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1. 发明专利

JPH09264699A SURFACE MAINTENANCE DEVICE OF HEAT EXCHANGING PANEL 失效
公开(公告)号：JPH09264699A
公开(公告)日：1997-10-07
申请号：JP7588196
申请日：1996-03-29
申请人： MITSUBISHI HEAVY IND LTD , TOKYO GAS CO LTD , SUMITOMO PRECISION PROD CO
发明人： IBE TOMOKICHI , KAWAUCHI NAOTO , HIURA RYOTA , TAKEUCHI HIROYUKI , OGASAWARA TAKESHI , SEKIGUCHI MASARU , SHOTANI HITONOBU , AKIYAMA MASARU
IPC分类号： F28G9/00 , F28G15/04
摘要： PROBLEM TO BE SOLVED: To easily perform the cleaning work of a plant having many vaporizers by providing a turnable supporting base and a guide rail extending to the supporting base on a loading space of a vehicle, and moving a truck provided with a cleaning head on the guide rail. SOLUTION: A rail 12 and a high pressure water pump 17 are provided on a loading space 11a of a truck, and a turnable supporting base 13 provided with a guide rail 14 extending in the horizontal direction is provided on the rail 12. A truck having an expandable pole to a tip part of which a cleaning head 20 is connected is provided on the guide rail 14. In the cleaning work, a truck 11 is moved close to an LNG vaporizer 1, a control device 30 is operated to turn the supporting base 13, and the rail 14 is slidably inserted between heat exchanging panels 1a. The truck is reciprocated along the rail 14 while the high pressure water is fed from a high pressure water pump 17 to the cleaning head 20, the expandable pole is expanded by the prescribed quantity to perform the cleaning of the whole surface opposite to a panel 1a.

2. 发明专利

JPH07237169A JOINT STRUCTURE FOR MANIPULATOR 失效
公开(公告)号：JPH07237169A
公开(公告)日：1995-09-12
申请号：JP2766094
申请日：1994-02-25
申请人： MITSUBISHI HEAVY IND LTD
发明人： IBE TOMOKICHI , HIGUCHI MASARU
IPC分类号： B25J17/00
摘要： PURPOSE:To provide a joint structure for a manipulator whose structure is simplified and by which cost is reduced. CONSTITUTION:In a joint structure for a manipulator whose tip part arm 32 is connected to side plates 18 and 19 of a base end part arm 11 through bearings 26 and 27 so as to be relatively freely rotatable and which can make mutually relative driving rotation by a motor 14 for a driving actuator and a speed reducer 36 installed in the base end part arm 11 and the tip part arm 32, the base end part arm 11 and the tip end part arm 32 are formed almost in the same shape. The side plates 18 and 19 are integrally joined to the base end part arm 11 so as to be mountable and demountable, and the tip part arm 32 is rotatably supported with the side plates 18 and 19 through the beraings 26 and 27.

3. 发明专利

JPH06335876A CONTROLLER FOR POSITION AND POSTURE OF UNDERWATER ROBOT 失效
公开(公告)号：JPH06335876A
公开(公告)日：1994-12-06
申请号：JP12395593
申请日：1993-05-26
申请人： MITSUBISHI HEAVY IND LTD
发明人： YANAGIDA MASATAKA , MAEKAWA AKIHIRO , IBE TOMOKICHI , YAGUCHI SEIJI
IPC分类号： B25J3/00 , B25J5/00 , B25J9/10 , B25J13/00 , B25J18/00 , B63C11/48 , G05D3/12
摘要： PURPOSE:To enable the position and posture of a moving underwater robot to be held and set to the position and posture easy to operate a multiarticulated manipulator and the underwater robot even under the floating condition to be operated by the use of the multiarticulated manipulator. CONSTITUTION:The center of gravity position data 10 of an anchor arm are introduced by a twin arm model 5 and underwater robot model 7 on the basis of a twin arm operating command 2 and the vehicle center of gravity position data 3 in the initial posture of twin arm.anchor arm, and an anchor arm operating command 12 is outputted by an anchor arm operating command intoducer 11 to move the anchor arm 24 and hold the posture of an underwater robot 19. Also, the thruster.ballast tank operating command 18 is introduced and the thruster 23 and ballast tank 22 are driven to hold the position and posture of the underwater robot 19 by a vehicle position.posture controller 13, vehicle speed controller 15, thruster and ballast tank controller 17 on the basis of a vehicle position posture command 4.

