Pressing device, processing device, and processing system

Abstract

To provide a pressing device, a processing device, and a processing system capable of uniformly generating a pressing force.SOLUTION: The pressing device comprises: a plurality of pressing units arranged in a direction intersecting a first direction to each generate a pressing force toward a processed surface facing the first direction; and an interlocking mechanism for interlocking the pressing units to control the first-direction pressing amount of each pressing unit. For example, each pressing unit is a fluid unit deformed by pressure of an internal fluid to generate the first-direction pressing force. The interlocking mechanism includes a fluid supply part that supplies a fluid to each fluid unit, and a plurality of speed control valves that are provided in the respective fluid units and that adjust the supply speed of the fluid to each fluid unit.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a pressing device, a processing device, and a processing system. [Background technology]

[0002] Patent Document 1 discloses an aircraft wing structure. The wing is composed of an outer plate and a stringer. The outer plate and the stringer are overlapped with each other. The stringer has a connection part that connects to the outer plate and a protrusion that is spaced apart from the outer plate. A hollow part is formed between the protrusion and the outer plate.

[0003] Patent Document 2 discloses a method of manually repairing defects by sealing with a brush. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-104443 A [Patent Document 2] Patent No. 6071359 Summary of the Invention [Problem to be solved by the invention]

[0005] In some cases, defects may occur in the hollow space between the skin and the stringer. In such cases, the location where the defect occurs is very narrow, making it difficult to press the brush evenly by the above-mentioned manual work. This causes a problem of brush marks remaining on the seal. In addition, in the processes of cleaning the wings, sanding the wings, bonding, and compaction, it is also important to obtain a uniform pressing force.

[0006] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide a pressing device, a processing device, and a processing system that can generate a uniform pressing force. [Means for solving the problem]

[0007] In order to solve the above problems, the pressing device according to the present disclosure includes a plurality of pressing sections, each of which generates a pressing force toward a treatment surface facing a first direction and is arranged in a direction intersecting the first direction, and a linkage mechanism that links the plurality of pressing sections to control the amount of pressing in the first direction of each of the pressing sections.

[0008] The processing device according to the present disclosure includes the above-mentioned pressing device, and a processing unit that is pressed against the surface to be processed by the pressing unit exerting a pressing force in the first direction on the surface to be processed, thereby performing processing on the surface to be processed.

[0009] The processing system according to the present disclosure includes the above-mentioned processing device, a pipe connected to the processing device from a second direction intersecting the first direction, and a moving mechanism that grasps the end of the pipe opposite the processing device in the second direction and moves the pipe in the first direction. Effect of the Invention

[0010] According to the pressing device, processing device, and processing system of the present disclosure, a pressing force can be generated uniformly. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view showing a schematic configuration of a processing system according to a first embodiment of the present disclosure. [Diagram 2] FIG. 1 is a plan view showing a schematic configuration of an automated device according to a first embodiment of the present disclosure. [Diagram 3] FIG. 2 is a perspective view showing a portion of an object according to the first embodiment of the present disclosure. [Figure 4]1 is a cross-sectional view showing a schematic configuration of a connecting member according to a first embodiment of the present disclosure. [Diagram 5] 1 is a schematic diagram showing a schematic configuration of a processing apparatus according to a first embodiment of the present disclosure. [Figure 6] 4 is a flowchart showing the procedure of a processing method according to the first embodiment of the present disclosure. [Figure 7] FIG. 2 is a schematic diagram showing a schematic configuration of a processing apparatus according to a first modified example of the first embodiment of the present disclosure. [Figure 8] FIG. 13 is a schematic diagram showing a schematic configuration of a processing apparatus according to a second modified example of the first embodiment of the present disclosure. [Figure 9] FIG. 13 is a schematic diagram showing a schematic configuration of a processing apparatus according to a third modified example of the first embodiment of the present disclosure. [Figure 10] FIG. 13 is a schematic diagram showing a schematic configuration of a processing apparatus according to a fourth modified example of the first embodiment of the present disclosure. [Figure 11] FIG. 4 is a schematic diagram showing a schematic configuration of a processing apparatus according to a second embodiment of the present disclosure. [Figure 12] FIG. 4 is a schematic diagram showing a schematic configuration of a processing apparatus according to a second embodiment of the present disclosure. [Figure 13] FIG. 11 is a schematic diagram showing a schematic configuration of a processing apparatus according to a modified example of the second embodiment of the present disclosure. [Figure 14] FIG. 13 is a schematic diagram showing a schematic configuration of a processing apparatus according to a third embodiment of the present disclosure. [Figure 15] FIG. 13 is a functional block diagram showing a functional configuration of a control unit according to a third embodiment of the present disclosure. [Figure 16] 13 is a flowchart showing a control procedure for each pressing amount according to a third embodiment of the present disclosure. [Figure 17] FIG. 2 is a hardware configuration diagram according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] First Embodiment

[0013] Hereinafter, a pressing device 60, a processing device 50, and a processing system 1 according to an embodiment of the present disclosure will be described with reference to FIGS.

[0014] (Processing System) A processing system 1 (see Figs. 1 and 2) is used, for example, to repair an aircraft wing. Hereinafter, the wing to be repaired will be referred to as an object 2. As shown in Fig. 3, the object 2 includes an outer panel 3 and a stringer 4.

[0015] The skin 3 forms the outer shell of the wing of an aircraft. The skin 3 is formed, for example, in a flat plate shape. The stringer 4 is attached to the skin 3. The stringer 4 includes a connection portion 4a that connects to the skin 3, and a protrusion portion 4b that separates the stringer 4 from the skin 3. The connection portion 4a is located on the side closer to the skin 3 than the protrusion portion 4b. The protrusion portion 4b is located on the side farther away from the skin 3 than the connection portion 4a.

[0016] A hollow portion (hereinafter referred to as a narrow portion 4c) is formed between the protrusion 4b and the outer plate 3. The stringer 4 is, for example, a hat-shaped hat stringer. The outer plate 3 and the stringer 4 are made of a composite material such as glass fiber reinforced plastics (GFRP) or carbon fiber reinforced plastics (CFRP).

[0017] 1 and 2 is used to repair a narrow portion 4c between a protrusion 4b and an outer plate 3. The treatment system 1 applies a sealant with a brush 84 (described later) to a defect occurring on the surface of the outer plate 3 within the narrow portion 4c (hereinafter, the treated surface 5) to perform brush coating (seal repair treatment).

[0018] The processing system 1 includes a processing device 50, an automation device 10, a pipe 6, and a connecting member 20. The processing device 50, while inserted into the narrow portion 4c, is moved within the narrow portion 4c by the automation device 10 (described later), thereby applying a sealant to the processing target surface 5. The detailed configuration of the processing device 50 will be described later.

