PROCESS AND DEVICE FOR TREATING THE SURFACE OF LARGE OBJECTS

摘要

A process and device are disclosed for cleaning the surface of aeroplanes (44). A large manipulator arranged on a truck (10) is moved towards the aeroplane (44) up to a predetermined position within its range of action and is parked in that position. A rotaty 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 move 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 risk of collisions even when the large manipulator is not accurately positioned in front of the aeroplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the aeroplane (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 brus-bearing head (18) is moved along a predetermined path of operation over the surface of the object.