WO1996036461A1 - Systeme robotique mobile - Google Patents

Systeme robotique mobile Download PDF

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Publication number
WO1996036461A1
WO1996036461A1 PCT/US1996/006716 US9606716W WO9636461A1 WO 1996036461 A1 WO1996036461 A1 WO 1996036461A1 US 9606716 W US9606716 W US 9606716W WO 9636461 A1 WO9636461 A1 WO 9636461A1
Authority
WO
WIPO (PCT)
Prior art keywords
transporter
aircraft
subsystem
robot
robotic system
Prior art date
Application number
PCT/US1996/006716
Other languages
English (en)
Inventor
David L. Robertson
Daryl K. Hathaway
Richard S. Brolliar
Donald V. Merrifield
Original Assignee
Waterjet Systems, Inc.
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 Waterjet Systems, Inc. filed Critical Waterjet Systems, Inc.
Priority to JP8534928A priority Critical patent/JPH10503144A/ja
Priority to KR1019970700332A priority patent/KR970704554A/ko
Priority to EP96915705A priority patent/EP0776264A1/fr
Publication of WO1996036461A1 publication Critical patent/WO1996036461A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44D—PAINTING OR ARTISTIC DRAWING, NOT OTHERWISE PROVIDED FOR; PRESERVING PAINTINGS; SURFACE TREATMENT TO OBTAIN SPECIAL ARTISTIC SURFACE EFFECTS OR FINISHES
    • B44D3/00—Accessories or implements for use in connection with painting or artistic drawing, not otherwise provided for; Methods or devices for colour determination, selection, or synthesis, e.g. use of colour tables
    • B44D3/16—Implements or apparatus for removing dry paint from surfaces, e.g. by scraping, by burning
    • 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
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/30—Cleaning aircraft

Definitions

  • This application relates to mobile roDotic systems ana, more particuiarty, to a large mobile robotic system inciuding a robot subsystem for delivering high pressure water to remove paint from the surface of an aircraft.
  • paint removal methods are currently employed for large aircraft, all of which are time-consuming, costly and labor-intensive.
  • One common paint removal method is chemical stripping which typically utilizes methylene chloride based strippers which are environmentally unsound.
  • methylene chloride based strippers which are environmentally unsound.
  • a large crew of workers In order to remove paint from the aircraft with a chemical stripper, a large crew of workers must first wash the aircraft to remove oil, grease and other surface contamination. Components not requiring paint stripping are then removed or covered with aluminum tape before applying the chemical stripper. The chemical stripper is then either manually brushed or sprayed onto the aircraft's surface and is left for approximately 30 minutes until the paint is softened and lifts from the substrate.
  • chemical stripping does not generally cause substrate damage when used on aircraft constructed of metal or aluminum, but can not be used on composite structures consisting of epoxy and graphite, two materials which are being used on modern aircraft with increased frequency.
  • the excess solvent and paint is removed by the work crew utilizing hard rubber scrapers, with residual solvent and paint being removed by a water rinse.
  • the stripping process is repeated until the chemical stripper is no longer acting to remove the paint.
  • manual scraping with wire brushes or sandpaper is used to remove the remaining paint, thereby finishing the removal process.
  • On a large aircraft chemical stripping is very labor-intensive and as a result is very time-consuming and costly.
  • the chemical stripping process involves exposing the crews to potentially toxic methylene chloride based chemicals and paint dust in a closed environment, such as an aircraft hanger, for prolonged periods of time.
  • a closed environment such as an aircraft hanger
  • workers must wear disposable protective gearing which inhibits the workers mobility and comfort.
  • Chemical stripping further produces large amounts of hazardous waste which must be disposed of after stripping .
  • the present application provides for a mobile robotic system which is remotely operable and which delivers high pressure water to remove paint from the surface of an aircraft, without damaging the substrate.
  • a robotic system capable of stripping paint from a large aircraft and including a utility boom, a moveable transporter and robotic subsystem having a vertically extending column which interfaces with a horizontally extending arm to deliver high pressure water to the skin of the aircraft.
