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81. 发明专利

JPH0550955A CRAWLER TYPE WALL SURFACE SUCTION RUNNING ROBOT 失效
公开(公告)号：JPH0550955A
公开(公告)日：1993-03-02
申请号：JP2834091
申请日：1991-02-22
申请人： MITSUBISHI HEAVY IND LTD , KANSAI ELECTRIC POWER CO
发明人： IBE TOMOKICHI , MORIYA HIROYUKI , NAKAJIMA MASAKUNI
IPC分类号： B62D57/024
摘要： PURPOSE:To provide a crawler type wall surface suction running robot whose travel motion following property is greatly improved as compared with that of a former one even for an irregular wall surface. CONSTITUTION:This is a crawler type wall surface suction running robot equipped with those such as paired right and left endless chains 21L and 21R each of which is wound on the front and rear sections of a frame 13 while being drivingly rotated independently, cylindrical bodies 25 each of which is extensible and contractible while its base end section is connected to chain links 22 forming each part of these endless chains 21L and 21R, suction pads which are fitted onto each tip end section of these cylindrical bodies 25 while being capable of closely adhering to the wall surface 43 for running, and also with the suction means provided for the frame 13, each of which evacuates respectively the insides of the cylindrical bodies 25 corresponding to each suction pad capable of closely adhering to the wall surface 43 for running while being accompanied by the extension and contraction of the cylindrical body 25.

82. 发明专利

JPH054594A CRAWLER TYPE WALL SURFACE SUCTION RUNNING ROBOT 失效
公开(公告)号：JPH054594A
公开(公告)日：1993-01-14
申请号：JP2834191
申请日：1991-02-22
申请人： MITSUBISHI HEAVY IND LTD , KANSAI ELECTRIC POWER CO
发明人： IBE TOMOKICHI , MORIYA HIROYUKI , NAKAJIMA MASAKUNI
IPC分类号： B62D57/024
摘要： PURPOSE:To greatly improve running follow-up of a crawler type wall surface suction running robot to a running wall surface having an uneven surface compared with that of a conventional type. CONSTITUTION:A crawler type wall surface suction running robot comprises a pair of endless chains 19L and 19R on both sides run around the front and the rear of a frame 11 and driven and revolved independently from each other, a bellows 23 having a base end part mounted to a chain link 20, by using which a part of the endless chains 19L and 19R are formed, and energized outwardly, a suction pad mounted on the tip part of the bellows 23 and brought into close adhesion to a running wall surface 34, a sucking means to draw a vacuum at the interior of the belows 23 corresponding to the suction pad adhered to the running wall surface 34, and an antislip block protruded from the side end part of the chain link 20 and pressed against the running wall surface 34 along with drawing of a vacuum at the interior of the bellows 23.

83. 发明专利

JPH02292186A ROBOT 失效
公开(公告)号：JPH02292186A
公开(公告)日：1990-12-03
申请号：JP11379989
申请日：1989-05-08
申请人： MITSUBISHI HEAVY IND LTD
发明人： IBE TOMOKICHI , OKINO AKIHISA
IPC分类号： B64G1/24 , B25J5/00 , B64G1/22
摘要： PURPOSE:To bring no floating body into contact with a robot directly even in case of its collision while under working, to ease the impact force thereof as well and to prevent the breakdown of the robot by coating the external surface of the robot by a bumping member. CONSTITUTION:A space robot 10 performs the assembly work of a truss in the state of its external surface being covered by a cushion 15. During this work, a floating body 20 is not collided with a manipulator 13 directly even in case of the floating body 20 trying to collide with the manipulator 13 because of this manipulator 13 being covered by a cushion material 15. The impact force is hardly transmitted to the manipulator 13 with the impact force being eased by the cushion material 15.

