Cleaning and liquid contact with solids – Processes – Using solid work treating agents
Patent
1996-02-12
1998-06-23
Chin, Randall
Cleaning and liquid contact with solids
Processes
Using solid work treating agents
134 18, 15 532, 15 521, 15 884, 15 211, B08B 100, B60S 300
Patent
active
057699542
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention relates to a process for treating, in particular for cleaning, the surface of large objects, such as airplanes, ships, buildings, in which a large manipulator arranged on an undercarriage is moved into a specified position toward the large object and is parked there, and in which a tool, preferably designed as a rotating brush head, is moved over the surface of the object by means of an articulated mast. The mast is arranged on the undercarriage and consists of several arms, which are pivotal or movable with respect to each other on pivot and/or thrust points, and, if necessary, a multiple joint is arranged on the last arm. Furthermore, the invention relates to an arrangement for accomplishing this process.
BACKGROUND OF THE INVENTION
The DE-A-4035519 already suggests to equip a large manipulator with a remote-controllable brush head. The known large manipulator has an articulated mast, which can be assembled of several arms pivotal with respect to one another at their ends, the base arm 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 a 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 operation and can be outputted.
The basic purpose of the invention is to develop a process and an arrangement of the above-disclosed type, with which in the case of an inexact positioning of the undercarriage carrying the large manipulator in front of the large object to be treated and also in the case of surfaces having a complicated design, a collision-free fully automatic treatment is possible.
To attain this purpose the characteristic combinations disclosed herein are suggested. Advantageous embodiments and further developments of the invention result from the dependent claims.
SUMMARY OF INVENTION
The solution of the invention is based on the thinking that in the case of an inexact positioning of the undercarriage, first it is necessary to determine the actual station coordinates, and then a movement program for the joints of the articulated mast and/or the multiple joint, which program relates to the actual station coordinates, is to be set up. Accordingly, the invention suggests that the undercarriage is stationed within a limited two-dimensional parking field spaced from the large object to be treated, and that the joints of the articulated mast and/or of the multiple joint are controlled during the surface treatment in accordance with a series of joint-coordinate sets associated with the actual position of the large manipulator within the parking field, and the tool is thereby moved along a specified operating path over the surface of the object.
A preferred embodiment of the invention provides thereby that the parking field is divided by a limited two-dimensional distance grid, that for each grid point of the distance grid there is specified a series of joint-coordinate sets defining the support points of the operating path of the tool stored as a joint-coordinate data file in a data bank of a data-processing system, and that the position-referenced joint coordinate sets, preferably through interpolation from the joint-coordinate data files stored in the data bank, are calculated in accordance with the actual position of the undercarriage within the distance grid and are stored in the working data file, prior to starting the surface treatment by using the joint-coordinate sets selected from the working data file and, if necessary, additional movement-referenced parameters. The joint-coordinate sets selected from the working data file can follow in accordance with sensor signals preferably extracted at each support point of the operating path. For this purpose it is, for example, possible to measure the frictional or torsion resistance or the b
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Dornier Post--Deutsche Aerospace, Jun. 30, 1993.
Herkommer Thomas Fred
Wanner Martin
Chin Randall
Putzmeister Aktiengesellschaft
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