# US 7,131,372 B2 · Miniature fluid dispensing end-effector for geometrically constrained areas > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,131,372 B2 - Document ID: US7131372B2 - Status: Granted - Kind: B2 - Application number: 10/817,540 - Filed: 2004-04-02 - Published: 2005-06-02 - Granted: 2006-11-07 - Earliest claimed: 2003-12-01 - Assignees: Lockheed Martin Corporation - Inventors: Richard G. Lyons - Web page: https://patentgrep.com/patent/US7131372B2 ## CPC - B41J 3/4073: {Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects (B41J3/283, B41J3/286 take precedence; building up a 3D object using individual droplets from jetting heads B29C64/112)} - B41J: TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS ## Abstract An end-effector precisely marks location lines (or dispense fluids) on surfaces as part of an automated part marking system. The automated part marking system that includes a multi-axis gantry robot, a calibration stand, vision or location system(s), and a series of fluid dispensing (inkjet) end-effectors to accomplish the marking task. The end-effector use a pick shaped stylus coupled to a fluid supply and metered by a high-speed pulsed valve to precisely deliver fluids provides within geometrically confined spaces. ## Claims ### Claim 1 A precision marking system to place reference markers on an object that comprises: a work surface on which the object is placed; an object locator system to determine the location and orientation of the object and features within the object relative to the work surface; a multiple axis robot, wherein positioning the multiple axis robot is directed by a control system; and at least one end-effector operable coupled to the multiple axis robot to place reference markers on the object, wherein the end-effector further comprises: an ink delivery system; a pulsed valve to regulate the supply of ink from the ink delivery system; a curved stylus operable coupled to the pulsed valve to receive ink from the pulsed valve, and wherein the curved stylus has an internal orifice through which the ink is dispensed from the end-effector and onto the object. ### Claim 2 (depends on 1) The precision marking system of claim 1, wherein the ink delivery system further comprises an ink reservoir operably coupled to a positive displacement pump. ### Claim 3 (depends on 1) The precision marking system of claim 1, wherein the ink delivery system further comprises a positive pressure pneumatic reservoir delivery system. ### Claim 4 (depends on 1) The precision marking system of claim 1, wherein the curved stylus provide radial clearance around the orifice. ### Claim 5 (depends on 1) The precision marking system of claim 1, wherein the work surface comprises a shuttle table. ### Claim 6 (depends on 5) The precision marking system of claim 5, wherein the shuttle table further comprises a series of vacuum support pins in a predetermined arrangement for a given object. ### Claim 7 (depends on 1) The precision marking system of claim 1, wherein the object locator system further comprises a vision end-effector to locate the object within a work envelope. ### Claim 8 (depends on 1) The precision marking system of claim 1, wherein the multiple axis robot further comprises a 6-axis gantry robot. ### Claim 9 (depends on 1) The precision marking system of claim 1, wherein the reference markers provide alignment information for additional objects to be mechanically coupled to the object. ### Claim 10 (depends on 1) The precision marking system of claim 1, wherein the reference markers provide part identification information. ### Claim 11 (depends on 1) The precision marking system of claim 1, wherein the reference markers provide assembly information to a user. ### Claim 12 (depends on 1) The precision marking system of claim 1, wherein the object further comprises an aircraft under structure. ### Claim 13 (depends on 1) The precision marking system of claim 1, wherein the end-effector is oriented to place reference markers on the surface of the object. ### Claim 14 (depends on 1) The precision marking system of claim 1, wherein the end-effector is oriented to place reference markers on walls located at an angle to the surface of the object. ### Claim 15 (depends on 1) The precision marking system of claim 1, further comprises a calibration system operable to calibrate each end-effector when selected. ### Claim 16 (depends on 1) The precision marking system of claim 1, further comprising a storage rack operable to store the end-effector when the end-effector is not coupled to the multiple axis robot. ### Claim 17 An end-effector to place reference markers on an object that comprises: a fluid delivery system; a pulsed valve to regulate the supply of fluids from the fluid delivery system; and a curved stylus operable coupled to the pulsed valve to receive fluids from the pulsed valve, and wherein the curved stylus has an internal orifice through which the fluids are dispensed from the end-effector and onto the object. ### Claim 18 (depends on 17) The end-effector of claim 17, wherein the fluid delivery system further comprises an ink reservoir operably coupled to a positive displacement pump. ### Claim 19 (depends on 17) The end-effector of claim 17, wherein the fluid delivery system further comprises a positive pressure pneumatic reservoir delivery system. ### Claim 20 (depends on 17) The end-effector of claim 17, wherein the curved stylus provide radial clearance around the orifice. ### Claim 21 (depends on 17) The end-effector of claim 17, wherein the end-effector isoperably coupled to a multi axis robot within a precision marking system. ### Claim 22 (depends on 21) The end-effector of claim 21, wherein the precision marking system further comprises: a work surface on which the object is placed; an object locator system to determine the location and orientation of the object and features within the object relative to the work surface; and the multiple axis robot, wherein positioning the multiple axis robot is directed by a control system. ### Claim 23 (depends on 17) The end-effector of claim 17, wherein the fluids further comprise inks, paints, epoxy, or adhesives.