System and method for actuating a processing device

Abstract

A device actuation system for actuating a processing device includes a gear system coupleable to the processing device, the gear system including a first drive gear rotatably mounted to the processing device, a coupler track slidably mounted to the processing device, a second drive gear rotatably mounted to the coupler track, and a coupler gear rotatably mounted to the processing device and engageable with the coupler track. Further, the device actuation system includes a drive track positionable between the first drive gear and the second drive gear of the gear system. The coupler gear is rotatable to move the coupler track to maintain continuous engagement of the second drive gear with the drive track against the first drive gear. The first drive gear and the second drive gear are rotatable to cause at least one of translation and rotation of the processing device relative to the drive track.

Description

Technical Field

[0001] This disclosure generally relates to actuation systems, and more specifically to mechanical actuation systems for actuating one or more processing devices for actuating the processing of a contoured surface. Background Technology

[0002] Aircraft painting is a challenging process due to the large surface area and unique geometry of aircraft surfaces. For example, the nose and tail of an aircraft are often highly contoured, presenting a challenge in applying coatings with precision. The complex paint schemes associated with aircraft liveries further increase the challenge. For instance, an airline's livery may include images or designs with complex geometries and color combinations. Furthermore, aircraft liveries may include the airline's name and logo, which can be applied to different locations on the aircraft, such as the fuselage and vertical tail. The process of applying liveries to aircraft surfaces must be performed at a high level of precision to meet aesthetic requirements and ensure that the coating thickness is within desired tolerances to meet aircraft performance requirements (e.g., weight).

[0003] One method of painting aircraft involves using individual robotic units. Each robotic unit includes an end effector mounted on a robotic arm. The robotic arm of each unit moves the end effector across the aircraft surface while the end effector dispenses any of a variety of different paint colors, such as those used to apply an aircraft exterior pattern. While using robotic units reduces the amount of time required for aircraft painting compared to conventional manual methods involving masking, painting, and demasking, the use of a single end effector on each robotic unit results in a relatively lengthy painting process.

[0004] Therefore, there is a need in the art for a system that interconnects the processing devices of an array used to dispense a workpiece (e.g., paint) as the array moves across a surface of an object, and allows each processing device to be continuously repositioned to complement the changing contours of the object surface, thereby enabling the precise application of a coating (e.g., aircraft exterior patterning) with a reduced amount of time compared to conventional methods. Ideally, the actuation system has a compact arrangement to allow for relatively close spacing between the processing devices in the array. Summary of the Invention

[0005] The currently disclosed device actuation system for actuating a processing device addresses the aforementioned needs associated with interconnected processing devices. The device actuation system includes: a gear system coupled to a processing device, the gear system including: a first drive gear rotatably mounted to the processing device; a coupler track slidably mounted to the processing device; a second drive gear rotatably mounted to the coupler track; and a coupler gear rotatably mounted to the processing device and capable of engaging with the coupler track. Furthermore, the device actuation system includes a drive track located between the first and second drive gears of the gear system. The coupler gear is rotatable to move the coupler track, thereby maintaining continuous engagement of the second drive gear with the drive track abutting the first drive gear. The first and second drive gears are rotatable, thereby causing at least one of translation and rotation of the processing device relative to the drive track.

[0006] A processing device support assembly is also disclosed for actuating a plurality of processing devices relative to each other for processing an object surface. The processing device support assembly includes a plurality of device actuation systems, each configured to interconnect an adjacent pair of processing devices. Each device actuation system includes a gear system coupleable to each of the adjacent pair of processing devices. The gear system of each processing device includes: a first drive gear rotatably mounted to the processing device; a coupler rail slidably mounted to the processing device; a second drive gear rotatably mounted to the coupler rail; and a coupler gear rotatably mounted to the processing device and engaging with the coupler rail. The device actuation system also includes a drive rail configured to interconnect an adjacent pair of processing devices and positioned between the first drive gear and the second drive gear of each of the adjacent pair of processing devices. For each of the adjacent pair of processing devices, the coupler gear is rotatable to move the coupler rail, thereby maintaining continuous engagement of the second drive gear with the drive rail abutting the first drive gear. Furthermore, the first drive gear and the second drive gear are rotatable, thereby causing at least one of translation and rotation of the processing device relative to the drive track.

[0007] A method for actuating at least one processing device is also disclosed. The method includes rotating a first drive gear and a second drive gear engaged to opposite sides of a drive track to cause at least one of translation and rotation of the processing device relative to the drive track. The first drive gear is mounted to the processing device, the second drive gear is mounted to a coupler track slidably mounted to the processing device, and the coupler track engages with the coupler gear mounted to the processing device. The method includes rotating the coupler gear to move the coupler track, thereby maintaining continuous engagement of the second drive gear with the drive track.

[0008] The features, functions, and advantages already discussed may be implemented independently in various examples of this disclosure, or may be combined in other embodiments, further details of which can be seen in the following description and the accompanying drawings. Attached Figure Description

[0009] These and other features of this disclosure will become more apparent when reference is made to the accompanying drawings, in which the same reference numerals always denote the same parts, and in the drawings:

[0010] Figure 1 This is a perspective view of an example processing device system, which includes a plurality of processing devices supported by a processing device support assembly having a plurality of device actuation systems for repositioning the processing devices to complement the contours of the fuselage as the processing device system moves along the longitudinal direction of the fuselage during the application of a processing material to the fuselage surface.

[0011] Figure 2 yes Figure 1 The processing unit system and the side view of the fuselage;

[0012] Figure 3 It is along Figure 2 The cross-sectional view taken by line 3-3 shows the upper processing unit support assembly and the lower processing unit support assembly, each of which supports multiple processing units surrounding the fuselage.

[0013] Figure 4 It is by Figure 2 The enlarged view of the surrounding area identified by reference numeral 4 in the attached figure shows multiple processing units interconnected by multiple device actuation systems;

[0014] Figure 5 It is along Figure 4 Line 5 shows a perspective view of the fuselage and processing unit system at the rear, and also shows the processing unit interconnected by multiple device actuation systems.

[0015] Figure 6 This is a perspective view of an example of a lower processing unit support assembly supporting a pair of frame arrays, each frame array including multiple processing units interconnected via multiple device actuation systems.

[0016] Figure 7 It is a perspective view of an example of a processing device array interconnected by multiple device actuation systems, and shows an array in an extended configuration complementary to the contour of an object surface;

[0017] Figure 8 It is a perspective view of an example of a processing device including a device frame supporting multiple device heads, and also shows a gear system coupled to the device frame.

[0018] Figure 9 yes Figure 8 A perspective view of the processing device, showing the first drive gear motor, the second drive gear motor, the coupler track, the coupler gear motor, and the coupler gear of the gear system in dashed lines;

[0019] Figure 10 yes Figure 8 A side view of the processing device;

[0020] Figure 11 It is along Figure 10 The cross-sectional view taken by line 11-11 shows a gear system comprising: a first drive gear driven by a first drive gear motor, a coupler track slidably mounted to the device frame, a second drive gear driven by a second drive gear motor and mounted to the coupler track, and a coupler gear rotatably mounted to the processing device and engaged with the coupler track.

[0021] Figure 12 It is by Figure 8 The attached figure shows an enlarged perspective view of the surrounding area of ​​the gear system, identified by reference numeral 12, and shows the drive track captured between the first drive gear and the second drive gear, and shows the drive track axis oriented perpendicular to the first-second drive gear axis;

[0022] Figure 13 It is along Figure 12 A perspective view of the gear system taken from line 13, showing a second drive gear motor mounted to a coupler rail, which is slidably engaged to the device frame via a coupler rail sliding mechanism.

[0023] Figure 14 yes Figure 12 A perspective view of the device actuation system shows the second drive gear moving away from the first drive gear, and also shows the drive track axis oriented not perpendicular to the first-second drive gear axis;

[0024] Figure 15 It is along Figure 14 A perspective view of the gear system taken from line 15 shows the coupler track and the movement of the second drive gear away from the first drive gear.

[0025] Figure 16 This is a perspective view of an example gear system, wherein the first drive gear and the second drive gear each have a pair of circumferential ridges for keeping the drive track aligned with the first drive gear and the second drive gear.

