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WO2003101664A1 - Systeme de deplacement et de positionnement d'outil - Google Patents

Systeme de deplacement et de positionnement d'outil Download PDF

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Publication number
WO2003101664A1
WO2003101664A1 PCT/GB2003/002325 GB0302325W WO03101664A1 WO 2003101664 A1 WO2003101664 A1 WO 2003101664A1 GB 0302325 W GB0302325 W GB 0302325W WO 03101664 A1 WO03101664 A1 WO 03101664A1
Authority
WO
WIPO (PCT)
Prior art keywords
carriage
workpiece
tool
relative
reflector
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.)
Ceased
Application number
PCT/GB2003/002325
Other languages
English (en)
Inventor
Kevin William Beggs
Paul Edward Jarvis
Carl John Abbott
John Stewart Anderson
Timothy Scott White
Donald Sydney Cooke
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.)
BAE Systems PLC
Original Assignee
BAE Systems PLC
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 BAE Systems PLC filed Critical BAE Systems PLC
Priority to AU2003234039A priority Critical patent/AU2003234039A1/en
Publication of WO2003101664A1 publication Critical patent/WO2003101664A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

Definitions

  • This invention relates to the positioning and holding of a tool relative to the surface of a workpiece on which it is intended the tool carry out one or more operations, such as a manufacturing operation.
  • the invention is a development of the tool positioning system described in our earlier international patent application No. PCT/G B01/02994 (publication No WO 02/06003), however in several aspects this invention has broader applications than to manufacturing operations, as will be described below. It is common to carry out such manufacturing operations on workpieces as measuring, drilling, milling, cutting, countersinking and inspecting; tools for such operations are well known in the art and form no part of the present invention per se, however the terms "tool” and “tools” as used hereinafter should be understood to embrace all such apparatus for performing any such operation.
  • the present invention is directed towards any system in which a semi-autonomous or autonomous apparatus moves over a solid surface, such as for cleaning windows on tall buildings, for security and surveillance purposes and the like, and also towards the locating and positioning of any semi-autonomous vehicle at a distance from a base; the terms “tool” and “tools” should therefore be understood to embrace all of these concepts.
  • the accuracy with which tools are positioned is dependent upon the level of accuracy required in the finished product.
  • a significant proportion of the manufacturing time and cost is accounted for by the need to ensure that tools are accurately positioned relative to the workpiece in order that a number of manufacturing operations can be performed with accuracy and at precisely defined locations on the surface of the workpiece.
  • tools are located by hand with the assistance of jigs and fixtures, which are costly and complicated items in themselves.
  • tools may be located by robot arms, however such methods are costly and inherently inaccurate, particularly where the workpiece is large and requires successive tool operations to be carried out over a large area.
  • a tool positioning system to move a tool carriage over a surface of varied shape, orientation, roughness and/or porosity is wholly dependent on the means holding the carriage to the surface.
  • the holding means must hold the carriage to the surface sufficiently strongly to prevent it from falling off, such as when the carriage is inverted and/or when a manufacturing or other operation is carried out, but whilst allowing the carriage to move over the surface.
  • Our earlier application, PCT/GB01/02994 gave one possible solution to this problem, which was to provide a lower holding force when the carriage needs to move and a higher force to hold the carriage during a manufacturing operation. This system, however, is not as effective in practice as initially hoped.
  • the present invention provides an apparatus for movement over a solid surface in which a carriage is held in slidable contact with the surface by ambient air pressure, a lower than ambient air pressure region is formed between the carriage and the surface and bounded by a sliding seal mounted to the apparatus and adapted to slide over the surface and to minimise the flow of ambient air into the low pressure region and at least one element is provided in frictional contact with the surface and adapted to move the carriage over the surface, wherein the force holding the carriage to the surface is isolated from the sliding seal.
  • the carriage preferably comprises one or more elements held in frictional contact with the workpiece surface by the holding means and adapted to move the carriage over the workpiece surface.
  • the elements may comprise one or more wheels, with associated conventional drive and steering mechanisms, or indeed any alternative arrangement capable of engaging with the workpiece surface in order to move the carriage relative thereto, such as caterpiller tracks.
  • the frictional arrangement between the elements may be adjusted in any conventional manner so as to provide the optimum drive for the carriage consist with the requirement not to cause damage to the workpiece surface; the coefficient of friction between the element(s) and the workpiece surface may be adjusted by providing tread patterns or suction cups to the wheels/tracks, for example.
