Arrangement for surface treatment, especially the cleaning of th

Details Arrangement for surface treatment, especially the cleaning of th Arrangement for surface treatment, especially the cleaning of th

1996-02-23

1998-02-24

Till, Terrence

Brushing, scrubbing, and general cleaning

Machines

Brushing

15 532, 15 973, 15DIG2, B60S 300, B60S 306

Patent

active

057200696

DESCRIPTION:

BRIEF SUMMARY
The invention relates to an arrangement for the surface treatment, in particular for the surface cleaning of large objects, like aircrafts, ships or building, comprising a large manipulator, which has an articulated mast, which consists Of several arms pivotal with respect to one another on pivot joints by means of hydraulic or motor drive mechanisms, and which is rotatably supported with its base arm about a vertical axis on a pivot-bearing block of an apparatus carrier preferably designed as a motor-driven undercarriage, and has a tool, which is arranged on the last arm of the articulated mast or on the free end of a multiple joint arranged on the last arm, and is preferably designed as a rotating brush head.
DE-A-40 35 519 has already suggested to equip a large manipulator with a remote-controllable brush head. The known large manipulator has an articulated mast composed of several arms pivotal with respect to one another at their ends. The base arm of the articulated mast is supported rotatably about a vertical axis on a pivot-bearing block arranged on a motor-driven undercarriage, and the last arm of the articulated mast has a multiple joint, which can be provided with a brush head. It is also known from this reference to equip the brush head with sensors, which enable controllable guiding of the brush head relative to the surface to be treated according to a sensor signal, which occurs on the sensor during the cleaning operation and which can be read. The articulated mast has, in the known arrangement, a total of five arms collapsible against one another in a multiple-Z-fold, and which can be placed with the base arm lying on top and the last arm at the bottom with the multiple joint and brush head on the undercarriage for transporting purposes. In order to be able to work in the overhead operation, the articulated mast must first be lifted off from the undercarriage through the base joint of the pivot-bearing block and must be rotated at 180.degree. about the pivot axis of the pivot-bearing block into the operating position. In particular, when working near the undercarriage and when working in halls, the limited pivoting range of the base joint of only 100.degree. to 110.degree. is hereby furthermore disadvantageous.
The basic purpose of the invention is to develop an arrangement of the above-identified type, with which even when the apparatus carrier, which carries the large manipulator, is inexactly positioned and oriented in front of the large object to be treated, a collision-free fully automatic treatment, even of surfaces with a complicated design, is possible.
The basic thought of the solution of the invention is that with an opto-electronic distance camera arranged on the large manipulator alignable with respect to the large object to be treated and with calculator-supported evaluating electronics receiving the distance image signals of the distance camera act as a start-up aid for the apparatus carrier, designed as an undercarriage, and/or a locating of the large manipulator relative to the large object to be treated, and/or a monitoring of the treatment operation is possible. The distance camera is arranged on a console supported on the side of the pivot-bearing block opposite the articulated mast, in the collapsed state, supported on the apparatus carrier, and is rotatable about its vertical axis together with the articulated mast and is also rotatable about its horizontal axis. In order to be able to utilize the distance camera not only in the collapsed state of the articulated mast, but also in its operating position for measurement and monitoring tasks, it is suggested according to a preferred development of the invention, that the base arm be supported pivotally with a pivot angle of approximately 180.degree. about a horizontal axis on the pivot-bearing block, and that in the collapsed state of the articulated mast, the base arm be supported on the undercarriage under the other arms and the last arm is arranged above the other arms with the multiple joint pointing in the direction of

REFERENCES:
patent: 3775798 (1973-12-01), Thornton-Trump
patent: 5092012 (1992-03-01), Rabourn et al.
patent: 5592710 (1997-01-01), Wanner et al.
Drews,Paul;u.a.: Systemkomponenten mobiler Roboter. In: VDI-Z 135, 1993, Nr. 7, S.74-78.
Karl,G.; u.a.: Die Umwelt dreidimensional erfassen. In: Elektronik 19, 1989, S.78-88.

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