US5440476A
Expired / Lapsed
US
⏱️ 0.0 years remaining
System for positioning a work point in three dimensional space
Assignee: Pentek Inc
•
Filing: 1993-03-15
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Granted: 1995-08-08
•
Expires: 2013-03-15
Abstract
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.
Inventors
- 👤 Sheldon Lefkowitz
- 👤 Donald M. Youngwirth
- 👤 Gerald E. Gore
- 👤 Harry T. Roman
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 09:37
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/25; G05B19/251; G05B19/42; G05B19/425; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34403; G05B2219/45; G05B2219/45013; G05B2219/49; G05B2219/49253
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
181 words
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.
Claim 2
Independent Claim
181 words
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.
Claim 3
Dependent Claim
25 words
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.
Claim 4
Dependent Claim
26 words
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.
Claim 5
Dependent Claim
41 words
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.
Claim 6
Dependent Claim
16 words
A system according to claim 1, wherein said programmable control system is a computer control system.
Claim 7
Dependent Claim
22 words
A system according to claim 5, wherein said programmable control system is programmed to move the work point over a prescribed path.
Claim 8
Dependent Claim
22 words
A system according to claim 5, wherein said programmable control system is programmed to move the work point at a prescribed velocity.
Claim 9
Dependent Claim
26 words
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.
Claim 10
Dependent Claim
26 words
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.
Claim 11
Dependent Claim
26 words
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.
Claim 12
Dependent Claim
16 words
A system according to claim 5, wherein each of said actuators is a power driven device.
Claim 13
Dependent Claim
25 words
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.
Claim 14
Dependent Claim
26 words
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.
Claim 15
Dependent Claim
45 words
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.
Claim 16
Dependent Claim
23 words
A system according to claim 5, wherein the work point is a working load operating under the control of said programmable control system.
Claim 17
Dependent Claim
35 words
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.
Claim 18
Dependent Claim
18 words
A system according to claim 16, wherein the working load is adapted to perform an automated cleaning operation.
Claim 19
Dependent Claim
18 words
A system according to claim 16, wherein the working load is adapted to perform an automated painting operation.
Claim 20
Dependent Claim
37 words
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.
Claim 21
Dependent Claim
28 words
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.
Claim 22
Independent Claim
178 words
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.
Claim 23
Independent Claim
178 words
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.
Claim 24
Independent Claim
237 words
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.
Claim 25
Independent Claim
237 words
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.
Claim 26
Dependent Claim
30 words
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.
Claim 27
Dependent Claim
19 words
A system according to claim 23, wherein each of said reeving systems is capable of movement along said member.
Claim 28
Independent Claim
115 words
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.
Claim 29
Independent Claim
115 words
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.
Claim 30
Independent Claim
110 words
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.
Claim 31
Independent Claim
110 words
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.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-08-07 | 1999-02-06 | 1999-08-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-08-07 | 2003-02-06 | 2003-08-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-08-07 | 2007-02-06 | 2007-08-08 | $7700.00 | Window Closed / Lapsed |