US20160368012A1 - Device and method for painting curved outer surfaces of an aircraft - Google Patents
Device and method for painting curved outer surfaces of an aircraft Download PDFInfo
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- US20160368012A1 US20160368012A1 US15/251,272 US201615251272A US2016368012A1 US 20160368012 A1 US20160368012 A1 US 20160368012A1 US 201615251272 A US201615251272 A US 201615251272A US 2016368012 A1 US2016368012 A1 US 2016368012A1
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- paint
- aircraft
- recited
- spray painting
- positioning device
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- 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
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- 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
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- 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
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- 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
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
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- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/10—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to temperature or viscosity of liquid or other fluent material discharged
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- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- 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
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- 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
- B05B12/1472—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 separate supply lines supplying different materials to separate outlets of the spraying apparatus
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- 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
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
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- 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
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- 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
- B05B13/0463—Installation or apparatus for applying liquid or other fluent material to moving work of indefinite length
- B05B13/0468—Installation or apparatus for applying liquid or other fluent material to moving work of indefinite length with reciprocating or oscillating spray heads
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- 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
- B05B13/0463—Installation or apparatus for applying liquid or other fluent material to moving work of indefinite length
- B05B13/0468—Installation or apparatus for applying liquid or other fluent material to moving work of indefinite length with reciprocating or oscillating spray heads
- B05B13/0473—Installation or apparatus for applying liquid or other fluent material to moving work of indefinite length with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- 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
- B05B7/24—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 with means, e.g. a container, for supplying liquid or other fluent material to a discharge device
- B05B7/2402—Apparatus to be carried on or by a person, e.g. by hand; Apparatus comprising containers fixed to the discharge device
- B05B7/2472—Apparatus to be carried on or by a person, e.g. by hand; Apparatus comprising containers fixed to the discharge device comprising several containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/304—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface
- B41J25/308—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface with print gap adjustment mechanisms
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45013—Spraying, coating, painting
Definitions
- the present invention pertains to a device and a method for painting a preferably curved outer surface of an aircraft, comprising a spatially adjustable positioning device for moving a paint applicator relative to the curved outer surface in accordance with a control unit for coordinating the movement of the positioning device with the paint output of the paint applicator in order to produce a picture motif.
- the field of application of the invention predominantly concerns the construction of aircraft, namely aircraft for transporting passengers and cargo.
- inventive solution in connection with other aircraft to be provided with a picture motif such as designs, logos or lettering that serve for the proper identification, the airline association or the decoration of an aircraft.
- picture motif such as designs, logos or lettering that serve for the proper identification, the airline association or the decoration of an aircraft.
- the lateral and lower regions of the fuselage or the surfaces of the rudder unit are typically used for such purposes.
- WO 2006/026240 A1 discloses a device for painting a curved outer surface of an aircraft, in this case a rudder unit of an aircraft.
- a paint applicator is used that applies a pattern of drops of a pigment ink of at least one color onto the outer surface.
- the special pigment ink is polymerized by means of irradiation with ultraviolet light in order to harden and thusly render resistant the pigment ink.
- the special paint applicator is moved by means of a positioning device that is realized in the form of a gantry robot in order to move the paint applicator along the three dimensional axes, i.e., particularly also in the form of an advance movement for guiding the paint applicator along the curved outer surface.
- the desired picture motif is produced by converting a predetermined two-dimensional picture into three-dimensional driving data for the positioning device. A surface model of the outer surface of the aircraft is used for this purpose.
- DE 10 2004 044 655 A1 discloses another technical solution for producing a picture motif on a curved outer surface of an aircraft, in which paint material is ejected by means of an inkjet head similar to the above-described inkjet technology.
- the picture motif is produced by means of a purposeful ejection and diversion of small droplets. This can be realized with a piezo-inkjet head or a thermo-inkjet head.
- the thusly designed paint applicator is moved along a bend guide rail that follows the curved surface of the aircraft, particularly the aircraft fuselage, in the form of a trolley.
- the paint applicator may also be arranged on the end of an articulated robot.