  • the force holding the carriage to the surface preferably acts through the drive element(s) in frictional contact with the surface.
  • the sliding seal at the periphery of the shroud, or "cup" where it abuts the surface is preferably resiliently mounted thereto, so as to be able to reciprocate towards and away from the surface with an aggregate spring force (i.e. the total spring force along the length of the sliding seal) being substantially less than the total force holding the carriage to the surface.
  • the sliding seal may comprise a bellow arrangement, that is one which is able to reciprocate towards and away from the surface, but which is substantially impervious to airflow parallel to the surface - therefore resistant to ambient air leakage into the vacuum plenum.
  • a sliding "collar" type arrangement might be provided, although this might not be sufficiently flexible along its length to permit the sliding seal to conform to an irregularly-shaped surface.
  • a bellows arrangement is inherently flexible along its length, and is thus able easily to conform to such surfaces.
  • the sliding seal also comprises a brush seal, which in use is in contact with the surface.
  • a high flow, low pressure vacuum pump arranged to evacuate a plenum chamber adapted to seal against the surface in which the sliding seal is isolated from the force of ambient air pressure forcing the carriage towards the surface, provides a carriage which can reliably move over surfaces having a great variety of shapes, orientation and inclinations, roughness and of differing materials.
  • Such a carriage would have applications outside manufacturing, such as in window cleaning or other maintenance operations on tall buildings, in security, surveillance and reconnaissance and so on.
  • the invention provides an apparatus for determining the location of a movable vehicle in terms of its translational and rotation coordinates relative to a base having a laser beam source, the apparatus comprising means for pointing the laser beam at a directional reflector mounted on the vehicle and means for pointing the reflector at the source, sensor means being provided for measuring the elevation and azimuth bearings of the laser beam, the elevation and azimuth bearings of the reflector relative to the vehicle and the attitude of the vehicle about two orthogonal axes, and ranging means for measuring the distance between the base and the vehicle.
  • sensor means being provided for measuring the elevation and azimuth bearings of the laser beam, the elevation and azimuth bearings of the reflector relative to the vehicle and the attitude of the vehicle about two orthogonal axes, and ranging means for measuring the distance between the base and the vehicle.
  • this aspect of the invention provides an apparatus for determining the location of a carriage adapted to move over a surface in terms of its translational and rotational co-ordinates relative to the surface, the apparatus comprising a base fixed at a predetermined position relative to the surface and having a laser beam source, means for pointing the laser beam at a directional reflector mounted on the carriage and means for pointing the reflector at the source, sensor means for measuring the elevation and azimuth bearings of the laser beam, the elevation and azimuth bearings of the reflector relative to the carriage and the attitude of the vehicle about two orthogonal axes, and ranging means for measuring the distance between the base and the source.
  • the base is effective to establish the translational co-ordinates of the carriage and the sensors on the carriage establish its rotational co-ordinates.
  • the carriage would sense the rotation of the reflector about two orthogonal axes and the attitude of the carriage about two orthogonal axes, thus providing a degree of redundancy (over that strictly required to establish the position of the carriage in six degrees of freedom) but ensuring accuracy.
  • the axes for sensing carriage attitude are substantially in the horizontal plane.
  • laser is to be understood to mean a very narrow beam of coherent monochromatic light in the ultraviolet, visible or infrared region of the spectrum, and is not to be construed on being restricted to optical wavelengths.
  • the means for point the laser beam at the reflector and/or the means for pointing the reflector at the source comprise a laser light-sensitive target, the sensitivity of the target varying across its surface according to a predetermined pattern, so as to align the laser beam/reflector according to where on the target the laser light impinges.
  • the target may be either a quadrant detector or a position sensitive device (PSD) as are known in the art, or an equivalent thereof.
  • PSD position sensitive device
  • the system is preferably adapted to operate in a single "bullseye" manner, such that there is a central region within which there is no action, but when the laser beam impinges outside the "bullseye” the pointing means moves the laser/reflector so as to bring the impingement point into the "bullseye". This action is conveniently proportionate to the distance between the impingement point and the "bullseye", so that the greater this distance the faster the pointing means moves the laser/reflector so as to bring it into alignment.
  • the carriage may comprise a beam splitter interposed between the reflector and the source and adapted to direct a portion of the laser beam arriving from the source towards the means for pointing the reflector at the source.
