ASSEMBLY FOR PREPARING AND/OR PAINTING LARGE SURFACES

The assembly for preparing and/or painting a surface of a structure includes a movable applicator and a mounting device. The movable applicator includes a horizontal rack having a spray array of a plurality of spaced paint tooltips for painting the surface of the structure. The mounting device has an actuatable arm carrying the movable applicator. The mounting device is movable for positioning the actuatable arm adjacent the structure. The actuatable arm is adapted to move the movable actuator in the vertical direction, the horizontal direction, and towards or away from the surface as required to prepare and/or paint the surface. The horizontal rack is pivotably mounted to the actuatable arm and a linear actuator extends between the arm and the rack. A control system can use actuation of the linear actuator to maintain the spray array parallel to the surface of the structure.

CROSS-REFERENCE TO RELATED APPLICATIONS

See Application Data Sheet.

Not applicable.

THE NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT

Not applicable.

Not applicable.

Not applicable.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an assembly for preparing and/or painting large surface areas, such as walls of buildings. The invention can also be adapted for use on floors and ceilings. The invention can also be adapted for other tasks such as installing panelling, screws and bolts use on floors, and ceilings and roofs.

Australian patent application 2016231476 discloses embodiments of mounting means for positioning and moving a movable applicator adjacent a wall surface which can be used with the present assembly. The entire disclosure of patent application 2016231476 is fully incorporated herein by reference.

Conventional techniques for painting, sanding, preparing or cleaning large surface areas, such as building wall surfaces, require scaffolding or elevated platforms to operate above a single story. Costs and timeframes to use these methods can account for up to 50% of total job costs. For example, scaffolding hire on a job to paint a 14 story apartment block may cost $16,000 and take 2-3 weeks to erect and another 2-3 weeks to tear down. An alternative option is via abseiling, but this is limited to touch up painting due to carrying capacity limits of 2-3 litres.

The present invention seeks to overcome or substantially ameliorate at least some of the deficiencies of the prior art, or to at least provide an alternative.

BRIEF SUMMARY OF THE INVENTION

The present invention provides an assembly for preparing and/or painting a surface of a structure, the assembly comprising:a movable applicator comprising a horizontal rack having a spray array of a plurality of spaced paint tooltips for painting the surface of the structure, the paint tooltips being spaced along the width of the rack; andmounting means having an actuatable arm carrying the movable applicator, the mounting means being movable for positioning the actuatable arm adjacent the structure, and wherein the actuatable arm is adapted to move the movable actuator in the vertical direction, the horizontal direction, and towards or away from the surface as required to prepare and/or paint the surface,the rack being pivotably mounted to the actuatable arm and a linear actuator extending between the arm and the rack such that a control system can use actuation of the linear actuator to maintain the spray array parallel to the surface of the structure, wherein the actuatable arm can move the movable applicator to paint multiple parallel vertical stripes of paint onto the surface before the mounting means is moved to its next position.

Preferably, the assembly further includes cover panels positioned on the top and bottom portions of the horizontal rack to prevent paint from escaping and wind from entering the spray array.

Preferably, the assembly further includes an elongated catch trough which extends underneath the spray array for catching any drips from the paint tooltips.

Preferably, the catch trough can pivot up to a position to be in front of the spray array to catch waste paint during priming and cleaning of the paint tooltips.

Preferably, the paint tooltips can pivot down into the catch trough.

Preferably, the assembly further includes a cleaning array of pressure washing tips each respectively disposed between the paint tooltips, the pressure washing tips allowing for both cleaning and pressure washing tasks to be performed on the surface.

Preferably, the horizontal rack can be tilted downward or upward.

Preferably, the actuatable arm is a foldable arm configurable between folded and extended configurations thereof and the mounting means is a movable platform with stabilisers and self-drives parallel to the wall to its next position.

Preferably, the rack is movably mounted to a frame which allows the rack to be retracted from or moved towards the structure surface.

Preferably, the assembly further includes a roller array disposed above the spray array, the roller array comprising a series of paint rollers arranged end to end and spanning the width of the spray array.