  • Fig. 1 is a right side view of the robotic system of the present application in use with an aircraft;
  • Fig. 2 is a perspective view, partly broken away showing jacking system 20 of the transporter of the present application
  • Fig. 3 is a right side plan view of the robotic system of the present application
  • Fig. 4 is a left side plan view of the robotic system of the present application.
  • Fig. 5 is a rear view of the robotic system of the present application
  • Fig. 6 is a front view of the robotic system of the present application
  • Fig. 7a is an enlarged right side view showing the carriage assembly of the robotic system of the present application.
  • Fig. 7b is an end view taken along line 7B, 7B of Fig. 7c;
  • Fig. 7c is a front view, with robotic arm removed, showing the carriage assembly of the robotic system of the present application;
  • Fig. 8 shows the various degrees of freedom of the robotic system of the present application
  • Fig. 9a is a right side plan view of the robotic arm with manipulator removed;
  • Fig. 9b is a side view showing the internal reinforcement of the inner robotic arm;
  • Fig. 9c is a side view, in partial cross section of center joint assembly of the robotic arm.
  • Fig. 9d is a top view, partially broken away of the bearing assembly of center joint assembly
  • Fig. 9e is a top view illustrating the internal reinforcement of the outer robotic arm
  • Fig. 10 illustrates a cross section of mapping and painting effectors
  • Fig. 11 is a top view showing aircraft 2 and route for transporter of the robotic system of the present application
  • Fig. 12 is a top view of the robotic system of the present application showing the robotic subsystem in a stowed position
  • Fig. 13 illustrates the work envelope of robotic system 10.
  • Fig. 1 there is illustrated a right side view a mobile robotic system 10 according to one embodiment of the present application.
  • the robotic system 10 is preferably adapted for use with a large aircraft 12.
  • Fig. 3 a right side view of robotic system 10 is shown.
  • Robotic system 10 includes transporter 20, robot subsystem 30 and utility boom 40.
  • Robot subsystem 30 further includes column 50, a selective compliant assembly robot arm (SCARA) 70, manipulator 90 and end effector 100.
  • SCARA selective compliant assembly robot arm
  • robotic system 10 is approximately 33 ft in height, not including utility boom 40 and robot arm 70 has a horizontal reach of approximately 28 feet.
  • transporter 20 is a high-capacity automatic guided vehicle (AGV) which is a conventional AGV that has been modified for application with robot subsystem 30.
  • AGV automatic guided vehicle
  • Conventional automatic guided vehicles are available from a number of suppliers, including Mentor AGV, located in Mentor, Ohio.
  • Transporter 20 is programmed to follow a preset guide path and operates to position robot subsystem 30 at predetermined work positions around aircraft 12.
  • Transporter 20 has a structural stiffness sufficient to provide a stable base and support for subsystem 30 while also providing transporter 20 with mobility.
  • Transporter 20 preferably includes a drive system (not shown), steering system (not shown) and jacking system 22 (Fig. 2).
  • the transporter drive system includes a plurality of wheels 24 which provide transporter 20 with the capability to move from one location to another around aircraft 12.
  • Transporter 20 travels along a predetermined path following guidewires 23 placed in floor 26 around the aircraft 12 (Fig. 1 ).
  • transporter 20 preferably includes ten wheels, eight of the wheels are designed as load bearing casters and two of the wheels are drive wheels which include steering components.
  • Transporter 20 may be designed with any number of wheels, as long as robot subsystem 30 is provided with adequate support and maneuverability.
  • transporter steering system (not shown), as is known in the art, which preferably includes an off-board vehicle controller (not shown) that generates a reference signal into guidewires 23 which transmit the signal to separate antennas (not shown) mounted on the leading edge of each drive wheel.
  • vehicle controller not shown
  • the antennas provide the reference amplitude signals used by the vehicle controller in commanding forward and reverse motion of transporter 20.
