WO1994022099B1 - System for positioning a workpoint - Google Patents
System for positioning a workpointInfo
- Publication number
- WO1994022099B1 WO1994022099B1 PCT/US1994/002707 US9402707W WO9422099B1 WO 1994022099 B1 WO1994022099 B1 WO 1994022099B1 US 9402707 W US9402707 W US 9402707W WO 9422099 B1 WO9422099 B1 WO 9422099B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work point
- support elements
- move
- reeving
- programmable control
- Prior art date
Links
- 230000001276 controlling effect Effects 0.000 claims abstract 8
- 230000000875 corresponding Effects 0.000 claims 4
- 230000001133 acceleration Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 claims 1
- 238000010422 painting Methods 0.000 claims 1
Abstract
A system for positioning a work point (6) has a plurality of reeving systems (2, 3) spaced apart fom one another, with each reeving system having an adjustable support element (4, 5) connected to it. These support elements are also connected to the work point, with the length of the support elements between the work point and the reeving determining the work point's location. Associated with each reeving system is an actuator (46) adapted for releasing and taking up the support element. A control system (43) controls the actuators to release and take up each of the support elements to move the work point with respective to at least two spatial coordinate axes while controlling at least one motion parameter of the work point in a predetermined manner.
Claims
1. A system for moving a work point, the system comprising: a plurality of reeving systems spaced apart from one another; a plurality of adjustable support elements, each of said support elements connected to the work point and to a corresponding reeving system to support the work point, the length of each support element between the work point and the respective reeving system determining the location of the work point with respect to at least two different spatial coordinate axes that define a vertical plane; a plurality of actuators, each of said actuators associated with a corresponding reeving system, for releasing and taking up the support element connected to the corresponding reeving system to move the work point with respect to the at least two different spatial coordinate axes; and a programmable control system for controlling at least one motion parameter of the work point in a predetermined manner by controlling the release and take up of each of said support elements to move the work point with respect to each of the at least two different spatial coordinate axes.
2. A system according to claim 1, wherein said programmable control system controls at least two motion parameters of the work point in a predetermined manner.
3. A system according to claim 1, wherein said programmable control system controls at least one motion parameter on a real time basis through direct operator input. - 46 -
4. A system according to claim 1, wherein said programmable control system is a computer control system.
5. A system according to claim 4, wherein said programmable control system is programmed to move the work point over a prescribed path.
6. A system according to claim 4, wherein said programmable control system is programmed to move the work point at a prescribed velocity.
7. A system according to claim 4, wherein said programmable control system is programmed to move the work point over a prescribed path at a prescribed tvelocity.
8. A system according to claim 4, wherein said programmable control system is programmed to move the work point over a prescribed path at a prescribed acceleration.
9. A system according to claim 4, wherein said programmable control system controls at least one motion parameter on a real time basis through direct operator input.
10. A system according to claim 4, wherein each of said actuators is a power driven device.
11. A system according to claim 4, wherein said power driven device is selected from the group consisting of electric motors, hydraulic motors and pneumatic motors. - 47 -
12. A system according to claim 4, wherein each of said plurality of reeving systems is attached to a wall.
13. A system according to claim 12, wherein each of said plurality of reeving systems is attached to the wall with a vacuum evacuated chamber.
14. A system according to claim 4, wherein each of said plurality of reeving systems is attached to a beam disposed above a wall.
15. A system according to claim 4, wherein each of said plurality of reeving systems is attached to a movab1e crane.
16. A system according to claim 4, wherein each of said reeving systems is attached to the work point, and wherein each of said support elements is connected at one end to a known point located on a wall.
17. A system according to claim 16, wherein the known point on the wall is the same for each of said plurality of support elements.
18. A system according to claim 4, wherein the work point is a working load operating under the control of said programmable control system.
19. A system according to claim 18, wherein said programmable control system is programmed to move the working load over a prescribed path at a prescribed velocity while simultaneously controlling the operation of the working load.
20. A system according to claim 19, wherein the working load is adapted to perform an automated cleaning operation.
21. A system according to claim 19, wherein the working load is adapted to perform an automated painting operation.
22. A system according to claim 4, wherein each of said adjustable support elements is fed through its corresponding reeving system only once so that said support element has an end that is free from tension due to the work point.
23. A system according to claim 4, wherein said support elements are selected from the group consisting of cables, telescoping cylinders, chains, belts and rack and pinion drive mechanisms.
