Pitch-yaw actuation system and method for the head of an actuating device

Abstract

A pitch-yaw actuation system includes a pitch frame, a yaw frame, a pitch actuator, a yaw actuator, and a universal joint assembly. The pitch frame is pivotally connected to a device frame via a pitch hinge. The yaw frame is pivotally connected to the pitch frame via a yaw hinge. The pitch actuator pivots the pitch frame about a pitch axis. The yaw actuator pivots the yaw frame about a yaw axis orthogonal to the pitch axis. The universal joint assembly connects the yaw actuator to the yaw frame, and the universal joint assembly includes a universal joint slidably connected to a linear guide mechanism. The guide mechanism axis is oriented at an angle to allow the universal joint to move in a manner that accommodates misalignment between the yaw actuator and the yaw frame during at least one pivoting of the pitch frame and the yaw frame.

Description

Technical Field

[0001] This disclosure generally relates to an actuation system, and more specifically to a system for actuating a device along a plurality of axes. 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] To reduce the amount of time required for aircraft painting, an array of processing units can be assembled, each configured to dispense paint onto the aircraft surface as the array moves along the length of the aircraft. To provide a high level of flexibility in applying aircraft appearance patterns, each processing unit includes multiple device heads. These device heads must be assembled close to each other to allow for a high level of precision in applying appearance patterns. Furthermore, each device head must be actuated along multiple axes to ensure that each device head is oriented to complement the changing contours of the aircraft surface as the array of processing units moves along the length of the aircraft. Existing mechanisms for actuating devices along multiple axes involve the use of rotary actuators. Unfortunately, rotary actuators are bulky and therefore difficult to encapsulate in a small area.

[0005] It is evident that there is a need in the art for a system for actuating devices along multiple axes that can be encapsulated in a small area. Summary of the Invention

[0006] The aforementioned need for actuating devices along multiple axes is addressed by a currently disclosed pitch-yaw actuation system for an actuation device head. The pitch-yaw actuation system includes a pitch frame, a yaw frame, a pitch actuator, a yaw actuator, and a universal joint assembly. The pitch frame is configured to be pivotally connected to the device frame via a pitch hinge having a pitch axis. The yaw frame is configured to be pivotally connected to the pitch frame via a yaw hinge having a yaw axis orthogonal to the pitch axis. The pitch actuator is configured to pivot the pitch frame about the pitch axis. The yaw actuator is configured to pivot the yaw frame about the yaw axis. The universal joint assembly is configured to connect the yaw actuator to the yaw frame. The universal joint assembly includes a linear guide mechanism having a guide mechanism axis. Furthermore, the universal joint assembly includes a universal joint slidably connected to the linear guide mechanism. The guide mechanism axis is oriented at an angle to allow the universal joint to move in a manner that accommodates misalignment between the yaw actuator and the yaw frame during at least one pivot in the pitch frame and the yaw frame.

[0007] A device head assembly is also disclosed, comprising a head frame and a pitch-yaw actuation system. The pitch-yaw actuation system includes a pitch frame, a yaw frame, a pitch actuator, a yaw actuator, and a universal joint assembly. The pitch frame is connected to the head frame via a pitch hinge having a pitch axis. The yaw frame is connected to the pitch frame via a yaw hinge having a yaw axis orthogonal to the pitch axis. The yaw frame is configured to receive the device head. The pitch actuator is connected to the head frame and configured to pivot the pitch frame about the pitch axis. The yaw actuator is connected to the head frame and configured to pivot the yaw frame about the yaw axis. The universal joint assembly is configured to connect the yaw actuator to the yaw frame. The universal joint assembly includes a linear guide mechanism having a guide mechanism axis. Furthermore, the universal joint assembly includes a universal joint slidably connected to the linear guide mechanism. The guide axis is oriented at an angle to allow the universal joint to move relative to the linear guide in a manner that accommodates misalignment between the yaw actuator and the yaw frame during pivoting of the pitch and yaw frames.

[0008] Furthermore, a method for actuating a head is disclosed, the method comprising using a pitch actuator to pivot a pitch frame about a pitch axis of a pitch hinge that connects the pitch frame to a head frame. The method further comprises using a yaw actuator to pivot a yaw frame about a yaw axis of a yaw hinge that connects the yaw frame to the pitch frame. The yaw axis is orthogonal to the pitch axis. The yaw actuator is connected to the yaw frame via a linear guide mechanism and a universal joint slidably connected to the linear guide mechanism. The method further comprises moving the universal joint relative to the linear guide mechanism in a manner that accommodates misalignment between the yaw actuator and the yaw frame during at least one pivoting of the pitch frame and the yaw frame.

[0009] The features, functions, and advantages already discussed can be implemented independently in various instances of this disclosure or combined in other embodiments, further details of which can be seen from the following description and the accompanying drawings. Attached Figure Description

[0010] These and other features of this disclosure will become more apparent from the accompanying drawings, in which the same reference numerals always denote the same parts, and in the drawings:

[0011] Figure 1 This is a perspective view of an example of a processing device system 100, which includes multiple processing devices supported by a processing device support assembly, applying a processed material to the surface of the fuselage as the processing device system 100 moves along the longitudinal direction of the fuselage.

[0012] Figure 2 yes Figure 1 The processing unit system 100 and the side view of the fuselage;

[0013] 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 around the fuselage;

[0014] Figure 4 yes Figure 3 Enlarged view of the upper processing unit support assembly and the lower processing unit support assembly;

[0015] Figure 5 It is along Figure 2 A perspective view of the fuselage, upper processing unit support assembly, and lower processing unit support assembly, taken from line 5;

[0016] Figure 6 yes Figure 5 A three-dimensional view of the support components for the lower processing unit;

[0017] Figure 7A perspective view is shown of an example of a lower processing device support assembly supporting a pair of frame arrays, each frame array including multiple processing devices interconnected by multiple device actuation systems; a perspective view is also shown of an example of an array of processing devices interconnected by multiple device actuation systems, and each processing device is shown to have multiple device heads.

[0018] Figure 8 It is a perspective view of an example of a processing device including a device frame that accommodates multiple device heads, and also shows a gear system connected to the side of the device frame.

[0019] Figure 9 yes Figure 8 A three-dimensional view of the device's head assembly;

[0020] Figure 10 yes Figure 8 A front perspective view of an example of one of the head components of the device, and an example of a pitch-yaw actuation system mounted on the head frame is shown;

[0021] Figure 11 yes Figure 10 Rear perspective view of the device head assembly;

[0022] Figure 12 This is a perspective view of the head assembly of the device, with the lower part of the head frame omitted, and the pitch actuator and yaw actuator of the pitch-yaw actuation system shown.

[0023] Figure 13 This is a rear three-dimensional view of the pitch-yaw actuation system of the head of the support device.

[0024] Figure 14 This is an exploded view of the pitch-yaw actuation system, showing the interconnection of the components of the pitch-yaw actuation system, including the yaw frame, yaw actuator, pitch frame, pitch actuator, and universal joint assembly.

[0025] Figure 15 It is along Figure 13 The three-dimensional view is taken from line 15 and shows an example of a pitch actuator terminal connected to the pitch frame.

[0026] Figure 16 This is a front perspective view of the pitch-yaw actuation system of the head of the support device.

[0027] Figure 17 It is by Figure 13 Reference numeral 17 shows an enlarged view of a portion of the pitch-yaw actuation system and an example of a universal joint assembly that connects the yaw actuator to the yaw frame.

[0028] Figure 18 It is along Figure 17 A magnified view of the universal joint assembly taken from line 18;

[0029] Figure 19 It is along Figure 17 A magnified view of the universal joint assembly taken from line 19;

[0030] Figure 20 It is along Figure 16 Side view of the pitch-yaw actuation system, taken from line 20-20;

[0031] Figure 21 This is a three-dimensional diagram of the pitch-yaw actuation system that supports the head of the device in its initial position.