  • the ranging means utilises laser interferometry techniques acting on the laser beam to measure the distance between the base and the carriage.
  • the apparatus may comprise means for comparing the determined locating and orientation of the carriage relative to a virtual model of the surface.
  • the comparing means need not be limited to positioning relative to a surface, but may instead position the vehicle in three-dimensional space according to some virtual model thereof.
  • this virtual model may be dynamic, for example in the case where the invention is applied to a guidance system for a missile aimed at a moving target.
  • the invention provides an apparatus for movement over a solid surface in which a carriage is held in slidable contact with the surface by ambient air pressure comprising a plurality of separate, spaced lower than ambient air pressure regions each region being defined by a shroud in sliding contact with the surface, each shroud being mounted so as to pivot independently of each other shroud.
  • Such an arrangement facilitates the conformability of the carriage to a surface which is very irregular or has a large radius of curvature; it also allows the carriage to cross large discontinuities in the surface without falling off the surface.
  • one shroud loses its purchase on the surface, because ambient air leaks in as the shroud passes over the discontinuity, the remaining shrouds serve to retain the carriage in contact with the surface.
  • the optimum number of shrouds is probably three, given that a tripod arrangement with three points of contact, allows an object to be supported firmly on a surface of any shape or curvature.
  • the invention also provides an apparatus for positioning and holding a tool relative to a workpiece comprising a carriage for conveying the tool over the surface and means for holding the carriage onto the surface of the workpiece, the carriage remaining capable of movement relative thereto, wherein means are provided to measure localised deflection of the surface, caused by the mass of the carriage relative to the tool.
  • the measuring means may suitably comprise a laser rangefinder mounted to the carriage.
  • Figure 1 is a schematic view, in partial cross-section, of an embodiment of an apparatus for carrying a tool over a solid surface in accordance with the first aspect of the invention
  • Figure 2 is a schematic view of an apparatus for determining the location of a tool-carrying carriage, as shown in Figure 1 , in accordance with the second aspect of the invention.
  • Figure 3 is a schematic view of a tool carrying apparatus in accordance with the further aspects of the invention.
  • a carriage 1 is shown, to which is mounted a tool 3 (a drill having a bit 5 is illustrated).
  • the carriage 1 comprises a cup 7 enclosing a space 9 from which air is evacuated by a high flow, low pressure vacuum pump 11 , creating a lower than ambient air pressure therein. This pressure difference, between ambient and that in space 9, presses the carriage 1 towards the surface 13.
  • Air contract between the cup 7 and the surface 13 is completed by seal 15, which comprises two portions: a brush seal 17 in contact with the surface, and a sliding portion 19, shown here as a bellows-type arrangement, which is able to reciprocate towards and away from the surface but which is impervious to air and thus prevents ambient air from leaking through into space 9.
  • the sliding portion 19 is biased towards the surface 13 so as to maintain contact between the brush seal 17 and the surface.
  • the carriage 1 has wheels 21 which engage the surface and move the carriage relative thereto.
  • the wheels 21 are fixedly mounted to the cup 7 by rigid structs 23, so as to hold the cup 7 at a fixed distance from the surface 13.
  • the bias force pressing the brush seal 17 into contact with the surface is significantly less than the force due to the pressure differential pressing the carriage onto the surface. This enables the carriage to be moved easily over the surface even if the surface is inclined, or even inverted. Because the force holding the carriage onto the surface acts through the wheels 21 this increases the friction therebetween, enabling the wheels to drive the carriage over the surface. Because the bias force acting on the brush seal 17 is significantly less than the force due to the pressure differential acting on the wheels, the carriage has no difficulty in overcoming static friction in order to move over the surface as is experienced with conventional sealing arrangements.
  • the sliding portion or bellows 19 is sufficiently resilient to flex along its length and thus to allow for variations in the shape or material of the surface around the circumference of the cup 7, and thus allow the carriage to move with ease over steps and other discontinuities in the surface whilst maintaining a low pressure in space 9.
  • the right hand wheel 21 is driven and steered by drive unit 25.
  • the wheels 21 have a rolling surface formed of an elastic compound so as to provide good frictional engagement with surface 13 whilst preventing damage thereto.
  • a rotary, vacuum seal 27 which is sealingly connected to vacuum cup 7 by a flexible diaphragm 29, so ensuring that the vacuum cup 7 extends in substantially unbroken fashion over its entire surface area, whilst allowing drill 3 to move along three orthogonal axes relative to vacuum cup 7 (and allowing drill bit 5 to rotate about one of these axes).