24. A system for moving a work point, the system comprising: means for taking up and releasing a plurality of support elements, said plurality of support elements supporting the work point and determining the location of the work point with respect to at least two different spatial coordinate axes that define a vertical plane, to move the work point with respect to each of the at least two different spatial coordinate axes; and programmable control means for controlling at least one motion parameter of the work point in a predetermined manner by controlling the take up and release of each of said support elements to move the work point with respect to each of the at least two different spatial coordinate axes. - 49 -
25. A method for moving a work point, the method comprising the steps of: taking up and releasing a plurality of support elements, said support elements supporting the work point and determining the location of the work point with respect to at least two different spatial coordinate axes that define a vertical plane, to move the work point with respect to each of the at least two different spatial coordinate axes; and controlling at least one motion parameter of the work point in a predetermined manner by controlling the take up and release of each of said support elements to move the work point with respect to the at least two different spatial coordinate axes.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP94911580A EP0691009A4 (en) | 1993-03-15 | 1994-03-14 | System for positioning a workpoint |
AU64067/94A AU6406794A (en) | 1993-03-15 | 1994-03-14 | System for positioning a workpoint |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/034,800 US5408407A (en) | 1993-03-15 | 1993-03-15 | System and method for positioning a work point |
US08/034,800 | 1993-03-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1994022099A1 WO1994022099A1 (en) | 1994-09-29 |
WO1994022099B1 true WO1994022099B1 (en) | 1994-10-27 |
Family
ID=21878689
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1994/002707 WO1994022099A1 (en) | 1993-03-15 | 1994-03-14 | System for positioning a workpoint |
Country Status (5)
Country | Link |
---|---|
US (1) | US5408407A (en) |
EP (1) | EP0691009A4 (en) |
AU (1) | AU6406794A (en) |
CA (1) | CA2158441A1 (en) |
WO (1) | WO1994022099A1 (en) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6597347B1 (en) | 1991-11-26 | 2003-07-22 | Itu Research Inc. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
USRE40891E1 (en) * | 1991-11-26 | 2009-09-01 | Sandio Technology Corp. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
US5790407A (en) * | 1994-07-08 | 1998-08-04 | Bandit Lites | Time-based control system |
EP0741346B1 (en) * | 1995-04-03 | 2002-01-23 | Robert Bosch Gmbh | Control device for controlling machines, especially controlling a welder |
US6566834B1 (en) * | 1999-09-28 | 2003-05-20 | The United States Of America As Represented By The Secretary Of Commerce | Modular suspended manipulator |
US6367902B1 (en) * | 1999-11-29 | 2002-04-09 | Xerox Corporation | Effector platform for performing actions over vertical surfaces |
US6826452B1 (en) * | 2002-03-29 | 2004-11-30 | The Penn State Research Foundation | Cable array robot for material handling |
WO2010103321A1 (en) | 2009-03-13 | 2010-09-16 | Matthew Henry | Acoustic apparatus and method of operation |
KR101298222B1 (en) * | 2012-07-06 | 2013-08-20 | 양국진 | Wire manipulator |
US9366128B2 (en) | 2013-05-22 | 2016-06-14 | Baker Hughes Incorporated | Automated wellbore equipment feeding system |
WO2016126173A1 (en) | 2015-02-06 | 2016-08-11 | Teknikpatrullen Ab | System for positioning of a pointed tool relative to a wall |
WO2017042729A1 (en) * | 2016-06-24 | 2017-03-16 | Universidad Tecnológica De Panamá | Wall-painting machine |
NO20161312A1 (en) * | 2016-08-17 | 2018-02-19 | Hd Solution As | System for inspecting a tank in a ship |
WO2018222057A2 (en) * | 2017-05-30 | 2018-12-06 | Universidad Tecnológica De Panamá | Autonomous device for painting interior walls |