Preferably, each paint roller is independently movable towards or away from the surface to be painted.

Preferably, the assembly further includes a carriage which is movably mounted along a front rail of the horizontal rack via a second linear actuator, the front rail disposed above the spray array and extending in the lateral direction thereof to be generally parallel to a wall in use, wherein a spray tooltip can be mounted to the carriage which can be used to form a horizontal stripe above the downward vertical stripe to be formed by the spray array.

Preferably, the tooltip is mounted to a robot arm which is mounted to the carriage for performing complex painting patterns.

According to another aspect, the present invention provides an assembly for preparing and/or painting a surface of a structure, the assembly comprising:a movable applicator having a tooltip for preparing and/or painting the surface of the structure; andmounting means for positioning the movable applicator adjacent the structure and allowing the movable applicator to move along the surface.

In one embodiment, the mounting means comprises left and right side elongate members which are supported to be oriented vertically, horizontally spaced and parallel to each other, the elongate members being cables or poles.

In another embodiment, the elongate members are cables having upper ends and lower ends, the upper ends of the cables being adapted to extend from upper anchor points in the structure, and the lower ends of the cables having tensioning means.

In another embodiment, the movable applicator comprises a frame dimensioned to extend between the elongate members, the frame including left and right side guides for receiving the respective elongate members therethrough, the frame including at least one Y-axis motor for moving the frame in the vertical direction along the length of the elongate members.

In another embodiment, the movable applicator further comprises a carriage movable horizontally along the frame, wherein the carriage carries the tooltip, the movable applicator further comprising an x-axis motor coupled to the carriage for moving the carriage horizontally along the frame.

In another embodiment, the carriage further includes a z-axis motor for moving the tooltip towards or away from the surface.

In another embodiment, the frame further comprises at least one of a spray compressor, a fluid reservoir, battery, a generator, and electronics control.

In another embodiment, the assembly further comprises a camera mounted to the movable applicator and a control system wirelessly connected to the movable applicator, wherein the control system is adapted to scan the surface via the camera to provide a two or three dimensional work map of the surface.

In another embodiment, the assembly further comprises a control system wirelessly connected to the movable applicator, wherein the control system is adapted to take as input a photograph of the surface to be prepared and/or painted and the control system provides a two or three dimensional work map of the surface.

In another embodiment, the control system will automatically plan a path for the movable applicator to cover the work map.

In another embodiment, the mounting means comprises upper and lower horizontal rails, and a vertical member extending between the upper and lower rails, the vertical member having upper and lower ends movable along the upper and lower rails along the x-axis, wherein the movable applicator is movably mounted along the y-axis to the vertical member.

In another embodiment, the mounting means a wheeled carriage having an arm.

In another embodiment, the arm is a robotic arm having a distal end, wherein the movable applicator is mounted to the distal end.

In another embodiment, the arm is a telescopic arm having a distal end, wherein a horizontal track is mounted to the distal end and the movable applicator is movable along the horizontal track.

In another embodiment, the movable applicator is connected via a liquid supply tube to a liquid container mounted on the wheeled carriage.

In another embodiment, the wheeled carriage comprises omnidirectional wheels.

In another aspect, the invention provides an assembly for preparing and/or painting a surface of a structure, the assembly comprising:a movable applicator having a tooltip for preparing and/or painting a surface of the structure; andmounting means comprising a movable arm for moving the movable applicator along the surface.

In another aspect, the present invention provides an assembly for preparing and/or painting a surface of a structure, the assembly comprising:a movable applicator having an array of a plurality of spaced tooltips for preparing and/or painting the surface of the structure; andmounting means having an actuatable arm carrying the movable applicator, the mounting means being movable for positioning the actuatable arm adjacent the structure, and wherein the actuatable arm is adapted to move the movable actuator in the vertical direction, the horizontal direction, and towards or away from the surface as required to prepare and/or paint the surface.

In one embodiment, the actuatable arm is a foldable arm configurable between folded and extended configurations thereof.

In another embodiment, the movable applicator comprises a horizontal rack onto which the array of tooltips is mounted.