[0032] Figure 22 This is a three-dimensional diagram of a pitch actuator that causes the head of the device to pivot downwards around the pitch axis;

[0033] Figure 23 This is a three-dimensional diagram of a pitch actuator that causes the head of the device to pivot upwards about the pitch axis;

[0034] Figure 24 This is a three-dimensional diagram of a yaw actuator that causes the head of the device to pivot about the yaw axis.

[0035] Figure 25 It is along Figure 21 The enlarged view of the universal joint assembly taken from line 25 shows the position of the universal joint on the linear guide mechanism when the device head is in the initial position.

[0036] Figure 26 It is along Figure 23 The enlarged view of the universal joint assembly is taken from line 26, and shows the rotation of the ball within the socket of the universal joint as the device head pivots about the pitch axis.

[0037] Figure 27 It is along Figure 24 The enlarged view of the universal joint assembly taken from line 27 shows the movement of the universal joint along the guide pin as the device head pivots about the yaw axis.

[0038] Figure 28 It is a flowchart of the operations included in the method of the actuator head. Detailed Implementation

[0039] Referring now to the accompanying drawings, various preferred embodiments of this disclosure are illustrated. Figures 1 to 4An example of a processing device system 100 for processing the surface 422 of an article 420 is shown. The processing device system 100 includes an upper processing device support assembly 102 and a lower processing device support assembly 104, each configured to support an array 120 of processing devices 122. In the example shown, the article 420 is the fuselage 426 of an aircraft 424 having a vertical tail 430 and a pair of horizontal tails 432. The fuselage 426 is shown supported on the floor 404 of a processing facility 400 using a fuselage support frame 428.

[0040] The processing unit 122 of each processing unit support assembly 102, 104 is actuated by a plurality of devices actuation system 130 for actuating the processing unit 122. Figure 4 Interconnected. The device actuation system 130 is configured to translate and / or rotate the processing devices 122, thereby positioning each processing device 122 to complement the article surface 422 on which the processing device system 100 moves.

[0041] like Figures 7 to 9 As shown and described in more detail below, each processing device 122 includes a device frame 124, and each processing device 122 has one or more device heads 210, which are shown arranged in rows and columns and supported by the device frame 124. As described in more detail below, each device head 210 includes features for positioning around a pitch axis 240 ( Figures 10 to 13 ) and yaw axis 282 ( Figures 10 to 13 The pitch-yaw actuation system 230 of the pivot head 210 Figure 14 The pitch-yaw actuation system 230 of each device head 210 is configured to operate on the article 420 in the handling device 122. Figure 1 When moving on the surface of the object, the device head 210 is oriented to be aligned with the surface 422 of the object adjacent to the device head 210. Figure 1 The contours of the regions are complementary (e.g., locally orthogonal).

[0042] Each device head 210 is configured to dispense and / or apply a treatment material (not shown) toward and onto the surface of an article 422. The treatment material may be a coating, such as a primer, paint, clear coat, or sealant. For applications such as... Figures 1 to 4The article 420 of the fuselage 426 shown is being painted, and each device head 210 is an inkjet printhead 214 (e.g., a piezoelectric printhead or a thermal printhead) configured to precisely dispense ink onto the surface of the fuselage 426 as the processing device 122 moves along the fuselage 426 for printing an aircraft exterior pattern. In other instances, the device head 210 may be configured to dispense other types of processing 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 instance, the device head 210 may be configured to emit radiation (e.g., electromagnetic radiation) to perform any of a variety of operations on the article surface 422.

[0043] Although described in the context of processing the surface of fuselage 426, the processing system 100 can be implemented to process any of various types of articles 420, and is not limited to processing aircraft 424. 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.

[0044] exist Figures 1 to 4 In the middle, the upper processing unit support assembly 102 includes components connected to the elevated gantry 402 ( Figure 2 The central column 106 of the upper processing unit 122 is oriented parallel to the longitudinal direction of the overhead gantry 402, thereby allowing the upper processing unit support assembly 102 to move the processing unit 122 along the length of the fuselage 426. A support structure base 108 is shown attached to the central column 106. On each of the opposite sides of the support structure base 108 is a column pivot joint 110 that attaches an attachment column 112 to the support structure base 108. At the lower end of each attachment column 112 is an arm pivot joint 116 that attaches a pair of attachment arms 114 to the attachment column 112. The ends of the attachment arms 114 are respectively attached to opposite sides of the array 120 of the processing unit 122 via the arm pivot joint 116. In the example shown, the upper processing unit support assembly 102 supports two arrays 120 of the processing unit 122.

[0045] exist Figures 1 to 4 In this configuration, the lower processing unit support assembly 104 is similar 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 pit-type gantry 408 mounted in a pit 410 that extends longitudinally below the floor 404 parallel to the overhead gantry 402. Figures 2 to 3As 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 respectively connect a pair of attachment columns 112 to the support structure base 108. The attachment columns 112 extend upwards through a pair of floor openings 406. At the upper end of each attachment column 112 is an arm pivot joint 116, which connects 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 connected to opposite sides of the array 120 of the processing device 122. A lower processing device support assembly 104 supports the two arrays 120 of the processing device 122.

[0046] refer to Figures 4 to 6 The diagram shows an upper processing device support assembly 102 supporting two arrays 120 of the processing device 122. A lower processing device support assembly 104 supporting the two arrays 120 of the processing device 122 is also shown. To facilitate positioning of the processing device 122 relative to articles 420, attachment posts 112 are rotatable about post pivot joints 110, and attachment arms 114 are rotatable about arm pivot joints 116. The pivotability of the attachment posts 112 and attachment arms 114 allows the arrays 120 of the processing device 122 to be positioned complementary to various articles of different sizes and shapes.

[0047] refer to Figure 7 The lower processing device support assembly 104 is shown. Figure 6 The processing device 122 comprises a single array 120. The array 120 is supported at opposite ends by a pair of attachment arms 114. Each processing device 122 includes a device frame 124. As described above, the device frames 124 of the array 120 are interconnected by a device actuation system 130, which translates and rotates the device frames 124 relative to each other in such a way that each processing device 122 is positioned relative to the article surface 422 at a predetermined distance and orientation.

[0048] Each device actuation system 130 includes a drive track 138 and at least one gear system 132. For example... Figure 7 As shown, corresponding gear systems 132 of an adjacent pair of processing units 122 are mounted on generally facing sides 126, thereby allowing the adjacent pair of processing units 122 to be interconnected via drive rails 138. Each gear system 132 has a first drive gear 134 and a second drive gear 136. Drive rails 138 ( Figure 7The gear is captured between a first drive gear 134 and a second drive gear 136 in an adjacent device frame 124. The first drive gear 134 and the second drive gear 136 are each mounted on a drive shaft (not shown) extending through a side surface 126 of the device frame 124, and are respectively connected to a first drive gear motor (not shown) and a second drive gear motor (not shown) within the device frame 124. The shaft of the second drive gear 136 extends through a device frame slot 140 in the side surface 126 of the device frame 124. Figure 8 ).

[0049] To actuate the device frame 124, the first drive gear 134 and the second drive gear 136 of each gear system 132 rotate at the same or different speeds and in the same or opposite directions to cause translation and / or rotation of the device frame 124 relative to each other. The second drive gear 136 moves toward or away from the first drive gear 134 to maintain continuous engagement of the second drive gear 136 with the drive track 138 abutting against the first drive gear 134 as the device frame 124 rotates relative to the drive track 138 during the different rotations of the first drive gear 134 and the second drive gear 136.

