A method for automatic glue-spraying of stringers and inspection of glue-spraying quality based on measured data. Three-dimensional (3D) point cloud data of a stringer-skin assembly is collected by 3D laser scanner, and then processed by denoising and sampling. Feature points of an intersection line of a site to be glued of the stringer-skin assembly are extracted by K-means clustering method based on Gaussian mapping, and a minimum spanning tree is constructed based on a set of the extracted feature points. A connected region is established to obtain an initial feature intersection line of the string-skin assembly, which is optimized by random sample consensus algorithm to remove redundant small branch structures to obtain the actual glue-spraying trajectory. The quality of the glue sprayed on the stringer-skin assembly is inspected by line laser to determine positions of the defects, which are then subjected to secondary glue-spraying.

A robotic programming apparatus, while using a robot equipped with a spraying device to move the spraying device, for creating an operation program of an application operation for applying a sprayed material sprayed from a nozzle of a spraying device to a member, that includes an operation pattern storage section configured to store a plurality of types of operation patterns each indicating operation of the spraying device that are operation patterns each formed of a continuous trajectory including periodic iteration of a constant pattern, and a pitch interval determination section configured to determine, for one operation pattern of the plurality of types of operation patterns stored in the operation pattern storage section, a pitch interval of the periodic iteration of the constant pattern in the one operation pattern based on a spray parameter representing a spray characteristic of the sprayed material by the nozzle of the spraying device.

An automated painting system that includes a robotic arm and a painting end effector coupled at a distal end of the robotic arm, with the painting end effector configured to apply paint to a target surface. The painting system can also include a computing device executing a computational planner that: generates instructions for driving the painting end effector and robotic arm to perform at least one painting task that includes applying paint, via the painting the end effector, to a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one painting task.

The present application provides a method for renovation works on a building that has a plurality of building elements, for example walls. The method includes: receiving scan data of a building element of the building; (150) processing the scan data to determine at least one dimension of the building element and an initial property of the building element from the scan data; configuring (160) a building system for the building element to achieve a target property of the building element, the building system being configured according to the at least one dimension of the building element and according to the initial property of the building element; and generating instruction data (170) for fabricating the building system. There is also provided an apparatus for renovation works on a building that has a plurality of building elements, for example walls.

An automated painting system that includes a robotic arm and a painting end effector coupled at a distal end of the robotic arm, with the painting end effector configured to apply paint to a target surface. The painting system can also include a computing device executing a computational planner that: generates instructions for driving the painting end effector and robotic arm to perform at least one painting task that includes applying paint, via the painting the end effector, to a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one painting task.

An ink-jet coater and a coating method for improving smoothness of a mixed part where the coating position in the previous scan overlaps the coating position in the next scan includes a robot arm configured to move a nozzle head unit by driving arms via an arm driving mechanism and a coating control unit configured to control driving of the nozzle driving mechanism and driving of the arm driving mechanism to execute coating on the coating object. The coating control unit performs coating by forming, in segmented coating surfaces formed by each scanning of the nozzle head unit, a normal coating region coated with a target coating film thickness and an overlapping coating region coated with a spray amount of the paint less than the normal coating region.

A makeup machine includes a housing, a rotating platform, a spray head, moving means, and a controller circuit. The rotating platform rotates in the housing around a vertical center axis. The spray head is coupled to the rotating platform. The spray head is operative to receive a spray cartridge, and cause the spray cartridge to spray a material contained therein on a target area of a user's skin. The moving means moves the spray head vertically and horizontally relative to the target area. The moving means is coupled to the rotating platform and rotates with the rotating platform. The controller circuit within the housing controls movements of the rotating platform and the moving means.

An attachment device configured for attaching a product sprayer for coating workpieces onto a robotic arm, the attachment device including a cover which is rigidly attached to the robotic arm and which has a substantially cylindrical shape extending along a longitudinal axis, a nut with a substantially cylindrical shape mounted on the cover and including a first helical portion, a substantially annular flange mounted rigidly attached to the sprayer, including a second helical portion arranged for mating with the first helical portion of the nut, and a deformable ring mounted on the nut and including an annular portion providing an axial stop of the ring with respect to the nut, and a deformable portion configured for being deformed by interacting with the flange so as to provide a connection between the flange and the ring.

The invention relates to a process for painting a workpiece using a painting robot including a robot arm equipped with a paint spraying device, the process including, an operation S1 of modeling a realistic 3D model corresponding to the workpiece as deformed and positioned in a paint cell, the realistic 3D model including paint trajectory information suitable for the workpiece as deformed and positioned in the paint cell, and a paint spraying operation S2 during which the paint spraying device is moved along the paint trajectory opposite the workpiece.

The present disclosure provides a painting robot and a painting method using the painting robot. The painting robot includes: an arm control unit which controls operation of the robot arm; a head control unit which controls driving of nozzles of the nozzle head; a distance measuring device which measures the distance between the painting portions and the nozzle discharging surface; and an image processing portion which forms a three-dimensional model for painting, which is a three-dimensional model, based on the painting coverage of the vehicle expected to be painted. The head control unit, based on the distances measured between the painting portions in the three-dimensional model for painting and an imaginary nozzle head or the distances measured by distance measuring device, controls to discharge paint from nozzles with distances within the prescribed range, and to not discharge paint from nozzles outside the prescribed range.