capable of operation in multiple degrees of freedom, or on a different gantry system .
  • Systems that mount the paint head 8 in a fixed position and move the object 2, or systems that move both the paint head 8 and the object 2 may be used without departing from the scope of the present disclosure.
  • the apparatus 1 includes in one embodiment a nozzle cleaner.
  • the nozzle cleaner in one embodiment comprises a washing device for cleaning the nozzles 50 on paint head 8. This allows changing colors without needing to remove nozzles from the paint head.
  • the washing device comprises two components.
  • One component is built into paint head 8 and can be used to flush the nozzles 50, i.e. to send a washing fluid through the nozzles 50.
  • This component comprises a flushing duct 94 (Figs. 7 and 1 1 ), which extends through nozzle support member 72. It is connected to a washing fluid feed, which comprises one or more ducts 45W (Fig. 6) running parallel to those 45 feeding the paint to the nozzles.
  • flushing duct 94 ends at support surface 74, and is positioned to feed washing fluid to a suitably positioned nozzle 50.
  • an exit opening of flushing duct 94 is located at a different angular position (with respect to nozzle holder axis 58) as the exit opening 81 of paint feed duct 80 such that flushing duct 94 feeds washing fluid (such as water) to a nozzle 50 at a flushing position 96 (cf. Fig. 6) that is different from forward position 54.
  • the flushing duct 94 may comprise a flushing duct exit 1 194.
  • the flushing duct exit 1 194 may comprise a flushing duct exit seal 1 195.
  • the flushing duct exit seal 1 195 may be equivalent in form and function to the feed duct exit seal 1 1 96.
  • a method to rinse away paint coating the support surface 74 may be to supply a rinsing fluid, for example a paint solvent, to the flushing duct 94 and to rotate the nozzle holder 56 around the support surface 74.
  • the rinsing fluid may for example comprise one or more of water, water steam, a mix of water and air, or a fluid or gas capable of dissolving the paint coating the support surface 74.
  • nozzle selector 52 is able to move each nozzle 50 into the flushing position 96, where it communicates with flushing duct 94 for being flushed by the washing fluid, and into the forward position 54, where it communicates with nozzle inlet 78 for applying paint.
  • a nozzle 50 at flushing position 96 points downward but is not perpendicular to target surface 6 such that the flushing liquid flows down and into the washing chamber described below.
  • a second component of the washing device comprises a washing chamber 98.
  • washing chamber 98 is located outside the frame of object support 4.
  • the displacement device 10, 12, 14, 16, 18 and, optionally, nozzle elevator drive 47, are able to move one or more of the plurality of nozzles 50 into washing chamber 98.
  • washing chamber 98 is movable, together with paint head 8, in a direction parallel to target plane 6.
  • washing chamber 98 is mounted to traverse beam 12 to move along with traverse beam 12. In other embodiments, washing chamber may be situated at a specific fixed location.
  • the washing chamber may be positioned, for example, along the periphery of the work area, for example the periphery of the gantry's operative range.
  • the washing chamber may be supported by one arm of the gantry. It should be understood that the location of mounting of the washing chamber may be varied without departing from the scope of the disclosure.
  • Washing chamber 98 is shown in greater detail in Fig. 12. Washing chamber 98 comprises in one embodiment a seat 100 for receiving nozzle holder 56 such that at least the nozzle 50 at the forward position 54 and, preferably, also the nozzle 50 at the flushing position 96, are located in washing chamber 98. Further, washing chamber 98 comprises a washing fluid spraying assembly 102 for washing at least the nozzle 50 in forward position 54. Washing fluid spraying assembly 102 comprises a number of washing nozzles 104 configured to direct washing fluid towards the nozzle 50 in the forward position 54 in order to spray washing fluid against its outer side.
  • the washing fluid is in one embodiment a mixture comprising water and air, which has been found to have good cleaning properties.
  • a cleaning agent such as a detergent, may be added.
  • a different washing agent may be used without departing from the scope of the present disclosure.
  • Fig. 14A presents a first embodiment for a brush 84 formed as a compound brush 1484A formed as an assembly comprising an anchoring component 1486 A and a brush component 1485A.
  • the brush component 1485A is illustrated with a set of hairs 1487 A.
  • the anchoring component 1486A comprises a shape, for example a cylindrical shape, that may correspond to a male part matching the partial enclosure formed by the nozzle holder's enlarged portion 1 183.
  • the anchoring component 1486 A may be formed of a rigid material or a semi-rigid material, for example an elastomer.
  • the maximum cross-section dimension of anchoring component 1486A (corresponding to the cross-section considered for insertion into the enlarged portion 1 183) may be equal to or greater than that of the enlarged portion 1 183 so that the anchoring component 1486A is compressed or deformed upon insertion into enlarged portion 1 183.
  • the brush 84 or the anchoring component 1486A may comprise one or more magnets 1489A.
  • the magnet 1489A may serve to secure the brush into the enlarged portion 1 183 or anchoring it to an external storage support (not shown), for example for robotic pick-and-place insertion and removal of the brush, for example using motion of the paint head 8 or the nozzle holder 56.
  • the 14B presents a second embodiment for a brush 84 formed as a single component brush 1484B.
  • the single component brush 1484B may be formed as a bent component, for example of metal, or a molded component, for example of polymer, ceramic, wood, or composite material.
  • the anchoring portion 1486B may be formed of the same material as the entire single component brush 1484B.
  • the anchoring portion 1486B is represented in Fig. 14B as a cylindrical but may have other shapes, whether of constant cross-section or not.
  • the anchoring portion 1486B may confer elastic or spring-like properties to the brush 84.
  • Fig. 14C presents a third embodiment 1484C for a brush 84 comprising a spring lock 1486C.
  • the spring lock may comprise one or more angled or curved portions which may latch upon insertion into an opening 82.
  • the spring lock 1486C may, for example, be released upon insertion of the brush into a receptacle (not shown), for example using motion of the paint head 8 or the nozzle holder 56.
  • the embodiments of apparatus 1 shown and described herein may be used, as mentioned, to apply paint in paint strokes on object 2.
  • displacement device 10, 12, 14, 16, 18 moves paint head 8 to a desired position and nozzle selector 52 moves a nozzle 50 having a desired shape or size to forward position 54.
  • Nozzle elevator drive 47 lowers this nozzle 50 to come into close proximity with target plane 6.
  • the paint pumps 34 are operated to feed a desired mix of paints to mixing chamber 46, from where the paint mix passes through paint feed duct 80, enters the nozzle 50 in forward position 54 and then is applied to object 2.
  • Displacement device 10, 12, 14, 16, 18 is operated to move the nozzle 50 relative to the object 2, while paint is still being fed to it, in order to paint a paint stroke.
  • Paint head drive 40 may be used to rotate the nozzle 50 into a desired orientation while applying the stroke.
  • paint head 8 may be moved to washing chamber 98 for cleaning the used nozzle 50 and/or to expunge excess paint from mixing chamber 46 and duct 80 in order to replace it with a mixture of different color.
  • control unit 24 may be programmed to first apply, e.g., all green strokes using a first nozzle 50. Once this is done, the first nozzle 50 may be washed, and then the paint and/or the nozzle is/are changed, whereupon, e. g., all red strokes using a second nozzle are applied.
  • This method allows reducing the number of washing cycles and therefore the time required for creating the painting. It also reduces the amount of paint that is needed.
  • the paint pumps 34 may be operated to vary the paint mixture in order to generate unique color gradients that cannot be created by traditional brush stroke techniques.
  • the apparatus 1 shown here is in one embodiment used with water- soluble paints, such as acrylic paints.
  • the different paints are in one embodiment selected to cover a full range of colors used in painting. For example, a combination of cyan, magenta, yellow, black, white, or spot color paints is used in one embodiment. Those paints may be mixed in appropriate combinations to create nearly any color for application to the object 2.
  • the system controller such as control unit 24 described herein is usable on all the embodiments herein described, and may comprise a digital and/or analog computer.
  • FIG. 15 and the related discussion provide a brief, general description of a suitable computing environment in which the system controller 24 can be implemented.
  • the system controller 24 can be implemented at least in part, in the general context of computer- executable instructions, such as program modules, being executed by a computer 1500.
  • program modules include routine programs, objects, components, data structures, etc., which perform particular tasks or implement particular abstract data types.
  • program modules include routine programs, objects, components, data structures, etc., which perform particular tasks or implement particular abstract data types.
  • Those skilled in the art can implement the description herein as computer-executable instructions storable on a computer readable medium .
  • the invention may be practiced with other computer system configurations, including multi-processor systems, networked personal computers, mini computers, main frame computers, and the like. Aspects of the invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote memory storage devices.
  • the computer 1500 comprises a conventional computer having a central processing unit (CPU) 1530, memory 1510 and a system bus 1550, which couples various system components, including memory 1510 to the CPU 1530.
  • the system bus 1550 may be any of several types of bus structures including a memory bus or a memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures.
  • the memory 1510 includes read only memory (ROM) and random access memory (RAM).
  • ROM read only memory
  • RAM random access memory
  • Storage devices 1515 such as a hard disk, a floppy disk drive, an optical disk drive, etc., are coupled to the system bus 1550 and are used for storage of programs and data. It should be appreciated by those skilled in the art that other types of computer readable media that are accessible by a computer, such as magnetic cassettes, flash memory cards, digital video disks, random access memories, read only memories, and the like, may also be used as storage devices. Commonly, programs are loaded into memory 1510 from at least one of the storage devices 1515 with or without accompanying data.
  • Input devices such as a keyboard 380 and/or pointing device (e.g. mouse, joystick(s)) 1525, or the like, allow the user to provide commands to the computer 1500.
  • a monitor 1 520 or other type of output device can be further connected to the system bus 1550 via a suitable interface and can provide feedback to the user. If the monitor 1520 is a touch screen, the pointing device 1525 can be incorporated therewith.
  • the monitor 1520 and input pointing device 1525 such as mouse together with corresponding software drivers can form a graphical user interface (GUI) 1 521 for computer 1500.
  • GUI graphical user interface
  • Interfaces 1540 on the system controller 24 allow communication to other computer systems if necessary.