[0026] Figure 17This is a perspective view of a pair of processing devices interconnected by a device actuation system, showing the processing devices spaced apart from each other in the initial position;

[0027] Figure 18 yes Figure 17 Front view of the processing device;

[0028] Figure 19 It is a perspective view of a processing device in which the first and second drive gears of one of the processing devices rotate synchronously at the same speed and in opposite directions to cause the processing device to translate relative to the drive track and then translate into a processing device that is close to each other.

[0029] Figure 20 yes Figure 19 Front view of the processing device;

[0030] Figure 21 It is a perspective view of the processing device after the first drive gear and the second drive gear of one of the processing devices rotate differentially at different speeds and in the same or opposite directions to at least cause the processing device to rotate relative to the drive track, and after the processing device has rotated relative to each other.

[0031] Figure 22 yes Figure 21 Front view of the processing device;

[0032] Figure 23 It is a perspective view of an example of a processing device having a pair of gear systems, which are respectively coupled to opposite sides of the processing device;

[0033] Figure 24 yes Figure 23 A perspective view of the processing device, showing the first drive gear motor, second drive gear motor, coupler rail, coupler gear motor, and coupler gear of each gear system in dashed lines;

[0034] Figure 25 This is a perspective view of an example of a processing unit system positioned above the nose section of the fuselage;

[0035] Figure 26 It is by Figure 25 An enlarged view of the surrounding area identified by reference numeral 26 in the attached figure, showing the processing device positioned to complement the curvature of the nose section;

[0036] Figure 27 This is a perspective view of an example of a processing unit system located in the tail section of the fuselage;

[0037] Figure 28 It is by Figure 27An enlarged view of the surrounding area identified by reference numeral 28 in the attached figure, and showing a processing device positioned in the region between the vertical tail and the horizontal tail that complements the contour of the tail section;

[0038] Figure 29 This is a flowchart of the method for actuating the processing device. Detailed Implementation

[0039] Referring now to the accompanying drawings, which illustrate various preferred examples of this disclosure, Figures 1 to 3 An example of a processing device system 100 for processing the surface 302 of an object 300 is shown. The processing device system 100 includes an upper processing device support assembly 102 and a lower processing device support assembly 104 for supporting one or more processing devices 126. In the example shown, the object 300 is the fuselage 306 of an aircraft 304 having a vertical tail 314 and a pair of horizontal tails 316. The fuselage 306 is shown supported on the floor 174 of a processing facility 170 using a fuselage support platform 308.

[0040] Each processing device support assembly 102, 104 includes at least one device actuation system 200 for actuating at least one processing device 126. Figures 4 to 6 As described in more detail below, each device actuation system 200 is configured to translate and / or rotate at least one processing device 126. In one example, each device actuation system 200 is configured to position the processing device 126 relative to a changing profile of an object surface 302, on which the processing device 126 moves. Figures 8 to 9 In the example, each processing device 126 includes a device frame 128, and each processing device 126 has one or more device heads 150, which are shown arranged in rows and / or columns and supported by the device frame 128.

[0041] The processing device 126 (e.g., device head 150) is configured to dispense and / or apply a processing material toward and onto the surface of an object 302. The processing material may be a coating, such as a primer, paint, clear coat, or sealant. For example, Figures 1 to 3 The object 300 of the fuselage 306 shown is painted, and the processing device 126 is configured as an inkjet printhead 152. Figure 7For example, a piezoelectric printhead or a thermal printhead), each inkjet printhead is configured to precisely dispense ink onto the surface of the fuselage 306 as the processing device 126 moves along the fuselage 306 for printing an aircraft exterior pattern. In other examples, the processing device 126 may be configured to dispense other types of processed materials or substances, such as solvents, adhesives, lubricants, abrasive particles, or any type of gaseous, liquid, semi-solid, or solid (e.g., particulate) substance. In yet another example, the processing device 126 may be configured to emit radiation (e.g., electromagnetic radiation) to perform any of a variety of operations on the object surface 302.

[0042] Although described in the context of processing the surface of fuselage 306, the processing system 100 can be implemented to process any of various types of objects 300, and is not limited to processing aircraft 304. For example, the processing system 100 can be implemented to process vehicles such as ships and trains, or other ground-based motor vehicles such as trucks and cars. Furthermore, the processing system 100 can be implemented to process stationary objects, including but not limited to buildings, building bodies, walls, and / or any of various other types of structures, systems, subsystems, components, or sub-components.

[0043] exist Figures 1 to 3 As mentioned above, the processing device system 100 includes an upper processing device support assembly 102 and a lower processing device support assembly 104, each having a plurality of device actuation systems 200 for repositioning the processing devices 126 to complement the contour of the object 300 (e.g., the fuselage 306) as the processing device system 100 moves on the object 300 (e.g., along the longitudinal direction of the fuselage 306) during the application of a processing substance to the object surface 302. The device actuation systems 200 interconnect the processing devices 126. Furthermore, the device actuation systems 200 are configured to actuate the processing devices 126 relative to each other. As described in more detail below, each device actuation system 200 is configured to translate and rotate an adjacent pair of processing devices 126 relative to each other, such that each processing device 126 is maintained at a predetermined interval and orientation relative to the local contour of the object surface 302 as the processing devices 126 move on the object 300.

[0044] exist Figures 1 to 3 In the example, the upper processing unit support assembly 102 includes components coupled to the elevated platform 172. Figures 1 to 3The central column 106 of the fuselage 306 is oriented parallel to the longitudinal direction of the elevated platform 172 to allow the upper processing unit support assembly 102 to move the processing unit 126 along the length of the fuselage 306 from the nose section 310 to the tail section 312. A support structure base 108 is shown coupled to the central column 106. On each of the opposite sides of the support structure base 108 is a column pivot 110 that couples an attachment post 112 to the support structure base 108. At the lower end of each attachment post 112 is an arm pivot 116 that couples a pair of attachment arms 114 to the attachment post 112. The ends of the attachment arms 114 are coupled via the arm pivot 116 to opposite sides of the array 120 of the processing units 126, which, as noted above, are interconnected by multiple device actuation systems 200. In the example shown, the upper processing unit support assembly 102 supports two arrays 120 of the processing unit 126 arranged side by side.

[0045] exist Figures 1 to 3 In this configuration, the lower processing unit support assembly 104 is similarly constructed to the upper processing unit support assembly 102. For example, the lower processing unit support assembly 104 includes a central column 106 supported on a recessed platform 178 mounted in a recess 180 that extends longitudinally below the floor 174 parallel to the elevated platform 172. Figures 2 to 3 As shown, a support structure base 108 is mounted on the upper end of a central column 106. A pair of column pivot joints 110 on opposite sides of the support structure base 108 couple a pair of attachment columns 112 to the support structure base 108. The attachment columns 112 extend upward through a pair of floor openings 176. At the upper end of each attachment column 112 is an arm pivot joint 116 that couples a pair of attachment arms 114 to the attachment column 112. The ends of the pair of attachment arms 114 extending from each attachment column 112 are coupled to opposite sides of the array 120 of the processing devices 126. A lower processing device support assembly 104 supports the two arrays 120 of the processing devices 126 arranged side by side.

[0046] refer to Figures 4 to 6 The diagram shows two arrays 120 of processing devices 126 supported by an upper processing device support assembly 102, and two arrays 120 of processing devices 126 supported by a lower processing device support assembly 104. A device actuation system 200 interconnecting the processing devices 126 in each array 120 is also shown. Figures 4 to 5A processing device 126 is shown, positioned and oriented complementary to the local contours of the fuselage 306. For this purpose, attachment posts 112 are rotatable about post pivot joints 110. Furthermore, attachment arms 114 are rotatable about arm pivot joints 116. The pivotability of attachment posts 112 and attachment arms 114 allows an array 120 of processing devices 126 to be positioned complementary to a variety of objects 300 of different sizes and shapes. A device actuation system 200 is configured to translate and rotate the processing devices 126 relative to each other to maintain each processing device 126 at a predetermined distance and orientation relative to the local contours of the object surface 302, on which the processing devices 126 move while dispensing processed items.