- An aspect of the present invention is to develop a device and a method for painting a curved outer surface of an aircraft that make it possible to durably apply a high-quality picture motif within the shortest production time possible.
- the invention includes the technical characteristic that the paint applicator consists of several spray painting heads with different base color supply units for PUR (polyurethane) aircraft paint or ink respectively assigned thereto, wherein the control unit alternately activates these spray painting heads in such a way in order to produce a picture motif that it derives a two-dimensional driving geometry for the paint applicator based on a three-dimensional geometry of the outer surface determined by means of sensor technology.
- PUR polyurethane
- the advantage of the inventive solution can be seen, in particular, in that the application of PUR aircraft paints makes it possible to achieve a high degree of resistance because the outer surface of the aircraft situated thereunder is also coated with PUR aircraft paint. Consequently, a particularly resistant bond between the paint layers is achieved. Due to the spray painting technology utilized in accordance with the invention, larger surfaces can be provided with a picture motif of sufficient resolution within a shorter period of time than with inkjet technology.
- the individual spray painting heads preferably should have an aperture on the order of 0.5 to 1.2 mm, wherein the PUR aircraft paint ejected from this aperture should have a maximum particle size between 1 and 100 ⁇ m. Tests showed that such a modification of spray painting heads that are otherwise used for different paint materials suffices for making these spray painting heads suitable for the special PUR aircraft paints.
- the paint applicator features several base color supply units for at least the base colors cyan, magenta, yellow and key that are arranged such that they form the paint applicator.
- the thusly designed paint applicator is preferably moved over the outer surface line-by-line by the positioning device.
- the base colors CMYK are applied point-by-point such that a picture motif with a broad spectrum of colors is obtained due to the superposition of these base colors.
- a laser measuring head for determining the three-dimensional geometry of the outer surface to be painted is arranged on the paint applicator.
- the laser measuring head is connected to the control unit on the input side and specifies the current distance values used by the control unit as actual values in order to drive the positioning device in dependence thereon, namely with respect to the nominal distance from the outer surface that lies within the range of the desired paint application quality.
- the control unit also takes into account other parameters including the feed pressure for the spray painting heads, the nozzle cross section of the spray painting heads, the viscosity of the PUR aircraft paint and the like.
- a positioning device suitable for the present invention can be realized in accordance with two preferred embodiments.
- the positioning device may be realized in the form of a gantry robot of sorts that consists of three movable linear axes that are aligned perpendicular to one another and form a Cartesian coordinate system.
- Such a positioning device can be realized with relatively low expenditures.
- the positioning device according to the second alternative should preferably be realized in the form of a multi-axis articulated robot that is more suitable for covering large-area curved surfaces than the first embodiment.
- the control unit that, according to the invention, drives the positioning device and the paint applicator in a coordinated fashion should be realized in the form of a software-controlled computer that comprises at least one microprocessor and at least one assigned memory unit, wherein the operation and programming can be realized with the aid of a user interface.
- a suitable interface consists, for example, of a conventional graphic monitor with input devices such as keypad, joystick and the like.
- the software controlling the computer also includes a routine for converting the three-dimensional geometry of the outer surface to be painted that is preferably determined by means of the laser measuring head into a two-dimensional coordinate system that serves for driving the paint applicator.
- the secondary control unit of the paint applicator is by default designed for spraying a plane surface and this computational conversion that, in principle, represents a mathematical development of the three-dimensional geometry in one plane solves the present interface problems.
- FIG. 1 shows a schematic side view of a passenger aircraft
- FIG. 2 shows a schematic representation of a device for painting the curved outer surface of the aircraft of FIG. 1 .
- FIG. 3 shows a representation of the control method carried out by the device of FIG. 2 in the form of a block diagram.
- an aircraft that is realized in the form of a passenger aircraft-features a fuselage 1 , on which a wing 2 with engines is laterally arranged.
- the rear side of the fuselage 1 features an elevator unit 3 , as well as a rudder unit 4 that protrudes upward from the fuselage 1 by a significant distance.
