公开(公告)号：US5454533A

公开(公告)日：1995-10-03

申请号：US74605

申请日：1993-06-11

申请人： Andris P. Grant ,  Ian H. Rowe

发明人： Andris P. Grant ,  Ian H. Rowe

IPC分类号： B64F5/00 ,  B64D15/00

CPC分类号： B64F5/0054 ,  B64F5/0018 ,  Y02P70/585

摘要： An aircraft servicing system comprises four robot arms mounted to the ground so as to form a lane with the base of two of the robot arms delineating one side of the lane and the base of the other two robots delineating the other side of the lane. The robot arms may assume a low position which allows an aircraft's wings to pass over the arms while the aircraft enters the lane between the arms. Thereafter, the arms may be moved so that a nozzle array at the end of each arm may de-ice or wash the aircraft. Subsequently, the arms may again assume a low position to allow the aircraft to leave the lane. Each robot arm has an elongated member connected to the base by a yaw joint, a first arm segment connected to the elongated member by a pitch joint, second arm segment connected to the first arm segment by a pitch joint, and a third arm segment connected to the second arm segment by a telescoping joint. This gives the arm the needed range of motion and provides one degree of redundancy so that the arm has some freedom of movement while the end effector is stationary in free-space. This allows the arm to be reconfigured as necessary, on a dynamic basis, so as to anticipate possible singularities and avoid these. The system has application for servicing other large structures, such as the hull of a dry docked ship.

摘要翻译： 飞机维修系统包括四个安装在地面上的机器人手臂，以形成一个车道，其中两个机器人手臂的基座描绘了车道的一侧，另外两个机器人的底座划分在车道的另一侧。 机器人手臂可能会采取一个低位置，当飞机进入双臂之间的车道时，飞行器的机翼能够越过臂。 此后，臂可以移动，使得在每个臂的端部处的喷嘴阵列可以去冰或洗涤飞行器。 随后，武器可能再次处于低位置，以允许飞机离开车道。 每个机器人臂具有通过偏转接头连接到基座的细长构件，通过节距接头连接到细长构件的第一臂段，通过节距接头连接到第一臂段的第二臂段和连接到第一臂段的第三臂段 通过伸缩接头连接到第二臂段。 这给了手臂所需的运动范围，并且提供一个度量的冗余度，使得臂具有一些移动自由度，而末端执行器在自由空间中是静止的。 这样可以在动态的基础上重新配置手臂，以便预测可能的奇异点并避免这些异常。 该系统适用于维修其他大型结构，如干船坞的船体。