apparatus for applying a viscous fluid to a surface

专利摘要:
APPLIANCE FOR APPLYING A VISCOUS FLUID ON A SURFACE. A method and apparatus for applying a viscous fluid to a surface. An applicator associated with an extension member can be positioned on the surface using a robotic operator. The extension member can be configured to maintain a selected distance between the applicator and a fluid source for the viscous fluid. The viscous fluid can be dispensed from the fluid source to the applicator. The viscous fluid can be applied to the surface using the applicator.
公开号:BR112015019650B1
申请号:R112015019650-0
申请日:2014-01-16
公开日:2021-01-26
发明作者:Raul Tomuta；Angelica Davancens；Richard P. Topf；Branko Sarh
申请人:The Boeing Company；
IPC主号:

专利说明:

FIELD OF THE INVENTION 1. Field
[001] The present description relates in general to applying fluid to a surface, in particular to applying fluid to a surface using an applicator. Even more particularly, the present description relates to a method and apparatus for dispensing a fluid from a fluid source to the applicator while applying fluid to a surface using the applicator. 2. Rationale
[002] In some cases, during the manufacturing process, a fluid may need to be applied to a surface. The fluid can be, without limitation, a sealant, a paste, or a type of paint, an adhesive, or some other type of fluid. Often, brushes can be used to apply these fluids to a surface.
[003] As an illustrative example, a brush can be dipped in a container that contains a fluid such as, for example, without limitation, a seal. The container can be, for example, without limitation, a bowl, a can, a tank, or some other type of container. Dipping the brush in the sealant in the container can allow some of the sealant to be retained by the brush bristles. After the brush is dipped into the sealant inside the container, the brush can be used to manually apply the sealant to a surface. In other words, the brush can be used to brush the sealant over the surface.
[004] When the sealant is applied on the surface, the amount of sealant retained by the brush may decrease. Consequently, the brush may need to be immersed again in the sealant in the container. When the surface area on which the sealant is to be applied is large, the process of dipping the brush again between applications of the sealant on the surface may need to be performed several times. This type of process can take longer than desired. In addition, with this type of process the amount of sealant used can exceed the actual amount of sealant that would be required. Therefore, it would be desirable to have a method and apparatus that takes into account at least some of the aspects discussed above, as well as possibly other aspects. SUMMARY
[005] In an illustrative embodiment, an apparatus may comprise a platform, a source of fluid associated with the platform, an extension member associated with the platform, and an applicator associated with the extension member. The fluid source can be configured to dispense a fluid. The extension member can be configured to extend from the platform. The applicator can be configured to receive the fluid dispensed by the fluid source. The applicator can be configured for use in applying the fluid to a surface.
[006] In another illustrative embodiment, a manipulator may comprise an extension member, with a platform associated with an extension member, a cartridge associated with the platform, an applicator associated with the extension member, such that a selected distance can be maintained between the applicator and the cartridge, and a display unit. The cartridge can be configured to dispense a seal. The applicator can be configured to receive the sealant dispensed by the cartridge. The applicator can also be configured for use when applying the sealant to a surface. The display unit can be configured to attach the terminal manipulator to a robotic operator. The robotic operator can be configured to move at least one of the platform and the extension member, to position the applicator on the surface.
[007] In yet another illustrative embodiment, the fluid delivery device may comprise a platform, a cartridge associated with the platform, an extension member associated with the platform, brush associated with the extension member, a fluid control system, a system of applicator movement, an applicator coupling unit and a display unit. The cartridge can be configured to dispense a seal. The extension member can be configured to extend from the platform. The brush can be configured to receive the sealant dispensed by the cartridge. The brush can be configured for use when applying the sealant to a surface. The fluid control system can be configured to control at least one of the seal amount and a seal flow rate dispensed to the brush. The fluid control system can comprise at least one of a hose, a valve system and a nozzle. The applicator's movement system can be configured to move the brush. The applicator's movement system may comprise at least one of a first movement system and a second movement system. The first drive system can be configured to rotate the brush around a geometric axis of the brush through the brush and independently of the extension member. The first movement system can comprise at least one of a number of motors, a number of axles, a number of belt systems, and a number of gears. The second movement system can be configured to rotate the extension member around a geometry axis through the extension member. Rotation of the extension member can cause the brush to rotate around the geometric axis. The second movement system can comprise at least one of a number of motors, a number of axles, a number of belt systems, and a number of gears. The applicator coupling unit can be configured to attach the brush to the extension member. The display unit can be configured to associate with the platform. The display unit can be configured for use in attaching the fluid delivery device to a robotic arm as a terminal manipulator.
[008] In yet another illustrative embodiment, a method for applying a viscous fluid to a surface can be provided. An applicator associated with an extension member can be positioned on the surface using a robotic operator. The extension member can be configured to maintain a selected distance between the applicator and a fluid source for the viscous fluid. The viscous fluid can be dispensed from the fluid source to the applicator. The viscous fluid can be applied to the surface using the applicator.
[009] In yet another illustrative embodiment, a method for applying a sealant to a surface can be presented. A platform can be positioned using a robotic arm to position an extension member associated with the platform on the surface. The platform can be connected to the robotic arm by a display unit. The seal can be dispensed from a cartridge associated with the platform to an applicator associated with the extension member. At least one of a quantity of the sealant and a flow of the sealant dispensed from the cartridge to the applicator can be controlled using a fluid control system. The applicator can be rotated around a geometrical axis of the applicator through the applicator independently of the extension member using an applicator movement system. The extension member can be rotated around a geometric axis through the extension member using the applicator's movement system. Rotation of the extension member can cause rotation of the applicator around the geometric axis. The sealant can be applied on the surface using the applicator to seal a number of interfaces on the surface.
[0010] In yet another illustrative embodiment, a method for applying a seal to a plurality of fasteners installed in a structure can be provided. An applicator associated with the extension member in a fluid delivery device can be moved to an initial position on a fastener in a plurality of fasteners using a robotic arm. The applicator can be rotated using an applicator movement system. A controlled amount of the sealant can be dispensed from a cartridge maintained by a platform associated with an extension member for the applicator, at a controlled flow rate while the applicator is rotating. The sealant can be applied over the fastener using the applicator according to a predefined application routine.
[0011] In summary, according to one aspect of the invention, an apparatus is provided that includes a platform (114), a fluid source (116) associated with the platform (114), and configured to dispense a fluid (102); an extension member (117) associated with the platform (114) and configured to extend from the platform (114); and an applicator (120) associated with the extension member (117), configured to receive the fluid (102) dispensed by the fluid source (116), where the applicator (120) is configured for use in the application of the fluid (102) on a surface (104).
[0012] Advantageously, the apparatus additionally includes an applicator movement system (124), configured to move the applicator (120).
[0013] Advantageously, the apparatus in which the applicator movement system (124) comprises at least one of: a first movement system (154) configured to rotate the applicator (120) around an applicator geometric axis ( 158) through the applicator (120), regardless of the extension member (117); and a second movement system (156) configured to rotate the extension member (117) around a geometric axis through the extension member (117), wherein rotation of the extension member (117) causes rotation of the applicator (120 ) around the geometric axis.
[0014] Advantageously, the apparatus in which the second movement system (156) is used to move the applicator (120) to a position on the surface (104).
[0015] Advantageously the apparatus in which the first movement system (154) comprises at least one of a number of motors, a number of axles, a number of belt systems and a number of gears.
[0016] Advantageously the apparatus in which the second movement system (156) comprises at least one of a number of motors, a number of axles, a number of belt systems and a number of gears.
[0017] Advantageously, the apparatus additionally includes an applicator coupling unit (152) configured to couple an applicator (120) to the extension member (117).
[0018] Advantageously, the apparatus in which the applicator (120) is a brush (148) and the fluid (102) is a sealant (130).
[0019] Advantageously the apparatus in which the fluid source (116) is a cartridge (126) configured to be maintained and supported by the platform (114).
[0020] Advantageously the apparatus in which an extension member (117) is a telescopic arm configured to extend and retract with respect to a geometric axis of arm (174) through the telescopic arm.
[0021] Advantageously, the apparatus additionally includes a fluid control system (122) configured to control at least one of a quantity (142) of the fluid (102) and a flow (144) of the fluid (102) dispensed to the applicator (120).
[0022] Advantageously, the apparatus in which the fluid control system (122) comprises at least one of a hose (132), a valve system (134) and a nozzle 136.
[0023] Advantageously, the apparatus in which the extension member (117) is configured to maintain a selected distance between the applicator (120) and the fluid source (116).
[0024] Advantageously, the apparatus in which the extension member (117) allows the applicator (120) to be positioned within an area in which the fluid source (116) does not fit.
[0025] Advantageously, the apparatus in which the extension member (117) with the applicator (120) is configured to be inserted into an opening through which the fluid source (116) does not fit.
[0026] Advantageously, the apparatus additionally includes a display unit (125) configured for association with the platform (114), in which the display unit (125) is configured for use when attaching the platform (114) to an arm robotic (110).
[0027] Advantageously, the apparatus additionally includes a display unit (125) configured for association with the extension member (117), in which the display unit (125) is configured for use in the display of the extension member (117) to a robotic arm (110).
[0028] Advantageously, the apparatus in which the platform (114), the fluid source (116), the extension member (117) and the applicator (120) form a fluid delivery device (100).
[0029] Advantageously, the apparatus in which the fluid delivery device (100) is configured for use as a terminal manipulator (112) for a robotic arm (110).