  • steering systems including direct drive torque hubs and laser guidance vehicle controllers may alternatively be utilized with transporter 20.
  • Jacking system 22 of transporter 20 is illustrated.
  • Jacking system 22 is designed to provide robot subsystem 30 with a stable, level platform and as such is preferably designed according to the dimensional configurations of robot subsystem 30 along with the preferred application for subsystem 30.
  • Jacking system 22 includes a plurality of jacks 22a which operate to raise transporter 20 off the floor thereby providing robot subsystem 30 with a level working platform.
  • jacking system 22 preferably includes four, independently driven hydraulic jacks which raise transporter 20 approximately 1/2" off the floor.
  • Transport 20 is preferably made of a material such as steel, but may be constructed of any material which would allow robot subsystem 30 to be both stabile and mobile.
  • the approximate combined weight of subsystem 30 and transporter 20 is about 60,000 lbs.
  • Transporter 20 can travel at speeds up to about 75 ft/min in a straight line, with 40 ft min being the preferred operating speed, and up to about 20 ft/ min while turning, with 15-18 ft/min being the preferred turning speed in the present embodiment.
  • the width of transporter 20 is preferably between approximately 8-12 feet, with 10 feet being the most preferred width.
  • the overall length of the transporter is between about 18-28 feet, with approximately 23 1/2 feet being the most preferred length.
  • the height of transporter 20 is preferably between about 2-4 feet with approximately 3 feet being the most preferred height. Since transporter 20 is designed according to the dimensional configurations of robot subsystem 30, along with the preferred application for subsystem 30, the exact dimensional configurations of transporter 20 may vary from one robot subsystem 30 design to another and from one application to another.
  • transporter 20 also preferably includes a collision avoidance system (not shown).
  • the collision avoidance system preferably includes front and rear opposing bumpers 28a and 28b respectively, side edge sensors 27a, 27b and front and rear detection sensors 29a, 29b (Figs. 5-6).
  • Bumpers 28a, b are preferably hoop-type bumpers which begin approximately 2-5 inches above the floor and extend to between 10-14 inches in height. In the present embodiment bumpers 28a, b are about 3.5 inches above the floor and approximately 12 inches in height.
  • An object contacting bumpers 28 wiil cause the transporter 20 to stop within approximately 4 inches of initial contact with the object, when the transporter 20 is traveling at a rate of about 40 ft min.
  • side edge sensors 27a, 27b are preferably photoelectric sensors having both transmitting and receiving capabilities. Interruption of a beam emitted from the sensors will cause the transporter 20 to stop within 4 inches of interruption when the transporter is traveling at about 40 ft/min.
  • transporter detection sensors 29, 29b are preferably dual range, infra red obstacle detection sensors of a type known in the art, which can detect objects from a predetermined range.
  • the detection sensors are preferably configured such that an object detected approximately 8 feet away from transporter 20 will cause the transporter 20 to slow down, while an object detected approximately 3 feet away will cause the transporter to come to a controlled stop.
  • the transporter detection sensors are also preferably travel direction sensitive and are inactive when transporter 20 is stationary.
  • robot subsystem 30 is mounted to transporter 20 by a turntable 52 which provides support for subsystem 30 while also allowing the subsystem 30 to rotate about vertical axis "A".
  • Turntable 52 includes a rotatable column mount plate 52a which is mounted to column 50 and a bearing mount structure 52b which is mounted to deck 25 of transporter 20 in any suitable manner, e.g. bolts.
  • Turntable 52 is electrically connected to a pair of drive motors (not shown) which are housed within cover 54. The drive motors provide the power to drive turntable 52.
  • Rotation of column mount plate 52a is mechanically accomplished by gearing (not shown), which can drive robot subsystem 30 to a rotation speed of approximately 3 rpm, with the preferred operating speed being below about 1 rpm.
  • robot subsystem 30 is mounted to turntable 52 in the present embodiment, subsystem 30 may be mounted to transporter 20 in any suitable manner which would provide support for robot subsystem 30 while allowing for rotation of subsystem 30.
