SA121420920B1 - روبوت مُعلَّق بالكابلات للمنشآت الصناعية - Google Patents

روبوت مُعلَّق بالكابلات للمنشآت الصناعية

Info

Publication number
SA121420920B1
SA121420920B1 SA121420920A SA121420920A SA121420920B1 SA 121420920 B1 SA121420920 B1 SA 121420920B1 SA 121420920 A SA121420920 A SA 121420920A SA 121420920 A SA121420920 A SA 121420920A SA 121420920 B1 SA121420920 B1 SA 121420920B1
Authority
SA
Saudi Arabia
Prior art keywords
cable
platform
robotic
robotic platform
jacket
Prior art date
Application number
SA121420920A
Other languages
English (en)
Inventor
تريجوي حساني
الهنابي عبدالله
Original Assignee
شركــــة الزيــت العربيـــة السعوديــة
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 شركــــة الزيــت العربيـــة السعوديــة filed Critical شركــــة الزيــت العربيـــة السعوديــة
Publication of SA121420920B1 publication Critical patent/SA121420920B1/ar

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40273—Wire manipulator, crane type manipulator with three wires

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Manipulator (AREA)

Abstract

يتعلق الاختراع الحالي بالكشف عن أنظمة وطرق لتشغيل منصات روبوتية robotic platform تحركها كابلات Cable-driven robotic platform . حيث يشتمل النظام على منصة روبوتية معلقة بواسطة نظام من الكابلات العلوية وملفات وبكرات للكابلات الآلية motorized cable reels. حيث يعمل حاسوب تحكم رئيسي master control computer على تنسيق عملية تشغيل نظام الكابلات الآلية بناءً على بيانات المستشعر sensor data التي جرى التقاطها بواسطة مستشعرات لحركة التنقل navigation sensors محمولة على المنصة بغرض تحريك المنصة الروبوتية داخل منشأة صناعية industrial plant . وجرى تهيئة النظام للمناورة حول شبكة أنابيب pipings وتجنب العوائق في الوحدة الصناعية بهدف زيادة مساحة العمل الفعالة التي يمكن للمنصة الروبوتية الوصول إليها لأداء عمليات معينة من ضمنها الفحص أو الإصلاح. علاوةً على ذلك، يمكن توصيل جهاز "روبوت زاحف" wire jacket روبوتي بكابلات التعليق suspension cables وتهيئته للزحف على طول كابل. ويمكن وضع الروبوت الزاحف، حسب الاختيار، على كابل لتوفير نقطة تعليق وسيطة للكابل intermediate cable suspension point لتحسين حركة المنصة
SA121420920A 2020-07-22 2021-07-19 روبوت مُعلَّق بالكابلات للمنشآت الصناعية SA121420920B1 (ar)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US16/935,810 US11597077B2 (en) 2020-07-22 2020-07-22 Cable suspended robot for industrial plants

Publications (1)

Publication Number Publication Date
SA121420920B1 true SA121420920B1 (ar) 2023-06-07

Family

ID=79687725

Family Applications (1)

Application Number Title Priority Date Filing Date
SA121420920A SA121420920B1 (ar) 2020-07-22 2021-07-19 روبوت مُعلَّق بالكابلات للمنشآت الصناعية

Country Status (2)

Country Link
US (1) US11597077B2 (ar)
SA (1) SA121420920B1 (ar)

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FR3098211A1 (fr) * 2019-07-03 2021-01-08 Airbus Operations Robot photogrammétrique à câbles
US11866079B2 (en) * 2020-02-14 2024-01-09 Georgia Tech Research Corporation Wire-traversing robot and method of operation
CN114347005B (zh) * 2022-03-18 2022-07-15 中国科学技术大学 一种能避障的绳索牵引并联机器人连续重构规划方法
CN115036838A (zh) * 2022-06-02 2022-09-09 常州晋陵电力实业有限公司 基于拆换线机器人的架空线拆换线方法
DE102022206327B3 (de) * 2022-06-23 2023-11-16 Siemens Healthcare Gmbh Überwachungssystem und Verfahren zur Überwachung zumindest eines Zielobjekts
CN116729917B (zh) * 2023-05-23 2024-01-30 南京线控机器人科技有限公司 一种模块化移动平台及其移动方法
CN117484479B (zh) * 2023-12-27 2024-03-29 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) 一种工作空间灵活的绳索牵引并联机器人及控制方法

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WO1984002199A1 (en) 1982-12-01 1984-06-07 Garrett W Brown Improved suspension system for supporting and conveying equipment, such as a camera
US6873355B1 (en) 1998-08-07 2005-03-29 Skycam, Llc Three-dimensional moving camera assembly with an informational cover housing
US6566834B1 (en) * 1999-09-28 2003-05-20 The United States Of America As Represented By The Secretary Of Commerce Modular suspended manipulator
US6975089B2 (en) * 2003-07-28 2005-12-13 Cablecam International Inc. System and method for facilitating fluid three-dimensional movement of an object via directional force
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US10369693B1 (en) * 2016-11-10 2019-08-06 X Development Llc Cable suspended robotic system
US10914357B2 (en) * 2017-02-15 2021-02-09 Amir Khajepour Multi-axis reaction system and method for vibration control of mechanical systems
DE102017110714A1 (de) 2017-05-17 2018-11-22 Nina Katharina Krampe Gerät zur Inspektion von Windenergieanlagen
WO2019023442A1 (en) * 2017-07-26 2019-01-31 Garber James B AUTONOMOUS SUSPENDED SUPPORT FOR TERMINAL EFFECTOR DEVICE
US10791275B2 (en) 2017-09-25 2020-09-29 The Boeing Company Methods for measuring and inspecting structures using cable-suspended platforms
KR102553533B1 (ko) * 2017-12-22 2023-07-07 마르체시니 그룹 에스.피.에이. 케이블 구동 로봇
FR3098211A1 (fr) * 2019-07-03 2021-01-08 Airbus Operations Robot photogrammétrique à câbles

Also Published As

Publication number Publication date
US20220024031A1 (en) 2022-01-27
US11597077B2 (en) 2023-03-07

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