[0030] According to another aspect of the invention there is provided a terminal manipulator (112) which includes an extension member (117), a platform (114) associated with the extension member (117), a cartridge (126) associated with the platform (114), configured to dispense a seal (130); an applicator (120) associated with the extension member (117) such that a selected distance is maintained between the applicator (120) and the cartridge (126), in which the applicator (120) is configured to receive the dispensing seal (130) the cartridge (126) and where the applicator (120) is configured for use in applying the sealant (130) on a surface (104); and a display unit (125) configured to affix the terminal manipulator (112) to a robotic operator (108) in which the robotic operator (108) is configured to move at least one of the platform (114) and the extension member ( 117) to position the applicator (120) on the surface (104).
[0031] Advantageously, the terminal manipulator additionally includes an applicator movement system (124) configured to move the applicator (120).
[0032] Advantageously the terminal manipulator in which the applicator movement system (124) is configured to rotate the applicator (120) around a geometrical axis of the applicator (158) through the applicator (120) regardless of the member of extension (117) while applying the sealant (130) on the surface (104).
[0033] Advantageously the terminal manipulator in which the applicator movement system (124) is configured to rotate the applicator (120) around a geometric axis through the extension member (117).
[0034] Advantageously the terminal manipulator in which the applicator movement system (124) comprises at least one of: a first movement system (154) configured to rotate the applicator (120) around the geometric axis of the applicator ( 158) through the applicator (120) independently of the extension member (117); and a second movement system (156) configured to rotate the extension member (117) around a geometric axis through the extension member (117), wherein rotation of the extension member (117) causes rotation of the applicator (120 ) around the geometric axis.
[0035] According to another aspect of the invention there is provided a device for applying fluid (100) which includes a platform (114), a cartridge (126) associated with the platform (114) and configured to dispense a seal (130); an extension member (117) associated with the platform (114) and configured to extend from the platform (114); a brush (148) associated with the extension member (117) and configured to receive the seal (130) dispensed by the cartridge (126) in which the brush (148) is configured for use in applying the seal (130) on a surface ( 140); a fluid control system (122) configured to control at least one of an amount (142) of the seal (130) and a flow (144) of the seal (130) dispensed to the brush (148), wherein the system of fluid control (122) comprises at least one of a hose (132), a valve system 134 and a nozzle 136; an applicator movement system (124) configured to move the brush (148), wherein the applicator movement system (124) comprises at least one of: a first movement system (154) configured to rotate the brush (148 ) around a geometric axis of the brush through the brush (148) independently of the extension member (117), wherein the first movement system (154) comprises at least one of a number of motors, a number of axes, a number of belt systems and a number of gears; and a second movement system (156) configured to rotate the extension member (117) about a geometric axis through the extension member (117) in which rotation of the extension member (117) causes rotation of the brush (148) around the geometry axis and wherein the second movement system (156) comprises at least one of a number of motors, a number of axes, a number of belt systems, and a number of gears; an applicator coupling unit (152) configured to attach the brush (148) to the extension member (117) and a display unit (125) configured to associate with the platform (114) and configured for use in the application device display of fluid (100) to a robotic arm (110) as a terminal manipulator (112).
[0036] In accordance with yet another aspect of the invention there is provided a method for applying a viscous fluid (128) to a surface (104), the method including positioning an applicator (120) associated with an extension member (117) on the surface (104) using a robotic operator108, wherein the extension member (117) is configured to maintain a selected distance between the applicator (120) and a fluid source (116) for the viscous fluid (128); dispense the viscous fluid (128) from the fluid source (116) to the applicator (120) and apply the viscous fluid (128) to the surface (104) using the applicator (120).
[0037] Advantageously, positioning the applicator (120) associated with the extension member (117) on the surface (104) using the robotic operator (108) includes moving at least one of the extension member (117), and one platform (114) associated with the extension member (117) using the robotic operator (108) to move the applicator (120) to a position on the surface (104), where the fluid source (116) is associated with the platform ( 114).
[0038] Advantageously the method further includes controlling at least one of an amount (142) of the viscous fluid (128) and a flow (144) of the viscous fluid (128) dispensed from the fluid source (116) to the applicator (120), using a fluid control system (122).
[0039] Advantageously, the method further includes rotating the applicator (120) around an applicator geometry axis (158) through the applicator (120) independently of the extension member (117) using an applicator movement system (124 ).
[0040] Advantageously, the method further includes rotating the extension member (117) around a geometric axis through the extension member (117) using an applicator movement system (124) in which rotation of the extension member ( 117) causes the applicator (120) to rotate around the geometric axis.
[0041] Advantageously the method in which applying the viscous fluid (128) to the surface (104) using the applicator (120) includes applying the viscous fluid (128) to the surface (104) using the applicator (120) to sealing a number of interfaces (131) on the surface (104), where the viscous fluid (128) is a seal (130) and the applicator (120) is a brush (148).
[0042] Advantageously, the method further includes extending the applicator (120) away from a platform (114) using the extension member (117), wherein the extension member (117) is a telescopic arm configured to extend and retract in relation to a geometrical axis of the arm (174) through the telescopic arm.
[0043] Advantageously the method in which to position the extension member (117) on the surface (104) includes positioning a platform (114) using a robotic arm (110) to position the extension member (117) on the surface (104), where the platform (114) is connected to the robotic arm (110) by a display unit (125).
[0044] Advantageously the method in which dispensing the viscous fluid (128) from the fluid source (116) to the applicator (120) includes dispensing the viscous fluid (128) from the fluid source (116) to the applicator (120) in which the viscous fluid (128) has a viscosity between approximately 50 Poise and approximately 12,500 Poise.
[0045] In accordance with yet another aspect of the invention there is provided a method for applying a sealant (130) on a surface (104), the method including positioning a platform (114) using a robotic arm (110) to position a member of extension (117) associated with the platform (114) on the surface (104) where the platform (114) is connected to the robotic arm (110) by a display unit (125); dispensing a seal (130) from a cartridge (126) associated with the platform (114) to an applicator (120) associated with the extension member (117); control at least one of a quantity (142) of the seal (130) and a flow (144) of the seal (130) dispensed from the cartridge (126) to the applicator (120) using a fluid control system (122) ; rotating the applicator (120) around an applicator geometry axis (158) through the applicator (120) independently of the extension member (117) using an applicator movement system (124); rotating the extension member (117) around a geometric axis through the extension member (117) using the applicator movement system (124), in which rotation of the extension member (117) causes rotation of the applicator (120) around the geometric axis; and applying the sealant (130) on the surface (104) using the applicator (120) to seal a number of interfaces (131) on the surface (104).
[0046] In accordance with another aspect of the present invention there is provided a method for applying a seal (130) over a plurality of fasteners installed in a structure, the method including moving an applicator (120) associated with an extension member (117) in a device for applying fluid (100) to an initial position on a fastener of the plurality of fasteners using a robotic arm (110); rotating the applicator (120) using an applicator movement system (124); dispense a controlled quantity (142) of the seal (130) from a cartridge (126) maintained by a platform (114) associated with the extension member (117) to the applicator (120) at a controlled flow (144), while the applicator (120) is rotating; and apply the sealant (130) on the fastener using the applicator (120) according to a predefined application routine.
[0047] Advantageously, the method additionally includes interrupting a flow from the seal (130) to the applicator (120); interrupt rotation of the applicator (120); move the applicator (120) to the next fastener of the plurality of fasteners using the robotic arm (110) and repeat the steps of rotating the applicator (120) using the applicator movement system (124), dispense the controlled quantity (124) sealant (130) from the cartridge (126) maintained by the platform (114) associated with the extension member (117) to the applicator (120) at the controlled flow (144) while the applicator (120) is rotating, and apply the sealant (130) on the fastener, using the applicator (120) according to the predefined application routine for the next fastener.
[0048] Advantageously the method in which to move the applicator (120) associated with an extension member (117) in the device for applying fluid (100) to the initial position on the fixator in the plurality of fixers using the robotic arm ( 110) includes moving at least one of the extension member (117) and the platform (114) associated with the extension member (117) using the robotic arm (110) to move the applicator (120) and rotate the extension member (117 ) around a geometric axis through the extension member (117) using the applicator movement system (124) to move the applicator (120) to a position on the fastener, where rotation of the extension member (117) causes rotation of the applicator (120) around the geometric axis through the extension member (117).
[0049] Advantageously, the method in which to apply the sealant (130) on the fastener using the applicator (120) according to the predefined application routine includes rotating the extension member (117) around a geometric axis through the extension member (117) using the applicator movement system (124), such that the applicator (120) is rotated around the geometric axis through the extension member (117) while the seal (130) is being applied over the fixative.
[0050] The aspects and functions can be achieved independently in several modalities of the present description or they can be combined in still other modalities in which other details can be seen with reference to the description and drawings that follow. BRIEF DESCRIPTION OF THE DRAWINGS
