WO1991014539A1 - Systeme robotise pour enlever la peinture - Google Patents

Systeme robotise pour enlever la peinture Download PDF

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Publication number
WO1991014539A1
WO1991014539A1 PCT/US1991/002047 US9102047W WO9114539A1 WO 1991014539 A1 WO1991014539 A1 WO 1991014539A1 US 9102047 W US9102047 W US 9102047W WO 9114539 A1 WO9114539 A1 WO 9114539A1
Authority
WO
WIPO (PCT)
Prior art keywords
support means
robotic system
axis
aircraft
vertical support
Prior art date
Application number
PCT/US1991/002047
Other languages
English (en)
Inventor
Orin M. Anderson
James A. Luckemeyer
Ernest A. Franke
Thomas G. Ii Whitney
Original Assignee
Southwest Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southwest Research Institute filed Critical Southwest Research Institute
Publication of WO1991014539A1 publication Critical patent/WO1991014539A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/04—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other stationary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway

Definitions

  • the present invention relates generally to the field of automated paint stripping systems. More specifically, the present invention ' provides an improved robotic system for removing paint from the surface of an aircraft.
  • the six axis arm is used for coordinated motion and shoulder rotation of the a ⁇ iculated arm.
  • the six axis arm is used for coordinated motion when moving into position and adaptive control of robotic process variables during blasting operations.
  • the tool roll is used to change the orientation of the blast nozzles for either a horizontal or vertical presentation to the surface.
  • FIG. 1 is a perspective view of the robotic system implemented in the automated paint stripping system of the present invention.
  • FIG. 2 is a plan view of the robotic paint stripping system housed in an aircraft hangar.
  • FIG. 1 is an illustration of the robotic system implemented in the automated paint stripping system of the present invention.
  • Plastic media blast material is delivered to the surface of the aircraft via a three nozzle end effector 12 supported " on an articulated arm 14, discussed in greater detail below.
  • a storage 16 for containing plastic media blast material is attached to a traction vehicle (traveler) 18 which is the main suppo ⁇ frame for the robotic system.
  • the traveler 18 is provided with a system of rollers (not shown) which allows the frame to traverse along a first axis defined by a track 20, which runs the length of the hangar adjacent to the wall of the hangar.
  • a second axis hereinafter sometimes referred to as the "column pivot," is defined by upper hinge 22a which connects upper swing arm 26a to triangular frame member 18a, and by lower hinge 22b which connects lower swing arm 26b.
  • a third axis is defined by ve ⁇ ical column 28 which is supported by upper and lower swing arms 26a and 26b, respectively.
  • the articulated arm assembly is secured to the column 28 via an annular collar 30 comprising a gear assembly.
  • the rotation of the articulated arm 14 about the column 28 defines a fourth axis, which is referred to as the shoulder axis of the articulated arm.
  • the articulated arm comprises a primary beam 32 and a secondary beam 34.
  • the robot system 10 has a total of nine degrees of freedom consisting of two automatic positioner axes (axes 1-2), a six axis articulated arm (axes 3-8), and a one axis tool roll (axis 9).
  • the track mounted wall travel automatically positions the pivoting column and a ⁇ iculated arm as required during the stripping operations.
  • the column pivot is used to position the a ⁇ iculated arm adjacent to the aircraft and retract the arm to a folded position to allow the entire robot passage by the aircraft wing tip.
  • the repositionable column provides a base for the vertical motion and shoulder rotation of the articulated arm.
  • the six axis , aim is used for coordinated motion and shoulder rotation of the articulated arm.
  • the six axis arm is used for coordinated motion when moving into position and adaptive control of robotic process variables during blasting operations.
  • the tool roll is used to change the orientation of the blast nozzles for either a horizontal or vertical presentation to the surface. All nine axes use zero backlash harmonic drives powered by DC brushless servo motors.
  • Absolute resolvers are used to provide positional feedback of the axis and drive motor files commutation requirements for the servo amplifiers.
  • a control computer directs the robots along paths that have been pretaught for each type of aircraft. As the robots folfow these paths, sensors on the end effectors monitor distance to the surface and one computer will modify the path in real-time to maintain the -required stand-off distance. Each robot will manipulate an end effector that includes three blast nozzles and sensors. As the robot slowly moves the nozzles over the surface, paint sensors will scan the area being stripped. The sensor data will be analyzed to determine the amount of paint being removed..

Abstract

Un système robotisé et automatisé, destiné à enlever la peinture, enlève efficacement la peinture de la surface d'un avion et peut être installé dans un hangar ou une cabine aménagée à cet effet dans un minimum d'espace. Le système robotisé possède en tout neuf degrés de liberté qui comprennent deux axes de positionnement automatique (1, 2), un bras articulé à six axes (14), et un cylindre à outil à un axe (36). Un chariot mural monté sur une piste met automatiquement en position la colonne pivotante (28) et le bras articulé (14) ainsi qu'il est requis au cours de l'opération. Le pivot de la colonne est utilisé pour mettre en position le bras articulé contigu à l'avion et pour rentrer le bras en une position repliée afin de permettre au robot tout entier de passer à côté de l'extrémité de l'aile de l'avion.
PCT/US1991/002047 1990-03-27 1991-03-27 Systeme robotise pour enlever la peinture WO1991014539A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US50003890A 1990-03-27 1990-03-27
US500,038 1995-07-10

Publications (1)

Publication Number Publication Date
WO1991014539A1 true WO1991014539A1 (fr) 1991-10-03

Family

ID=23987781

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1991/002047 WO1991014539A1 (fr) 1990-03-27 1991-03-27 Systeme robotise pour enlever la peinture