[0019] In the following, the three mutually intersecting directions are referred to as a first direction D1, a second direction D2, and a third direction D3. In this embodiment, the first direction D1, the second direction D2, and the third direction D3 are mutually orthogonal, and the first direction D1 is orthogonal to the horizontal plane, and the second direction D2 and the third direction D3 are along the horizontal plane. Note that the first direction D1 may be slightly inclined with respect to the horizontal plane, and the second direction D2 and the third direction D3 may slightly intersect the horizontal plane. In the following, the first direction D1 may be referred to as the up-down direction, the second direction D2 as the front-rear direction, and the third direction D3 as the left-right direction.

[0020] (automated equipment) The automation device 10 automatically moves the processing device 50 in the second direction D2. The automation device 10 includes a dolly 11, a jack 12, and an automation device main body 13.

[0021] (Trolley) The dolly 11 moves the jack 12 and the automation device main body 13. The dolly 11 includes a body 11a, casters 11b, and a handle 11c. The body 11a is disposed at a position slightly above the floor surface and extends horizontally. The body 11a is formed in a rectangular shape extending in a second direction D2 (front-rear direction) when viewed in a first direction D1 (up-down direction).

[0022] When viewed in the first direction D1, casters 11b are provided at the four corners of the body 11a. The casters 11b are attached to the underside of the body 11a. Each caster 11b is provided so as to be able to roll on the floor surface. The four casters 11b support the body 11a from below. The handle 11c is provided at an end of the body 11a on one side in the second direction D2 (the rear side in the front-rear direction). The handle 11c extends upward from the body 11a. An operator moves the cart 11 by gripping the handle 11c.

[0023] (jack) The jack 12 is placed on the body 11a of the cart 11. The automation device main body 13 is placed on the jack 12. The jack 12 is provided so as to be extendable and retractable in a first direction D1. The position of the automation device main body 13 in the first direction D1 is adjusted by the jack 12 extending and retracting in the first direction D1.

[0024] (Automated equipment body) The automation device main body 13 includes a base plate 14 , a moving mechanism 15 , and a clamping mechanism 16 . The substrate 14 rests on the jack 12 .

[0025] (Movement mechanism) The moving mechanism 15 is placed on the substrate 14. A pipe 6 connected to the processing device 50 is connected to the moving mechanism 15. The pipe 6 extends in the second direction D2. The moving mechanism 15 holds the end of the pipe 6 on the opposite side to the processing device 50 in the second direction D2, and moves the pipe 6 in the second direction D2. The moving mechanism 15 is, for example, an electric actuator, and has a base 15a and an operating unit 15b. The base 15a extends in the second direction D2. The operating unit 15b is attached to the base 15a. One end of the pipe 6 in the second direction D2 is fixed to the operating unit 15b. The operating unit 15b moves on the base 15a in the second direction D2. When the operating unit 15b moves in the second direction D2, the pipe 6 moves in the second direction D2, and the processing device 50 connected to the pipe 6 also moves in the second direction D2 in conjunction with the pipe 6.

[0026] (Clamp mechanism) The clamp mechanism 16 is provided at an end of the substrate 14 on the other side in the second direction D2 (front side in the front-rear direction). A pair of clamp mechanisms 16 are provided sandwiching the moving mechanism 15 in the third direction D3 (left-right direction). The clamp mechanism 16 has a leg 16a standing upward from the substrate 14, and a gripper 16b provided at the upper end of the leg 16a. The leg 16a supports the gripper 16b from below. The gripper 16b holds the object 2 from both sides in the first direction D1 (up-down direction). This prevents the object 2 from shifting in position in the horizontal direction. The two clamping mechanisms 16 may be arranged offset in the second direction D2. By arranging them in this manner, the automated device 10 can be used even if the end of the object 2 on the clamping mechanism 16 side is inclined with respect to the third direction D3.

[0027] (pipe) The pipe 6 extends from the operating part 15b of the moving mechanism 15 toward the processing device 50 in the second direction D2. The pipe 6 is connected to the processing device 50 from the second direction D2. The pipe 6 transmits power to move the processing device 50 arranged in the narrow portion 4c between the outer plate 3 and the stringer 4 in the second direction D2 (front-rear direction). In the illustrated example, a pair of pipes 6 are provided, one on each side of the processing device 50 in the second direction D2 (front-rear direction), and the automation device 10 is provided only on the pipe 6 on one side (front-rear direction) of the second direction D2. Note that this pipe 6 may be provided only on one side (front-rear direction) of the processing device 50 in the second direction D2. Also, the automation device 10 may be provided on each of the two pipes 6. The length L1 of the pipe 6 in the first direction D1 is designed to be, for example, 1.5 m or more and 2.5 m or less, and the outer diameter R1 of the pipe 6 is designed to be, for example, 20 mm or more and 25 mm or less.

[0028] (Connecting parts) The connecting member 20 connects the pipe 6 to a connecting pipe 51 extending from the processing device 50 in the second direction D2. The connecting member 20 has a central shaft portion 21, a male thread portion 22, and a flange portion 23.

[0029] (center shaft part) The central shaft portion 21 extends in the second direction D2. One end of the central shaft portion 21 in the second direction D2 is inserted into either the pipe 6 or the connecting pipe 51. The other end of the central shaft portion 21 in the second direction D2 is inserted into the other of the pipe 6 or the connecting pipe 51. In the illustrated example, the rear end of the central shaft portion 21 is inserted into the pipe 6, and the front end of the central shaft portion 21 is inserted into the connecting pipe 51.

[0030] (Male thread) The male thread portion 22 is provided at both ends of the central shaft portion 21 in the second direction D2. The male thread portion 22 is designed to be able to screw into the inner circumferential surfaces of the pipe 6 and the connecting pipe 51. The outer diameter of the male thread portion 22 is formed to be slightly larger than the inner diameter of the pipe 6 and the connecting pipe 51. This allows the connecting member 20 to be firmly connected to the pipe 6 and the connecting pipe 51.

[0031] (Flange) The flange 23 protrudes radially outward from the outer peripheral surface at the center of the central shaft portion 21 in the second direction D2 beyond the pipe 6 and the connecting pipe 51. The flange 23 is formed of a material (such as resin) having a lower hardness than the treated surface 5. The flange 23 prevents the pipe 6 and the connecting pipe 51 from contacting the inner surface (such as the treated surface 5) of the narrow portion 4c of the object 2 composed of the outer plate 3 and the stringer 4. Instead of the flange 23, the pipe 6 and the connecting pipe 51 may be wrapped with a material having a low hardness, such as a film or rubber. Such a measure can also prevent the pipe 6 and the connecting pipe 51 from contacting the inner surface of the narrow portion 4c and causing scratches.

