End effector for cleaning objects having multiple surfaces

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.

BACKGROUND INFORMATION

The present disclosure relates generally to cleaning systems and, in particular, to robotic devices in cleaning systems. Still more particularly, the present disclosure relates to a method and apparatus for cleaning surfaces of an object with an end effector.

During the manufacturing of an object, various components that make up the object may need to be cleaned. As one illustrative example, during the assembly of a wing for an aircraft, different wing panels that form the wing may need to be cleaned. Typically, this cleaning is performed manually. However, manual cleaning of the wing panels may be more time-consuming and labor intensive than desired. In some cases, this type of manual cleaning may be more expensive than desired.

For example, a human operator may clean a wing panel by hand using a handheld cleaning tool. The handheld cleaning tool may take the form of, for example, without limitation, a sponge, a brush, a piece of fabric, or some other type of tool. The amount of time and effort needed to clean all of the wing panels that are used to form the wing of the aircraft using this handheld tool may be greater than desired.

Further, different types of cleaning liquids may be used to clean different types of objects. For example, a cleaning liquid may be sprayed onto the surface of an object. A handheld cleaning tool may then be used to work the cleaning liquid into the surface of the object. Spraying a fluid such as a cleaning liquid, as used herein, means dispersing the fluid as a collection of drops. The drops may take the form of liquid drops or gas drops, depending on the implementation.

In some cases, spraying may be the preferred method of applying the cleaning liquid on an object. However, in other cases, spraying a cleaning liquid may have undesirable effects. For example, with certain types of cleaning liquids, spraying the cleaning liquids may release undesired particles into the environment. Further, with certain types of cleaning liquids, the particles released into the environment by spraying may pose health and safety concerns. Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues.

SUMMARY

In one illustrative embodiment, an apparatus may comprise a platform, a robotic interface associated with the platform, a first set of cleaning elements associated with the platform, a second set of cleaning elements associated with the platform, and a vacuum system associated with the platform. The robotic interface may be configured for attachment to a robotic device. The robotic device may be configured to move the platform along a path relative to an aircraft structure. The first set of cleaning elements may be configured to clean a first surface of the aircraft structure using a liquid as the platform is moved along the path. The second set of cleaning elements may be configured to clean a second surface of the aircraft structure using the liquid as the platform is moved along the path. The second surface may be angled relative to the first surface. The vacuum system may be configured to dry the first surface and the second surface. The vacuum system may remove undesired material from the first surface and the second surface as the platform is moved along the path.

In another illustrative embodiment, an end effector may comprise a platform, a robotic interface associated with the platform, an applicator associated with the platform, a plurality of cleaning elements, a motor system, and a vacuum system. The robotic interface may be configured to attach the platform to a robotic device. The robotic device may be configured to move the platform along a path relative to an object. The applicator may be configured to apply a liquid onto a plurality of surfaces of the object as the platform is moved along the path. The plurality of cleaning elements may comprise a first set of brushes, a second set of brushes, and a third set of brushes. The first set of brushes may be configured to clean a first surface in the plurality of surfaces. The second set of brushes may be configured to clean a second surface in the plurality of surfaces. The third set of brushes may be configured to clean a third surface in the plurality of surfaces. The motor system may be configured to move a 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. The vacuum system may be configured to dry the plurality of surfaces. The vacuum system may be further configured to remove undesired material from the plurality of surfaces as the platform is moved along the path relative to the object.

In yet another illustrative embodiment, a method for cleaning an aircraft structure may be provided. A platform may be moved along a path relative to the aircraft structure using a robotic device. A first surface of the aircraft structure may be cleaned using a liquid and a first set of cleaning elements as the platform is moved along the path. A second surface of the aircraft structure may be cleaned using the liquid and a second set of cleaning elements as the platform is moved along the path. The second surface may be angled relative to the first surface. Undesired material may be removed from the first surface and the second surface using a vacuum system associated with the platform as the platform is moved along the path.

In still another illustrative embodiment, a method for cleaning a plurality of surfaces of an object may be provided. 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.

DETAILED DESCRIPTION

The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that it may be desirable to have an end effector capable of applying a cleaning liquid onto a surface without spraying the cleaning liquid onto the surface. The end effector may be a robotic end effector configured for attachment to a robotic device, such as, for example, without limitation, a robotic arm.

In particular, the illustrative embodiments recognize and take into account that application of a cleaning liquid onto a surface using, for example, without limitation, a sponge, to apply a cleaning liquid onto a surface may reduce the number of undesired environmental effects associated with spraying cleaning liquids. Further, using a sponge may allow the amount of cleaning liquid used and the area on the surface on which the cleaning liquid is applied to be better controlled as compared to spraying the cleaning liquid onto the surface.

Further, the illustrative embodiments recognize and take into account that it may be desirable to have a robotic end effector capable of cleaning an object having multiple surfaces. In particular, the illustrative embodiments recognize and take into account that it may be desirable to have an end effector that can clean multiple surfaces while moving along a particular path. Additionally, the illustrative embodiments recognize and take into account that using the same end effector to remove the cleaning liquid from these multiple surfaces while the end effector moves along the particular path may reduce the overall time needed for cleaning the object.

Thus, the illustrative embodiments provide a method and apparatus for cleaning a plurality of surfaces of an object. In one illustrative embodiment, a method may be provided for moving a platform along a path relative to the object using a robotic device. The plurality of surfaces may be cleaned using a liquid and a plurality of cleaning elements associated with the platform as the platform is moved along the path relative to the object. Further, substantially all of the liquid may be removed from the plurality of surfaces using a vacuum system as the platform is moved along the path relative to the object.

Referring now to the figures and, in particular, with reference toFIG. 1, an illustration of a cleaning environment is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, cleaning environment100may be an example of an environment in which automated cleaning system102may be used to clean object104. Cleaning environment100may be located within, for example, without limitation, a manufacturing plant, an assembly facility, a factory, or some other type of environment in which objects are cleaned.

Automated cleaning system102may be a cleaning system that does not require a human operator to be operated. In this illustrative example, all operations performed by automated cleaning system102may be controlled and performed without a human operator. For example, automated cleaning system102may be operable using robotic machines or robotic devices.

Object104may take a number of different forms. In one illustrative example, object104may take the form of aircraft structure105. In one illustrative example, aircraft structure105may take the form of wing106of aircraft108. Wing106may include wing panel109and stringer110attached to wing panel109. Automated cleaning system102may be used to clean wing panel109and stringer110of wing106during the manufacturing of wing106.

In this illustrative example, automated cleaning system102may include robotic device112and end effector114. Robotic device112may take a number of different forms. For example, without limitation, robotic device112may take the form of a robotic arm, a robotic operator, or some other type of robotic device or system.

As depicted, end effector114may include platform116, robotic interface118, plurality of cleaning elements120, liquid application system121, motor system122, vacuum system124, and control unit126. Robotic interface118, plurality of cleaning elements120, liquid application system121, motor system122, vacuum system124, and control unit126may be associated with platform116. As used herein, when one component is “associated” with another component, the association is a physical association in the depicted examples.