  • Interfaces 1540 also represent circuitry used to send signals to or receive signals from the actuators and/or sensing devices mentioned above. Commonly, such circuitry comprises digital-to-analog (D/A) and analog-to-digital (A/D) converters as is well known in the art.
  • D/A digital-to-analog
  • A/D analog-to-digital
  • Fig. 16 is a perspective view of an embodiment of an apparatus 1600 for automatically applying paint to an object 2 carried by an actuated support or robot 1610, for example a robotic arm.
  • the apparatus 1600 comprises a paint head 8 carried by the traverse beam 12.
  • the paint head 8 may be fixed to the traverse beam 12 with no actuatable motion in one or more of the X, Y, or Z directions.
  • a method for the apparatus 1600 to apply paint or paint strokes to the object by, for example, flowing paint through one or more nozzles 50 of the nozzle holder 56 is to actuate one or more parts of the robot 1610 to obtain relative motion of the paint head 8 with respect to the object 2.
  • the motion may be translation, rotation, or a combination of translation and rotation.
  • the object 2 may be planar or three-dimensional.
  • the robot 1610 may for example comprise a jointed link arm system , for example a selective compliance articulated robot arm (SCARA), a mobile robot, for example a rover platform , a mobile robot comprising a jointed link arm system, a flying vehicle, for example a quadcopter, a gantry, or an actuated set of pulleys, for example carrying a very large canvas.
  • the robot may comprise a suction device, for example a vacuum chuck 151 (not shown).
  • the paint head may comprise one or more communication networks 1650 connected to the computer 1500.
  • the robot may comprise one or more communication networks 1650 connected to the computer 1500.
  • One or more apparatuses for automatically applying paint to an object may be connected to the computer.
  • One or more robots may be connected to the computer.
  • the computer may be connected to the Internet.
  • the apparatus 1 may comprise a height measurement system 27.
  • the paint head 8 may comprise the height measurement system 27.
  • the height measurement system may comprise means to measure or estimate the height of one or more of the paint head 8, the tip of a nozzle 50, a nozzle outlet 86, or, in a general sense, end effector 86, 1 1 50, 1 180 (Figs. 8 - 1 1 ) above the surface of an object 2 to be painted.
  • An end effector may be defined as a device comprised on an actuated system , for example a gantry, a robotic system 1 , or the paint head 8, that may contact, displace, or form a modification of object 2.
  • An end effector may be a device mounted on a moving part of the apparatus 1 for interacting with the object 2.
  • An end effector may comprise moving or actuated parts, for example a gripper.
  • An end effector may be a device or component of an actuated system 1 that is the closest to the object 2.
  • An end effector may, for example, be the paint head 8 or a component of the paint head 8, for example a nozzle 50, 1 150, an interchangeable tool 1 180, a nozzle outlet 86, a brush 84, or a device mounted on the paint head 8.
  • the height measurement system may comprise one or more sensors mounted on the apparatus 1 , for example on the paint head 8, or on a non- moving support.
  • the height measurement system may comprise one or more signal
  • the transmitters for example an LED illuminating the surface of the object 2 to be painted, a laser, an acoustic transmitter, or a structured light system.
  • the one or more signal transmitters may be mounted on the apparatus 1 , for example on the paint head 8, or on a non-moving support.
  • the structured light system may for example illuminate the object 2 with one or more light patterns, for example light grids, or project light to cast one or more shadows, for example to enable a computer-based structure-from-shading estimate of the three-dimensional characteristics of the object 2.
  • the height measurement system 27 may comprise one or more sensors, for example a photodetector, an acoustic sensor, or an imaging sensor.
  • the transmitter may be oriented to transmit its signal orthogonally to the surface of the object 2 to be painted or at an angle that is not orthogonal to the surface of the object 2 to be painted.
  • the point at which the transmitted signal impinges the surface of the object 2 may be located at the point where the paint is deposited or spread by the nozzle 50 or the brush 84.
  • the point at which the transmitted signal impinges the surface of the object 2 may be offset from the point where the paint is deposited or spread by the nozzle 50 or the brush 84.
  • the height may be measured from sensing a point at the surface that is nearest to the nozzle, brush, or end effector set to operate, or from sensing a point at the surface that is offset from the point nearest to the nozzle, brush, or end effector set to operate,
  • Measurement of height may serve to adjust, for example using a Z-direction actuator, the height of the nozzle, brush, or end effector with respect to the surface of the object 2.
  • Measurement of height may enable the apparatus 1 to compensate, for example with a computer-controlled method for adjusting the height of paint head 8, for deformations in the surface of the object 2.
  • Deformations in the object 2 may be unwanted, for example humps in the surface of a canvas, or sagging of a canvas due to loss of tension, for example caused by wetness of the canvas which may increase while it is being painted.
  • Deformations in the surface of the object 2 may also be present by design, for example if the object 2 is three-dimensional. Three-dimensionality may also be the result of material being added to, for example paint, or removed from, for example cuts, engravings, or burns, the surface of object 2.
  • the location at which the height is measured may for example be ahead of the end effector with respect to its direction or planned trajectory of motion.
  • the location at which the height is measured may be computed by a method for estimating sensing location 1846 (Fig. 18) with respect to the position of the end effector.
  • one or more of the radial distance or the azimuthal location at which the height is measured may be controllable.
  • a plurality of locations may be measured, for example in a scanning pattern, while the end effector is moving.
  • a plurality of height measurements may form an elevation map of the surface to be painted or modified by the end effector.
  • the elevation map may be stored in a database.
  • the resolution of the data comprised in the database may be incrementally increased as height measurements are added, for example as height measurements overlap, for example using a synchronous localization and mapping (SLAM) method.
  • SLAM synchronous localization and mapping
  • the height measurements may be used by the system controller 24 for apparatus 1 to adjust one or more of the height, trajectory, or velocity of the end effector with respect to the surface of the object 2.
  • height measurements may be used to guide the end effector along a previously painted path, for example with a portion of overlap over the previously painted path, thereby automating the forming of painted patterns.
  • height measurements may be used to automatically guide the end effector around gaps or obstacles.
  • height measurements may be used to automatically adjust the flow of paint to the object 2, for example causing a change in one or more of the amount or the color of the paint deposited onto the object 2.
  • height measurements may be used to automatically adjust the force or velocity with which the end effector contacts the surface of object 2.
  • An operator may, for example, modify the surface of the object 2 during operation of the apparatus 1 and induce automatic changes to a preplanned trajectory.
  • Height measurements may be replaced by or combined with vision or stereovision system-based measurements, for example using data from one or more imaging sensors 160 that may image the object 2 under one or more viewpoint angles.
  • the system controller 24 may comprise an application programming interface (API) enabling an operator to develop additional programs that may interface with the system controller to confer behaviors, for example feedback-control behaviors, receiving information from one or more sensors or sensor data processors, and transmitting commands to one or more of actuators or controllers.
  • API application programming interface
  • the control unit or system controller 24 may comprise a command input interface, for example in the form of a file input or a communication port, for example a software or hardware port.
  • the command input may comprise one or more of: commands; trajectory related parameters, for example, waypoint coordinate, velocity, acceleration, or jerk values; and path or trajectory nodes, for example spline nodes or knots.
  • the command input interface may for example input data structured in XML format or a format that may be generated from or edited in a spreadsheet editor, a graphic editor, a graphic converter, or a block diagram editor.
  • the input data may comprise a sequence of commands, for example in a paint stroke scripting language.
  • the paint stroke scripting language may be interpreted by the system controller 24.
  • the system controller 24 may comprise, or interface with, a graphic converter.
  • the graphic converter may convert raster or vector graphics into paint stroke commands, for example in the paint stroke scripting language that may be interpreted by the system controller 24.
  • the graphic converter or the system controller 24 may comprise, or interface with, a style translator, for example a non-photorealistic line Tenderer.
  • a style translator may for example convert a graphical input into a painting style.
  • the style translator may for example generate paint strokes resembling, but not limited to, those of known painting or drawing or geometric styles in the history of Art, for exam pie impressionism , pointillism , Asian calligraphy, hatchings, or cartoon-like.
  • the style translator may convert an input into a desired color style, for example into monochromatic, reduced color set, palette-based, or recognizable color styles in the history of Art, for example Fauvism or De Stijl.
  • the style translator may convert an input into strokes comprising three-dimensional effects, for example forming paint drop markings, that may for example have been contrail ably projected in the operative brush throwing style of Jackson Pollock; ridges along or across the paint stroke; or strokes comprising crests, spikes, or valleys.
  • the style translator may convert an input into strokes or stroke combinations comprising a plurality of colors, for example giving the impression that a single stroke is painted with a plurality of brushes or that a single stroke outputs a pattern, for example a pattern found in fabrics, for example corduroy or houndstooth.
  • a first type of stroke combining a plurality of colors may for example be formed by time-varying the flow of color components, for example cyan, magenta, yellow, black, or white, during the stroke so that color of the resulting mix varies spatially along the length of the stroke.
  • a second type of stroke combining a plurality of colors may for example be formed by varying the amount of mixing of colors that may be caused, for example, by mixing device 83.
  • a stroke comprising a plurality of unmixed colors may be formed along one or more portions of the stroke's length, for example resembling parallel lines of multicolor toothpaste exiting a tube.
  • a third type of stroke combining a plurality of colors may for example be formed by depositing paint drops at a plurality of locations, for example paint drops forming a pattern comprising one or more colors, and then spreading the paint drops with one or more of a brush, a knife, a pressing surface, or a roller, for example a roller the diameter of which is adapted to the spacing of the paint drops so that a turn of the roller is a function of the pattern's spatial period.
  • a fourth type of stroke may comprise spatio- temporal control of the end-effector, for example: in relationship with the viscosity of the paint being transferred to the object 2; in relationship with the tribologic properties of the surface of object 2; to demonstrate visual dynamic effects through motion of one or more parts of the apparatus 1 ; to demonstrate sound generating properties of the apparatus 1 , for example to form a musical rhythm while the object 2 is being painted.
  • the sound generating properties may result, for example, from mechanical friction within one or more components of the apparatus 1 or from fitting or connecting additional sound generating devices to one or more components of the apparatus 1.
  • Fig. 17A presents one embodiment of a graphical user interface (GUI) 1700 for the system controller 24 for the apparatus 1.