  • column 50 extends substantially vertically from transporter 20, approximately 24 - 36 feet, as measured from the interface 55 with transporter 20 to the top 56 of the column 50, with about 30 feet being the preferred height in the present embodiment.
  • column 50 is constructed of steel, but it may be constructed of any alternative material which will provide the column with structural stability, while allowing it to be mobile.
  • Column 50 is preferably rectangular in shape and includes first and second, generally parallel, opposing sides 57a and 57b (Fig. 4) respectively, which are joined at approximately 90° to third and fourth generally parallel, opposing sides 58a (Fig. 5) and 58b (Fig. 6), respectively.
  • sides 57a, b and 58a, b are preferably joined by bolts, but may be joined or fabricated in any suitable manner.
  • end effector racks 59 mounted to first side 57a. In the present embodiment, approximately four different end effectors can be stored in these racks for use with manipulator 90.
  • End effector racks 59 are an optional storage element of robot subsystem 30.
  • cable carrying track 60 is also disposed on side 57a. Utilities which are fed from the utility boom 40 are inserted through a slip ring assembly 62, through carrying track 60 and into robot arm 70.
  • access bays 1a and 6a which provide access to the lower and upper chambers (not shown) respectively, disposed within column 50.
  • the upper chamber of column 50 houses electrical junction boxes and other connections while the lower chamber houses electrical connections to the transporter 20 and to turntable drive motors.
  • FIG. 4 there is illustrated a left side view of robot subsystem 30 showing second side 57b.
  • Side 57b preferably includes an upper access bay 6b for access to the upper chamber and a lower access bay 1 b for access to the lower chamber of column 50.
  • Side 57b further preferably includes intermediate access bays 2b, 3b, 4b and 5b disposed between upper and lower access bays 6b, 1 b.
  • Access bay 4b provides access to a chamber disposed in column 50 which contains a process controller.
  • Access bays 2b and 3b provide access to a chamber containing robot controller which is disposed within column 50.
  • access bay 5b provides access to a hydraulic unit for nozzle rotation disposed within column 50. The number and location of the access bays will vary depending upon the design of column 50 and the location of the various electrical connections and controls within the column.
  • FIG. 5 there is illustrated a rear view of robot subsystem 30 showing third side 58a.
  • Side 58a supports electrical wireway, conduit and pneumatic piping (none shown) to column 50.
  • Side 58a preferably includes a cover which shields the electrical wireway, conduit and pneumatic piping from the working environment.
  • Fig. 6 there is illustrated a front view of robot subsystem 30 showing fourth side 58b.
  • gear rack 64 Extending vertically along substantially the length of side 58b is gear rack 64.
  • Gear rack 64 includes a plurality of gear teeth 65 which are disposed along gear rack 64.
  • bearing rails 66a, b Located on either side of gear rack 64 are bearing rails 66a, b.
  • Gear rack 64 and bearing rails 66a, b are mounted to side 58b of column 50 in any suitable manner, e.g. bolts.
  • a carriage assembly 68 which includes a plate member 72, pinions 74a, b, bearing tracks 76a, b and dual direct drive motors 78a, b.
  • Bearing rails 66a, b of column 50 interface with carriage bearing tracks 76a, b to guide carriage assembly 68 vertically along gear rack 64.
  • Gear rack 64 meshes with pinions 74a, b in a conventional rack and pinion arrangement which is driven by the power supplied by motors 78a, b through a gear reducer to move carriage assembly 68 vertically along gear rack 64.
  • Motors 78a, b are enclosed within housing 65 as shown in Fig. 9a. As illustrated in Fig.
  • subsystem 30 includes rack covers 77a, b which extend over gear rack 64 and bearing rails 66a, b. Covers 77a, b protect the gear rack 64 and bearing rails 66a, b from environmental conditions which could cause damage to the rack and pinion assembly during operation. Cover 77a is attached at one end to upper canister 79a and is attached at an opposing end to a first end 68a of carriage assembly 68.
