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81. 发明专利

JPH01180781A PLASMA WELDING EQUIPMENT 失效
公开(公告)号：JPH01180781A
公开(公告)日：1989-07-18
申请号：JP33636987
申请日：1987-12-28
申请人： HITACHI LTD , HITACHI SHONAN DENSHI
发明人： SATO HIROYASU , WATABIKI MASAYUKI , FUKUMOTO TOMONORI
IPC分类号： B23K10/00 , B23K9/06
摘要： PURPOSE:To execute control close to desired welding conditions by providing a relative error compensating circuit between gas and a current and compensating an error due to a delay of control response of a gas system by current control with quick response time. CONSTITUTION:Gas mass supplied actually immediately before as much as possible plasma gas is exhausted to a load 4 is detected and a circuit 5 to convert it into a voltage value corresponding to the mass is provided. The actual gas output can be detected by said circuit 5 and the detected output is subjected to negative feedback to a control system through resistances 2c and 6c. On the other hand, the voltage outputted from a welding current setting voltage circuit 7 is inputted to a voltage/current converter 9 through comparators 8a and 8b which outputs a corresponding DC current according to a set input value. Immediately before as much as possible a welding current is supplied to a load 10, the welding current supplied actually is detected and a circuit 11 to convert it into the corresponding voltage value is provided. A circuit consisting of resistances 6a, 6b, 6c and 6d and comparatos 6e, 6f and 6g is the relative error compensating circuit and the output of the comparator 6g is inputted to the comparator 8a.

82. 发明专利

JPH01160785A CURVED SURFACE FOLLOW-UP MOBILE ROBOT 失效
公开(公告)号：JPH01160785A
公开(公告)日：1989-06-23
申请号：JP31623987
申请日：1987-12-16
申请人： HITACHI LTD
发明人： NAITO SHINJI , KIBUSE HARUO , KOIKE MASAHIRO , WATABIKI MASAYUKI
IPC分类号： B25J5/00 , B62D57/02 , B62D57/024
摘要： PURPOSE:To enable a mobile robot to walk stably on a running surface having an arbitrary shape without floating up, by providing a grounding part which allows the robot to follow up a wall surface which is wavy or concave and convex. CONSTITUTION:A body 50 incorporates two main legs 51a, 51b adapted to be driven by a drive mechanism composed of a motor and a transmission and incorporated in the body 50. The front end of the leg 51a is connected to a first frame 52a incorporating a sucking force control device. Three auxiliary legs 53a, 53b, are secured to the first frame 52a, and second frames 55a, 55b are connected to the first frame 52a through the intermediary of respective universal joints 54a, 54b. Three auxiliary legs 55a, 55b are connected to each of the second frames 55a, 55b, and are connected to sucking devices 58a through 58d through the intermediary of universal joints 57a through 57d. The other main leg 51b is arranged similar to the main leg 51a.

83. 发明专利

JPS6354143B2 失效
公开(公告)号：JPS6354143B2
公开(公告)日：1988-10-26
申请号：JP9404781
申请日：1981-06-19
申请人： HITACHI LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI
IPC分类号： F03D7/04 , F03D7/02

84. 发明专利

JPS63201563A METHOD AND DEVICE FOR SWIVELING AND FEEDING IN PIPING 失效
公开(公告)号：JPS63201563A
公开(公告)日：1988-08-19
申请号：JP3329187
申请日：1987-02-18
申请人： HITACHI LTD
发明人： YAMAGUCHI MASAYOSHI , WATABIKI MASAYUKI , SONODA SHINJI
IPC分类号： F16L55/00 , G01N29/04
摘要： PURPOSE:To prevent a traveling body from buckling and deadlocking by making the feed quantity of the traveling body by a pressing mechanism smaller at the time of feeding or larger at the time of drawing than the advance quantity of the traveling body by screw effect. CONSTITUTION:A driving-side roller 13 is driven by gears 9a and 9b fitted to a main shaft 20, a worm 11, gears 10a and 10b which are fitted to the shaft of the worm 11 through clutches 19a and 19b transmitting power only in unidirectional rotation, and a wheel 12. Here the gears 9a and 10a, and 9b and 10b constitute planetary gear mechanisms respectively. Further, power is transmitted from the side of the gears 9b and 10b is transmitted to the clutches 19a and 19b, but the power is transmitted from the side of the gears 9a and 10a at the time of drawing-back operation. The numbers of teeth of the gears 9a and 10a, and 9b and 10b are matched properly to make the feed quantity of the running body 5 by the pressing mechanism 21 when the traveling body is fed different from that when the traveling body is drawn back.

85. 发明专利

JPS6273160A MAGNETIC WHEEL TYPE CONDUIT ROBOT 失效
公开(公告)号：JPS6273160A
公开(公告)日：1987-04-03
申请号：JP21248085
申请日：1985-09-27
申请人： HITACHI LTD
发明人： WATABIKI MASAYUKI , FUJIWARA KENJI , SAKUMA YASUJI , SONODA SHINJI , KURITA SHINICHI
IPC分类号： B61B13/10 , G01N29/04
摘要： PURPOSE:To make it possible to allow a robot main body to smoothly turn the bend part of a conduit, by arranging a spindle to the robot main body through bearings engaged with the grooves provided to both sides of said robot main body and providing a magnet and a wheel having high magnetic permeability to the outer periphery of the spindle. CONSTITUTION:A bush 4 is provided on the spindle 3 supported by bearings 2 and a permanent magnet 11 is engaged with the outer periphery of the bush 4. Magnetic wheels 12 for running a robot are provided to the outer periphery of the bush 4 and a magnetic patch constituted of permanent magnet 11 magnetic wheel 12 magnetic conduit 14 magnetic wheel 12 permanent magnet 11 is formed through the magnetic conduit 14. Therefore, the possibility of generating the propelling force proportional to the attraction force generated between the magnetic wheel 12 and the magnetic conduit 14 is provided without separating a running vehicle 40 from the magnetic conduit 14.

