Title:
【発明の名称】大型対象物の表面を処理する方法および装置
Document Type and Number:
Japanese Patent JPH09503973
Kind Code:
A
Abstract:
PCT No. PCT/EP94/02632 Sec. 371 Date Feb. 12, 1996 Sec. 102(e) Date Feb. 12, 1996 PCT Filed Aug. 9, 1994 PCT Pub. No. WO95/05309 PCT Pub. Date Feb. 23, 1995A process and device are disclosed for cleaning the surface of airplanes (44). A large manipulator arranged on a truck (10) is moved towards the airplane (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 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 airplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the airplane (44), while the joints (20 to 26) 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 coordinates 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.
Inventors:
Vanner martin
Helcomar Thomas Freight
Helcomar Thomas Freight
Application Number:
JP50672494A
Publication Date:
April 22, 1997
Filing Date:
August 09, 1994
Export Citation:
Assignee:
Putzmeister Werk Maschinenfabrik Gesellschaft Mitt Beschlenktel Haftung
International Classes:
B60S3/00; B08B1/04; B25J9/06; B60S3/06; B60S9/12; B63B59/06; B64F5/00; B64F5/30; G05B19/408; (IPC1-7): B64F5/00; B60S3/00
Attorney, Agent or Firm:
Takehisa Ito (1 outside)