  • Cover 77b is attached at one end to lower canister 79b and is attached at an opposing end to a second end 68b of carriage assembly 68.
  • carriage assembly 68 moves vertically in the direction of arrow "Z" cover 77a unwinds from canister 79a and follows carriage assembly 68 while cover 77b winds around canister 79b, thereby allowing gear rack 64 and bearing rails 66a, b to remain covered during movement of the carriage assembly.
  • cover 77b unwinds from canister 79b and follows carriage assembly 68 while cover 77a winds around canister 79a, thereby allowing gear rack 64 and bearing rails 66a, b to remain covered during movement.
  • Robot arm 70 transports utilities and services from cable carrying track 60 (Fig. 3) to manipulator 90, provides support for manipulator 90 and selectively positions manipulator 90 about aircraft 12 (Fig. 1 ).
  • Robot arm 70 includes an inner arm 80, center joint assembly 82 and an outer arm 84.
  • Inner arm 80 is mounted to carriage assembly 68 at a first end 80a and is mounted to the center joint assembly 82 at a second end 80b.
  • inner arm 80 is approximately 25 inches in length and 25 inches in width, with a constant cross-section, and includes an internal angle reinforcement 83. Internal angle reinforcement 83 aids in providing inner arm 80 with structural stiffness.
  • Inner arm 80 is preferably made of steel, but may be made of any material which does not appreciably reduce the natural frequency of robot subsystem 30 and which has the structural stiffness to support and position manipulator 90 within the parameters of the particular application.
  • inner arm 80 weighs approximately 1200 lbs
  • center joint assembly 82 weighs approximately 1100 lbs
  • outer arm weighs approximately 400 lbs
  • manipulator 90 weighs approximately 860 lbs.
  • center joint assembly 82 includes an upper fitting assembly 82a, a lower fitting assembly 82b and a middle joint assembly 82c.
  • upper fitting assembly 82a is mounted at one end to inner arm 80.
  • lower fitting assembly 82b is mounted at one end to outer arm 84.
  • Upper and Lower fitting assemblies 82a, b are preferably attached to inner and outer arms 80, 84 respectively, by bolts.
  • Upper and Lower fitting assemblies may alternatively be attached in any manner which would provide a sufficient structural stiffness to support outer arm 84, manipulator 90 and end effector 100 while maintaining the operational parameters for the given application. Referring now to Fig. 9c in conjunction with Fig.
  • upper fitting assembly 82a is connected at a second end to middle joint assembly 82c, likewise lower fitting assembly 82b is connected at a second end to middle joint assembly 82c.
  • Upper fitting assembly 82a is connected to bearing 86 of middle joint assembly 82c.
  • bearing 86 includes a plurality of gear teeth 86a which meshingiy engage pinions 88 in a conventional arrangement that is driven by the power supplied by direct drive motors (not shown) through a gear reducer (not shown) to provide rotation to lower fitting assembly 82b and outer arm 84.
  • gear reducer not shown
  • outer arm 84 is mounted at one end to middle joint assembly 82 and is connected at an opposing end to manipulator mount 88.
  • outer arm 84 is approximately 20 inches in length and 20 inches in width, with a constant cross-section, and includes an internal angle reinforcement 89. Internal angle reinforcement 89 aids in providing outer arm 84 with structural stiffness.
  • Outer arm 84 is preferably made of steel, but may be made of any material which does not appreciably reduce the natural frequency of robot subsystem 30 and which has the structural stiffness to support and position manipulator 90 within the parameters of the particular application. In the present embodiment outer arm 84 weighs approximately 400 lbs, With continuing reference to Fig.
  • manipulator 90 is rotatably mounted to robot arm 70 via manipulator mount 92.
  • Manipulator mount 92 includes gearing (not shown) to provide robot subsystem 30 with a fourth degree of freedom as illustrated in Fig. 8 by arrows ⁇ " and "I".