  • the system controller 24 may comprise one or more axes control modules 24A (Fig. 18).
  • the GU1 1 700 may comprise an interface to enable an operator to command the one or more axes individually or collectively.
  • Each function, section, method, command, or display component may communicate with one or more corresponding program modules executing on one or more of the system controller 24 or axes control modules 24A that may be comprised in the system controller 24.
  • Each method step, program module, or graphical user interface component may be encoded or stored on one or more non-volatile m em ory com ponents .
  • the GUI 1700 may comprise an axes command section 1710 in communication with one or more axes control methods 1810 (of the system controller 24 shown generally at Fig. 18).
  • the axes command section 1710 may comprise an Enable / Disable section 171 1 relating to its method 181 1 , for example comprising one or more buttons, enabling an operator to enable or disable power to one or more axes of the apparatus 1.
  • the button may change its appearance, for example its color, to visually reflect the power status of the one or more axes. When an axis is in a Disabled state, an operator may be able to manually displace it.
  • the system controller 24 may power the one or more axes and prevent an operator from displacing the one or more axes using manual force.
  • the Enable / Disable section 171 1 may comprise an Enable Impedance Control section 1715 and its
  • Impedance Control method 1815 may power the one or more axes and allow an operator to manually displace the one or more axes under the apparatus' sensory feedback control, for example based on signals from actuator torque or force sensors. Under impedance control, the apparatus may for example sense and adaptively assist or resist manual displacement of the axes, paint head 8, or end effector 86, 1 150, 1180.
  • the axes command section 1710 may comprise a Homing section 1712.
  • the Homing section 1712 may be formed as a Homing button that, when pressed or engaged by an operator, commands the controller to activate a Homing function or method 1812 to return one or more axes to their respective predefined home position, for example one or more of: a position within a maintenance zone 8M (Fig.
  • the Homing section 1712 may comprise an indicator for the operator to monitor progress of the apparatus to, or away from , the home position.
  • the path and dynamic trajectory to, or away from , the home position may be computed to avoid, reduce, or minimize proximity to locations where artwork, for example paintings, have been or will be formed on object 2.
  • the avoidance or proximity reduction or minimization may reduce the probability or risk of, for example, dropping paint on portions of object 2 where artwork has been or will be formed.
  • the homing button may be disengaged so that the apparatus 1 returns to the position prior to engagement of the Homing button .
  • the axes command section 1710 may comprise a Surface Scan section 1713 in relation with a method 1813.
  • the Surface Scan section 1713 may be formed as a button that, when pressed by an operator, commands the controller 24 to activate a Surface Scan function or method to acquire height measurements across at least a portion of the surface of object 2, for example to form a digital elevation map of the portion of the surface.
  • Fig. 24 presents a top view of an embodiment of an object 2 to be painted with a virtual representation of a mesh 1813M.
  • the Surface Scan function may command the height sensor to sense a height at a plurality of locations, for example each vertex 1813V of a two-dimensional regular mesh 1813M, where height measurements are to be acquired and recorded by the controller 24 for storage into a database 24D, for example to form a digital elevation map of one or more portions of object 2.
  • the database 24D may be stored on the controller 24 or remotely, for example on a non-volatile memory device.
  • the mesh 1813M may be non- regular, for example the spatial resolution of the mesh may be increased within the vicinity of locations where irregular height measurements have been acquired.
  • the mesh may be irregular and formed of faces comprising three or more vertices, for example similar to meshes used in three-dimensional modeling software.
  • the mesh may be formed incrementally while the object 2 is being painted or worked upon.
  • the height measurements may be acquired using one or more height measurement systems 27.
  • the Surface Scan section 1713 may comprise an indicator for the operator to monitor progress of the scan, for example a progress bar or a visualization of a three-dimensional mesh.
  • the axes command section 1710 may comprise a Close section 1714.
  • the Close section 1714 may be formed as a button that, when pressed or engaged by an operator, commands the controller 24 to activate a Close function or method 1814 to, for example, close one or more supplies, for exam pie flu id or paint supplies, for exam ple by commanding one or more paint pumps 34 or valves 22V within the apparatus 1.
  • the Close function may also command axes to a closed position, for exam ple rotate the nozzle holder 56 to a position where a nozzle inlet 78 does not face a fluid supply exit, for example does not face a feed duct exit 81 or a flushing duct exit 1 194.
  • the Close button may be disengaged to open the one or more supplies.
  • the Close section 1714 may comprise an indicator for the operator to monitor progress of engagement or disengagement of the Close function.
  • the GUI 1700 may comprise a Functions section 1720.
  • the Functions section 1720 relates to one or more interfaces, for example buttons, to engage or disengage respective functional subsystems of the apparatus 1.
  • An example subsystem interface is the Pressure subsystem interface 1721 and control method 1821 that may be used to enable pumps 34 or deliver pressure to one or more of the paint delivery subsystems (for example the paint reservoirs 20 or the ducts 22), for example via pressurizing the paint or water tanks, or to the washing chamber 98 (or other components of the washing device).
  • Another subsystem interface is the Shaker subsystem interface 1722 that may be used to engage or disengage one or more of paint tank shakers, vibrators, or mixers 20S (Fig. 1 ).
  • the paint tank shakers 20S may for example be engaged manually or via an automatic method 1822 to mix the paint contained in one or more paint tanks 20, for example by monitoring one or more of paint flow, paint level, or paint viscosity data. For example, activation of the paint tank shakers may be performed at the beginning of a painting session or periodically during a painting session to ensure a paint emulsion contained in the paint tanks is correctly mixed.
  • the paint tank shakers 20S may facilitate the flow of paint that may adhere viscously to the walls of the one or more paint tanks 20.
  • a further subsystem interface is the Vacuum subsystem interface 1723 and control method 1823 that may be used to enable pumps 150 (Fig. 1 ) or deliver vacuum to one or more vacuum chucks 151.
  • the one or more vacuum chucks 151 may remain operative after an object 2 has been painted as a method to prevent deformation of the object 2 as the paint dries.
  • Yet another subsystem interface is the Brush Air subsystem interface 1724 that provides a method 1824 to enable an operator to activate or deactivate air supply to, for example, the nozzle 50 set in the forward position 54. Air supply to a nozzle 50 may contribute to cleaning a nozzle's 50 duct 1 151 as its inlet 78 aligns partly or entirely with the flushing duct exit 1 1 94.
  • the Brush Air subsystem or method may also be activated for artistic rendering, forming, or modifying of paint strokes, for example to enable a spray or to blow-form paint or other materials deposited on the object 2.
  • a further subsystem interface is the Brush Water subsystem interface 1725 that provides a method 1825 enabling an operator to activate or deactivate water supply to, for example, the nozzle 50 set in the forward position 54.
  • the Brush Water subsystem may share pipes with the Brush Air system, for example one or more pipes leading to the flushing duct exit 1 194. Sharing the same pipes may enable alternately supplying water and air to a nozzle 50.
  • Fig. 19B presents a timing chart 1920 for a method to form an alternating or pulsating supply of sprayed liquid, or mist, by modulating or switching one or more of a supply of gas 1921 or a supply of liquid 1922 to a nozzle 50 or other end effector.
  • the GUI 1700 may comprise a Clean section 1730.
  • the Clean section 1730 relates to a Clean function or method 1830 for cleaning components of the apparatus.
  • the Clean section 1730 may comprise a Select selector 1731 enabling an operator to select a type of cleaning mode to operate.
  • a first cleaning mode may engage an internal cleaning of the pipes that deliver fluids, for example paint, to the one or more nozzles 50.
  • a second cleaning mode may engage an external cleaning of one or more nozzles 50 or end effectors, the nozzle holder 56, or other part of the apparatus that may be accessible for external cleaning.
  • a third cleaning mode may engage a combination of a first and a second cleaning mode, for example a simultaneous engagement of the internal and external cleaning modes.
  • the Clean section 1730 may comprise a Brush selector 1732 to select the nozzle 50, brush, or end effector to be subject to cleaning.
  • the cleaning method 1 830 executed by the Clean function may comprise one or more steps, for example: moving 1830A the nozzle 50 or end effector to a cleaning station 980 (Fig. 1 , Fig.
  • 1 2) for example the washing chamber 98, for example by motion of the paint head 8 comprising the nozzle 50 or end effector; configuring 1 830B the nozzle 50 or end effector to one or more settings for internal cleaning, for example by aligning the nozzle 50 with flushing duct exit 1 194; flowing internally 1830C one or more of air, water, vaporized water, or a cleaning fluid through the nozzle 50 or end effector; configuring 1830D the nozzle 50 or end effector to one or more settings for external cleaning; or flowing externally 1830E one or more of air, water, vaporized water, or a cleaning fluid against the nozzle 50 or end effector.
  • the Clean section 1730 may comprise a Clean button 1733 to enable or disable cleaning of the selected nozzle 50, brush, or end effector.
  • the Clean section 1730 may comprise a Clean All button 1734 and related method 1834 to enable or disable cleaning of all nozzles 50, brushes, or end effectors of the apparatus 1.
  • the Clean All button 1734 may comprise for each end effector or nozzle, one or more of: flushing paint out of one or more pipes of the apparatus 1 ; configuring a nozzle 1830B; flowing internally 1830C; configuring for external cleaning 1 830D; or flowing externally 1830E.
  • the Clean or Clean All buttons may comprise a progress bar.
  • the GUI 1700 may comprise a Scanner section 1740.
  • the Scanner section 1740 relates to a Scanner function or method 1840 enabling an operator to adjust or monitor parameters related to the one or more devices used for scanning the object 2 using the Surface Scan function 1713 or method 1 813.
  • the one or more devices used for scanning may comprise a laser.
  • the Scanner section may comprise a data entry field for calibrating the measured height 1741 , Z0 (illustrated in mm).
  • the Scanner section may comprise a data entry field for setting the measured sensor current 1742 corresponding to the measured height 1741 (illustrated in mA).
  • the person skilled in the art may adapt the Scanner section and its parameters or units according to the height measurement device used.
  • the Scanner section may comprise a Scanner Output section 1743 to output data related to the Scanner function , for example: table height data resulting from height sensor data measurement, for example expressed as a metric value; or sensor data measurement, for example expressed as a measurement value or an electrical current.