4. 发明专利

JPH0679668A HIERARCHIZED ROBOT DEVICE 失效
公开(公告)号：JPH0679668A
公开(公告)日：1994-03-22
申请号：JP23436392
申请日：1992-09-02
申请人： MITSUBISHI HEAVY IND LTD
发明人： NAGASHIMA TADASHI , TOKIOKA ATSUSHI , ONISHI KEN , OMICHI TAKEO , IBE TOMOKICHI , HAYASHI TETSUJI
IPC分类号： B25J13/00 , G05B19/18 , G05B19/414
摘要： PURPOSE:To provide possibility of freely designing and fabricating a robot with layer which the use desires, by dividing robot device into a plurality of hierarchical parts according to the function, and equipping each hierarchical part with a connector function for generating connections of hierarchical parts with one another and with other type devices. CONSTITUTION:A motor-driven actuator 100, servo driver 200, motion control part 300, operation control part 400, and operating machine 500 are each equipped with functions required in the first to fifth hierarchical part, and the hierarchical parts are made connectable by a predetermined interface function. Accordingly the robot device can by constructed by piling up only devices of the necessary hierarchy. The motor-driven actuator part 100 can be connected with any of the servo driver 200 and a user driver 10, while the servo driver 200 can be connected any of the motion control part 300 and a user motion control part 20, and the operation control part 400 is connectable with any of the operating machine 500 and a user operating machine 30, and thus flexible combination is available.

5. 发明专利

JPH068163A ORGANIZATION TYPE GROUP CONTROL ROBOT 失效
公开(公告)号：JPH068163A
公开(公告)日：1994-01-18
申请号：JP17218292
申请日：1992-06-30
申请人： MITSUBISHI HEAVY IND LTD
发明人： OMICHI TAKEO , OZAWA YUTAKA , IBE TOMOKICHI , SASAKI HIROSHI
IPC分类号： B25J5/00 , B25J11/00 , B25J18/06
摘要： PURPOSE:To provide necessary functions according to various objectives, environments or the like by means of one robot. CONSTITUTION:A connection boy 1 is made up by connecting a number of joint phorone 2, 3 to each other in series, and a robot is made up by combining a number of these connection bodies 1, and at the same time parts of phorone 2, 3 are made to be clamp phorone 15 having a clamping function. Spaces between respective joint phorone 2, 3, 15 are connected to each other with the degree of freedom, and respective joint have a function as an actuator, so various forms can be obtained by bending or extending connection bodies 1, and in addition, by fixing clamp 15 on a floor surface or the like, the fall of the robot 20 due to the movement of the center of gravity at the time of form change is also prevented.

6. 发明专利

JPH05318343A STRUCTURAL TYPE GROUP CONTROL ROBOT 失效
公开(公告)号：JPH05318343A
公开(公告)日：1993-12-03
申请号：JP12185692
申请日：1992-05-14
申请人： MITSUBISHI HEAVY IND LTD
发明人： OMICHI TAKEO , OZAWA YUTAKA , IBE TOMOKICHI , HAMADA SHOICHI
IPC分类号： B25J5/00 , B25J19/00 , B62D57/024
摘要： PURPOSE:To make a necessary function securable through one robot according to various purposes and surroundings. CONSTITUTION:A lot of articulated elements 2, 3 are connected with one another in series and formed into a connecting body 1, constituting a robot after combining plenty of this connecting body 1 together. Each interval between two articulated elements is connected with the degree of freedom, and each of respective phorones has a function as an actuator, so they can take multifarious forms when this connecting body 1 is bent or extended.