WO2019023442A1 (en) | 2017-07-26 | 2019-01-31 | Garber James B | Suspended autonomous carrier for end-effector device |
US10471590B1 (en) | 2019-04-08 | 2019-11-12 | Frédéric Vachon | Cable robot |
EP3953112A1 (en) | 2019-04-08 | 2022-02-16 | Rbot9 Inc. | Cable robot |
GR1009903B (en) * | 2020-01-28 | 2021-01-12 | Ευαγγελος Γεωργιου Δουσης | System for the cleaning and inspection of containers and tanks in commercial ships with use of robot wire ropes |
US11866079B2 (en) * | 2020-02-14 | 2024-01-09 | Georgia Tech Research Corporation | Wire-traversing robot and method of operation |
Family Cites Families (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US526263A (en) * | 1894-09-18 | Louis rosenfeld | ||
US597022A (en) * | 1898-01-11 | Fireman s apparatus for handling ladders at fires | ||
US498721A (en) * | 1893-05-30 | Reciprocating or other motions | ||
US812952A (en) * | 1903-12-28 | 1906-02-20 | Robert Cooke Sayer | Bridging horizontal and vertical spaces. |
US773000A (en) * | 1904-01-04 | 1904-10-25 | Elisha C Butler | Fire-escape. |
US2361053A (en) * | 1943-09-15 | 1944-10-24 | Clifford M Pedersen | Ship cargo rig |
US2799403A (en) * | 1955-04-11 | 1957-07-16 | Elliott A Friedman | Crane construction |
US3001651A (en) * | 1957-07-26 | 1961-09-26 | Moco Ind Equipment Inc | Work transfer apparatus |
US3437223A (en) * | 1966-06-03 | 1969-04-08 | Harold A Haase | Work handling and transfer apparatus |
US3332716A (en) * | 1966-07-18 | 1967-07-25 | Harland D Gridley | Cargo handling apparatus |
US3481493A (en) * | 1967-08-09 | 1969-12-02 | Hans Walischmiller | Apparatus for remotely controlling moving-in and out,respectively of an extension piece |
US3589134A (en) * | 1969-10-30 | 1971-06-29 | Westinghouse Electric Corp | Manipulator apparatus |
US3780571A (en) * | 1971-04-22 | 1973-12-25 | Programmed & Remote Syst Corp | Reactor vessel inspection device |
SE361869B (en) * | 1972-04-14 | 1973-11-19 | Asea Ab | |
US3817348A (en) * | 1972-07-10 | 1974-06-18 | Transfer Systems | Refueling bridge with service elevator for well wall maintenance |
US3973680A (en) * | 1972-11-07 | 1976-08-10 | Lely Cornelis V D | Devices for erecting a building from prefabricated sections |
US4112535A (en) * | 1976-06-21 | 1978-09-12 | C. H. Heist Corporation | High pressure jet wall cleaner apparatus |
US4128968A (en) * | 1976-09-22 | 1978-12-12 | The Perkin-Elmer Corporation | Optical surface polisher |
GB1589769A (en) * | 1976-12-14 | 1981-05-20 | Secretary Industry Brit | System for controlling the position of a tethered floating vessel |
DE2836423A1 (en) * | 1978-08-19 | 1980-02-28 | Farkas Gyoergy Dipl Ing | Multidimensional movement control system - divides path into stages with stopping positions passed only on signal |
US4232636A (en) * | 1979-04-09 | 1980-11-11 | Combustion Engineering, Inc. | Maintenance platform built upon retractable support beams |
US4220170A (en) * | 1979-07-30 | 1980-09-02 | Hebert Chris J | Apparatus for cleaning large tank interiors |
US4286417A (en) * | 1979-08-08 | 1981-09-01 | Robert T. Nelson | Blasting machine with position sensing and adjustment |
GB2075217B (en) * | 1980-04-17 | 1983-07-13 | Hall Automation Ltd | Relative position tracking systems |
US4496519A (en) * | 1981-03-09 | 1985-01-29 | Mcguire Paul J | Nuclear reactor vessel decontamination systems |
US4436694A (en) * | 1981-08-31 | 1984-03-13 | Automation Industries, Inc. | Nuclear reactor cavity decontamination machine |
DE3138484A1 (en) * | 1981-09-28 | 1983-04-14 | Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover | "METHOD FOR MAINTENANCE OF DEVICES AND COMPONENTS IN HOT CELLS, ESPECIALLY REPROCESSING PLANTS FOR WASTE NUCLEAR FUELS, AND DEVICE FOR CARRYING OUT THE METHOD |
US4545017A (en) * | 1982-03-22 | 1985-10-01 | Continental Emsco Company | Well drilling apparatus or the like with position monitoring system |