86. 发明专利

JPS6261886A RUNNING DEVICE IN DUCT 失效
公开(公告)号：JPS6261886A
公开(公告)日：1987-03-18
申请号：JP19945285
申请日：1985-09-11
申请人： HITACHI LTD
发明人： WATABIKI MASAYUKI , FUJIWARA KENJI , SAKUMA YASUJI , SONODA SHINJI , KURITA SHINICHI
IPC分类号： B61B13/10 , B62D57/02 , B62D57/024
摘要： PURPOSE:To make it possible to smoothly guide a connection element without touching the inner wall of a duct by mounting a guide element which guides the connection element without bringing same into contact with the inner wall. CONSTITUTION:A connection element 28 runs through spherical guide elements 29. In each guide element 29 an inner passage 31 is piercingly formed to allow the connection element 28 to pass therethrough. The passage 31 is narrowest at its central portion and is enlarged in a bell mouth shape toward its both openings. With the above, the connection element 28 is supported at the narrowest central portion to bend freely.

87. 发明专利

JPS622806A INSPECTION OF OVERHEAD DISTRIBUTION LINE BY MODEL PLANE 失效
公开(公告)号：JPS622806A
公开(公告)日：1987-01-08
申请号：JP14035785
申请日：1985-06-28
申请人： HITACHI LTD
发明人： IOBE YOSHISHIGE , WATABIKI MASAYUKI
IPC分类号： H02G1/02

88. 发明专利

JPS6130131B2 失效
公开(公告)号：JPS6130131B2
公开(公告)日：1986-07-11
申请号：JP8014979
申请日：1979-06-27
申请人： HITACHI LTD
发明人： YAMADE TAKESHI , WATABIKI MASAYUKI
IPC分类号： F01P11/14 , F02B77/08 , F02D17/04 , F02D29/06

89. 发明专利

JPS60233584A BURIED OBJECT DETECTING DEVICE 失效
公开(公告)号：JPS60233584A
公开(公告)日：1985-11-20
申请号：JP3606684
申请日：1984-02-29
申请人： HITACHI LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , YAMAGUCHI MASAYOSHI , NISHI MASATSUGU , TAWARA KAZUO
IPC分类号： G01S11/00 , G01S13/88 , G01V3/08 , G01V3/12
摘要： PURPOSE:To detect a buried object with a high accuracy even if plural buried objects are positioned adjacently to each other and also a water lump, etc. are interposed, by detecting a rough position of the buried object, and its detailed position, etc. by one of sensors having two kinds of transmitting and receiving signal forms, and the other, respectively. CONSTITUTION:A rough horizontal position of buried pipes 25, 26, etc. is detected irrespective of a water lump, etc. by a magnetic sensor loaded together with a radar use antenna 23 on an automatic running device 20. Subsequently, when said device is switched to a mode by the antenna 23 by a switching device 32, a detailed position, a depth and a size of the pipes 25, 26 is detected with a high resolution by the antenna 23 and a transmitter and receiver 29. By using jointly said two kinds of sensors whose transmitting and receiving signal form is different from each other, an underground buried object can be detected with a high accuracy even if plural buried objects are positioned adjacently to each other, and also a water lump, etc. are interposed.

90. 发明专利

JPS60205229A APPARATUS FOR DETECTING ABNORMALITY OF PIPING 失效
公开(公告)号：JPS60205229A
公开(公告)日：1985-10-16
申请号：JP6071684
申请日：1984-03-30
申请人： HITACHI LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , SAKUMA YASUJI , MICHIGUCHI YOSHIHIRO
IPC分类号： G01N29/04 , G01M3/24
摘要： PURPOSE:To facilitate the detection of abnormality regardless of the material quality of piping, by detecting the sound wave propagating through the gas in piping by acoustic energy generated by the abnormality at the arbitrary position of the piping embedded in the ground and measuring the abnormality of the piping. CONSTITUTION:A sensor 17 consisting of sensors 17a, 17b is arranged at a position 16 separated from the generation position of acoustic energy 14 of piping 11 embedded in the ground and having gas 12 interposed therein. Next, a measuring apparatus consisting of an accelometer 18, a data processing apparatus 19 and a display apparatus 20 is connected to the sensor 17. The sound wave 15 propagating through the gas by acoustic energy 14 generated upon the contact of a ground drilling machine 5 with the arbitrary position 13 of the piping 11 is detected by the sensor 17 and the distance L between the sensors 17a, 17b, distances l1, l2 between the position 13 and the sensors 17a, 17b and sound propagation times t1, t2 are inputted to the data processing apparatus 19 to operate the position 13 which is, in turn, displayed by the display apparatus 20.

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