  • Manipulator 90 utilizes conventional manipulator technology but is specifically designed for aircraft stripping/painting applications.
  • Manipulator 90 is available from GMFanuc Robotics and is designed for electrical use in Class I Division I at temperatures between 33 - 109 degrees Fahrenheit. In the present embodiment manipulator 90 has a payload capacity of approximately 75 lbs plus 50 lbs of back thrust.
  • Manipulator 90 also includes a large capacity hollow wrist 94 and outer arm 96 for process line routing to end effector 100.
  • manipulator 90 preferably includes an elbow 98 which is double jointed and a multiple turn faceplate 93.
  • Elbow 98 and manipulator faceplate 93 provide manipulator 90 with six degrees of freedom, as illustrated in Fig. 8 by arrows "J, K"; “L,M” and “N,0”; “P, Q”; “R, S”, respectively.
  • Manipulator 90 can reach below the base of transporter 20 and can extend vertically approximately 30 feet which enables robotic system 10 to easily reach aircraft wings and fuselage.
  • mapping and paint removal end effectors 102 and 104 respectively. Both mount to a manipulator face plate 93 through a quick change interface system.
  • the mapping end effector maps the surface of aircraft 12 for input into a controller (not shown) and transmission to robot system 10.
  • Mapping end effector 102 consists of a laser contour sensor which returns a range measurement from a line equation produced by the intersection of the beam and the aircraft surface.
  • the paint removal end effector 104 consists of a high pressure water quick change, rotary swivel housing and nozzle. Depending upon the application, a variety of end effectors can be designed for use with robotic system 10. Referring again to Fig.
  • robotic system 10 further includes utility boom 40.
  • Utility boom 40 routes utilities from the roof 42 of the hangar enclosing aircraft 12 to the robotic subsystem 30.
  • boom 40 is supported at three points, the facility center swivel 44, the monorail attach point 46 and the top of the column 56.
  • Boom 40 is not a controlled degree of freedom, but acts as a slave, following robot subsystem 30 from position to position about aircraft 12 along a monorail 48.
  • boom 40 carries high pressure water, electrical power, control and data lines and air and vacuum lines.
  • Robotic system 10 may be used in a variety of applications.
  • One such application is as a paint removal system for use on large aircrafts as depicted in Fig. 1.
  • Aircraft paint removal system consists of robot system 10 which interfaces with a computer subsystem, a sensor subsystem, a guidance subsystem, a paint removal subsystem and facility subsystem (none shown).
  • the computer subsystem includes operator's station access terminals and peripheral devices. The system operator interfaces primarily through the operator's terminal. Most computer equipment is located in an operator's control room and adjacent computer room.
  • the sensor subsystem includes the process controller, which monitors the stripping pressure and nozzle rotation rate.
  • mapping end effector maps the surface of aircraft 12 for input into a controller (not shown).
  • Guidewires 23 are then placed in floor 26 around aircraft 12 corresponding to the path transporter 20 will follow (Fig. 11 ). Utilities are routed through boom 40 as described hereinabove, and transporter 20 is positioned over guidewires 23.
  • the transporter can stow in any of four quadrants as depicted in Fig. 12 which allows for optimum flexibility in movement of the transporter from position to position around the aircraft 12, especially through limited clearance areas between the aircraft and facility.
  • robot arm 70 is extended to a predetermined position. Stripping is now ready to commence.
  • Robot system 10 delivers high pressure water above approximately 20,000 psi to the aircraft surface to commence stripping of aircraft 12.
  • Robot system 10 will strip one area and then transporter 20 will travel to a second predetermined position, stop, jack to a level platform and continue to strip, as described hereinabove.
  • robot system 10 has a static repeatability of approximately plus or minus 0.010 inches, 3 sigma with a 1001b payload.
  • the dynamic straight line repeatability of robot system 10 of the present embodiment is approximately plus or minus 0.1 inches at 15 inches/second with a 24 lb payload and 0.030 at 2 inches/second with 100 lb payload.
