End Effector for Cleaning Objects Having Multiple Surfaces

• US 20150158601A1
• Filed: 12/05/2013
• Published: 06/11/2015
• Est. Priority Date: 12/05/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Topf, Richard Philip, Guirguis, Martin Hanna, Tomuta, Raul, Davancens, Angelica, Esparza, Steve, Drenth, Steven E.
• Granted Patent: US 11,235,893 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B08B 1/12 Brushes
• CPC Class Codes: B08B 1/32 using rotary cleaning members
• CPC Class Codes: B08B 3/024 Cleaning by means of spray elements moving over the surface to be cleaned
• CPC Class Codes: B08B 3/04 Cleaning involving contact with liquid
• CPC Class Codes: B08B 5/04 Cleaning by suction, with or without auxiliary action B08B9/035 takes precedence; suction cleaners A47L
• CPC Class Codes: B60S 3/06 with rotary bodies contacting the vehicle hand-held B60S3/048
• CPC Class Codes: B64F 5/30 Cleaning aircraft

Abstract

A method and apparatus for cleaning surfaces of an object. A platform may be moved along a path relative to the object using a robotic device. A liquid may be applied onto the plurality of surfaces of the object using an applicator associated with the platform. The liquid may be worked into the plurality of surfaces using a plurality of cleaning elements associated with the platform to dislodge undesired material from the plurality of surfaces. A plurality of flexible members may be moved along the plurality of surfaces to dry the plurality of surfaces and remove the undesired material from the plurality of surfaces. An airflow may be generated that moves the undesired material into a vacuum duct in a vacuum system.

Claims

1. An apparatus comprising:

a platform;

a robotic interface associated with the platform and configured for attachment to a robotic device in which the robotic device is configured to move the platform along a path relative to an aircraft structure;

a first set of cleaning elements associated with the platform and configured to clean a first surface of the aircraft structure using a liquid as the platform is moved along the path;

a second set of cleaning elements associated with the platform and configured to clean a second surface of the aircraft structure using the liquid as the platform is moved along the path in which the second surface is angled relative to the first surface; and

a vacuum system associated with the platform and configured to dry the first surface and the second surface and remove undesired material from the first surface and the second surface as the platform is moved along the path.

2. The apparatus of claim 1, wherein the first set of cleaning elements is a first set of brushes and the second set of cleaning elements is a second set of brushes.

3. The apparatus of claim 1, wherein the second surface is substantially perpendicular to the first surface.

4. The apparatus of claim 1 further comprising:

a third set of cleaning elements configured to clean a third surface of the aircraft structure in which the third surface is angled relative to the second surface.

5. The apparatus of claim 4, wherein the third surface of the aircraft structure is substantially perpendicular to the second surface and offset from the first surface.

6. The apparatus of claim 4, wherein the aircraft structure is a wing, the first surface is of a wing panel for the wing, the second surface is of a stringer attached to the wing, and the third surface is of a flange extending from the stringer.

7. The apparatus of claim 5, wherein the vacuum system comprises:

a plurality of flexible members configured to dry the first surface and the second surface and remove the undesired material from the first surface and the second surface as the platform is moved along the path;

a vacuum generation system configured to generate a vacuum pressure that helps the plurality of flexible members maintain sufficient contact with the first surface and the second surface; and

a vacuum duct configured to receive the undesired material.

8. The apparatus of claim 1 further comprising:

an applicator associated with the platform and configured to apply the liquid onto the first surface and the second surface before cleaning the first surface and the second surface by the first set of cleaning elements and the second set of cleaning elements, respectively, as the platform is moved along the path.

9. The apparatus of claim 8, wherein the applicator is configured to apply the liquid to the first surface and the second surface using capillary action.

10. The apparatus of claim 1 further comprising:

a motor system configured to move at least one cleaning element in the first set of cleaning elements and in the second set of cleaning elements back and forth along a surface multiple times as the platform is moved along the path.

11. The apparatus of claim 10, wherein the motor system includes a number of pneumatic motors.

12. The apparatus of claim 1, wherein the first set of cleaning elements is a first plurality of bristles and the second set of cleaning elements is a second plurality of bristles.

13. The apparatus of claim 12 further comprising:

a number of spraying devices configured to spray the liquid towards at least one of the first plurality of bristles and the second plurality of bristles.

