ES457212A1 - Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies. - Google Patents
Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies.Info
- Publication number
- ES457212A1 ES457212A1 ES457212A ES457212A ES457212A1 ES 457212 A1 ES457212 A1 ES 457212A1 ES 457212 A ES457212 A ES 457212A ES 457212 A ES457212 A ES 457212A ES 457212 A1 ES457212 A1 ES 457212A1
- Authority
- ES
- Spain
- Prior art keywords
- move
- routine
- stepping
- target
- openings
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- High Energy & Nuclear Physics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Procedimiento e instalación para el desplazamiento de un aparato de traslado por superficies; que se desplaza por una superficie con una serie de aberturas alineadas y uniformemente situadas en una determinada cantidad de líneas dispuestas paralelas entre si al mismo nivel, así como en una determinada cantidad de filas paralelas dispuestas también de manera uniforme, que entre si están en paralelismo con los ejes ¿x¿ y ¿y¿ de un sistema cartesiano de coordenadas, teniendo cada una de las aberturas una dirección individual dentro de este sistema cartesiano de coordenadas, comprendiendo éste aparato de traslado por superficies unos brazos primario y secundarios de avance, unidos entre si, extendiéndose cada uno de éstos brazos primario y secundario de paso transversalmente con respecto al otro en un ángulo definido por la intersección de los ejes ¿x¿ y ¿y¿, siendo cada uno de los mismos oscilantes selectivamente en vaivén en sentido longitudinal por lo menos dos respectivas posiciones correspondiendo la distancia entre, por lo menos, dos posiciones de los brazos primero y secundario de paso.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US05/670,806 US4074814A (en) | 1976-03-26 | 1976-03-26 | Method and apparatus for controlling surface traversing device |
Publications (1)
Publication Number | Publication Date |
---|---|
ES457212A1 true ES457212A1 (es) | 1978-02-01 |
Family
ID=24691957
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES457212A Expired ES457212A1 (es) | 1976-03-26 | 1977-03-25 | Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies. |
Country Status (10)
Country | Link |
---|---|
US (1) | US4074814A (es) |
JP (1) | JPS52132282A (es) |
BR (1) | BR7701930A (es) |
CA (1) | CA1068382A (es) |
DE (1) | DE2712316A1 (es) |
ES (1) | ES457212A1 (es) |
FR (1) | FR2345756A1 (es) |
IT (1) | IT1084666B (es) |
NL (1) | NL7703275A (es) |
SE (1) | SE7703467L (es) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2394374A2 (fr) * | 1977-06-15 | 1979-01-12 | Framatome Sa | Dispositif de positionnement selectif d'un organe sur une plaque tubulaire |
FR2415515A1 (fr) * | 1978-01-30 | 1979-08-24 | Framatome Sa | Dispositif de vissage a commande a distance |
US4271471A (en) * | 1978-12-28 | 1981-06-02 | Westinghouse Electric Corp. | Method of operating a remotely controlled tool positioning table |
US4302146A (en) * | 1978-08-23 | 1981-11-24 | Westinghouse Electric Corp. | Probe positioner |
US4272781A (en) * | 1978-09-08 | 1981-06-09 | Tokyo Shibaura Denki Kabushiki Kaisha | Nondestructive examining apparatus |
US4262402A (en) * | 1978-10-18 | 1981-04-21 | Westinghouse Electric Corp. | Method for servicing a steam generator |
US4287655A (en) * | 1979-04-30 | 1981-09-08 | Westinghouse Electric Corp. | End effector position and identification system for steam generator servicing machine |
US4521844A (en) * | 1980-05-30 | 1985-06-04 | Westinghouse Electric Corp. | Manipulator control system and apparatus for decontaminating nuclear steam generators |
EP0064994A4 (en) * | 1980-11-25 | 1984-11-16 | Commw Of Australia | CONTOUR FORMATION. |
US4503506A (en) * | 1981-08-05 | 1985-03-05 | Westinghouse Electric Corp. | Apparatus for mapping and identifying an element within a field of elements |
US4449599A (en) * | 1982-09-27 | 1984-05-22 | Combustion Engineering, Inc. | Finger walker for tube sheet |
JPS5994111A (ja) * | 1982-11-19 | 1984-05-30 | Fanuc Ltd | 機械現在位置領域判別方法 |
US7314343B2 (en) * | 2002-07-22 | 2008-01-01 | Westinghouse Electric Co. Llc | Miniature manipulator for servicing the interior of nuclear steam generator tubes |
US8746089B2 (en) | 2009-01-19 | 2014-06-10 | Babcock & Wilcox Nuclear Energy, Inc. | Apparatus for automated positioning of eddy current test probe |
US9307835B2 (en) | 2013-04-12 | 2016-04-12 | Jim's Welding & Fabricating, Llc | Materials and methods for a warehouse storage system |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3913752A (en) * | 1973-08-01 | 1975-10-21 | Combustion Eng | Remotely movable platform |
US3889820A (en) * | 1973-08-01 | 1975-06-17 | Combustion Eng | Method and apparatus for suspendedly supporting a platform |
-
1976
- 1976-03-26 US US05/670,806 patent/US4074814A/en not_active Expired - Lifetime
- 1976-11-16 CA CA265,839A patent/CA1068382A/en not_active Expired
-
1977
- 1977-03-21 DE DE19772712316 patent/DE2712316A1/de active Pending
- 1977-03-25 NL NL7703275A patent/NL7703275A/xx not_active Application Discontinuation
- 1977-03-25 FR FR7709064A patent/FR2345756A1/fr active Granted
- 1977-03-25 SE SE7703467A patent/SE7703467L/xx unknown
- 1977-03-25 JP JP3234677A patent/JPS52132282A/ja active Pending
- 1977-03-25 IT IT21674/77A patent/IT1084666B/it active
- 1977-03-25 ES ES457212A patent/ES457212A1/es not_active Expired
- 1977-03-28 BR BR7701930A patent/BR7701930A/pt unknown
Also Published As
Publication number | Publication date |
---|---|
JPS52132282A (en) | 1977-11-05 |
SE7703467L (sv) | 1977-09-27 |
CA1068382A (en) | 1979-12-18 |
US4074814A (en) | 1978-02-21 |
BR7701930A (pt) | 1978-04-04 |
FR2345756A1 (fr) | 1977-10-21 |
DE2712316A1 (de) | 1977-09-29 |
IT1084666B (it) | 1985-05-28 |
FR2345756B1 (es) | 1981-03-06 |
NL7703275A (nl) | 1977-09-28 |
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