[0032] (Processing device configuration) The processing device 50 is disposed in the narrow portion 4c of the target object 2. (In the illustrated example, the processing device 50 is inserted into the narrow portion 4c from the second direction D2.) The processing device 50 repairs the processing target surface 5 on which a defect has occurred. As shown in FIG. 5, the processing device 50 includes a pressing device 60, a processing unit 80, and a connecting pipe 51.

[0033] (Pressing device) The pressing device 60 includes a casing 61, a pressing portion 62, and an interlocking mechanism 70.

[0034] (Casing) The casing 61 extends in the second direction D2. The casing 61 is formed in a box shape having an opening 61a that opens in the first direction D1. The casing 61 is formed in, for example, a cube shape extending in the second direction D2.

[0035] (Pressing part) A plurality of pressing portions 62 are housed in the casing 61. The pressing portions 62 are arranged on the bottom surface of the casing 61 in a direction intersecting the first direction D1. In the illustrated example, the pressing portions 62 are arranged at equal intervals in the second direction D2. Note that a plurality of pressing portions 62 may be arranged in the third direction D3. Each of the pressing portions 62 generates a pressing force toward the treatment surface 5 facing the first direction D1.

[0036] The pressing unit 62 of this embodiment is a fluid device 62a that deforms due to the pressure of an internal fluid and generates a pressing force in a first direction D1. More specifically, the fluid device 62a is a fluid cylinder 62b that expands and contracts in the first direction D1 due to the pressure of an internal fluid and generates a pressing force in the first direction D1 when expanded. The fluid cylinder 62b is, for example, an air cylinder using air as the working fluid. Note that the fluid cylinder 62b may be a hydraulic cylinder using oil as the working fluid.

[0037] (Interlocking mechanism) The interlocking mechanism 70 controls the amount of pressing of each fluid device 62a in the first direction D1 by interlocking the multiple pressing parts 62. The interlocking mechanism 70 of the present embodiment has a fluid supply part 71, a speed control valve 72, and a fluid discharge part 73.

[0038] (Fluid supply section) The fluid supply unit 71 supplies fluid to each of the multiple fluid devices 62a. The fluid supply unit 71 has a supply line 71a. The supply line 71a is connected to a fluid supply source (not shown). The supply line 71a has a first supply line 71b extending from the fluid supply source and multiple second supply lines 71c branching off from the first supply line 71b. The second supply line 71c is provided for each fluid device 62a. Each second supply line 71c connects the first supply line 71b to a corresponding fluid device 62a. The fluid is supplied to each fluid device 62a via the supply line 71a.

[0039] (Speed ​​control valve) The speed control valve 72 is provided for each of the multiple fluid devices 62a. The speed control valve 72 is a so-called speed controller, and one is provided for each second supply line 71c. The speed control valve 72 can adjust the supply speed of the fluid to each fluid device 62a by changing the orifice diameter.

[0040] (Fluid discharge part) The fluid discharge unit 73 discharges fluid from each of the multiple fluid devices 62a. The fluid discharge unit 73 has a discharge line 73a. The discharge line 73a has a first discharge line 73b and multiple second discharge lines 73c provided for each fluid device 62a. Each second discharge line 73c connects the corresponding fluid device 62a to the first discharge line 73b. Each fluid device 62a discharges fluid via the discharge line 73a. The fluid may be discharged to a supply source (not shown) of the fluid supply unit 71, or may be discharged to the outside of the processing system 1.

[0041] (Processing section) The processing unit 80 is applied with a pressing force in the first direction D1 by the pressing unit 62 and is pressed against the surface 5 to be treated, thereby performing a predetermined treatment on the surface 5 to be treated. The processing unit 80 in this embodiment is a brush unit 81 that applies a sealant to the surface 5 to be treated and performs a seal repair treatment (brush coat treatment).

[0042] (Brush part) The brush portion 81 has a base portion 82 , a guide 83 , and a brush 84 . The base portion 82 is placed on a plurality of pressing portions 62 (fluid devices 62a). The base portion 82 extends in the second direction D2.

[0043] (guide) The guides 83 are attached to both ends of the base 82 in the second direction D2. The guides 83 protrude in the first direction D1 from the opening of the casing 61. The guides 83 are slidable relative to the surface to be treated 5. The contact of the guides 83 can prevent the brush 84 from being excessively pressed against the surface to be treated 5.

[0044] (Brush) A plurality of brushes 84 are attached to the base 82. Each brush 84 protrudes slightly in the first direction D1 beyond the guide 83 from the opening of the casing 61. The plurality of brushes 84 are arranged at equal intervals in the second direction D2. The brushes 84 are provided one by one at positions overlapping with each fluid device 62a in the first direction D1. The brushes 84 extend toward the surface 5 to be treated and apply a sealant to the surface 5 to be treated.

[0045] (Connecting pipe) The connecting pipe 51 is arranged next to the casing 61 in the second direction D2. The connecting pipe 51 extends away from the end of the casing 61 in the second direction D2 in the second direction D2. The connecting pipe 51 is connected to the pipe 6 via the connecting member 20 described above.

[0046] (controller) The controller 7 is wired to the processing device 50 via a cable (not shown). The controller 7 may be wirelessly connected to the processing device 50. For example, an operator can operate the controller 7 to control the supply of fluid to the fluid device 62a.

[0047] (Processing Procedure) The processing method according to this embodiment will be described with reference to the flow in Fig. 6. The processing described here is a process (seal repair process) in which, when a defect occurs in a narrow portion 4c between an outer plate 3 and a stringer 4 that constitute an object 2 (an aircraft wing), for example, a sealant is applied by a brush 84 to coat the processed surface 5.

[0048] First, with the object 2 positioned so that the outer plate 3 is on the upper side and the stringer 4 is on the lower side, the automated device 10 is operated and the processing device 50 is inserted into the narrow portion 4c from the second direction D2 and moved to the processed surface 5 of the repair area (step S1).

[0049] After step S1, air is supplied into the fluid device 62a to press the brush 84 against the surface 5 to be treated in the first direction D1 (step S2). In step S2, if an excessive pressing force is applied to the brush 84, the guide 83 comes into contact with the surface 5 to be treated, preventing the brush 84 from being pressed excessively.

[0050] After step S2, the processing device 50 is moved in the second direction D2 with the brush 84 pressed against it (step S3). In step S3, the moving mechanism 15 of the automation device 10 is operated to reciprocate the processing device 50 in the second direction D2. Through the above steps, the sealant is applied to the surface 5 to be treated, and the brush coating is completed.