[0050] Still referencing Figure 7 The device actuation system 130 moves the device frame 124 (i.e., the processing device 122) in an extended configuration ( Figure 7 The array 120 of the processing device 122 can be moved between and contracted configurations (not shown) and in any configuration between them to allow the array 120 of the processing device 122 to match the processing device system 100. Figure 1 420 items processed Figure 1 The local dimensions, shape, and geometry of the processing device 122. In the extended configuration, the array 120 of the processing device 122 has, for example, the local dimensions, shape, and geometry of the processing device 122. Figures 1 to 2 and Figures 5 to 7 The V-shaped configuration shown. The V-shaped configuration can be implemented in the tubular section of fuselage 426 ( Figure 1 The external pattern is printed on the fuselage 426 and in the nose section. To facilitate the printing of the external pattern in the tail section, the array 120 of the processing device 122 can be moved into a semi-retracted or retracted configuration to allow the array 120 to be fitted into one of the horizontal tail 432. Figure 1 ) and vertical tail fin 430 ( Figure 1 Between. As will be understood, the processing unit system 100 can be operated in a manner that arranges the array 120 of the processing unit 122 in any of a variety of configurations that complement other areas of the aircraft 424 other than the fuselage 426 (such as on the opposite side of the vertical tail 430).

[0051] Still referencing Figure 7 The processing device system 100 includes a controller 412 ( Figure 2 The controller controls the movement of components of the upper processing unit support assembly 102 and the lower processing unit support assembly 104. In this regard, the controller 412 controls the pivoting of the attachment post 112 about the post pivot joint 110, the pivoting of the attachment arm 114 about the arm pivot joint 116, and the movement of the device actuation system 130 that interconnects the device frames 124, thereby allowing the array 120 of the processing units 122 to accommodate items 420 of different sizes and shapes. Figure 1 In addition, controller 412 controls pitch-yaw actuation system 230. Figure 14 ), used to adjust the pitch and yaw orientation of the individual device head 210 in each processing device 122 to complement the local contour of the article 420, as described below.

[0052] Upper processing device support assembly 102 and lower processing device support assembly 104 Figure 1 ) may include mounting to device frame 124 ( Figure 1 One or more sensors (not shown). The sensors may be imaging devices (e.g., cameras), laser scanners, or configured to sense the surface 422 of an object. Figure 1 Other measuring devices. Each sensor is configured to continuously scan the topography of the article surface 422, and with the processing device 122 ( Figure 1 ) array 120 ( Figure 1 The sensor moves on the article 420 and continuously generates surface data representing the local contour of the article surface 422. For example, the sensor on each device frame 124 senses the nominal distribution direction 128 of the device head 210, in addition to sensing the nominal distribution direction 128. Figure 8 In addition to orientation relative to the local contour of the object surface 422, the distance between the device frame 124 and the local object surface 422 is continuously sensed. The nominal distribution direction 128 can be described as a direction in which the device head 210 is oriented around the pitch axis 240 using the pitch-yaw actuation system 230. Figures 10 to 13 ) or yaw axis 282 ( Figures 10 to 13 Before pivoting, when the device head 210 is in its initial position 212 ( Figure 21 In the process, the processing material is distributed from the head 210 of the device along the direction.

[0053] The sensor continuously transmits signals to the controller 412 ( Figure 2 ) Transmits surface data. Controller 412 processes the surface data provided by the sensor and controls the actuator to actuate system 130. Figure 7 ) to place the device head 210 of each processing device 122 ( Figure 7 Maintain a distance of 422 ( ) from the surface of the item Figures 1 to 3Within a tolerance band (e.g., ±0.010 inches) of a predetermined distance (e.g., up to 0.20 inches). Furthermore, controller 412 controls the actuator actuation system 130 ( Figure 7 ) to each processing device 122 ( Figure 7 The device frame 124 ( Figure 7 It is maintained in an orientation that is approximately perpendicular (e.g., ±10 degrees) to the local contour of the article surface 422.

[0054] like Figures 7 to 8 As shown and as described above, the device heads 210 in each processing device 122 are arranged in two rows, such that the device heads 210 are positioned side by side. Due to the side-by-side arrangement of the device heads 210 in each processing device 122, they are approximately perpendicular to the curved surface 422 of the article. Figure 1 The orientation frame 124 ensures that at least one of the side-by-side device heads 210 is not perpendicular to the local contour of the article surface 422. Furthermore, the device actuation system 130 of each processing device 122 is restricted to rotating the device frame 124 about an axis (not shown) perpendicular to the side surface 126 of the device frame 124 containing the gear system 132, and cannot rotate the device frame 124 about an axis (not shown) parallel to the side surface 126 of the device frame 124 to accommodate the composite curvature of the article surface 422.

[0055] Advantageously, the pitch-yaw actuation system 230 disclosed herein ( Figure 10 This provides the ability to adjust the pitch and yaw orientation of each device head 210, such that the distribution direction 128 of each device head 210 can be oriented to be complementary to (e.g., vertical) the local contour of the article 420. More specifically, the pitch-yaw actuation system 230 of each device head 210 has a yaw axis 282 about a side 126 parallel to the device frame 124. Figure 10 The ability to pivot the device head 210. Furthermore, the pitch-yaw actuation system 230 of each device head 210 has a pitch axis 240 orthogonal to the yaw axis 282, which orthogonally oriented the device head 210 about the pitch axis 240. Figure 10 The ability to pivot. The combination of pivoting about the yaw axis 282 and pivoting about the pitch axis 240 allows the pitch-yaw actuation system 230 to orient the distribution direction 128 of each device head 210 locally perpendicular or orthogonal to the area of ​​the article surface 422 immediately adjacent to the device head 210 (i.e., directly below the device head).

[0056] refer to Figures 8 to 9The diagram illustrates a processing device 122, which includes a device frame 124 containing a plurality of device head assemblies 200 arranged in columns and rows, the device head assemblies being packaged close to each other within the device frame 124. Although this example shows two columns and six rows of device head assemblies 200, the processing device 122 may include any number of columns and any number of rows of device head assemblies 200, including a single column and / or a single row. As described above, a gear system 132 is coupled to the side 126 of the device frame 124 for use via one of the device actuation systems 130. Figure 7 The actuator frame 124 is actuated relative to the adjacent device frame 124.

[0057] refer to Figures 10 to 11 , showed Figures 8 to 9 One of the device head assemblies 200. The device head assembly 200 includes a head frame 202 and a pitch-yaw actuation system 230. In the example shown, the head frame 202 is generally hollow and has an orthogonal shape with a long depth relative to the length and width defining the cross-sectional shape of the head frame 202. The head frame 202 has an upper head frame portion 204 and a lower head frame portion 206. As described below, the pitch-yaw actuation system 230 is configured to utilize the relatively long depth of the head frame 202 and allows for a relatively large number of device head assemblies 200 ( Figure 8 Packaged in a single unit frame 124 ( Figure 8 )Inside.

[0058] The pitch-yaw actuation system 230 is mounted on the upper part 204 of the head frame. The device head 210 is supported by the pitch-yaw actuation system 230. As described above, the device head 210 is configured along the distribution direction 128 of the device head 210. Figure 8 Dispensing processed materials. In the example shown, the device head 210 is an inkjet printhead 214 configured to dispense ink. Figure 14 As shown, the inkjet printhead 214 includes a pair of fluid conduits 216 for supplying ink to and returning ink from the inkjet printhead 214. A flexible data cable 218 extending from the underside of the inkjet printhead 214 is used to control the operation of the inkjet printhead 214. Although the pitch-yaw actuation system is described in the context of supporting the inkjet printhead 214, the pitch-yaw actuation system 230 can support any of a variety of different types of device heads 210.