  • the Scanner section may comprise a Copy Output button 1744 to transfer one or more measurements displayed in the Scanner Output section 1743 to one or more of the data entry fields 1741 , 1742 of the Scanner section 1740.
  • the Scanner section or the scanner function may provide a Scanner Calibration method 1845 comprising one or more of the steps of: positioning the sensor to one or more reference positions; acquiring one or more sensor data measurements; assigning the one or more sensor data measurements to one or more reference position metrics.
  • positioning the sensor to one or more reference positions may comprise positioning the sensor to a known position with respect to the object 2 to be painted, for example manually or automatically guiding the paint head 8 or an end effector 50 to a zero-force contact with the object 2.
  • a temporary sheet 2S (Fig. 4), for example a foil or sheet of paper, may be placed between the object 2 and the paint head 8 or end effector 50 to prevent causing deformations or imprints onto the object 2 during positioning to the reference position.
  • the Scanner Calibration method may comprise an autocalibration method, for example using one or more of: a known travel distance by positioning the paint head 8 or end effector 50 against a known calibration object; a force sensor or measurements of motor currents to detect contact against a calibration object or the object 8 to be painted; a non- contact sensory system, for example an acoustic echolocation system, a light fence, or an imaging sensor to acquire displacement or motion metrics of the apparatus.
  • the GUI 1700 may comprise a Color Settings section 1750. Each item in the Color Settings section 1750 may relate to a Color Settings function or method 1850.
  • the Color Settings section or method may be used by an operator or a computational method to adjust one or more paint color delivery gains 1751 , 1752.
  • the Color Settings or one or more of its input fields may for example be adjusted or modulated by the system controller using a color modulation method 1855 based on inputs from one or more sensors, for example position sensors, trajectory plans, selected brush, style guides, or color measuring systems, for example an imaging system or a colorimeter.
  • the Color Settings may be modified during operation of the apparatus 1 , for example while the apparatus is painting and the effect may be visible on the object 2 either immediately of within the time delay induced by the length of the paint supply pipes and the paint flowrate.
  • the Color Settings section 1750 may comprise a Total input field 1751 to adjust the flow of paint, for example the flow of mixed paint, as a function of a maximum flow setting, for example a percentage of a maximum flow setting.
  • the Color Settings section 1750 may comprise one or more color settings gains 1752, for example to adjust the flow of one color with respect to the others, for example to adjust that of cyan (C), magenta (M), yellow (Y), black (K), or white (W).
  • the Color Settings section 1750 may comprise one or more backward -forward (BwFw) adjustment parameters 1753.
  • the BwFw parameter 1753 relates to a method 1853 to form strokes 2010 (Fig. 20) comprising a predefined leading edge 2010LE or trailing edge 2010TE at an angle 2010ATE with respect to the direction 2010D of the stroke 2010, for example a right angle.
  • the BwFw method 1853 may, for example, rectify a stroke's drop- or wedge-shaped stroke head or tail that may be formed at the beginning or end of a direction stroke due to paint viscosity, paint adherence to the supply duct or end effector, or the relative motion of the end effector depositing paint onto the object 2.
  • the BwFw method 1853 for forming a leading edge 201 OLE or trailing edge 2010TE of a stroke 201 0 may comprise reversing the direction of painting in one or more stroke portions where a stroke head 201 1 , 2013 formed, for example due to paint viscosity, is not desired.
  • a method 1853 for forming a leading edge 2010LE or a trailing edge 2010TE at an angle 2010ALE, 2010ATE may comprise one or more of the steps of: orienting the brush at an angle 2010ALE, for example with the main axis 88 of the brush set at the angle 2010ALE to the stroke direction 2010D; depositing paint in a first direction 201 1 D over a length 201 1 L that may result in forming stroke head 201 1 ; forming a stroke portion 201 0M by continuing the paint deposition in the stroke direction 2010D over a stroke length 2010L that may overlap the stroke head 201 1 ; and continuing the paint deposition in the direction 2013D, that may be opposite to that of stroke direction 201 0D, over a length 2013L that may result in forming the stroke tail 2013 that may overlap the stroke portion 2010M.
  • the angle 2010ALE of the leading edge 201 OLE may be different from the angle 2010ATE of the trailing edge 2010TE.
  • the angle 2010ALE may be changed to the angle 2010ATE in one or more of the steps
  • the BwFw parameter 1753 may be provided as a length, for example in mm .
  • the BwFw parameter 1753 may be computed by the system controller 24 as a function of one or more of: indicated or measured paint viscosity or viscosity coefficient; stroke speed; surface type (for example paper grade, canvas grade, glass grade, or plastic surface grade) or friction coefficient; paint flow rate; desired thickness of paint stroke; or volume of paint per unit area within the stroke.
  • Fig. 21 presents a block diagram 2100 for estimating the BwFw parameter 1753.
  • Steps 21 10 for estimating the BwFw parameter 1753 or a reduced or minimum length for stroke head 201 1 L or stroke tail 201 3L may comprise one or more of: imaging 2120 one or more paint stroke heads or tails, for example with an electro-optical or an imaging system 160, 27, for example comprising one or more components of the height measurement system 27;
  • processing the imaging data 2130 for example with a method comprising a region growing or an edge detection method, to form a geometrical surface or contour data 2135; measuring the geometrical data 2140, for example path length 201 1 L from paint head tip 201 1T to position where constant stroke cross-section is reached, with stroke width 2010W; or matching the geometrical data 2150 to a computer-based stroke model 2160, for example by feeding geometrical data into the computer-based model, which may comprise feeding one or more of: paint head-, stroke-, or tail-forming speed, paint flow rate, or paint viscosity data, into the computer-based model.
  • the Color Settings section 1750 may comprise one or more Forerun parameters 1754.
  • One or more Forerun parameters 1754 relate to a method 1 854 to regulate color blending, for example to set or adjust the rate of color change over stroke distance or the painting of one or more strokes over time.
  • the Forerun parameters 1754 or method 1854 may adjust the ratio of colors as they are supplied to a nozzle 50.
  • the Forerun method 1854 may control the apparatus for forming a continuous stroke comprising changes in color along the stroke's length, for example by controlling one or more of: the flow rate of paint colors, the speed at which paint is deposited (for example as a function of changes in flow rate as colors change), or the width of the stroke (for example using stroke width measurement data, for example derived from imaging system data).
  • the change in color may be commanded by one or more command input interfaces, for example an input data file, a script, a remote control or a wirelessly connected mobile device 24R (Figs 1 , 28), a graphical user interface comprising a representation of one or more paint strokes, or the color settings gains 1752.
  • the commands may be transferred to one or more of paint pumps, paint mixer, or end effector motion.
  • Controlled appearance of a spatial color blending from a first color to a second color depends on one or more characteristics including one or more of: paint viscosity, paint flow rate, painting or end effector speed, stroke trajectory, or color distance (also known as ⁇ in one or more color measurement standards, for example CIELAB Delta E*, CIE76, CIE94, CIEDE2000, or CMC l:c) from the first color to the second color.
  • a value of the one or more Forerun parameters 1754 may for example represent a threshold at which a cleaning method is commanded, for example based on one or more of: paint viscosity, paint flow rate, painting or end effector speed, stroke trajectory, or color distance.
  • the controller 24 or mobile device 24R may comprise a method to estimate whether a requested change or blended transition in colors may be obtained within the required spatial distance for the color change or blended transition, for example as a function of one or more of: rate of color mixing by mixing device 83, paint flow rate, or end effector speed.
  • the apparatus may execute steps comprising: halting the deposition of the first color; cleaning the end effector or nozzle; and starting the deposition of the second color.
  • the step of cleaning the end effector or nozzle may comprise one or more of: moving to and returning from a cleaning station 980; or moving to and returning from a paint or color testing position or zone 982 , for example located within a dedicated area on object 2.
  • the GUI 1700 may comprise an After Job section 1760.
  • the After Job section 1760 may relate with an After Job function or method 1860 that processes one or more After Job commands to execute after a painting job is completed.
  • the After Job commands may for example be stored in a file that may be stored in a non-volatile memory.
  • After Job commands may comprise one or more of: a delay to wait prior to execution of the next command, where the delay value may be adjusted via the user interface provided in the After Job section 1760.
  • Some delay values or flags may enable an operator to set a predefined command, for example a value of -1 may prevent further execution of the After Job commands; a command to move one or more axes to a specified position; a command to shut down one or more systems used to operate the apparatus, for example pumps or electrical power.
  • the GUI 1700 may comprise a Numerical Control Interpolation (NCI) section 1765.
  • the NCI section may relate to an NCI function or method 1865.
  • Fig. 22 presents a top view of two strokes 2210, 2220 joined by a numerical control interpolation method.
  • the NCI method 1865 enables on-line modification of the rendering of one or more strokes 2210, 2220, stroke junctions 2215 between a first and a second stroke 2210, 2220, stroke specified endings 2210SE or beginnings 2220SB (for example specified in a file comprising stroke commands), trajectory characteristics (for example specifying one or more of: path, speed, acceleration, or jerk, in one or more of the coordinates and angles of the end effector) at stroke trace level, end effector level, or apparatus motion system components level or joint level when forming strokes.
  • trajectory characteristics for example specifying one or more of: path, speed, acceleration, or jerk, in one or more of the coordinates and angles of the end effector
  • the NCI method may enable the blending of stroke-forming trajectories between a first 2210 and a second 2220 paint strokes, for example the smooth joining 2215 of the ending 2210SE of the first paint stroke 2210 with the beginning 2220SB of a second paint stroke 2220.
  • the NCI method may for example form a rounded transition path 2215 between (or from) the ending of the first paint stroke with (or to) the beginning of the second paint stroke.
  • the NCI method 1865 may for example form a smooth speed transition from the first to the second paint stroke. Transitions may for example be defined by spline or Bezier equations or smoothing algorithms.
  • the NCI method 1865 may comprise an NC I paint method 1866 comprising a paint flow model, for example based on fluid mechanics, for example comprising equations that are a function of paint viscosity, to control end effector trajectory (including end effector velocity, orientation, or height with respect to the object 2) to obtain one or more of: a uniform deposition of paint; a uniform spread of paint; or a uniform forming of paint excess rails 2210R1 , 2210R2 along one or more sides of the paint stroke 2210, 2215, 2220, as shown in the stroke top view of FIG. 23A and stroke cross-section view of FIG. 23B.