In another embodiment, each tooltip is a sprayer tooltip controlled by an individual solenoid valve which turns each respective sprayer tooltip on or off.

In another embodiment, each tooltip is provided with spray control means to control the spray type, flow, or pattern.

In another embodiment, the spray array comprises a large number of tooltip sprayers which are closely spaced.

In another embodiment, the sprayers are arranged in staggered rows.

In another embodiment, the rack is movably mounted to a frame which allows the rack to be retracted from the work surface.

In another embodiment, the frame is pivotably mounted to the end of the foldable arm such that it can swivel.

In another embodiment, the mounting means is a wheeled carriage which further comprises at least one of a spray compressor, a fluid reservoir, battery, a generator, and electronics control.

In another embodiment, the assembly further comprises a camera mounted to the movable applicator and a control system wirelessly connected to the movable applicator, wherein the control system is adapted to scan the surface via the camera to provide a two or three dimensional work map of the surface.

In another embodiment, the assembly further comprises a control system wirelessly connected to the movable applicator, wherein the control system is adapted to take as input a photograph of the surface to be prepared and/or painted and the control system provides a two or three dimensional work map of the surface.

In another embodiment, the control system will automatically plan a path for the movable applicator to cover the work map.

In another embodiment, the actuatable arm is a robotic arm having a distal end, wherein the movable applicator is mounted to the distal end.

In another embodiment, the arm is a telescopic arm having a distal end, wherein the movable applicator is mounted to the distal end.

In another embodiment, the movable applicator is connected via a liquid supply tube to a liquid container mounted on the wheeled carriage.

In another embodiment, the wheeled carriage comprises omnidirectional wheels.

In another embodiment, each tooltip has a respective paint source means.

In another embodiment, the paint source for each tooltip is switchable at the source between different sources as required.

In another embodiment, the array is a spray array and further comprising a roller array disposed above the spray array.

In another embodiment, the roller array comprises a series of paint rollers arranged end to end and spanning the width of the spray array.

In another embodiment, each paint roller is independently movable towards or away from the surface to be painted

Other aspects of the invention are also disclosed.

DETAILED DESCRIPTION OF THE INVENTION

It should be noted in the following description that like or the same reference numerals in different embodiments denote the same or similar features.

FIGS. 1 and 2show an assembly10for preparing and/or painting large surface areas such as building walls in accordance with a first preferred embodiment of the present invention. The assembly10is shown mounted to a wall100. The assembly10preferably uses existing roof anchor points102of the wall100, for preparing and/or painting a large surface104of the wall100.

The assembly10comprises mounting means20and a movable applicator40. The mounting means20provides a means for positioning the movable applicator40adjacent the wall surface104, and allowing the movable applicator40to move along the wall surface104. In an alternative embodiment described below, the mounting means20can move the movable applicator40along the wall surface104.

In the assembly10, the mounting means20comprises left and right side cables22which are supported to be oriented vertically, horizontally spaced and parallel to each other. Both cables22are spaced from the wall surface104by a predetermined distance and are substantially parallel to the wall surface104. Upper ends of the cables22are supported via respective upper bars24extending from the anchor points102, the upper bars24being supported by respective brace bars26. The cables22are tensioned at their lower ends by weights28and associated tensioning means30. The cables22thus generally form taut rails adjacent the wall surface104. The movable applicator40is the movable along the cables22for preparing and/or painting the wall surface104.

The movable applicator40comprises an elongated horizontal frame42dimensioned to extend between the cables22. The frame42includes left and right side cable guides44for receiving the respective cables22therethrough. The cable guides44can be tubular or part tubular. The movable applicator40includes left and right side Y-axis motors46having rotatable traction means, such as rubber wheels or toothed wheels, for engaging the respective left and right side cables22. The Y-axis motors46via the traction means moves the movable applicator40in the vertical direction, being along the length of the cables22.