[0051] The innovative aspects considered characteristic of the illustrative modalities are described in the attached claims. The illustrative modalities, however, as well as a preferred mode of use, other objectives and aspects, will be better understood by reference to the detailed description that follows of an illustrative modality of the present description, when read in conjunction with the accompanying drawings. , in which: Figure 1 is an illustration of a device for applying fluid in the form of a block diagram according to an illustrative embodiment; Figure 2 is an illustration of an isometric view of a device for applying fluid according to an illustrative embodiment; Figure 3 is an illustration of a cross-sectional view on a device for applying fluid according to an illustrative embodiment; Figure 4 is an illustration of an isometric view of a different implementation for the device for applying fluid according to an illustrative embodiment; Figure 5 is an illustration of an isometric view of a device for applying fluid according to an illustrative embodiment; Figure 6 is an illustration of a cross-sectional view of a device for applying fluid according to an illustrative embodiment; Figure 7 is another illustration of a cross-sectional view of a device for applying fluid according to an illustrative embodiment; Figure 8 is yet another illustration of a cross-sectional view of a device for applying fluid according to an illustrative embodiment; Figure 9 is an illustration of a view of a pivoting mechanism according to an illustrative embodiment; Figure 10 is an illustration of a device for applying fluid according to an illustrative embodiment; Figure 11 is an illustration of a cross-sectional view of a device for applying fluid according to an illustrative embodiment; Figure 12 is an illustration of a view of a device for applying fluid according to an illustrative embodiment; Figure 13 is an illustration of a process for applying a fluid to a surface, in the form of a flow chart according to an illustrative embodiment; Figure 14 is an illustration of a process for applying a sealant to a surface, in the form of a flow chart according to an illustrative embodiment; Figure 15 is an illustration of a process for applying a seal to a plurality of fasteners, in the form of a flow chart; Figure 16 is an illustration of an aircraft manufacturing and service method, in the form of a flowchart according to an illustrative embodiment; and Figure 17 is an illustration of an aircraft, in the form of a block diagram according to an illustrative embodiment. DETAILED DESCRIPTION
[0052] Referring now to the figures and, in particular, with reference to figure 1, an illustration of a device for applying fluid is represented in the form of a block diagram according to an illustrative embodiment. In this illustrative example, the fluid delivery device 100 can be used to apply fluid 102 to surface 104.
[0053] The fluid delivery device 100 can be operated by a human operator 106 or robotic operator 108. For example, robotic operator 108 can be configured to operate the fluid delivery device 100 and move the fluid delivery device 100. In particular, robotic operator 108 can be used to position the fluid delivery device relative to surface 104 and / or move the fluid delivery device 100 onto surface 104.
[0054] In an illustrative example, robotic operator 108 comprises robotic arm 110. In this example, the device for applying fluid 100 may take the form of terminal manipulator 112 configured for attachment to robotic arm 110.
[0055] As shown, fluid delivery device 100 may include platform 114, fluid source 116, extension member 117, applicator 120, fluid control system 122, applicator movement system 124, and display unit 125. The display unit 125 can be configured to attach the terminal manipulator 112 to the robotic arm 110.
[0056] Platform 114 may consist of one or more structures configured to maintain and support the various components of the device for applying fluid 100. Depending on the implementation, one or more sources of fluid 116, extension member 117, control system fluid 122, applicator movement system 124 and display unit 125, can be associated with platform 114. In some illustrative examples the display unit 125 can be associated with extension member 117.
[0057] When a component is "associated" with another component, as used here, this association is a physical association in the examples represented. For example, a first component, such as fluid source 116, can be considered to be associated with a second component, such as platform 114 by being attached to the second component, connected to the second component, mounted to the second component, welded to the second component, fixed to the second component and / or connected to the second component in some other suitable manner. In some cases, the first component can be considered associated with the second component and is connected to the second component by a third component. The first component can also be considered to be associated with the second component being formed as part of and / or as an extension of the second component.
[0058] Fluid source 116 is configured to hold or store fluid 102. In this illustrative example, fluid source 116 can take the form of cartridge 126. However, in other illustrative examples the fluid source 116 can take another form such such as, without limitation, a container, a tank, a reservoir, a liner or some other type of storage structure.
[0059] In this illustrative example, fluid 102 held by cartridge 126 can be viscous fluid 128. As used herein, a "viscous" fluid can be a fluid that resists flow shear and deforms in a linear manner over time, when tension is applied. Viscous fluids can be considered to have a thick consistency. Viscous fluid 128 may have a viscosity between approximately 50 Poise and approximately 12,500 Poise in some illustrative examples. Of course, in other illustrative examples, viscous fluid 128 may have a viscosity of less than approximately 50 Poise or greater than approximately 12,500 Poise.
[0060] In one illustrative example, viscous fluid 128 takes the form of a seal 130. Of course, in other illustrative examples viscous fluid 128 can take the form of an adhesive. When viscous fluid 128 takes the form of a seal 130, the fluid delivery device 100 can be referred to as a seal application device.
[0061] Seal 130 can be applied on surface 104 to, for example, without limitation, seal a number of interfaces 131 on surface 104. As used herein, a "number of" items can be one or more items. For example, the number of interfaces 131 can include one or more interfaces. An "interface" such as one with a number of interfaces 131 as used herein, can be an interface between any two objects. For example, an interface can be the boundary between two objects that have been joined together. An interface can be the boundary between a fastener and the object into which the fastener has been installed.
[0062] Fluid 102 can be dispensed from fluid source 116 to applicator 120 using fluid control system 122. Fluid control system 122 can be configured to control fluid flow 102 from fluid source 116 to applicator 120 Fluid control system 122 may include at least one hose 132, valve system 134, nozzle 136, and some other type of fluid transport element or flow control element.
[0063] As used here, the phrase “at least one of” when used with a list of items, can mean that different combinations of one or more of the items listed can be used. In some cases, only one item in the item list may be required. For example, “at least one of item A, item B, and item C” can include item A; item A and item B; item A, item B, and item C; item B and item C; or some other type of combination. As another example, “at least one from item A, item B and item C” may include, but is not limited to two from item A, one from item B, and ten from item C; four from item B and 7 from item C, or some other type of combination. The item can be a particular object, thing, or a category. In other words, at least one of means that any combination of items and number of items can be used from the list, however not all items on the list are required.
[0064] Hose 132 can be connected to fluid source 116 such that hose 132 is configured to receive fluid 102 dispensed by fluid source 116. Fluid flow 102 from hose 132 to applicator 120 can be controlled using the valve 134 and / or nozzle 136. Valve system 134 may include, for example, without limitation, at least one of number of valves 138 and number of actuators 140. In an illustrative example, valve system 134 can be used to control amount 142 of fluid 102 sent to applicator 120, while nozzle 136 can be used to control the flow 144 at which fluid 102 is sent to applicator 120. In this way, a controlled amount 142 of fluid 102 can be dispensed or supplied to the applicator 120 at a controlled flow rate 144.
[0065] As shown, extension member 117 can be associated with end 146 of platform 114. In particular, extension member 117 can extend from end 146 of platform 114. In this illustrative example extension member 117 can take the form of arm 118. However, in other illustrative examples, extension member 117 may take some other form.
[0066] Extension member 117 allows applicator 126 to be extended away from fluid source 116, such that fluid source 116 and applicator 120 are not colocalized together. More specifically, extension member 117 can be configured to maintain a selected distance between fluid source 116 and applicator 120. In this way, extension member 117 can allow applicator 120 to be positioned within an area in which the fluid source 116 does not fit. The area can be, for example, a compartment, a hollow portion of a tube, an interior of a structure, a confined area, or some other area in some way difficult to reach. For example, without limitation, an extension member 117 can have a dimension configured such that extension member 117 and applicator 120 can be inserted into an opening in a structure through which the fluid source 116 does not fit.
[0067] Applicator 120 can be associated with arm 118. Applicator 120 can take the form of any type of device or tool configured for use in the application of fluid 102 on surface 104. As an illustrative example, applicator 120 can take the form of a brush 148. Brush 148 may have bristles 150 configured for use in applying fluid 102 to surface 104.
[0068] In an illustrative example, applicator coupling unit 152 can be used to attach applicator 120 to arm 118. Applicator coupling unit 152 can comprise any number of structures, fasteners, and / or other components required to attach applicator 120 to arm 118. In this illustrative example, applicator coupling unit 152 can couple applicator 120 to arm 118 in a manner that allows applicator 120 to move independently of at least one of applicator coupling unit 152 and arm 118.
[0069] Applicator 120 can be moved using applicator motion system 124. Applicator motion system 124 can include at least one first motion system 154 and second motion system 156. First motion system 154 can be configured to rotate applicator 120 around applicator geometry 158. Applicator geometry 158 can be a central geometry axis through applicator 120 in an illustrative example. Applicator 120 can be rotated independently of applicator coupling unit 152 and / or arm 118.
[0070] As shown, first movement system 154 may include, for example, without limitation, at least one of the number of motors 160, number of axles 162, number of belt systems 164 and some other type of device or movement element . Belt system 166 can be an example of one of a number of belt systems 164. In an illustrative example, belt system 166 can be used to rotate applicator 120 around applicator geometry 158.
[0071] Belt system 166 may include, for example, without limitation, first pulley 168, second pulley 170 and belt 172. Belt 172 can wrap around both of the first pulley 168 and second pulley 170. First pulley 168 can be connected to one of a number of motors 160 by one of a number of axles 162. Operation of this motor can cause rotation of the first pulley 168 in a direction around applicator geometry 158 which can in turn cause movement of the belt 172 Movement of the belt 172 may then cause rotation of the second pulley 170 in the same direction around the geometrical axis of applicator 158. For example, clockwise rotation of the first pulley 168 may result in clockwise rotation of the second pulley 170.
[0072] Second pulley 170 can be connected to applicator 120 by another one of a number of axes 162 or in some other way. Rotating the second pulley 170 in one direction around the applicator geometry axis 158 can cause applicator rotation 120 around the applicator geometry axis 158. For example, clockwise rotation of the second pulley 170 can lead to the clockwise rotation of the applicator 120 around applicator geometry 158. In this way, first motion system 154 can be configured to move rotate applicator 120 around applicator geometry 158. Naturally, any configuration of number of motors 160, number of axes 162 and / or number of belt systems 164 can be used to rotate an applicator 120.
[0073] Second movement system 156 can also be configured to move applicator 120. In particular, second movement system 156 can be configured to rotate arm 118 around a geometric axis through arm 118, which can be referred to as axis arm geometry 174. arm geometry 174 can be a longitudinal geometry axis through arm 118. In an illustrative example, arm geometry 174 can be substantially perpendicular to applicator geometry 158. However, in other illustrative examples , applicator 120 can be coupled to the arm 118 in such a way that the arm axis 174 is at some other angle to the applicator head 158.
[0074] When the arm 118 rotates around the geometric axis of arm 174, applicator 120 can be moved together with arm 118. In this way, the coupling of applicator 120 to arm 118 can be configured such that movement of arm 118 causes the same movement of the applicator 120, but movement of the applicator 120 may not cause the same movement of the arm 118.