  • a paint flow model for example based on fluid mechanics, for example comprising equations that are a function of paint viscosity, to control end effector trajectory (including end effector velocity, orientation, or height with respect to the object 2) to obtain one or more of: a uniform deposition of paint; a uniform spread of paint; or a uniform forming of paint excess rails 2210R1 ,
  • a paint excess rail 2210R1 , 2210R2 is formed of a buildup or surplus of paint, for example at one or more edges of a paint stroke.
  • a paint excess rail 2210R2, 2230R1 may comprise paint from a first 2210 and a second paint stroke 2230, for example where the second paint stroke 2230 overlaps the first paint stroke 2210 thereby forming a combined rail 2230R3, for example where paint strokes are formed adjacent to each other, as shown in the cross-section of FIG. 23C.
  • paint excess rails may provide structure for solving problems that may include: forming projected shadows under lighting conditions that are not orthogonal to the surface of the object 2, thereby enhancing the visibility of features; forming tactile features; forming structures conferring anisotropic flexibility to portions of object 2; forming channels for guiding fluids flowed on the surface of object 2; or forming ridges to alter the pattern formed by spraying a fluid, for example paint, at an angle that is not orthogonal to the surface of object 2.
  • the NCI-induced modification of stroke renderings may be commanded by an operator or by a numerical control script, for example written in a so-called G-code language or a numerical control programming language, for example for commanding the motion of industrial automation systems.
  • the NCI function may be modulated by adjusting one or more parameters, for example stroke speed and/or stroke forward speed, for example using the NCI F-Speed field 1767.
  • the NCI section 1765 may comprise an interface, for example a file selector, to load numerical control scripts.
  • the NCI scripts may be generated by one or more of: a separate numerical control interface or a separate computer program , for example a program for trajectory optimization to reduce or minimize production costs or production duration.
  • the GUI 1700 may comprise a Point-to-Point (PTP) section 1770.
  • the PTP section may relate to a PTP function or method 1870.
  • the PTP method may enable an operator or a script to command motion of the end effector to a point, the coordinates 1771 of which may be specified.
  • the specified coordinates field 1 771 may comprise one or more coordinates for specifying the new end effector's position and orientation, for example X, Y, Z three-dimensional cartesian coordinates, R rotation coordinate, and D brush selector coordinate.
  • the number of coordinates to specify may depend on the number of degrees of freedom of the apparatus or end effector.
  • the PTP section 1770 may comprise a location to display coordinates 1772 of the apparatus' current position, for example the end effector's current position.
  • the location to display coordinates 1772 may be accompanied with a graphical representation, for example one or more perspective or top view representations of Figs, 1 , 16, 24, 25, 28 and 30, showing one or more of the apparatus' current position corresponding to coordinates 1772 or specified coordinates 1771 , for example from a perspective or a top view; or the end effector's position, for example from one or more side views or perspective views, for example simulated or provided by one or more cameras 160 (including, for example, a camera that may be comprised in the height measurement system 27), for example overlaid on an image or a simulated graphical representation of the object 2, for example with the graphical representation of the object 2 comprising formed or to-be-formed paint strokes.
  • a graphical representation for example one or more perspective or top view representations of Figs, 1 , 16, 24, 25, 28 and 30, showing one or more of the
  • the graphical representation may incorporate metric information, for example: dimensions of object 2; scale bars; dimensions of paint stroke being painted; area or volume of paint already deposited, to be deposited, or estimated total at end of job, for example shown as a progress bar or progress area.
  • the PTP section 1770 may comprise a button or means 1773 to copy the coordinates of the end effector's current position, for example as displayed in the location to display coordinates 1772, to the specified coordinates field 1771.
  • the PTP section or method may enable an operator to manually position the end effector, for example the nozzle 50, in one or more spatial or joint coordinates, and, by pressing the button 1773, record the position into the controller's memory, for example a non- volatile memory device.
  • the PTP section or method may enable an operator to record a plurality of points, for example waypoints of a trajectory.
  • the controller may form a trajectory (a trajectory is a path that includes dynamic characteristics) from the plurality of recorded points, for exam pie using a numerical control interpolation method of the NCI function or method 1865.
  • the PTP section 1770 may comprise a Go / Return button 1774 relating to a method 1874 enabling the apparatus to position the end effector at one or more coordinates of the target location 27T at the surface of object 2 being measured by the height measurement system 27 (Fig. 4).
  • the Go / Return method may, for example, preserve the current Z coordinate of the end effector while driving the end effector from a current position X, Y to the target location X T , Y T over the surface of the object 2 that was measured by the height measurement system 27.
  • an operator may for example measure the height between the object 2 and, for example, the end effector using a measurement apparatus to obtain data useful for calibrating the height measurement system 27. Pressing the Go / Return button 1774 a second time will cause the method to return the end effector to the current position X, Y, Z.
  • a motion that preserves Z may be understood as a motion that preserves height with respect to a surface of the object 2, whatever the coordinate system used.
  • the motion from the current position to the target X T , Y T location may be guided using height measurement system sensor 27 data for feedback control by the controller 24.
  • the PTP section 1770 may comprise an interactive PTP display 1775 and related method 1875 enabling an operator to visualize (for example similar to the perspective view of FIG. 4) where the height measurement system 27 is sensing, for example with respect to the end effector's position.
  • the visualization may be formed as a top view and be represented as one or more of a radar map or an elevation- or distance-related heat map.
  • An operator may designate locations on the map to request positioning of the end effector to that location, for example in conjunction with the Go / Return button 1774.
  • the PTP section 1770 may comprise a coordinates (cartesian or polar) entry field 1776 for example to specify an effective or desired offset, setting, or preferred aiming of the one or more sensors comprised in the height measurement system 27.
  • the PTP section 1770 may comprise a Calibrate button 1778 or related method 1878 enabling the operator or the controller to request execution of steps of a position calibration routine to be executed.
  • the Calibrate method 1878 may for example comprise the step of moving the end effector to one or more known positions, for example moving one or more actuators to one or more positions measurable by an operator or by calibrated sensors, for example moving or aligning the end effector or other actuated component within the viewfield or the optical axis of an imaging sensor.
  • a subsequent step may be, for example for a first calibration, for an operator to position the end effector at a known distance from the surface of object 2 and enter data using the Scanner section 1740 or related method.
  • the controller may automatically position the end effector at a known distance from the surface of object 2, for example based on data from the height measurement system 27.
  • the calibration method may comprise auto-calibration steps, for example comprising a plurality of motions and height measurements.
  • the PTP section 1770 may comprise a Maintenance button 1779 or related method 1879 commanding motion of the end effector to a maintenance zone 8M (Fig. 1 ).
  • the maintenance zone 8M may be located outside the working volume, area, or zone where an object 2 may be located.
  • the maintenance zone may be located at a position where the paint head 8 or the end effectors do not overhang any component of the apparatus 1 , for example to enable an operator to flush or collect fluids from the supply pipes into a container.
  • the maintenance method 1879 may include one or more steps of: actuating one or more motion system components or, in an equivalent sense, joints 10, 12, 14, 16, 18 (Fig. 1 ), 1612, 1614, 1616, 1618 (Fig.
  • the apparatus for example to autocalibrate or command motion of one or more joints and measure data from motion sensors of the apparatus (for example from one or more joints' shaft encoders, resolvers, or from optoelectronic devices, for example cameras 160 mounted on the apparatus or externally to the apparatus) ; actuating one or more pumps, for example to flush pipes or clean components of the apparatus; removing power to one or more joints or pumps of the apparatus, for example to make it safe for an operator to handle components of the apparatus.
  • motion sensors of the apparatus for example from one or more joints' shaft encoders, resolvers, or from optoelectronic devices, for example cameras 160 mounted on the apparatus or externally to the apparatus
  • actuating one or more pumps for example to flush pipes or clean components of the apparatus
  • removing power to one or more joints or pumps of the apparatus for example to make it safe for an operator to handle components of the apparatus.
  • the GUI 1700 may comprise a Paint Job section 1790.
  • the Paint Job section 1790 may relate to one or more functions or methods 1890 to control or monitor the progress of a painting task.
  • the Paint Job section 1790 may comprise one or more Paint Job function-enabling buttons or widgets 1791 comprising: a Start / Pause / Resume method 1891 for starting or pausing a painting task, wherein the method 1 891 may comprise steps to command end effector maneuvers to form predefined paint stroke starts, endings or resumptions upon starting, pausing, or resuming a painting task, for example as specified by the BwFw parameter 1753; a Restart method 1891 R for restarting the painting task at the location where the painting task started or at an offset position, for example if offset coordinates comprised in a Paint Job Coordinates section 1795 are greater than zero.
  • the Paint Job function-enabling may comprise one or more job progress indicators 1791 A related to the corresponding methods 1890, 1891 , 1891 R, for example displaying one or more of: a ratio or percentage of job completed; duration elapsed, duration remaining, or time at job completion; supplies (for example paint) consumed, supplies remaining, supplies that will remain at job completion; expended, remaining, or total costs of supplies, energy, and maintenance.
  • the GU1 1700 may comprise a cost planning or tracking method 1800C for storing and accounting of one or more parameters related to: supplies consumed, time expended, paint color changes, cleaning operations, dimensions of paint jobs, or number of copies of same or similar work.
  • the Paint Job section 1790 may comprise a Paint Job file selector 1791 B for loading a data file 1791 F containing input data (Fig. 17B), for example structured in XML format or a format that may be generated from or edited in a spreadsheet editor, a graphic editor, a graphic converter, or a block diagram editor.
  • the input data may comprise a sequence of commands, for example in a paint stroke scripting language, for example a list of strokes 1791 L.
  • the paint stroke scripting language may be interpreted by the system controller 24.
  • the input data may comprise cost-related information 1791 C, for exam pie supplies-related costs, for example cost of each paint color, cost of cleaning, cost per time, cost of energy, cost per area painted, or cost per area of support.
  • the cost-related information 1791C may be read or updated by the cost planning or tracking method 1800C.