For example, a first component, such as robotic interface118, may be considered to be associated with a second component, such as platform116, by being at least one of secured to the second component, bonded to the second component, mounted to the second component, welded to the second component, fastened to the second component, or connected to the second component in some other suitable manner. The first component also may be connected to the second component using a third component. Further, the first component may be considered to be associated with the second component by being formed as part of the second component, an extension of the second component, or both.

Platform116may be a structural body or base configured to support the various components of end effector114. Further, platform116may house one or more components that make up end effector114. For example, platform116may house control unit126, at least a portion of motor system122, at least a portion of vacuum system124, or some combination thereof.

In this illustrative example, robotic interface118may be configured to attach platform116to robotic device112. Once platform116is attached to robotic device112, robotic device112may be used to move platform116. As depicted, robotic device112may move platform116along path128relative to object104. Path128may be on object104or adjacent to object104depending on the implementation. Path128may be selected based on the particular portion of object104to be cleaned.

Plurality of cleaning elements120may be configured to clean plurality of surfaces130of object104as platform116of end effector114is moved along path128. For example, without limitation, plurality of surfaces130may be surfaces that have been sealed. In particular, plurality of surfaces130may have been sealed using sealant materials, paint materials, other materials, or some combination thereof to prevent fluids, including liquids and gases, from entering any pores that may be present in object104.

During manufacturing processes, including assembly and fabrication processes, different types of substances may be used on plurality of surfaces130. These substances may include, for example, without limitation, oils, cutting oils, waxes, adhesive materials, sealant materials, glue, other types of substances, or some combination thereof. In some cases, undesired solid matter such as, for example, without limitation, metal chips, metal particles, other types of solid matter, or some combination thereof, may become attached to plurality of surfaces130of object104by these substances. These substances and undesired solid matter may form undesired material142that may need to be removed from plurality of surfaces130. Thus, cleaning plurality of surfaces130may include removing undesired material142from plurality of surfaces130.

In one illustrative example, plurality of surfaces130may include first surface132and second surface134. In one illustrative example, second surface134may be substantially perpendicular to first surface132. However, in other illustrative examples, second surface134may be at an angle less than or greater than about 90 degrees relative to first surface132.

In some cases, plurality of surfaces130may include third surface136. In one illustrative example, third surface136may be substantially parallel to first surface132and thus, substantially perpendicular to second surface134. But in other illustrative examples, third surface136may be at an angle less than or greater than about 90 degrees relative to second surface134.

When object104takes the form of wing106, first surface132may be the surface of wing panel109configured to face the inside of wing106. In other words, first surface132may be the inner surface of wing panel109. Second surface134may be a surface of stringer110attached to wing panel109. Third surface136may be a surface of flange137associated with stringer110.

Plurality of cleaning elements120may use liquid138to clean plurality of surfaces130. In one illustrative example, liquid138may take the form of methyl propyl ketone (MPK)140. Of course, in other illustrative examples, liquid138may take some other form such as, for example, without limitation, acetone, another type of ketone, or some other type of liquid or solvent used for cleaning.

Liquid138may be applied onto plurality of surfaces130using liquid application system121. Liquid application system121may be configured to dispense and apply liquid138onto plurality of surfaces130while platform116is moved along path128. Once liquid138has been applied to plurality of surfaces130, plurality of cleaning elements120may then be used to work liquid138into plurality of surfaces130while platform116is moved along path128.

Working liquid138into plurality of surfaces130may mean pressing, brushing, or scrubbing liquid138into plurality of surfaces130to remove or dislodge undesired material142from plurality of surfaces130. Liquid138may act as a solvent such that working liquid138into plurality of surfaces130dissolves substances including, but not limited to, cutting oils and waxes, in liquid138. Dissolving these substances dislodges any undesired solid matter attached to plurality of surfaces130by these substances.

Thus, working liquid138may allow the portion of undesired material142formed by these substances and undesired solid matter to be removed from plurality of surfaces130. In other illustrative examples, liquid138may be able to dissolve undesired substances on plurality of surfaces130without being worked into plurality of surfaces130.

Motor system122may be operated to move plurality of cleaning elements120relative to plurality of surfaces130in a manner that works liquid138into plurality of surfaces130and dislodge undesired material142from plurality of surfaces130. Plurality of cleaning elements120may include first set of cleaning elements123for cleaning first surface132and second set of cleaning elements125for cleaning second surface134. Depending on the implementation, plurality of cleaning elements120may also include third set of cleaning elements127for cleaning third surface136.

In one illustrative example, motor system122may be comprised of number of pneumatic motors144. As used herein, a “number of” items may include one or more items. For example, number of pneumatic motors144may include one or more pneumatic motors. A pneumatic motor, such as one of number of pneumatic motors144, may also be referred to as an air motor in some illustrative examples. Pneumatic motors144may be used to reduce or prevent sparks from being created during the operation of motor system122. In some illustrative examples, motor system122may be configured to move at least one cleaning element in plurality of cleaning elements120back and forth along a surface in plurality of surfaces130as platform116is moved along path128.

While platform116moves along path128, vacuum system124may be used to remove liquid138from plurality of surfaces130such that any remaining liquid138, if any, on plurality of surfaces130is within selected tolerances. Vacuum system124may also be used to remove undesired material142that has been dislodged from plurality of surfaces130.

In this illustrative example, control unit126may be used to control the operation of motor system122, vacuum system124, liquid application system121, or some combination thereof. Control unit126may take the form of a computer, a microchip, a processor unit, a microprocessor, or some other type of hardware device. As described above, control unit126may be housed within platform116. However, in some illustrative examples, control unit126may be attached to the exterior of platform116.

Thus, as described above, cleaning a surface, such as first surface132, second surface134, or third surface136, may include applying liquid138onto the surface, working liquid138into the surface, drying the surface, and removing undesired material142from the surface, or some combination thereof. These operations may be performed in a number of different ways depending on the configuration of end effector114. Examples of configurations for end effector114may be depicted inFIG. 2, described below.

With reference now toFIG. 2, an illustration of a first configuration for end effector114fromFIG. 1is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, end effector114may be implemented using first configuration200. When end effector114has first configuration200, end effector114may be referred to as first spraying end effector202.

First configuration200for end effector114may include first plurality of bristles206and second plurality of bristles208. First plurality of bristles206and second plurality of bristles208may be an example of one implementation for plurality of cleaning elements120inFIG. 1.

First configuration200for end effector114may also include number of spraying devices204. Number of spraying devices204may be part of liquid application system121inFIG. 1.

Number of spraying devices204may be used to spray liquid138such that liquid138contacts first plurality of bristles206. Platform116may be moved along path128inFIG. 1such that first plurality of bristles206contacts plurality of surfaces130. Further, platform116may be moved along path128inFIG. 1such that second plurality of bristles208follows first plurality of bristles206along path128.