The movable applicator40further comprises a carriage50which is movable along the top surface of the frame42, that is, in the horizontal direction. The carriage50comprises a tooltip52and a camera54. An x-axis motor56is mounted to the frame42and coupled to the carriage50, for example via a toothed belt57. The x-axis motor56is used for moving the carriage50along the x-axis that is, being horizontally along the length of the frame42, along an x-axis parallel to the wall surface104.

The carriage50further includes a z-axis motor60which is used for moving the tooltip52and the camera54towards or away from the wall surface104. The z-axis motor60for example can be used to move the whole carriage50, or for moving the tooltip52and camera54only, along an axis perpendicular to the wall surface104.

The tooltip52and camera54are thus movable along the x, y and z axes relative to the wall surface104. The tooltip52and camera54can service an operating area between the cables22and between the upper and lower ends of the cables22.

The frame42additionally carries an airless spray compressor64, a fluid reservoir66, battery68, a generator70, and electronics control72. The compressor64is for supplying liquid carried in the reservoir66to the tooltip52. The compressor64, electronics control72and the motors46,56and60are powered by the battery68which is recharged as needed by the generator70. The electronics control72controls the motors46,56and60to move the frame42and carriage50as required for positioning and moving the tooltip52and the camera54. The electronics control72also controls the generator70and the compressor64for providing liquids to the tooltip52.

The assembly10is fixed securely adjacent to surfaces to be painted. The assembly10will be compatible with existing standard anchor points systems currently used. Where no suitable anchor points exist, the mounting means20can comprise anchors for securely attaching to buildings.

In the embodiment, the carriage50is capable of horizontal tool speed rates of between 0.01 and 1 m/s, and the movable applicator40is capable of vertical tool rates of between 0.01 and 0.3 m/s. The electronics control72will actively level the frame42to remain horizontal, and the movable applicator40can additionally comprise accelerometers for determining its orientation.

A control system for the movable applicator40is provided with commands passed wirelessly to the electronics control72. A user interface is provided via a laptop computer, smartphone, tablet, game controller or dedicated console, by which the operator can view generated commands to the control system and modify the commands as needed.

The control system can include a camera54which will initially scan the operating area via the camera54, which is the area of the wall surface104within range of the tooltips52. The control system will then provide the user an image of the scanned operating area in two or three dimensions visually representing the surface to be operated on. The control system will also detect areas it considers should not be operated on including windows. This results in a work surface map, being the operating surface area without the excluded areas. Scanning is preferably in three dimensions to allow z axis movement toward and away from the wall100, and also to allow the tooltips52to adopt appropriate direction/orientation for working on surfaces not parallel or contiguous with the main surface of the wall100.

The control system can also be adapted to take as input a photograph of the wall to be prepared and/or painted. The photograph can be taken from the user interface or uploaded thereto, and the control system will then transform the image and account for ground perspective angle, and use the image as a basis for the operating surface area.

The control system will allow a user to edit the generated work surface map by moving, resizing, skewing, or creating polygons which can be added or removed from the operating area via the user interface.

The control system will then generate an operation plan for the work surface map, and to save the operation plan for later retrieval and use, for example to facilitate multiple passes or coats with other operations in between if required.

The control system will automatically plan a path to cover the planned work surface area. The control system will automatically move the tooltip/spray array142(see below) in the horizontal and vertical planes to cover the operation plan in accordance with the planned path.

The user can manually override any of the planned automatic movement of the movable applicator40via the user interface. The control system will allow a user to cancel any planned operation. The control system will also allow a user to manually move the tool up, down, left, right, toward, or away from the work surface and to turn the tool on or off via the user interface.

The camera54can also be used for viewing and monitoring the wall surface104, in addition to scanning the wall surface104. The camera54can also be used for calculating the amount of liquid (e.g. paint) needed for application of a coating. Other sensors can also be used, such as an ultrasonic sensor or LIDAR to determine distance, shapes, texture and other parameters.

The assembly will plan and execute paths covering large surfaces such as the sides of small buildings greater than 2 stories. Other embodiments will plan and execute paths covering large surfaces such as the sides of large buildings greater than 20 stories.

