ES457212A1 - Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies. - Google Patents

Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies.

Info

Publication number
ES457212A1
ES457212A1 ES457212A ES457212A ES457212A1 ES 457212 A1 ES457212 A1 ES 457212A1 ES 457212 A ES457212 A ES 457212A ES 457212 A ES457212 A ES 457212A ES 457212 A1 ES457212 A1 ES 457212A1
Authority
ES
Spain
Prior art keywords
move
routine
stepping
target
openings
Prior art date
Legal status (The legal status 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 status listed.)
Expired
Application number
ES457212A
Other languages
English (en)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Combustion Engineering Inc
Original Assignee
Combustion Engineering Inc
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 Combustion Engineering Inc filed Critical Combustion Engineering Inc
Publication of ES457212A1 publication Critical patent/ES457212A1/es
Expired legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Thermal Sciences (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procedimiento e instalación para el desplazamiento de un aparato de traslado por superficies; que se desplaza por una superficie con una serie de aberturas alineadas y uniformemente situadas en una determinada cantidad de líneas dispuestas paralelas entre si al mismo nivel, así como en una determinada cantidad de filas paralelas dispuestas también de manera uniforme, que entre si están en paralelismo con los ejes ¿x¿ y ¿y¿ de un sistema cartesiano de coordenadas, teniendo cada una de las aberturas una dirección individual dentro de este sistema cartesiano de coordenadas, comprendiendo éste aparato de traslado por superficies unos brazos primario y secundarios de avance, unidos entre si, extendiéndose cada uno de éstos brazos primario y secundario de paso transversalmente con respecto al otro en un ángulo definido por la intersección de los ejes ¿x¿ y ¿y¿, siendo cada uno de los mismos oscilantes selectivamente en vaivén en sentido longitudinal por lo menos dos respectivas posiciones correspondiendo la distancia entre, por lo menos, dos posiciones de los brazos primero y secundario de paso.
ES457212A 1976-03-26 1977-03-25 Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies. Expired ES457212A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/670,806 US4074814A (en) 1976-03-26 1976-03-26 Method and apparatus for controlling surface traversing device

Publications (1)

Publication Number Publication Date
ES457212A1 true ES457212A1 (es) 1978-02-01

Family

ID=24691957

Family Applications (1)

Application Number Title Priority Date Filing Date
ES457212A Expired ES457212A1 (es) 1976-03-26 1977-03-25 Procedimiento e instalacion para el desplazamiento de un a- parato de traslado por superficies.

Country Status (10)

Country Link
US (1) US4074814A (es)
JP (1) JPS52132282A (es)
BR (1) BR7701930A (es)
CA (1) CA1068382A (es)
DE (1) DE2712316A1 (es)
ES (1) ES457212A1 (es)
FR (1) FR2345756A1 (es)
IT (1) IT1084666B (es)
NL (1) NL7703275A (es)
SE (1) SE7703467L (es)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2394374A2 (fr) * 1977-06-15 1979-01-12 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
FR2415515A1 (fr) * 1978-01-30 1979-08-24 Framatome Sa Dispositif de vissage a commande a distance
US4271471A (en) * 1978-12-28 1981-06-02 Westinghouse Electric Corp. Method of operating a remotely controlled tool positioning table
US4302146A (en) * 1978-08-23 1981-11-24 Westinghouse Electric Corp. Probe positioner
US4272781A (en) * 1978-09-08 1981-06-09 Tokyo Shibaura Denki Kabushiki Kaisha Nondestructive examining apparatus
US4262402A (en) * 1978-10-18 1981-04-21 Westinghouse Electric Corp. Method for servicing a steam generator
US4287655A (en) * 1979-04-30 1981-09-08 Westinghouse Electric Corp. End effector position and identification system for steam generator servicing machine
US4521844A (en) * 1980-05-30 1985-06-04 Westinghouse Electric Corp. Manipulator control system and apparatus for decontaminating nuclear steam generators
EP0064994A4 (en) * 1980-11-25 1984-11-16 Commw Of Australia DESIGN OUTLINE.
US4503506A (en) * 1981-08-05 1985-03-05 Westinghouse Electric Corp. Apparatus for mapping and identifying an element within a field of elements
US4449599A (en) * 1982-09-27 1984-05-22 Combustion Engineering, Inc. Finger walker for tube sheet
JPS5994111A (ja) * 1982-11-19 1984-05-30 Fanuc Ltd 機械現在位置領域判別方法
US7314343B2 (en) * 2002-07-22 2008-01-01 Westinghouse Electric Co. Llc Miniature manipulator for servicing the interior of nuclear steam generator tubes
US8746089B2 (en) 2009-01-19 2014-06-10 Babcock & Wilcox Nuclear Energy, Inc. Apparatus for automated positioning of eddy current test probe
US9307835B2 (en) 2013-04-12 2016-04-12 Jim's Welding & Fabricating, Llc Materials and methods for a warehouse storage system
CN116175549B (zh) * 2022-12-12 2026-03-20 安徽省配天机器人集团有限公司 轨迹规划方法、装置、电子设备及存储介质

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3889820A (en) * 1973-08-01 1975-06-17 Combustion Eng Method and apparatus for suspendedly supporting a platform
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform

Also Published As

Publication number Publication date
FR2345756A1 (fr) 1977-10-21
DE2712316A1 (de) 1977-09-29
NL7703275A (nl) 1977-09-28
US4074814A (en) 1978-02-21
CA1068382A (en) 1979-12-18
SE7703467L (sv) 1977-09-27
JPS52132282A (en) 1977-11-05
BR7701930A (pt) 1978-04-04
FR2345756B1 (es) 1981-03-06
IT1084666B (it) 1985-05-28

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