  • Moving means 31 which is rigidly mounted to the carriage 1 is adapted to move the drill 3 along these three axes, so as to move the drill 3 left and right as shown in the drawing, into and out of the plane of the drawing, and up and down as in the drawing.
  • Normalisation sensors 33 are mounted to the carriage 1 and are adapted so as to sense the angular orientation of the carriage 1 , and particularly the drill bit 5, relative to the surface on which the carriage 1 rests (not shown, for clarity) and into which a drilling operation is to be carried out.
  • Rotating means 35 is adapted to rotate the drill 3 about two orthogonal axes substantially coplanar with the surface upon which the carriage rests, so as to ensure that the drill bit 5 is normal to the surface into which it is to drill, or so as to enable the drill bit 5 to drill at any desired angle other than normal into the surface.
  • Control unit 37 which suitably comprises a microprocessor unit and a combined power source, powers and controls the operation of the drill 3, drive unit 25, moving means 31 , rotating means 35 and the vacuum pump 11.
  • carriage 1 In use, carriage 1 is intended to move with a minimum of operator intervention over the surface of a workpiece so as to move the tool 3 into an accurate position and orientation in order to carry out a precise manufacturing operation.
  • the interior of the vacuum cup 7 In order to hold the carriage 1 onto the surface of the workpiece and to prevent it from falling off as it moves around the workpiece, the interior of the vacuum cup 7 is at least partially evacuated, forming a vacuum plenum, so that ambient air pressure holds the carriage 1 against the workpiece.
  • the seal 15 acts as the seal between the vacuum cup 7 and the workpiece, and is sufficiently flexible and/or flexibly mounted to conform to the surface configuration of the workpiece.
  • the evacuation of the vacuum cup 7 may be increased, compressing the seal 15; as a result, the carriage 1 is very firmly clamped to the workpiece.
  • the low pressure within the vacuum cup 7 is controllable so as to ensure that the carriage 1 is unmoved by the forces, additional to its own weight, arising from the fine positioning of the tool 3 and, more particularly, from the operation of the tool when drilling is taking place.
  • the tool 3 and the drill bit 5 are accurately positioned and orientated by way of the moving means 31 and the rotating means 35, as is described in our earlier International patent application, publication No. WO 02/06003.
  • Reflector 41 is a retro-reflector, such as those produced by Virtek
  • Pivot 43 permits the reflector to be rotated about two orthogonal axes; preferably these are perpendicular to the axis of the drill (not shown in Figure 2 for clarity), and the pivot 43 is on the drill axis (so that the axis of member 45 shown in Figure 2 is coincident with the axis of the drill 3 shown in figure 1 - the reflector 41 is therefore moved by moving means 31 and rotating means 35 together with the drill 3 so as to maintain this relationship).
  • a sensing and drive means 50 is provided for sensing the azimuth and elevation bearings of the reflector and for driving the reflector in azimuth and elevation.
  • a base 51 comprising a laser 53 which is pivotally mounted so as to pivot in azimuth and elevation about pivot 55, a laser sensitive target 57, sensing and drive means 59 for sensing the elevation and azimuth bearings of the laser 53 and for driving the laser so as to pivot in azimuth and elevation, and a control unit 61.
  • the control unit stores a virtual model of the surface 13 (the position of which relative to the base 51 is precisely known) and details of the precise points on the surface at which a drilling operation is required.
  • the operation of the arrangement shown in Figure 2 is as follows.
  • the laser 53 and reflector 41 are aligned as will be described below.
  • the control unit 61 can establish the precise three dimensional position of the carriage 1 (and by comparing this position to a predetermined position on the surface 13 at which a drilling operation is to be carried out, as stored in the control unit memory, the control unit 61 can establish whether or not the carriage needs to move, and in which direction).
  • control unit 37 can establish the precise angular orientation of the carriage 1 ; by combining the measurements of the control units 61 and 37 it is possible to establish the precise translational and rotational location of the carriage 1 relative to the base, so that the various drive means 25, 31 , 35 can be actuated so as to carry out a drilling operation in precisely the right position on, direction relative to and depth into the surface 13 (it will be noted that the system described has a degree of redundancy in that it is only necessary to establish the location of the carriage with six degrees of freedom, whereas the system described uses four sensors to establish the three rotational degrees of freedom; this is because the carriage 1 of Figure 1 has two normalisation sensors 29 as well as the two sensor to establish the orientation of the reflector relative to the carriage).