In a main use, the movable applicator40is used for painting the wall surface104. The tooltip52will include a spray painting nozzle with paint being supplied from the reservoir66by the compressor64. The assembly in one embodiment will carry or access sufficient paint to cover 40 square meters without stopping to refill. In another embodiment, the assembly10will carry or access sufficient paint to cover 100 square meters without stopping to refill

The control system will automatically control fluid pressure via the compressor64, and turn the compressor64off and on as required to cover the work surface area and prevent coverage of non-operating areas. The control system will ensure even coverage of fluids by controlling motion of the tool relative to the flow of fluid. The control system will be user configurable via the user interface to various application rates and thicknesses.

The assembly10provides a substantially constant tool orientation and distance from the work surface, being the wall surface104. The assembly10also provides a stable tool orientation relative to the work surface in general operation. The assembly10will allow orientation of the tool52to be adjusted remotely, via a remote control, for example to paint, clean under and on top of window ledges. The tooltip can be mounted to a robotic arm to provide the required orientation for surfaces not parallel to the main surface of the wall100.

In another embodiment, the movable applicator40comprises different interchangeable tools for performing multiple tasks apart from spray painting, including sanding, rendering, pressure washing and window washing. A sanding attachment can be used to remove paint to an even depth, and the assembly preferably includes means to collect sanded dust.

The assembly can also use a pressure washing attachment to clean surfaces, which is adjustable by the user to suit surfaces via the user interface. The assembly can also include a water and squeegee attachment to clean windows.

In the preferred embodiment, the movable applicator40control system includes at least thirty factory presets for different common tasks, which the user can edit if needed. These tasks and present parameters can include: horizontal tooltip rate, vertical tooltip rate, paint application rate, paint coat thickness, coat overlap in mm and nozzle spread.

The system will automatically calculate and perform horizontal and vertical movements required to achieve the desired paint coat thickness based on the installed nozzle and paint type.

The control system can also notify the user of warning or status conditions including the following: fluid (paint, water, cleaning solution) low, fluid (paint, water, cleaning solution) empty, obstacles detected, possible obstacle collision, unexpected fluid pressure—high/low that may indicate blockage or leak. The warnings can trigger an alarm which can be audible and visible via the user interface with a description of the issue and recommended action to resolve. The alarm is preferably clearly audible from 100 m away. The system can also be adapted to cease operation pending input from the user in the event of an error or warning including obstacle collision, unable to maintain horizontal surface of beam, unable to maintain desired tooltip distance or any of the above warnings.

The control system will connect wirelessly to the user interface running supported operating system on a supported device preferably up to 200 m away. The system will stream a live view of the tooltip52from the camera54located near the tooltip52to the user via the user interface.

The assembly10in use thus works by attaching cables22to a building which support a robotic platform (the movable applicator40) which automatically actuates interchangeable tools over the wall of the building to perform sanding, washing or painting of surfaces.

The tool52is moved as needed to prepare or paint the wall surface104. The reservoir66is replenished as needed, for example with the movable applicator40returning to ground, roof or convenient level for an operator to refill the reservoir66. The electronics control72will remember and return the movable applicator40to the last position. Alternatively, the tool52can be connected via a hose to a long liquid supply tube connected to a large liquid container at ground, roof or convenient level. This can avoid having the need to replenish the reservoir66.

The assembly will also be adjustable, scalable and/or configurable to cover heights up to several hundred meters, and widths as small as 2 metres and as wide as 10 meters.

FIG. 3shows a second preferred embodiment of an assembly10bmounted to a wall. The assembly10bis similar to the assembly10above. The assembly10balso comprises mounting means20and a movable applicator40.

In the assembly10b, the mounting means20bcomprises upper and lower rails22bwhich are supported to be oriented horizontal, vertically spaced and parallel to each other. The upper rail22bis supported via the upper bars24extending from the anchor points102. The lower rail22bis supported along and spaced from the ground. The mounting means20badditionally includes a vertical member23extending between the upper and lower rails22b. The vertical member23can be a cable, chain, loop or belt. Upper and lower ends of the vertical member23are provided with respective motors80for moving along the upper and lower rails22b. The motors80thus provide x-axis movement of the movable applicator40.