Further, first configuration200for end effector114may include first pneumatic motor210and second pneumatic motor212. First pneumatic motor210and second pneumatic motor212may be an example of one implementation for number of pneumatic motors144inFIG. 1.

First pneumatic motor210may be operated to move first plurality of bristles206. In particular, first pneumatic motor210may be operated to rotate first plurality of bristles206about first axis214. First axis214may be a center axis through first plurality of bristles206. Second pneumatic motor212may be operated to move second plurality of bristles208. In particular, second pneumatic motor212may be operated to rotate second plurality of bristles208about second axis216.

First plurality of bristles206may be rotated about first axis214while first plurality of bristles206is in contact with plurality of surfaces130to apply liquid138onto plurality of surfaces130and clean plurality of surfaces130. In some cases, first plurality of bristles206may be referred to as a plurality of application bristles because first plurality of bristles206is used to apply liquid138onto surfaces.

In one illustrative example, platform116may be moved along path128inFIG. 1such that first plurality of bristles206is moved to position225relative to plurality of surfaces130. Rotation of first plurality of bristles206while first plurality of bristles206is at position225causes at least a portion of liquid138sprayed from number of spraying devices204to be applied onto a corresponding portion of plurality of surfaces130. Further, this corresponding portion of plurality of surfaces130may be cleaned using first plurality of bristles206and the portion of liquid138applied.

Because first plurality of bristles206is used to apply liquid138onto plurality of surfaces130, first plurality of bristles206may also be considered a part of liquid application system121inFIG. 1. Liquid application system121may also include other components not shown in this example.

Platform116may be moved along path128inFIG. 1such that first plurality of bristles206then moves to a new position relative to plurality of surfaces130and second plurality of bristles208moves into position225relative to plurality of surfaces130. Liquid138sprayed by number of spraying devices204may not contact second plurality of bristles208.

Second plurality of bristles208may be rotated about second axis216to dry the portion of plurality of surfaces130corresponding to position225. Thus, in some cases, second plurality of bristles208may be referred to as a plurality of drying bristles.

As depicted, first configuration200may also include first vacuum cover218, second vacuum cover220, first duct222, second duct224, main vacuum duct226, and vacuum generation system227. First vacuum cover218, second vacuum cover220, first duct222, second duct224, main vacuum duct226, and vacuum generation system227may be an example of one implementation for vacuum system124inFIG. 1.

Number of spraying devices204may be associated with first vacuum cover218. Number of spraying devices204may be configured to spray liquid138under first vacuum cover218towards first plurality of bristles206.

First vacuum cover218may have first opening228. Second vacuum cover220may have second opening230. Vacuum generation system227may generate airflow229that causes air to move through first opening228of first vacuum cover218into first duct222and from first duct222into main vacuum duct226. Further, airflow229may cause air to move through second opening230of second vacuum cover220into second duct224and from second duct224into main vacuum duct226.

First vacuum cover218may be associated with first plurality of bristles206, while second vacuum cover220may be associated with second plurality of bristles208. First vacuum cover218may be used to remove undesired material142from first plurality of bristles206.

Undesired material142may include liquid232, as well as any particles or materials dislodged from plurality of surfaces130during the cleaning of plurality of surfaces130. Excess liquid232may be the portion of liquid138sprayed from number of spraying devices204that is not applied onto plurality of surfaces130.

Because of airflow229created by vacuum generation system227, undesired material142may travel through first opening228in first vacuum cover218into first duct222. Once undesired material142reaches main vacuum duct226, undesired material142may be moved into receptacle234attached to main vacuum duct226.

Receptacle234may be considered separate from end effector114in this illustrative example. However, in other illustrative examples, receptacle234may be considered part of end effector114. Receptacle234may take the form of, for example, without limitation, a bag, a container, a tank, or some other type of retaining structure.

Second vacuum cover220may be used to remove undesired material142from second plurality of bristles208. Undesired material142may include remaining liquid236, as well as any other particles or materials dislodged from plurality of surfaces130during the cleaning of plurality of surfaces130. Remaining liquid236may be the portion of liquid138remaining on plurality of surfaces130after being cleaned by first plurality of bristles206.

Undesired material142may travel through second opening230in second vacuum cover220into second duct224. Once undesired material142reaches main vacuum duct226, undesired material142may be moved into receptacle234attached to main vacuum duct226.

With reference now toFIG. 3, an illustration of a second configuration for end effector114fromFIG. 1is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, end effector114may be implemented using second configuration300. When end effector114has second configuration300, end effector114may be referred to as second spraying end effector302.

Second configuration300for end effector114may include first plurality of bristles306and second plurality of bristles308. First plurality of bristles306and second plurality of bristles308may be an example of one implementation for plurality of cleaning elements120inFIG. 1.

Second configuration300for end effector114may also include number of spraying devices304. Number of spraying devices304may be used to spray liquid138such that liquid138contacts first plurality of bristles306and second plurality of bristles308. Number of spraying devices304may be part of liquid application system121inFIG. 1.

Platform116may be moved along path128inFIG. 1such that first plurality of bristles306and second plurality of bristles308contact plurality of surfaces130. In particular, platform116may be moved along path128inFIG. 1such that second plurality of bristles308follows first plurality of bristles306along path128.

Additionally, second configuration300for end effector114may include first pneumatic motor310and second pneumatic motor312. First pneumatic motor310and second pneumatic motor312may be an example of one implementation for number of pneumatic motors144inFIG. 1.

First pneumatic motor310may be operated to move first plurality of bristles306. In particular, first pneumatic motor310may be operated to rotate first plurality of bristles306about first axis314. First axis314may be a center axis through first plurality of bristles306. Second pneumatic motor312may be operated to move second plurality of bristles308. In particular, second pneumatic motor312may be operated to rotate second plurality of bristles308about second axis316.

First plurality of bristles306may be rotated about first axis314while first plurality of bristles306is in contact with plurality of surfaces130to apply liquid138onto plurality of surfaces130and clean plurality of surfaces130. Second plurality of bristles308may be rotated about second axis316to apply liquid138onto plurality of surfaces130to clean plurality of surfaces130.

Because first plurality of bristles306is used to apply liquid138onto plurality of surfaces130, first plurality of bristles306may also be considered part of liquid application system121inFIG. 1. Liquid application system121may also include other components not shown in this example.

Protective shield318may be used to prevent liquid138from splattering during the application of liquid138. Protective shield318may enclose first plurality of bristles306and second plurality of bristles308such that liquid138is only applied to and used to clean the portion of plurality of surfaces130in contact with or around first plurality of bristles306and second plurality of bristles308.

As depicted, second configuration300may also include vacuum cover320, first vacuum chamber322, second vacuum chamber324, first duct330, second duct332, main vacuum duct334, and vacuum generation system335. Vacuum cover320, first vacuum chamber322, second vacuum chamber324, first duct330, second duct332, main vacuum duct334, and vacuum generation system335may be an example of one implementation for vacuum system124inFIG. 1.