[0059] refer to Figures 10 to 16The pitch-yaw actuation system 230 includes a pitch frame 232, a yaw frame 270, a pitch actuator 250, a yaw actuator 290, and a universal joint assembly 300. The pitch frame 232 is pivotally connected to the device frame 124 via a pitch hinge 238. More specifically, the pitch hinge 238 pivotally connects the pitch frame 232 to the head frame 202, and as... Figure 8 The head frame 202 shown can be mounted to the device frame 124 (i.e., inside the device frame). The pitch hinge 238 has a pitch axis 240. Figure 14 As shown, the pitch frame 232 includes a pair of pitch frame protrusions 234 interconnected by a pitch frame connecting member 236. The pitch frame protrusions 234 are spaced apart to define a pitch frame opening, which is sized and configured to receive the device head 210. The pitch frame connecting member 236 is shaped to avoid interfering with the pivoting of the device head 210 about the yaw axis 282.

[0060] In the example shown, the pitch hinge 238 is integrated into the pitch frame 232 and the device frame 124. For example, in Figure 14 In this embodiment, the pitch hinge 238 includes a pitch hinge hole 244 formed in a head frame hinge post 208 extending upward from the upper part 204 of the head frame. The pitch hinge hole 244 is also formed in the pitch frame 232. A pitch hinge pin 242 extends through the pitch hinge hole 244, thereby connecting the pitch frame 232 to the head frame 202. However, in another embodiment not shown, the pitch-yaw actuation system 230 may include the pitch hinge 238 as a separate component connecting the pitch frame 232 to the head frame 202.

[0061] The yaw frame 270 is pivotally connected to the pitch frame 232 via a pair of yaw hinges 280 defining a yaw axis 282. The yaw frame 270 consists of a first yaw frame portion 272 and a second yaw frame portion 274, which are separate components. Each of the first and second yaw frame portions 272 has a yaw frame protrusion 278. Furthermore, the first yaw frame portion 272 has a yaw frame arm 276 extending downward from the yaw frame protrusion 278. The first yaw frame portion 272 is pivotally connected to the pitch frame protrusion 234 via a yaw hinge 280 located on one side of the device head 210. Similarly, the second yaw frame portion 274 is pivotally connected to the pitch frame protrusion 234 via a yaw hinge 280 located on the opposite side of the device head 210. Each yaw hinge 280 includes a yaw hinge pin 284 extending into a yaw hinge hole 286 formed in a first portion 272 or a second portion 274 of the yaw frame. The pitch-yaw actuation system 230 is configured such that the yaw axis 282 ( Figures 10 to 13) and pitch axis 240 ( Figures 10 to 13 Orthogonal.

[0062] In the illustrated example, the device head 210 includes a pair of device head mounting protrusions 220 for attaching the device head 210 to the yaw frame protrusions 278 of the first yaw frame portion 272 and the second yaw frame portion 274, respectively. For example... Figure 20 As shown and described below, each pitch frame protrusion 234 has a pair of pivot stops 248 located on opposite sides of the yaw axis 282. In the example shown, the pivot stops 248 are angled surfaces on the underside of each pitch frame protrusion 234. The device head 210 is positioned about the yaw axis 282 (… Figures 10 to 13 During pivoting, the upper surface of the yaw frame protrusion 278 contacts the pivot stop 248, thereby limiting the range of pivoting movement of the device head 210, and advantageously preventing the fluid conduit 216 of the inkjet printhead 214 from rotating during pivoting about the yaw axis 282. Figure 14 ) and data cable 218 ( Figure 14 ) Contact the inside of the upper part 204 of the head frame.

[0063] As described above, the yaw hinge 280 is integrated into the yaw frame 270 and the pitch frame 232. However, in another example (not shown), the yaw hinge 280 may be a separate component from the yaw frame 270 and the pitch frame 232. In yet another example (not shown), the first portion 272 and the second portion 274 of the yaw frame may be interconnected by a yaw frame connecting member (not shown), which is preferably shaped in a manner that avoids interfering with the pivoting of the device head 210 about the yaw axis 282.

[0064] Still referencing Figures 10 to 16 The pitch actuator 250 is configured to pivot the pitch frame 232 (and the device head 210) about the pitch axis 240. The pitch actuator 250 is configured as a linear actuator 260 having an actuator axis 258 extending along the depth direction of the head frame 202. Figure 12 The pitch actuator 250 is located on the pitch actuator side of the device head assembly 200. The actuator axis 258 of the pitch actuator 250 is oriented orthogonally to both the pitch axis 240 and the yaw axis 282.

[0065] The pitch actuator 250 has a pitch actuator mounting portion 252 and a pitch actuator extendable portion 254. The pitch actuator mounting portion 252 can be fixedly connected to the head frame 202. Figure 10The pitch actuator extendable portion 254 is axially movable to allow the device head 210 to pivot about the pitch axis 240. The pitch actuator extendable portion 254 has a pitch actuator terminal 256 connected to the pitch frame 232 on the side of the device head 210 opposite to the pitch hinge 238. Figure 14 ).like Figure 15 As shown, the pitch actuator terminal 256 is connected to the U-shaped clamp fitting 246 protruding from the pitch frame connecting member 236.

[0066] The yaw actuator 290 is configured to pivot the yaw frame 270 (and the device head 210) about the yaw axis 282. In the example shown, the yaw actuator 290 is configured as a linear actuator 260 similar to the pitch actuator 250. The yaw actuator 290 and the pitch actuator 250 are located on opposite sides of the head frame 202. The yaw actuator 290 has an actuator axis 258 orthogonally oriented to the pitch axis 240 and the yaw axis 282. Furthermore, the actuator axis 258 of the yaw actuator 290 is generally parallel to the actuator axis 258 of the pitch actuator 250.

[0067] Similar to the arrangement of the pitch actuator 250 described above, the yaw actuator 290 has a yaw actuator fixing portion 292 and a yaw actuator extendable portion 294. The yaw actuator fixing portion 292 is fixedly connected to the head frame 202. The yaw actuator 290 has a yaw actuator terminal 296, which is connected to the yaw frame arm 276 via a universal joint assembly 300, as described in more detail below.

[0068] In the example shown, both pitch actuator 250 and yaw actuator 290 are configured as electric linear actuators 260 with a small servo motor (not shown) driving a ball screw mechanism (not shown). Figure 12 The servo motor and ball screw mechanism are contained in a cylindrical housing 262. Figure 12 Furthermore, each electric linear actuator 260 has a push rod 264 threadedly engaged with the ball screw mechanism. Figure 12 The push rod extends out of housing 262. Housing 262 can be connected to head frame 202 via a universal joint (not shown). Rotation of the ball screw mechanism via a servo motor causes axial movement of push rod 264 relative to housing 262 for pivoting device head 210 about pitch axis 240 and yaw axis 282. Although described as an electric linear actuator, pitch actuator 250 and yaw actuator 290 can optionally be configured as pneumatic linear actuators.

[0069] refer to Figures 12 to 14 and Figures 16 to 20An example of a universal joint assembly 300 for coupling a yaw actuator 290 to a yaw frame 270 is shown. The universal joint assembly 300 includes a linear guide mechanism 316 and a universal joint 302. The linear guide mechanism 316 has a guide mechanism axis 318. The universal joint 302 is slidably coupled to the linear guide mechanism 316. The guide mechanism axis 318 is oriented at an angle to allow the universal joint 302 to move along the linear guide mechanism 316 in a manner that accommodates misalignment between the yaw actuator 290 and the yaw frame 270 during pivoting of the pitch frame 232 and / or the yaw frame 270. For example, the linear guide mechanism 316 is configured to allow the universal joint 302 to translate along the linear guide mechanism 316 while the universal joint 302 is rotating. In this way, the universal joint assembly 300 allows the device head 210 to pivot simultaneously about a pivot axis and a yaw axis 282.

