DE4433925A1 - Construction for mounting applicators of surface treatments to ships and aircraft - Google Patents

Abstract

The device consists of a holder unit (93,94) which is brought up to the exterior surface of the craft. First and second pivoting rods (82,83), coupled to a first and second shoulder motor units (84,85) are held in changeable positions in first and second shoulder link elements (90,91). A surface treating retainer (81) is arranged on a positioning axis (86',86) above a first link (88) of the first rod and above a second link (89) of the second rod. A support positioner (95) is arranged on the retainer and is connected to a control unit. This control unit produces a turning moment of the motor units dependent on the power distribution of the support positioner against the surface to be treated.

Description

The invention relates to a device for a waiter surface treatment of extensive, preferably domed Surfaces, especially the fuselage outer surfaces of Ships and planes.

It is known for cleaning aircraft exterior walls use the rotating brushes (see SW. 33 Skywash, Putzmeister, 1994). The rotating brush is from a boom of a mobile crane and held by one Outrigger manipulator arm.

The disadvantage is that due to the boom and the manipulator the brush can only be guided roughly. That has as a result that the aircraft outer walls either only un adequately cleaned or if it is too strong press damaged or even destroyed. Around to be able to get to all parts of the aircraft NEN, the boom must be large enough to reach Tail unit to the apex of the fuselage and extends over the wings. This will make the whole thing System is material and costly and is beyond still difficult to control.

Aircraft, d. H. especially the outer wall of the fuselage,  the top and bottom of the wings and the guide work, must be made regularly from an existing paint line freed, inspected, then primed and can be given a new color application. It's be knows that the paintings on aircraft in the course of Time becomes brittle, eroded or damaged, so that the paint system provides both the required protection kung, e.g. B. corrosion protection, as well as the optical requirements are not met. A device for a surface treatment of an aircraft is from the DE 36 29 623 A1 known. It consists of a vehicle mount with one support and one on the support cabin. The cabin is facing the object Side open and all around with sealing elements hen. A centrifugal wheel is arranged inside the cabin net.

The disadvantage is that for cleaning and blasting the Aircraft body the cabin up to the surface must be driven. When driving up, however care must be taken that the one to be processed Surface is not damaged. The centrifugal wheel is then more or less after each setting far from the aircraft body, so that this only uneven surface processing possible is.

From DE 35 48 541 A1 a front is also known direction for surface treatment of ships with an abrasive. This is done on a chassis a support is mounted. The support is telescopic mobile. On the upper telescopic part is an Ausle ger arranged with an attached cabin.

Even if the cabin is telescopic at the top Support can be moved vertically and horizontally on the boom their static stability is not given.  

Because through the upper telescopic part, which the absorbing the lower one, is the weakest link of the Support as the most stress-intensive part of the support set. In addition, the boom can at most lean against the ship's wall. This is a ge Known stability towards the ship, one too both sides or a back but not. On Another very significant disadvantage is that merely leaning the cabin against the upper to be processed area of the ship to the contours of the surface following treatment is not guaranteed.

It is therefore the task of a device for a surface treatment of extensive, preferably curved surfaces, in particular of the fuselage outer surface development of ships and aircraft in such a way that the surface treatment conforms to the shape and under all possible precautionary measures, especially for the aircraft treatment are prescribed, executable is.

According to the invention, this object is achieved by the features of claim 1 solved.

The advantages achieved with the invention are in particular special in that the surface treatment bracket element with the surface finish attached to it system up to the surface to be machined free-standing body. Over the surface then becomes the surface processing bracket member guided over the surface true to the contours. It comes in bumps or severe abrasion within the surface the shoulder motor units ensure that the Surface processing bracket element always the same is held moderately on the surface to be processed. The outgoing from the shoulder motor units Torques are aligned so that either Surface processing bracket element pressed or  from the surface to be machined accordingly is lifted off. By holding the Surface processing bracket element over the special joint connections will be a flawless Adapt to the respective surface contour accomplishes.

It is advantageous if the support unit as a the surface processing bracket member at least partially surrounding elastic support element and / or at least one sensor element arranged on it is formed. By surrounding the surface bear processing bracket element with the elastic Support element will apply a corresponding pressure the swing rod elements exercised in such a way that either the torque of each shoulder motor unity increased, decreased or in opposite Direction is exercised. This effect can be brought about also by corresponding ones output by sensor elements Values.

The sensor elements are advantageously the two shoulder motor units and one on a bracket axis-arranged mounting element servomotor unit, which form the support unit with the control unit unit are linked in such a way that the control unit

• a) the pressing forces determined by the sensor elements between the surface processing bracket member and the surface to be machined the,
• b) an average of the applied pressing forces Pressing force and the acting force distribution is communicated
• c) the Hal based on the determined average pressing force terungselementstellmotoreinheit the surface bear processing bracket element to the upper to be machined area is brought up and  
• d) the torque based on the force distribution the shoulder motor units is controlled so that is essentially on all sensor elements sets the same pressing force.

This special way is a uniform smooth and contour-conforming and resting of the surface Chenarbeitungshalterungselements with the attached orderly surface processing system guaranteed. Damage to the surface to be processed or of the surface system is not possible. Furthermore it is ensured when editing the surface, that the surface treatment system essentially always at the same distance from the one to be processed Surface is guided.

In a further embodiment of the invention worried

• - That the mounting device as a carrier system is formed, the at least one horizontal run has path that is essentially along the length of the Parts of the aircraft to be processed are sufficient,
• - That the carrier system has an outer contour of the upper area of the aircraft to be machined, verti kale running track that holds on to the horizontal run path is movable, and
• - That a frame unit can be moved on the running rail is on the shoulder motor units and the school ter joint elements arranged opposite each other are.