Vacuum cover320may be associated with first plurality of bristles306, second plurality of bristles308, and protective shield318. Protective shield318may extend from vacuum cover320to surround first plurality of bristles306and second plurality of bristles308.

First vacuum chamber322and second vacuum chamber324may be associated with vacuum cover320. First rotary member326may be located within first vacuum chamber322. Second rotary member328may be located within second vacuum chamber324.

First rotary member326may be associated with first base341, and second rotary member328may be associated with second base343. First plurality of bristles306may be configured to extend from first base341. Second plurality of bristles308may be configured to extend from second base343.

Operation of first pneumatic motor310may be configured to rotate first rotary member326and thereby, first base341about first axis314. Rotation of first base341about first axis314, in turn, may cause first plurality of bristles306to rotate about first axis314. Operation of second pneumatic motor312may be configured to rotate second rotary member328and thereby, second base343about second axis316. Rotation of second base343about second axis316, in turn, may cause second plurality of bristles308to rotate about second axis316.

First base341may have first plurality of channels340. Second base343may have second plurality of channels342. First rotary member326and second rotary member328may have first opening336and second opening338, respectively.

First plurality of channels340may be connected to first opening336in first rotary member326such that air flowing through first plurality of channels340may flow through first opening336. Second plurality of channels342may be connected to second opening338in second rotary member328such that air flowing through second plurality of channels342may flow through second opening338.

Vacuum generation system335may generate airflow337that causes air to move through first plurality of channels340, through first opening336in first rotary member326, and into first duct330. Further, airflow337may cause air to move through second plurality of channels342, into second opening338in second rotary member328, and into second duct332.

Airflow337may cause air in first duct330and second duct332to be moved into main vacuum duct334and then receptacle344. Undesired material142may be removed from plurality of surfaces130during the cleaning of plurality of surfaces130by airflow337created by vacuum generation system335. Undesired material142may be removed from plurality of surfaces130and moved into receptacle344in a manner similar to the manner in which undesired material142is moved into receptacle234inFIG. 2.

With reference now toFIG. 4, an illustration of a third configuration for end effector114fromFIG. 1is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, end effector114may be implemented using third configuration400. When end effector114has third configuration400, end effector114may be referred to as wicking end effector402.

Third configuration400may include applicator404, first set of brushes406, second set of brushes408, and third set of brushes410. As used herein, a “set of” items may include one or more items. In this manner, each of first set of brushes406, second set of brushes408, and third set of brushes410may include one or more brushes. First set of brushes406, second set of brushes408, and third set of brushes410may be an example of one implementation for plurality of cleaning elements120inFIG. 1.

Applicator404may be used to apply liquid138onto plurality of surfaces130. First set of brushes406, second set of brushes408, and third set of brushes410may be used to clean plurality of surfaces130using liquid138that has been applied onto plurality of surfaces130.

Third configuration400may also include number of transfer members412and channeled structure414. Number of transfer members412may be used to transfer liquid138from a source of liquid138to number of channels416in channeled structure414. A transfer member in number of transfer members412may take the form of, for example, without limitation, hose418.

Number of channels416may be used to deliver liquid138to applicator404. Applicator404may be configured to absorb liquid138from number of channels416by capillary action. Capillary action is the movement of a liquid, such as liquid138, towards a solid, such as applicator404, caused by an attraction of the molecules of the liquid to the molecules of the solid. Capillary action may also be referred to as wicking. Capillary action may also allow liquid138to move through applicator404towards the portion of applicator404in contact with plurality of surfaces130.

The portion of liquid138absorbed by applicator404may be absorbed liquid420. Applicator404may be moved along path128inFIG. 1relative to plurality of surfaces130to apply at least a portion of absorbed liquid420onto plurality of surfaces130as applicator404is moved along path128inFIG. 1.

Channeled structure414may also function as a protective shield, in a manner similar to protective shield318inFIG. 3. Channeled structure414may provide a shield to protect against any splattering of liquid138during the application of liquid138by applicator404.

First set of brushes406, second set of brushes408, and third set of brushes410may follow applicator404along path128inFIG. 1. First set of brushes406, second set of brushes408, and third set of brushes410may be moved by pneumatic motor422of end effector114to clean plurality of surfaces130using the portion of absorbed liquid420applied onto plurality of surfaces130.

Pneumatic motor422may be configured to rotate pivoting feature424about pivot axis426. Pivoting feature424may be movably connected to structure428. First set of brushes406, second set of brushes408, and third set of brushes410may be attached to structure428. Rotation of pivoting feature424about pivot axis426may cause movement of structure428, which may, in turn, cause movement of first set of brushes406, second set of brushes408, and third set of brushes410.

First set of brushes406, second set of brushes408, and third set of brushes410may be moved in a reciprocating manner to clean first surface132, second surface134, and third surface136, respectively. Moving an item, such as first set of brushes406, in a reciprocating manner may mean moving the item back and forth multiple times.

In this illustrative example, third configuration400may also include vacuum generation system430, vacuum duct431, and plurality of flexible members432. Vacuum generation system430may be configured to generate airflow433that is used to remove undesired material142from plurality of surfaces130. In particular, airflow433may cause undesired material142to move through plurality of gaps434between plurality of flexible members432and into vacuum duct431. Undesired material142may then move from vacuum duct431into receptacle436.

Plurality of flexible members432may be moved along path128inFIG. 1relative to plurality of surfaces130to wipe and dry plurality of surfaces130after plurality of surfaces130have been cleaned. The vacuum pressure created by vacuum generation system430may ensure that all undesired material142, including any remaining liquid or other types of materials, may be removed. Further, the vacuum pressure created by vacuum generation system430may also help plurality of flexible members432maintain sufficient contact with plurality of surfaces130to properly dry plurality of surfaces130.

In one illustrative example, plurality of flexible members432may take the form of plurality of squeegee members438. A squeegee member may also be referred to as a squeegee or a squimjim.

Thus, in this manner, end effector114inFIG. 1and, in particular, the different configurations for end effector114described inFIGS. 2-4may be used to clean the surfaces of different types of objects in a manner that reduces the overall time needed for cleaning. Further, the different components of end effector114inFIGS. 1-4may be comprised of materials selected such that the materials are compatible with liquid138. In other words, the materials may be selected to prevent any adverse or undesired reactions between the materials and liquid138.

Additionally, third configuration400for end effector114inFIG. 4that uses applicator404to apply liquid138onto plurality of surfaces130may allow different types of liquid138to be used. For example, without limitation, liquids that might have undesired effects to humans when sprayed but no undesired effects when applied without spraying may be used when end effector114has applicator404. Further, by using applicator404, flammable cleaning liquids may also be used because the flammable vapors produced that are produced are reduced to within selected tolerances or to none.

The illustrations of cleaning environment100inFIG. 1and end effector114inFIGS. 2-4are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment.

