JPS58188796A - Method and device for washing aircraft - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an aircraft cleaning method and apparatus for automatically cleaning dirt deposited on the surface of an aircraft body.

Conventionally, this cleaning of the mallet has been carried out almost entirely by hand. In other words, the cleaning liquid was sprayed onto the surface of the aircraft body, and then the dirt was removed from the surface of the aircraft by rubbing it with a softer cloth than f, and finally the cleaning liquid was sprayed with water.
-Cleaned by flushing. However, the cleaning work of the seniors is carried out by hand in harsh environments, with water spraying on them, and climbing on top of the fuselage and wings, which poses safety issues.

Furthermore, in larger aircraft, it is inefficient to manually perform each part of the aircraft.

Recently, a vacuum cleaning device has been proposed in consideration of the above-mentioned problems.

For example, a rotating brush may be attached to the tip of a telescopic CIT oil arm provided on a traveling trolley, and the rotating brush may be used to manually maintain the traveling trolley to clean the aircraft, or guidelines may be installed around the aircraft. Japanese Patent Application Laid-Open No. 50-1184 discloses a method for separating the fuselage into the fuselage and the main body, and cleaning the aircraft while moving the trolley along the guidelines.
98, published in Japanese Patent Application Laid-Open No. 53-28967, etc.
ing. However, with all of these cleaning methods, it is necessary to manually operate the traveling trolley.As the aircraft becomes larger, it is necessary to use a rotating plan, arms, etc. It is difficult to feed part j. 'Also, maintenance fr m rL is Isotai [m? There is always a risk of being attacked by a reconnaissance person, and it is unreliable.

Furthermore, the entire rotation plan was attached via an extendable arm to a large girder that moved along the axis direction of the fuselage using a metal casing, and a means for cleaning the fuselage surface using this rotating brush was developed in Japanese Patent Application Laid-Open No. 5
No. 6-13295. This cleaning device I
Although it is capable of operating under automatic control, a rather complicated 1tilJ monument is required in order to wash while following the rotating brush on the surface of the aircraft, which has a unique shape for each cleaning section. '1t1 The entire device also becomes larger. All of the above-mentioned pleasurable cleaning means are configured to clean the entire surface of the aircraft using cleaning devices that perform the same function. becomes even more difficult.

In view of the above points, an object of the present invention is to provide an aircraft cleaning method and equipment [1] that can improve the cleaning finish of the aircraft surface and significantly improve the efficiency of cleaning work.

The % copying method of the present invention focuses on one point where the aircraft has the shape of its weight, divides the fuselage into a plurality of cleaning areas along the axis, and divides each cleaning area into nine different surface shapes. The purpose is to automatically wash the parts in accordance with the following times using a dedicated washing PP machine.

Is the following one of the inventions? This will be explained with reference to the diagram.

In Figure 1, the cleaning area of the aircraft 1 includes the fuselage section before the main wing 2 along the aircraft axis, the intermediate fuselage section including the upper surface of the King 1I42, the rear fuselage section including the tail x3, and the intermediate section including the lower surface of the main wing. The washing area is divided into two parts, and the washing area is divided into the left and right parts of the machine.

The aircraft 1 moves along the guideline 4 with the index vehicle 1.
(not shown) or the like and then stopped at a predetermined position. Dedicated 1st to 4th washing machines 5, 6° 7.8 are waiting on both sides of the aircraft (as shown), and these washing machines 51, 6, 7゜8 is a pair of guide knobs 9.9' and 10.10'.

11. While moving along 11' and 12.12', approach the aircraft and clean the entire cleaning area.

Next, the structure of the washing machines 5, 6, 7.8 will be explained.

This figure shows the first washing machine that approaches the 1lt11 section from the side of the fuselage and cleans the nose section before the main wings only when cleaning n% in preparation for A first movable base 15 moves in the machine axis direction (X direction in the figure) along a right-angle track 14, and a first movable base 15 moves in the fuselage circumferential direction (in the figure R a second and third moving base 17.18 that moves in a direction), and a telescopic arm 1 supported by this moving base 17.18.
9.20, rotary brushes 21 and 22 attached to the tip side of this telescoping arm 19.20, which contact the surface of the machine body to clean the surface O bamboo 1, and a nozzle detector (not shown) for supplying cleaning liquid, etc. It is equipped with cleaning devices 23, 24, etc.