- the outer surface 5 of the rudder unit 4 is provided with a photo-realistic picture motif 6 that consists of many color gradations.
- the outer surface 5 of the rudder unit 4 is essentially curved in one plane, onto which the picture motif 6 is automatically applied in the form of PUR aircraft paint with the aid of the device described below.
- the device for painting the—only sectionally illustrated—outer surface 5 essentially consists of a spatially adjustable positioning device 7 , on which a paint applicator 8 is arranged, wherein the positioning device 7 and the paint applicator 8 are driven along the curved outer surface 5 of the aircraft in a coordinated fashion by means of a common control unit 13 in order to produce the picture motif 6 .
- the positioning device 7 is realized in the form of a multi-axis articulated robot, on the distal end of which the paint applicator 8 is mounted.
- the positioning device 7 moves the paint applicator 8 over the outer surface 5 of the aircraft line-by-line.
- the paint applicator 8 consists of altogether four spray painting heads 9 a to 9 d with respectively assigned (exemplary) base color supply units.
- the base color supply units 10 respectively contain PUR aircraft paint 11 of different color, namely cyan, magenta, yellow and key. They are adjacently arranged in a row and thusly form the paint applicator 8 .
- the spray painting heads 9 a to 9 d apply the different colors onto the outer surface 5 with the assistance of compressed air, namely in accordance with an electronic control unit 13 , such that a colorful picture motif 6 is produced due to the superposition of the different colors.
- Each base color supply unit 10 of the paint applicator 8 is assigned a separate paint tank 14 with a supply line 12 —that is merely illustrated in an exemplary fashion-leading to the respectively assigned spray painting heads 9 a to 9 d .
- the PUR aircraft paint 11 is respectively supplied to the assigned spray painting head 9 a to 9 d from the paint tank 14 via the supply line 12 .
- the supply line 12 consists of metal, namely of stainless steal in this case.
- the three-dimensional geometry of the curved outer surface 5 to be painted is determined by means of a laser measuring head 16 in order to drive the paint applicator 8 by means of the electronic control unit 13 .
- Data for the desired picture motif 6 is also specified for the electronic control unit 13 via a user interface 17 , wherein driving data for the paint applicator 6 and the positioning device 7 is calculated therefrom with consideration of the measured three-dimensional geometry of the outer surface 5 to be painted.
- the electronic control unit 13 consists of a software-controlled computer with at least one microprocessor 18 that is connected to a memory unit 19 .
- the memory unit 19 contains a library of different picture motifs stored therein.
- the user interface 17 is also equipped with an input unit 15 .
- picture motif data as well as the distance measuring data of the laser measuring head 16 , is specified for the control unit 13 on the input side by means of the user interface 17 . From this, the control unit 13 generates driving data for the paint applicator 8 and the positioning device 7 .
- the three-dimensional geometry of the outer surface 5 determined by means of sensor technology is converted into a two-dimensional geometry for driving the paint applicator 8 . This conversion is realized in the form of a mathematical development of the three-dimensional geometry of the curved outer surface 5 to be painted in order to apply the picture motif 6 thereon in an undistorted fashion.
Abstract
Description
- This application is a divisional of U.S. patent application Ser. No. 12/781,129, filed on May 17, 2010, which claims priority from both the German Patent Application No. DE 10 2009 021 608.1, filed on May 15, 2009 and the U.S. Provisional Application No. 61/178,632, filed on May 15, 2009, the disclosures of which are incorporated herein by reference.
- The present invention pertains to a device and a method for painting a preferably curved outer surface of an aircraft, comprising a spatially adjustable positioning device for moving a paint applicator relative to the curved outer surface in accordance with a control unit for coordinating the movement of the positioning device with the paint output of the paint applicator in order to produce a picture motif.
- The field of application of the invention predominantly concerns the construction of aircraft, namely aircraft for transporting passengers and cargo. In addition, it would also be conceivable to utilize the inventive solution in connection with other aircraft to be provided with a picture motif such as designs, logos or lettering that serve for the proper identification, the airline association or the decoration of an aircraft. The lateral and lower regions of the fuselage or the surfaces of the rudder unit are typically used for such purposes.