Due to the special design of the mounting device the surface-appropriate guidance of the surface work support element opposite the surface linked with a horizontal and vertical alike moderate shift. This will make the exact and proper handling and processing of the surface  assured.

It is advantageous if the framework is used as a support system arranged as a horizontal track two at a distance nete trusses are present and the trusses one have the rail-bearing transition, which the Moving the running rail to the horizontal traver allowed. This will guide the vertical Track allowed over long distances, so that in particular a long fuselage consistently and equally can be processed moderately. The fundamental transition for the running rail ensures that the running rail ver can be that their vertical Arbeitsbe richly expanded.

It is advantageous if a traverse in the middle and the other in the area of the vertex line to be machined tendency fuselage is arranged. This will make him is enough that the tracks are held securely and so po It can be sitioned that as many parts of the flight as possible Stumps are reachable.

It is advantageous if the peripheral distance of the tra verses along the running track between 45 ° and 90 ° lies. This arrangement also contributes to good guidance of the surface treatment system at.

To control the work and manual rework to enable, the scaffold is preferably still with a work platform that is height adjustable and additionally in the horizontal direction and / or in their width should be adjustable.

In a further embodiment of the invention stops in little at least one swivel joint in a crane construction as Carrier system at least one telescopic boom a frame  element with two spaced frame rails elements as a horizontal track on which the run rail is movable. This ensures that through the telescopic boom the frame element with the help of the swivel joint in relation to the outer wall of the aircraft processing aircraft part can be positioned. In the frame can be positioned vertically move the orderly running track back and forth so that the Surface processing system syste the outer walls can edit them matically and cleanly.

The actual crane construction consists of two Supported and spaced crane track rails with at least one bridge that can be moved on them unit and move at least one on the bridge unit bar trolley unit, the trolley unit the Telescopic boom holds. With those moving on the crane runway Bridge cranes are all parts of an aircraft reachable. It can be on the spaced Crane runway tracks move several bridge units, on which in turn several trolley units now and then run here. This ensures that the frame element ment on its outer sides with a telescope boom is held so that there are no side and Cross movements come during the machining operations can. The extendable telescopic boom together work with the swivel to ensure that the frame construction and the running track to all bear moving surfaces of the aircraft can move. Here are advantageously the frame elements the parts of the frame element similar to the running rail constructed. Of course it is also possible that Crane construction not only as a gantry crane, but also to train as a crane or the like. Come Cranes are used where there is a side swing of the frame element can be advantageous Supporting and holding elements are provided which form a position  allow kidney of the frame element on the fuselage.

In a further embodiment of the invention, the Hal device from a relative to the surface, e.g. B. ship wall, movable bracket unit and a chassis provided with at least one support, which makes the bracket unit mobile along the ship is, with the support passing through the chassis as two Mast elements can be extended vertically upwards is trained. The mast elements can essentially be the same. The extension of the masts can be made such that depending on the chassis according to the desired height, the first to last mast element are superimposed. Advantage is at least at least one mast element Ship wall directed a stabilization device arranged. The bracket unit is advantageous by arranged at their opposite ends Mast drive is connected to the masts. Here is achieved by a surface treatment of substantially vertical walls, e.g. B. one Middle area of a ship or the like, a stable bracket unit can be used. That's why it is Of particular advantage that the individual masts from mast elements that are screwed together. It is also of particular advantage that on one the mast elements arranged a stabilizing device is not. With the help of this stabilization device become the masts on the steep wall docked. By constantly stacking Mast elements are masts up to a height of approximately 20 to 30 m, preferably 25 m extendable. On this stable and fixed masts can be the bracket unit along the ship's wall into the respective Working position.

It is advantageous if the mounting unit is a  Frame construction with two opposite one another Frame rails holds on which can be moved horizontally the running rail with the sliding on it Frame unit is arranged. This will at a Ship with one docked on the steep ship wall Bracket unit a very systematically implemented horizontal, vertical and led to the ship's wall Movement controlled. It is ensured that the The surface of the ship's wall is machined equally is that the surface treatment system is the exact one Contours of the ship's wall follows.

It is advantageously between the open front side of a bracket designed as a cabin unit and circumferential sealing elements Bellows device with a substantially smooth over folds formed by bellows wall elements inner wall bellows cover element arranged. This ensures that existing inclinations on the Ship area can be compensated. The inner wall Bellows cover element ensures that the upper Parts that become free from surface treatment are not in the Can fold folds of the bellows device.

It is particularly positive that the surface treatment system is enclosed by two sealing systems. On the one hand from the sealing system that the frame unit surrounds and secondly from the sealing system what's around the cabin in connection with the bellows device surrounds beyond. This double seal ensures to ensure that no abrasive substances get outside can. Under these conditions, optimally the individual sensor elements on the Arrange the frame unit so that a very sensitive and contour-based guidance of surface processing bracket element is possible.  

It is advantageous if the cabin is equipped with an exhaust air location is connected by those in the cabin finest dust paint particles, solvent vapors and the like are suction. This will guarantee Continues that everyone is inside the cabin Lichen parts of dirt and the like are free.