  • the alignment of the laser 53 and the reflector 41 towards each other is effected using the targets 49, 57 and the beam splitter 47.
  • the beam splitter 47 is interposed between the laser 53 and the reflector 41 so as to divert a portion of the laser beam 63 towards the target 49.
  • the remainder of the laser beam 63 travels, in the direction of the arrows shown, to the reflector 41 there to be reflected back towards the target 57 which is mounted closely adjacent to the laser 53, and so as to pivot therewith.
  • the targets 49, 57 are preferably of variable sensitivity to laser light according to where on their surface the laser light impinges (quadrant detectors or PSDs, as are known in the art, are suitable).
  • the appropriate control unit 37, 61 can establish what movement of the reflector 41 and of the laser 53 is required in order to keep the laser light impinging in the centre of the relevant target and, because the position of the targets relative to the reflector/laser is known, to keep the laser and reflector pointing at each other.
  • the arrangement is preferably to establish a "bullseye", so that when the laser light impinges with the "bullseye” the control units 37, 61 do not actuate the movement of the laser/reflector, but as soon as the laser light impinges outside the "bullseye” the control unit initiates movement to bring the impingement back towards the "bullseye".
  • FIG. 3 illustrates a carriage 101 mounting a drill 103 having three vacuum cups 107 which are independently mounted to the carriage 101 by fixed rigid struts 109, the cups 107 being mounted to pivots 111 so as to conform to the surface 113. Because the weight of the carriage 101 may deform the surface in the region where drilling is to take place, as shown by the phantom line illustration, the undeflected shape of surface 113, a laser range finder 115 is provided to measure the deflection, in order more precisely to position the drill.
  • Positioning of the drill is as described above in connection with Figures 1 and 2, or as in our earlier WO 02/06003, and the vacuum cups 107 may be as described in connection with Figure 1 or as in WO 02/06003.
  • the laser range finder can also be used to account for inconsistencies between the actual surface and the virtual model of the surface.
  • data may be input to the control unit 37 or 61 by way of an operator interface (not shown).
  • control unit 37 and pump 11 may either be remote or affixed to the carriage 1 for greater compactness (and the control unit 37 and control unit 61 may comprise a single integrated microprocessing unit);
  • operator interface 45 might comprise a keyboard and might also be located on the carriage 1 , or it might comprise a remote infra-red or microwave linkage or the like.
  • the vacuum cup 7 depicted is in the form of a rectangular box - this could be of any shape provided it has a circumferential edge at least loosely configured so as to conform to the surface of the workpiece; it could, for example, be toroidal in shape with the manufacturing operation being performed through the central opening thereof, or it could comprise a plurality of small vacuum cups of any shape.
  • the vacuum system described could be complemented by any means capable of providing an attractive force, such as an electromagnetic device, for use on a ferrous or ferro-magnetic structure, or even a system employing a releasable adhesive arrangement.
  • the illustrated embodiments incorporate a drill, for performing a drilling operation, however the drill could be replaced by any other conventional tool for performing other manufacturing operations, or operations such as welding, testing, painting, testing or other localised treatment.
  • the embodiments may also have applications outside manufacturing, such as in building or structural maintenance and inspection, remote guidance systems, security or surveillance systems and so on.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention se rapporte à un appareil destiné à positionner et à maintenir un outil par rapport à une pièce à travailler. Ledit appareil comprend un chariot conçu pour amener l'outil sur la surface de la pièce à travailler, et des moyens conçus pour maintenir le chariot sur la surface de la pièce à travailler. L'invention concerne un agencement d'étanchéité sous vide, un système laser de localisation et de guidage, un robot à ventouses multiples et un système permettant de déterminer des écarts localisés entre la position/forme réelle de la surface, et celle souhaitée ou prévue. Un tel agencement permet d'obtenir un robot pouvant « glisser » sur une pièce à travailler et y réaliser des opérations de fabrication précises.