- WO 2006/026240 A1discloses a device for painting a curved outer surface of an aircraft, in this case a rudder unit of an aircraft. In order to apply picture motifs, a paint applicator is used that applies a pattern of drops of a pigment ink of at least one color onto the outer surface. The special pigment ink is polymerized by means of irradiation with ultraviolet light in order to harden and thusly render resistant the pigment ink. The special paint applicator is moved by means of a positioning device that is realized in the form of a gantry robot in order to move the paint applicator along the three dimensional axes, i.e., particularly also in the form of an advance movement for guiding the paint applicator along the curved outer surface. The desired picture motif is produced by converting a predetermined two-dimensional picture into three-dimensional driving data for the positioning device. A surface model of the outer surface of the aircraft is used for this purpose.
- In this technical solution, it appears disadvantageous to utilize pigment ink that does not adhere to the outer surface in a very abrasion-resistant fashion despite the hardening process. During the operation of the aircraft, the picture motif may be damaged, in particular, due to mechanical erosion or the chemical effect of hydraulic oil residues. Although a picture motif with relatively high resolution can be produced with ink jet technology, its application requires a very long production time.
- DE 10 2004 044 655 A1 discloses another technical solution for producing a picture motif on a curved outer surface of an aircraft, in which paint material is ejected by means of an inkjet head similar to the above-described inkjet technology. The picture motif is produced by means of a purposeful ejection and diversion of small droplets. This can be realized with a piezo-inkjet head or a thermo-inkjet head. The thusly designed paint applicator is moved along a bend guide rail that follows the curved surface of the aircraft, particularly the aircraft fuselage, in the form of a trolley. Alternatively, the paint applicator may also be arranged on the end of an articulated robot.
- In this technical solution, it appears disadvantageous that the technology used is very similar to the inkjet technology that requires relatively long production times. Furthermore, this technology requires that the paint applicator is exactly guided a very short distance of no more than 1 mm from the curved outer surface, wherein this represents a significant challenge with respect to the control technology.
- An aspect of the present invention is to develop a device and a method for painting a curved outer surface of an aircraft that make it possible to durably apply a high-quality picture motif within the shortest production time possible.
- The invention includes the technical characteristic that the paint applicator consists of several spray painting heads with different base color supply units for PUR (polyurethane) aircraft paint or ink respectively assigned thereto, wherein the control unit alternately activates these spray painting heads in such a way in order to produce a picture motif that it derives a two-dimensional driving geometry for the paint applicator based on a three-dimensional geometry of the outer surface determined by means of sensor technology.
- The advantage of the inventive solution can be seen, in particular, in that the application of PUR aircraft paints makes it possible to achieve a high degree of resistance because the outer surface of the aircraft situated thereunder is also coated with PUR aircraft paint. Consequently, a particularly resistant bond between the paint layers is achieved. Due to the spray painting technology utilized in accordance with the invention, larger surfaces can be provided with a picture motif of sufficient resolution within a shorter period of time than with inkjet technology.
- The individual spray painting heads preferably should have an aperture on the order of 0.5 to 1.2 mm, wherein the PUR aircraft paint ejected from this aperture should have a maximum particle size between 1 and 100×m. Tests showed that such a modification of spray painting heads that are otherwise used for different paint materials suffices for making these spray painting heads suitable for the special PUR aircraft paints.
- In this context, it is proposed to utilize a metallic line instead of the conventionally used plastic lines between a paint tank of the base color supply unit and the assigned spray painting head. The advantage of such a metallic line can be seen in that it can be flushed with suitable solvents for the special PUR aircraft paints without being affected by these solvents. Conventional plastic lines, in contrast, would be softened in such a way that they could be destroyed and lead to a failure of the base color supply units.