[0047] refer to Figure 7 The diagram shows a single array 120 of processing units 126 in a lower processing unit support assembly 104. Arrays 120 are each supported at opposite ends by a pair of attachment arms 114. The lower processing unit support assembly 104 includes multiple device frames 128 for the multiple processing units 126. Each device frame 128 is configured to support one or more device heads 150, which, in the illustrated configuration, are arranged in rows and columns within each device frame 128.

[0048] exist Figure 7 In this configuration, the array 120 of device frames 128 includes a top device frame 130 at the intersection of two rows 136 of device frames. Each row 136 of device frames terminates at an end device frame 132, which is coupled to an attachment arm 114 via a device actuation system 200, which is coupled to an arm pivot joint 116. Furthermore, each row 136 of device frames includes one or more intermediate device frames 134 between the top device frame 130 and the end device frame 132. Although... Figure 7 Each device frame row 136 has three intermediate device frames 134, but the processing device support assembly may be provided with any number of intermediate device frames 134 between the top device frame 130 and the end device frames 132, including a single intermediate device frame 134 between the top device frame 130 and the end device frames 132. Alternatively, the processing device support assembly may have no intermediate device frames 134 and may include only a pair of end device frames 132, each end device frame being coupled to the top device frame 130 via a pair of device actuation systems 200.

[0049] The device actuation system 200 interconnecting the device frames 128 is configured such that the device frames 128 of the processing device 126 are in the expansion configuration 122 and the contraction configuration 124. Figure 28 The processing device 126 can move between and to any structure between them to allow it to be repositioned and reoriented to match the object surface 302. Figure 4The local dimensions and shape (e.g., curvature) of the device frame. In the extended configuration 122, the intermediate device frame 134 and the end device frame 132 in the two device frame rows 136 are respectively larger than those in the contracted configuration 124 (e.g., Figure 28 They are spaced further apart from each other. Furthermore, in extended configuration 122, the device frame rows 136 are not parallel to each other. Figure 7 In the process, the array 120 of the processing device 126 has a V-shaped configuration. However, the processing device 126 can also be arranged in any of a variety of configurations, and is not limited to a V-shaped configuration.

[0050] In semi-contractile or contractile structures 124 ( Figure 28 In the device frame row 136, at least one pair of device frames 128 are closely adjacent to each other. In an example not shown, the device frame row 136 in the contraction configuration 124 may be substantially parallel to each other. In the contraction configuration 124, at least one pair of processing devices 126 are positioned side-by-side closely adjacent to each other, similar to what is described below. Figure 28 The arrangement shown.

[0051] refer to Figures 7 to 8 Each device actuation system 200 that interconnects the device frames 128 includes at least one gear system 202. Figures 8 to 11 ) and drive track 230 ( Figures 12 to 15 In this respect, at least one gear system 202 is coupled to each device frame 128. Figure 7 In the example, each of these end device frames 132 has a gear system 202 mounted to an opposite side 154 of the end device frame 132. Similarly, each intermediate device frame 134 has a gear system 202 mounted to an opposite side 154 of the intermediate device frame 134. The top device frame 130 has a pair of gear systems 202 mounted to the same side 154, and no gear system 202 on the opposite side 154 of the top device frame 130.

[0052] exist Figure 7In this configuration, each end unit frame 132 is coupled to the arm pivot joint 116 via a drive rail 230 extending from a gear system 202 mounted on one side 154 of the end unit frame 132. The gear systems 202 on opposite sides 154 of each end unit frame 132 are coupled via drive rails 230 to the gear systems 202 of the intermediate unit frame 134. Similarly, each gear system 202 on opposite sides 154 of each intermediate unit frame 134 is coupled via drive rails 230 to the gear system 202 of the adjacent intermediate unit frame 134. In this respect, the gear systems 202 of adjacent pairs of processing units 126 are respectively mounted to generally facing sides 154, thereby allowing adjacent pairs of processing units 126 to interconnect via drive rails 230 and allowing the processing units 126 to translate and rotate relative to each other such that at least a portion of the sides 154 of adjacent pairs of processing units 126 directly face each other.

[0053] because Figure 7 The arrangement of the processing device 126 in the array 120, when the device processing system ( Figure 1 ) along the object 300 ( Figures 1 to 3 When the array 120 of processing devices moves in the longitudinal direction, the processing strips (not shown) distributed to the surface of the object by each processing device 126 can at least partially overlap with the processing strips (not shown) distributed by the adjacent processing device 126, thereby avoiding longitudinal gaps (not shown) between adjacent processing strips that would otherwise occur if the array 120 of processing devices 126 were arranged in a non-overlapping manner. In the fuselage 306 (e.g., Figures 1 to 3 In the context of printing an aircraft exterior pattern on a device, where the processing unit 126 is an inkjet printhead 152, when the processing unit system 100 moves the array of inkjet printheads 152 along the length of the fuselage 306, Figure 7 The arrangement shown allows the image strips (not shown) printed on the fuselage surface by each inkjet printhead 152 to be aligned with the image strips printed by adjacent inkjet printheads 152 in a non-gap and / or non-overlapping relationship. By printing adjacent image strips in a non-gap and / or non-overlapping relationship with each other, the aesthetic quality of the aircraft exterior pattern is improved compared to the quality of the aircraft exterior pattern applied using the conventional method described above.

[0054] Still referencing Figure 7 The processing device system 100 includes a controller 182 ( Figure 2The controller 182 controls the pivoting of the attachment post 112 about the post pivot joint 110 and the attachment arm 114 about the arm pivot joint 116, to allow the array 120 of processing devices 126 to adapt to objects 300 of different sizes and shapes. Furthermore, the controller 182 controls the device actuation system 200 that interconnects the processing devices 126 to adjust the position and orientation of the processing devices 126 relative to each other, thereby adapting to the shape of the objects.

[0055] The upper processing device support assembly 102 and the lower processing device support assembly 104 may include one or more sensors 184 mounted to one or more of the device frame 128. The sensors 184 may be provided as imaging devices (e.g., cameras), laser scanners, or other measuring devices configured to sense the surface 302 of an object. Each sensor 184 is configured to respond when the processing device 126 is on the object 300 (… Figures 1 to 3 The morphology of the object surface 302 is continuously scanned while moving on the surface. Figures 1 to 3 The processing device 126 continuously generates surface data representing the local contour of the object surface 302. For example, in addition to sensing the orientation of the processing device 126 relative to the local contour of the object surface 302, one or more sensors 184 on each processing device 126 continuously sense the distance between the dispensing side 158 of each processing device 126 and the object surface 302. For example, the sensors 184 of each processing device 126 continuously sense the orientation of the nominal dispensing direction 160 of the processing device 126 relative to the local contour of the object surface 302. The nominal dispensing direction 160 of the processing device 126 can be described as the direction along which the processed item is dispensed from the dispensing side 158 of the processing device 126. For an example of a processing device 126 in which the orientation (e.g., pitch or yaw) of an individual device head 150 is adjustable (not shown), the dispensing direction 160 is the direction along which the processed item is dispensed prior to any such pitch and / or yaw adjustment of the device head 150.

[0056] Sensor 184 of processing device 126 Figure 8 ) continuously transmit surface data to controller 182 ( Figure 2 The controller 182 processes the surface data provided by the sensor 184 and controls the device actuation system 200. Figure 7 ), to continuously adjust the processing device 126 ( Figure 7 The position of the distribution side 158 of the processing device 126 is adjusted accordingly. Figure 8 ) or the distribution surface is kept at 302 ( ) with the object surface Figures 1 to 3Within a tolerance band (e.g., ±0.010 inches) of a predetermined distance (e.g., up to 0.20 inches). Furthermore, the controller 182 controls the device actuation system 200 to continuously adjust the orientation of the processing units 126 in a manner that assigns the nominal orientation 160 of each processing unit 126 to... Figure 8 The processing device 126 is kept within a predetermined tolerance zone (e.g., ±5 degrees) relative to the desired orientation (e.g., locally orthogonal or perpendicular) of the object surface 302. In this regard, the controller 182 controls the operation of each gear system 202 in a manner that adjusts the position and orientation of the processing device 126 relative to the object surface 302 as needed, so as to keep the processing device 126 complementary to the object surface 302 while moving on the object 300 and dispensing the processed material toward the object surface 302.