It is advantageous if the stabilization device from an adhesive element that with a stabilizer support element is connected. Here is the on Adhesive element advantageously with a vacuum cup a correspondingly integrated vacuum sensor. Self ver Of course, it is also possible to have other attachment elements te, such as B. on and off electromagnets clog. Comes a vacuum cup with an integrated one Vacuum sensor used, it is possible to use the respective Position the mast precisely. When applying to the A vacuum system is put into operation on the wall. Are located indentations and / or elevations on the surface gene, e.g. B. welds, this leads to a be right vacuum is not attainable. It did proven to be advantageous that docking is then safe is when 80% of the maximum possible vacuum can be reached is. On the other hand, the vacuum sensor detects that a Vacuum less than 80% occurs, the vacuum cup is on removed from this point and a new one Deposed body that meets these conditions. By this specially trained attachment element will a high stability of the respective masts and in addition, a high level of operational security for the entire Device guaranteed. Of course it is also possible such docking devices for a scaffold system and a crane construction.

It is advantageous if the sealing elements are a com Binary rubber / brush seal are. Here will a seal form that has proven itself in blasting cabins  turns, which makes it possible with high sealing properties To ensure a certain fresh air supply most. The combined gum is advantageously used Mini / brush seal with combi with additional magnets kidney. These magnets, especially permanent magnets, who preferably put on the seal and take care for the fact that they are very close to the surface of the Hugs the ship's wall and in particular an abrasive is avoided. In the manner described and The elastic support described at the outset can element be formed.

It is advantageous if the running rail essentially straight or arched with a 120 ° to 200 ° extending arc angle is formed. By these two basic elements are essentially the occurring on an airplane and on a ship Replicated outer contours. The length of the straight barrel rail essentially depends on the Length of the area to be worked, while the arc of the Track in its diameter from that of the hull or the engines is determined. It is possible that on a scaffold or a crane construction Running rails of different configurations at the same time tig work so that the service life of the aircraft or of the ship for the corresponding processing operation diminishes drastically.

It is advantageous if the running rail with limitation signalers is provided, via which the limit limit range of the frame unit is controllable. That kind of Control is always advantageous when a Univer sallaufschiene is used on which the Rah unit only to a certain length to and fro needs to move. This ensures that the respective Work done quickly and cleanly.  

The preferred surface treatment system is Commitment:

• - a stripping device;
  this can be a dry blasting capsule, a wet blasting capsule, a laser beam capsule, a machining capsule that works with a high-pressure water jet, or a capsule that uses chemical substances to remove paint or the like;
• - a masking device;
  this can be e.g. B. act as a Heißklebeeinrich device with which windows, doors and the like are covered with foils to prepare the aircraft for delamination;
• - a test facility;
  e.g. B. an X-ray device or an eddy current test device with which the individual parts of the fuselage of the aircraft or ship are examined;
• - a coating device;
  e.g. B. a painting device, with the help of which the aircraft or ship is provided with paint according to a certain prescribed scheme; A coating device can also be used as a coating device, with the aid of which the paint and other parts of the surface are to be protected against external influences;
• - a cleaning device;
  e.g. B. in the form of washing brushes, washing devices and the like.

Can also be used as surface finishing systems all devices for maintenance, care and the like in an airplane, ship or the like. Can find use.

The invention is described below with reference to the drawing  explained in more detail. The individual shows:

Fig. 1a and 1b, an apparatus for machining surfaces in a schematically illustrated side view,

FIGS. 2a and 2b a processing guide means of a device according to Fig. 1a and 1b, in a schematically illustrated plan view

Fig. 3a, 3b and 3c bearing supports a machining guide device according to Fig. 2a and 2b,

Fig. 3d shows a cross section through an elastic support member from a Bearbeitungsführungseinrich processing shown in FIGS. 2a and 2b schematically in a schematic representation,

FIG. 4a is a block diagram of a processing guide device shown in FIGS. 2a and 2b,

FIG. 4b shows a torque curve of a shoulder motor unit of a machining guide device according to Fig. 2a, 2b and 4a,

Fig. 5 is a plane of the type Boeing 747 with attached apparatus for a surface Bear processing according to Fig. 1a to 4b, seen from the front,

Fig. 6 is a plane of the same type, seen from above,

See Fig. 7, a plane of the type of Fig. 5 and 6 from the side,

Fig. 8a, 8b and 8c a schematic representation of individual units of the device according to Fig. 1a, 1b, and 5 to 7 for surface treatment,

Fig seen. 9 a portion of the running rail with a machining guide device shown in FIGS. 1a and 1b from the inside,

Fig. 10 shows the application of the device for the machining processing of an engine,

Fig. 11 is a plane of the type Boeing 747 with an attached device in a Oberflächenbearbei tung seen in another embodiment from the front,

Fig. 12 is an adjustable cab for a surface Bear processing of vessels built machining tung guide device in a schematic front view,

Fig. 13 is a ship in a schematic side view and

Fig. 14 is a schematic representation of a central ship area along the line XIII-XIII.

A device according to the invention for a surface treatment of extensive, preferably curved, outer surfaces consists of a machining guide device 8 , which is held by a mounting device.

The machining guide device 8 , as shown in FIGS. 2a and 2b, consists of two opposing vibrating rod elements 82 and 83 , at one end of which a shoulder motor unit 84 or 85 is arranged via a shoulder joint element 90 or 91 . At the opposite end of the vibrating rod element 82 , 83 is a gimbal 88 , 89 on a bracket axis 86 'with a flanged bracket element servomotor unit a surface processing beitungshalterungselement 81 movable. The surface processing mounting element carries a blasting capsule 9 , to which two blasting hoses 9.1 and two return suction hoses 9.2 lead. The universal joints 88 and 89 consist of a floating bearing element 88.1 and a fixed bearing element 89.2 according to FIGS . 3a and 3b. As a fixed bearing also the dargestell th in Fig. 3c shoulder joint elements 90 and 91 are formed. The surface processing bracket element 81 is essentially from an elastic support element 95 um, which is shown in cross section in Fig. 3b. It is a radially oval hollow tube, on the underside of which brushes are arranged for a better sealing and mounting. Due to the be sensitive to the underside of the elastic support member 95 brush elements a smooth support or a suction for air is guaranteed. In addition, four sensor elements 96.1 , 96.2 , 96.3 and 96.4 are arranged at the corners of the essentially rectangular surface processing holding element 81 . Of course, it is also possible to arrange a plurality of sensor elements, evenly and connected to or integrated into the elastic support element 95 .