- In order to apply a picture motif that is rich in color detail onto the outer surface of an aircraft, it is proposed, according to a measure that enhances the invention, that the paint applicator features several base color supply units for at least the base colors cyan, magenta, yellow and key that are arranged such that they form the paint applicator. The thusly designed paint applicator is preferably moved over the outer surface line-by-line by the positioning device. In this case, the base colors CMYK are applied point-by-point such that a picture motif with a broad spectrum of colors is obtained due to the superposition of these base colors.
- In order to ensure a high processing quality, it is proposed, according to another measure that enhances the invention, that a laser measuring head for determining the three-dimensional geometry of the outer surface to be painted is arranged on the paint applicator. The laser measuring head is connected to the control unit on the input side and specifies the current distance values used by the control unit as actual values in order to drive the positioning device in dependence thereon, namely with respect to the nominal distance from the outer surface that lies within the range of the desired paint application quality. In this case, however, the control unit also takes into account other parameters including the feed pressure for the spray painting heads, the nozzle cross section of the spray painting heads, the viscosity of the PUR aircraft paint and the like.
- A positioning device suitable for the present invention can be realized in accordance with two preferred embodiments. According to a first alternative, the positioning device may be realized in the form of a gantry robot of sorts that consists of three movable linear axes that are aligned perpendicular to one another and form a Cartesian coordinate system. Such a positioning device can be realized with relatively low expenditures. The positioning device according to the second alternative should preferably be realized in the form of a multi-axis articulated robot that is more suitable for covering large-area curved surfaces than the first embodiment.
- The control unit that, according to the invention, drives the positioning device and the paint applicator in a coordinated fashion should be realized in the form of a software-controlled computer that comprises at least one microprocessor and at least one assigned memory unit, wherein the operation and programming can be realized with the aid of a user interface. A suitable interface consists, for example, of a conventional graphic monitor with input devices such as keypad, joystick and the like.
- The software controlling the computer also includes a routine for converting the three-dimensional geometry of the outer surface to be painted that is preferably determined by means of the laser measuring head into a two-dimensional coordinate system that serves for driving the paint applicator. The secondary control unit of the paint applicator is by default designed for spraying a plane surface and this computational conversion that, in principle, represents a mathematical development of the three-dimensional geometry in one plane solves the present interface problems.
- Other measures that enhance the invention are discussed below together with the description of one preferred exemplary embodiment of the invention that refers to the figures. In the drawings:
-
FIG. 1 shows a schematic side view of a passenger aircraft, -
FIG. 2 shows a schematic representation of a device for painting the curved outer surface of the aircraft ofFIG. 1 , and -
FIG. 3 shows a representation of the control method carried out by the device ofFIG. 2 in the form of a block diagram. - According to
FIG. 1 , an aircraft—that is realized in the form of a passenger aircraft-features a fuselage 1, on which a wing 2 with engines is laterally arranged. The rear side of the fuselage 1 features an elevator unit 3, as well as a rudder unit 4 that protrudes upward from the fuselage 1 by a significant distance. - In this exemplary embodiment, the outer surface 5 of the rudder unit 4 is provided with a photo-realistic picture motif 6 that consists of many color gradations. The outer surface 5 of the rudder unit 4 is essentially curved in one plane, onto which the picture motif 6 is automatically applied in the form of PUR aircraft paint with the aid of the device described below.
- According to
FIG. 2 , the device for painting the—only sectionally illustrated—outer surface 5 essentially consists of a spatially adjustable positioning device 7, on which a paint applicator 8 is arranged, wherein the positioning device 7 and the paint applicator 8 are driven along the curved outer surface 5 of the aircraft in a coordinated fashion by means of acommon control unit 13 in order to produce the picture motif 6. - The positioning device 7 is realized in the form of a multi-axis articulated robot, on the distal end of which the paint applicator 8 is mounted. The positioning device 7 moves the paint applicator 8 over the outer surface 5 of the aircraft line-by-line.