[0051] (Action and effect) In this embodiment, the following advantageous effects are achieved.

[0052] In this embodiment, the pressing device 60 includes a plurality of pressing sections 62 arranged in a direction intersecting the first direction D1, each of which generates a pressing force toward the treatment surface 5 facing the first direction D1, and a linkage mechanism 70 which links the multiple pressing sections 62 to control the amount of pressing in the first direction D1 of each pressing section 62.

[0053] This makes it possible to generate a uniform pressing force in the first direction D1 in a direction intersecting the first direction D1 (the second direction D2 in this embodiment).

[0054] The pressing unit 62 in this embodiment is a fluid device 62a that deforms due to the pressure of the internal fluid to generate a pressing force in the first direction D1. The interlocking mechanism 70 has a fluid supply unit 71 that supplies fluid to each of the multiple fluid devices 62a, and multiple speed control valves 72 that are provided for each of the multiple fluid devices 62a and adjust the supply speed of the fluid to each fluid device 62a.

[0055] Before placing the pressing device 60 at a position facing the surface 5 to be treated, the speed control valve 72 can be operated to control the supply speed of the fluid to each fluid device 62a and the internal pressure of each fluid device 62a. For example, the supply speed of the fluid to each fluid device 62a can be made uniform. This allows the deformation speeds of the multiple fluid devices 62a to be uniform.

[0056] The fluid device 62a of this embodiment is a fluid cylinder 62b that expands and contracts in a first direction D1 due to the pressure of an internal fluid, and generates a pressing force in the first direction D1 when expanded.

[0057] The fluid cylinder 62b is deformed only in the first direction D1 by the pressure of the fluid, so that the pressure of the fluid can be efficiently converted into a pressing force.

[0058] The processing device 50 includes a pressing device 60 and a processing section 80 that is pressed against the processing target surface 5 with a pressing force in a first direction D1 by a pressing section 62, thereby performing a predetermined processing on the processing target surface 5.

[0059] This allows the processing unit 80 to be pressed against the surface to be treated 5 while maintaining the attitude of the processing unit 80 so that the surface of the processing unit 80 facing the surface to be treated 5 is parallel to the surface to be treated 5. Therefore, the processing unit 80 can be pressed uniformly against the surface to be treated 5, and uniform processing can be performed on the entire surface to be treated 5. In this embodiment, all of the brushes 84 are brought into contact with the surface to be treated 5 in the same attitude, and the sealant can be applied uniformly.

[0060] In this embodiment, the treatment section 80 is a brush section 81 having a brush 84 that extends toward the surface 5 to be treated and applies the sealant to the surface 5 to be treated.

[0061] This allows all brushes 84 to be brought into contact with the treatment surface 5 in the same position, so that the sealant can be applied uniformly. This makes it possible to easily and accurately carry out the seal repair treatment.

[0062] In this embodiment, the processing system 1 comprises a processing device 50, a pipe 6 connected to the processing device 50 from a second direction D2 intersecting the first direction D1, and a moving mechanism 15 that grasps the end of the pipe 6 opposite the processing device 50 in the second direction D2 and moves the pipe 6 in the second direction D2.

[0063] This allows automatic movement in the second direction D2 of the processing device 50. For example, as in this embodiment, the entire seal repair process can be automated, allowing the seal repair process to be performed efficiently.

[0064] In this embodiment, the processing device 50 further includes a connecting pipe 51 extending in the second direction D2. The processing system 1 further includes a connecting member 20 connecting the pipe 6 and the connecting pipe 51. The connecting member 20 has a central shaft portion 21 extending in the second direction D2, one end in the second direction D2 inserted into either the pipe 6 or the connecting pipe 51, and the other end in the second direction D2 inserted into the other of the pipe 6 and the connecting pipe 51, male thread portions 22 provided at both ends of the central shaft portion 21 in the second direction D2 and capable of screwing into the inner peripheral surfaces of the pipe 6 and the connecting pipe 51, and a flange portion 23 extending radially outward from the outer peripheral surface at the center of the central shaft portion 21 in the second direction D2 beyond the pipe 6 and the connecting pipe 51.

[0065] The connecting member 20 is firmly fixed to both the pipe 6 and the connecting pipe 51 of the processing device 50 by the male thread portion 22. In addition, the flange portion 23 protrudes radially outward from the pipe 6 and the connecting pipe 51. This makes it possible to prevent the pipe 6 and the connecting pipe 51 from colliding with surrounding members (such as the surface to be treated 5). Furthermore, in this embodiment, the flange portion 23 is formed of a material that is lower in hardness than the surface to be treated 5, so that even if the flange portion 23 comes into contact with the surface to be treated 5, damage to the surface to be treated 5 can be avoided.

[0066] In this embodiment, the length L1 of the pipe 6 in the first direction D1 is designed to be, for example, 1.5 m or more and 2.5 m or less, and the outer diameter R1 of the pipe 6 is designed to be, for example, 20 mm or more and 25 mm or less.

[0067] By designing the cross-sectional dimensions (length L1, outer diameter R1) of the pipe 6 in this way, the pipe 6 can obtain flexibility that allows it to follow the curved shape of the object 2 (in this embodiment, an aircraft wing) and robustness that does not buckle when pushed in the second direction D2. From the viewpoint of achieving both flexibility and robustness, it is most preferable that the length L1 of the pipe 6 is designed to be, for example, 2.0 m, and the outer diameter R1 of the pipe 6 is designed to be, for example, 22 mm. Furthermore, when the pipe 6 and the processing device 50 are connected, it is desirable that the total length in the second direction D2 from the pipe 6 to the processing device 50 is, for example, 30 m or less. By doing so, even when the pipe 6 and the processing device 50 are connected, the pipe 6 is less likely to buckle when the processing device 50 is pushed and pulled in the second direction D2.

[0068] <First Modification of First Embodiment> Next, a first modified example of the first embodiment will be described with reference to FIG. The processing device 50A of this modification is used for a cleaning process performed prior to the above-mentioned seal repair process. As shown in Fig. 7, the processing device 50A has a pressing device 60 and a processing section 80A, which is a cleaning section 81A that cleans the processing target surface 5. The processing device 50A of this modification can be attached to the processing system 1 in place of the processing device 50 of the first embodiment.

[0069] The cleaning unit 81A includes a base 82A and a rag 83A. The base portion 82A is placed on a plurality of pressing portions 62 (fluid devices 62a). The base portion 82A extends in the second direction D2. The rag 83A is wrapped around the center of the base 82A in the second direction D2. The rag 83A covers the surface of the base 82A on the opposite side to the pressing portion 62 in the first direction D1. The base 82A may be divided in the second direction D2, and the rag 83A may be attached to each base 82A.