[0070] exist Figures 16 to 20 In one example, the universal joint 302 is a ball-and-socket joint 304. The ball-and-socket joint 304 includes a ball 306 having a spherical shape and a joint body 310 having a socket 314 configured to receive the ball 306. The ball 306 is fixedly coupled to the end of the yaw frame arm 276 via a ball head bolt 308. However, the universal joint 302 can be configured to provide omnidirectional rotation capability in any of a variety of alternative configurations. For example, although not shown, the universal joint 302 can be configured as a Hooke joint including two yoke fittings interconnected by a cross-shaped member, one yoke fitting slidably coupled to the linear guide mechanism 316 and the other yoke fitting fixedly coupled to the yaw frame arm 276.

[0071] exist Figures 18 to 19 In this configuration, the linear guide mechanism 316 is a guide pin 320 fixedly connected to the yaw actuator terminal 296. The connector body 310 includes a guide pin hole 322, which is sized and configured to slidably receive the guide pin 320. The connector body 310 has a connector body side 312 (…). Figure 18 The side of the connector body is configured to connect with the terminal side 298 of the yaw actuator terminal 296. Figure 19 Complementary. During the sliding movement of the connector body 310 along the guide pin 320, the connector body side 312 slides in a closely parallel (e.g., non-contact) manner relative to the terminal side 298, thereby preventing the connector body 310 from rotating about the guide pin 320, which could otherwise complicate the dynamics of the yaw pivot of the control head 210.

[0072] Although the accompanying drawings show a guide pin 320 fixedly connected to the yaw actuator terminal 296 and a guide pin hole 322 formed in the connector body 310, in other embodiments not shown, the guide pin 320 may be fixedly connected to the connector body 310, and the guide pin hole 322 may be formed in the yaw actuator terminal 296. In another arrangement not shown, the ball 306 of the ball-and-socket connector 304 may be fixedly connected to the yaw actuator terminal 296, and the guide pin 320 may be connected to the yaw frame 270. In this arrangement, the guide pin 320 may be fixedly connected to the yaw frame arm 276 and may also slide within the guide pin hole 322 in the connector body 310, or the guide pin 320 may be fixedly connected to the connector body 310 and may slide within the guide pin hole 322 in the yaw frame arm 276.

[0073] refer to Figure 20 It shows the pitch-yaw actuation system 230 viewed from the side, with the guide mechanism axis 318 (e.g., guide pin 320) oriented at an angle to allow the universal joint 302 (e.g., joint body 310) to move along the linear guide mechanism 316 in a manner that is within the pitch frame 232 ( Figure 16 ) and / or yaw frame 270 ( Figure 16 The pivoting period of the yaw actuator 290 ( Figure 17 ) and oscillating frame 270 ( Figure 17 The misalignment is as follows. Although not shown, when the pitch-yaw actuation system 230 is viewed along a direction parallel to the pitch axis 240, the guide mechanism axis 318 is parallel to the pitch axis 240.

[0074] exist Figure 20 In this configuration, when the pitch-yaw actuation system 230 is viewed along a direction parallel to the yaw axis 282, the guide mechanism axis 318 is oriented at an acute angle relative to the pitch axis 240. In one example, the acute angle α of the guide mechanism axis 318 is approximately 45 degrees (e.g., ±20 degrees). However, the guide mechanism axis 318 can be oriented in any of a variety of different directions to accommodate misalignment between the yaw actuator 290 and the yaw frame 270 during pivoting motion of the device head 210.

[0075] Still referencing Figure 20 When viewed from the side, the pitch-yaw actuation system 230 is positioned below the pitch hinge 238, which in turn is positioned below the yaw hinge 280. However, in other embodiments not shown, the pitch-yaw actuation system 230 may be configured such that, when viewed from the side, the universal joint assembly 300 is positioned between the pitch hinge 238 and the yaw hinge 280. Figure 20The diagram also shows the aforementioned pivot stop 248, which is incorporated in the pitch frame protrusion 234 to limit the range of pivoting movement of the device head 210 in any direction about the yaw axis 282.

[0076] refer to Figures 21 to 27 The diagram shows a view of the device head 210 before and during the pivoting motion using the pitch-yaw actuation system 230. Figure 21 The device head 210 is shown in its initial position 212 before pivoting about pitch axis 240 and yaw axis 282. Figure 25 This is an enlarged view of the universal joint assembly 300, showing the position of the joint body 310 on the guide pin 320 when the device head 210 is in the initial position 212. In this illustration, the ball head bolt 308 has a generally vertical orientation.

[0077] Figure 22 The pitch actuator 250 is shown to pivot the device head 210 downward about the pitch axis 240, and Figure 23 The pitch actuator 250 is shown to pivot the device head 210 upward about the pitch axis 240. Figure 26 This is an enlarged view of the universal joint assembly 300, showing the rotation of the ball joint 306 within the joint body 310 of the universal joint 302 as the device head 210 pivots about the pitch axis 240. The rotation of the ball joint 306 from... Figure 26 The non-vertical orientation of the axis of the ball head bolt 308 relative to Figure 25 The vertical orientation of the axis of the ball head bolt 308 is obvious.

[0078] Figure 24 The diagram shows a yaw actuator 290 that causes the device head 210 to pivot about the yaw axis 282 while the device head 210 remains pivoted about the pitch axis 240. Figure 27 This is an enlarged view of the universal joint assembly 300, showing that the ball 306 rotates slightly more within the joint body 310 due to the pivoting of the device head 210 about the yaw axis 282. Furthermore, Figure 27 The diagram shows a universal joint 302 repositioned along a linear guide mechanism 316 due to pivoting of the device head 210 about a yaw axis 282. As described above, as the joint body 310 slides along the guide pin 320, the joint body side 312 slides in a relationship closely parallel to the terminal side 298, thereby preventing the joint body 310 from rotating about the guide pin 320. Figures 21 to 27 As shown, the combination of the universal joint 302 and the linear guide mechanism 316 allows the device head 210 to perform both pivoting and yaw movements simultaneously, thereby facilitating the movement of the device head 210 within a wide range of motion.

[0079] Advantageously, the pitch-yaw actuation system 230 is configured to be housed within a relatively small coverage area or cross-sectional area. For example, the pitch-yaw actuation system 230 is configured such that, when viewed along a direction parallel to the actuator axis 258, the pitch frame 232, yaw frame 270, pitch actuator 250, yaw actuator 290, and / or gimbal assembly 300 do not protrude from the cross-sectional perimeter of the head frame 202. As described above, the small coverage area of ​​the pitch-yaw actuation system 230 allows a large number of device head assemblies 200 to be packaged within a single device frame 124 (e.g., see...). Figure 8 The small coverage area is partly attributed to the orientation of the pitch actuator 250 and yaw actuator 290 parallel to the depth direction of the head frame 202. For this purpose, a linear actuator 260 (i.e., pitch actuator 250 and yaw actuator 290) is used to provide the pivoting drive force instead of a bulkier rotary actuator, which utilizes the relatively long depth of the head frame 202 and keeps the pivoting drive force away from the contamination-sensitive surface 422 directly below the inkjet printhead 214.

[0080] Now for reference Figure 28 The diagram shows a flowchart of the operation included in method 500 of the actuator processing device 122, specifically in the device head 210. As described above and as... Figure 8 As shown, multiple device heads 210 are supported close to each other within the device frame 124 of each processing device 122. Figures 1 to 3 An array 120 of processing devices 122 that move along the fuselage 426 to process the fuselage surface is shown.

[0081] Step 502 of method 500 includes using a pitch actuator 250 to pivot the pitch frame 232 about a pitch axis 240 of a pitch hinge 238 that connects the pitch frame 232 to the head frame 202. Figures 10 to 16 As shown and as described above, the pitch frame 232 is connected to a head frame hinge post 208 that projects upward from the head frame 202. In the illustrated example, step 502 of pivoting the pitch frame 232 about the pitch axis 240 includes pivoting the pitch frame 232 about the pitch axis 240 of the pitch hinge 238 integrated into one side of the pitch frame 232. Figure 14 As shown and as described above, the pitch hinge pin 242 extends through the pitch hinge hole 244 formed in the head frame hinge post 208 and the pitch frame 232 respectively, thereby connecting the pitch frame 232 to the head frame 202.

