High level washing and dusting apparatus for aircraft and the like

Claim 2

Washing and dusting apparatus comprising: support means; an elongated boom structure having first, second and third elements pivotally connected in seriatum for articulated swinging movement about horizontal axes; said first element being Pivotally mounted on said support means for pivotal swinging movement with respect thereto; first actuator means adapted to swing said first element with respect to said support means; second actuator means for swinging said second element with respect to said first element; third actuator means for swinging said third element with respect to said second element; brush means for washing and dusting; coupling means for coupling said brush means to said third element.

Claim 3

Apparatus according to claim 1 wherein levelling means extend from said coupling means to said support means for maintaining the orientation of said coupling means constant with respect to the vertical during movement of said first, second, and third elements.

Claim 4

Apparatus according to claim 2 wherein a seat for an operator is connected to said levelling means adjacent said coupling means whereby the orientation of said seat is maintained constant during movement of said boom structure.

Claim 5

Apparatus according to claim 1 wherein said coupling means includes a telescopic member for permitting reciprocal movement of said brush means with respect to said third beam; a telescopic actuator being connected to said telescopic member and being operable to cause reciprocal movement of said brush means.

Claim 6

Apparatus according to claim 2 wherein said coupling means has a longitudinal axis, said coupling means being pivotally mounted with respect to said levelling means for swinging movement about a shoulder axis; shoulder actuator means interconnecting said coupling means and said levelling means for causing swinging movement therebetween.

Claim 7

Apparatus according to claim 5 wherein said coupling means includes an elbow joint intermediate its opposite ends; said elbow joint permitting articulated folding movement of said coupling means about an elbow axis which is transverse to said shoulder axis; an elbow actuator being connected to said elbow joint for causing articulated folding about said elbow axis.

Claim 8

Apparatus according to claim 6 wherein said coupling means includes a wrist joint intermediate its opposite ends, said wrist joint permitting two portions of said coupling means to rotate with respect to one another about a wrist axis which is parallel to said longitudinal axis of said coupling means; a wrist actuator being connected to said wrist joint for causing rotational movement of said two portions about said wrist axis.

Claim 9

Apparatus according to claim 7 wherein said wrist joint is on one side of said elbow joint and an upper arm joint is on the other side of said elbow joint; said upper arm joint permitting the portions of said coupling means on opposite sides of said upper arm joint to rotate about an upper arm axis parallel to the longitudinal axis of said coupling means; an upper arm actuator being connected to said upper arm joint for controlling rotation about said upper arm axis.

Claim 10

Apparatus according to claim 8 wherein said coupling means has first and second ends, said shoulder joint being adjacent said first end and said elbow joint being spaced from said shoulder joint; said upper arm joint being between said shoulder and elbow joints.

Claim 11

Apparatus according to claim 9 wherein said coupling means includes a telescopic member for permitting reciprocal movement of said brush means along an axis parallel to said longitudinal axis of said coupling means; a telescopic actuator connected to said telescopic member and being operable to cause reciprocal movement of said brush means.

Claim 12

Apparatus according to claim 10 wherein said telescopic member is positioned adjacent said second end of said coupling means and said upper arm joint, said elbow joint and said wrist joint are between said telescopic member and said shoulder joint.

Claim 13

Apparatus according to claim 1 wherein said second actuator means includes a mechanism pivotally interconnecting said first and second elements, a power means interconnecting said second element and said mechanism and beiNg operable to cause said second element to swing with respect to said first element.

Claim 14

Apparatus according to claim 12 wherein said first element includes a cranked portion adjacent the pivotal connection between said first and second elements so that with said first element in a horizontal position said second element is free to fold to a position resting horizontally above said first element.