For example, in some cases, first duct222and second duct224may not be present. Undesired material142may move from first opening228in first vacuum cover218and from second opening230in second vacuum cover220directly into main vacuum duct226. In other illustrative examples, other sets of brushes may be included in place of or in addition to first set of brushes406, second set of brushes408, and third set of brushes410.

With reference now toFIGS. 5-9, illustrations of a first configuration for an end effector are depicted in accordance with an illustrative embodiment. InFIG. 5, an illustration of a front isometric view of a first configuration for an end effector is depicted in accordance with an illustrative embodiment. In this illustrative example, end effector500may be an example of one implementation for end effector114inFIG. 1. End effector500may be implemented using first configuration200inFIG. 2.

As depicted, end effector500may include platform502, robotic interface504, plurality of cleaning elements506, and vacuum system508. Platform502, robotic interface504, plurality of cleaning elements506, and vacuum system508may be examples of implementations for platform116, robotic interface118, plurality of cleaning elements120, and vacuum system124, respectively, inFIG. 1.

Robotic interface504, plurality of cleaning elements506, and vacuum system508may be associated with platform502. Robotic interface504may be used to attach platform502to a robotic device (not shown), such as robotic device112inFIG. 1.

Platform502may be configured to house other components (not shown). For example, cover510of platform502may be removed to provide access to these other components.

Plurality of cleaning elements506may include first plurality of bristles512and second plurality of bristles514. First plurality of bristles512and second plurality of bristles514may be examples of implementations for first plurality of bristles206and second plurality of bristles208, respectively, inFIG. 2.

A first portion of each of first plurality of bristles512and second plurality of bristles514may be used to contact any surface that is substantially parallel to first plane516. A second portion of each of first plurality of bristles512and second plurality of bristles514may be used to contact any surface that is substantially parallel to second plane518. Second plane518may be substantially perpendicular to first plane516.

In this illustrative example, first plurality of bristles512may be configured to rotate in the direction of arrow520. Second plurality of bristles514may be configured to rotate in the direction of arrow522. End effector500may also include vibration damper521and vibration damper523. Vibration damper521and vibration damper523may be configured to reduce the vibrations caused by the rotation of first plurality of bristles512and second plurality of bristles514, respectively.

Vacuum system508may include first vacuum cover524and second vacuum cover526, which may be examples of implementations for first vacuum cover218and second vacuum cover220, respectively, inFIG. 2. First vacuum cover524and second vacuum cover526may be associated with first plurality of bristles512and second plurality of bristles514, respectively.

As depicted, spraying device527, spraying device528, and another spraying device (not shown) may be associated with first vacuum cover524. These spraying devices may be an example of one implementation for number of spraying devices204inFIG. 2.

Spraying device528may include fastener device529and spray nozzle530. Fastener device529may be used to attach spray nozzle530to the inside of first vacuum cover524. Spraying device527may include a spray nozzle (not shown) and fastener device531for attaching this spray nozzle to the inside of first vacuum cover524. Further, the other spraying device (not shown) may also include a spray nozzle (not shown) and a fastener device (not shown) for attaching the spray nozzle to the inside of first vacuum cover524.

Spraying device527, spraying device528, and the other spraying device (not shown) may be used to spray a liquid (not shown) towards first plurality of bristles512. First plurality of bristles512may be used to apply the liquid onto a surface (not shown) and clean this surface using the liquid.

During the cleaning performed by first plurality of bristles512, excess liquid and other types of undesired material may be removed using vacuum system508. In particular, the undesired material may be moved into main vacuum duct532, which may be an example of one implementation for main vacuum duct226inFIG. 2. End534of main vacuum duct532may be configured for attachment to a receptacle (not shown), such as receptacle234inFIG. 2.

Second plurality of bristles514may be rotated to dry the surface after the surface has been cleaned by first plurality of bristles512. Any remaining liquid and other types of undesired material may be removed using vacuum system508during the drying performed by second plurality of bristles514.

Turning now toFIG. 6, an illustration of a side view of end effector500fromFIG. 5with cover510of platform502removed is depicted in accordance with an illustrative embodiment. In this illustrative example, a side view of end effector500is depicted with respect to lines 6-6 inFIG. 5. Cover510has been removed such that the contents housed within platform502may be seen more clearly.

As depicted, platform502may house motor system601. Motor system601may be an example of one implementation for motor system122inFIG. 1. Motor system601may include first pneumatic motor600and second pneumatic motor602, which may be examples of implementations for first pneumatic motor210and second pneumatic motor212inFIG. 2.

First pneumatic motor600may be associated with first base603located below first vacuum cover524. First plurality of bristles512extend from first base603. Second pneumatic motor602may be associated with second base605located below second vacuum cover526. Second plurality of bristles514may extend from second base605.

First pneumatic motor600may be operated to rotate first base603, and thereby first plurality of bristles512, in the direction of arrow604about first axis606. First axis606may be an example of one implementation for first axis214inFIG. 2.

Second pneumatic motor602may be operated to rotate second base605, and thereby second plurality of bristles514, in the direction of arrow608about second axis610. Second axis610may be an example of one implementation for second axis216inFIG. 2.

As depicted, first members612may be associated with first vacuum cover524and second members614may be associated with second vacuum cover526. First members612and second members614may be configured to clean first plurality of bristles512and second plurality of bristles514, respectively, such that undesired material removed from a surface by these bristles may be then sent into main vacuum duct532inFIG. 5.

With reference now toFIG. 7, an illustration of a back isometric view of end effector500fromFIG. 5is depicted in accordance with an illustrative embodiment. In this illustrative example, a back isometric view of end effector500is depicted with respect to lines 7-7 inFIG. 5.

First duct700and second duct702of vacuum system508may be seen. First duct700and second duct702may be examples of implementation for first duct222and second duct224, respectively, inFIG. 2.

Spraying device704may also be seen in this example. Spraying device704may be an example of one implementation for a spraying device in number of spraying devices204inFIG. 2. Only fastener device706of spraying device704is seen in this illustrative example.

Turning now toFIG. 8, an illustration of a side view of end effector500fromFIG. 7is depicted in accordance with an illustrative embodiment. In this illustrative example, a side view of end effector500is depicted with respect to lines 8-8 inFIG. 7.

With reference now toFIG. 9, an illustration of a bottom perspective view of end effector500fromFIG. 8is depicted in accordance with an illustrative embodiment. In this illustrative example, a bottom perspective view of end effector500is depicted with respect to lines 9-9 inFIG. 8.

Spray nozzle900of spraying device527may be seen. Further, spray nozzle902of spraying device704may be seen. As depicted, no spraying devices are associated with second vacuum cover526. Second plurality of bristles514may be used for drying.

With reference now toFIGS. 10-14, illustrations of a second configuration for an end effector are depicted in accordance with an illustrative embodiment. InFIG. 10, an illustration of a front isometric view of a second configuration for an end effector is depicted in accordance with an illustrative embodiment. In this illustrative example, end effector1000may be an example of one implementation for end effector114inFIG. 1. End effector1000may be implemented using second configuration300inFIG. 3.