84. 发明专利

JPH0148509B2 失效
公开(公告)号：JPH0148509B2
公开(公告)日：1989-10-19
申请号：JP8691782
申请日：1982-05-22
申请人： MITSUBISHI HEAVY IND LTD
发明人： KOGA AKIHIKO , IBE TOMOKICHI , NAKAMURA TOMOMICHI , KAMIMURA TAKEO , MURATA MASAAKI , KUSAKABE TAKANARI , HANZAWA KATSUMI
IPC分类号： G01H13/00 , G01N29/04 , G01N29/12

85. 发明专利

JPS6487492A REINFORCED HANDLING DEVICE 失效
公开(公告)号：JPS6487492A
公开(公告)日：1989-03-31
申请号：JP24260587
申请日：1987-09-29
申请人： MITSUBISHI HEAVY IND LTD
发明人： KOIKE AKESHI , TOYAMA YUKIFUMI , NOSAKA HIROSHI , IBE TOMOKICHI
IPC分类号： B66C1/62 , B66C1/42 , B66C1/68 , E04G21/12 , E04G21/16
摘要： PURPOSE: To facilitate a reinforcement arranging work in a narrow place by providing a grip frame rotationally movably journaled in a vertical plane, and grip devices gripping reinforcement on both ends of the grip frame in a reinforcement grip device suspended by a winch. CONSTITUTION: The extreme ends of a wire 14 are fitted to both ends of a reinforcement grip device 6, and elevatably moved by a winch through a revolving boom. A grip frame 34 provided with gripping devices 35 on both ends is centering around an axis 38 rotationally movably fitted to the frame 50 of the grip device 6, and rotationally moved by a hydraulic cylinder 36. At arranging horizontal reinforcement, the center part of the reinforcement 32 horizontally placed is gripped with the gripping devices so as to be moved to a fixed place and arranged. In a narrow place, the end part of the reinforcement 32 is gripped and lifted, the cylinder 36 is operated to rotationally move the gripping devices 35 in the vertical direction, the reinforcement 32 is made in the vertical condition, and it is arranged on a fixed position.

86. 发明专利

JPS63170178A SUCTION MOBILE DEVICE 失效
公开(公告)号：JPS63170178A
公开(公告)日：1988-07-14
申请号：JP31306686
申请日：1986-12-29
申请人： MITSUBISHI HEAVY IND LTD , SEIRYO ENG
发明人： IBE TOMOKICHI , TOMIOKA MASAHIRO , DOI YUTAKA , KANAI YASUHIRO , FUJII KENJIRO
IPC分类号： B62D57/024 , B62D57/02
摘要： PURPOSE:To fill up a clearance due to step differences and irregularities of an suction surface with clayey material at the time of action by a suction plate and thereby secure powerful suction force all the time even to such the suction surface that has these step differences and irregularities, by interposing the clayey material between the suction plate and the suction surface belonging to a crawler. CONSTITUTION:An suction mobile device moves the body in a state of being sucked to a wall surface by means of the suction plate installed in a crawler 2. Now, when this suction mobile device is moved, an attraction device 4, a driving roller 5 and a clayey material regenerator 1 are all operated. And, the crawler 2 is rotated, while each device is synchronously operated inside the regenerator 1, while endless clayey material 3 formed in belt form is rotated at the same speed as the crawler 2. In addition, respective holes formed each in the crawler 2 and the clayey material 3 are made to accord with each other, and simultaneously negative pressure out of the attraction device 4 is interconnected to each hole, making it act on the suction surface. With this constitution, a grounding part of the crawler 2 is perfectly sealed by the clayey material 3, thus suction force is made to act thereon so sufficiently.

87. 发明专利

JPS6385354A RUNNING BODY FOR FLAW DETECTION AND INSPECTION OF TANK EQUIPPED WITH WALL SURFACE FIXING AUXILIARY JIG 失效
公开(公告)号：JPS6385354A
公开(公告)日：1988-04-15
申请号：JP23191786
申请日：1986-09-30
申请人： MITSUBISHI HEAVY IND LTD
发明人： NAKATANI ICHIRO , IBE TOMOKICHI , NISHIOKA NOBUYUKI
IPC分类号： G01N29/04 , G01N29/26
摘要： PURPOSE:To perform the precise flaw detection and inspection of the inner wall surface of a tank, by providing a wall surface fixing auxiliary jig to a running body equipped with a flaw detection inspection apparatus and positionally controlled by buoyancy control and propelling force control. CONSTITUTION:A wall surface fixing auxiliary jig such as a sucking disc, a permanent magnet or an electromagnet is fitted to a submarine body 3A, which has a flaw detection/inspection apparatus such as an ultrasonic flaw detection apparatus mounted thereto, by a support arm 7. The submarine body 3A is moved in the liquid of a tank by a propeller 4 and fixed to the inner wall surface 1 of the tank at a desired position using the wall surface fixing auxiliary jig 6 to perform flaw detection and inspection. After the finish of flaw detection and inspection, the operation of the wall surface fixing auxiliary jig 6 is stopped and the submarine body 3A is moved to the next desired position to again perform flaw detection and inspection. By this method, the flaw detection/ inspection apparatus can be fixed to the inner wall surface of the tank with high accuracy and precise flaw detection/inspection can be performed.