[0070] By moving the processing device 50A back and forth in the second direction D2 while pressing the rag 83A with the solvent attached against the surface 5 to be treated, the surface 5 to be treated can be cleaned while applying a uniform pressing force to the surface 5 to be treated.

[0071] <Second Modification of First Embodiment> Next, a second modified example of the first embodiment will be described with reference to FIG. The processing device 50B of this modification is used for a sanding process performed prior to the above-mentioned seal repair process. As shown in Fig. 8, the processing device 50B has a pressing device 60 and a processing section 80B, which is a sanding section 81B that polishes and smoothes the processing surface 5. The processing device 50B of this modification can be attached to the processing system 1 in place of the processing device 50 of the first embodiment.

[0072] The sanding portion 81B includes a base portion 82B, an adhesive portion 83B, and a scotch portion 84B. The base 82B is placed on a plurality of pressing parts 62 (fluid devices 62a). The base 82B is divided in the second direction D2. In the illustrated example, it is divided into three parts. The base 82B located in the center in the second direction D2 is provided so as to bridge two pressing parts 62, and the bases 82B at both ends in the second direction D2 are provided on one pressing part 62. An adhesive portion 83B is provided on each base portion 82B. The adhesive portion 83B is provided on the surface of the base portion 82B opposite to the pressing portion 62. The adhesive portion 83B is formed to be approximately the same size as the corresponding base portion 82B. Each adhesive portion 83B is provided with a scotch 84B. The adhesive portion 83B bonds the scotch 84B to the base portion 82B.

[0073] The scotch 84B is provided on the surface of the adhesive portion 83B opposite to the base portion 82B. The scotch 84B is formed to have approximately the same size as the corresponding base portion 82B and adhesive portion 83B.

[0074] By moving the processing device 50B back and forth in the second direction D2 while the scotch 84B is pressed against the surface 5 to be treated, the surface 5 to be treated can be polished and made smooth while applying a uniform pressing force to the surface 5 to be treated.

[0075] The base portion 82B, the adhesive portion 83B, and the scotch portion 84B may be a single member extending in the second direction D2 without being divided in the second direction D2.

[0076] <Third Modification of First Embodiment> Next, a third modified example of the first embodiment will be described with reference to FIG. The processing device 50C of this modified example is used for compaction processing in which the processing surface 5C of the object 2C is pressed against the processing surface 5C to harden it. As shown in Fig. 9, the processing device 50C has a pressing device 60 and a processing section 80C, and the processing section 80C is a compactor section 81C that presses against the processing surface 5C of the object 2C to harden it.

[0077] The compactor section 81C includes a pressing platen 82C. The pressing platen 82C is placed on a plurality of pressing units 62 (fluid devices 62a). The pressing platen 82D extends in the second direction D2. By pressing the pressing platen 82D against the treatment surface 5 of the object 2C, the object 2C can be hardened. The pressing platen 82C may be divided in the second direction D2.

[0078] <Fourth Modification of First Embodiment> Next, a fourth modified example of the first embodiment will be described with reference to FIG. The processing device 50D of this modification is used for fusion processing (welding processing). As shown in Fig. 10, the processing device 50D has a pressing device 60 and a processing unit 80D, and the processing unit 80D is a fusion unit 81D (welding unit) that applies heat and pressure to an object 2D consisting of two overlapping plate materials 3D and 4D to fuse (weld) the two plate materials 3D and 4D.

[0079] The fusion section 81D includes a pressing platen 82D. The pressing plate 82D is placed on a plurality of pressing units 62 (fluid devices 62a). The pressing plate 82D extends in the second direction D2. The pressing plate 82D is pressed against the surface of one of the two overlapping plate materials 3D, 4D (the surface to be processed 5D of the target object 2D) to heat the plate materials 3D, 4D, thereby fusing the two plate materials 3D, 4D.

[0080] <Second embodiment> Hereinafter, a second embodiment of the present disclosure will be described with reference to Fig. 11 and Fig. 12. Among the configurations of the second embodiment, configurations common to the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted as appropriate. As shown in FIG. 11, the processing device 150 of this embodiment includes a pressing device 160, a processing section 80, and a connecting pipe 51. The pressing device 160 includes a casing 161, a pressing portion 162 (a fluid device 162a), an interlocking mechanism 70, an inner casing 163, and an internal mechanism 164.

[0081] The casing 161 has, at both ends in the second direction D2, lead-out holes 161b penetrating in the second direction D2. The lead-out holes 161b are recesses provided in the opening 161a of the casing 161. The fluid device 162a of this embodiment is a bag 162b that expands and contracts due to the pressure of an internal fluid (air in this embodiment) and generates a pressing force in a first direction D1 when expanded. The fluid contained in the bag 162b may be a fluid other than air, such as oil, but air is most preferable. Examples of the bag 162b include a rubber bag and a rubber balloon. A plurality of the bags 162b (four in the illustrated example) are contained in the casing 161. These plurality of bags 162b are arranged in the second direction D2 on the bottom surface of the casing 161 with no gaps between them.

[0082] The inner casing 163 is housed in the casing 161 through the opening of the casing 161 and placed on the multiple bags 162b. The inner casing 163 is formed in a box shape having an opening 163a that opens on the same side as the casing 161 in the first direction D1. In this embodiment, the inner casing 163 is formed in a cubic shape extending in the second direction D2. Moreover, the inner casing 163 of this embodiment is formed in the same shape as the casing 161 when viewed in the first direction D1, and is slidable relative to the casing 161.

[0083] The inner casing 163 accommodates an internal mechanism 164 and a processing unit 80. The internal mechanism 164 is disposed on the bottom surface of the inner casing 163, and the processing unit 80 is attached on the internal mechanism 164. The processing unit 80 protrudes from the openings of the inner casing 163 and the casing 161 in a first direction D1 toward the processing surface 5. The internal mechanism 164 may be, for example, a mechanism that operates in a third direction to move the processing unit 80 in the third direction, or may simply be a pedestal that causes the processing unit 80 to protrude from the inner casing 163 and the casing 161. In this embodiment, the guides 83 are provided at both ends of the opening 163a of the inner casing 163 in the second direction D2.

[0084] Furthermore, connecting pipes 51 are provided at both ends of the inner casing 163 in the second direction D2. The connecting pipes 51 are attached at positions overlapping with the drawing hole 161b of the casing 161 in the first direction D1. Therefore, even if the bag body 162b contracts and the bottom of the inner casing 163 approaches the bottom surface of the casing 161, contact between the connecting pipes 51 and the opening 163a of the casing 161 is avoided. The processing apparatus 150 of this embodiment can also be used in the same procedure as in the first embodiment, and can apply the sealant to the processing surface 5.