As depicted, end effector1000includes platform1002, robotic interface1004, liquid application system1006, and vacuum system1008. Platform1002, robotic interface1004, liquid application system1006, and vacuum system1008may be examples of implementations for platform116, robotic interface118, liquid application system121, and vacuum system124, respectively, inFIG. 1.

Robotic interface1004, liquid application system1006, and vacuum system1008may be associated with platform1002. Platform1002may be configured to house other components (not shown) of end effector1000. Cover1003of platform1002may be removed to provide access to these other components.

End effector1000may also include protective shield1010. Protective shield1010may be an example of one implementation for protective shield318inFIG. 3.

Protective shield1010may be associated with vacuum cover1011. Vacuum cover1011may be an example of one implementation for vacuum cover320inFIG. 3. First vacuum chamber1012and second vacuum chamber1014may be associated with vacuum cover1011. First vacuum chamber1012and second vacuum chamber1014may be examples of implementations for first vacuum chamber322and second vacuum chamber324, respectively, inFIG. 3. Vacuum cover1011, first vacuum chamber1012, second vacuum chamber1014, and main vacuum duct1015may be part of vacuum system1008.

Liquid application system1006may include spraying device1016and spraying device1018, which are both associated with vacuum cover1011. Spraying device1016and spraying device1018may be examples of implementations for spraying devices in number of spraying devices304inFIG. 3. Spraying device1016may be configured to receive a liquid (not shown) through hose1020and spray this liquid under vacuum cover1011. Spraying device1018may be configured to receive the liquid (not shown) through hose1022and spray this liquid into the area below vacuum cover1011.

Turning now toFIG. 11, an illustration of a side view of end effector1000fromFIG. 10is depicted in accordance with an illustrative embodiment. In this illustrative example, a side view of end effector1000is depicted with respect to lines 11-11 inFIG. 10.

Hose1100may be seen. Hose1100may deliver the liquid (not shown) to another spraying device (not shown) associated with vacuum cover1011.

Protective shield1010has been removed such that first base1102and second base1104may be more clearly seen. First base1102and second base1104may be associated with vacuum cover1011. First plurality of bristles1106may extend from first base1102, and second plurality of bristles1108may extend from second base1104. First plurality of bristles1106and second plurality of bristles1108may be examples of implementations for first plurality of bristles306and second plurality of bristles308, respectively, inFIG. 3.

A portion of each of first plurality of bristles1106and second plurality of bristles1108may be configured to contact a surface (not shown) that lies along first plane1109. Another portion of each of first plurality of bristles1106and second plurality of bristles1108may be configured to contact another surface (not shown) that lies along a second plane (not shown) that is substantially perpendicular to first plane1109.

As depicted, first base1102may have first plurality of channels1110. Second base1104may have second plurality of channels1112. Vacuum system1008may be configured to generate an airflow that allows air to move from first plurality of channels1110and second plurality of channels1112through first vacuum chamber1012and second vacuum chamber1014, respectively, into main vacuum duct1015.

Turning now toFIG. 12, an illustration of a partially cutaway side view of end effector1000fromFIG. 11is depicted in accordance with an illustrative embodiment. In this illustrative example, cover1003has been removed such that the components housed by platform1002may be more clearly seen.

Further, portions of first vacuum chamber1012and second vacuum chamber1014have been cutaway such that the components within these vacuum chambers may be more clearly seen. Still further, vacuum cover1011has been removed such that first base1102and second base1104may be more clearly seen.

As depicted, platform1002may house motor system1200. Motor system1200may be an example of one implementation for motor system122inFIG. 1. Motor system1200may include first pneumatic motor1202and second pneumatic motor1204, which may be examples of implementations for first pneumatic motor310and second pneumatic motor312, respectively, inFIG. 3.

First rotary member1206may be present within first vacuum chamber1012. First rotary member1206may be associated with both first pneumatic motor1202and first base1102. Second rotary member1208may be present within second vacuum chamber1014. Second rotary member1208may be associated with both second pneumatic motor1204and second base1104.

First pneumatic motor1202may be operated to rotate first rotary member1206, and thereby first base1102and first plurality of bristles1106about first axis1210in the direction of arrow1212. Second pneumatic motor1204may be operated to rotate second rotary member1208, and thereby second base1104and second plurality of bristles1108about second axis1214in the direction of arrow1216. First axis1210and second axis1214may be examples of implementations for first axis314and second axis316, respectively, inFIG. 3.

In this illustrative example, vacuum system1008may also include first duct1218and second duct1220. First duct1218and second duct1220may be examples of implementations for first duct330and second duct332, respectively, inFIG. 3. Vacuum system1008may generate an airflow that allows undesired material to be moved through first plurality of channels1110into first rotary member1206, into first duct1218, and into main vacuum duct1015. Further, this airflow may allow undesired material to be moved through second plurality of channels1112into second rotary member1208, into second duct1220, and into main vacuum duct1015.

With reference now toFIG. 13, an illustration of a back isometric view of end effector1000fromFIG. 10is depicted in accordance with an illustrative embodiment. In this illustrative example, a back isometric view of end effector1000fromFIG. 10is depicted with respect to lines 13-13 inFIG. 10.

In this illustrative example, spraying device1300and spraying device1302may be seen. Spraying device1300and spraying device1302may be examples of implementations for spraying devices in number of spraying devices304inFIG. 3. Hose1100may deliver liquid to spraying device1300. Hose1304may deliver liquid to spraying device1302.

With reference now toFIG. 14, an illustration of a bottom perspective view of end effector1000fromFIG. 10is depicted in accordance with an illustrative embodiment. In this illustrative example, a bottom perspective view of end effector1000fromFIG. 10is depicted with respect to lines 14-14 inFIG. 10.

In this illustrative example, spray nozzle1400of spraying device1016may be seen. Spray nozzle1402of spraying device1300may be seen. Further, spray nozzle1404of spraying device1302may be seen. Spraying nozzle of spraying device1018fromFIG. 10is not seen in this illustrative example.

With reference now toFIGS. 15-21, illustrations of a third configuration for an end effector are depicted in accordance with an illustrative embodiment. InFIG. 15, an illustration of a front isometric view of a third configuration for an end effector is depicted in accordance with an illustrative embodiment.

In this illustrative example, end effector1500may be an example of one implementation for end effector114inFIG. 1. End effector1500may be implemented based on third configuration400inFIG. 4.

As depicted, end effector1500may include platform1502, robotic interface1504, liquid application system1505, plurality of cleaning elements1506, vacuum system1508, and motor system1510. Platform1502, robotic interface1504, liquid application system1505, plurality of cleaning elements1506, vacuum system1508, and motor system1510may be examples of implementations for platform116, robotic interface118, liquid application system121, plurality of cleaning elements120, vacuum system124, and motor system122, respectively, inFIG. 1.