The movable applicator40comprises a smaller rectangular frame42having a Y-axis motors82for engaging the vertical member23. The Y-axis motor82thus moves the movable applicator40in the vertical direction.

The frame42carries the tooltip52, airless spray compressor64, and the fluid reservoir66. This embodiment for example can be used for painting the wall surface104via remote control using the user interface. Alternatively, the frame42can additionally include the camera and control means for automatic painting. The tool52can alternatively be connected via a hose to a long liquid supply tube connected to a large liquid container at ground, roof or convenient level.

FIG. 4shows a third preferred embodiment of an assembly10c. The assembly10calso comprises mounting means20and a movable applicator40.

In the assembly10c, the mounting means20ccomprises a swing stage90having an arm92extending over the wall surface104. The arm92carries first and second vertical side cables22c. The movable applicator40is provided with respective motors for moving along the cables22c. These motors thus provide y-axis movement of the movable applicator40.

The movable applicator40comprises a large swing stage cradle42having an x-axis track94and to which is mounted the tooltip52. The tooltip52additionally includes a z-axis track96. Respective motors provide the x-axis and z-axis movements of the tooltip52.

The cradle42can carry larger fluid reservoirs66. This embodiment for example can also be used for painting, washing or cleaning the wall surface104via remote control using the user interface. Alternatively, the cradle42can additionally include the camera and control means for automatic operation. The swing stage90can also be moved along the wall which will allow quick relocation of the assembly10c.

FIG. 5shows a fourth preferred embodiment of an assembly10d. The assembly10dalso comprises mounting means20and a movable applicator40.

In the assembly10d, the mounting means20dcomprises a wheeled carriage110having a robotic arm112. The robotic arm112carries the movable applicator40at its tip. The robotic arm112provides the x-axis, y-axis movement and z-axis movement of the movable applicator40which has the tooltip52.

As shown inFIG. 6, the assembly10dcan be adapted for other uses. The movable applicator40can be replaced with mounts130for grabbing items such as solar panels, roofing sheets and the like, and affix them to a structure using fasteners (e.g. bolts, screws or nails) it can administer with a tool (e.g. a drill or gun).

FIG. 7shows a fifth preferred embodiment of an assembly10e. The assembly10ealso comprises a mounting means20and a movable applicator40.

In the assembly10e, the mounting means20dcomprises a wheeled carriage110having a telescoping arm112. The top end of the telescoping arm112includes a horizontal track120onto which the movable applicator40is movably mounted, which allows for the x-axis132movement thereof. The telescoping arm112can also rotate along its axis which will pivot the horizontal track120about the vertical axis if needed. The telescoping arm112provides the y-axis130movement of the movable applicator40which has the tooltip52and provides variable and longer height coverage.

The tooltip52is connected via a long liquid supply tube140to a large liquid container142on the wheeled carriage110. The wheeled carriage110provides the z-axis134movement. The wheeled carriage110can also include omnidirectional wheels to allow the carriage110to move along any combination of the x-axis and z-axis directions.

The present invention thus provides an assembly for preparing and/or painting large area surfaces with a substantial number of advantages.

The preferred embodiment allows the operator to reduce equipment and labour costs, reduce work time, and increase safety of work on buildings at height through automation. Significant savings can be made through the use of an automated unmanned robot to perform these tasks. Benefits include:Reducing or eliminating need for humans to work at heights to undertake these tasksReducing or eliminating safety risks and associated liability or insurance costsReducing or eliminating the need to hire equipment required for humans to access heightsReducing or eliminating the need for specialised skills—equipment operators or abseilersReducing wastage of products such as paintImproving quality of applicationEliminating time taken to transport, setup and teardown access equipmentReducing or eliminating external dependencies e.g. on access hire companiesReduce or eliminate disturbance & obstruction to occupants of building during work

Whilst preferred embodiments of the present invention have been described, it will be apparent to skilled persons that modifications can be made to the embodiments described. The mounting means for example can be adapted for painting floors or ceilings if needed. The cable can be replaced by stiffer metal rails. The cables can also be replaced by vertical posts or telescopic posts.

