WO1994022099B1 - System for positioning a workpoint - Google Patents

System for positioning a workpoint

Info

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
Application number
PCT/US1994/002707
Other languages
French (fr)
Other versions
WO1994022099A1 (en
Filing date
Publication date
Priority claimed from US08/034,800 external-priority patent/US5408407A/en
Application filed filed Critical
Priority to EP94911580A priority Critical patent/EP0691009A4/en
Priority to AU64067/94A priority patent/AU6406794A/en
Publication of WO1994022099A1 publication Critical patent/WO1994022099A1/en
Publication of WO1994022099B1 publication Critical patent/WO1994022099B1/en

Links

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

- -AMENDED CLAIMS[received by the International Bureau on 22 September 1994 (22.09.94); original claims 1-9, 18, 19 and 24 amended; remaining claims unchanged; new claim 25 added (5 pages)]
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.
PCT/US1994/002707 1993-03-15 1994-03-14 System for positioning a workpoint WO1994022099A1 (en)

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)

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