Liquid application system1505may include hose1514, channeled structure1516, and applicator1518. Hose1514, channeled structure1516, and applicator1518may be examples of implementations for hose418, channeled structure414, and applicator404, respectively, inFIG. 4. Hose1514may deliver a liquid (not shown) to channel1515and channel1517in channeled structure1516. Channel1515and channel1517may be an example of one implementation for number of channels416inFIG. 4.

The liquid in channel1515and channel1517may move towards applicator1518by capillary action. In this illustrative example, applicator1518may take the form of a sponge. Applicator1518may absorb the liquid from channel1515and channel1517. Platform1502may be moved such that applicator1518applies at least a portion of the absorbed liquid onto a plurality of surfaces.

In this illustrative example, plurality of cleaning elements1506may include first set of brushes1520, second set of brushes1522, and third set of brushes1524. First set of brushes1520, second set of brushes1522, and third set of brushes1524may be examples of implementations for first set of brushes406, second set of brushes408, and third set of brushes410, respectively, inFIG. 4.

First set of brushes1520, second set of brushes1522, and third set of brushes1524may be attached to structure1525. Structure1525may be an example of one implementation for structure428inFIG. 4.

First set of brushes1520may include brush1526and brush1528. Brush1526and brush1528may be used to clean a surface (not shown) that is substantially parallel to first plane1527. Second set of brushes1522may include brush1530. Brush1530may be used to clean a surface (not shown) that is substantially parallel to second plane1531. Second plane1531may be substantially perpendicular to first plane1527.

Further, third set of brushes1524may include brush1532and brush1534. Brush1532and brush1534may be used to clean surfaces (not shown) that are substantially parallel to first plane1527.

Motor system1510may include pneumatic motor1535. Pneumatic motor1535may be an example of one implementation for pneumatic motor422inFIG. 4. Air hose1533may be configured to supply air to pneumatic motor1535to operate pneumatic motor1535.

Pneumatic motor1535may be operated to move plurality of cleaning elements1506in a manner that effectively cleans surfaces. First set of brushes1520, second set of brushes1522, and third set of brushes1524may be moved in a reciprocating manner. In other words, these brushes may be moved back and forth over surfaces multiple times.

As depicted, vacuum system1508may include plurality of flexible members1536and vacuum duct1538. Plurality of flexible members1536and vacuum duct1538may be examples of implementations for plurality of flexible members432and vacuum duct431, respectively, inFIG. 1.

In this illustrative example, each of plurality of flexible members1536may be a squeegee member. As depicted, plurality of gaps1537may be present between plurality of flexible members1536. Plurality of flexible members1536may be configured to wipe and dry the surfaces cleaned by plurality of cleaning elements1506and remove any undesired material from these surfaces.

With reference now toFIG. 16, an illustration of a side view of end effector1500fromFIG. 15is depicted in accordance with an illustrative embodiment. A side view of end effector1500is depicted with respect to lines 16-16 inFIG. 15. In this illustrative example, end effector1500may be moved in the direction of arrow1600along some predefined path relative to an object (not shown).

As end effector1500is moved in the direction of arrow1600, applicator1518may be used to apply a liquid onto a plurality of surfaces of the object (not shown). Plurality of cleaning elements1506may follow applicator1518and then clean these surfaces. Plurality of flexible members1536may then follow plurality of cleaning elements1506to dry the surfaces and ensure that all undesired material is removed from the surfaces within selected tolerances.

With reference now toFIG. 17, an illustration of a bottom isometric view of end effector1500fromFIGS. 15-16is depicted in accordance with an illustrative embodiment. In this illustrative example, a bottom isometric view of end effector1500fromFIGS. 15-16is depicted with respect to lines 17-17 inFIG. 15. Brush1700and brush1702of first set of brushes1520may be seen.

Turning now toFIG. 18, an illustration of a bottom isometric view of end effector1500fromFIGS. 15-17is depicted in accordance with an illustrative embodiment. In this illustrative example, a bottom isometric view of end effector1500fromFIGS. 15-17is depicted with respect to lines 18-18 inFIG. 16.

As depicted, structure1525may be associated with pivoting feature1800, which may also be associated with pneumatic motor1535. Pivoting feature1800may be located within slot1802of structure1525. Pivoting feature1800may be configured to rotate about pivot axis1804in the direction of arrow1806. In this illustrative example, pivoting feature1800may be in initial position1808.

As pivoting feature1800rotates about pivot axis1804, structure1525and all of the brushes attached to structure1525may be configured to move back and forth in the direction of arrow1810. In particular, the brushes may be moved in a reciprocating manner. In this illustrative example, structure1525may be in initial position1812.

With reference now toFIG. 19, an illustration of pivoting feature1800fromFIG. 18in a different position is depicted in accordance with an illustrative embodiment. In this illustrative example, pivoting feature1800has been rotated in the direction of arrow1806from initial position1808inFIG. 18to next position1900. Rotation of pivoting feature1800to next position1900causes structure1525to move in the direction of arrow1902from initial position1812inFIG. 18to next position1904.

With reference now toFIG. 20, an illustration of pivoting feature1800fromFIG. 19in a different position is depicted in accordance with an illustrative embodiment. In this illustrative example, pivoting feature1800has been rotated in the direction of arrow1806from next position1900inFIG. 19to next position2000. Rotation of pivoting feature1800to next position2000causes structure1525to move back in the direction of arrow2002from next position1904inFIG. 19to next position2004.

In this manner, operation of pneumatic motor1535causes structure1525to move in a reciprocating manner such that the different brushes attached to structure1525may be moved back and forth along surfaces. The speed with which pivoting feature1800rotates about pivot axis1804may determine the speed with which structure1525and plurality of cleaning elements1506move back and forth.

Turning now toFIG. 21, an illustration of end effector1500fromFIGS. 15-20cleaning an object is depicted in accordance with an illustrative embodiment. In this illustrative example, end effector1500fromFIGS. 15-20may be positioned over object2100. Object2100may be an example of one implementation for object104inFIG. 1.

Object2100may include wing panel2102with stringer2104and stringer2106attached to wing panel2102. As depicted, stringer2106may have flange2108. In this illustrative example, end effector1500may be used to clean first surface2110of wing panel2102, second surface2112of stringer2106, and third surface2114of flange2108.

End effector1500may be moved in the direction of arrow1600fromFIG. 16. In particular, a robotic device (not shown) attached to platform1502of end effector1500by robotic interface1504may move platform1502and thereby end effector1500, in the direction of arrow1600.

First set of brushes1520fromFIGS. 15-20may be used to clean first surface2110as platform1502is moved in the direction of arrow1600. Second set of brushes1522fromFIGS. 15-20may be used to clean second surface2112as platform1502is moved in the direction of arrow1600. Further, third set of brushes1524fromFIGS. 15-20may be used to clean third surface2114as platform1502is moved in the direction of arrow1600.

