System for positioning a work point in three dimensional space

• US 5,440,476 A
• Filed: 03/15/1993
• Issued: 08/08/1995
• Est. Priority Date: 03/15/1993
• Status: Expired due to Term

• Current Assignee: Pentek, Inc.
• Original Assignee: Pentek, Inc.
• Inventors: Roman, Harry T., Gore, Gerald E., Youngwirth, Donald M., Lefkowitz, Sheldon
• Primary Examiner(s): Trammell, James P.
• Application Number:
  US08/031,417
• Time in Patent Office: 876 Days
• Field of Search: 364/167.01, 364/174, 364/175, 376/310, 51/415, 122/479, 134/167, 15/98, 212/76, 212/125, 182/142, 73/67.85, 61/96 R, 244/33, 414/4, 414/146
• US Class Current: 700/56
• CPC Class Codes: G05B 19/251 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/34403 RTI real time, kernel, processing
• CPC Class Codes: G05B 2219/45013 Spraying, coating, painting
• CPC Class Codes: G05B 2219/49253 Position in space by controlling length of two, more cables, wires

Abstract

A system for positioning a work point in three dimensional space has at least three reeving systems spaced apart from one another, with each reeving system having a adjustable support element 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 adapted for releasing and taking up the support element. A control system controls the actuators to release and take up each of the support elements to move the work point with respective to at least three 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 through three dimensional space, the system comprising:

at least three reeving systems spaced apart from one another;

an adjustable support element associated with each reeving system, 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 three different spatial coordinate axes;

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 three 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 three 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.

4. A system according to claim 3, 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 corner of a structure having at least three walls.

5. A system according to claim 1, wherein said programmable control system is a computer control system.

6. A system according to claim 5, wherein said programmable control system is programmed to move the work point over a prescribed path.

7. A system according to claim 5, wherein said programmable control system is programmed to move the work point at a prescribed velocity.

8. A system according to claim 5, wherein said programmable control system is programmed to move the work point over a prescribed path at a prescribed velocity.

9. A system according to claim 5, wherein said programmable control system is programmed to move the work point over a prescribed path at a prescribed acceleration.

10. A system according to claim 5, wherein said programmable control system controls at least one motion parameter on a real time basis through direct operator input.

11. A system according to claim 5, wherein each of said actuators is a power driven device.

12. A system according to claim 11, wherein said power driven device is selected from the group consisting of electric motors, hydraulic motors and pneumatic motors.

13. A system according to claim 5 having four reeving systems, each of which is disposed in a corner of a structure having at least four walls.

14. A system according to claim 5 having four reeving systems, 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 corner of a structure having at least four walls.

15. A system according to claim 5, wherein the work point is a working load operating under the control of said programmable control system.

16. A system according to claim 15, 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.

17. A system according to claim 16, wherein the working load is adapted to perform an automated cleaning operation.

18. A system according to claim 16, wherein the working load is adapted to perform an automated painting operation.

19. A system according to claim 5, wherein each of said adjustable support elements is fed through its corresponding reeving system only once so that said support element has an end free from tension due to the load.

20. A system according to claim 5, wherein said support elements are selected from the group consisting of cables, telescoping cylinders, chains, belts and rack and pinion drive mechanisms.

21. A system for positioning 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, the length of each support element between the work point and each respective reeving system determining the location of the work point with respect to at least two spatial coordinate axes;

an actuator for each of said plurality of reeving systems, each actuator adapted for releasing and taking up each support element connected to said reeving system;

a control system for controlling said actuators to release and take up each of said the support elements to move the work point with respect to each of the at least two spatial coordinate axes while controlling at least one motion parameter of the work point in a predetermined manner; and

a passive pulley disposed between two of said plurality of reeving systems to allow the work point to be moved from a first plane to a second plane.

22. A system for moving a work point through three dimensional space, 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 each respective reeving system determining the location of the work point with respect to at least a first spatial coordinate axis and a second spatial coordinate axis different from the first spatial coordinate axis;

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 at least the first and second 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 spatial coordinate axes,

wherein each of said plurality of reeving systems is capable of movement with respect to at least a third spatial coordinate axis different from the first and second spatial coordinate axes to move the work point with respect to at least the third spatial coordinate axis.

23. A system according to claim 22, wherein each of said reeving systems is attached to a member, said member being capable of movement with respect to the third coordinate axes.

24. A system according to claim 23, wherein each of said reeving systems is capable of movement along said member.

25. A system for moving a work point through three dimensional space, the system comprising:

means for taking up and releasing at least three support elements, said support elements supporting the work point and determining the location of the work point with respect to at least three different spatial coordinate axes, to move the work point with respect to each of the at least three spatial coordinate axes;

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 three spatial coordinate axes.

26. A method for moving a work point through three-dimensional space, the method comprising the steps of:

taking up and releasing at least three support elements, said support elements supporting the work point and determining the location of the work point with respect to at least three different spatial coordinate axes, to move the work point with respect to each of the at least three 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 three spatial coordinate axes.