[0075] Second movement system 156 may include, for example, without limitation, at least one of number of motors 176, number of axles 178, number of gears 180, number of belt systems 182, and some other type of device or movement element. One or more of the number of belt systems 182 can be implemented in a similar manner to the implementation of belt system 166. In some cases, second movement system 156 can be configured to restrict the arm rotation range 118 around the axis arm geometry 174. In other illustrative examples, second movement system 156 can be configured to allow arm 118 to rotate fully 360 degrees around arm geometry axis 174.
[0076] Of course, depending on the implementation, first movement system 154 and / or second movement system 156 can be implemented in some other way than described. For example, first movement system 154 and / or second movement system 156 can be implemented using a number of actuators, a number of slip rings, a number of wheels, a number of gears, and / or any number of other types of components. Actuators used can be selected from, for example, without limitation, linear actuators, rotary actuators, alloy actuators with shape memory, electromechanical actuators, hydraulic actuators, pneumatic actuators and / or other types of actuators.
[0077] The illustration of the device for applying fluid 100 in Figure 1 does not mean to imply physical or architectural limitations to the way in which an illustrative modality can be implemented. Other components in addition to, or in place of, those illustrated, may be used. Some components may be optional. The blocks are also presented to illustrate some functional components. One or more of these blocks can be combined, divided or combined and divided, in different blocks when implemented in an illustrative modality.
[0078] Referring now to Figure 2, an illustration of an isometric view of a device for applying fluid is shown according to an illustrative embodiment. In this illustrative example, device for applying fluid 200 can be an example of an implementation for device for applying fluid 100 in Figure 1.
[0079] The fluid delivery device 200 can be used to apply seal 202 over surface 204. Seal 202 can be an example of an implementation for seal 130 in Figure 1. Surface 204 can be an example of an implementation for surface 104 in Figure 1.
[0080] As shown, surface 204 may include a surface portion 206 of object 205, a surface portion 208 of object 207. Object 205 and object 207 have been joined using support 210. Device for applying fluid 200 may apply seal 202 on surface 204 to seal interface 212 formed between object 205 and object 207 using support 210. Interface 212 can be an example of an implementation for one of a number of interfaces 131 in Figure 1.
[0081] In this illustrative example, fluid delivery device 200 may include platform 214, cartridge 216, arm 218, brush 210, fluid control system 222, and applicator movement system 214. Platform 214, cartridge 216, arm 218, brush 220, fluid control system 222, and applicator movement system 224 can be examples of implementations for platform 114, cartridge 126, arm 118, brush 148, fluid control system 122, and applicator movement system 124, respectively in Figure 1.
[0082] Cartridge 216 can be configured to keep seal 202 inside a chamber (not shown in this view) inside cartridge 216. Cartridge 216 can dispense seal 202 for brush 220. Brush 220 can be associated with arm 218 in this illustrative example . In addition, in this example, the arm 218 can be fixedly connected to the platform 214. In other words, the arm 218 may be unable to move relative to the platform 214 in this illustrative example.
[0083] Fluid control system 222 can be used to control the amount of seal 202 dispensed for brush 220 and flow rate at which seal 202 is dispensed for brush 220. In this illustrative example, fluid control system 222 can include system valve 226 and nozzle 228. Valve system 226 and nozzle 228 can be examples of implementations for valve system 134 and nozzle 136, respectively, in Figure 1.
[0084] Applicator movement system 224 may include motor 230 in this illustrative example. Motor 230 can be an example of an implementation for a motor in number of motors 160 in Figure 1. Operation of motor 230 can cause activation of a belt system (not shown in this view). Activation of the belt system can cause brush 220 to rotate around applicator shaft 231 through brush 220 during application of sealant 202 to surface 204. Applicator shaft 231 can be an example of an implementation for the applicator geometry axis 158 in Figure 1. When an applicator geometry axis, such as applicator geometry axis 231 is through a brush-shaped applicator, such as brush 220, the applicator geometry axis can be referred to as a geometric brush axis.
[0085] In this way, applicator movement system 224 can be used to rotate brush 220 around applicator geometry 231 when brush 220 is moved along surface 204. Rotate brush 220 during application of sealant 202 it can ensure that seal 202 is dispensed on surface 204 in a substantially smooth and equal manner.
[0086] As shown, display unit 232 can be associated with platform 214. Display unit 232 can be an example of an implementation for display unit 125 in Figure 1. Display unit 232 can be used to display the platform 214 and thereby the device for applying fluid 200 to a robotic arm (not shown). In other words, the display unit 232 may allow the fluid delivery device 200 to be used as a terminal manipulator for a robotic arm (not shown).
[0087] With reference now to Figure 3, an illustration of a cross-sectional view of a device for applying fluid 200 of Figure 2 is shown according to an illustrative embodiment. In this illustrative example, a cross-sectional view of the fluid delivery device 200 of Figure 2 is shown, taken along lines 3-3 in Figure 2.
[0088] As shown, seal 202 can be kept inside chamber 300 of cartridge 216. Seal 202 can be dispensed from cartridge 216 and allowed to flow through fluid control system 222. In this illustrative example, seal 202 can flow from cartridge 216 for brush 220 along path 302. Valve 304 in valve system 226 of fluid control system 222 can be used to control the amount of sealant 202 deposited along path 302. Nozzle 228 can be used to control the flow at which seal 202 flows along path 302 to brush 220.
[0089] Additional components of applicator movement system 224 can be seen in this view. In addition to motor 230, applicator movement system 224 may include belt system 305 and geometry axis 307. Belt system 305 and geometric axis 307 can be substantially located within platform 214. Belt system 305 can be an example of an implementation for the belt system 166 in Figure 1. The geometry axis 307 can be an example of an implementation for one of the number of axes 162 in Figure 1.
[0090] The belt system 305 can include first pulley 306, second pulley 308 and belt 310. First pulley 306 and second pulley 308 can be sprockets in this illustrative example. Belt 310 can be wrapped around both of the first pulley 306 and second pulley 308. First pulley 306, second pulley 308 and belt 310 can be examples of implementations for the first pulley 168, second pulley 170 and belt 172, respectively, in Figure 1.
[0091] As shown, the first pulley 306 can be connected to motor 210 by geometry axis 307 and coupling unit 312. In addition, the second pulley 308 can be connected to brush 220 per applicator coupling unit 314. In this way, applicator coupling unit 314 can be used.
[0092] Motor operation 230 can cause rotation of the first pulley 306. In an illustrative example this rotation can be in the direction of the arrow 316, a direction in the clockwise direction. However, in other examples the rotation may be in the reverse direction of the arrow 316, a counterclockwise direction.
[0093] Rotation of the first pulley 306 can move belt 310 around the first pulley 306 and second pulley 308 which can, in turn, cause rotation of second pulley 308. Rotation of second pulley 308 can cause rotation of brush 220 around geometrical axis of applicator 231.
[0094] Depending on the implementation, a human operator (not shown) or a robotic operator (not shown) can control operation of motor 230 and, with this, rotation of brush 220. Brush 220 can be moved along surface 204 on the Figure 2 for various positions along the surface 204 by means of human operator or robotic operator. In this illustrative example, seal 202 can be dispensed from cartridge 216 to brush 220 in a continuous manner such that seal 202 can be applied to surface 204 in Figure 2 without undesired interruption.
[0095] With reference now to Figure 4, an illustration of an isometric view of a different implementation for a device for applying fluid is represented according to an illustrative embodiment. In this illustrative example, fluid delivery device 400 can be an example of an implementation for fluid delivery device 100 in Figure 1.
[0096] The device for applying fluid 400 may include display unit 402, platform 404, cartridge 406, arm 408, brush 410, fluid control system 412, and applicator movement system 416. Display unit 402, platform 404, cartridge 406, brush 410, fluid control system 412 and applicator movement system 416, which can be examples of implementations for display unit 125, platform 114, cartridge 126, arm 118, brush 148, control system fluid 122, and applicator movement system 124, respectively, in Figure 1.
[0097] In this illustrative example the applicator movement system 416 can be associated with platform 404. In addition, structure 418 can be associated with the movement system of applicator 416. Structure 418 can be used to associate arm 408 with platform 404. Arm 408 can be fixedly associated with platform 404 in this illustrative example. In other words, neither arm 408 nor frame 418 can be moved relative to platform 404 in this example.
[0098] As shown, brush 410 can be associated with arm 408. In this illustrative example arm 408 can be longer than arm 218 in Figures 2-3. In other words, arm 408 can be extended further away than arm 218. Consequently, arm 408 can be used to allow brush 410 to be positioned within locations difficult to reach in other ways.
[0099] Fluid control system 412 can include valve system 420, nozzle 422 and hose 414. Valve system 420 and nozzle 422 can be examples of implementations for valve system 134 and nozzle 136, respectively, in Figure 1 Valve system 420 and nozzle 422 can be used to control the amount of sealant (not shown) and the flow rate of sealant (not shown), respectively, dispensed through hose 414 from cartridge 406 to brush 410.
[00100] Applicator movement system 416 may include motor 424. Motor 424 may be operated to rotate brush 410 around applicator axis 425. As an illustrative example, operation of motor 424 may cause rotation of brush 410 to around the applicator geometry axis 425 in the direction of arrow 427.
[00101] Referring now to Figures 5-8, illustrations of a device for applying fluid that have different configurations for an applicator movement system are represented according to an illustrative embodiment. The fluid delivery device 500 shown in Figures 5-8 can be an example of an implementation for fluid delivery device 100 in Figure 1.
[00102] Turning now to Figure 5, an illustration of an isometric view of a device for applying fluid is shown according to an illustrative embodiment. As shown, fluid delivery device 500 may include platform 502, cartridge 504, hose 505, arm 506, brush 508, applicator movement system 510 and display unit 512. Platform 502, cartridge 504, hose 505, arm 506 , brush 508, applicator movement system 504 and display unit 512, can be examples of implementations for platform 114, cartridge 126, hose 132, arm 118, brush 148 and applicator movement system 124, respectively, in Figure 1. The display unit 512 can be used to affix device for applying fluid 500, for example, without limitation, to the robotic arm 514.
[00103] In this illustrative example, cartridge 504 can be configured to dispense sealant (not shown) for brush 508 through hose 505. Brush 508 can be used to apply sealant on a surface (not shown).
[00104] Applicator movement system 510 can be configured to move brush 508. As shown, applicator movement system 510 can include first movement system 516 and second movement system 518. The first movement system 516 and second movement system 518 can be an example of an implementation for the first movement system 154 and second movement system 156, respectively, in Figure 1. In this illustrative example, first movement system 516 and second movement system 518 can be entirely housed within platform 502.