- In this exemplary embodiment, the paint applicator 8 consists of altogether four spray painting heads 9 a to 9 d with respectively assigned (exemplary) base color supply units. The base
color supply units 10 respectively contain PUR aircraft paint 11 of different color, namely cyan, magenta, yellow and key. They are adjacently arranged in a row and thusly form the paint applicator 8. - The spray painting heads 9 a to 9 d apply the different colors onto the outer surface 5 with the assistance of compressed air, namely in accordance with an
electronic control unit 13, such that a colorful picture motif 6 is produced due to the superposition of the different colors. - Each base
color supply unit 10 of the paint applicator 8 is assigned aseparate paint tank 14 with asupply line 12—that is merely illustrated in an exemplary fashion-leading to the respectively assigned spray painting heads 9 a to 9 d. The PUR aircraft paint 11 is respectively supplied to the assigned spray painting head 9 a to 9 d from thepaint tank 14 via thesupply line 12. In order to ensure the resistance to solvents, thesupply line 12 consists of metal, namely of stainless steal in this case. - The three-dimensional geometry of the curved outer surface 5 to be painted is determined by means of a
laser measuring head 16 in order to drive the paint applicator 8 by means of theelectronic control unit 13. Data for the desired picture motif 6 is also specified for theelectronic control unit 13 via auser interface 17, wherein driving data for the paint applicator 6 and the positioning device 7 is calculated therefrom with consideration of the measured three-dimensional geometry of the outer surface 5 to be painted. - In order to fulfill this function, the
electronic control unit 13 consists of a software-controlled computer with at least onemicroprocessor 18 that is connected to amemory unit 19. Among other things, thememory unit 19 contains a library of different picture motifs stored therein. Theuser interface 17 is also equipped with aninput unit 15. - According to
FIG. 3 , picture motif data, as well as the distance measuring data of thelaser measuring head 16, is specified for thecontrol unit 13 on the input side by means of theuser interface 17. From this, thecontrol unit 13 generates driving data for the paint applicator 8 and the positioning device 7. In order to drive the paint applicator 8 that is by default designed for two-dimensional surfaces, the three-dimensional geometry of the outer surface 5 determined by means of sensor technology is converted into a two-dimensional geometry for driving the paint applicator 8. This conversion is realized in the form of a mathematical development of the three-dimensional geometry of the curved outer surface 5 to be painted in order to apply the picture motif 6 thereon in an undistorted fashion. - As a supplement, it should be noted that “comprising” does not exclude other elements or steps, and that “an” or “a” does not exclude a plurality. It should furthermore be noted that characteristics or steps that were described with reference to one of the above exemplary embodiments can also be used in combination with other characteristics or steps of other above-described exemplary embodiments. Reference symbols in the claims should not be interpreted in a restrictive sense.
- While at least one exemplary embodiment of the present invention(s) is disclosed herein, it should be understood that modifications, substitutions and alternatives may be apparent to one of ordinary skill in the art and can be made without departing from the scope of this disclosure. This disclosure is intended to cover any adaptations or variations of the exemplary embodiment(s). In addition, in this disclosure, the terms “comprise” or “comprising” do not exclude other elements or steps, the terms “a” or “one” do not exclude a plural number, and the term “or” means either or both. Furthermore, characteristics or steps which have been described may also be used in combination with other characteristics or steps and in any order unless the disclosure or context suggests otherwise. This disclosure hereby incorporates by reference the complete disclosure of any patent or application from which it claims benefit or priority.