[0057] refer to Figures 8 to 15 An example of a processing device 126 is shown. As mentioned above, each processing device 126 has a device frame 128 with a dispensing direction 160 along which the processing device 126 dispenses processed material from a dispensing side 158. In the example shown, the processing device 126 has a right-angled shape, and the side 154 of the device frame 128 is parallel to the dispensing direction 160. However, the processing device 126 may be provided with a non-right-angled shape, and / or the side 154 may not be parallel to the dispensing side 158 of the processing device 126. The device frame 128 is configured to support a plurality of device heads 150. In one example, each device head 150 may be provided as an inkjet printhead 152 configured to dispense ink (i.e., processed material) along the dispensing direction 160. Each device frame 128 is configured to support one or more rows and / or one or more columns of inkjet printheads 152. However, the device heads 150 may be provided in alternative configurations and are not limited to the inkjet printheads 152 mentioned above.

[0058] To illustrate the layout and operation of the device's actuation system Figures 8 to 11 A simplified version of the processing device 126 with a single gear system 202 is shown. However, as... Figure 7 As shown, each processing device 126 in array 120 may have two gear systems 202, including one gear system 202 on one side 154 of device frame 128 and another gear system 202 on the opposite side 154 of device frame 128. Alternatively, as Figure 7 As shown, the top device frame 130 in array 120 has two gear systems 202 located on the same side 154.

[0059] exist Figures 8 to 15In the device actuation system 200, the gear system 202 includes: a first drive gear 204, a coupler track 224, a second drive gear 208, and a coupler gear 214. In the controller 182 ( Figure 2 Under the control of [unclear], the first drive gear 204, the second drive gear 208, and the coupler gear 214 are independently and rotatably driven by the first drive gear motor 206, the second drive gear motor 210, and the coupler gear motor 216, respectively. In the example shown, the first drive gear motor 206, the second drive gear motor 210, and the coupler gear motor 216 are electric servo motors.

[0060] The first drive gear 204 is rotatably mounted to the processing device 126. More specifically, the first drive gear motor 206 is mounted inside the device frame 128 to the side 154 of the device frame 128. The first drive gear motor 206 includes a shaft (not shown) that extends through a hole (not shown) in the side 154 to the outside of the device frame 128. The first drive gear 204 is mounted on the shaft of the first drive gear motor 206.

[0061] The coupler track 224 is slidably mounted to the device frame 128 of the processing unit 126. Figures 12 to 15 In the example shown, the coupler track 224 is slidably mounted to the side 154 inside the device frame 128 via a coupler track sliding mechanism 238. In the illustrated example, the coupler track sliding mechanism 238 includes a sliding channel formed in the coupler track 224, and this sliding channel slides along a sliding track located on the side 154 of the device frame 128. However, the coupler track sliding mechanism 238 may be configured to allow any of a variety of alternative configurations that allow sliding movement of the coupler track 224 relative to the device frame 128.

[0062] Coupler gear 214 is rotatably mounted to processing device 126. More specifically, coupler gear motor 216 is mounted inside device frame 128. Coupler gear motor 216 can be supported by brackets (not shown) mounted to the side 154 of device frame 128. Coupler gear motor 216 includes a shaft (not shown) on which coupler gear 214 is mounted. Coupler gear 214 has gear teeth 228 that are in continuous meshing engagement with track teeth 226 of coupler track 224.

[0063] The second drive gear 208 is rotatably mounted to the coupler rail 224. More specifically, the second drive gear motor 210 is mounted to the coupler rail 224. The second drive gear motor 210 includes a shaft (not shown) that passes through a hole (not shown) in the coupler rail 224 and extends through a frame slot 156 in the side 154 to the outside of the device frame 128. The second drive gear 208 is mounted on the shaft of the second drive gear motor 210.

[0064] like Figures 12 to 15 As shown, the drive track 230 is located between the first drive gear 204 and the second drive gear 208 of the processing device 126. The first drive gear 204 and the second drive gear 208 have gear teeth 228 configured to engage or mesh with the track teeth 226 of the drive track 230. Figure 7 In this configuration, multiple drive rails 230 interconnect adjacent pairs of processing devices 126. Each drive rail 230 is positioned between a first drive gear 204 and a second drive gear 208 in each adjacent pair of processing devices 126. For each processing device 126, a coupler gear 214 rotates to move a coupler rail 224, causing the second drive gear 208 to move toward or away from the first drive gear 204, thereby maintaining continuous engagement between the second drive gear 208 and the drive rail 230 abutting against the first drive gear 204.

[0065] refer to Figure 16 The diagram illustrates a first drive gear 204 and a second drive gear 208 in an alternative example of the gear system 202. A drive track 230 has opposing track sides 232 defining a track width. Each of the first drive gear 204 and the second drive gear 208 has a pair of gear sides 218. Each gear side 218 of the first drive gear 204 and the second drive gear 208 has a circumferential ridge 220 spaced apart by a distance approximately equal to (i.e., but not less than) the track width. The circumferential ridge 220 is dimensioned to extend over the track side 232, thereby maintaining the alignment of the drive track 230 with the first drive gear 204 and the second drive gear 208. In this respect, the circumferential ridge 220 prevents the drive track 230 from laterally shifting out of alignment with the first drive gear 204 and the second drive gear 208. The circumferential ridge 220 can be integrated into the first drive gear 204 and the second drive gear 208, or each circumferential ridge 220 can be part of a disc-shaped member (not shown) mounted against the gear side 218 of the first drive gear 204 and the second drive gear 208.

[0066] In the example shown, the drive track 230 is straight. However, in other examples not shown, the drive track 230 may be slightly curved. Similarly, the coupler track 224 may be provided in a slightly curved arrangement as an alternative to the straight shape shown in the figures. In the example shown, the first drive gear 204, coupler track 224, coupler gear 214, and second drive gear 208 have the same outer diameter. However, in other examples, the first drive gear 204, coupler track 224, and coupler gear 214 may have different outer diameters.

[0067] exist Figures 7 to 15 In the example, the first drive gear 204, the second drive gear 208, and the drive rail 230 are external to the device frame 128. The coupler rail 224 and the coupler gear 214 are internal to the device frame 128 and do not protrude from the side 154 of the device frame 128. Advantageously, mounting the coupler rail 224 and the coupler gear 214 internally to the processing device 126 provides a compact form factor, thereby allowing the array 120 of the processing devices 126 to be packed closely together.

[0068] exist Figure 11 and Figure 14 In this example, the drive track 230 defines a rotation plane 236 during actuation (e.g., rotation) of the processing device 126. In the illustrated example, the rotation plane 236 is parallel to the dispensing direction 160. Figure 8 The coupler gear 214 and coupler track 224 are located inside the device frame 128 and therefore outside the rotation plane 236. This advantageously increases the rotation angle range of the processing device 126 compared to the reduced rotation angle range in an arrangement (not shown) where the coupler gear 214 and coupler track 224 protrude into the rotation plane 236. However, in other examples not shown, the coupler track 224 and coupler gear 214 may be outside the device frame 128, and / or the coupler track 224 and coupler gear 214 may protrude through the rotation plane 236.

[0069] like Figures 8 to 11 As shown in the example, the gear system 202 can be coupled to the side 154 of the device frame 128 such that the coupler track 224 is substantially parallel to the distribution direction 160 of the processing device 126. Figure 8 And perpendicular to the distribution side 158 of the processing device 126. Figure 8 However, in other examples, the gear system 202 may be configured such that the coupler track 224 is not parallel to the distribution direction 160 of the processing device 126.

[0070] like Figure 11As shown, the first drive gear 204, the second drive gear 208, and the coupler gear 214 have rotation axes 222 that are parallel to each other and oriented in the same direction. However, in another example (not shown), the track teeth 226 of the coupler track 224 may be located on the side of the coupler track 224 opposite to the side 154 of the device frame 128, and the rotation axis 222 of the coupler gear 214 may be oriented perpendicular to the rotation axes 222 of the first drive gear 204 and the second drive gear 208, so that the gear teeth 228 of the coupler gear 214 can engage with the track teeth 226 of the coupler track 224. Figure 9 A reference coordinate system 186 with x-axis, y-axis, and z-axis is shown. The device actuation system 200 is configured to translate and rotate the processing device 126 along a direction parallel to the xz plane of the reference coordinate system 186.