[00105] The first movement system 516 can be configured to rotate brush 508 around the applicator shaft 519. The first movement system 516 can include motor 520, shaft 521 and belt system 523. The belt system 523 can be an example of an implementation for the belt system 166 in Figure 1. The belt system 523 can include first pulley 522, second pulley 524 and belt 526. The second pulley 524 can be associated with applicator coupling unit 527. The Applicator coupling unit 527 can be an example of an implementation for applicator coupling unit 152 in Figure 1. Applicator coupling unit 527 can couple brush 508 to arm 506 in this example.
[00106] Operation of motor 520 can cause rotation of the first pulley 522 which can, in turn, cause movement of the belt 526. The movement of belt 526 can rotate the second pulley 524 which can, in turn, cause brush rotation 508 around applicator geometry axis 519. As an illustrative example, brush 508 can be rotated in the direction of arrow 528.
[00107] Second movement system 518 may include motor 530, shaft 532, inner gear 534 and outer gear 536. Outer gear 536 can be fixedly attached to arm 506 in this example. Motor operation 530 can rotate shaft 532, which can cause rotation of inner gear 534. Rotation of inner gear 534 can cause movement of outer gear 534 which can, in turn, cause arm rotation 506 around arm geometry axis 540 Arm axis 540 can be an example of an implementation for a arm axis 174 in Figure 1. For example, without limitation, arm 506 can be rotated in the direction of arrow 538 around arm axis 540.
[00108] Turning now to Figure 6, an illustration of a cross-sectional view of the fluid delivery device 500 of Figure 5 is shown according to an illustrative embodiment. In this illustrative example, a cross-sectional view of the fluid delivery device 500 of Figure 5 is seen taken along lines 6-6 in Figure 5.
[00109] As shown, fluid application device 500 can have a different configuration for second movement system 518. In particular, in this example, motor 530 can be located off platform 502. Additionally, in this view, the coupling unit 600 can be seen. Coupling unit 600 can be configured to couple motor 520 to shaft 521.
[00110] Referring now to Figure 7, another illustration of a cross-sectional view of the fluid delivery device 500 of Figure 6 is shown according to an illustrative embodiment. In this illustrative example, fluid application device 500 may have the same configuration for second movement system 518, as shown in Figure 5. However, fluid application device 500 may have a different configuration for first movement system 516.
[00111] In this illustrative example, the first motion system 516 can include motor 520, shaft 521, bevel gear 702, bevel gear 704, shaft 706, bevel gear 708, bevel gear 710, shaft 712 and belt system 713. The gears Bevel gears can also be referred to as inclined gears in some cases. Belt system 713 can include first pulley 714, belt 716 and second pulley 718.
[00112] Motor operation 520 can cause rotation of shaft 712, and thus rotation of bevel gear 702. Bevel gear rotation 702 can, in turn, cause bevel gear 704, shaft 706 connected to bevel gear 704 and gear taper 708 connected to shaft 706. Bevel gear rotation 708 can cause bevel gear rotation 710 and shaft 712 connected to bevel gear 710. Rotation of shaft 712 can cause rotation of first pulley 714 which can lead to rotation of second pulley 718 by the belt 716. Rotation of second pulley 718 can then cause brush rotation 508 around the geometry axis of applicator 519.
[00113] With reference now to Figure 8, yet another illustration of a cross-sectional view of the device for applying fluid 500 of Figure 7 is shown according to an illustrative embodiment. In this illustrative example, device for applying fluid to 500 may have the same configuration for the first motion system 516, as shown in Figure 6. However, device for fluid application 500 may have a different configuration for the second motion system 518.
[00114] In this illustrative example, axis length 521 has been extended when compared to axis length 521 in Figures 5-7. In Figure 8, the second movement system 518 can include a motor 800, slewing mechanism 802, shaft 804, belt system 805, shaft 532, inner gear 534 and outer gear 536. Belt system 805 may include first pulley 806, belt 808, and second pulley 810.
[00115] Motor operation 800 may cause activation of the 802 swing mechanism. 802 swing mechanism can be used to activate the 805 belt system. When the 805 belt system is activated, first pulley 806 can rotate, thereby causing movement of belt 808 and rotation of second pulley 810. Rotation of second pulley 810 can cause rotation of inner gear 534 through shaft 532, which in turn can cause rotation of outer gear 536. Rotation of outer gear 536 can cause rotation of arm 506 to the around 540 arm geometric axis.
[00116] In this illustrative example, pivoting mechanism 802 can only activate the belt system 805 such that arm 506 can be rotated around the geometric axis of arm 540 in approximately 90 degree increments. The 802 pivoting mechanism can be described in more detail in Figure 9.
[00117] With reference now to Figure 9, an illustration of a view of the pivoting mechanism 802 of Figure 8 made with respect to lines 9-9 is represented according to an illustrative embodiment. In this illustrative example the slewing mechanism 802 can be implemented using a Geneva drive mechanism.
[00118] As shown, slewing mechanism 802 may include drive wheel 900, driven wheel 902 and pin 904 attached to drive wheel 900. Driven wheel 902 may have plurality of slits 905. Plurality of slits 905 includes four slits in this example. Each complete rotation of pin 904 of approximately 360 degrees around pivot point 906 can cause rotation of driven wheel 902 by approximately 90 degrees around pivot pin 908. In this way, driven wheel 902 can only be advanced in increments of approximately 90 degrees.
[00119] Driven wheel 902 can be connected to shaft 804 in Figure 8 at pivot point 908. Axle 804 in Figure 8 can be connected to the first pulley 806 in Figure 8. Each feed of driven wheel 902 can cause rotation of shaft 804, and thereby rotation of the first pulley 806 in Figure 8. In addition, the first pulley 806 in Figure 8 can only be rotated when the driven wheel 902 advances. In this way, the rotation of the arm 506 in Figure 8 can be controlled, such that the arm 506 remains stabilized when the driven wheel 902 is not being advanced.
[00120] Referring now to Figure 10, an illustration of a device for applying fluid is represented according to an illustrative embodiment. In this illustrative example, fluid delivery device 1000 can be an example of an implementation of fluid delivery device 100 in Figure 1.
[00121] Device for applying fluid 1000 may include platform 1002, cartridge 1004, arm 1006, brush 1008, fluid control system 1010, applicator movement system 1012, and display unit 1014. Platform 1002, cartridge 1004, arm 1006, brush 1008, fluid control system 1010, applicator movement system 1012 and display unit 1014, can be examples of implementations for platform 114, cartridge 126, arm 118, brush 148, fluid control system 122, system of movement of applicator 124, display unit 125, respectively, in Figure 1.
[00122] In Figure 10, fluid control system 1010 can include valve system 1016, hose 1018 and nozzle 1020. Fluid control system 1010 can be used to control dispensing of a seal maintained by cartridge 1004 for brush 1008.
[00123] In this illustrative example, brush 1008 can be associated with arm 1006 through applicator coupling unit 1022. In this illustrative example, arm 1006 can be connected to the end 1024 of platform 1002.
[00124] As shown, applicator motion system 1012 can include the first motion system 1025. First motion system 1025 can include 1026 motor, 1028 shaft, 1029 bevel gears, 1030 telescopic shaft and 1032 bevel gears. 1026 motor operation can cause brush rotation 1008 around applicator 1027 through axis 1028, chronic gears 1029, telescopic axis 1030 and bevel gears 1032. When telescopic axis 1030 is present, arm 1006 can be referred to as a telescopic arm.
[00125] Applicator movement system 1012 may also include second movement system 1034. Second movement system 1034 may include motor 1036, belt system 1037, shaft 1038, belt system 1040 and screw drive mechanism 1042. Operation of motor 1036 can cause arm rotation 1006 around arm geometry axis 1035 in this illustrative example. In particular, engine operation 1036 can activate belt system 1037 which can in turn cause activation of belt system 1040 and screw drive mechanism 1042. Screw drive mechanism 1042 can be configured to cause rotation of a sprocket ( not shown) fixedly connected to arm 1006.
[00126] In this illustrative example displacement cylinder 1044 can be used to extend and retract arm 1006 in relation to the geometric axis of arm 1035. Arm 1006 can be connected to the displacement cylinder by interface 1046.
[00127] Referring now to Figure 11, an illustration of a cross-sectional view of device for applying fluid 1000 of Figure 10 is shown according to an illustrative embodiment. In this illustrative example, a cross-sectional view of the device for applying fluid 1000 of Figure 10 is shown along lines 11-11 in Figure 10. A portion of the various components of applicator motion application system 1012 can be seen more clearly in this view.
[00128] Turning now to Figure 12, an illustration of a device view for applying fluid 1000 of Figure 11 made in relation to lines 12-12, is represented according to an illustrative embodiment. In this illustrative example, the arm 1006 can be configured to extend and retract with respect to the arm axis 1035. For example, without limitation, the arm 1006 can be extended or stretched in the direction of arrow 1200 along the arm axis 1035 This elongation can be performed using telescopic element 1201.
[00129] Arm 1006 can be configured to move relative to telescopic element 1201 along geometry axis of arm 1035. For example, without limitation, arm 1006 can be moved in the direction of arrow 1200 regardless of telescopic element 1201. Telescopic element 1201 can be associated with the 1030 telescopic axle.
[00130] Telescopic shaft 1030 can be associated with bevel gears 1029 in Figure 10 and bevel gears 1032. Rotation of chronic gears 1029 caused by motor 1026 in Figure 10 can cause rotation of telescopic axis 1030. The hexagonal shape of telescopic axis 1030 can make which telescopic element 1201 rotates when telescopic axis 1030 is rotated. In addition, interface 1202 between telescopic element 1201 and arm 1006 can ensure that rotation of telescopic element 1201 causes arm rotation 1006 with telescopic element 1201.
[00131] The illustrations of device for applying fluid 200 in Figures 2-3, device for applying fluid 400 in Figure 4, device for applying fluid 500 in Figures 5-8, swivel mechanism 802 in Figure 8, device for application of fluid 1000 in Figures 10-12 does not mean to imply physical or architectural limitations to the way in which an illustrative modality can be implemented. Other components in addition to, or in place of, those illustrated, may be used.
[00132] The different components shown in Figures 2-12 can be illustrative examples of how components shown in block form in Figure 1 can be implemented as physical structures. In addition, some of the components in Figures 2-12 can be combined with components in Figure 1, used with components in Figure 1, or a combination of the two.
[00133] With reference now to Figure 13, an illustration of a process for applying a fluid on a surface is represented in the form of a flow chart according to an illustrative modality. The process illustrated in Figure 13 can be implemented using, for example, without limitation, fluid delivery device 100 to apply fluid 102 to surface 104 in Figure 1.
[00134] The process can begin by placing applicator 120 associated with extension member 117 on surface 104 using robotic operator 108 (operation 1300). Extension member 117 can be configured to maintain a selected distance between applicator 120 and fluid source 116 to fluid 102. In an illustrative example, operation 1300 can be performed by a robotic operator 108 in the form of a robotic arm 110.
[00135] Then, fluid 102 can be dispensed from fluid source 116 to applicator 120 associated with extension member 117 (operation 1302). Extension member 117 can hold applicator 120 at some selected distance, away from platform 114. In this way, applicator 120 can be positioned within otherwise difficult to reach areas.