FIGS. 8 and 9shows a sixth preferred embodiment of an assembly10f, which is a development of the embodiments shown inFIGS. 5 to 7. The assembly10falso comprises mounting means20and a movable applicator40.

In the assembly10f, the mounting means20fcomprises a wheeled carriage110having a foldable arm112. The foldable arm112carries the movable applicator40at its upper end and is configurable between folded and extended configurations thereof.

The movable applicator40is a horizontal rack140onto which a spray array142of tooltips52are mounted. The spray array142comprises a series of spaced tooltips52. The example shown comprises five sprayer tooltips52covering a 2 meter span along the rack140. Each sprayer tooltip52is controlled by an individual solenoid valve53which turns each respective sprayer tooltip52on or off individually. Each tooltip52is preferably provided with spray control means to control the spray type, flow, or pattern. The spray array142will allow for a larger area of the work surface to be worked on at the same time which will save time, as shown for example inFIG. 9.

The spray array142in other embodiments will comprise a large number of smaller sprayers52which will be closely spaced. The sprayers52can be arranged is staggered rows for example to have them as closely spaced as possible to allow for high resolution spraying. This will allow spray printing of detailed pictures or billboards on building surfaces in a single pass.

As shown inFIGS. 8band 8c, the rack140is movably mounted to a frame141which allows the rack140to be retracted from the work surface. In other words, the spray array142is movable away from the work surface to provide flexibility during use and avoid damage to buildings. The rack140can be retracted via a linear actuator between the frame141and the rack140for example.

As shown inFIG. 8d, the frame141can swivel as it is pivotably mounted to the end of the foldable arm112. This allows the spray array142to be at different angles to the building work surface in use or to remain parallel to the surface. The frame141can be pivoted via a linear actuator or stepper motor between the frame141and the end of the foldable arm112for example. The pivoting end effector frame141autonomously controlled by a linear actuator autonomously keeps end effector141parallel to surfaces. This allows multiple stripes (currently 3 stripes each at 2 m wide) to be painted before the wheeled carriage machine110lifts its stabilisers and self-drives parallel to wall to the next position.

The foldable arm112provides the x-axis, y-axis movement and z-axis movement of the movable applicator40/spray array142for moving same along the wall of structure as required.

The wheeled carriage110allow flexibility in movement of the assembly.

The present invention uses many individually controlled jets that can be moved by a variety of means over any large surface to rapidly print high resolution colour images indoors or outdoors.

FIGS. 10 to 12show a seventh preferred embodiment of an assembly10g, which is a development of the embodiments shown inFIGS. 8 and 9. The assembly10galso comprises mounting means20and a movable applicator40.

In the assembly10g, the mounting means20gcomprises a movable electro-hydraulic platform110having a foldable arm112. The platform is movable to site and can be stabilised via deployable stabilisers111. The foldable arm112carries the movable applicator40at its upper end and is configurable between folded and extended configurations thereof.

The movable applicator40is a horizontal rack140onto which a spray array142of tooltips52are mounted. The spray array142comprises a series of spaced tooltips52. The example shown comprises twenty two sprayer tooltips52covering a 2 meter span along the rack140. Each sprayer tooltip52is controlled by an individual solenoid valve which turns each respective sprayer tooltip52on or off individually. Each tooltip52is preferably provided with spray control means (individual digitally controlled spray tips) to control the spray type, flow, or pattern, and each tooltip52can have a respective paint source means. This means each tooltip52can independently spray a different paint to the other tooltips52if required. The paint source for each tooltip52is preferably switchable at the source between different sources as required.

The spray array142comprises a larger number of smaller sprayers52which are closely spaced to allow for high resolution spraying. This will allow spray printing of detailed pictures or billboards on building surfaces in a single pass.

Above the spray array142, a roller array152is disposed. The roller array152comprises a series of paint rollers153, four in the example shown, arranged end to end and spanning the width of the spray array142. The roller array152is thus essentially parallel to the spray array142. Each paint roller153is movable along the rack140allows the roller153to be moved towards or away from the surface to be painted.