Figures 4 and 5 show a second cleaning machine 6 which is installed on the girder member 25 that straddles the main wing 2 along the kite rail 10.10' and cleans the main upper surface and the intermediate fuselage section. , the washing machine 6 has a l-th moving base 27 that moves in the machine axis direction along a linear track 26 provided on the girder member 25.
A second moving base 29 is supported by this moving base 27 and moves around the fuselage along an arcuate trajectory 28.
, a seventh telescoping arm 30 supported by the movable base 29, a seventh telescoping arm 31 supported by the circular arc track 28, and a nine rotating brush 3 attached to the tip side of the telescoping arm 30.31.
It consists of washers 32 and 33 such as 4.35.

6 and 7, the horizontal tail g
3a and vertical stabilizer 3b (2) - tail fin section 3 including age f handicrafts
This figure shows a third dedicated machine 7 that cleans the rear fuselage part 'k15. A second moving base 39° 40, a third moving base 42 that moves in the upper direction (W, Z direction) on a linear track 41 provided on the moving base 39, and a moving base 40 A movable base 44 of w44 that moves around the fuselage along an arcuate trajectory 43 supported by f', a cleaning device 46 such as a telescopic arm 45 and a rotation plan 47 attached to the tip of the movable base 42, and a movable A cleaning device 4 including a telescopic arm 48 and a rotary bra 150 attached to the tip of a base 44
9, a cleaning device 52 such as a telescoping arm 51 and a rotating brush 53 attached to the movable base 39, and an arcuate track 43.
From the cleaning device 55, etc., such as the telescopic arm 54 and rotation plan 56 attached to the! S has been formed.

Figures 8 and 9 show a stage for cleaning the body part including the front surface of the n1 main JK2, which is equipped with a trolley 57 that runs along the guide rail 12.12' without interfering with the front 8 [2 wash #+1 & 6]. This washing machine 8 has a movable base 59 that moves in the machine axis direction along a straight track 58 provided on a cart 57, a support base 61 that moves in the vertical direction by a lifter 60, 7'j1! is supported by this support base 61! It consists of an a-arm 62 and a washer 64 such as a rotary blower 63.

Figures 1O and 11 show the configuration of the automatic machine 23, which is attached to the cleaning arm 19 of the cleaning device 23V-1, supports the rotating brush 21 (i-), and protects it from the cleaning surface of the machine. A buffer mechanism 65 having a ninth function of mitigating the reaction force and vibrations generated in the rotating swing 21, the extendable arm 19, etc., a guide link 66 for preventing rotation of this buffer mechanism 650, and this guide link 66. The support arm 67 is attached between the support arm 67 and the support arm 67, and the support arm 67 is installed at both ends of the rotary shaft of the rotary brush 210 and is smaller than the diameter of the rotary brush 21. This washer 23 is also used in other washing machines.

Moreover, the rotating brush 21 of the cleaning device is
i! 2. For the body part having a large radius of curvature, rotating planos 21 and 21' arranged in a staggered manner as shown in FIG. 12 are conveniently used for the tail JIK3.

131a is a diagram for specifically explaining the extensible arm.

In Figure 13, the extension f-m is at the node 70°71.74
．． 75 and a first parallel/column mechanism consisting of nodes 70,7
The second plane consisting of 1, 72, 76, 77, 78 /
It has evening + Ij and structure. First parallel link rocky shore 41
1, node 7o connects members 88 and 79 and member 82
and 88, and node 71 is connected to members 79, 80 and 85.
, the node 75 connects the members 81 and 82i by 7"L. The node 72 is the end point of the member 80, and the node 73 is the end point of the member 81 moving along the guide #s87 on the member 88. .Here, the distance between nodes 7o and 75 and the node 73
and 75 and nodes 71 and 74 are equal, the distance between nodes 70 and 71 and the distance between nodes 74 and 81 are also equal, and node 70 is on an extension of guide groove 87.

i 几, in the second parallel linkage, member 79.80
, 83.84 are equal, and the lengths of members 85.86 and the distances between nodes 70 and 76 are equal.

In the link mechanism configured as described above, the node 73
C along guide #87 by a driving device such as a cylinder.
When lowered from point A to point 8 (in the Y direction in the figure), the member 86 to which the cleaning device is attached will move in the direction perpendicular to the moving direction of the node 73 (in the figure
direction).

That is, it is possible to arbitrarily move from the positional axis of the solid line to the positional axis of the dotted line by single-axis control, and in a state where the moving speed of the node 73 is expanded.

