公开(公告)号：WO1995005309A1

公开(公告)日：1995-02-23

申请号：PCT/EP1994002632

申请日：1994-08-09

Applicant: PUTZMEISTER-WERK MASCHINENFABRIK GMBH ,  WANNER, Martin ,  HERKOMMER, Thomas, Fred

Inventor： PUTZMEISTER-WERK MASCHINENFABRIK GMBH

IPC: B64F05/00

CPC classification number: B60S3/06 ,  B08B1/04 ,  B25J9/06 ,  B60S9/12 ,  B63B59/06 ,  B64F5/30 ,  G05B2219/33078 ,  G05B2219/37561 ,  G05B2219/37563 ,  G05B2219/39024 ,  G05B2219/40292 ,  G05B2219/40298 ,  G05B2219/45071 ,  G05B2219/49195

Abstract: A process and device are disclosed for cleaning the surface of aeroplanes (44). A large manipulator arranged on a truck (10) is moved towards the aeroplane (44) up to a predetermined position within its range of action and is parked in that position. A rotaty brush-bearing head (18) is moved over the surface of the object by means of an articulated mast (13) arranged on the truck (10) and constituted of several extension arms (12, 12', 12", 12''', 14) that may swivel or move with respect to each other at turning knuckles and/or prismatic joints and of a multiple joint (16) arranged at the last extension arm (14). In order to carry out a washing process in a reliable manner, without risk of collisions even when the large manipulator is not accurately positioned in front of the aeroplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the aeroplane (44), while the joints (20 to 28) of the articulated mast (13) and/or the multiple joint (16) are controlled during the surface treatment according to a series of predetermined sets of joint co-ordinates associated to the actual position of the large manipulator within the parking field (46), and the brus-bearing head (18) is moved along a predetermined path of operation over the surface of the object.

Abstract translation: 本发明涉及一种方法和用于飞机（44）的表面清洁的布置，其特征在于，底盘（10）上在所述飞行器（44）的方法的范围内的预定位置布置的大操纵器，并且停在那里，并在其中一个 旋转刷头（18）由多个旋转和/或滑动关节基因中的一个的装置的每个可枢转或可移动的臂（12，12“ 12' ”，12' ‘’，14）和布置成一个在端臂（14）铰接的臂（16 ）现有（在底盘上布置10）铰接的门架（13）上移动所述对象的表面。 为了确保可靠的和无碰撞的洗涤过程中即使有大的机械手的大操纵器的飞机（44）驻扎在从所述飞行器（44）有限的二维停车场（46）内的距离前方的较不准确的定位，而关节（20至28）的 铰接桅杆和/或（13）的多个接合部（16）在根据表面处理的与驻车场内的大机械手的当前位置的一个过程（46）与被驱动的预定关节坐标组的序列与刷子头（18）相关联，从而沿着在预定的加工路径 物体表面移动。

公开(公告)号：WO1995005310A1

公开(公告)日：1995-02-23

申请号：PCT/EP1994002716

申请日：1994-08-15

Applicant: FRAUNHOFER-GESELLSCHAFT ZUR FÖRDERUNG DER ANGEWANDTEN FORSCHUNG E.V. ,  WANNER, Martin-Christoph ,  HERKOMMER, Thomas, Fred

Inventor： FRAUNHOFER-GESELLSCHAFT ZUR FÖRDERUNG DER ANGEWANDTEN FORSCHUNG E.V.

IPC: B64F05/00

CPC classification number: B63B59/06 ,  B08B1/04 ,  B25J9/06 ,  B25J9/1692 ,  B60S3/06 ,  B64F5/30 ,  G05B2219/33078 ,  G05B2219/37561 ,  G05B2219/37563 ,  G05B2219/39024 ,  G05B2219/40292 ,  G05B2219/40298 ,  G05B2219/45071 ,  G05B2219/49195

Abstract: A process and arrangement are disclosed for cleaning the surface of aeroplanes (44). A large manipulator arranged on a truck (8) is moved towards the aeroplane (44) up to a predetermined position within its range of action and is parked in that position. A rotary brush-bearing head (18) is moved over the surface of the object by means of an articulated mast (13) arranged on the truck (10) and constituted of several extension arms (12, 12', 12", 12''', 14) that may swivel or slide with respect to each other at turning knuckles and/or prismatic joints and of a multiple joint (16) arranged at the last extension arm (14). In order to carry out a washing process in a reliable manner, without the risk of collisions even when the large manipulator is not accurately positioned in front of the aeroplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the aeroplane (44), while the joints (20 to 28) of the articulated mast (13) and/or the multiple joint (16) are controlled during the surface treatment according to a series of predetermined sets of joint co-ordinates associated to the actual position of the large manipulator within the parking field (46), and the brush-bearing head (18) is moved along a predetermined path of operation over the surface of the object.

Abstract translation: 本发明涉及一种方法和用于飞机（44）的表面清洁的布置，在所述飞行器（44）的方法的范围内的预定位置，其中一个在底盘上（8），其设置大操纵器，并且停在那里，并在其中一个 旋转刷头（18）由多个旋转和/或滑动关节中的一个的装置可枢转相对于彼此或可移动的臂（12，12”，12”，12' ‘’，14），并且在最后一个臂布置成一个（14）铰接的臂（16） 现有布置（8）的底盘上铰接在物体表面上桅杆（13）移动。为了确保可靠的和无碰撞的洗涤过程中即使有大的机械手的大操纵器的飞机（44）前方的较不准确的定位是（有限二维停车场10内 驻扎在飞机（44）的距离），而关节（20至28）铰接门架（13）和/或Mul的的 术语伦克（16）根据大操纵器的具有预定关节坐标组的序列与刷子头（18）相关联的停车场（10）内的当前位置的一个表面处理沿预定加工路径上移动物体表面上，从而在控制。