PCT/GB2003/002325 2002-05-31 2003-05-29 Systeme de deplacement et de positionnement d'outil Ceased WO2003101664A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003234039A AU2003234039A1 (en) 2002-05-31 2003-05-29 Tool movement and positioning system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0212659.7 2002-05-31
GB0212659A GB0212659D0 (en) 2002-05-31 2002-05-31 Tool movement and positioning system

Publications (1)

Publication Number Publication Date
WO2003101664A1 true WO2003101664A1 (fr) 2003-12-11

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AU (1) AU2003234039A1 (fr)
GB (1) GB0212659D0 (fr)
WO (1) WO2003101664A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102528398A (zh) * 2012-02-14 2012-07-04 四川大学 一种特大型工件的分割加工装置及其加工方法
US20130032580A1 (en) * 2010-11-29 2013-02-07 Mitsubishi Electric Corporation Optical path structure of laser processing machine
US9221506B1 (en) * 2011-07-18 2015-12-29 The Boeing Company Location tracking and motion control of automated marking device
EP3290166A1 (fr) * 2016-08-30 2018-03-07 The Boeing Company Système de réparation de traitement de surface adaptable
EP3626463A1 (fr) * 2018-09-24 2020-03-25 The Boeing Company Systeme d'impression robotisé pour un extérieur d'avion
CN111421159A (zh) * 2020-04-09 2020-07-17 汪志明 一种大口径钢管打孔器

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JPS60219172A (ja) * 1984-04-13 1985-11-01 Fuji Electric Co Ltd 真空吸着式走行車両
US4618759A (en) * 1984-02-24 1986-10-21 Carl-Zeiss-Stiftung Beam position control for a laser machine device
US4714339A (en) * 1986-02-28 1987-12-22 The United States Of America As Represented By The Secretary Of Commerce Three and five axis laser tracking systems
JPS6379059A (ja) * 1986-09-22 1988-04-09 Japan Atom Power Co Ltd:The 自動非破壊検査装置
EP0407745A2 (fr) * 1989-06-14 1991-01-16 O.N.O. Co., Ltd. Appareil susceptible d'être tenu par vide
US5038527A (en) * 1988-10-28 1991-08-13 Helmut Fastje Suction-hood for facade-cleaning
GB2268457A (en) * 1992-06-29 1994-01-12 Portsmouth Tech Consult Robot device with suction grippers, eg for use on vertical surfaces.
DE4429501A1 (de) * 1994-08-19 1996-02-22 Yberle Hans Dipl Ing Fh Mobiles Transport- und Handhabungssystem sowie Verfahren zur Steuerung der Bewegung eines solchen Systems oder zur Bestimmung der Position wenigstens einer Transporteinrichtung eines solchen Systems
JPH0979831A (ja) * 1995-09-13 1997-03-28 Tokimec Inc 路面撓み量測定装置及び方法
US6049377A (en) * 1996-08-16 2000-04-11 Cam C. Lau Five-axis/six-axis laser measuring system
JP2000302071A (ja) * 1999-04-19 2000-10-31 Jiyakusutoron Kk 作業用自走車
WO2002006003A1 (fr) * 2000-07-19 2002-01-24 Bae Systems Plc Systeme de positionnement d'outil

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4618759A (en) * 1984-02-24 1986-10-21 Carl-Zeiss-Stiftung Beam position control for a laser machine device
JPS60219172A (ja) * 1984-04-13 1985-11-01 Fuji Electric Co Ltd 真空吸着式走行車両
US4714339B1 (en) * 1986-02-28 1997-03-18 Us Army Three and five axis laser tracking systems
US4714339A (en) * 1986-02-28 1987-12-22 The United States Of America As Represented By The Secretary Of Commerce Three and five axis laser tracking systems
US4714339B2 (en) * 1986-02-28 2000-05-23 Us Commerce Three and five axis laser tracking systems
JPS6379059A (ja) * 1986-09-22 1988-04-09 Japan Atom Power Co Ltd:The 自動非破壊検査装置
US5038527A (en) * 1988-10-28 1991-08-13 Helmut Fastje Suction-hood for facade-cleaning
EP0407745A2 (fr) * 1989-06-14 1991-01-16 O.N.O. Co., Ltd. Appareil susceptible d'être tenu par vide
GB2268457A (en) * 1992-06-29 1994-01-12 Portsmouth Tech Consult Robot device with suction grippers, eg for use on vertical surfaces.
DE4429501A1 (de) * 1994-08-19 1996-02-22 Yberle Hans Dipl Ing Fh Mobiles Transport- und Handhabungssystem sowie Verfahren zur Steuerung der Bewegung eines solchen Systems oder zur Bestimmung der Position wenigstens einer Transporteinrichtung eines solchen Systems
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