VERFAHREN ZUR BEARBEITUNG EINES OBJEKTES, INSBESONDERE EINES FLUGZEUGS

摘要

PCT No. PCT/EP94/02716 Sec. 371 Date Apr. 30, 1996 Sec. 102(e) Date Apr. 30, 1996 PCT Filed Aug. 15, 1994 PCT Pub. No. WO95/05310 PCT Pub. Date Feb. 23, 1995A process and arrangement are disclosed for cleaning the surface of airplanes (44). A large manipulator arranged on a truck (8) 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 slide 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 the 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 28) 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 co-ordinates 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.