[0071] refer to Figure 12 and Figure 14 The drive track 230 has a drive track axis 234 extending along the longitudinal direction of the drive track 230. As mentioned above, the first drive gear 204 and the second drive gear 208 each have a rotation axis 222. Figure 11 ).like Figure 12 As shown, the gear system 202 includes a first-second drive gear axis 212 that passes through the rotation axis 222 of the first drive gear 204 and the rotation axis 222 of the second drive gear 208. In the example shown, the gear system 202 is coupled to the processing device 126 such that when the drive track axis 234 is perpendicular to the distribution direction 160 of the processing device 126... Figure 8 When the first-second drive gear axis 212 is parallel to the distribution direction 160°, the first-second drive gear axis is parallel to the distribution direction 160°. Figure 8 In the middle, when the distribution direction 160 is vertically upward, the first drive gear 204 and the second drive gear 208 are vertically aligned.

[0072] During operation of each device actuation system 200, the coupler gear motor 216 is operated by the controller 182 to rotate the coupler gear 214 for moving the coupler track 224, thereby maintaining continuous engagement of the second drive gear 208 with the drive track 230 abutting against the first drive gear 204. The first drive gear motor 206 and the second drive gear motor 210 are respectively operated by the controller 182 to rotate the first drive gear 204 and the second drive gear 208 to cause translation and / or rotation of the processing device 126 relative to the drive track 230. In this respect, the first drive gear motor 206 and the second drive gear motor 210 are operated to position and orient the processing device 126 to be complementary to the contour of the object surface 302. During the rotation of the processing device 126 relative to the drive track 230, the coupler gear 214 rotates to maintain continuous engagement between the gear teeth 228 of the second drive gear 208 and the track teeth 226 on one side of the drive track 230, while the track teeth 226 on the opposite side of the drive track 230 continuously engage with the gear teeth 228 of the first drive gear 204. The controller 182 coordinates the timing and direction of rotation of the first drive gear motor 206, the second drive gear motor 210, and the coupler gear motor 216 to adjust the position and orientation of the processing device 126 relative to the object surface 302.

[0073] refer to Figures 17 to 22 An example of a pair of processing devices 126 (i.e., a left-hand processing device and a right-hand processing device) is shown. In any of the examples disclosed herein, actuation of the processing device 126 is performed by rotating a first drive gear 204 and a second drive gear 208 of the processing device 126 according to one of two rotation modes. Figures 17 to 18 This shows the translation of the left-hand processing unit relative to the right-hand processing unit. Figures 19 to 20 Before, and the left-hand processing unit rotates relative to the right-hand processing unit. Figures 21 to 22 Before that, the left-hand processing device and the right-hand processing device are in the starting position.

[0074] Figures 19 to 20 The following operating mode is illustrated, in which the first drive gear 204 and the second drive gear 208 of the left-hand processing device rotate synchronously at the same speed and in opposite directions, thereby causing translation of the left-hand processing device relative to the drive track 230. The synchronous rotation of the first drive gear 204 and the second drive gear 208 at the same speed and in opposite directions causes the left-hand processing device to translate back and forth along the longitudinal direction of the drive track 230. For a pure translation of the left-hand processing device without rotation, the first drive gear 204 and the second drive gear 208 rotate in opposite directions at the same speed.

[0075] Figures 21 to 22The following operating mode is illustrated, in which the first drive gear 204 and the second drive gear 208 of the left-hand processing device rotate differentially at different speeds and in the same or opposite directions to at least cause rotation of the left-hand processing device relative to the drive track 230. The first drive gear 204 and the second drive gear 208 can rotate differentially at different speeds to cause a combination of rotation and translation of the processing device 126 relative to the drive track 230. In another example, rotation of the left-hand processing device can be achieved by rotating either the first drive gear 204 or the second drive gear 208, while the other one of the first drive gear 204 and the second drive gear 208 is either not rotated or stationary.

[0076] refer to Figures 23 to 24 An example of a processing device 126 having two gear systems 202 mounted on a common side 154 of a device frame 128 is shown. Figures 23 to 24 The device frame 128 in the middle is Figure 7 The top device frame 130 in the array 120 shown. Figures 23 to 24 In each gear system 202, the first drive gear 204 and the second drive gear 208 are configured to receive a drive track 230, which is independent of the drive track 230 received in the first drive gear 204 and the second drive gear 208 of another gear system 202. For example... Figure 7 As shown, the drive track 230 of each gear system 202 is configured to interconnect with the gear system 202 of the adjacent processing device 126.

[0077] refer to Figures 25 to 26 This shows the section 310 of the fuselage 306 positioned above the nose section. Figure 1 An example of a processing device system 100 is shown, and processing devices 126 are positioned and oriented complementary to the compound curvature of the nose section 310. In the example shown, processing devices 126 are formed in an array 120 of the aforementioned extended configuration 122 (e.g., a V-shaped configuration). The device actuation system 200, which interconnects the processing devices 126, has moved the top device frame 130 and the intermediate device frame 134 along the distribution direction 160 of the respective processing devices 126, such that the distribution surface of each processing device 126 is close to the surface of the nose section 310. Furthermore, the device actuation system 200 has oriented the processing devices 126 such that the distribution direction 160 of each processing device 126 ( Figure 8 The surface of the head section 310 is partially perpendicular or orthogonal to facilitate the printing of the appearance pattern on the head section 310 of the body 306.

[0078] refer to Figures 27 to 28 This shows the tail section 312 located on fuselage 306. Figure 1An example of a processing unit system 100. On the underside of the fuselage 306, each of the two arrays 120 of the processing unit 126 has been repositioned and reoriented to resemble... Figures 25 to 26 The arrangement shown is as follows. On the upper side of the fuselage 306 at the tail section 312, each of the two arrays 120 of the processing device 126 on the opposite sides of the vertical tail 314 is in a semi-retracted configuration to allow each array 120 of the processing device 126 to be fitted between the vertical tail 314 and one of the horizontal tails 316, thereby facilitating the printing of the appearance pattern on the tail section 312 of the fuselage 306.

[0079] As will be understood, components of the processing device system 100 (including attachment posts 112, attachment arms 114, and device actuation system 200) may be operated to position one or more arrays 120 of the processing device 126 against areas of the aircraft 304 other than the fuselage 306. For example, the processing device system 100 may be operated to position the arrays 120 of the processing device 126 on each opposite side of the vertical tail 314 for exterior pattern printing, and / or on other areas of the aircraft 304.

[0080] Advantageously, the device actuation system 200 facilitates a combined translational and rotational movement of the processing device 126 while occupying a relatively small amount of space. The relatively small amount of space occupied by the device actuation system 200 allows multiple processing devices 126 to be integrated within the array 120, enabling the automated processing (e.g., exterior pattern painting) of large objects 300 (e.g., commercial aircraft 304) in a precise manner and with a significantly reduced time compared to conventional methods.

[0081] refer to Figure 29 A method 400 for actuating one or more processing devices 126 is shown. As noted above, each processing device 126 is configured to dispense a processed object onto an object surface 302. Method 400 includes supporting one or more device heads 150 by at least one of a plurality of device frames 128 respectively associated with the plurality of processing devices 126, such as... Figures 7 to 8 As shown. As described above, each device frame 128 has at least one gear system 202 coupled to the device frame 128, and each gear system 202 has a first drive gear 204, a second drive gear 208, a coupler gear 214, and a coupler track 224. Figure 7 In the example, the end device frame 132 and the intermediate device frame 134 each have a gear system 202 mounted to each of the opposing sides 154 of the device frame 128.

[0082] Step 402 of method 400 includes rotating a first drive gear 204 and a second drive gear 208 engaged with opposite sides of the drive track 230, thereby causing translation and / or rotation of the processing device 126 relative to the drive track 230. Figures 8 to 15 As shown and described above, the first drive gear 204 is mounted to the processing device 126, and the second drive gear 208 is mounted to the coupler track 224. The coupler track 224 is slidably mounted to the processing device 126. As described above, the coupler track 224 engages with the coupler gear 214, which is mounted to the processing device 126.