The connection of the sensor and drive elements is shown in a block diagram according to FIG. 4a. Are connected to a control unit 98, the sensor elements 96.1. . . , the shoulder motor units 84 and 85 and the bracket element actuator motor unit 86 connected. Three-phase motors controlled by changing the mains voltage are used as shoulder motor units. According to the relationship

With

M engine torque
U changeable mains voltage
m implemented active power
Ω section modulus
s slip
R stator resistance

it follows that M changes quadratically with U. The tilt slip, however, remains constant. This results in the characteristic field shown in FIG. 4b. The speed can, for example, be adjusted between Ω1 and Ω2 when the resistance torque is set. The voltage change can be carried out with the help of a servomotor. To reduce the thermal load on the motor and to improve the stability, additional resistors are switched on in the rotor circuit.

The shoulder motor units 84 , 85 can also be realized by servomotors, which are implemented by digital control electronics, which are suitable for synchronous and asynchronous motors.

Instead of the voltage-controlled three-phase motors, standstill motors, such as those used for closing elevator doors, can also be used. These motors are characterized by the fact that when resistance occurs, they either stop in the closing process just beginning or open the doors of an elevator completely so that they can then be closed again. The special motors just described are also used for the mounting element servomotor unit 86 .

This special training enables contour-guided, touching or non-contact surface processing. The shoulder motor units 84 and 85 provide for an adjustment of the surface processing holder element 81 with respect to a surface to be processed. The bracket element servomotor unit 86 is used for presetting when starting. Their further operation depends on the rough configuration of the body to be processed. The control unit 98 can be formed as a computer unit or as an NC control.

The control movement of the surface processing holding element 81 takes place via the vibrating rod elements 82 and 83 . The vibrating rod members 82 and 83 are driven separately by the shoulder motor units 84 and 85 . They are controlled depending on the torque, distance and speed. Through the sensor elements 96.1,. . . Corresponding input signals are sent to the control unit 98 depending on the pressure and the path. The circumferential elastic support element 85 in the form of the profile seal already described takes at the same time as the sensor elements 96.1,. . . as pressure and / or displacement sensors, changes in the pressure and displacement in order to achieve redundancy. As a result of this construction, the surface processing mounting element 81 is guided over the aircraft or ship to be processed in a floating and true to configuration manner. Through a defined working pressure and path area, the surface machining holding element 81 is guided over the surface of the aircraft 100 or ship 21 with a constant contact force. The torque control of the shoulder motor units 84 and 85 compensate for all fluctuating moments and conforming forces of the surface treatment holder element 81 .

The described universal joint elements 88 and 89 ensure an independent contouring of the surface processing element with respect to the object to be processed by plane or ship. It is possible to additionally drive the fixed bearing element 89.2 . Due to the particularly long and driven vibrating rod elements, large distances can be bridged and spatial contours queried. The machining contour itself does not need to be programmed or saved in advance. Rather, the surface processing support element runs independently on any unknown contour in the "on-line method".

Since the elastic support element 95 is a pneumatic compression spring, it fills all spacing cavities when printed with a small amount of grease. Thanks to its special design, it ensures that no blasting agent can escape when blasting, but that air can flow through from outside to inside. Due to the cardanic positioning of the vibrating rod elements, the pneumatic seal created in this way has an infinite number of degrees of freedom and can therefore follow any contour. The vibration technology also has the advantage that it can bridge large distances. Due to the torque control of the shoulder motor units 84 and 85 , it is possible to generate a constant contact force proportional to the sealing pressure, irrespective of external disturbing forces. On the other hand, if the pressing force of the surface processing mounting element 81 rises steadily, the entire mounting axis 86 'can recede in relation to the existing engine torque M. If a maximum permissible sealing pressure is exceeded, the respective motor shoulder unit 84 or 85 operates in reverse operation and pulls the surface processing element from the surface of the ship 21 or aircraft 100 back. If the required minimum sealing pressure is undershot, the respective shoulder motor unit 83 or 85 supports the pressing process.

The processing guide device 8 described in its details and its mode of operation is held by a holding device relative to the free-standing body to be processed in the form of the ship 21 or aircraft 100 .

In FIGS. 1a, 1b and 5 to 10, a stand 1 is designed as a support means. Here, the scaffold is built laterally to the aircraft 100 , which consists of several stands 20 , 20 ', which can have different shapes. Furthermore, on the stands 20 , 20 'two hori zontale trusses 11 , 12 are housed, which extend in wesent union over the length of the aircraft 100 to be processed. In particular, the cross members 11 and 12 bridge the area of the wings 21 . The wings 21 thus do not constitute an obstacle to the processing of the fuselage surfaces.

First, the trusses 11 , 12 are on the top of the wings. But it is possible to mount such travers sen below the wings, especially if it is aircraft with wings arranged above the fuselage (high-wing aircraft).