Country Status (1)

Country Link
WO (1) WO1991014539A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2686540A1 (fr) * 1992-01-29 1993-07-30 Sisson Lehmann Perfectionnements aux machines a grenailler.
WO1996036461A1 (fr) * 1995-05-19 1996-11-21 Waterjet Systems, Inc. Systeme robotique mobile
WO1998051452A1 (fr) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Application d'une technologie d'automatisme industriel pour systeme automatise de decapage de peinture par milieu sec
FR2802127A1 (fr) * 1999-12-09 2001-06-15 Biodecap Ind Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
WO2002000363A2 (fr) * 2000-06-23 2002-01-03 Dennie Mcguire Systeme robotique de decapage de peinture d'automobile
FR2837123A1 (fr) * 2002-03-15 2003-09-19 Aero Strip Procede de decapage de surfaces en materiau metallique ou composite, recouvertes d'un revetement et systeme de mise en oeuvre du procede pour le decapage d'engins de transport
EP2426458A1 (fr) * 2010-09-01 2012-03-07 Hermann Eiblmeier Dispositif de mesure d'une pièce usinée
KR101138365B1 (ko) * 2009-04-06 2012-04-26 삼성중공업 주식회사 자율이동장치에 탑재되는 블라스팅 장치 및 블라스팅 장치가 탑재된 자율이동장치
US20130109277A1 (en) * 2011-11-02 2013-05-02 The Boeing Company Robotic end effector including multiple abrasion tools
KR20160014585A (ko) * 2013-03-15 2016-02-11 카네기 멜론 유니버시티 복잡한 표면을 관찰하고 처리하기 위한 관리 자동 로봇 장치
WO2020126129A1 (fr) * 2018-12-19 2020-06-25 Broetje-Automation Gmbh Plateforme robotique mobile

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3911849A (en) * 1973-02-01 1975-10-14 Paul Hammelmann Apparatus for external treatment of ships{3 {0 hulls or the like
US4802800A (en) * 1987-10-05 1989-02-07 Robotic Vision Systems, Inc. Passive positioning apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3911849A (en) * 1973-02-01 1975-10-14 Paul Hammelmann Apparatus for external treatment of ships{3 {0 hulls or the like
US4802800A (en) * 1987-10-05 1989-02-07 Robotic Vision Systems, Inc. Passive positioning apparatus

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2686540A1 (fr) * 1992-01-29 1993-07-30 Sisson Lehmann Perfectionnements aux machines a grenailler.
WO1996036461A1 (fr) * 1995-05-19 1996-11-21 Waterjet Systems, Inc. Systeme robotique mobile
WO1998051452A1 (fr) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Application d'une technologie d'automatisme industriel pour systeme automatise de decapage de peinture par milieu sec
FR2802127A1 (fr) * 1999-12-09 2001-06-15 Biodecap Ind Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
WO2001041938A3 (fr) * 1999-12-09 2002-04-11 Biodecap Ind S A Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
WO2002000363A2 (fr) * 2000-06-23 2002-01-03 Dennie Mcguire Systeme robotique de decapage de peinture d'automobile
WO2002000363A3 (fr) * 2000-06-23 2002-04-04 Dennie Mcguire Systeme robotique de decapage de peinture d'automobile
FR2837123A1 (fr) * 2002-03-15 2003-09-19 Aero Strip Procede de decapage de surfaces en materiau metallique ou composite, recouvertes d'un revetement et systeme de mise en oeuvre du procede pour le decapage d'engins de transport
WO2003078105A2 (fr) * 2002-03-15 2003-09-25 Aero Strip Procede de decapage de surfaces en materiau metallique ou composite, recouverte d'un revetement et systeme de mise en oeuvre du procede pour le decapage d'engins de transport
WO2003078105A3 (fr) * 2002-03-15 2004-04-15 Aero Strip Procede de decapage de surfaces en materiau metallique ou composite, recouverte d'un revetement et systeme de mise en oeuvre du procede pour le decapage d'engins de transport
KR101138365B1 (ko) * 2009-04-06 2012-04-26 삼성중공업 주식회사 자율이동장치에 탑재되는 블라스팅 장치 및 블라스팅 장치가 탑재된 자율이동장치
EP2426458A1 (fr) * 2010-09-01 2012-03-07 Hermann Eiblmeier Dispositif de mesure d'une pièce usinée
US20130109277A1 (en) * 2011-11-02 2013-05-02 The Boeing Company Robotic end effector including multiple abrasion tools
EP2589463A3 (fr) * 2011-11-02 2014-05-14 The Boeing Company Effecteur d'extrémité robotique comprenant de multiples outils d'abrasion
US10035237B2 (en) 2011-11-02 2018-07-31 The Boeing Company Robotic end effector including multiple abrasion tools
KR20160014585A (ko) * 2013-03-15 2016-02-11 카네기 멜론 유니버시티 복잡한 표면을 관찰하고 처리하기 위한 관리 자동 로봇 장치
EP2973074A4 (fr) * 2013-03-15 2016-11-16 Univ Carnegie Mellon Système robotisé autonome supervisé destiné à l'inspection et au traitement de surface complexe
US9796089B2 (en) 2013-03-15 2017-10-24 Carnegie Mellon University Supervised autonomous robotic system for complex surface inspection and processing
KR102211010B1 (ko) * 2013-03-15 2021-02-02 카네기 멜론 유니버시티 복잡한 표면을 관찰하고 처리하기 위한 관리 자동 로봇 장치
WO2020126129A1 (fr) * 2018-12-19 2020-06-25 Broetje-Automation Gmbh Plateforme robotique mobile

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