- 1 Fuselage
- 2 Wing
- 3 Elevator unit
- 4 Rudder unit
- 5 Outer surface
- 6 Picture motif
- 7 Positioning device
- 8 Paint applicator
- 9 Spray painting head
- 10 Base color supply unit
- 11 Aircraft paint
- 12 Supply line
- 13 Control unit
- 14 Paint tank
- 15 Input unit
- 16 Laser measuring head
- 17 User interface
- 18 Microprocessor
- 19 Memory unit
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/251,272 US20160368012A1 (en) | 2009-05-15 | 2016-08-30 | Device and method for painting curved outer surfaces of an aircraft |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US17863209P | 2009-05-15 | 2009-05-15 | |
DE102009021608.1 | 2009-05-15 | ||
DE102009021608.1A DE102009021608B4 (en) | 2009-05-15 | 2009-05-15 | Device and method for painting curved outer surfaces of an aircraft |
US12/781,129 US9446426B2 (en) | 2009-05-15 | 2010-05-17 | Device and method for painting curved outer surfaces of an aircraft |
US15/251,272 US20160368012A1 (en) | 2009-05-15 | 2016-08-30 | Device and method for painting curved outer surfaces of an aircraft |
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US12/781,129 Division US9446426B2 (en) | 2009-05-15 | 2010-05-17 | Device and method for painting curved outer surfaces of an aircraft |
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US20160368012A1 true US20160368012A1 (en) | 2016-12-22 |
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US15/251,272 Abandoned US20160368012A1 (en) | 2009-05-15 | 2016-08-30 | Device and method for painting curved outer surfaces of an aircraft |
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US12/781,129 Active 2032-09-23 US9446426B2 (en) | 2009-05-15 | 2010-05-17 | Device and method for painting curved outer surfaces of an aircraft |
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DE (1) | DE102009021608B4 (en) |
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EP2433716A1 (en) * | 2010-09-22 | 2012-03-28 | Hexagon Technology Center GmbH | Surface spraying device with a nozzle control mechanism and a corresponding method |
EP2799150B1 (en) | 2013-05-02 | 2016-04-27 | Hexagon Technology Center GmbH | Graphical application system |
EP2641661B1 (en) * | 2012-03-20 | 2016-05-11 | Hexagon Technology Center GmbH | Graphical application system |
DE102012017538A1 (en) * | 2012-09-05 | 2014-03-06 | Heidelberger Druckmaschinen Ag | Process for imaging and / or varnishing the surface of objects |
JP6198499B2 (en) * | 2013-07-04 | 2017-09-20 | 株式会社エルエーシー | Printing device |
US9568906B2 (en) | 2013-09-18 | 2017-02-14 | The Boeing Company | Robotic object coating system |
DE102016204123A1 (en) | 2015-04-16 | 2016-10-20 | Heidelberger Druckmaschinen Ag | Method for printing an object with a printed image |
JP6321699B2 (en) * | 2016-02-23 | 2018-05-09 | 本田技研工業株式会社 | Coating apparatus and coating method |
US10226944B2 (en) | 2016-08-30 | 2019-03-12 | The Boeing Company | Adaptable surface treatment repair system |
DE112018006145T5 (en) * | 2017-11-30 | 2020-12-10 | Axalta Coating Systems Gmbh | PAINT COMPOUNDS FOR APPLICATION USING A HIGH DEGREE OF APPLICATION EFFICIENCY AND METHODS AND SYSTEMS FOR IT |
US11285616B2 (en) * | 2018-09-11 | 2022-03-29 | Teradyne, Inc. | Robotic coating application system and method |
DE102019119730A1 (en) * | 2019-07-22 | 2021-01-28 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Pattern printing applicator and methods therefor |
US11595549B2 (en) * | 2020-04-22 | 2023-02-28 | The Boeing Company | Aircraft inkjet printing |
US11472678B2 (en) * | 2020-06-16 | 2022-10-18 | The Boeing Company | Gantry system and method |
WO2021255896A1 (en) * | 2020-06-18 | 2021-12-23 | アーベーベー・シュバイツ・アーゲー | Painting robot and painting method using painting robot |
US20220058302A1 (en) * | 2020-08-19 | 2022-02-24 | Adrian Ramirez | Personalized Vehicle Component System |
CN112275556B (en) * | 2020-11-20 | 2022-01-21 | 六和电子(江西)有限公司 | Shell type capacitance automatic equidistant adjustment vacuum dispensing equipment and dispensing method thereof |
CA3224906A1 (en) * | 2021-07-13 | 2023-01-19 | Vestergaard Company A/S | Method and system for dispensing fluid onto an airplane surface |
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DE102009021608B4 (en) | 2015-10-15 |
DE102009021608A1 (en) | 2010-12-02 |
US20100304009A1 (en) | 2010-12-02 |
US9446426B2 (en) | 2016-09-20 |
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