7. 发明专利

JPH02109691A MOVING DEVICE 失效
公开(公告)号：JPH02109691A
公开(公告)日：1990-04-23
申请号：JP26165888
申请日：1988-10-19
申请人： MITSUBISHI HEAVY IND LTD
发明人： HAMANAKA KENGO , SAKA YOICHIRO , IBE TOMOKICHI
IPC分类号： B25J13/00 , B25J5/00
摘要： PURPOSE:To surely support the moving device by a support body at all times and to prevent the sliding of its moving time by providing a hand part capable of holding a support body freely rotatably and drivably respectively at the both end parts of an arm part capable of expanding freely and moving between the supporting bodies with holding it alternately by these hand parts. CONSTITUTION:A tank supporting column (b) is held by a hand part 2. An arm part 1 is turned then centering around the hand part 2 to a support column (a) side, the bending angle of the arm part 1 is increased as well and the support column (a) is held by a hand part 2 opposite to that which grips the support column (b). Thereafter, the hand part 2 holding the cupport column (b) is separated from the support column (b) and the angle of the arm part 1 is reduced. The arm part 1 is then turned centering around the support column (a) side to a support column (c) side, the angle of the arm part 1 is increased and the support column (c) is held by the hand part 2. Moreover by repeating such an operation the movement is performed from the support column (c) to the support column (d) and the place thereafter further without any sliding.

8. 发明专利

JPH0193612A BUBBLE SUBSTANCE SEAL TYPE SUCTION PAD 失效
公开(公告)号：JPH0193612A
公开(公告)日：1989-04-12
申请号：JP899787
申请日：1987-01-20
申请人： MITSUBISHI HEAVY IND LTD , SEIRYO ENG
发明人： IBE TOMOKICHI , TOMIOKA MASAHIRO , DOI YUTAKA , FUJII KENJIRO , KANAI YASUHIRO
IPC分类号： B66C1/02 , B66C1/00 , F16B47/00
摘要： PURPOSE: To obtain strong adsorption force against a rough surface or a difference in level by filling a bubble-like material into filling grooves provided on an adsorptive disc main body. CONSTITUTION: Filling grooves 3 are formed on an adsorptive disc main body 1, sponges 4 are provided between the adsorptive disc main body and an adsorption surface 6, and a bubble-like material is filled through a bubble-like material supply pipe 5 into the filling grooves 3. The bubble-like material comes into a recess part, a projecting part, and a difference in level of the adsorption surface 6 thereby. The sponges 4 are adapted to the recess part, the projecting part and the difference in level to prevent the bubble-like material from flowing out, to obtain strong adsorption force against a rough surface as well as the difference in level.

9. 发明专利

JPS63166668A WALL SURFACE MOBILE DEVICE 失效
公开(公告)号：JPS63166668A
公开(公告)日：1988-07-09
申请号：JP31125586
申请日：1986-12-27
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 make a wall surface mobile device holdable in a stable state even on a rought wall surface, by utilizing the adhesive strength of a pressure sensitive adhesive tape and thereby making the wall surface mobile device holdable on the wall surface. CONSTITUTION:An adhesive taper storage device 1 delivers an adhesive tape 3 and simultaneously it is designated to an to be windable at another part, while two sets of this storage device 1 are tightly installed in a proper spot of a crawler type mobile device body. According to this method, since a tape 3 being delivered out of the adhesive tape storage device 1 and wound up is stretched across along a surface at the grounding side of a crawler 2 via an idler 6, a wall surface mobile device is surely held on a wall surface by the adhesive tape.

10. 发明专利

JPS63135700A CARRY-IN AND CARRY-OUT DEVICE FOR INSIDE INSPECTION DEVICE FOR LOW TEMPERATURE LIQUEFIED GAS TANK 失效
公开(公告)号：JPS63135700A
公开(公告)日：1988-06-08
申请号：JP27994886
申请日：1986-11-25
申请人： MITSUBISHI HEAVY IND LTD
发明人： NAKATANI ICHIRO , IBE TOMOKICHI , NISHIOKA NOBUYUKI
IPC分类号： F17C13/02 , F17C13/00
摘要： PURPOSE:To enable a large inside inspection device to be used by attaching a carry-in and carry-out device for an inside inspection device which internally inspects the inside of a low temperature liquefied gas tank in operating condition to a displacer type nozzle flange or a manhole flange. CONSTITUTION:The diameter of a displacer type nozzle 1 is generally about 600mm, and there is no valve or the like in the middle space. Therefore, a large inside inspection device can be used utilizing said space profitably. A carry-in and carry-out device 18 for an inside inspection device is attached to the flange 8 of a manhole 7 for maintenance. A flaw detector and a television camera are incorporated into inside inspection device 24.

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