Next, a method of cleaning an aircraft using the apparatus of the present invention and the functions of each cleaning machine in this case will be explained in detail.

First of all, the aircraft 1 is moved along the guide line 4 by the towing vehicle 89 with each of the nine-mouth cleaning machines 5, 6, and 7.8 shown in FIG. 14 parked on the sides of the aircraft. It stops at the foot washing position (state shown in Fig. 15). In this state, the first
As shown in Figure 4, the cleaning start command 1d is determined from the central control amount 90.
When the alarm is issued, the drive device (not shown) installed in each washing machine 5, 6, 7.8 automatically starts operating based on a program set in advance according to the model, cleaning conditions, etc. The cleaning machine 5, 6, 7.80 girder member 13°25.36
And the carriage 57 is connected to the guide rails 9, 9'.

10.10', 11.11', and 12.12' to move the body of the aircraft or the main JK2. Bring it close to Tails 3. At this time, the girder member 13 of the washer 5 that approaches the fuselage in the nose section stops at a predetermined position. In this state, as shown in Fig. 3, the telescoping arms 19 and 20 are furthest away from the aircraft, and the movable bases 17 and 18 are stopped at the optimum position determined for each model on the arcuate trajectory 16. There is. That is, the moving base 17 is at the apex position of the circular arc trajectory 16, and the moving pace 18 is 1/4 from the above position.
It is located below the circumference. Then, the telescopic arms 19, 20 begin to extend, and the rotating brushes 21, 22 of the cleaners 23, 24 approach the upper body surface to the optimal cleaning position set in advance by the program. This position is detected by cleaning device 2.
The setting in 3.24 is carried out using a box position detector. Next, from the optimal cleaning start position, the rotating brushes 21, 22 of the cleaners 23, 24 start cleaning from the upper and center portions of the nose section according to a preset program. At the same time as 7n, the movable base 15 begins to move in the machine axis direction TjIb, and the telescoping arms 19, 20 perform an extending motion to maintain proper position and contact pressure with the machine body. That is, the displacement of the buffer mechanism 65 when a predetermined pressing force is applied is calibrated in advance, and when the gentle [i mechanism 65 reaches a predetermined displacement amount, the pressing of the rotary brushes 21 and 22 is stopped, and the buffer mechanism 65 is The contact pressure of the rotating brushes 21 and 22 is controlled according to the amount of expansion and contraction of the rotating brushes 21 and 22. Further, since the cleaning devices 23 and 24 have a function of tracing the surface of the machine body, the cleaning surface can be uniformly cleaned even if the shape of the cleaning surface changes.

1. That is, as shown in FIG. 16, even if the cleaning direction of the machine body is inclined with respect to the displacement direction of the buffer mechanism 65 (N direction in the figure), the support frame 68 can rotate in the direction (θ direction in the figure). Therefore, the rotating brush 21.2
2 is parallel to the cleaning surface, and the guide roller 6
9, tracing control is performed while maintaining an appropriate distance between the rotation plan and the cleaning surface.

6. Furthermore, protrusions and other obstacles existing on the surface of the aircraft body are detected and avoided by installing them in the cleaning device 23, 24 as shown in FIG. When the movable base 15 moves from one end of the needle 1 member 13 to the other end, it interrupts the washing operation and restarts the entire washing from the next washing position according to a predetermined pattern VC. . When the entire cleaning process of the machine bowl is completed,
The gate member 13 of the washer 5 returns to the target standby space on the side of the machine.

In addition, cleaning of the upper surface of the main wing and the intermediate fuselage part is started by the cleaning device 33 of the special machine 6 due to the light leakage of the main g2, and the cleaning is carried out in a predetermined pattern from the main X Ail edge to the main JK trailing edge. Based on this, a cleaning operation is performed. Once the upper surface of the main wing has been cleaned, the fuselage is then cleaned using the washer 3.
This is done according to 2.

Furthermore, to clean the ground wing section and the rear fuselage section, first, the vertical tail section 3b is cleaned by the cleaning device 46 of the special aircraft 7, and then the moving base 4
2 while moving it up and down. Next, the fuselage is washed by washers 49 and 52, and the upper and lower surfaces of the ground wing horizontal portion 3a are washed by washers 52 and 55.

Finally, the lower surface of the main wing is cleaned by moving the cleaning device 641 of the special machine 8 in the axial direction or vertical direction using the movable base 59 or the telescopic arm 62.
, 12'.