  • the Paint Job section 1790 may comprise one or more cleaning-related parameter settings 1792A, 1 792B applicable to the cleaning method 1830. For example cleaning of one or more end effectors 86, 1 150, 1 180, for example the brush in use, may occur at a predefined in- use brush cleaning frequency 1792 A, for example defined as a function of one or more of:
  • Another parameter 1792B may, for example, be assigned for cleaning all end effectors or brushes during a same cleaning step.
  • the parameter for cleaning all end effectors or brushes 1792B may be a function of one or more of the parameters defined for in-use brush cleaning and further comprise aggregated values of the parameters.
  • the Paint Job section 1790 may comprise one or more fields for interactive adjustment of parameters 1793, for example a Spline Smooth field 1793.
  • the Spline Smooth field 1793 or related method 1893 may be used to increase or decrease the radius of curvature of one or more of, for example: spline-based paths or trajectories; paths or trajectories through waypoints; or junctions from the end of a first stroke to the beginning of a second stroke.
  • the Paint Job section 1790 may comprise one or more Homing Counter parameter fields 1794 and a related method 1894.
  • the Homing Counter fie Id 1794 serves as a counter to trigger recalibration of one or more sensors tracking the motion of one or more motion system components or joints 10, 12, 14, 16, 18, 1612, 1614, 1616, 1618 of the apparatus.
  • the counter may for example correspond to one or more of: a number of strokes; a number of resolver or shaft encoder steps; a distance traveled by one or more axes or joints; or a parameter that is a function of one or more of distance, speed, acceleration, or jerk.
  • the method of recalibration may comprise a step where one or more joints of the apparatus is driven back to a known position, for example a home position, for example for a cartesian gantry-type apparatus, to one or more corners of the gantry's range.
  • the Paint Job section 1790 may comprise one or more Paint Job Window parameters 1795.
  • the Paint Job Window parameters 1795 may comprise one or more coordinates or dimensions specifying a window, for example a rectangular window specified by anchor point coordinates X-Offset, Y-Offset, and dimensions Width and Height.
  • the Paint Job Window parameters 1795 may be used by the controller 24, 24R to locate and constrain a painting task within the specified window.
  • the controller 24, 24R may scale a predefined painting job, for example loaded into memory using file selector 1791 B, so that it fits within the window.
  • Other sets of window parameters may be provided, for example a plurality of two- or three-dimensional vertices 1795V defining a polygon, for example a triangle, a parallelogram 2501 , 2502, 2503, 2601 , 2602, 2603, or a pentagon, defining borders within which the painting job may be one or more of: scaled, scaled anisotropically, anisotropically warped according to the borders, or cropped. Scaling may cause the controller 24, 24R to scale the width of paint strokes.
  • Scaling the width of paint strokes may include one or more of: decreasing or increasing the flow of paint to a brush, selecting a smaller or larger brush, rotating a brush at an angle comprised between 0° and 180° with respect to the direction of stroke so that the stroke is thinner than if the brush is orthogonal to the direction of stroke, or forming a plurality of adjacent overlapping strokes so that the plurality of strokes appear as a single stroke that is wider than can be obtained with a single paint stroke.
  • a trace 2200, 2300 (Figs.
  • a stroke formed by one or more strokes may be formed using a plurality of overlapping strokes, for example to form a uniform spread of the paint or to form one or more desired three-dimensional paint surpluses within the trace.
  • the surplus may for example be formed as one or more of: a line or rail 2210R1 , 2210R2, 2230R1 , 2230R2, 2230R3 (Figs.
  • 23A, 23B, 23C for example along one or more sides of the trace or within the trace; line segments; a wavy line; dash-like or step-like segments; blotches; or any combination that may be obtained by delivery of paint, motion of a brush, or motion of an end effector.
  • the Paint Job section 1790 may comprise a Copy Position button 1798 or related method 1898 for copying one or more of the end effector's current position's coordinates into one or more of the Paint Job Window parameters 1795, for example coordinates X-Offset and Y-Offset.
  • Afirst method 1898-1 for defining coordinates, for example X-Offset and Y-Offset, and dimensions, for example Width and Height may comprise: manually placing or displacing under remote-control using the GUI or a user interface on a handheld device 24R the end effector to a location; copying the position coordinates to the Paint Job Window parameters 1795; and specifying the dimensions in Width and Height fields of the Paint Job Window parameters 1795.
  • a second method 1898-2 for defining coordinates and dimensions may comprise placing the end effector at a plurality of locations defining the borders of the Paint Job Window, for example 2 locations (center and radius) for a circular border, 3 or 4 locations for a parallelogram , or 3 or more locations for a polygonal or spline-contoured window border.
  • the Paint Job section 1790 may comprise an Image-by- Image button 1799 or related method 1899 for, if the method is enabled, forming one or more no-wash strokes in a first and a second paint job windows.
  • a no-wash strokes sequence may be defined as a first and a second stroke sequence where a color used at the end of the first stroke is close enough chromatically, for example within a color distance ⁇ margin, to the color used at the beginning of the second stroke that there is no need to wash or clean the end effector or brush, for example to purge, wash, or clean away paint, between the first and the second stroke.
  • the Image-by- Image method 1 899 enables the steps of: forming a first stroke 251 1 in a first paint job window 2501 , the first stroke 251 1 comprising a first color at its beginning and an ending color that may be the first or a second color at its end; and forming a second stroke 2512 in a second paint job window 2502, the second stroke comprising at its beginning the ending color or a color within a ⁇ margin.
  • the method may comprise: using a first end effector, for example a nozzle, a brush, or a knife, for forming the first stroke 251 1 in the first paint job window 2501 ; moving the first end effector to the second paint job window 2502; and using the first or a second end effector for forming the second stroke 2512 in the second paint job window 2502.
  • the ending color for forming the first stroke may be commanded to have a color that is different by a ⁇ color margin from the beginning color commanded for the second stroke, for example a ⁇ margin comprised between 0 and 4, for example between 0 and 2.
  • the Image-by-lmage method 1899 may comprise a step wherein an intermediate stroke 2513 is formed in an intermediate paint job window 2503 prior to forming the second stroke 2512 in the second paint job window 2502.
  • Forming a stroke in the intermediate window 2503 may for example enable tuning of a paint color output by the brush, for example the second stroke's beginning color.
  • Tuning of the paint color may comprise using a color measurement device 3005, for example comprising a color sensor mounted on one or more of: the paint head 8, over a portion of the working zone, or over the intermediate window 2503.
  • the Image-by-lmage method 1 899 enables a method for serializing of paint strokes, for example to form a plurality of artwork duplicates in a plurality of paint job windows 2501 , 2502, 2503.
  • An artwork 2521 , 2522, 2523 may be defined as comprising one or more strokes comprised in one or more paint job windows.
  • a plurality of artworks 2521 , 2522, 2523 that are not duplicates of each other may be formed in a plurality of paint job windows.
  • an optimization method may be used to define the sequence of same or different strokes to be done in a plurality of paint job windows 2501 , 2502, 2503 so that the number of end effector washes is reduced or minimized.
  • Embodiments of the optimization method 1801 may be formed as a constraint reduction or minimization problem , for example a traveling salesman problem , with constraints or weights comprising one or more of: stroke end and start point coordinates; stroke trajectory; stroke width; stroke cost; stroke duration; brush; number of wash stops; or paint job output rate.
  • the optimization method may comprise one or more methods comprising, for example: a nearest neighbor algorithm ; heuristics-based algorithms, or example nearest neighbor, Tabu search, or Lin-Kernighan; randomized improvement algorithms, for example optimized Markov chain- based algorithms; genetic algorithms; simulated annealing; Metropolis algorithms; diffusion- based methods; neural networks; memetic algorithms; ant colony optimizations; or cutting-plane methods.
  • the optimization method 1801 may comprise a computer program stored on a non- transitory memory device.
  • the optimization method 1801 may be executed on the controller 24, 24R.
  • the optimization method 1801 may form or adapt the layout of the paint job windows on the object 2, for example to reduce or minimize one or more of: distance traveled by the end effector; the time to complete one or more artworks, a subset of the plurality of artworks, or the plurality of artworks; or to reduce or minimize the number of washes.
  • the end effector may repeat the same stroke over a plurality of paint job windows. For example, in an apparatus where a plurality of objects to be painted are supported by a conveyor belt (Fig.
  • the end effector may repeat a first stroke 261 1 or form a first sequence of no-wash strokes comprising, for example, stroke 261 1 in direction 261 1 D, stroke 2612 in direction 2612D, and stroke 261 3 in d irection 2613D over the one or more paint job windows 2601 , 2602, 2603 of the one or more objects 2 closest to the output side 2620 of the apparatus, thereafter called final job row 261 0.
  • the strokes 261 1 , 2612, 2613 are replicas of each other, the strokes may be formed as no-wash strokes sequences by forming the second stroke 2612 in a direction 2612D opposite of that 261 1 D, 261 3D of the first stroke 261 1 and the third stroke 2613.
  • the forming of one or more works in one or more paint job windows may comprise prioritizing the forming of one or more no-wash stroke sequences in the final job row 2610.
  • the Image-to- Image method may enable the painting of sub-batches (for example comprising one or more artworks of final job row 2610) of objects or artworks within a larger batch at higher speed and lower cost than if the objects are painted one-by-one or as a single, larger batch.
  • Sub-batches may be delivered more frequently than a single large batch of artworks, thereby increasing the occupation of other systems or employees (for example in a production line further comprising one or more of: unpainted objects or material, drying systems, artwork finishing systems, packaging systems, or shipping systems) of the production supply-chain upstream or downstream of the apparatus 1.
  • a method 2700 (block diagram in Fig. 27) for reducing or minimizing the number of end effector washing operations may be effected or calculated, for example by a computer program stored in non-volatile memory, by the controller 24, 24R, the method may comprise the steps of: re-ordering 2710 of a list of strokes 1791 L, for example a list of paint strokes comprised in a file loaded using the Paint Job file selector 1791 B, so as to increase or maximize the number of strokes that may be comprised in one or more no-wash stroke sequences; and re-ordering the paint strokes to reduce minimize 2720 the number of no-wash stroke sequences
  • the Paint Job section 1790 may comprise paint job window layout specifications 1796X, 1796Y, for example specifications for a grid layout comprising a range to repeat a paint job window in a first direction, for example an X-direction, X-Repeat 1796X, and in a second direction, for example a Y-direction, Y-Repeat 1796Y.