[0085] (Action and effect) In this embodiment, the following advantageous effects are achieved.

[0086] In this embodiment, the fluid device 162a is a bag body 162b that expands and contracts due to the pressure of the fluid inside, and generates a pressing force in the first direction D1 when expanded.

[0087] The pressing amount of each bag body 162b in the first direction D1 changes smoothly. Therefore, by controlling the pressure of the fluid on each bag body 162b, the shape of each bag body 162b can be made to follow the shape of the surface to be treated 5. Therefore, regardless of the shape of the surface to be treated 5, a uniform pressing force can be generated against the surface to be treated 5. In other words, the ability to follow the surface to be treated 5 can be improved. In addition, a pressing force can be generated in the first direction D1 with a simple configuration, and miniaturization can be achieved. Even if the internal pressure of the bag body 162b is low and the shape of the bag body 162b is unstable as shown in Fig. 12, since multiple bags 162b are provided, a pressing force can be generated uniformly in a direction intersecting the first direction D1 (the second direction in this embodiment).

[0088] Furthermore, in this embodiment, the casing 161 and the inner casing 163 form a double structure, and the processing section 80 is disposed in the inner casing 163. By disposing a plurality of bags 162b between the inner casing 163 and the casing 161, the pressing force can be uniformly transmitted to the processing section 80 by the plurality of bags 162b, and the processing surface 5 can be uniformly processed.

[0089] In this embodiment, as in the first embodiment, not only the processing unit 80 for coating with the brush 84, but also a processing unit 80A for cleaning processing, a processing unit 80B for sanding processing, a processing unit 80C for compaction processing, and a processing unit 80D for fusion processing can be installed. Furthermore, the pressing device 160 of this embodiment can also deform each bag body 162b to follow the shape of the processed surface 5 of the object 2. Therefore, by using the pressing device 160 of this embodiment in the processing section 80D for fusion processing, as shown in FIG. 13, in particular, it is possible to perform the fusion processing with high precision by having the pressing device 160 follow the shape of the processed surface 5D. The pressing device 160 of this embodiment may be used in the processing section 80C for compaction processing. In this case as well, the compaction processing can be performed with high accuracy by following the shape of the surface 5C to be processed. When the surfaces 5C and 5D to be treated are curved, the pressing plates 82C and 82D are provided separately for each pressing portion 162, so that the surfaces 5C and 5D to be treated can be curved more smoothly.

[0090] <Third embodiment> Hereinafter, the third embodiment of the present disclosure will be described with reference to Figures 14 to 16. Among the configurations of the third embodiment, configurations common to the first embodiment will be denoted by the same reference numerals, and description thereof will be omitted as appropriate. As shown in FIG. 14, the processing device 250 of this embodiment includes a pressing device 260, a processing section 80, and a connecting pipe 51. The pressing device 260 includes a casing 61 , a pressing portion 262 , and an interlocking mechanism 270 .

[0091] The pressing unit 262 of the present embodiment is an actuator 262a that is operated by electricity and generates a pressing force in the first direction D1. The interlocking mechanism 270 has a power supply unit 271, a sensor 273, and a control unit 290.

[0092] The power supply unit 271 supplies power to each of the multiple actuators 262a via, for example, multiple cables 272. The sensor 273 is provided for each actuator 262a. The sensor 273 detects the distance between each actuator 262a and the surface to be processed 5. The sensor 273 is, for example, a non-contact sensor that irradiates the surface to be processed 5 with a laser to detect the distance between the actuator 262a and the surface to be processed 5. The sensor 273 may be a contact sensor such as a force sensor.

[0093] The control unit 290 controls the amount of pressure applied by the actuator 262a in the first direction D1 based on the detection value of the sensor 273. The control unit 290 has two functional units: an acquisition unit 291 and a pressure amount adjustment unit 292. The acquisition unit 291 acquires the detection value of the sensor 273 . The pressing amount adjuster 292 adjusts the pressing amount of the actuator 262a in the first direction D1 based on the detection value of the sensor 273.

[0094] The processing device 250 of this embodiment is also used in the same procedure as in the first embodiment, and can apply the sealant to the processing surface 5. Furthermore, in this embodiment, the pressing amount of each actuator 262a can be adjusted in real time while the pressing device 260 is in operation.

[0095] (Real-time adjustment of pressure) Next, a control procedure for real-time adjustment of the pressing amount will be described with reference to the flow of FIG. Incidentally, in the control unit 290, one actuator 262a serving as a reference among the plurality of actuators 262a is set in advance as a master 262A, and the remaining actuators 262a are set as sleeves 262B that follow the master 262A.

[0096] First, the acquisition unit 291 acquires the distance between the actuator 262a and the surface 5 to be processed from each sensor 273 (step S21). After that, the pressing amount adjustment unit 292 adjusts the pressing amount of each sleeve 262B based on the detection value of the sensor 273 and using the master 262A as a reference (step S22). This makes the pressing amounts of all the actuators 262a the same. This operation is repeated at short intervals during the operation of the pressing device 260. In this manner, the pressing amounts of all the actuators 262a are adjusted in real time.

[0097] (Action and effect) In this embodiment, the following advantageous effects are achieved.

[0098] In this embodiment, the pressing unit 262 is an actuator 262a that is operated by electricity and generates a pressing force in the first direction D1. The interlocking mechanism 270 has a power supply unit 271 that supplies power to each of the actuators 262a, a sensor 273 that is provided for each actuator 262a and detects the distance between each actuator 262a and the surface 5 to be processed, and a control unit 290 that controls the pressing amount of each actuator 262a in the first direction D1 based on the detection value of the sensor 273.

[0099] This makes it possible to instantly control the pressing amount of each actuator 262a in response to a change in the distance between the treatment surface 5 and each actuator 262a. In this way, the pressing amount of each actuator 262a can be controlled in real time during the operation of the pressing device 260, and treatment (seal repair treatment in this embodiment) can be performed on the treatment surface 5 with high accuracy.

[0100] In addition, in this embodiment, as in the first embodiment, in addition to the processing unit 80 for coating with the brush 84, it is possible to equip the present embodiment with a processing unit 80A for cleaning processing, a processing unit 80B for sanding processing, a processing unit 80C for compaction processing, and a processing unit 80D for fusion processing.

[0101] (Hardware configuration) The control unit 290 of the above-described embodiments is implemented in a computer as shown in Fig. 17. Fig. 17 is an example of a schematic block diagram showing the configuration of a computer in which the control unit 290 according to each embodiment is implemented. The computer 1100 includes a processor 1110, a main memory 1120, a storage 1130, and an interface 1140.