On the trusses 11 , 12 an arcuate, the outer contour of the aircraft to be machined following track can be seen. The running rail has a width of about 10-30 cm and is carried by two rail supports 4 and 5 , which are attached to the lower and upper traverses. For example, undercut profiles, such as. B. in Fig. 2b shows ge. In the undercut profiles protrude, as can be seen in particular from FIGS. 1a, 1b, 2a and 2b, roller elements 92 , drive roller elements 93 with drive motor units 87.1 , 87.2 , 87.3 and roller elements 94 . A drive motor unit 87.4 supports the work of the blasting capsule 9 . The roller elements 92 , 93 and 94 are connected to a frame unit 97 which holds the shoulder motor units 84 and 85 or the shoulder joint elements 91 and 92 opposite one another. It is possible to guide the machining guide device in a running rail 7 or rotated by 180 ° between two running rails 7 . However, the rail bracket is provided with a rotatable head, so that it also allows the running rail to be turned peripherally to the fuselage. For example, the running rail 7 can be turned beyond the apex of the aircraft 100 or can be moved under the underside of the fuselage. Accordingly, more than the entire fuselage half can be processed from the scaffold 1 , which is constructed on only one side of the aircraft.

In the running rail 7 , details of which are shown in FIGS. 1a, 1b, 2a, 2b and 8a, the frame unit 97 , which frames the machining guide device 8 , runs and can be moved within the area given by the running rail 7 around partial areas of the aircraft fuselage . The range of movement is defined by limiting signal generator 19, which are mounted in the movement range of the frame unit 97th Corresponding elements on the frame unit 97 itself change or stop the control unit 98 and / or autonomous control mechanisms. The steel capsule 9 itself is connected to the outside world via contacts 18 via the running rail 7 and can be controlled via the control unit 98 in terms of speed, working rhythm and the like.

In the present case, the running rail 7 has an opening angle of 170 °. The crossbeams are attached at a peripheral distance of 45 °. These angles can vary depending on the aircraft type, fuselage shape and shape. It must be achieved that the radius, peripheral length and adjustability of the running rail allow it to evade in the area of the wings when it is displaced.

The scaffold 1 is provided on its upper half with a casual from 13 , which carries the cross member 12 and which is adjustable via a cable 15 , so that the exact position of the running rail 7 is adjustable. Furthermore, supports 16 are provided which ensure the stability of the stand 20 . This stability also makes it possible for an accompanying stage 2 to be attached to the scaffold 1 , which can be adjusted both in height and horizontally and / or in width. This allows an observer to move up and down on the lift so that the machining result can be observed, corrected if necessary. Obviously, it is also possible to install a camera on the surface processing element 81 which carries out an inspection of the surface in the most precise manner.

The scaffold 1 is also provided on its underside with a chassis 6 . The rollers belonging to the chassis 6 can be brought out of contact with the ground by extending the spindle supports 3 . By means of the chassis 6 , the scaffold with the running rail 7 can be pulled off the aircraft fuselage in a simple manner and moved to the other side or can be pushed onto another aircraft 100 . Costly scaffolding work is not necessary.

The running rail 7 is bent according to the part of the aircraft to be machined accordingly differently. For example, the running rail 7 for the fuselage according to FIGS. 1a, 1b and 5 has a larger radius than a running rail 7 for an engine according to FIG. 10. In FIG. 10, the machining guide device 8 is 180 ° opposite for a more functional representation the round surface of the engine to be machined. The machining guide device 8 is mounted in the manner described in the frame 1 with its details and displaceable.

The scaffold 1 is also suitable for carrying a straight running rail 17 instead of the running rail 7 , which can also be exchanged for a shortened running rail 17 '(cf. FIGS. 8b and 8c). With the differently shaped rails 17 and 17 ', the machining guide device 8 can be guided along the straight wings or the tail unit.

In Fig. 11, a crane construction 40 is shown as a mounting device. Crane track rails are held opposite each other by crane runway supports. A bridge unit runs on these crane runway rails. It is possible Lich that several such bridge units can be moved on the crane runway rails. At least one trolley unit 44 , 44 'is positioned on the respective bridge units. Each trolley unit 44 , 44 'holds a telescopic boom 45 , 45 '. As can be seen from Fig. 11, by the telescopic boom 45 and 45 'two spaced trolley units 44 and 44 ' a frame member 49 are held th. It is possible that elements 49 between a frame can be arranged a connecting strut. The frame element 49 has two parallel horizontal frame rail elements 47 and 48 which are located opposite one another. They are held by side rail elements 50 and 51 . On the side rail elements 50 and 51 , a pivot joint 46 and 46 'is arranged, on which the telescopic boom 45 and 45 ' are attached. Between the frame rail elements 47 and 48 , the running rail 7 can move back and forth. As already described, the machining guide device 8 is moved in the track itself. The main advantage of this device designed in this way is that the aircraft 100 can retract in an already universally prepared working section. When driving a, the frame structure with the help of the telescopic boom 45 and 45 'are pulled far up, so that there is an optimal space below. Due to the universal mobility over the crane rails, the crane bridge unit and the trolley units 44 and 44 ', the frame element 46 can be placed on a machining section of the respective aircraft outer wall with the help of the extendable telescopic booms 45 and 45 '. Characterized in that the side wall rail elements and the running rail 7 located thereon with the machining guide device 8 guided therein according to the invention, it is possible to process the surface 101 of the aircraft 100 in a contour-conforming manner, uniformly and without any damage.

At this point it should be noted that the holding of the frame element 49 with the machining guide device 8 movable therein is not exclusively tied to a bridge crane construction. Rather, all crane systems are conceivable that have proven themselves when transporting large objects over a large area, such as. B. gantry cranes and the like.