The illustrations of end effector500inFIGS. 5-7, end effector1000inFIGS. 10-14, and end effector1500inFIGS. 15-19are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional.

The different components shown inFIGS. 5-21may be illustrative examples of how components shown in block form inFIGS. 1-4can be implemented as physical structures. Additionally, some of the components inFIGS. 5-21may be combined with components inFIGS. 1-4, used with components inFIGS. 1-4, or a combination of the two.

With reference now toFIG. 22, an illustration of a process for cleaning an object is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated inFIG. 22may be implemented using end effector114described inFIG. 1.

The process may begin by moving platform116along path128relative to aircraft structure105using robotic device112(operation2200). Next, first surface132of aircraft structure105may be cleaned using liquid138and first set of cleaning elements123associated with platform116as platform116is moved along path128(operation2202). Second surface134of aircraft structure105may be cleaned using liquid138and second set of cleaning elements125associated with platform116as platform116is moved along path128(operation2204).

Thereafter, first surface132and second surface134may be dried and undesired material142removed from first surface132and second surface134using vacuum system124associated with platform116as platform116is moved along path128(operation2206), with the process terminating thereafter. Undesired material142may include any remaining liquid on plurality of surfaces130and other materials dislodged from plurality of surfaces130during the cleaning of plurality of surfaces130. In this manner, plurality of surfaces130may be cleaned and dried by end effector114in a single pass along path128.

With reference now toFIG. 23, an illustration of a process for cleaning a plurality of surfaces of an object is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated inFIG. 23may be implemented using end effector114described inFIG. 1, having third configuration400inFIG. 4.

The process may begin by moving platform116along path128relative to object104(operation2300). Liquid138may be applied onto plurality of surfaces130of object104using applicator404associated with platform116as platform116is moved along path128(operation2302).

Next, liquid138may be worked into plurality of surfaces130using plurality of cleaning elements120associated with platform116to dislodge undesired material142from plurality of surfaces130(operation2304). Airflow may be generated using vacuum system124(operation2306). In operation2306, the airflow may be generated such that air may move away from plurality of cleaning elements120into vacuum duct431.

Plurality of flexible members432may be moved along plurality of surfaces130to dry plurality of surfaces130and move undesired material142into plurality of gaps434between plurality of flexible members432(operation2308). The airflow generated in operation2306may help plurality of flexible members432maintain contact with plurality of surfaces130as platform116is moved along path128.

In particular, the vacuum pressure created by vacuum system124may ensure that plurality of flexible members432maintains sufficient contact with plurality of surfaces130even when passing over nonplanar portions of plurality of surfaces130. Sufficient contact may be needed to ensure that substantially all of undesired material142is removed from plurality of surfaces130.

Thereafter, undesired material142may be moved from plurality of gaps434between plurality of flexible members432into vacuum duct431in vacuum system124by the airflow generated by vacuum system124(operation2310), with the process terminating thereafter. Thus, plurality of flexible members432may be moved along plurality of surfaces130in operation2308to both dry plurality of surfaces130and remove undesired material142from plurality of surfaces130. In this manner, all of the operations involved in the cleaning of plurality of surfaces130may be performed a single pass of platform116being moved along path128.

The flowcharts and block diagrams in the different depicted embodiments illustrate the architecture, functionality, and operation of some possible implementations of apparatuses and methods in an illustrative embodiment. In this regard, each block in the flowcharts or block diagrams may represent a module, a segment, a function, a portion of an operation or step, some combination thereof.

For example, operations2308and2310inFIG. 23may be performed at the same time. In some illustrative examples, operations2308and2310may be omitted. In these examples, the removal of undesired material142described in operations2308and2310inFIG. 23may be performed using other types of operations.

The illustrative embodiments of the disclosure may be described in the context of aircraft manufacturing and service method2400as shown inFIG. 24and aircraft2500as shown inFIG. 25. Turning first toFIG. 24, an illustration of an aircraft manufacturing and service method is depicted in the form of a block diagram in accordance with an illustrative embodiment. During pre-production, aircraft manufacturing and service method2400may include specification and design2402of aircraft2500inFIG. 25and material procurement2404.

During production, component and subassembly manufacturing2406and system integration2408of aircraft2500inFIG. 25takes place. Thereafter, aircraft2500inFIG. 25may go through certification and delivery2410in order to be placed in service2412. While in service2412by a customer, aircraft2500inFIG. 25is scheduled for routine maintenance and service2414, which may include modification, reconfiguration, refurbishment, and other maintenance or service.

With reference now toFIG. 25, an illustration of an aircraft is depicted in the form of a block diagram in which an illustrative embodiment may be implemented. In this example, aircraft2500is produced by aircraft manufacturing and service method2400inFIG. 24and may include airframe2502with plurality of systems2504and interior2506. Examples of systems2504include one or more of propulsion system2508, electrical system2510, hydraulic system2512, and environmental system2514. Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry.

Apparatuses and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method2400inFIG. 24. In particular, end effector114fromFIG. 1may be used to clean different types of aircraft structures during any one of the stages of aircraft manufacturing and service method2400.

For example, without limitation, end effector114fromFIG. 1having first configuration200inFIG. 2, second configuration300inFIG. 3, or third configuration400inFIG. 4, may be used to clean an aircraft structure during at least one of component and subassembly manufacturing2406, system integration2408, routine maintenance and service2414, or some other stage of aircraft manufacturing and service method2400. End effector114fromFIG. 1may be used to clean, for example, without limitation, a portion of airframe2502of aircraft2500, a wing panel of a wing for aircraft2500, or some other type of aircraft structure.

In one illustrative example, components or subassemblies produced in component and subassembly manufacturing2406inFIG. 24may be fabricated or manufactured in a manner similar to components or subassemblies produced while aircraft2500is in service2412inFIG. 24. As yet another example, one or more apparatus embodiments, method embodiments, or a combination thereof may be utilized during production stages, such as component and subassembly manufacturing2406and system integration2408inFIG. 24. One or more apparatus embodiments, method embodiments, or a combination thereof may be utilized while aircraft2500is in service2412, during maintenance and service2414inFIG. 24, or both. The use of a number of the different illustrative embodiments may substantially expedite the assembly of and reduce the cost of aircraft2500.

Thus, the illustrative embodiments provide a method and apparatus for cleaning an object having a plurality of surfaces. In one illustrative example, end effector114fromFIG. 1may be used to clean plurality of surfaces130of object104. End effector114may include liquid application system121configured for use in applying liquid138onto plurality of surfaces130. End effector114may also include plurality of cleaning elements120configured to work liquid138that has been applied on plurality of surfaces130into plurality of surfaces130to dislodge undesired material142from plurality of surfaces130. Further, end effector114may also include vacuum system124configured for use in removing undesired material142.

By having a single end effector configured to perform the operations described above, the overall time and effort needed to clean plurality of surfaces130may be significantly reduced. Further, using end effector114may increase the quality of cleaning performed on plurality of surfaces130.