[00136] Thereafter fluid 102 can be applied to surface 104 using applicator 120 (operation 1304) with the process ending thereafter. In an illustrative example, applicator 120 can take the form of brush 148. Brush 148 can be configured to apply fluid 102 to surface 104, such that fluid 102 is dispensed in a substantially smooth and equal manner.
[00137] Referring now to Figure 14, an illustration of a process for applying a sealant to a surface is shown in the form of a flow chart according to an illustrative embodiment. The process illustrated in Figure 14 can be implemented using, for example, without limitation, a fluid delivery device 100 for applying sealant 130 to surface 104 in Figure 1.
[00138] Platform 114 of device for applying fluid 100 can be positioned on surface 104 using robotic arm 110, to which platform 114 is connected (operation 1400). In operation 1400, positioning platform 114 may include positioning arm 118 associated with platform 114. Operation 1400 can be performed in a number of different ways. Robotic arm 110 can be commanded to move platform 114 to move device for applying fluid 100, using information provided by a positioning system. The positioning system can comprise, for example, without limitation, a vision-based positioning system, a pre-programmed coordinate system, or some other type of positioning system.
[00139] The vision-based positioning system can use camera-generated images to position device for applying fluid 100. The pre-programmed coordinate system can be configured to provide predefined coordinates for robotic arm 110, to move platform 114.
[00140] Arm 118 associated with platform 114 can be rotated around the geometric axis of arm 174 through arm 118, using applicator movement system 124, such that applicator 120 associated with arm 118 is also rotated around the geometric axis of arm 174 (operation 1402).
[00141] Seal 130 can be dispensed with fluid source 116 associated with platform 114 for applicator 120 (operation 1404). At least one of quantity 142 and flow 144 of seal 130 dispensed from fluid source 116 to applicator 120 can be controlled using fluid control system 122 (operation 1406).
[00142] Applicator 120 can be rotated around applicator geometric axis 158 through applicator 120 independently of arm 118 using applicator movement system 124 (operation 1408). Thereafter sealant 130 can be applied on surface 104 using applicator 120 to seal number of interfaces 131 on surface 104 (operation 1410) with the process terminating thereafter.
[00143] Operation 1408 can be performed continuously during operation 1410 in this illustrative example. In other words, applicator 120 can be rotated continuously while seal 130 is applied on surface 104. This type of seal application 130 on surface 104 can improve the consistency with which seal 130 is applied on surface 104.
[00144] Referring now to Figure 15, an illustration of a process for applying a sealant to a plurality of fasteners is shown in the form of a flow chart according to an illustrative embodiment. The process illustrated in Figure 15 can be implemented using a fluid delivery device 100 in Figure 1.
[00145] The process can begin by moving the device for applying fluid 100 to an initial position such that brush 148 is positioned on a first fastener in a plurality of fasteners installed in a structure using robotic arm 110 (operation 1500). The brush 148 is then rotated using the applicator movement system 124 first movement system 154 (operation 1502). Valve system 134 is then used to allow a controlled amount 142 of seal 130 to flow from cartridge 126 to brush 148 at a controlled flow 144 (operation 1504).
[00146] Brush 148 is then used to apply sealant 130 to the fastener according to a predefined application routine (operation 1506). For example, without limitation, robotic arm 110 can be used to control brush movement 148 over the fastener by sending commands to the second movement system 156 of applicator movement system 124. The default application routine for brush 148 can be a particular pattern according to which brush 148 must be moved to apply seal 130 over the fastener.
[00147] Once seal 130 has been applied to the fastener, brush rotation 148 and seal flow 130 for brush 148 are interrupted (operation 1508). A determination is then made as to whether any additional fasteners in the plurality of fasteners need seal 130 (operation 1510). If no fastener in the plurality of fasteners still needs seal 130, the process ends. Otherwise, device for applying fluid 100 is moved to a next position such that brush 148 is positioned over a next fastener in the plurality of fasteners, using robotic arm 110 (operation 1512). The process then returns to operation 1502, as described above.
[00148] Flowcharts and block diagrams in the different modalities represented illustrate the architecture, functionality and operation of some possible implementations of devices and methods in the illustrative modality. In this regard, each block in the flowcharts or block diagrams can represent a module, a segment, a function and / or a portion of an operation or step.
[00149] In some alternative implementations of an illustrative modality, the function or functions noted in the blocks may occur out of the order adopted in the figures. For example, in some cases, two blocks shown in succession can be executed in a substantially concurrent way or the blocks can sometimes be performed in reverse order, depending on the functionality involved. Also, other blocks can be added in addition to the blocks illustrated in a flow chart or block diagram.
[00150] Illustrative modalities of the description can be described in the context of manufacturing method and service for aircraft 1600, as shown in Figure 16 and aircraft 1700 as shown in Figure 17. Returning first to Figure 16, an illustration of a method for manufacturing and aircraft service is represented in the form of a flowchart according to an illustrative modality. During pre-production, the manufacturing and service method for aircraft 1600 may include specification and design 1602 of aircraft 1700 in Figure 17 and acquisition of material 1604.
[00151] During production, manufacturing of components and subset 1606 and system integration 1608 of aircraft 1700 in Figure 17 take place. Thereafter, aircraft 1700 in Figure 17 can undergo certification and delivery 1610 to be placed in service 1612. While in service 1612 by a customer, aircraft 1700 in Figure 17 is scheduled for routine maintenance and service 1614, which may include modification, reconfiguration, renewal and other maintenance or service.
[00152] Each of the manufacturing and service method processes for 1600 aircraft can be performed or performed by a system integrator, a third partner and / or an operator. In these examples the operator can be a customer. For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and main system subcontractors; a third partner may include without limitation any number of salespeople, subcontractors and suppliers, and an operator may be an airline, a leasing company, a military entity, a service organization, and so on.
[00153] With reference now to Figure 17, an illustration of an aircraft is represented in the form of a block diagram, in which an illustrative modality can be implemented. In this example, aircraft 1700 is produced by an aircraft manufacturing and service method 1600 in Figure 16, and may include aircraft frame 1702 with a plurality of 1704 systems and 1706 interior. Examples of 1704 systems include one or more 1708 propulsion systems , electrical system 1710, hydraulic system 1712, environmental system 1714. Any number of other systems can be included. Although an aerospace example is shown, different illustrative modalities can be applied to other industries, such as the automotive industry.
[00154] Apparatus for methods configured here can be used during at least one of the stages of the manufacturing and service method for aircraft 1600 in Figure 16. For example, without limitation, number of interfaces 131 in Figure 1 can be located on aircraft 1700 A fluid delivery device, such as fluid delivery device 100 of Figure 1, can be used to apply seal 130 or some other type of fluid 102 to number of interfaces 131 during component manufacturing and subset 1606, system integration 1608 in service 1612, routine maintenance and service 1614, and / or some other manufacturing and service method stage for aircraft 1600 in Figure 16.
[00155] In an illustrative example, components or subassemblies produced in component manufacturing and subassembly 1606 in Figure 16 can be manufactured or manufactured in a manner similar to components and subassemblies produced while aircraft 1700 is in service 1612 in Figure 16. As yet another example, one or more devices, modalities, method modalities, or a combination of them, can be used during production stages, such as component manufacturing and subset 1606 and system integration 1608 in Figure 16. One or more device modalities , method modalities, or a combination of them can be used while the aircraft 1700 is in service 1612 or during maintenance and service 1614 in Figure 16. The use of a number of different illustrative modalities can substantially speed up the assembly of and / or reduce the cost of 1700 aircraft.
[00156] Thus, the illustrative modalities provide a method and apparatus for applying fluid on a surface. In an illustrative embodiment, an apparatus may comprise a platform, a source of fluid associated with the platform, an arm associated with the platform, and an applicator associated with the arm. The fluid source can be configured to dispense a fluid. The arm can be configured to extend from the platform. The applicator can be configured to receive the fluid dispensed by the fluid source. The applicator can be configured for use in applying the fluid to a surface.
[00157] In another illustrative embodiment, the device for applying fluid may comprise a platform, a cartridge associated with the platform, an arm associated with the platform, a brush associated with the arm, a fluid control system, an applicator movement system , an applicator coupling unit and a display unit. The brush can be configured to receive fluid dispensed by the cartridge. The brush can be configured to use when applying the fluid to a surface. The fluid control system can be configured to control at least one of an amount of fluid and a flow rate of fluid dispensed to the brush. The fluid control system can comprise at least one of a hose, a valve system and a nozzle.
[00158] The applicator movement system can be configured to move the brush. The applicator movement system can comprise at least one of a first movement system and a second movement system. The first movement system can be configured to rotate the brush around a brush geometric axis through the brush, regardless of the arm. The first movement system can comprise at least one of a number of motors, a number of axles, a number of belt systems and a number of gears. The second movement system can be configured to rotate the arm around a geometric axis of the arm through the arm. Arm rotation can cause the brush to rotate around the geometric axis of the arm. The second movement system can comprise at least one of a number of motors, a number of axles, a number of belt systems and a number of gears. The applicator coupling unit can be configured to attach the brush to the arm. The display unit can be configured to associate with a platform. The display unit can be configured to use when attaching the device for applying fluid to a robotic arm, such as a terminal manipulator.
[00159] The device for applying fluid described by the various illustrative modalities can be used to automate the process of applying fluids such as sealant on surfaces. In addition, the fluid delivery device described by the various illustrative modalities can be used to reduce the time required to perform these sealant application operations. In addition, the expense of sealant application operations can be reduced by the ability of the fluid delivery device to control the amount of fluid applied and the flow rate at which the fluid is applied.
[00160] The description of the different illustrative modalities has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the modalities in the manner described. Several modifications and variations will be evident to those of ordinary skill in the art. In addition, different illustrative modalities can provide different aspects when compared to other desirable modalities. The modality or modalities selected are chosen and described to better explain the principles of the modalities, practical application, and to enable others of ordinary skill in the technique to understand the description for different modalities with different modifications as they are appropriate for the particular use considered.