In Fig. 12, a movable mounting unit in the form of a free jet cabin is used as the mounting device, which consists of the following parts:

• a cabin 25
• - A self-propelled support frame 30
• - Mounted on the chassis 30 and opposite masts 28 , 29th
• - Mast climbing drives 36 and 37 carrying the masts 28 and 29, respectively.

For a surface treatment, a ship is brought out of the water in a known manner. Here, as shown in FIG. 13, the hull 1 is placed on pads 24.1,. . . 24. n set. These pales 24.1 . . . 24 .n are attached in a known manner in the bow area and possibly on the side walls. For a surface treatment, the hull 21 is divided into three sections:

• a) a bow area 21.1
  The bow area 21.1 is characterized in that its side walls have a very high inclination and the lower tip of the bow is essentially rounded or spherical.
• b) a central area 21.2
  In the central region 21.2 , a ship wall 22 is essentially vertical. Possible bevels have a very small angle.
• c) a rear area 21.3
  The stern area 21.3 , like the bow area 21.1, is characterized by a very complicated surface of the ship's wall. In addition, there is the propeller 23 , so that the surface treatment is extremely complicated in this area.
• d) a floor area 21.4
  As can be seen in particular from FIG. 14, the bottom region 21.4 is formed horizontally in its central region. As a result of this horizontal design, this floor area extends over a large area over the pads 24.1,. . . 24 .n and requires special measures for surface treatment.

The cabin 25 consists of a structure in a hollow profile construction. The roof, rear and side wall parts are clad in sheet metal and, if necessary, covered on the inside with wear-resistant rubber as protection against impacting blasting media. A bellows device can be arranged on an open front of the cabin 25 . It is intended for an environmentally friendly surface treatment. A bellows element is used for the bellows device. It consists of angled bellows wall elements. It is possible to fold the bellows wall elements from a single material. However, it is also possible to manufacture the bellows elements in a manner similar to that of a sailor's piano and to protect the corresponding kinks with side reinforcements and side reinforcements. The bellows wall elements can be individual parts that are assembled accordingly. An inner wall bellows cover element is placed on the folds thus formed. It is a smooth, continuous rubber fabric that is connected to the bellows wall elements at points of attachment. The entire bellows device is produced from this bellows element. The lower area of the bellows device is chamfered towards the cabin 25 .

The self-propelled chassis 31 has a Fahrge frame with four pendulum axles arranged thereon, two of which are equipped in the self-propelled version with hydrostatic drive via diesel engines with brake sen. Alternatively, they can also be designed without a drive. The front and rear chassis are steered synchronously with hydraulic steering transmission. The platform can be leveled continuously via hydraulic axle support cylinders.

The masts 28 and 29 each consist of mast elements 28.1 ,. . . 28 .n. A stabilizing device 27 is arranged on the uppermost mast element 28 . It consists of a stabilizing support element and a suction element arranged thereon. The suction element is a vacuum suction device with an integrated vacuum sensor.

In the cabin 25 , a machining guide device 8 shown in FIGS . 2a and 2b is accommodated. Comes z. B. a platform, a frame structure or the like. To use, this holds the machining guide 8th It is possible to use the running tracks 7 shown in FIGS . 8a, 8b, 8c. 17 , 17 'to use. The rails 7 , 17 , 17 'can be built on the scaffold 1 shown in Fig. 8a to 8c in a reduced version. Of course, it is also possible to accommodate the running rails 7 , 17 , 17 'on a frame construction with two opposite frame running rails. On these frame rails, the rail 7 , 17 , 17 'can be moved accordingly. The machining guide device 8 moves in the manner already described in the running rail 7 , 17 , 17 '.

For processing, the chassis 30 is positioned in front of the ship wall 22 in the central region 21.2 due to its special steering and standing properties. Depending on the height of the surface to be blasted, the number of mast elements 28.1 ,. . . placed on top of each other. The stabilizing device 27 is then docked onto the ship wall 2 . If the vacuum sensor shows a vacuum of less than 80% of the possible vacuum, the masts 28 and 29 are docked at another point on the ship wall by a corresponding movement of the chassis 30 . If the masts 28 and 29 are adhered to by the stabilizing device 27 , the cabin 25 is raised to the appropriate height. There, the machining guide device is put into operation and the surface of the ship's wall 22 is correspondingly scanned and scanned with the surface machining holding element. Due to the special design of the cabin 25 with corresponding sealing elements, the elastic support element 95 can be dispensed with and only the corresponding sensor elements 96.1,. . . be used.

Due to the guidance options of the machining guide device 8 according to the invention, it is also possible to process the bow region 21.1 and the rear region 21.3 accordingly with the described free jet cabin .

Not only one blasting capsule 9 can be guided from the machining holder element 8 . Rather, other devices can also be positioned that allow the surface to be stripped. Mentioned here are the wet jet process, the laser beam process, the high pressure water process or the chemical process for stripping applied layers of paint.

Can also be used as surface finishing coating system of all kinds. Here for example painting facilities are mentioned, for an even application of layers of paint worries. But conservation facilities are also considered Coating devices can be used.

However, test devices can also be used in the machining guide device 8 . X-ray devices with which certain parts of the fuselage or of the ship are monitored can be used as test facilities. In addition, eddy current testing devices can also be used, with the exact displaceability above the surface both in the vertical horizontal and in the spaced direction relative to the surface at specific selected locations, the corresponding electrode for the eddy current testing can be set in a very targeted manner.

A masking device can also be used on the machining guide device 8 . This masking device could, for. B. be a hot glue device. With the help of this hot glue device, very specific parts in the fuselage, such as windows and the like, can be taped during blasting and painting work.

It can also be used in the machining guide direction a surface cleaning device, such as. B. a rotating brush, a car wash or the same.