[0082] Step 504 of method 500 includes using a yaw actuator 290 to pivot the yaw frame 270 about a yaw axis 282 of the yaw hinge 280 that connects the yaw frame 270 to the pitch frame 232. Figures 10 to 16As shown and as described above, the yaw axis 282 is oriented orthogonally to the pitch axis 240. Furthermore, the yaw actuator 290 is coupled to the yaw frame 270 via a universal joint assembly 300. As described above, the universal joint assembly 300 includes a linear guide mechanism 316 and a universal joint 302 slidably coupled to the linear guide mechanism 316. In the illustrated example, step 504 of pivoting the yaw frame 270 about the yaw axis 282 includes pivoting the yaw frame 270 about the yaw axis 282 of the yaw hinges 280 integrated into the pitch frame 232 and the yaw frame 270. Furthermore, step 504 includes pivoting the yaw frame 270 about the yaw axis 282 defined by a pair of yaw hinges 280 located on opposite sides of the pitch frame 232. For example, as... Figures 10 to 16 As shown and as described above, on each side of the device head 210, a yaw hinge pin 284 extends into a yaw hinge hole 286 formed in the first portion 272 or the second portion 274 of the yaw frame.

[0083] In the illustrated example, step 502, which pivots the pitch frame 232, is performed via a pitch actuator 250 configured as a linear actuator 260. This pivoting step 502 is performed by a linear actuator 260 configured as an electric linear actuator 260 having a ball screw mechanism (not shown) and a push rod 264 threadedly engaged to the ball screw mechanism for axial movement of the push rod 264. Similarly, step 504, which pivots the yaw frame 270, is performed via a yaw actuator 290 configured as a linear actuator 260, which can also be configured as an electric linear actuator 260 similar to the pitch actuator 250 described above.

[0084] like Figures 10 to 16 As shown, steps 502 and 504, which involve pivoting the pitch frame 232 and yaw frame 270 respectively, are performed by the pitch actuator 250 and yaw actuator 290 located on opposite sides of the device head 210. In the example shown, step 502, which involves pivoting the pitch frame 232, is performed by actuating the pitch actuator 250 along an actuator axis 258 orthogonal to both the pitch axis 240 and the yaw axis 282. Similarly, step 504, which involves pivoting the yaw frame 270, is performed by actuating the yaw actuator 290 along an actuator axis 258 orthogonal to both the pitch axis 240 and the yaw axis 282. As described above, the actuator axes 258 of the pitch actuator 250 and the yaw actuator 290 are substantially parallel to each other. Figure 20As shown, step 502, which involves pivoting the pitch frame 232 about the pitch axis 240, includes pivoting the pitch frame 232 about the pitch axis 240, which is located between the yaw axis 282 and the universal joint assembly 300. However, in another example not shown, the universal joint assembly 300 may be located between the pitch axis 240 and the yaw axis 282.

[0085] Step 506 of method 500 includes moving the universal joint 302 relative to the linear guide mechanism 316 in a manner that accommodates misalignment between the yaw actuator 290 and the yaw frame 270 during pivoting of at least one of the pitch frame 232 and the yaw frame 270. As described above, the universal joint assembly 300 connects the yaw actuator 290 to the yaw frame arm 276. For example, as... Figures 17 to 19 As shown, the universal joint 302 is composed of a joint body 310 having a recess 314 for receiving a ball 306, and step 506 includes translating the joint body 310 along a linear guide mechanism 316. (Reference) Figure 20 The translation of the universal joint 302 along the linear guide mechanism 316 includes translating the universal joint 302 along a guide mechanism axis 318 oriented at an acute angle relative to the pitch axis 240 when the head frame 202 is viewed along a direction parallel to the yaw axis 282. In the example shown, the universal joint 302 translates along the guide mechanism axis 318 oriented at an angle of approximately 45 degrees.

[0086] refer to Figures 26 to 27 Step 506, which moves the universal joint 302 relative to the linear guide mechanism 316, includes sliding the guide pin 320 within a guide pin hole 322. In the example shown, the guide pin 320 is fixedly coupled to the yaw actuator terminal 296, and slides within a guide pin hole 322 in the joint body 310. However, in other examples not shown, the guide pin 320 may be fixedly coupled to the joint body 310, and slide within a guide pin hole 322 formed in the yaw actuator terminal 296. Figure 26 As shown, step 506, which moves the universal joint 302 relative to the linear guide mechanism 316, includes rotating the ball joint 306 within a socket 314 formed in the joint body 310 of the ball joint 304. The ball joint 306 rotates within the socket 314 during pivoting of the device head 210 about the pitch axis 240 and / or during pivoting of the device head 210 about the yaw axis 282.

[0087] Method 500 also includes discharging processed material from a device head 210 supported by a pitch frame 232 and a yaw frame 270. The processed material is discharged from the device head 210 before, during, and / or after pivoting about a pitch axis 240 and / or a yaw axis 282. As described above, the device head 210 is configured to dispense processed material, such as for applying an appearance pattern to an aircraft fuselage, along a dispensing direction 128 toward an article surface 422 of an article 420.

[0088] Furthermore, this disclosure includes examples pursuant to the following provisions:

[0089] Clause 1. A pitch-yaw actuation system (230) for an actuation device head (210), comprising: a pitch frame (232) configured to be pivotally coupled to a device frame (124) via a pitch hinge (238) having a pitch axis (240); a yaw frame (270) configured to be pivotally coupled to the pitch frame (232) via a yaw hinge (280) having a yaw axis (282) orthogonal to the pitch axis (240); a pitch actuator (250) configured to pivot the pitch frame (232) about the pitch axis (240); and a yaw actuator (290) configured to pivot about the yaw axis. (282) A pivoting yaw frame (270); a universal joint (302) assembly configured to connect a yaw actuator (290) to the yaw frame (270), and the universal joint assembly includes: a linear guide mechanism (316) having a guide mechanism axis (318); a universal joint (302) slidably connected to the linear guide mechanism (316); and the guide mechanism axis (318) is oriented at an angle to allow the universal joint (302) to move in a manner that accommodates misalignment between the yaw actuator (290) and the yaw frame (270) during at least one pivot of the pitch frame (232) and the yaw frame (270).

[0090] Clause 2. The pitch-yaw actuation system (230) according to Clause 1, wherein at least one of the pitch actuator (250) and the yaw actuator (290) is a linear actuator (260).

[0091] Clause 3. The pitch-yaw actuation system (230) as described in Clause 2, wherein: the linear actuator (260) is an electric linear actuator having a ball screw mechanism and a push rod threadedly engaged with the ball screw mechanism for axial movement of the push rod.

[0092] Clause 4. The pitch-yaw actuation system (230) as described in Clause 1, wherein the yaw actuator (290) and the pitch actuator (250) are located on opposite sides of the yaw frame (270).

[0093] Clause 5. The pitch-yaw actuation system (230) according to Clause 1, wherein: the pitch actuator (250) and the yaw actuator (290) each have an actuator axis (258) orthogonal to both the pitch axis (240) and the yaw axis (282).

[0094] Clause 6. The pitch-yaw actuation system (230) as described in Clause 1, wherein: the pitch axis (240) is located between the yaw axis (282) and the universal joint (302).

[0095] Clause 7. The pitch-yaw actuation system (230) according to Clause 1, wherein: the linear guide mechanism (316) is configured to allow the universal joint (302) to translate along the linear guide mechanism (316) while rotating about the axis (318) of the guide mechanism.

[0096] Clause 8. The pitch-yaw actuation system (230) according to Clause 1, wherein: when the pitch-yaw actuation system (230) is viewed along a direction parallel to the yaw axis (282), the guide axis (318) is oriented at an acute angle relative to the pitch axis (240).