[0083] Step 402, which rotates the first drive gear 204 and the second drive gear 208, includes: independently rotating the first drive gear 204 and the second drive gear 208 via the first drive gear motor 206 and the second drive gear motor 210, respectively, under the control of the controller 182. Furthermore, the method includes: independently rotating the coupler gear 214 via the coupler gear motor 216, which is also controlled by the controller 182. As mentioned above and as... Figures 8 to 15 As shown, the first drive gear motor 206 and the coupler gear motor 216 are mounted to the device frame 128, and the second drive gear motor 210 is mounted to the coupler track 224.

[0084] Step 402, which rotates the first drive gear 204 and the second drive gear 208 of the processing device 126, further includes rotating the first drive gear 204 and the second drive gear 208 according to one of two rotation modes. One rotation mode includes rotating the first drive gear 204 and the second drive gear 208 synchronously at the same speed and in opposite directions to cause translation of the processing device 126 relative to the drive track 230. In this respect, during the synchronous rotation of the first drive gear 204 and the second drive gear 208, the processing device 126 translates back and forth along the longitudinal direction of the drive track 230. The other rotation mode includes rotating the first drive gear 204 and the second drive gear 208 differentially at different speeds and in the same or opposite directions to at least cause rotation of the processing device 126 relative to the drive track 230. As mentioned above, in some examples, the process of differentially rotating the first drive gear 204 and the second drive gear 208 of the processing device 126 includes rotating the first drive gear 204 and the second drive gear 208 at different speeds to cause a combination of rotation and translation of the processing device 126 relative to the drive track 230. In yet another example, differentially rotating the first drive gear 204 and the second drive gear 208 includes rotating either the first drive gear 204 or the second drive gear 208 while the other first drive gear 204 or the second drive gear 208 remains stationary.

[0085] Step 404 of method 400 includes rotating coupler gear 214 to move coupler track 224 to maintain continuous engagement of the second drive gear 208 with drive track 230. As mentioned above, drive track 230 is captured between the first drive gear 204 and the second drive gear 208. Differential rotation of the first drive gear 204 and the second drive gear 208 causes rotation of processing device 126 relative to drive track 230. Figures 12 to 15 As shown and described above, the rotation of the processing device 126 relative to the drive rail 230 requires continuous adjustment of the distance between the second drive gear 208 and the first drive gear 204 to maintain continuous engagement between the second drive gear 208 (and the first drive gear 204) and the drive rail 230. The force applied by the second drive gear 208 against the drive rail 230 maintains continuous engagement between the track teeth 226 on the opposite side of the drive rail 230 and the gear teeth 228 of the first drive gear 204.

[0086] Brief Reference Figure 16 In an example of a gear system 202, method 400 includes maintaining a drive track 230 aligned with the first drive gear 204 and the second drive gear 208 via a pair of circumferential ridges 220 on a pair of gear sides 218 of the first drive gear 204 and the second drive gear 208, respectively. As mentioned above, the circumferential ridges 220 on each gear side 218 of the first drive gear 204 and the second drive gear 208 extend on the track side 232, which prevents the drive track 230 from moving out of alignment with the first drive gear 204 and the second drive gear 208.

[0087] Brief Reference Figure 7 The operation of the processing device system 100 includes operating a plurality of device actuation systems 200 as a means of positioning and orienting a plurality of processing devices 126. In this regard, step 402 of rotating the first drive gear 204 and the second drive gear 208 includes rotating the first drive gear 204 and the second drive gear 208 of at least one of a pair of adjacent processing devices 126 interconnected by drive rails 230, thereby causing the pair of processing devices 126 to translate and / or rotate relative to each other. The processing devices 126 are actuated relative to each other so that each processing device 126 maintains a predetermined interval and orientation relative to the object surface 302 while the processing devices 126 move on the object 300.

[0088] Continue to refer to Figure 7For example, method 400 includes supporting a plurality of device frames 128 as an array 120, wherein each pair of adjacent device frames 128 is interconnected by a drive rail 230 located between a first drive gear 204 and a second drive gear 208 of the device frames 128. For this arrangement, the method includes rotating the first drive gear 204, the second drive gear 208, and the coupler gear 214 of the plurality of device frames respectively, such that the array 120 moves between an extended configuration 122 and a contracted configuration 124, and any configurations in between, to facilitate conforming the processing device 126 to the local geometry of the object surface 302.

[0089] exist Figures 1 to 5 In one example, method 400 includes supporting at least one array 120 of processing devices 126 by processing device support assemblies 102, 104 having a pair of attachment posts 112, each attachment post being pivotally coupled to a pair of attachment arms 114. Opposite ends of each attachment arm 114 are respectively coupled to opposite ends of the array 120 of processing devices 126. In the example shown, processing device system 100 includes an upper processing device support assembly 102 and a lower processing device support assembly 104, each having an array 120 of processing devices 126 arranged side-by-side, as described above. For this arrangement, the method includes: when the upper processing device support assembly 102 and the lower processing device support assembly 104 are moved along the longitudinal direction of the object 300 (e.g., fuselage 306) respectively, the attachment arm 114 is pivoted relative to each other and coordinated with the operation of the device actuation system 200 to move each array 120 of the processing devices 126 between the extended configuration 122 and the retracted configuration 124, thereby positioning and orienting each processing device 126 to be complementary to the local contour of the object surface 302.

[0090] Method 400 further includes dispensing processed material from one or more device heads 150 of the processing device 126. Dispensing processed material can be performed from the device heads 150 while the processing device 126 is moving on the object 300. Furthermore, while the processing device 126 is moving on the object 300, dispensing processed material can be performed from the device heads 150 while the device actuation system 200 continuously adjusts the position and orientation of the processing device 126 relative to the object surface 302. Dispensing processed material can also be performed from the device heads 150 when the processing device 126 is stationary relative to the object surface 302.

[0091] Dispensing a processed item from the device head 150 may include dispensing a processed item from the device head 150 configured as an inkjet printhead 152. For example, dispensing the processed item may include dispensing ink from the inkjet printhead 152. Ink may be provided in a variety of compositions, including but not limited to primers, coatings, clear coats, sealants, or any of a variety of other substances that can be dispensed from the inkjet printhead 152. In one example, the inkjet printhead 152 may dispense ink for printing an aircraft exterior pattern onto the fuselage 306, such as... Figures 1 to 5 as well as Figures 25 to 28 As shown in the example. However, as noted above, dispensing the processed material from the processing device 126 may include dispensing any of a variety of other types of gaseous, liquid, semi-solid, or solid substances, such as solvents, adhesives, lubricants, abrasive particles, etc. Furthermore, dispensing the processed material from the processing device 126 may include emitting radiation from the processing device 126 to perform any of a variety of functions, such as curing an object 300 formed from a composite material (e.g., graphite-epoxy resin).

[0092] Furthermore, this disclosure includes examples pursuant to the following terms:

[0093] Clause 1. A device actuation system (200) for actuating a processing device (126), comprising: a gear system (202) coupled to the processing device (126), the gear system comprising: a first drive gear (204) rotatably mounted to the processing device (126); a coupler rail (224) slidably mounted to the processing device (126); a second drive gear (208) rotatably mounted to the coupler rail (224); and a coupler gear (214) rotatably mounted to the processing device (126) and coupled to the coupler rail (208). 24) Engagement; drive track (230) may be positioned between a first drive gear (204) and a second drive gear (208) of the gear system (202); coupler gear (214) may be rotated to move coupler track (224) to maintain continuous engagement of the second drive gear (208) with drive track (230) abutting the first drive gear (204); and the first drive gear (204) and the second drive gear (208) may be rotated to cause at least one of translation and rotation of the processing device (126) relative to drive track (230).

[0094] Clause 2. The device actuation system (200) according to Clause 1, wherein the first drive gear (204) and the second drive gear (208) can rotate according to one of two rotation modes, the two rotation modes including: the first drive gear (204) and the second drive gear (208) can rotate synchronously at the same speed and in opposite directions to cause translation of the processing device (126) relative to the drive track (230); the first drive gear (204) and the second drive gear (208) can rotate differentially at different speeds and in the same or opposite directions to at least cause rotation of the processing device (126) relative to the drive track (230).

[0095] Clause 3. The device actuation system (200) according to Clause 2, wherein: the first drive gear (204) and the second drive gear (208) can rotate differentially at different speeds to cause a combination of rotation and translation of the processing device (126) relative to the drive track (230).