[0102] The operation of each functional unit of the control unit 290 is stored in the form of a program in the storage 1130. The processor 1110 reads the program from the storage 1130, loads it in the main memory 1120, and executes the above-mentioned processing in accordance with the program. The processor 1110 also secures a storage area in the main memory 1120 in accordance with the program.

[0103] The program may be for realizing a part of the functions to be performed by the computer 1100. For example, the program may be for realizing the functions by combining with other programs already stored in the storage 1130 or by combining with other programs implemented in other devices. The computer 1100 may also include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be realized by the processor 1110 may be realized by the integrated circuit.

[0104] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line. In addition, when this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may load the program in main memory 1120 and execute the above-mentioned processing. Storage 1130 may be a non-transitory tangible storage medium.

[0105] The program may be for realizing part of the above-mentioned functions. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-mentioned functions in combination with other programs already stored in the storage 1130.

[0106] (Other embodiments) Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not depart from the gist of the present disclosure are also included. In the above embodiment, the case where the automated device 10 moves the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2 has been described, but the present invention is not limited to this. For example, two or more workers may hold two pipes 6 extending from both sides of the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2, and manually move the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2. In the case of manual operation, the processing devices 80, 80A, 80B, 80C, 80D can be reciprocated within an accurate operating range by marking the pipes 6 or the mechanism for holding the pipes 6 (for example, the base 15a of the moving mechanism 15). In addition, instead of the pipe 6, two wires may be provided, one on each side of the second direction D2 (front-to-back direction) for the processing devices 50, 50A, 50B, 50C, 50D, 150, 250, and the two wires may be pulled together in the second direction D2 to move the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2.

[0107] <Additional Notes> The pressing devices 60, 160, 260, the processing devices 50, 50A, 50B, 50C, 50D, 150, 250, and the processing system 1 described in each embodiment can be understood, for example, as follows.

[0108] (1) The pressing device 60, 160, 260 of the first aspect includes a plurality of pressing portions 62, 162, 262 arranged in a direction intersecting the first direction D1, each of which generates a pressing force toward a treatment surface 5, 5C, 5D facing a first direction D1, and a linkage mechanism 70, 270 which links the plurality of pressing portions 62, 162, 262 to control the amount of pressing of each of the pressing portions 62, 162, 262 in the first direction D1.

[0109] This makes it possible to generate a uniform pressing force in the first direction D1 in a direction intersecting the first direction D1.

[0110] (2) The pressing device 60, 160 of the second aspect is the pressing device 60, 160 of (1), wherein the pressing portion 62, 162 is a fluid device 62a, 162a that deforms due to the pressure of an internal fluid and generates a pressing force in the first direction D1, and the interlocking mechanism 70, 270 may have a fluid supply portion 71 that supplies fluid to each of the multiple fluid devices 62a, 162a, and a plurality of speed control valves 72 provided for each of the multiple fluid devices 62a, 162a and that adjust the supply speed of fluid to each of the multiple fluid devices 62a, 162a.

[0111] Before placing the pressing device 60, 160 in a position facing the treated surfaces 5, 5C, 5D, the speed control valve 72 can be operated to control the supply speed of fluid to each fluid device 62a, 162a and the internal pressure of each fluid device 62a, 162a.

[0112] (3) The pressing device 60 of a third aspect is the pressing device 60 of (2), wherein the fluid device 62a may be a fluid cylinder 62b that expands and contracts in the first direction D1 due to the pressure of an internal fluid, generating a pressing force in the first direction D1 when expanded.

[0113] The fluid cylinder 62b is deformed only in the first direction D1 by the pressure of the fluid, so that the pressure of the fluid can be efficiently converted into a pressing force.

[0114] (4) The pressing device 160 of the fourth aspect may be the pressing device 160 of (2), in which the fluid device 162a may be a bag body 162b that expands and contracts due to the pressure of an internal fluid and generates a pressing force in the first direction D1 when expanded.

[0115] The pressing amount of each bag body 162b in the first direction D1 changes smoothly. Therefore, by controlling the pressure of the fluid to each bag body 162b, the shape of each bag body 162b can be made to follow the shape of the treated surfaces 5, 5C, 5D. Therefore, a uniform pressing force can be generated against the treated surfaces 5, 5C, 5D regardless of the shape of the treated surfaces 5, 5C, 5D. In other words, the ability to follow the treated surfaces 5, 5C, 5D can be improved.

[0116] (5) The pressing device 260 of a fifth aspect is the pressing device 260 of (4), wherein the pressing unit 262 is an actuator 262a that is operated by electricity and generates a pressing force in the first direction D1, and the interlocking mechanism 270 may include a power supply unit 271 that supplies power to each of the plurality of actuators 262a, a sensor 273 provided for each of the actuators 262a that detects the distance between each of the actuators 262a and the treated surfaces 5, 5C, 5D, and a control unit 290 that controls the pressing amount of each of the actuators 262a in the first direction D1 based on the detection value of the sensor 273.

[0117] This makes it possible to instantly control the amount of pressure applied by each actuator 262a in response to a change in the distance between the surfaces 5, 5C, 5D to be processed and each actuator 262a.

[0118] (6) The processing apparatus 50, 50A, 50B, 50C, 50D, 150, 250 of the sixth aspect includes a pressing device 60, 160, 260 of (5) and processing units 80, 80A, 80B, 80C, 80D which are pressed against the processing surfaces 5, 5C, 5D by the pressing units 62, 162, 262 exerting a pressing force in the first direction D1.

[0119] This allows the processing units 80, 80A, 80B, 80C, 80D to be pressed against the surfaces 5, 5C, 5D while maintaining the posture of the processing units 80, 80A, 80B, 80C, 80D such that the surfaces of the processing units 80, 80A, 80B, 80C, 80D facing the surfaces 5, 5C, 5D are parallel to the surfaces 5, 5C, 5D. This allows the processing units 80, 80A, 80B, 80C, 80D to be pressed uniformly against the surfaces 5, 5C, 5D, and uniform processing can be performed on the entire surfaces 5, 5C, 5D. Examples of the treatment include a treatment of applying a sealant to the treated surface 5 (e.g., the seal repair treatment described above) which is carried out when repairing an aircraft wing, a cleaning treatment of cleaning the treated surface 5, a sanding treatment of polishing the treated surface 5 to make it smooth, as well as a fusion treatment and a compaction treatment.

[0120] (7) The seventh aspect of the processing apparatus 50, 150, 250 is the processing apparatus 50, 150, 250 of (6), and the processing unit 80 may be a brush unit 81 having a brush 84 extending toward the surface to be treated 5 and applying a sealant to the surface to be treated 5.