In summary, it can be stated that with the machining guide device, a contour-guided surface machining is possible. Through the shoulder motor units 84 and 85 in cooperation with the cardan steering elements 88 and 89 and the shoulder joint elements 90 and 91, the surface treatment holder element is set at a very specific and defined distance from the surface of the ship wall 21 or aircraft wall 101 to be processed. Together with the holding device 1 , 25 ,. . . , 40 it is possible, using an exact vertical and horizontal displacement, to position a surface processing system simply and precisely and, above all, to perform it in a very precise contour, so that the surface processing, whether in layers, coating, masking or testing, can be carried out very precisely .

Reference list

1 scaffold
2 accompanying stage
3 spindle support
6 chassis
7 , 17 , 17 ' track
8 machining guide device
9 blasting capsules
9.1 Blasting hose
9.2 Return hose
11 traverse
12 traverse
13 outriggers
14 cable
15 , 16 supports
18 contacts
19 Limit switch
20 , 20 ′ stand
21 hull
21.1 bow area
21.2 middle section
21.3 Rear area
21.4 Floor area
22 ship wall
23 propeller
24.1 . . . 24 .n pallen
25 cabin
27 stabilizing device
28 mast
28.1 . . . 28 .n mast element
29 mast
30 chassis
36 Mast climbing drive
37 Mast climbing drive
40 crane construction
44 , 44 ′ trolley unit
45 , 45 ′ telescopic boom
46 , 46 ' swivel
47 , 48 frame rail element
49 frame element
50 , 51 frame rail element
81 Surface processing bracket element
82 , 83 swing rod element
84 , 85 shoulder motor unit
86 Bracket actuator unit
86 ′ bracket axis
87.1. . . Drive motor unit
88 universal joint element
89 universal joint element
88.1 Floating bearing element
89.2 Fixed bearing element
90 , 91 shoulder joint element
92 roller element
93 drive roller element
94 roller element
95 elastic support element
96.1. . . Sensor element
97 frame unit
98 control unit
100 aircraft
101 aircraft wall

Claims (26)

1. Device for the surface treatment of extensive, preferably curved surfaces, in particular hull outer surfaces of ships ( 21 ) and aircraft ( 100 )

• - In the opposite of the surface ( 22 , 101 ) a mounting device ( 1 , 11 , 12 , 7 , 17 , 17 '; 25 , 27 , 28 , 29 , 30 , 36 , 37 ; 40 , 44 , 44 ', 45 , 45 ′, 46 , 46 ′, 47 , 48 , 49 , 50 , 51 ; 87.1 , ... 93, 94, 97 ) is arranged,
• - When on the mounting device ( 1 , 11 , 12 , 7 , 17 , 17 '; 25 , 27 , 28 , 29 , 30 , 36 , 37 ; 40 , 44 , 44 ', 45 , 45 ', 46 , 46 ' , 47 , 48 , 49 , 50 , 51 ; 87.1 , 93 , 94 , 97 ) in a first shoulder joint element ( 90 ) a first oscillating rod element ( 82 ) coupled to a first shoulder motor unit ( 84 ) and in a second shoulder joint element ( 91 ) one with a second vibrating rod element ( 83 ) coupled to a second shoulder motor unit ( 85 ) is held in a variable position,
• - At the surface processing holding element ( 81 ), which holds at least one surface processing system ( 9 ), on its actuating axis ( 86 ', 86 ) via a first joint element ( 88 ), the first rocker rod element ( 82 ) and a second joint element ( 89 ) the second Schwingstan gene element ( 83 ) is arranged and
• - In which on the surface processing element ( 81 ) a support actuator unit ( 95 , 96.1 , ... 96.4 ) is arranged, which are connected to a central control unit or the shoulder motor units ( 84 , 85 ) associated with the control unit ( 98 ), which generates a torque ( M) of the respective shoulder motor unit ( 84 , 85 ) as a function of the force distribution acting on the support unit ( 95 , 96.1 , ... 96.4 ) relative to the surface ( 22 , 101 ).

2. Apparatus according to claim 1, characterized in that the support actuating unit as a surface processing support element ( 81 ) at least partially surrounding elastic support element ( 95 ) and / or at least one sensor element arranged thereon ( 96.1 , ... 96.4 ) is trained. 3. Apparatus according to claim 1 or 2, characterized in that the sensor elements ( 96.1 , ... 96.4 ), the two shoulder motor units ( 84 , 85 ) and one on a mounting axis ( 86 ') arranged mounting element actuator unit ( 86 ), the form the support actuator unit, are linked to the control unit ( 98 ) in such a way that the control unit ( 98 )

• a) the pressing forces determined by the sensor elements ( 96.1 , .... 96.4 ) are absorbed between the surface machining holder element ( 81 ) and the surface to be machined ( 22 ; 101 ),
• b) an average pressing force and the acting force distribution are determined from the applied pressing forces,
• c) on the basis of the determined average pressing force, the mounting element servomotor unit ( 86 ), the upper surface processing mounting element ( 81 ) is brought up to the surface to be processed ( 22 ; 101 ) and
• d) based on the acting force distribution, the torque (M) of the shoulder motor units ( 84 , 85 ) is controlled in such a way that an essentially equal pressing force is set on all sensor elements ( 96.1 , ... 96.4 ).