[0096] Clause 4. The device actuation system (200) according to Clause 2, wherein during the differential rotation of the first drive gear (204) and the second drive gear (208): one of the first drive gear (204) and the second drive gear (208) rotates; and the other one of the first drive gear (204) and the second drive gear (208) does not rotate.

[0097] Clause 5. The device actuation system (200) according to Clause 1, wherein: the first drive gear (204), the second drive gear (208) and the coupler gear (214) are independently rotatably driven by the first drive gear motor (206), the second drive gear motor (210) and the coupler gear motor (216) respectively under the control of the controller (182).

[0098] Clause 6. The device actuation system (200) according to Clause 1, wherein: the drive rail (230) defines a plane of rotation (236) during actuation of the processing device (126); and the coupler gear (214) and the coupler rail (224) may be mounted to the processing device (126) outside the plane of rotation (236) to thereby increase the range of rotation angles of the processing device (126).

[0099] Clause 7. The device actuation system (200) according to Clause 1, wherein: the processing device (126) has a dispensing direction (160) and a side (154) from which the processing device (126) dispenses the processed item, the side being not parallel to the dispensing direction (160); and a gear system (202) is coupled to the side (154).

[0100] Clause 8. The device actuation system (200) pursuant to Clause 7, wherein: the coupler track (224) and the coupler gear (214) are configured not to protrude from the side (154).

[0101] Clause 9. The device actuation system (200) according to Clause 7, wherein: the gear system (202) is coupled to the side (154) such that the coupler track (224) travels generally in the distribution direction (160).

[0102] Clause 10. The device actuation system (200) according to Clause 7, wherein: the drive track (230) has a drive track axis (234) extending along the longitudinal direction of the drive track (230); and the gear system (202) is coupled to the side (154) such that when the drive track axis (234) is perpendicular to the distribution direction (160), the first-second drive gear axis (212) passing through the rotation axis (222) of the first drive gear (204) and the rotation axis (222) of the second drive gear (208) is parallel to the distribution direction (160).

[0103] Clause 11. The device actuation system (200) according to Clause 1, wherein: the drive track (230) has a track width; the first drive gear (204) and the second drive gear (208) each have a pair of gear sides (218); and the pair of gear sides (218) each have a pair of circumferential ridges (220) spaced apart at a distance approximately equal to the track width, thereby keeping the drive track (230) aligned with the first drive gear (204) and the second drive gear (208).

[0104] Clause 12. The device actuation system (200) pursuant to Clause 1, wherein: the processing device (126) is an inkjet printhead (152).

[0105] Clause 13. A processing device support assembly (102, 104) for actuating a plurality of processing devices (126) relative to each other for processing an object surface (302) of an object (300), the processing device support assembly comprising: a plurality of device actuation systems (200), each device actuation system configured to interconnect an adjacent pair of processing devices (126), each device actuation system (200) comprising: a gear system (202) couplingable to each of the adjacent pair of processing devices (126), the gear system (202) of each processing device (126) comprising: a first drive gear (204) rotatably mounted to the processing device (126); a coupler rail (224) slidably mounted to the processing device (126); a second drive gear (208) rotatably mounted to the coupler rail (224); and a coupler. A gear (214) is rotatably mounted to a processing device (126) and can engage with a coupler track (224); a drive track (230) is configured to interconnect an adjacent pair of processing devices (126) and can be located between a first drive gear (204) and a second drive gear (208) of each of the adjacent pair of processing devices (126); wherein, for each of the adjacent pair of processing devices (126): the coupler gear (214) is rotatable to move the coupler track (224) to maintain continuous engagement of the second drive gear (208) with the drive track (230) abutting the first drive gear (204); and the first drive gear (204) and the second drive gear (208) are rotatable to cause at least one of translation and rotation of the processing device (126) relative to the drive track (230).

[0106] Clause 14. The processing device support assembly (102, 104) according to Clause 13, wherein the first drive gear (204) and the second drive gear (208) are rotatable according to one of two rotation modes, the two rotation modes including: the first drive gear (204) and the second drive gear (208) can rotate synchronously at the same speed and in opposite directions to cause translation of the processing device (126) relative to the drive track (230); and the first drive gear (204) and the second drive gear (208) can rotate differentially at different speeds and in the same or opposite directions to at least cause rotation of the processing device (126) relative to the drive track (230).

[0107] Clause 15. The processing device support assembly (102, 104) according to Clause 14, wherein: the first drive gear (204) and the second drive gear (208) can rotate differentially at different speeds to cause a combination of rotation and translation of the processing device (126) relative to the drive track (230).

[0108] Clause 16. The processing device support assembly (102, 104) according to Clause 14, wherein during the differential rotation of the first drive gear (204) and the second drive gear (208): one of the first drive gear (204) and the second drive gear (208) rotates; and the other one of the first drive gear (204) and the second drive gear (208) does not rotate.

[0109] Clause 17. The processing device support assembly (102, 104) pursuant to Clause 13 further includes: a plurality of device frames (128) respectively associated with a plurality of processing devices (126), each device frame (128) being configured to support one or more device heads (150), and each device frame (128) having at least one gear system (202) coupled to the device frame (128).

[0110] Clause 18. The processing device support assembly (102, 104) according to Clause 17, wherein: the device frame (128) of each processing device (126) has a dispensing direction (160) and a side (154) from which the processing device (126) dispenses processed matter, the side not being parallel to the dispensing direction (160); and the gear system (202) of an adjacent pair of processing devices (126) is respectively coupled to the side (154) which are generally facing each other.

[0111] Clause 19. The processing device support assembly (102, 104) according to Clause 17, wherein: a plurality of device actuation systems (200) interconnect a plurality of device frames (128) in an arrangement forming an array (120), the array being movable between an extended configuration (122) and a retracted configuration to thereby allow adjustment of the position and orientation of the processing devices (126) of the array (120) to match the contour of an object surface (302); the extended configuration (122) includes a top device frame (130) and two rows (136) of device frames oriented non-parallel to each other, each device The frame row (136) terminates at the end device frame (132) and has one or more intermediate device frames (134) between the top device frame (130) and the end device frame (132); in the contracted configuration, the device frames (128) in the opposing device frame rows (136) are close to each other; and in the extended configuration (122), one or more intermediate device frames (134) and the end device frame (132) in the two device frame rows (136) are spaced further apart from each other than when the multiple device frames (128) are in the contracted configuration.

[0112] Clause 20. Processing device support assembly (102, 104) pursuant to Clause 17, wherein: each device frame (128) is configured to support a plurality of device heads (150), each device head being configured as an inkjet printhead (152).

[0113] Clause 21. A method of actuating at least one processing device (126) comprising: rotating a first drive gear (204) and a second drive gear (208) engaged to opposite sides of a drive rail (230) to cause at least one of translation and rotation of the processing device (126) relative to the drive rail (230), the first drive gear (204) being mounted to the processing device (126), the second drive gear (208) being mounted to a coupler rail (224) slidably mounted to the processing device (126), the coupler rail (224) being engaged to a coupler gear (214) mounted to the processing device (126); and rotating the coupler gear (214) to move the coupler rail (224) to maintain continuous engagement of the second drive gear (208) with the drive rail (230).

[0114] Clause 22. The method according to Clause 21, wherein rotating the first drive gear (204) and the second drive gear (208) comprises: rotating the first drive gear (204) and the second drive gear (208) according to one of two rotation modes, the two rotation modes comprising: rotating the first drive gear (204) and the second drive gear (208) synchronously at the same speed and in opposite directions to cause translation of the processing device (126) relative to the drive track (230); and rotating the first drive gear (204) and the second drive gear (208) differentially at different speeds and in the same or opposite directions to at least cause rotation of the processing device (126) relative to the drive track (230).

[0115] Clause 23. The method according to Clause 22, wherein differentially rotating the first drive gear (204) and the second drive gear (208) comprises: differentially rotating the first drive gear (204) and the second drive gear (208) at different speeds to cause a combination of rotation and translation of the processing device (126) relative to the drive track (230).

[0116] Clause 24. The method according to Clause 22, wherein differentially rotating the first drive gear (204) and the second drive gear (208) comprises rotating one of the first drive gear (204) and the second drive gear (208) while the other of the first drive gear (204) and the second drive gear (208) is stationary.