权利要求:
Claims (14)
[0001]
1. Apparatus for applying a viscous fluid to a surface, characterized by the fact that it comprises: a platform (114); a fluid source (116) associated with a platform (114) and configured to dispense a fluid (102); an arm (118) associated with the platform (114) and configured to extend from the platform (114); an applicator (120) associated with the arm (118) and configured to receive the fluid (102) dispensed by the fluid source (116), where the applicator (120) is configured for use in applying the fluid (102) on a surface (104); and an applicator movement system (124) configured to move the applicator (120), wherein the applicator movement system (124) comprises a first movement system (154) configured to rotate the applicator (120) around an applicator geometry axis (158) through the applicator (120) independently of the arm (118); wherein the applicator movement system (124) comprises a second movement system (156) configured to rotate the arm (118) around a geometric axis through the arm (118), in which rotation of the arm (118) in around the axis through the arm causes the applicator (120) to rotate around the geometric axis through the arm; wherein the applicator (120) is a brush (148) and the fluid (102) is a seal (130); and wherein the apparatus is a terminal manipulator (112) configured to be attached to a robotic arm (110).
[0002]
Apparatus according to claim 1, characterized by the fact that the second movement system (156) is used to move the applicator (120) to a position on the surface (104).
[0003]
Apparatus according to claim 1, characterized in that the first movement system (154) comprises at least one of a number of motors, a number of axles, a number of belt systems and a number of gears.
[0004]
Apparatus according to claim 1, characterized in that the second movement system (156) comprises at least one of a number of motors, a number of axles, a number of belt systems and a number of gears.
[0005]
Apparatus according to claim 1, characterized by the fact that it additionally comprises: an applicator coupling unit (152) configured to couple an applicator (120) to the arm (118).
[0006]
Apparatus according to claim 1, characterized by the fact that the fluid source (116) is a cartridge (126) configured to be maintained and supported by the platform (114).
[0007]
Apparatus according to claim 1, characterized in that the arm (118) is a telescopic arm configured to extend and retract with respect to a geometric arm axis (174) through the telescopic arm.
[0008]
8. Apparatus according to claim 1, characterized by the fact that it additionally comprises: a fluid control system (122) configured to control at least one of a quantity (142) of the fluid (102) and flow (144) of the fluid (102) dispensed to the applicator (120).
[0009]
Apparatus according to claim 8, characterized in that the fluid control system (122) comprises at least one of a hose (132), a valve system (134) and a nozzle (136).
[0010]
10. Apparatus according to claim 1, characterized by the fact that the arm (118) is configured to maintain a selected distance between the applicator (120) and the fluid source (116).
[0011]
Apparatus according to claim 1, characterized in that the arm (118) allows the applicator (120) to be positioned within an area in which the fluid source (116) does not fit.
[0012]
Apparatus according to claim 1, characterized in that the arm (118) with the applicator (120) is configured to be inserted into an opening through which the fluid source (116) does not fit.
[0013]
13. Apparatus according to claim 1, characterized by the fact that it additionally comprises: a display unit (125) configured for association with the platform (114) and in which the display unit (125) is configured for use in the display of the platform (114) to a robotic arm (110).
[0014]
14. Apparatus according to claim 1, characterized by the fact that it additionally comprises: a display unit (125) configured for association with the arm (118), in which the display unit (125) is configured for use in the display of the arm (118) to the robotic arm (110).