88. 发明专利

JPS624272B2 失效
公开(公告)号：JPS624272B2
公开(公告)日：1987-01-29
申请号：JP17311080
申请日：1980-12-10
申请人： MITSUBISHI HEAVY IND LTD
发明人： KIHARA SHIZO , KOGA AKIHIKO , OOMICHI TAKEO , IBE TOMOKICHI
IPC分类号： B62D57/024 , B61B13/10 , B62D57/00 , B62D63/02

89. 发明专利

JPS60154155A SPACE MOVING TYPE INSPECTING DEVICE 失效
公开(公告)号：JPS60154155A
公开(公告)日：1985-08-13
申请号：JP1023284
申请日：1984-01-25
申请人： MITSUBISHI HEAVY IND LTD
发明人： YAMAGUCHI NOBUYUKI , MATSUMOTO YOUICHI , IBE TOMOKICHI
IPC分类号： G01N27/82 , F03H1/00 , G01N21/88 , G01N21/954 , G01N29/04 , G21C17/013 , H02N11/00
摘要： PURPOSE:To investigate a place where a man can not approach such as the inside of a nuclear power plant containment through remote operation by equipping a small-sized balloon which mounts a sensor for inspection with a propulsion machine which incorporates a discharge electrode for ion wind generation and a counter electrode. CONSTITUTION:The discharge electrode 5 for ion wind generation and counter electrode 6 are provided opposite in a duct for propulsion and discharge is caused by applying a 10,000-30,000V high voltage between both electrodes 5 and 6 to ionize and flow the air between both electrodes 5 and 6, thereby generating an ion wind of several meters per second by the collision between the ions and air molecules. The small-sized baloon 1 is suspended in necessary space to be inspected and moved closely to the inspection point remotely through said propulsion machine to inspect the point by the sensor 3 for inspection.

90. 发明专利

JPS59176667A Ultrasonic flaw detector for turbine disk 失效
标题翻译：用于涡轮盘的超声波探伤仪
公开(公告)号：JPS59176667A
公开(公告)日：1984-10-06
申请号：JP5075183
申请日：1983-03-26
申请人： Hokkaido Electric Power Co Inc:The , Japan Atom Power Co Ltd:The , Kansai Electric Power Co Inc:The , Kyushu Electric Power Co Inc , Mitsubishi Heavy Ind Ltd , Shikoku Electric Power Co Inc
发明人： KOBAYASHI SHIYUUJI , MARUYAMA YASUNORI , MATSUMOTO HISASHI , UCHIYAMA MASAYUKI , KOGA AKIHIKO , IBE TOMOKICHI , KIMURA JINICHI
IPC分类号： G01N29/04 , G01N29/26 , G01N29/265
CPC分类号： G01N29/265 , G01N2291/02854 , G01N2291/2693
摘要： PURPOSE:To inspect a turbine disk easily and efficiently through remote operation by providing a moving truck, elevating mechanism mounted thereupon, sliding mechanism mounted on the elevating mechanism, etc. CONSTITUTION:A flaw detector 7 consists of the moving truck 100, elevating mechanism 200 mounted on the truck 100, sliding mechanism 300 monted on the elevating mechanism 200, copying mechanism 400 mounted on the sliding mechanism 300, and a roller 500 fitted to the copying mechanism 400. Consequently, a tool for accessing the disk from below a rotor is pressed up from a floor surface and the turbine disk is inspected easily and efficiently through remote operation.
摘要翻译：目的：通过提供移动式卡车，安装在其上的升降机构，安装在升降机构上的滑动机构等，通过远程操作方便，高效地检查涡轮盘。构成：探伤仪7由移动卡车100，升降机构200 安装在卡车100上，在升降机构200上蒙着的滑动机构300，安装在滑动机构300上的复印机构400，以及安装在复印机构400上的滚子500.因此，用于从转子下方进入盘的工具从地板表面压出，通过远程操作方便，高效地检查涡轮盘。

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