Manipulation apparatus for system that removes material from a surface of a structure

• US 20060196861A1
• Filed: 04/10/2006
• Published: 09/07/2006
• Est. Priority Date: 03/18/2003
• Status: Active Grant

• Current Assignee: Andrew P. Joseph, Jay R. Eastman, John Scott Phillips, Michael N. Patena, Paul Coleman, Paul E. Denney, Paul M. Fallara, Tim Burnham
• Original Assignee: Andrew P. Joseph, Jay R. Eastman, John Scott Phillips, Michael N. Patena, Paul Coleman, Paul E. Denney, Paul M. Fallara, Tim Burnham
• Inventors: Fallara, Paul M., Joseph, Andrew P., Coleman, Paul, Burnham, Tim, Denney, Paul E., Patena, Michael N., Phillips, John S., Eastman, Jay R.
• Granted Patent: US 8,624,158 B2
• Time in Patent Office: Days
• US Class Current: 219/121.78
• CPC Class Codes: B23K 26/032 using optical means
• CPC Class Codes: B23K 26/10 using a fixed support , i.e. involving moving the laser beam
• CPC Class Codes: B23K 26/12 in a special atmosphere, e.g. in an enclosure
• CPC Class Codes: B23K 26/123 in an atmosphere of particular gases
• CPC Class Codes: B23K 26/128 Laser beam path enclosures
• CPC Class Codes: B23K 26/16 Removal of by-products, e.g. particles or vapours produced during treatment of a workpiece by a fluid stream B23K26/142

Abstract

A manipulation system controllably moves a head relative to a surface of an inhabitable structure for irradiating the surface with energy waves from the head. The manipulation system includes a positioning mechanism coupled to the head. The positioning mechanism includes a first-axis position system adapted to move the head along a first direction substantially parallel to the surface. The positioning mechanism further includes a second-axis position system coupled to the first-axis position system and adapted to move the head along a second direction substantially parallel to the surface. The manipulation system further includes an anchoring mechanism coupled to the positioning mechanism and releasably coupled to the structure.

Claims

1. A manipulation system for controllably moving a head relative to a surface of an inhabitable structure and irradiating the surface with energy waves from the head, the manipulation system comprising:

a positioning mechanism coupled to the head, the positioning mechanism comprising;

a first-axis position system adapted to move the head along a first direction substantially parallel to the surface; and

a second-axis position system coupled to the first-axis position system and adapted to move the head along a second direction substantially parallel to the surface; and

an anchoring mechanism coupled to the positioning mechanism and releasably coupled to the structure.

2. The manipulation system of claim 1, wherein the second direction is substantially perpendicular to the first direction.

3. The manipulation system of claim 1, wherein the first-axis position system and the second-axis position system provide linear movement of the head.

4. The manipulation system of claim 1, wherein the first-axis position system and the second-axis position system provide circular and axial movements of the head.

5. The manipulation system of claim 1, wherein the positioning mechanism is releasably coupled to the head, the second-axis position system is releasably coupled to the first-axis position system, and the anchoring mechanism is releasably coupled to the positioning mechanism, whereby the manipulation system can be reversibly assembled and disassembled to facilitate transportation of the manipulation system to locations within the structure.

6. The manipulation system of claim 1, further comprising a controller electrically coupled to the positioning mechanism and adapted to transmit control signals to the positioning mechanism in response to user input.

7. The manipulation system of claim 1, wherein the first-axis position system comprises a first rail and a first drive and the second-axis position system comprises a second rail and a second drive.

8. The manipulation system of claim 7, wherein the first rail is coupled to the anchoring mechanism, the second rail is slidably coupled to the first rail, and the head is slidably coupled to the second rail.

9. The manipulation system of claim 7, wherein the first drive and the second drive are each selected from the group consisting of:

hydraulic drive, pneumatic drive, electromechanical drive, screw drive, and belt drive.

10. The manipulation system of claim 1, wherein the positioning mechanism further comprises a third-axis position system adapted to move the head along a third direction substantially perpendicular to the first direction and the second direction.

11. The manipulation system of claim 1, wherein the anchoring mechanism comprises one or more attachment interfaces.

12. The manipulation system of claim 11, wherein the attachment interface comprises at least one resilient vacuum pad.

13. The manipulation system of claim 1, wherein the anchoring mechanism comprises a ground-based support connector adapted to be releasably attached to a ground- based support system.

14. The manipulation system of claim 1, wherein the anchoring mechanism comprises a suspension-based support connector adapted to be releasably attached to a suspension-based support system.

15. The manipulation system of claim 1, further comprising an interface which couples the second-axis position system to the first-axis position system, the interface comprising a hinge whereby a plane of movement defined by the first direction and the second direction of the head can be rotated relative to a surface upon which the anchoring mechanism is coupled.

16. A manipulation system for controllably moving a head relative to a surface of an inhabitable structure and irradiating the surface with energy waves from the head, the manipulation system comprising:

means for positioning the head by moving the head along a first direction substantially parallel to the surface and along a second direction substantially parallel to the surface and substantially perpendicular to the first direction; and

means for releasably coupling the manipulation system to the structure.

17. A method of controllably moving a head relative to a surface of an inhabitable structure and irradiating the surface with energy waves from the head, the method comprising:

releasably coupling the head to a manipulation system;

releasably coupling the manipulation system to the structure; and

controllably moving the head along a first direction substantially parallel to the surface and along a second direction substantially parallel to the surface and substantially perpendicular to the first direction.