4. Apparatus according to claim 1 to 3, characterized in that

• - That the mounting device is designed as a carrier system ( 1 ; 14 ) which has at least one horizontal career ( 11 , 12 ; 47 , 48 ) which extends essentially over the length of the parts of the aircraft ( 100 ) to be processed,
• - That the carrier system ( 1 ; 14 ) an outer contour of the surface ( 101 ) of the aircraft to be machined ( 100 ) following vertical track ( 7 , 17 , 17 ') holds on the horizontal track ( 11 , 12 ; 47 , 48 ) is displaceable, and
• - That on the running rail ( 7 , 17 , 17 ') a frame unit ( 97 ) is displaceable, on which the shoulder motor units ( 84 , 85 ) and the shoulder joint members ( 90 , 91 ) are arranged opposite one another.

5. The device according to claim 1 to 4, characterized in that

• - That with a scaffold ( 1 ) as a carrier system as a hori zontal career two spaced traverses ( 11 , 12 ) are present and
• - That the trusses ( 11 , 12 ) have a rail ( 7 , 17 , 17 ') carrying transition ( 4 , 5 ), the displacement of the rail ( 7 , 17 , 17 ') on the horizontal trusses ( 11 , 12th ) allowed.

6. Device according to one of claims 1 to 5, characterized in that the cross member ( 11 ) in the loading area of the middle and the other cross member ( 12 ) is arranged in the loading area of the apex line of the flight tool to be processed. 7. Device according to one of claims 1 to 6, characterized in that the peripheral distance between the cross members ( 11 , 12 ) along the running rail ( 7 , 17 , 17 ') is between 45 ° and 90 °. 8. Device according to one of claims 1 to 7, characterized in that the frame ( 1 ) is provided with a height-adjustable work platform ( 2 ). 9. The device according to claim 8, characterized in that the working platform ( 2 ) is adjustable in the horizontal direction and / or in its width. 10. The device according to claim 1 to 4, characterized in that in a crane construction ( 40 ) as a carrier system at least one telescopic boom ( 45 , 45 ') has a frame element ( 49 ) with two spaced-apart frame rail elements ( 47 , 48 ) as hori zonal career in at least one hinge ( 46 ) holds on which the track ( 7 , 17 , 17 ') is movable bar. 11. The device according to claim 1 to 4 and 10, characterized in that the crane construction ( 40 ) from two rail supports held and spaced apart crane rail tracks with at least one movable on them bridge unit and at least one movable on the bridge unit trolley unit ( 44 , 44 ' ) exists, the trolley unit ( 44 , 44 ') holding the telescopic boom ( 45 , 45 '). 12. The apparatus according to claim 1 to 4, characterized in that the holder device from

• - one relative to the surface, e.g. B. to the ship's wall ( 22 ), movable mounting unit ( 25 ),
• - With at least one support ( 28 , 29 ) provided with a chassis ( 30 ), whereby the mounting unit ( 25 ) can be moved along the ship ( 21 ),
• - The support being designed as two masts ( 28 ; 29 ) which can be extended vertically upwards from the chassis ( 30 ) by means of mast elements ( 28.1 ,...).

13. The apparatus of claim 1 to 4 and 12, characterized in that on at least one mast element ( 28.1 ,...) A stabilizing device ( 27 ) is arranged to the ship's wall ( 22 ). 14. The apparatus of claim 1 to 4 and 12 to 13, characterized in that the mounting unit ( 25 ) is connected to the masts ( 28 ; 29 ) by mast tower drives ( 36 ; 37 ) arranged at their opposite ends. 15. The apparatus of claim 1 to 4 and 12 to 14, characterized in that in the mounting unit (25) holds a frame construction with two opposite frame rails, on which the rail ( 7 , 17 , 17 ') can be moved horizontally with the on it displaceable frame unit ( 97 ) is arranged. 16. The apparatus of claim 1 to 4 and 12 to 15, characterized in that in a bracket unit designed as a cabin ( 25 ) between the open front of the cabin ( 25 ) and circumferential sealing elements, a bellows device with a substantially smooth folds formed by bellows wall elements adhesive inner wall bellows cover element is arranged. 17. The apparatus according to claim 16, characterized in that the cabin ( 25 ) is connected with an exhaust air system, through which in the cabin ( 25 ) finest dust paint particles, solvent vapors and the like can be extracted. 18. The apparatus according to claim 16, characterized in that the stabilizing device ( 27 ) consists of an adhesive element which is connected to a stabilizer support element. 19. Device according to one of the preceding claims, characterized in that the sealing elements or the support element ( 95 ) are a combined rubber / brush seal. 20. The apparatus according to claim 19, characterized in net that the combined rubber / brush seal additionally with magnets, preferably permanent magnets, is provided. 21. Device according to one of claims 1 to 20, characterized in that the running rail

• - Essentially straight (track 17, 17 ') or
• - Arc-shaped with an arc angle extending over 120 ° to 200 ° (running rail 7 )

is trained. 22. The device according to one of claims 1 to 21, characterized in that the frame unit ( 97 ) with driven drive roller elements ( 93 ) on the running rail ( 7 , 17 , 17 ') is arranged movably. 23. The device according to one of claims 1 to 22, characterized in that the running rail ( 7 , 17 , 17 ') is provided with limit signal transmitters ( 19 ), via which the boundary region of the frame unit ( 97 ) can be controlled. 24. Device according to one of claims 1 to 23, characterized in that the surface processing system

• - A stripping device, e.g. B. a dry blasting capsule ( 8 ), a wet blasting capsule, a laser blasting capsule, a high pressure water capsule, a chemical capsule or the like,
• - A masking device, e.g. B. a hot glue device or the like,
• - A test facility, e.g. B. an X-ray device, an eddy current test device or the like,
• - A cleaning device, e.g. B. rotating Bür or the like,
• - A coating device, e.g. B. a painting device, a preservation device or the like

is.