Then, when each cleaning area is finished cleaning, the cleaning machine
As shown in FIG. 8, the aircraft 1 returns to the waiting area on the side of the aircraft, and then the aircraft 1 is taken out of the washing area by a towing vehicle 89.

Next, the control of each washing machine that washes the washing area will be explained.

First, for the first washing machine, the entire position in the Y direction in the horizontal plane is determined by the girder member 13, and then the movable base 17, 18 of the telescopic arm 19, 20 is moved along the arcuate track 16 provided on the machine body. move. At this time, the distance between the machine body and the rotating brushes 21, 22 of the washer 23, 24 is determined by the control device WI installed in the washer by teaching in advance.
t (not shown), and positioning is performed by controlling the extension and contraction movements of the instep contraction arms 19 and 20. However, in reality, the teaching position is slightly different from the teaching position due to the aircraft's misalignment and the displacement of the wings due to wind pressure, etc.
A sensor is disposed at the tip, and control is performed so that the distance between the surface of the aircraft body and the rotating brushes 21 and 22 is always maintained while following the shape of the aircraft body.

The control of the main wings and fuselage in the second cleaning machine is performed in the same manner as the control of the nose section, and the upper surface of the main wing is cleaned from the tip toward the fuselage, during which time the girder member 25 is divided and positioned at a regular pitch of the rotating brush 35 to perform cleaning based on the cleaning pattern, and at any positioning position, the first movable base 27 is moved in the Cleaning is performed by axis control.

Furthermore, the control of the tail 3 machined fuselage part in the third washing machine determines the distance from the fuselage by the girder member 36, and in other directions, the telescopic arms 45, 48, 5
1.54 and washer 46°49.52.55 purple are controlled separately.

Finally, the control of the lower surface of the main wing in the fourth cleaning machine is carried out using
9, the vertical direction is carried out by the cover 60, and the telescoping arm 62 is as described above.
By dividing the cleaning area into multiple areas and automatically dividing the cleaning using a dedicated cleaning machine that takes into consideration the shape characteristics of the warehouse, cleaning time can be greatly improved and the entire surface of the aircraft can be cleaned uniformly and with a good finish. i.e. Boeing 747
When cleaning a type of aircraft, the cleaning work used to take about 30 people and 5 hours? This can be done in about one hour with only two or three observers, which saves manpower and eliminates dangerous work.

It was a cabinet. By changing the cleaning conditions of each cleaning machine, it becomes possible to perform cleaning according to the degree of dirt in each cleaning area.

Furthermore, by ensuring that the control operations for each wash are carried out reliably, it is possible to prevent damage to the surface of the aircraft.
Same as above for coaxiality can be achieved.

Is Fig. 19 another embodiment of the present invention? As shown, aircraft 1
A fuselage section including six cleaning areas in the axial direction and two main wings;
Divide into the power body part including three tail wings, and clean these areas? zo f
It is designed so that each part is cleaned using a dedicated washing machine that is tailored to each shape.

By dividing the cleaning area in this way, aviation +lt
In the case of a small-sized model, the entire washing machine can be downsized, which is effective in terms of cleaning effectiveness.

In one embodiment of the present invention, a case is described in which the cleaning area is divided into 24 areas, but the cleaning area of the main wing section - F side? It is also possible to wash with a washing machine that decontaminates the main wing, and in this case, the washing machine dedicated to the lower surface of the main wing can be omitted.

Further, although cleaning of the main wing 1 tail is carried out from the tip side of the main wing 1 tail towards the fuselage, it is of course possible to wash from the opposite direction.

Furthermore, fk in the direction around the fuselage? ? According to the method and device for cleaning an aircraft of the present invention, it is possible to improve the cleaning finish of the surface of the aircraft and also to reduce the cleaning work. This has the effect of significantly improving efficiency.