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同族专利:

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公开号 | 公开日

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CN104994962A|2015-10-21|

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BR112015019650A2|2017-07-18|

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EP2956245B1|2019-08-21|

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WO2014126675A1|2014-08-21|

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US10105725B2|2018-10-23|

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CA2898323A1|2014-08-21|

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ES2756452T3|2020-04-27|

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KR20150118133A|2015-10-21|

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CN104994962B|2019-02-22|

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CA2898323C|2020-01-14|

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BR112015019650A8|2019-11-05|

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US20140234011A1|2014-08-21|

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US20180333732A1|2018-11-22|

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KR102190549B1|2020-12-15|

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EP2956245A1|2015-12-23|

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JP2016514036A|2016-05-19|

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JP6382849B2|2018-08-29|

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US11260412B2|2022-03-01|

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US11135612B2|2019-03-19|2021-10-05|The Boeing Company|Rotating applicators having fluid dispensers|

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CN112705419B|2020-12-23|2021-11-09|海宁市丰达电子有限公司|Integrated into one piece machine that antenna end fast assembly used|

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CN112642664A|2020-12-29|2021-04-13|杭州昕华信息科技有限公司|Electronic components is with electronic components adhesive deposite device that has quick drying structure|

法律状态:
2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-04-22| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-12-08| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-01-26| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 16/01/2014, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US13/769,569|US10105725B2|2013-02-18|2013-02-18|Fluid application device|

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US13/769,569|2013-02-18|

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PCT/US2014/011879|WO2014126675A1|2013-02-18|2014-01-16|Fluid application device|

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