[0097] Clause 9. The pitch-yaw actuation system (230) as described in Clause 8, wherein the acute angle of the guide axis (318) is approximately 45 degrees.

[0098] Clause 10. The pitch-yaw actuation system (230) according to Clause 1, wherein: the universal joint (302) is a ball-and-socket joint (304) having a ball (306) and a joint body (310), the joint body having a socket (314) configured to receive the ball (306).

[0099] Clause 11. The pitch-yaw actuation system (230) according to Clause 1, wherein: the linear guide mechanism (316) includes a guide pin (320) and a guide pin hole (322) configured to slidably receive the guide pin (320).

[0100] Clause 12. The pitch-yaw actuation system (230) according to Clause 11, wherein: the yaw actuator (290) has a yaw actuator terminal (296); the universal joint (302) has a joint body (310); the guide pin (320) is fixedly connected to the yaw actuator terminal (296); and the guide pin hole (322) is formed in the joint body (310).

[0101] Clause 13. The pitch-yaw actuation system (230) as described in Clause 1, wherein: the pitch hinge (238) is integrated into the common side of the pitch frame (232) and the yaw frame (270).

[0102] Clause 14. The pitch-yaw actuation system (230) as described in Clause 1, wherein: the yaw frame (270) is configured to receive the device head (210) configured to discharge treated material.

[0103] Clause 15. The pitch-yaw actuation system (230) according to Clause 14, wherein: the yaw frame (270) has a yaw frame opening configured as a receiving device head (210), the pitch-yaw actuation system (230) includes a pair of yaw hinges (280) on opposite sides of the pitch frame (232).

[0104] Clause 16. A device head (210) assembly comprising: a head frame (202); a pitch-yaw actuation system (230) comprising: a pitch frame (232) connected to the head frame (202) via a pitch hinge (238) having a pitch axis (240); a yaw frame (270) connected to the pitch frame (232) via a yaw hinge (280) having a yaw axis (282) orthogonal to the pitch axis (240), the yaw frame (270) configured to receive the device head (210); a pitch actuator (250) connected to the head frame (202) and configured to pivot the pitch frame (232) about the pitch axis (240); and a yaw actuator (290). The assembly includes: a head frame (202) and a yaw frame (270) configured to pivot about a yaw axis (282); a universal joint (302) assembly configured to connect a yaw actuator (290) to the yaw frame (270), and the universal joint assembly includes: a linear guide mechanism (316) having a guide mechanism axis (318); a universal joint (302) slidably connected to the linear guide mechanism (316); and the guide mechanism axis (318) is oriented at an angle to allow the universal joint (302) to move relative to the linear guide mechanism (316) in a manner that accommodates misalignment of the yaw actuator (290) with the yaw frame (270) during pivoting of the pitch frame (232) and the yaw frame (270).

[0105] Clause 17. The device head (210) assembly according to Clause 16, wherein: the head frame (202) has a head frame section perimeter; and at least one of the pitch frame (232), yaw frame (270), pitch actuator (250), yaw actuator (290) and universal joint (302) assemblies is configured not to protrude from the head frame section perimeter when the head frame (202) is viewed along the actuator axis (258) parallel to the pitch actuator (250) and yaw actuator (290).

[0106] Clause 18. The device head (210) assembly according to Clause 16, wherein: the pitch hinge (238) is integrated into the pitch frame (232) and the head frame (202); and the yaw hinge (280) is integrated into the yaw frame (270) and the pitch frame (232).

[0107] Clause 19. The device head (210) assembly according to Clause 16, wherein at least one of the pitch actuator (250) and the yaw actuator (290) is a linear actuator (260).

[0108] Clause 20. The device head (210) assembly according to Clause 19, wherein: the linear actuator (260) is an electric linear actuator having a ball screw mechanism and a push rod threadedly engaged with the ball screw mechanism for axial movement of the push rod.

[0109] Clause 21. The device head (210) assembly as described in Clause 16, wherein: the yaw actuator (290) and the pitch actuator (250) are located on opposite sides of the yaw frame (270).

[0110] Clause 22. The device head (210) assembly according to Clause 16, wherein: both the pitch actuator (250) and the yaw actuator (290) have actuator axes (258) orthogonal to both the pitch axis (240) and the yaw axis (282).

[0111] Clause 23. The device head (210) assembly as described in Clause 16, wherein: the pitch axis (240) is located between the yaw axis (282) and the universal joint (302).

[0112] Clause 24. The device head (210) assembly according to Clause 16, wherein: the linear guide mechanism (316) is configured to allow the universal joint (302) to translate along the linear guide mechanism (316) while rotating about the axis (318) of the guide mechanism.

[0113] Clause 25. The device head (210) assembly according to Clause 16, wherein: when the head frame (202) is viewed along a direction parallel to the yaw axis (282), the guide mechanism axis (318) is oriented at an acute angle relative to the pitch axis (240); and when the head frame (202) is viewed along a direction parallel to the pitch axis (240), the guide mechanism axis (318) is parallel to the pitch axis (240).

[0114] Clause 26. The device head (210) assembly as described in Clause 25, wherein: the acute angle of the guide mechanism axis (318) is approximately 45 degrees.

[0115] Clause 27. The device head (210) assembly according to Clause 16, wherein: the universal joint (302) is a ball-and-socket joint (304) having a ball (306) and a joint body (310), the joint body having a socket (314) configured to receive the ball (306).

[0116] Clause 28. The device head (210) assembly according to Clause 16, wherein: the linear guide mechanism (316) includes a guide pin (320) and a guide pin hole (322) configured to slidably receive the guide pin (320).

[0117] Clause 29. The device head (210) assembly according to Clause 28, wherein: the yaw actuator (290) has a yaw actuator terminal (296); the universal joint (302) has a joint body (310); the guide pin (320) is fixedly connected to the yaw actuator terminal (296); and the guide pin hole (322) is formed in the joint body (310).

[0118] Clause 30. The device head (210) assembly as described in Clause 16, wherein: the pitch hinge (238) is integrated into the common side of the pitch frame (232) and the yaw frame (270).

[0119] Clause 31. The device head (210) assembly according to Clause 16, wherein: the yaw frame (270) has a yaw frame opening configured to receive the device head (210), and the pitch-yaw actuation system (230) includes a pair of yaw hinges (280) on opposite sides of the pitch frame (232).

[0120] Clause 32. A method of actuating a head (210), comprising: pivoting a pitch frame (232) about a pitch axis (240) of a pitch hinge (238) connecting the pitch frame (232) to a head frame (202) using a pitch actuator (250); and pivoting a yaw frame (270) about a yaw axis (282) of a yaw hinge (280) connecting the yaw frame (270) to the pitch frame (232) using a yaw actuator (290), the yaw axis (282) being pivoted about a yaw axis (282) of a yaw hinge (282) connecting the yaw frame (270) to the pitch frame (232). 2) Oriented to be orthogonal to the pitch axis (240), the yaw actuator (290) is connected to the yaw frame (270) via a linear guide mechanism (316) and a universal joint (302) slidably connected to the linear guide mechanism (316); and the universal joint (302) is moved relative to the linear guide mechanism (316) to accommodate misalignment of the yaw actuator (290) with the yaw frame (270) during pivoting of at least one of the pitch frame (232) and the yaw frame (270).

[0121] Clause 33. The method according to Clause 32, wherein at least one of the pivot pitch frame (232) and the pivot yaw frame (270) is executed by a pitch actuator (250) and a yaw actuator (290), both configured as linear actuators (260), respectively.

[0122] Clause 34. The method according to Clause 33, wherein at least one of the pivot pitch frame (232) and the pivot yaw frame (270) is operated by an electric linear actuator.

[0123] Clause 35. The method according to Clause 32, wherein the pivot pitch frame (232) and the pivot yaw frame (270) are executed by pitch actuator (250) and yaw actuator (290) located on opposite sides of the pitch frame (232), respectively.