[Brief explanation of drawings]

Figure 1 shows a cleaning device used in the cleaning method of the present invention! FIGS. 2 and 3 are perspective views and front views for illustrating the entire washing machine for cleaning 6 parts of the rock, and FIGS. 4 and 5 are A perspective view and an IE plane view for explaining the washing machine for washing the upper surface of the main wing part and the fuselage part in the present invention, and FIGS. The 8+ peach diagram, front view, and FIGS. 8 and 9 are for explaining the cleaning machine for cleaning the lower surface of the main wing according to the present invention. The perspective views for explanation and FIGS. 10 to 12 are the cleaning device according to the present invention? Figure 10 is a 4) f, figure, Figure 11 is a side view, Figure 12 is a front view,
FIG. 13 is a principle diagram for explaining the telescopic arm in the VC of the present invention, FIGS. 14 to 18 are diagrams for explaining the cleaning procedure in the VC of the present invention, and FIG. Example? It is a perspective view for explaining. l...Aircraft, 2...Main wing, 3...Tail, 4.Guideline, 5,6.7.8 Washing machine, 9,10,1
1゜12... Guide rail, 16.28.43, arc track, 19, 20.30, 31, 45.48, 51゜5
4.62... Telescopic arm, 23.24.32.33
゜46.49, 52, 55.64... Washing machine. Agent Masu Rushi 1) Riyuki ¥110 1st f (21st 1z Figure ¥-J13 Figure ¥J74 Figure mouth] -90 ``f) 15 Figure'i 16 (21 itq UfU 1st δ mouth to - 1st Page continued 0 Inventor Tokuku Miyake 502 Kandatecho, Tsuchiura City, Hitachi, Ltd. Mechanical Research Laboratory

Claims (1)

[Claims] 1. The anti-Initial area of the aircraft is divided into a plurality of areas along the IIA axis, and the entire anti-cleaning area for washing the anti-aircraft area is placed on standby on both sides of the aircraft. ? After stopping at a predetermined position, the washer was brought closer to the fuselage or wings, and the front and rear cleaning areas were divided into separate cleaning machines tailored to the shape of each area. An aircraft cleaning method based on this method. %I? ! 1: A method for cleaning an aircraft according to claim 1. 3. The cleaning area of the aircraft is divided into a forward fuselage part before the main wings, an intermediate fuselage part including the main wings, and a fuselage part including the tail, along the aircraft axis. The method for cleaning an aircraft according to paragraph 1. 4. Aircraft cleaning area, the forward fuselage part before the main wing along the aircraft axis, the middle fuselage part including the top surface, and the tail lIt.
2. The method for cleaning an aircraft according to claim 1, wherein the fuselage is divided into a fuselage containing metal and a fuselage containing the lower surface of the main wing. 5. For cleaning aircraft bodies, cleaning multiple cleaning areas divided along the aircraft's width.
Installed on both sides of the entire body of the washer, or movable from the side to the side, and
An aircraft cleaning device which is designed so that the cleaning is divided among the dedicated fighting machines according to the shape of the aircraft. 6. The cleaning machine includes a first cleaning machine that moves across the main wing and cleans the main wing and the fuselage, and a second cleaning machine that moves across the tail and cleans the tail cage and the fuselage. % # that is a % sign! f. An aircraft washing device according to claim 5. 7. The MiJ cleaning machine consists of an M1 cleaning machine that cleans the fuselage before the main wings, a second fighter aircraft that moves across the main cabinet and cleans the main wings and fuselage, and a tailplane that cleans the tail. I hope it will consist of a third cleaning machine that moves and cleans the tail and fuselage! 1'' An aircraft cleaning device according to claim 5. 8. The cleaning machine includes a first cleaning machine that cleans the fuselage before the main wing, and a first cleaning machine that moves around the main wing and cleans the main wing and the fuselage. A special cleaning machine consisting of a second cleaning machine that cleans, a third cleaning machine that moves across the tail and cleans the tail and fuselage S, and a fourth cleaning machine that cleans the lower surface of the main wing and the fuselage.
An aircraft cleaning device according to item 5 of the scope of J-required. 9. The cleaning machine includes a cleaning device for cleaning the surface of the aircraft body, and a support means for moving the cleaning device toward the surface of the aircraft body;
This support means and a moving means for moving in the direction of the cleaning device t+1AIIa or around the fuselage of the aircraft are defined as %Irfi! i! An aircraft cleaning device according to any one of claims 5 to 8. 10, @Record cleaning # The rock moves on a trajectory extending from the side of the aircraft toward the aircraft, and the guide part that moves the cleaning device and its support means parallel to the machine axis within the cleaning area. An aircraft cleaning device according to claim 9, characterized in that it is equipped with a %, fl'' body. The cleaning device for an aircraft according to claim 9, wherein the cleaning device is a rotating brush that contacts the surface of the aircraft. 13. The self-rotating brushes are arranged in a staggered manner. An aircraft cleaning device according to claim 12.