  • Static Repeatability is the amount of error or deviation resulting from a device (in this case a robot) moving to a single fixed static location. In the robotic industry, this is usually measured at maximum payload and at maximum approach speed.
  • Straight Line Dynamic Repeatability is the amount of error or deviation resulting from a device (in this case a robot) moving along a straight line path (trajectory). This error has two components; straight line error and location error. This error will be correlated to the robot's velocity.
  • the work envelope of system 10 is shown in Fig. 13.
  • Robotic system 10 and its operation is described in a paper entitled “The Large Aircraft Robotic Paint Stripping (LARPS) System” which is herein incorporated by reference.
  • LARPS Robotic Paint Stripping
  • robotic system 10 may be used in a variety of applications, e.g. applying paint to an aircraft. Therefore, the above description should not be construed as limiting, but merely as exemplifications of preferred embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Abstract

On décrit un système robotique mobile (10) capable d'enlever la peinture de la surface d'un gros avion (12), comprenant un bras d'acheminement polyvalent (40), un transporteur mobile (20) et un sous-système robotique (30) doté d'une colonne verticale (50) qui assure l'interface avec un bras horizontal (70) en vue de fournir de l'eau à haute pression sur la surface de l'avion.
PCT/US1996/006716 1995-05-19 1996-05-10 Systeme robotique mobile WO1996036461A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP8534928A JPH10503144A (ja) 1995-05-19 1996-05-10 移動式ロボット・システム
KR1019970700332A KR970704554A (ko) 1995-05-19 1996-05-10 가동 로봇 시스템(mobile robote system)
EP96915705A EP0776264A1 (fr) 1995-05-19 1996-05-10 Systeme robotique mobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US44543395A 1995-05-19 1995-05-19
US445,433 1995-05-19

Publications (1)

Publication Number Publication Date
WO1996036461A1 true WO1996036461A1 (fr) 1996-11-21

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PCT/US1996/006716 WO1996036461A1 (fr) 1995-05-19 1996-05-10 Systeme robotique mobile

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EP (1) EP0776264A1 (fr)
JP (1) JPH10503144A (fr)
KR (1) KR970704554A (fr)
WO (1) WO1996036461A1 (fr)

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WO2005074527A2 (fr) * 2004-02-02 2005-08-18 John Stephen Morton Preparation automatisee rentable et procede de revetement de grandes surfaces
CN1319702C (zh) * 2003-10-29 2007-06-06 中国科学院自动化研究所 移动机械手系统
CN105253320A (zh) * 2014-07-09 2016-01-20 波音公司 用于形成分布式公用物网络的公用物夹具
US20170343308A1 (en) * 2016-05-24 2017-11-30 Nlb Corp. Cleaning system and method
WO2019245831A1 (fr) * 2018-06-22 2019-12-26 Southwest Research Institute Système robotique pour le traitement de surface de véhicules
WO2020126129A1 (fr) * 2018-12-19 2020-06-25 Broetje-Automation Gmbh Plateforme robotique mobile

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KR100336834B1 (ko) * 1999-05-19 2002-05-16 주덕영 도장 플라스틱 범퍼의 도막 제거방법 및 그 장치
US6745108B1 (en) * 2002-11-19 2004-06-01 Ultrastrip Systems, Inc. Robotic paint/surface coating removal apparatus
BRPI0920953B1 (pt) * 2008-11-20 2019-11-19 Hubert Palfinger Tech Gmbh dispositivo de manutenção, e uso do mesmo.
US9796089B2 (en) * 2013-03-15 2017-10-24 Carnegie Mellon University Supervised autonomous robotic system for complex surface inspection and processing
CN103651319B (zh) * 2013-12-09 2015-09-23 扬州大学 一种变地隙隧道喷雾角度自适应式喷雾机
JP6678154B2 (ja) 2017-12-05 2020-04-08 株式会社大気社 大型物体用の表面処理システム

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