  • the Paint Job section 1790 may comprise one or more paint job window skipping specification fields, for example Cartesian coordinate specifications 1797X, 1 797Y in paint job window units.
  • the paint job window skipping specifications provide a method to specify where to restart a paint job, for example in case of an unplanned or commanded interruption of the apparatus or of a paint job. For example a first set of values of ⁇ 3, 4 ⁇ in the specifications may indicate to restart at the point of interruption of row 3, column 4 in an array of paint job windows; a second value of ⁇ 0, 0 ⁇ to restart from the beginning of the paint job; or a third value of ⁇ 4, 1 ⁇ to restart at row 4, column 1 , which corresponds to a location one row ahead from where the interruption occurred.
  • paint job window skipping specification fields 1797X, 1797Y may be updated in real-time by the controller 24, 24R to indicate in which paint job window the apparatus is operating.
  • GUI graphical user interface
  • Fig. 19A presents a side view of a device 1900 for forming vaporized water.
  • the device 1900 comprises a first inlet 1901 for receiving a liquid 1901 F, for example water, a second inlet 1902 for receiving a gas 1902F, for example pressurized air, a junction 1904, for mixing the liquid and the gas, and an outlet 1903, for delivering, for example, a vaporized liquid or a spray 1903F formed by mixing the liquid and the gas.
  • the outlet 1903 may be connected to a duct leading to one or more of the flushing duct exit 1 1 94 or the cleaning station 980.
  • the direction of flow of the incoming gas may intercept the direction of flow of the incoming liquid within the junction at an angle 1905 that may be comprised between 0° and 180°, for example 30° to 90°.
  • the junction may comprise one or more aerodynamic turbulating devices 1904T.
  • the turbulating device 1904T may comprise one or more of: a nozzle, for example a convergent, convergent-divergent, or divergent nozzle; a shoulder; or a blade, for example oriented at an angle with respect to the direction of flow within the junction 1904.
  • the pressure of the liquid supply or the gas supply may be comprised between 1 bar and 20 bar, for example between 3 bar and 12 bar, for example between 7 bar and 9 bar.
  • the pressure difference between the gas supply and the liquid supply may be in the range from 0% to 10%, for example 0.1 bar, or both supplies may be at the same pressure.
  • the cross-section of the junction's 1904 inlet may range, for example, from 0.01 mm 2 to 0.01 m 2 or from 50 mm 2 to 100 mm 2 .
  • the device for forming vaporized water, water spray, or mist 1900 may provide a device for a method 1920 (Fig. 19B) to form a turbulent mix of water and air, the turbulent mix being delivered via the outlet 1903 and one or more ducts to one or more paint heads 8 or cleaning stations 980.
  • Fig. 19B presents a timing diagram for a method 1920 to form an output flow 1903F of vaporized liquid from a first input flow sequence 1921 of a liquid 1901 F and a second input flow 1922 of a gas 1902F.
  • the flow 1903F may be continuous or comprise one or more liquid-lean bursts 1921 B or liquid-rich bursts 1922B.
  • a method 1920 for forming vaporized liquid, for example vaporized water may comprise the steps of: filling with a liquid, for example water, a first duct leading to the first inlet 1901 all the way to the junction; setting the pressurized gas, for example air, to ON to initiate gas flow 1921 in the second inlet 1 902 and the outlet 1903, then, within a delay ⁇ 1925 ranging from 0.1 ms to 1000 ms, for example in the range from 1 ms to 5 ms, setting liquid supply 1922 to ON for flowing liquid through the first inlet 1 901.
  • a turbulent flow of mixed gas and fluid, for example air and water may then flow through the outlet 1903.
  • the turbulent mixing may induce the formation of a vaporized fluid or a spray, for example comprising water droplets, that may be used to clean components of the apparatus 1 .
  • One or more liquid-lean bursts 1921 B may be formed by interrupting or reducing the flow of liquid into the first inlet 1 901 for a period of time, ranging for example from 1 ms to 5 s, and then restoring liquid flow to a nominal ON flow rate.
  • the gas flow 1921 may remain ON during the
  • the vaporized fluid may be delivered via one or more ducts to one or more locations of the apparatus, for example to the paint head 8, the nozzle selector 52, or the cleaning station 980.
  • the delivery of a plurality of bursts to one or more components of the apparatus 1 may provide a method for repeated burst- based cleaning that may be faster or more complete than a cleaning method without bursts.
  • the method to form vaporized liquid or water may provide a method to clean the nozzle 50 or end effector that is faster and more efficient than supplying only water, liquid, gas, or air.
  • the method may be controlled by the controller 24, 24R, for example loaded with a burst generating computer program that may be stored in a non-volatile computer-readable memory device.
  • the supplies may be regulated using solenoid valves, for example computer-controlled valves 22V.
  • FIG. 28 presents a perspective view of an embodiment of an artwork forming booth 2800.
  • the booth 2800 may, for example, be used as a protected artwork manufacturing enclosure within a factory.
  • the booth 2800 may, for example, be used as a point of artwork manufacturing and sale, for example within a store or a shopping mall.
  • the booth 2800 may comprise an enclosure 2810.
  • the enclosure 2810 may, for example, comprise transparent portions, for example made of glass or a wired material meshed as a fence, for example to let an external viewer watch the artwork forming.
  • the enclosure 2810 may comprise one or more artwork forming apparatuses 1 (Fig. 1 ), 2850, 3050 (Fig. 30) comprising a paint head 8.
  • the paint head 8 may, for example, be mounted on an actuatable or a non-actuatable support, for example a gantry or a traverse beam 12 (Fig. 1 , Fig. 28) or a robot (Fig. 30), for example a robotic arm , 1610.
  • the object 2 may be moved with respect to a fixed paint head 8
  • the paint head 8 may be moved with respect to a fixed object 2
  • the paint head 8 and the object 2 may be moved, for example at the same time.
  • the enclosure 2810 may comprise one or more racks 2820 for storing artwork objects 2.
  • the paint head 8 may be carried by a two- or more degrees of freedom robot 1610, for example a robotic arm comprising two or more joints, for example comprising one or more rotating or translating joints.
  • the rack 2820 may comprise one or more storing sections 2822, for example made of rails 2821 , dividers, or compartments to support an artwork object 2.
  • the rack 2820 may comprise one or more driers 2824, for example comprising one or more ventilators, ventilating ducts, or heaters, the airflow or power of which may be adapted or throttled to the wetness, estimated or measured, of the one or more objects 2 stored in the rack. Wetness may be measured using a conductivity measurement device, for example in contact with the object 2, or by sampling one or more hygrometric measurements in air sampled from the rack, for example an air sample extracted from a storing section 2822.
  • a newly painted artwork object 2 for example painted within less than 2 hours, may for example require a low power setting of the ventilators or heaters, whereas a partly-dried object, for example having dried 5 hours or more, may sustain a high power setting of the ventilators or heaters.
  • the rack 2820 may comprise one or more packages 2826, for example cardboard packages, for storing artwork objects 2 that may be sufficiently dry to be delivered.
  • the booth 2800 may comprise one or more imaging sensors 160, one or more computers 1500, one or more wired or wireless communication networks 1650 that may connect to a blockchain system or network 1655, a user interface 2830, and a delivery port or surface 2840.
  • a mobile device 24R for example a mobile phone, may exchange data with one or more devices comprised in the booth, for example the communication networks 1650, the computers 1500, the imaging sensors 160, or the user interface 2830.
  • the user interface 2830 may comprise a display 2831 , for example a tactile display, and one or more delivery port sensors 2832 or data exchange ports 2833.
  • the one or more delivery port sensors 2832 may comprise an imaging sensor or a biometric sensor, for example to identify a user or customer.
  • the one or more data exchange ports 2833 may, for example, comprise a wireless communication port, for example using one or more of a Bluetooth communication device or protocol, a near field communication (NFC) device or protocol, or a radio frequency identification (RFID) device or protocol.
  • the one or more data exchange ports 2833 may, for example, communicate with the mobile device 24R, for example to identify the user or customer, or which artwork object 2 is to be manufactured or delivered by the artwork forming booth 2800.
  • the one or more delivery port sensors 2832 may for example comprise an imaging sensor to read a graphic code, for example a QR code, displayed on the screen of the mobile device 24R, for example to identify the user or customer, or which artwork object 2 is to be manufactured or delivered by the artwork forming booth 2800.
  • Fig. 29 presents a block diagram of an embodiment of a method 2900 for operating the artwork forming booth 2800.
  • the method 2900 may include one or more of the steps: ordering or uploading 2905 a design; identifying 2910 the user or customer; processing payment 2912 for the task of forming the artwork on object 2; acquiring 2915 an object 2 to be painted, for example a canvas, for example from a user through delivery port 2840; forming 2920 the artwork on object 2, for example by painting 2921 object 2; imaging 2925 object 2; storing 2927 one or more images of object 2, for example on a non- volatile digital memory device; forming a digital signature 2930 from data comprising one or more images or image portions of object 2, for example by using a hash function on the data; forming a timestamp from one more images or one or more digital signatures, for example by embedding a digital signature into the blockchain 1655; fixing 2935 or painting an identification mark 2860, for example related to one or more of the timestamp or the digital signature, onto
  • One or more of the steps of the method may comprise picking, moving, or placing the object 2 using the robot 1610.
  • the fixing 2935 or painting an identification mark may comprise embedding the identification mark into the object 2, for example embedding a radio frequency identification device (RFID), for example embedding into paint deposited onto object 2.
  • RFID radio frequency identification device
  • the identification mark may be embedded or painted as a layer or a coating, for example at least partly covered by paint or one or more strokes 2010 or traces 2200 formed onto object 2.
  • One or more steps 2905, 2910, 2915, 2920, 2925, 2930, 2935, 2940, 2045, 2950, 2955, 2960 of the method 2900 for operating the artwork forming booth may be comprised as computer-readable instructions stored on a non-volatile computer-readable memory device.
  • Fig. 30 presents a perspective view of an embodiment of a section of an artwork forming production line 3000.