14. The apparatus of claim 12 further comprising:

a first base having a first plurality of channels, wherein the first plurality of bristles extend from the first base; and

a second base having a second plurality of channels, wherein the second plurality of bristles extend from the second base.

15. The apparatus of claim 14, wherein the vacuum system comprises:

a main vacuum duct; and

a vacuum generation system configured to generate an airflow that causes the undesired material to move through the first plurality of channels and the second plurality of channels to the main vacuum duct.

16. The apparatus of claim 15 further comprising:

a vacuum cover, wherein the first base and the second base are associated with the vacuum cover;

a first vacuum chamber associated with the vacuum cover, wherein the undesired material is moved through the first plurality of channels through a first opening in the vacuum cover into the first vacuum chamber and into the main vacuum duct; and

a second vacuum chamber associated with the vacuum cover, wherein the undesired material is moved through the second plurality of channels through a second opening in the vacuum cover into the second vacuum chamber and into the main vacuum duct.

17. The apparatus of claim 1, wherein the liquid is methyl propyl ketone.

18. An end effector comprising:

a platform;

a robotic interface associated with the platform and configured to attach the platform to a robotic device in which the robotic device is configured to move the platform along a path relative to an object;

an applicator associated with the platform and configured to apply a liquid onto a plurality of surfaces of the object as the platform is moved along the path;

a plurality of cleaning elements comprising;

a first set of brushes configured to clean a first surface in the plurality of surfaces;

a second set of brushes configured to clean a second surface in the plurality of surfaces; and

a third set of brushes configured to clean a third surface in the plurality of surfaces;

a motor system configured to move at least one cleaning element in the plurality of cleaning elements back and forth along a surface in the plurality of surfaces multiple times as the platform is moved along the path; and

a vacuum system configured to dry the plurality of surfaces and remove undesired material from the plurality of surfaces as the platform is moved along the path relative to the object.

19. A method for cleaning an aircraft structure, the method comprising:

moving a platform along a path relative to the aircraft structure using a robotic device;

cleaning a first surface of the aircraft structure using a liquid and a first set of cleaning elements as the platform is moved along the path;

cleaning a second surface of the aircraft structure using the liquid and a second set of cleaning elements as the platform is moved along the path in which the second surface is angled relative to the first surface; and

removing undesired material from the first surface and the second surface using a vacuum system associated with the platform as the platform is moved along the path.

20. The method of claim 19, wherein moving the platform along the path relative to the aircraft structure using the robotic device comprises:

moving the platform along the path such that the first set of cleaning elements contacts the first surface while the second set of cleaning elements contacts the second surface in which the first surface is of a wing panel and the second surface is of a stringer attached to the wing panel.

21. The method of claim 19, wherein cleaning the first surface of the aircraft structure comprises:

applying the liquid onto the first surface using an applicator; and

working the liquid into the first surface using the first set of cleaning elements to dislodge the undesired material from the first surface.

22. The method of claim 19, wherein cleaning the second surface of the aircraft structure comprises:

applying the liquid onto the second surface using an applicator; and

working the liquid into the second surface using the second set of cleaning elements to dislodge the undesired material from the second surface.

23. The method of claim 19 further comprising:

cleaning a third surface of the aircraft structure using the liquid and a third set of cleaning elements as the platform is moved along the path, wherein the third surface is angled relative to the second surface.

24. The method of claim 23, wherein cleaning the third surface of the aircraft structure comprises:

applying the liquid onto the third surface using an applicator; and

working the liquid into the third surface using the third set of cleaning elements to dislodge the undesired material from the third surface.

25. The method of claim 19, wherein removing the undesired material from the first surface and the second surface using the vacuum system associated with the platform as the platform is moved along the path comprises:

moving a plurality of flexible members along the first surface and the second surface to dry the first surface and the second surface and remove the undesired material from the first surface and the second surface; and

generating an airflow that moves the undesired material into a vacuum duct in the vacuum system.

26. A method for cleaning a plurality of surfaces of an object, the method comprising:

moving a platform along a path relative to the object using a robotic device;

applying a liquid onto the plurality of surfaces of the object using an applicator associated with the platform;

working the liquid into the plurality of surfaces using a plurality of cleaning elements associated with the platform to dislodge undesired material from the plurality of surfaces;

moving a plurality of flexible members along the plurality of surfaces to dry the plurality of surfaces and remove the undesired material from the plurality of surfaces; and

generating an airflow that moves the undesired material into a vacuum duct in a vacuum system.