ARM DEVICE

Japanese Patent JPS5937360

A

PURPOSE:To provide a mechanism which causes a working point to perform a linear motion in a direction extending at right angles with a reference surface in a condition to maintain the working point in a constant attitude, by a method wherein, in the arm device, well suited for a link mechanism for moving a cleansing brush at a constant attitude to a machine body, in case of cleansing device for use in an air-plane. CONSTITUTION:Cleansing devices 23 and 24 cleansing the surface in a way to make contact with a machine body, are attached to the points of expansion arms 19 and 20 supported by second and third movable bases 17 and 18 moving in the direction extending around the fuselage of the machine frame along a circular track 16 supported by a movable base 15. The expansion arms 19 and 20 have a link mechanism in which two parallel tetragons DCAB and DCEF, having inside and outside incorporating with each other, are combined together. By lowering a nodal point I to a position shown by a dotted line from that shown by a solid line along a guide recess 42 by means of a driving device such as cylinders, members 39, whereto the cleaning devices are mounted, are moved in a direction extending at right angles with the moving direction of the nodal point I while always keeping parallel attitude to a side extending between nodal points A and B. The two tetragons can be arbitrarily moved from a solid line state to a dotted line state by a uniaxial control, and besides, with enlarged moving speed of the nodal point I.

WO/2004/051316	METHOD AND APPARATUS FOR CLEANING A MOBILE IMMERSED STRUCTURE
JP2006068706	PANEL CLEANING DEVICE AND METHOD

YAMADA SAKAE
IZUNO JINICHI
MIYAKE NORIHISA

JP14762082A

February 29, 1984

August 27, 1982

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HITACHI LTD

B08B1/00; F16H21/44; F16H21/04; (IPC1-7): B08B1/00

Toshiyuki Usuda

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