Claim 15

Apparatus of the type described comprising: a boom structure having at least one element and having a lower end and an upper end; a support; means movably mounting said lower end of said boom structure to said support for up and down movement of said boom structure; actuator means coupled to said mounting means for adjusting the orientation of said boom structure; a work tool; coupling means mounted on said boom structure adjacent said upper end; said coupling means including an arm pivotally mounted thereon for a swinging movement about a shoulder axis; said coupling means supporting said work tool; a shoulder actuator connected to said arm for causing swinging movement of said arm about said shoulder axis; said arm having a longitudinal axis; said arm including an elbow joint intermediate its opposite ends; said elbow joint permitting articulated folding movement of said coupling means about an elbow axis which is transverse to said shoulder axis; an elbow actuator connected to said elbow joint for controlling swinging movement about said elbow axis.

Claim 16

Apparatus of the type described comprising: a boom structure having at least one element and having a lower end and an upper end; a support; means movably mounting said lower end of said boom structure to said support for up and down movement of said boom structure; actuator means coupled to said mounting means for adjusting the orientation of said boom structure; a work tool; coupling means mounted on said boom structure adjacent said upper end; said coupling means including an arm pivotally mounted thereon for a swinging movement about a shoulder axis; said coupling means supporting said work tool; a shoulder actuator connected to said arm for causing swinging movement of said arm about said shoulder axis; said arm having a longitudinal axis; said arm including an elbow joint intermediate its opposite ends; said elbow joint permitting articulated folding movement of said coupling means about an elbow axis which is transverse to said shoulder axis; an elbow actuator connected to said elbow joint for controlling swinging movement about said elbow axis.

Claim 17

Apparatus according to claim 14 wherein said arm includes a wrist joint intermediate its opposite ends, said wrist joint permitting the portions of said arm on opposite sides of said wrist joint to rotate about a wrist axis parallel to said longitudinal axis of said arm; a wrist actuator being connected to said wrist joint for controlling rotation about said wrist axis.

Claim 18

Apparatus according to claim 15 wherein said wrist joint is on one side of said elbow joint and an upper arm joint is on the other side of said elbow joint; said upper arm joint permitting the portions of said arm on opposite sides of said upper arm joint to rotate about an upper arm axis parallel to said longitudinal axis of said arm; an upper arm actuator being connected to said upper arm joint for controlling rotation about said upper arm axis.

Claim 19

Apparatus according to claim 16 wherein said coupling means includes a telescopic member interconnecting said arm and said work tool for permitting reciprocating movement of said work tool with respect to said arm, a telescopic actuator being connected to said telescopic member for causing reciprocating movement of said work tool.

Claim 20

Apparatus of the type described comprising: a boom structure having at least one element and having a lower end and an upper end; a support; means movably mounting said lower end of said boom structure to said support for up and down movement of said boom structure; actuator means coupled to said mounting means for adjusting the orientation of said boom structure; a work tool; coupling means on said boom structure adjacent said upper end; said coupling means including an arm pivotally mounted thereon for a swinging movement about a shoulder axis; said coupling means supporting said work tool; a shoulder actuator connected to said arm for causing swinging movement of said arm about said shoulder axis; a portion of said coupling means being fixed to a member rotatably mounted on said boom structure adjacent said upper end of said boom structure; levelling means interconnecting said support and said member and adapted to maintain said member in a predetermined constant orientation with respect to vertical during movement of said boom structure whereby said coupling means will be held in a constant orientation with respect to vertical during movement of said boom structure.

Claim 21

Apparatus of the type described comprising: a boom structure having at least one element and having a lower end and an upper end; a support; means movably mounting said lower end of said boom structure to said support for up and down movement of said boom structure; actuator means coupled to said mounting means for adjusting the orientation of said boom structure; a work tool; coupling means on said boom structure adjacent said upper end; said coupling means including an arm pivotally mounted thereon for a swinging movement about a shoulder axis; said coupling means supporting said work tool; a shoulder actuator connected to said arm for causing swinging movement of said arm about said shoulder axis; a portion of said coupling means being fixed to a member rotatably mounted on said boom structure adjacent said upper end of said boom structure; levelling means interconnecting said support and said member and adapted to maintain said member in a predetermined constant orientation with respect to vertical during movement of said boom structure whereby said coupling means will be held in a constant orientation with respect to vertical during movement of said boom structure.