In an example use, the rollers153engage the surface to be painted which provides a back rolling function after paint is sprayed by the spray array142. Each roller can be individually retracted from the surface if back rolling is not required.

As shown inFIG. 12, the rack140is movably mounted via linear bearings which allows the rack140to be retracted from the work surface to give spray array distance to surface adjustment. In other words, the spray array142is movable towards or away from the work surface to provide flexibility during use and avoid damage to buildings. The rack140can be retracted via a linear actuator for example.

The rack140can swivel as it is pivotably mounted at pivot point147to the end of the foldable arm112. This allows the spray array142to be at different angles to the building work surface in use or to remain parallel to the surface. The rack140can be pivoted via a linear actuator152(seeFIG. 13) or stepper motor between the rack140and the end of the foldable arm112for example. The single axis rotation pivot point allows angle adjustment of the spray array to stay parallel to the surface.

The pivoting rack140autonomously controlled by the linear actuator140autonomously keeps the spray array142parallel to surfaces. This allows multiple stripes (currently 3 stripes each at 2 m wide) to be painted before the wheeled carriage machine110lifts its stabilisers111and self-drives parallel to the wall to the next position.

The foldable arm112provides the x-axis, y-axis movement and z-axis movement of the movable applicator40for moving same along the wall of structure as required.

The assembly also comprises a vision system which localises the machine110and the movable applicator40against the wall by determining the distance from ArUco codes placed on the wall. The coded data tells the machine how far it is from the wall, and when to stop self-driving when it is in the next position parallel to the wall.

The assembly calculates movable applicator40velocity and optimal distance from the wall to meet manufacturers specifications for film thickness. This is a major issue with manual application with inconsistencies reducing adhesion, longevity and finish such that painters are often forced to repeat the entire job under warranty or defect.

The tooltips52are self-cleaning having valves that divert paint in the system at clean-up to be reused into paint buckets and waste water to be pumped into an envirowash bin for clean and environmentally safe disposal.

Referring toFIG. 14, the assembly can include covers being rectangular panels on the top and bottom of the horizontal rack140to prevent paint from escaping and wind from entering the paint head tooltips52. This reduces overspray compared to conventional applications. The covers are attached to hinges154which allow the covers to open to allow access to paint and pressure washing heads e.g. for priming, to change tooltips etc.

Referring toFIG. 15, the assembly further includes an elongated catch trough156which extends underneath the tooltip spray heads52. The catch trough156catches any drips and can pivot up to a position to be in front of the tooltip spray tips52to catch waste paint during priming and cleaning. Alternatively, the spray tips52can also pivot down into the catch trough156. Liquid in the catch trough156empties into an envirowash bin via valve for safe disposal of waste paint.

The assembly10gfurther includes a cleaning array157of pressure washing tips158each respectively disposed between the paint tips52. The pressure washing tips158allow both cleaning and pressure washing tasks to be done. Pumps are modular allowing different liquid cleaning products to be dispensed via the washing tips158at the required pressure and flow rate. A valve switches the flow between the different spray arrays, being the cleaning array157and the paint spray array142.

The entire end effector horizontal rack140can be tilted downward or upward such that paint or cleaning spray is perpendicular to floors, roofs, ceilings or tunnel ceilings. This opens up applications for cleaning, coating, painting carparks, tennis courts, driveways, floors, solar panels etc.

Referring toFIG. 16, the assembly10gfurther includes a carriage180which is movably mounted along a front rail182of the horizontal rack140via a second linear actuator184. The front rail182is disposed above the cleaning array157and the paint spray array142and extends in the lateral direction thereof, to be generally parallel to a wall in use. A tooltip52can be mounted to the carriage180which can be used to form a neat horizontal ‘cut in’ stripe above the downward vertical stripe to be formed by the spray array142. Alternatively, a small robot arm with a tooltip52can be mounted to the carriage180for more complex painting around windows, under eaves etc.

An ultrasonic sensor array is also provided to the horizontal rack140to prevent any collisions.