Painting robot

Abstract

Apparatus and method for a painting machine are provided. The painting machine may include an end effector controlled by custom software. The custom control software may be capable of coordinated n-axis manipulation of an end. Illustrative end effectors may include an inkjet head, brush, air brush or any suitable tool for applying ink, paint, color and/or texture to a surface. For example an end effector may utilize oil-based ink or ultraviolet-cured ink. Illustrative surfaces may include canvas, paper, brick, glass etc. The custom control software may control manipulation of the end effector based on a variety of electronic inputs. The custom software may manipulate different end effectors in different ways depending on the input data, type of ink/paint being used, type of surface receiving the ink/paint or any other variable.

What is claimed is: 
     
         1 . A painting machine comprising:
 a moveable mounting system;   an end effector coupled to the mounting system; and   software configured to:
 receive electronic input data defining a target color and transparency; and 
 control movement of the mounting system such that the end effector paints overlapping marks on a surface to provide the target color and transparency. 
   
     
     
         2 . The painting machine of  claim 1  wherein the end effector is coupled to:
 a receptacle for receiving paint and/or ink; and 
 a conduit for delivering the paint and/or ink from the receptacle to the end effector. 
 
     
     
         3 . The painting machine of  claim 1  wherein the end effector comprises one or more of the following tools:
 a paint brush; 
 an air brush; 
 a paint roller; 
 a scraper; 
 a cutting tool; and 
 an applicator configured to apply a liquified substance, the liquified substance comprising a polymer, a resin, a plastic, a rubber, a composite, and/or a metal. 
 
     
     
         4 . The painting machine of  claim 1  wherein:
 the end effector comprises an inkjet head having two or more nozzles; and 
 the software is configured to control each nozzle to paint the overlapping markings on the surface. 
 
     
     
         5 . The painting machine of  claim 1 , wherein the software is further configured to control movement of the mounting system such that the end effector paints the overlapping markings on the surface at a speed that is faster and/or slower than a speed defined by the electronic input data. 
     
     
         6 . The painting machine of  claim 1 , wherein the mounting system is moveable over the surface such that the end effector is configured to paint the overlapping marks on the surface while the surface remains stationary. 
     
     
         7 . The painting machine of  claim 1 , wherein the mounting system is configured to maneuver the end effector at speeds and/or with motions outside a range of humanly capable speed and/or motion. 
     
     
         8 . The painting machine of  claim 1 , wherein the software is configured to:
 register a position of the end effector relative to a first mark painted on the surface; and   based on the position, align the end effector to paint a second mark on the surface.   
     
     
         9 . The painting machine of  claim 1 , the painting machine further comprising:
 an input tool moveable by a human creator; and   a tracking controller configured to track movement of the input tool;   wherein the software is configured to paint the overlapping marks on the surface by controlling movement of the end effector in accordance with the tracked movement of the input tool.   
     
     
         10 . The painting machine of  claim 1 , wherein:
 the end effector is releasably coupled to the moveable mounting system; and   the software is configured to control a release of paint from the end effector such that the end effector paints the overlapping marks on a surface based on the electronic input data:
 when the end effector is coupled to the mounting system; and 
 when the end effector is decoupled from the mounting system. 
   
     
     
         11 . A painting machine for painting marks on a surface, the painting machine comprising:
 electronic input data defining a target visual effect based on layering two or more colors on a surface;   a housing;   an end effector affixed to the housing and configured to paint on the surface;   a mounting system configured to:
 mate with the housing; and 
 maneuver the end effector to paint the surface along the non-linear path to produce the target visual effect. 
   
     
     
         12 . The painting machine of  claim 11  wherein the mounting system is configured to:
 move the end effector along any one of three orthogonal axes; and 
 rotate the end effector about a rotational axis. 
 
     
     
         13 . The painting machine of  claim 11  wherein the housing is designed to be hand-held by a human. 
     
     
         14 . The painting machine of  claim 11  wherein the housing is capable of mating with two or more end effectors. 
     
     
         15 . The painting machine of  claim 11  wherein the mounting system comprises a robotic arm; wherein, the robotic arm is configured to orient the end effector at a position relative to the surface and move the end effector along the non-linear path. 
     
     
         16 . The painting machine of  claim 11  wherein the mounting system comprises:
 at least one electric motor; and 
 at least one axle rotationally coupled to the electric motor. 
 
     
     
         17 . The painting machine of  claim 11 , wherein the mounting system comprises a plurality of electric motors, each electric motor that are configured to operate in concert to maneuver the end effector. 
     
     
         18 . The painting machine of  claim 11 , the mounting system further comprising:
 a first track aligned along a first longitudinal axis; and   a second track aligned along a second longitudinal axis that is oblique or perpendicular to the first longitudinal axis;   
       wherein the mounting system operates according to a Computer Numerical Control protocol. 
     
     
         19 . The painting machine of  claim 11 , comprising:
 one or more sensors that detect a position and/or motion of the end effector relative to a surface;   the end effector is configured to paint marks on the surface that are responsive to the position and/or motion.   
     
     
         20 . A painting machine for painting overlapping marks on a surface, the painting machine comprising:
 first electronic input data defining:
 a first mark, the first mark comprising a first pattern; and 
 a pathway; 
   an end effector configured to paint the first pattern on the surface and along the pathway at a first time;   a sensor configured to capture a second electronic input defining a second mark present at a target location along the pathway at a second time;   software code that, when run on a processor:
 calculates how to duplicate the second mark; and 
 configures the end effector to paint the second mark. 
   
     
     
         21 . The painting machine of  claim 20 , wherein the sensor is embedded in the surface. 
     
     
         22 . The painting machine of  claim 20 , wherein the sensor is embedded in the end effector. 
     
     
         23 . The painting machine of  claim 20 , wherein the sensor is within a medium extruded by the end effector.