[0121] This allows all brushes 84 to come into contact with the treatment surface 5 in the same posture, thereby allowing the sealing material to be applied uniformly.

[0122] (8) The processing system 1 of the eighth aspect may include a processing device 50, 50A, 50B, 50C, 50D, 150, 250 of (6) or (7), a pipe 6 connected to the processing device 50, 50A, 50B, 50C, 50D, 150, 250 from a second direction D2 intersecting the first direction D1, and a moving mechanism 15 that grasps the end of the pipe 6 on the opposite side to the processing device 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2 and moves the pipe 6 in the second direction D2.

[0123] This enables automatic positioning of the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 in the second direction D2 and automatic operation of moving the processing devices 80, 80A, 80B, 80C, 80D in the second direction D2 while pressing them against the surface 5 to be processed.

[0124] (9) A ninth aspect of the processing system 1 is the processing system 1 of (8), wherein the processing devices 50, 50A, 50B, 50C, 50D, 150, 250 further include a connecting pipe 51 extending in the second direction D2, and further include a connecting member 20 connecting the pipe 6 and the connecting pipe 51, and the connecting member 20 may have a central axis portion 21 extending in the second direction D2 and having one end in the second direction D2 inserted into either the pipe 6 or the connecting pipe 51 and the other end in the second direction D2 inserted into the other of the pipe 6 or the connecting pipe 51, male thread portions 22 provided at both ends of the central axis portion 21 in the second direction D2 and capable of screwing into inner surfaces of the pipe 6 and the connecting pipe 51, and a flange portion 23 extending radially outward from the outer circumferential surface of the central axis portion 21 at the center in the second direction D2 more than the pipe 6 and the connecting pipe 51.

[0125] The connecting member 20 is firmly fixed to both the pipe 6 and the connecting pipe 51 of the processing device 50, 50A, 50B, 50C, 50D, 150, 250 by the male thread portion 22. In addition, the flange portion 23 protrudes radially outward from the pipe 6 and the connecting pipe 51. This makes it possible to prevent the pipe 6 and the connecting pipe 51 from colliding with the surrounding surface 5 to be processed, etc. [Explanation of symbols]

[0126] 1... treatment system 1 2... object 3... outer plate 4... stringer 4a... connection part 4b... protrusion part 4c... narrow part 5... treatment surface 6... pipe 7... controller 10... automation device 11... trolley 11a... body 11b... caster 11c... handle 12... jack 13... automation device main body 14... base plate 15... moving mechanism 15a... base 15b... operating part 16 clamp mechanism 16a... legs 16b... gripping part 20... connecting member 21... central shaft part 22... male thread part 23... flange part 50... treatment device 51... connecting pipe 60... pressing device 61... casing 61a... opening 62... pressing part 62a... fluid device 62b... fluid cylinder 70... interlocking mechanism 71... fluid supply part 71a... supply line 71b...first supply line 71c...second supply line 73a...discharge line 73b...first discharge line 73c...second discharge line 72...speed control valve 73...fluid discharge section 80...processing section 81...brush section 82...base section 83...guide 84...brush D1...first direction D2...second direction D3...third direction 50A... Processing device 80A... Processing section 81A... Cleaning section 82A... Base section 83A... Waste 50B: Processing device 80B: Processing section 81B: Sanding section 82B: Base section 83B: Adhesive section 84B: Scotch 2C: Object 5C: Surface to be treated 50C: Treatment device 80C: Processing section 81C: Compactor section 82C: Pressing plate 2D... object 5D... processing surface 50D... processing device 80D... processing section 81D... fusion section 82D... pressing plate 150: Processing device 160: Pressing device 161: Casing 161a: Opening 161b: Withdrawal hole 162: Pressing portion 162a: Fluid device 162b: Bag body 163: Inner casing 163a: Opening 164: Internal mechanism 250: Processing device 260: Pressing device 262: Pressing section 262a: Actuator 262A: Master 262B: Sleeve 270: Interlocking mechanism 271: Power supply section 272: Cable 273: Sensor 290: Control section 291: Acquisition section 292: Pressing amount adjustment section

Claims

1. A plurality of pressing units each generating a pressing force toward a processing surface facing a first direction and arranged in a direction intersecting the first direction; an interlocking mechanism that interlocks the plurality of pressing portions to control the pressing amount of each of the pressing portions in the first direction; A pressing device comprising:

2. the pressing unit is a fluid device that is deformed by a pressure of an internal fluid to generate a pressing force in the first direction, The interlocking mechanism includes: a fluid supply unit that supplies fluid to each of the plurality of fluid devices; a plurality of speed control valves provided for each of the plurality of fluid devices to adjust the supply speed of fluid to each of the plurality of fluid devices; The pressing device according to claim 1 , further comprising:

3. The pressing device according to claim 2 , wherein the fluid device is a fluid cylinder that expands and contracts in the first direction due to a pressure of an internal fluid, and generates a pressing force in the first direction when expanded.

4. The pressing device according to claim 2 , wherein the fluid device is a bag that expands and contracts due to a pressure of an internal fluid and generates a pressing force in the first direction when expanded.

5. the pressing unit is an actuator that is operated by electricity to generate a pressing force in the first direction, The interlocking mechanism includes: a power supply unit that supplies power to each of the plurality of actuators; a sensor provided for each of the actuators, the sensor detecting a distance between each of the actuators and the surface to be processed; a control unit that controls the pressing amount of each of the actuators in the first direction based on the detection value of the sensor; The pressing device according to claim 1 , further comprising:

6. A pressing device according to claim 1 ; a processing unit that applies a pressing force in the first direction by the pressing unit and is pressed against the processing surface to perform a processing on the processing surface; A processing device comprising:

7. 7. The processing apparatus according to claim 6, wherein the processing section is a brush section having a brush extending toward the surface to be processed and applying the sealant to the surface to be processed.

8. A processing device according to claim 6 or 7, a pipe connected to the processing device from a second direction intersecting the first direction; a moving mechanism that holds an end of the pipe opposite to the processing device in the second direction and moves the pipe in the second direction; A processing system comprising:

9. The processing device further includes a connecting pipe extending in the second direction, A connecting member that connects the pipe and the connecting pipe is further provided, The connecting member is a central shaft portion extending in the second direction, one end portion in the second direction being inserted into one of the pipe and the connecting pipe, and the other end portion in the second direction being inserted into the other of the pipe and the connecting pipe; male thread portions provided at both ends of the central shaft portion in the second direction and capable of threadably engaging with inner circumferential surfaces of the pipe and the connecting pipe; a flange portion extending radially outward from an outer circumferential surface of the central shaft portion at a center portion in the second direction beyond the pipe and the connecting pipe; The processing system of claim 8 , comprising:

Images