Cleaning and liquid contact with solids – Processes – Combined
Patent
1996-04-30
1998-11-10
Snay, Jeffrey
Cleaning and liquid contact with solids
Processes
Combined
134 57R, 134123, 356375, B64F 500
Patent
active
058337628
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
The invention relates to a process and an arrangement for treating an object, in particular an airplane, according to the novel teachings herein.
A device for cleaning of airplanes or ships has become known from U.S. Pat. No. 3 835 498. This device has several rotatable washing brushes stationarily arranged on a crane by which the surface of the aircraft can be cleaned. However, this device requires a rotatable platform for the aircraft so that same can be rotated in front of the washing crane. The washing brushes are either stationary or are movable along defined directions. Thus it is necessary for the aircraft to be guided with respect to the washing device, and that the aircraft and the washing device must assume a specific relative position to one another. Positioning errors are practically unavoidable.
From the DE-A-4035519 it is already known to equip a large manipulator with a remote-controllable brush head. The known large manipulator has an articulated mast, which is composed of several arms pivotal with respect to one another at their ends, the base arm of the articulated mast is rotatably supported about a vertical axis on a bearing block arranged on a motor-driven undercarriage, and the last arm has a multiple joint, which can be equipped with the brush head. From this reference it is also known to provide the brush head with sensors, which enable an automatic control of the brush head relative to the surface to be treated in accordance with a sensor signal originating at the sensor during the cleaning process and can be outputted. Here, the large manipulator must also be positioned exactly with respect to the airplane.
Starting out from U.S. Pat. No. 3 835 498, the basic purpose of the invention is to further develop a process and an arrangement of the above-mentioned type in such a manner so that, in a particularly simple fashion, an almost complete compensation of positioning errors occurring during the setting up of the treating device in front of the object to be treated is possible.
This purpose is attained according to the inventive process and the inventive arrangement.
The steps of the invention enable, in a particularly advantageous manner, a correction of positioning errors of the treating device relative to the object to be treated. Through the inventively provided exchange of the operating-sequence control based on a predefined reference point with an operating-sequence control of a grid point of the parking field lying closest to the actual position of the treating device, it is achieved in a particularly simple fashion that the previously provided, complex and therefore expensive on-line monitoring of the treating unit can generally be eliminated in each case replacing an operating-sequence control based on an optimum reference point with an operating-sequence control, which was programmed in an advantageous manner off-line for a grid point of the parking field, which grid point is the closest to the actual position of the treating device, and was stored in a memory.
A further advantageous development of the invention provides that with at least one grid point of the parking field associated with the operating-sequence control, which grid point can be varied in depending on the relative distance between the actual position of the treating device and this grid point. With this inventive measure, it is also possible to reduce the number of the necessary grid points in the parking field since this on-line correction of the positioning error of the treating device makes it possible, in an advantageous manner, to treat the object with greater distances between the individual grid points, resulting in a wider meshed grid, whereby, in an advantageous manner, the number of operating-sequence controls to be set up for a parking field is being reduced. With the inventively provided on-line correction of the position error, it is furthermore possible to individually compensate for possible tolerances or deviations of the object to be treated from its standard dimensions specif
REFERENCES:
patent: 3439372 (1969-04-01), Collier
patent: 3835498 (1974-09-01), Arato
patent: 4207642 (1980-06-01), Arato
patent: 4378755 (1983-04-01), Magnusson et al.
patent: 4654949 (1987-04-01), Pryor
patent: 4712970 (1987-12-01), Nakamura et al.
patent: 4724565 (1988-02-01), Higaki et al.
patent: 5359542 (1994-10-01), Pahmeier et al.
Herkommer Thomas Fred
Wanner Martin-Christoph
Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung
Snay Jeffrey
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