The invention relates to a process and an arrangement for cleaning the surfaces of aircraft (44), by which a large manipulator arranged on a carriage (8) is moved to a given position within reach of the aircraft (44) and parked there, and by which a rotating brush head (18) is moved over the surface of the object by means of an articulated mast (13) placed on the carriage and consisting of one or several movable cross-arms (12, 12', 12'', 12''', 14) which can be swivelled or moved in relation to one another by means of rotary and/or thrust linkages, and of a multiple joint (16) arranged on an end cross-arm (16). In order to ensure a reliable and collision-free washing operation despite an imprecise positioning of the large manipulator in front of the aircraft (44), the large manipulator is parked at a distance away from the aircraft (44) within a limited two-dimensional parking zone (10), whereas the joints (20 to 28) of the articulated mast (13) and/or multiple joint (16) are controll ed during the course of surface treatment according to the measure of a sequence of predetermined sets of joint coordinates assigned to the current position of the large manipulator within the parking zone (10), and the brush head (18) is moved over the surface of the object along a given treatment path.
Verfahren zur Bearbeitung eines Objektes, insbesondere eines Flugzeugs
1995
Patentblatt, Vol.115 (1995), No.15
Patent
Elektronische Ressource
Deutsch
Europäisches Patentamt | 2019
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