US4470952A (en) * | 1982-06-14 | 1984-09-11 | Automation Industries, Inc. | Floating decontamination apparatus |
US4595419A (en) * | 1982-12-27 | 1986-06-17 | Proto-Power Corporation | Ultrasonic decontamination robot |
DE3310947A1 (en) * | 1983-03-23 | 1986-03-06 | Kraftwerk Union AG, 4330 Mülheim | REPAIR DEVICE FOR A REACTOR PRESSURE TANK |
US4474497A (en) * | 1983-04-14 | 1984-10-02 | Combustion Engineering, Inc. | Furnace maintenance platform |
US4636962A (en) * | 1983-05-24 | 1987-01-13 | Columbus Mckinnon Corporation | Microprocessor-controlled hoist system |
CH661585A5 (en) * | 1983-07-07 | 1987-07-31 | Sulzer Ag | HEAT EXCHANGER FOR GASES, PREFERABLY SYNTHESIS GAS COOLER. |
US4594774A (en) * | 1984-03-27 | 1986-06-17 | United Kingdom Atomic Energy Authority | Machines for dismantling decommissioned nuclear reactors |
DE3513999C1 (en) * | 1985-04-18 | 1986-10-09 | Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover | Remote-controlled positioning and carrying device for remote handling devices |
US4883184A (en) * | 1986-05-23 | 1989-11-28 | Albus James S | Cable arrangement and lifting platform for stabilized load lifting |
DE3700139A1 (en) * | 1987-01-03 | 1988-07-14 | Friedemann Stuetz | Computer-controlled coordinate measuring device |
US4762455A (en) * | 1987-06-01 | 1988-08-09 | Remote Technology Corporation | Remote manipulator |
US4979093A (en) * | 1987-07-16 | 1990-12-18 | Cavro Scientific Instruments | XYZ positioner |
US5025385A (en) * | 1988-04-15 | 1991-06-18 | Froyd Stanley G | Multiple axis motion control system |
US4932606A (en) * | 1988-05-10 | 1990-06-12 | Conn Sidney H | Hot air rescue balloon |
US4905848A (en) * | 1988-06-06 | 1990-03-06 | Skjonberg Knut B | Coordinated hoist controllers |
US4988935A (en) * | 1989-05-24 | 1991-01-29 | Universal Instruments Corporation | Advanced digital motion control |
-
1993
- 1993-03-15 US US08/034,800 patent/US5408407A/en not_active Expired - Lifetime
-
1994
- 1994-03-14 AU AU64067/94A patent/AU6406794A/en not_active Abandoned
- 1994-03-14 EP EP94911580A patent/EP0691009A4/en not_active Withdrawn
- 1994-03-14 CA CA002158441A patent/CA2158441A1/en not_active Abandoned
- 1994-03-14 WO PCT/US1994/002707 patent/WO1994022099A1/en not_active Application Discontinuation
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO1994022099B1 (en) | System for positioning a workpoint | |
CA2827729C (en) | Universal control scheme for mobile hydraulic equipment and method for achieving the same | |
US5161936A (en) | Industrial robot apparatus | |
US5313854A (en) | Light weight robot mechanism | |
CA2306901A1 (en) | Robot control apparatus and control method | |
KR101879037B1 (en) | Method for controlling a manipulator system | |
KR970707351A (en) | AREA LIMITING EXCAVATION CONTROL SYSTEM FOR CONSTRUCTION MACHINES | |
EP0084523A3 (en) | Process for automatically painting pieces fed in along a processing line and apparatus capable of performing the same process | |
EP3854943B1 (en) | Excavation device | |
KR100878652B1 (en) | Work transfer method and work transfer equipment | |
EP0346816A2 (en) | Method for assembling vehicle body | |
WO2006134036A1 (en) | Method for guiding the displacement of a displaceable machine element of a machine | |
CN112045397B (en) | Steel arch splicing device and working method thereof | |
DE112016002864T5 (en) | Air pump device using an electric actuator and air pump system | |
KR102087602B1 (en) | Controlling method for a cable robot | |
CN215237489U (en) | Binding actuating mechanism and binding device | |
EP0214977B1 (en) | An operating system for a tree harvester | |
JPS59206266A (en) | Automatic mounting equipment for heavy object | |
WO1997044149A1 (en) | Work feeder control apparatus | |
SU1648889A1 (en) | Hoisting device | |
JP2879589B2 (en) | Fireproof spraying equipment | |
JPH05200685A (en) | Working machine | |
SU611773A1 (en) | Manipulator | |
DE102020101517A1 (en) | Civil engineering equipment | |
CN113020499A (en) | Binding actuating mechanism and binding device |