Manipulator apparatus for processing pressure vessels
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.
1. An 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,
wherein each carriage is supported by two parts of a respective tension member, each of the two parts is on an opposite side of the loop formed by the tension member, and the carriage is fixedly connected to only one of the two parts.
2. The apparatus of claim 1 , wherein the drive unit comprises:
one or more first drive units configured to respectively drive the one or more tension members from one mounting unit towards the other mounting unit to move the carriages in a first direction.
3. The apparatus of claim 2 , wherein each of the tension members are arranged in a loop around respective parts of the first and second mounting units, the first drive units being configured to drive the tension members such that the tension members move around the loop.
4. The apparatus of claim 3 , wherein each first drive unit comprises a drive pulley forming part of one of the first or second mounting units and a respective tension member is looped around the drive pulley.
5. The apparatus of claim 1 , wherein:
the first and second mounting units comprise respective rotatable portions mounted so as to be rotatable about an axis extending from one mounting unit towards the other mounting unit;
the one or more tension members are mounted to the rotatable portions; and
the drive unit comprises one or more second drive units configured to rotate the rotatable portions about the axis.
6. An 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,
wherein multiple carriages are arranged at intervals around an axis extending from one mounting unit towards the other mounting unit.
7. The apparatus of claim 6 , wherein each of the carriages is connected to at least one other of the multiple carriages by a rigid connector.
8. The apparatus of claim 7 , wherein the rigid connector is connected to each carriage by a pivoting and/or gimballed connection.
9. The apparatus of claim 6 , wherein each of the multiple carriages is connected to at least one respective tension member.
10. The apparatus of claim 6 , wherein one or more of the multiple carriages are not directly connected to respective tension members and are connected to at least one carriage which is connected to a respective tension member.
11. The apparatus of claim 7 , wherein the drive unit is configured to drive the multiple carriages in the same direction at the same speed.
12. The apparatus of claim 1 , wherein the one or more carriages comprise at least one bearing configured to contact a surface of the object to be processed as the one or more carriages are moved relative to the object.
13. The apparatus of claim 1 , wherein the first and second mounting units are configured to be mounted on the object to be processed.
14. The apparatus of claim 1 , wherein each processing device comprises one of a reflector, a sensor or a cleaning device.
15. A method of processing an object with a processing device, comprising:
arranging an apparatus adjacent the object, the apparatus configured for moving the processing device relative to the object to be processed and including:
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 the 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,
wherein each carriage is supported by two parts of a respective tension member, each of the two parts is on an opposite side of the loop formed by the tension member, and the carriage is fixedly connected to only one of the two parts;
moving the one or more carriages, such that the one or more carriages move relative to the object; and
processing the object using the processing device.
16. The method of claim 15 , wherein the one or more carriages contact a surface of the object.
17. The method of claim 15 , wherein the object is a pressure vessel.
18. The method of claim 16 , wherein the object is hollow and the surface is an interior surface of the hollow object.
19. The method of claim 18 , wherein the apparatus is arranged such that the tension members pass through the object.