[0117] Clause 25. The method according to Clause 22, wherein rotating the first drive gear (204) and the second drive gear (208) comprises: independently rotating the first drive gear (204), the second drive gear (208), and the coupler gear (214) via the first drive gear motor (206), the second drive gear motor (210), and the coupler gear motor (216), respectively.

[0118] Clause 26. The method according to Clause 21, wherein rotating the first drive gear (204) and the second drive gear (208) comprises: rotating the drive track (230) along a plane of rotation (236) located outside the coupler gear (214) and the coupler track (224).

[0119] Clause 27. The method according to Clause 21 further includes: maintaining the drive track (230) aligned with the first drive gear (204) and the second drive gear (208) via a pair of circumferential ridges (220) on a pair of gear sides (218) of each of the first drive gear (204) and the second drive gear (208).

[0120] Clause 28. The method according to Clause 21, wherein rotating the first drive gear (204) and the second drive gear (208) of at least one processing device (126) comprises: rotating the first drive gear (204) and the second drive gear (208) of at least one of an adjacent pair of processing devices (126), and thereby causing the processing devices (126) to translate and rotate relative to each other at least one of the two, the adjacent pair of processing devices being interconnected by a drive rail (230) located between the first drive gear (204) and the second drive gear (208) of each processing device (126).

[0121] Clause 29. The method according to Clause 21 further includes: supporting one or more device heads (150) by at least one of a plurality of device frames (128) respectively associated with a plurality of processing devices (126); and each device frame (128) having at least one gear system (202) coupled to the device frame (128), each gear system (202) including: a first drive gear (204), a second drive gear (208), a coupler gear (214), and a coupler track (224).

[0122] Clause 30. The method according to Clause 21 further includes: supporting a plurality of device frames (128) as an array (120), each pair of adjacent device frames (128) being interconnected by a drive rail (230) between a first drive gear (204) and a second drive gear (208) located in each of the adjacent pair of device frames (128); and rotating the first drive gear (204), the second drive gear (208) and the coupler gear (214) of the plurality of device frames respectively to move the array (120) so that the processing device (126) matches the contour of the object surface (302).

[0123] Clause 31. The method according to Clause 21 further includes: dispensing one or more processed items from the processing device (126).

[0124] Clause 32. The method according to Clause 31, wherein dispensing the processed material from the processing device (126) comprises: dispensing ink from the processing device (126), each processing device being configured as an inkjet printhead (152).

[0125] Additional modifications and improvements to this disclosure may be apparent to those skilled in the art. Therefore, the specific combinations of portions described and illustrated herein are intended to illustrate only certain examples of this disclosure and are not intended to be used as alternative examples or limitations of the spirit and scope of this disclosure.

Claims

1. A device actuation system (200) for an actuation processing device (126), comprising: Gear system (202), coupled to the processing device (126), the gear system comprising: The first drive gear (204) is rotatably mounted to the processing device (126). The coupler track (224) is slidably mounted to the processing device (126). The second drive gear (208) is rotatably mounted to the coupler track (224). The coupler gear (214) is rotatably mounted to the processing device (126) and can engage with the coupler track (224); The drive track (230) can be positioned between the first drive gear (204) and the second drive gear (208) of the gear system (202); The coupler gear (214) is rotatable to move the coupler track (224), thereby maintaining continuous engagement between the second drive gear (208) and the drive track (230) abutting against the first drive gear (204); and The first drive gear (204) and the second drive gear (208) are rotatable to cause at least one of translation and rotation of the processing device (126) relative to the drive track (230).

2. The device actuation system (200) of claim 1, wherein, The first drive gear (204) and the second drive gear (208) are capable of rotating according to one of two rotation modes, the two rotation modes being: The first drive gear (204) and the second drive gear (208) can rotate synchronously at the same speed and in opposite directions to cause the processing device (126) to translate relative to the drive track (230); The first drive gear (204) and the second drive gear (208) can rotate differentially at different speeds and in the same or opposite directions to at least cause the processing device (126) to rotate relative to the drive track (230).

3. The device actuation system (200) according to claim 1, wherein: The first drive gear (204), the second drive gear (208), and the coupler gear (214) are independently and rotatably driven by the first drive gear motor (206), the second drive gear motor (210), and the coupler gear motor (216) respectively under the control of the controller (182).

4. The device actuation system (200) according to claim 1, wherein: The drive track (230) defines a plane of rotation (236) during actuation of the processing device (126); and The coupler gear (214) and the coupler track (224) can be mounted on the processing device (126) outside the rotation plane (236), thereby increasing the rotation angle range of the processing device (126).

5. The device actuation system (200) according to claim 1, wherein: The processing device (126) has a dispensing direction (160) and a side (154), the processing device (126) dispensing the processed item from the dispensing direction, and the side is not parallel to the dispensing direction (160); and The gear system (202) can be coupled to the side (154).

6. The device actuation system (200) according to claim 1, wherein: The drive track (230) has a track width; The first drive gear (204) and the second drive gear (208) each have a pair of gear sides (218); and The pair of gear sides (218) each have a pair of circumferential ridges (220) spaced apart at a distance approximately equal to the width of the track, thereby keeping the drive track (230) aligned with the first drive gear (204) and the second drive gear (208).

7. The device actuation system (200) according to claim 1, wherein: The processing device (126) is an inkjet printhead (152).

8. A method of actuating at least one processing device (126), comprising: A first drive gear (204) and a second drive gear (208) engaged with opposite sides of a drive track (230) are rotated to cause at least one of translation and rotation of the processing device (126) relative to the drive track (230). The first drive gear (204) is mounted to the processing device (126), and the second drive gear (208) is mounted to a coupler track (224) slidably mounted to the processing device (126). The coupler track (224) engages with a coupler gear (214) mounted to the processing device (126). as well as The coupler gear (214) is rotated to move the coupler track (224), thereby maintaining the second drive gear (208) in continuous engagement with the drive track (230).

9. The method according to claim 8, wherein, Rotating the first drive gear (204) and the second drive gear (208) includes: rotating the first drive gear (204) and the second drive gear (208) according to one of two rotation modes, the two rotation modes being: The first drive gear (204) and the second drive gear (208) are rotated synchronously at the same speed and in opposite directions to cause the processing device (126) to translate relative to the drive track (230); The first drive gear (204) and the second drive gear (208) are rotated differentially at different speeds and in the same or opposite directions to at least cause the processing device (126) to rotate relative to the drive track (230).

10. The method according to claim 8, wherein, Rotating the first drive gear (204) and the second drive gear (208) includes: The drive track (230) is rotated along a plane of rotation (236) located outside the coupler gear (214) and the coupler track (224).

11. The method of claim 8, further comprising: The drive track (230) is kept aligned with the first drive gear (204) and the second drive gear (208) by a pair of circumferential ridges (220), which are located on a pair of gear sides (218) of each of the first drive gear (204) and the second drive gear (208).

12. The method according to claim 8, wherein, Rotating the first drive gear (204) and the second drive gear (208) of at least one of the processing devices (126) includes: Rotating the first drive gear (204) and the second drive gear (208) of at least one of an adjacent pair of processing devices (126), which are interconnected by a drive track (230) located between the first drive gear (204) and the second drive gear (208) of each of the processing devices (126), thereby causing at least one of the translation and rotation of the processing devices (126) relative to each other.

13. The method of claim 8, further comprising: One or more device heads (150) are supported by at least one of a plurality of device frames (128) respectively associated with the plurality of processing devices (126); and Each of the device frames (128) has at least one gear system (202) coupled to the device frame (128), each gear system (202) including a first drive gear (204), a second drive gear (208), the coupler gear (214) and the coupler track (224).

14. The method of claim 8, further comprising: Multiple device frames (128) associated with multiple processing devices (126) are supported as an array (120), and each pair of adjacent device frames (128) is interconnected by a drive rail (230) between the first drive gear (204) and the second drive gear (208) of each device frame in an adjacent pair of device frames (128). as well as The first drive gear (204), the second drive gear (208), and the coupler gear (214) of the plurality of device frames are rotated respectively to move the array (120) so that the processing device (126) matches the contour of the object surface (302).

15. The method of claim 8, further comprising: Distribute one or more processing items from the processing device (126), each processing device being configured as an inkjet printhead (152).

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