  • the artwork forming production line 3000 may comprise one or more artwork forming apparatuses 1 (Fig. 1 ), 2850 (Fig. 28), 3050.
  • the production line 3000 may comprise a conveyor belt system 3010 comprising one or more conveyor belts 301 1 , 3012.
  • the object 2 may be positioned on an object support 3020.
  • the object support 3020 may be rigid or flexible and comprise one or more of cardboard, steel, a polymer, or a silicone-based material.
  • the object 2 may be non-rigid, for example be a cake, a pastry, or a food product.
  • the one or more artwork forming apparatuses 2850, 3050 may comprise a robot 1610.
  • the robot 161 0 may comprise a paint head 8.
  • the paint head 8 may comprise one or more dispensers 3008, for example comprising a sieve.
  • the dispenser may for example be used to form a coating of powder, for example cocoa or sugar powder, or a spray, for example of flakes, chips, seeds, or candy.
  • the production line 3000 may comprise one or more imaging systems 160, for example to provide data to a visual feedback control method used to control the robot with respect to the object 2.
  • One or more reservoirs of the paint reservoirs 20 may contain edible products, for example colored edible products, for example cream, sauce, or powder. For consistency with the description, edible products may also be recited as paint
  • Fig. 31 presents a block diagram of an embodiment of a method 31 00 to form a trace of a desired color on an object 2, for example an object 2 comprising a surface with one or more of unknown or insufficiently characterized absorption, diffusion, and tribology properties.
  • the object 2 may be a cake or pastry comprising a surface that partly absorbs the color of traces of paint or powder that are deposited on it and may therefore require the trace to be formed with an adjusted flow rate of paint that is different from an estimated flow rate of paint.
  • the method 3100 may comprise a step of acquiring imaging data 31 10 from the imaging system 160, for example by a computer processor, for example a processor of the computer 1500, of an object 2 comprising one or more first paint traces 2010.
  • the method 31 00 may comprise a step of detecting one or more regions of interest (ROI) 3120.
  • the ROI may, for example, comprise pixels imaging one or more first paint traces 2010 in one or more images of the object 2.
  • the ROI may, for example, be restricted to pixels detected as imaging one or more first paint traces 2010.
  • the ROI may, for example, be restricted to curves modeled to surround pixels detected as imaging one or more first paint traces 2010.
  • the curves may, for example, be based on spline, Bezier, or a curve parameterized to match a contour of pixels detected as imaging one or more first paint traces 2010.
  • the step of detecting ROI 3120 may comprise one or more of: mapping data of commands or trace coordinates sent to one or more of the robot 1610 and the paint head 8 onto the image of object 2; detecting one or more colors of traces in the one or more images of the imaging data, for example using a computational image- processing filter parameterized by one or more of: RGB color values, HSV color values, values in a color space, values in a tristimulus color space (for example a CIE color space), one or more luminance values, one or more MacAdam ellipses in a chromaticity diagram ; and detecting one or more changes, for example color space-based or pixel- based, in a sequence of two or more images of the object 2.
  • Detecting one or more colors of traces may comprise measuring colors with a color measurement device 3005, for example a colorimeter or a spectrophotometer. Detecting one or more colors of traces may comprise a step of combining data (not shown) measured by the imaging device 160 with data measured by the color measurement device 3005. The step of combining data may for example comprise using data measured by the color measurement device 3005 to calibrate or correct data measured by the imaging device 160, for example to correct color data of imaging sensor pixels that correspond to regions that have been measured by the color measurement device.
  • the color measurement device 3005 may be one or more of: mounted on the paint head 8; mounted on a second support (not shown); and held by an operator.
  • the method 3100 may comprise a step of adjusting paint output 3130 (for example the output of paint, cream, sauce, or powder) dispensed onto the object 2.
  • Adjusting paint output 3130 may comprise one or more of adjusting paint flow rate and forming one or more second traces over at least a portion of one or more first traces.
  • the flow rate or the number of the forming one or more second traces, for example by forming superimposed traces, may be a function of the color distance (also known as ⁇ , for example computed using color values from pixels of one or more of the imaging system 160 and the color measurement device 3005) between a desired color and the detected one or more trace colors.
  • the method 3100 may comprise a step of commanding trace forming 3140.
  • the step of commanding trace forming 3140 may comprise a step of adjusting motion speed of the paint head 8 with respect to the object 2, for example for adjusting the thickness or the color saturation of a trace 2010.
  • the step of commanding trace forming 3140 may comprise one or more of: using a computer 1500 to calculate one or more commands or corrective commands for adjusting the trajectory of the paint head 8 as a function of trace color or trace color difference measured from images acquired by one or more of the camera 160 and the color measurement device 3005; and sending commands for adjusting the trajectory to the robot 1 , 161 0.
  • the step of commanding trace forming 3140 may use images of portions of traces, for example portions of traces detected at the step of detecting ROI 3120, for adjusting the trajectory of the paint head 8 while the trace 2010 is formed.
  • the method 3100 may enable image-based real-time guidance and adjusting of the forming of a trace 201 0.
  • the method 31 00 or one or more of its steps 31 10, 3120, 3130, 3140, may be stored as instructions on a computer-readable non-volatile memory device.
  • An imaging sensor may be defined as an apparatus comprising one or more photodetectors.
  • An imaging sensor may for example comprise one or more of: a scanning photodetector, a linear photodetector array, or a photodetector array, for example based on CMOS or CCD technology.
  • An imaging system comprises an imaging sensor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Coating Apparatus (AREA)

Abstract

L'invention concerne un appareil d'application de peinture sur un objet ou un substrat, l'appareil comprenant : une tête de peinture (8), un système de déplacement (110) portant la tête de peinture (8), la tête de peinture (8) comprenant : un élément de support de buse (72) comprenant un conduit d'alimentation de peinture (80) et un support de buse (56), le support de buse (56) comprenant une ou plusieurs buses (50), un sélecteur de buse (52), et une transmission mécanique (501) entre le sélecteur de buse (52) et le support de buse (56). L'invention concerne également un procédé d'application de peinture sur un substrat, comprenant : la fourniture d'une buse sur un support de buse rotatif dans une position de peinture par rapport au substrat, et l'alimentation de la peinture à travers la buse tout en déplaçant le support de buse par rapport au substrat. Un dispositif de commande peut être utilisé pour commander l'appareil d'application de peinture sur un substrat.
PCT/IB2018/052258 2017-04-03 2018-04-02 Appareil de peinture automatisé WO2018185636A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762480997P 2017-04-03 2017-04-03
US62/480,997 2017-04-03
IB2017051929 2017-04-04
IBPCT/IB2017/051929 2017-04-04

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113387595A (zh) * 2021-08-02 2021-09-14 汪沛林 一种空心玻璃砖处理工艺
CN114192311A (zh) * 2021-12-13 2022-03-18 台玻悦达汽车玻璃有限公司 一种用于汽车夹胶玻璃生产的玻璃喷粉装置
CN115104382A (zh) * 2019-12-20 2022-09-23 分子等离子集团股份有限公司 用于在基材上进行大气压力等离子体射流涂层沉积的改进护罩
CN115521077A (zh) * 2022-10-28 2022-12-27 佛山市晶玻科技有限公司 曲面淋漆工艺
IT202200012731A1 (it) * 2022-06-16 2023-12-16 Vidali Finishing S R L Impianto e procedimento di verniciatura
CN117943230A (zh) * 2024-03-25 2024-04-30 江苏鹏泽机械技术有限公司 基于旋转式调节的零件加工喷涂装置
EP4400273A1 (fr) * 2023-01-13 2024-07-17 SK On Co., Ltd. Procédé et appareil de distribution de fluide visqueux et procédé d'assemblage de module de batterie
WO2024218233A1 (fr) * 2023-04-18 2024-10-24 Akzo Nobel Coatings International B.V. Appareil et procédé d'application d'une composition de revêtement sur un substrat par pulvérisation

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JPS62114672A (ja) * 1985-11-14 1987-05-26 Mitsui Eng & Shipbuild Co Ltd 塗装用スプレイノズル装置
JPH0657440U (ja) * 1993-01-13 1994-08-09 関東自動車工業株式会社 回転式ノズルガン

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JPS62114672A (ja) * 1985-11-14 1987-05-26 Mitsui Eng & Shipbuild Co Ltd 塗装用スプレイノズル装置
JPH0657440U (ja) * 1993-01-13 1994-08-09 関東自動車工業株式会社 回転式ノズルガン

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115104382A (zh) * 2019-12-20 2022-09-23 分子等离子集团股份有限公司 用于在基材上进行大气压力等离子体射流涂层沉积的改进护罩
CN113387595A (zh) * 2021-08-02 2021-09-14 汪沛林 一种空心玻璃砖处理工艺
CN113387595B (zh) * 2021-08-02 2022-08-02 德州瑞百利玻璃砖有限公司 一种空心玻璃砖处理工艺
CN114192311A (zh) * 2021-12-13 2022-03-18 台玻悦达汽车玻璃有限公司 一种用于汽车夹胶玻璃生产的玻璃喷粉装置
IT202200012731A1 (it) * 2022-06-16 2023-12-16 Vidali Finishing S R L Impianto e procedimento di verniciatura
CN115521077A (zh) * 2022-10-28 2022-12-27 佛山市晶玻科技有限公司 曲面淋漆工艺
CN115521077B (zh) * 2022-10-28 2023-09-22 佛山市晶玻科技有限公司 曲面淋漆工艺
EP4400273A1 (fr) * 2023-01-13 2024-07-17 SK On Co., Ltd. Procédé et appareil de distribution de fluide visqueux et procédé d'assemblage de module de batterie
WO2024218233A1 (fr) * 2023-04-18 2024-10-24 Akzo Nobel Coatings International B.V. Appareil et procédé d'application d'une composition de revêtement sur un substrat par pulvérisation
CN117943230A (zh) * 2024-03-25 2024-04-30 江苏鹏泽机械技术有限公司 基于旋转式调节的零件加工喷涂装置
CN117943230B (zh) * 2024-03-25 2024-06-11 江苏鹏泽机械技术有限公司 基于旋转式调节的零件加工喷涂装置

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