Tension-Driven Carriage System for Large Object Processing
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Solution Overview
Problem
Existing manipulators for processing large objects like pressure vessels are cumbersome to manufacture and install, and are often specific to particular object shapes, limiting their versatility for different applications.
Innovation Solution
An apparatus with first and second mounting units secured to the object, featuring tension members under tension and rotatable portions, driven by a unit that moves carriages with processing devices along the object's surface, allowing for flexible movement and adaptation to various object shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If large manipulators are used for very large objects, then the processing capability is improved, but the difficulty of manufacture and installation increases
Solution Approach 1:
The manipulator system is divided into multiple carriages that can be independently positioned along the tension members. Each carriage can accommodate processing devices, and multiple carriages can work simultaneously on different sections of the object, enabling processing of very large objects without requiring a single oversized manipulator structure.
Solution Approach 2:
The system transitions from traditional rigid manipulator arms to a cable-driven parallel mechanism where carriages move along tension members in multiple dimensions. The carriages can position themselves at different locations along the tension members and move in coordinated fashion, enabling complex 3D motion patterns suitable for large-scale objects.
2Manufacturing precision
If a mounting ring is used for specific objects, then the processing precision is improved, but the adaptability to different object types deteriorates
Solution Approach 1:
The system uses a universal mounting arrangement with tension members that can be configured for different object geometries. The carriages are designed with universal interfaces to attach to the tension members, allowing the same basic system architecture to adapt to various object types including cylindrical pressure vessels, spherical tanks, and other complex geometries through software control and positioning adjustments.
Solution Approach 2:
The system employs dynamic positioning control where the carriages can be moved to different locations along the tension members based on the specific object geometry being processed. The control system adjusts the position and movement of carriages in real-time to maintain optimal processing conditions for different object shapes and sizes, providing both precision and adaptability.
3Area of stationary object
If multiple carriages are used for large objects, then the processing coverage is improved, but the device complexity increases
Solution Approach 1:
Multiple carriages share common tension members and control systems, merging functions to reduce overall complexity. The carriages are connected through the tension member system, allowing coordinated movement and positioning. This shared infrastructure reduces the need for separate drive mechanisms for each carriage, simplifying the overall system while maintaining the ability to process large surface areas.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and versatile movement of processing devices relative to large objects, such as pressure vessels, facilitating cleaning and inspection while being adaptable to different object geometries without the need for extensive reconfiguration.
Implementation Method 1
first and second mounting units configured to be secured in a fixed position relative to the object to be processed and between which one or more tension members are mounted under tension
Implementation Method 2
a drive unit configured to move the one or more tension members so as to move the one or more carriages relative to the object
Implementation Method 3
the drive unit comprises one or more second drive units configured to rotate the rotatable portions about the axis
Data Source
Figure 1~4
AI summary
Apparatus for moving one or more processing devices relative to an object to be processed, comprising: first and second mounting units configured to be secured in a fixed position relative to the object to be processed and between which one or more tension members are mounted under tension; one or more carriages respectively connected to the one or more tension members, each of the carriages configured to accommodate a respective processing device; and a drive unit configured to move the one or more tension members so as to move the one or more carriages relative to the object.