US 12,344,010 B2
Multi-printhead end effector and associated system and method
Shane E. Arthur, Kirkland, WA (US); John E. Miller, Amherst, OH (US); Matthew Mellin, Seattle, WA (US); Kjersta Larson-Smith, Seattle, WA (US); Anthony Baker, Gilbertsville, PA (US); Luke Ingram, Summerville, SC (US); Steven Dorris, Willard, MO (US); Jonathan Schwedhelm, Seattle, WA (US); Mark Bunker, Shoreline, WA (US); Ryan Petz, Auburn, WA (US); Travis King, Seattle, WA (US); Matt Christner, Seattle, WA (US); Josiah Brubaker, Bellingham, WA (US); Ryan Siok, Bellingham, WA (US); Wendy Zaballos, Renton, WA (US); and Jesse Castleberry, Seattle, WA (US)
Assigned to The Boeing Company, Arlington, VA (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Dec. 22, 2022, as Appl. No. 18/087,505.
Prior Publication US 2024/0208255 A1, Jun. 27, 2024
Int. Cl. B41J 25/316 (2006.01); B41J 3/407 (2006.01); B41J 25/304 (2006.01)
CPC B41J 25/316 (2013.01) [B41J 3/4073 (2013.01); B41J 25/304 (2013.01)] 28 Claims
OG exemplary drawing
 
1. An end effector for printing ink on a surface, the end effector comprising:
a primary block comprising:
a primary-block body;
a plurality of primary-printing modules coupled to the primary-block body so that each one of the plurality of primary-printing modules is translationally movable, parallel to a z-axis and relative to the primary-block body; and
first actuators, each coupled to a corresponding one of the plurality of primary-printing modules and operable to selectively extend and retract the corresponding one of the plurality of primary-printing modules, parallel to the z-axis and relative to the primary-block body,
wherein each one of the plurality of primary-printing modules comprises:
at least one primary printhead;
a second actuator configured to rotate the at least one primary printhead, relative to the primary-block body, about a first axis that is parallel to or collinear with an x-axis, which is perpendicular to the z-axis; and
a third actuator configured to rotate the at least one primary printhead, relative to the primary-block body, about a second axis that is parallel to or collinear with a y-axis, which is perpendicular to the x-axis and the z-axis.