[0124] Clause 36. The method according to Clause 32, wherein the pivot pitch frame (232) and the pivot yaw frame (270) are respectively actuated by a pitch actuator (250) and a yaw actuator (290) that are both oriented along actuator axes (258) orthogonal to both the pitch axis (240) and the yaw axis (282).

[0125] Clause 37. The method according to Clause 32, wherein pivoting the pitch frame (232) about the pitch axis (240) comprises: pivoting the pitch frame (232) about the pitch axis (240) located between the yaw axis (282) and the universal joint (302).

[0126] Clause 38. The method according to Clause 32, wherein translating the universal joint (302) along the linear guide mechanism (316) comprises: when the head frame (202) is viewed along a direction parallel to the yaw axis (282), translating the universal joint (302) along the guide mechanism axis (318) which is oriented at an acute angle relative to the pitch axis (240).

[0127] Clause 39. The method according to Clause 38, wherein translating the universal joint (302) along the guide axis (318) oriented at an acute angle comprises: translating the universal joint (302) along the guide axis (318) oriented at an angle of approximately 45 degrees.

[0128] Clause 40. The method according to Clause 32, wherein moving the universal joint (302) relative to the linear guide mechanism (316) comprises: rotating the ball (306) within the socket (314) formed in the joint body (310) of the ball socket joint (304).

[0129] Clause 41. The method according to Clause 32, wherein moving the universal joint (302) relative to the linear guide mechanism (316) comprises: sliding the guide pin (320) within the guide pin hole (322).

[0130] Clause 42. The method according to Clause 41, wherein sliding the guide pin (320) within the guide pin hole (322) comprises: sliding the guide pin (320) within the guide pin hole (322) formed in the connector body (310) of the universal joint (302), wherein the guide pin (320) is fixedly connected to the yaw actuator terminal (296) of the yaw actuator (290).

[0131] Clause 43. The method according to Clause 32, wherein pivoting the pitch frame (232) about the pitch axis (240) comprises: pivoting the pitch frame (232) about the pitch axis (240) of the pitch hinge (238) integrated into one side of the pitch frame (232).

[0132] Clause 44. The method according to Clause 32, wherein pivoting the yaw frame (270) about the yaw axis (282) comprises: pivoting the yaw frame (270) about the yaw axis (282) defined by a pair of yaw hinges (280) on opposite sides of the pitch frame (232).

[0133] Clause 45. The method described in Clause 32 further includes discharging treated material from the device head (210) supported by the pitch frame (232) and the yaw frame (270).

[0134] Additional modifications and improvements to this disclosure will be readily apparent to those skilled in the art. Therefore, the specific combinations of components described and illustrated herein are intended merely to represent certain instances 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 pitch-yaw actuation system (230) for an actuation device head (210), comprising: The pitch frame (232) is configured to be pivotally connected to the device frame (124) via a pitch hinge (238) having a pitch axis (240); A yaw frame (270) is configured to be pivotally connected to the pitch frame (232) via a yaw hinge (280) having a yaw axis (282) orthogonal to the pitch axis (240). A pitch actuator (250) is configured to pivot the pitch frame (232) about the pitch axis (240); A yaw actuator (290) is configured to pivot the yaw frame (270) about the yaw axis (282); A universal joint (302) assembly is configured to connect the yaw actuator (290) to the yaw frame (270), and the universal joint assembly includes: A linear guide mechanism (316) having a guide mechanism axis (318); The universal joint (302) is slidably connected to the linear guide mechanism (316); and The axis (318) of the guide mechanism is oriented at an angle to allow the universal joint (302) to move in a manner that accommodates misalignment between the yaw actuator (290) and the yaw frame (270) during at least one pivot of the pitch frame (232) and the yaw frame (270).

2. The pitch-yaw actuation system (230) according to claim 1, wherein: The yaw actuator (290) and the pitch actuator (250) are located on opposite sides of the yaw frame (270).

3. The pitch-yaw actuation system (230) according to claim 1, wherein: The pitch actuator (250) and the yaw actuator (290) each have an actuator axis (258) orthogonal to both the pitch axis (240) and the yaw axis (282).

4. The pitch-yaw actuation system (230) according to claim 1, wherein: The pitch axis (240) is located between the yaw axis (282) and the universal joint (302).

5. The pitch-yaw actuation system (230) according to claim 1, wherein: The linear guide mechanism (316) is configured to allow the universal joint (302) to translate along the linear guide mechanism (316) while rotating about the axis (318) of the guide mechanism.

6. The pitch-yaw actuation system (230) according to claim 1, wherein: When the pitch-yaw actuation system (230) is viewed along a direction parallel to the yaw axis (282), the guide mechanism axis (318) is oriented at an acute angle relative to the pitch axis (240).

7. The pitch-yaw actuation system (230) according to claim 1, wherein: The linear guide mechanism (316) includes a guide pin (320) and a guide pin hole (322) configured to slidably receive the guide pin (320); The yaw actuator (290) has a yaw actuator terminal (296); The universal joint (302) has a joint body (310); The guide pin (320) is fixedly connected to the yaw actuator terminal (296); and The guide pin hole (322) is formed in the connector body (310).

8. The pitch-yaw actuation system (230) according to claim 1, wherein: The yaw frame (270) is configured to receive the device head (210), the device head being configured to discharge treated material; and The yaw frame (270) has a yaw frame opening configured to receive the device head (210), and the pitch-yaw actuation system (230) includes a pair of yaw hinges (280) located on opposite sides of the pitch frame (232).

9. A method for actuating a head (210), comprising: A pitch actuator (250) is used to pivot the pitch frame (232) about the pitch axis (240) of the pitch hinge (238), which connects the pitch frame (232) to the head frame (202). A yaw actuator (290) is used to pivot a yaw frame (270) about a yaw axis (282) of a yaw hinge (280) that connects the yaw frame (270) to the pitch frame (232), the yaw axis (282) being oriented orthogonally to the pitch axis (240), the yaw actuator (290) being connected to the yaw frame (270) via a linear guide (316) and a universal joint (302) slidably connected to the linear guide (316); and The universal joint (302) is moved relative to the linear guide mechanism (316) in a manner that accommodates the misalignment of the yaw actuator (290) with the yaw frame (270) during pivoting of at least one of the pitch frame (232) and the yaw frame (270).

10. The method of claim 9, wherein, Pivoting the pitch frame (232) about the pitch axis (240) includes: The pitch frame (232) is pivoted about the pitch axis (240) located between the yaw axis (282) and the universal joint (302).

11. The method of claim 9, wherein, The translation of the universal joint (302) along the linear guide mechanism (316) includes: When the head frame (202) is viewed along a direction parallel to the yaw axis (282), the universal joint (302) is translated along the guide mechanism axis (318) which is oriented at an acute angle relative to the pitch axis (240).

12. The method of claim 9, wherein, Moving the universal joint (302) relative to the linear guide mechanism (316) includes: The guide pin (320) slides within the guide pin hole (322) formed in the connector body (310) of the universal joint (302), and the guide pin (320) is fixedly connected to the yaw actuator terminal (296) of the yaw actuator (290).

13. The method according to claim 9, wherein, Pivoting the pitch frame (232) about the pitch axis (240) includes: The pitch frame (232) is pivoted about the pitch axis (240) of the pitch hinge (238) integrated into one side of the pitch frame (232).

14. The method according to claim 9, wherein, Pivoting the yaw frame (270) about the yaw axis (282) includes: The yaw frame (270) is pivoted about the yaw axis (282) defined by a pair of yaw hinges (280) located on opposite sides of the pitch frame (232).

15. The method according to claim 9, further comprising: The treated material is discharged from the device head (210) supported by the pitch frame (232) and the yaw frame (270).

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