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1. 发明专利

JP2012088244A Three-dimensional surface shape calculation apparatus, automatic construction device using the apparatus, and method thereof 审中-公开
标题翻译：三维表面形状计算装置，使用装置的自动构造装置及其方法
公开(公告)号：JP2012088244A
公开(公告)日：2012-05-10
申请号：JP2010236781
申请日：2010-10-21
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGANUMA NAOTAKA , KOBAYASHI NORIYASU , YUGUCHI YASUHIRO , MATSUZAKI KENJI , OKADA SATOSHI , SHIMAMURA MITSUAKI , OCHIAI MAKOTO
IPC分类号： G01B5/20 , G01B5/00
摘要： PROBLEM TO BE SOLVED: To provide a three-dimensional surface shape calculation apparatus capable of accurately calculating the three-dimensional surface shape of a measurement object surface by one scan.SOLUTION: A three-dimensional surface shape calculation apparatus 1 includes: a sensor base 6; displacement sensors 2 having spherical shapes at the distal ends and moving the spherical shapes in one direction; and an operation part 8 for moving the sensor base 6 by allowing the displacement sensors 2 to be brought into contact with three contact points surrounding each plane equation calculation point 22 in a three-dimensional space with an original point fixed therein. The operation part 8 acquires three spherical center coordinates through the use of displacement signals 200 being the movement distances of the sensor spheres 2 and directions and distances from the original point of the sensor base 6. The operation part 8 also acquires vectors which are obtained by multiplying the unit vector of a normal vector being the exterior product of two vectors from one spherical center coordinate to the other two spherical center coordinates by the radius of the spherical shape, and acquires the coordinates of the contact points by adding the vectors to the spherical center coordinates. Then, the operation part calculates a plane equation for a shape surrounded by the coordinates of the contact points.
摘要翻译：要解决的问题：提供一种能够通过一次扫描精确地计算测量对象表面的三维表面形状的三维表面形状计算装置。解决方案：三维表面形状计算装置1包括：传感器基座6; 位移传感器2在远端具有球形并沿一个方向移动球形; 以及操作部8，用于通过使位移传感器2与其中固定有原点的三维空间中的每个平面方程计算点22周围的三个接触点相接触来移动传感器基座6。操作部8通过使用作为传感器球体2的移动距离的位移信号200和与传感器基座6的原点的方向和距离来取得三个球面中心坐标。操作部8还获取由将来自一个球面中心坐标的两个向量的外部乘积的法向量的单位向量乘以球形半径的另外两个球面中心坐标，并通过将向量加到球面中来获取接触点的坐标中心坐标。然后，操作部分计算由接触点的坐标包围的形状的平面等式。版权所有（C）2012，JPO＆INPIT

2. 发明专利

JP2009264850A Device and method for reinforcing reactor core spray system pipe 审中-公开
标题翻译：用于增强反应堆芯喷涂系统管的装置和方法
公开(公告)号：JP2009264850A
公开(公告)日：2009-11-12
申请号：JP2008113116
申请日：2008-04-23
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGANUMA NAOTAKA , ABURA AKINORI , SUDO KAZUO , SATO TANOSHI , HATAKE HARUHIKO , HIDAKA YUKIAKI , MATSUNAGA KEIJI , HIROSE KINZO
IPC分类号： G21C15/18 , G21D1/00
CPC分类号： G21C15/18 , F16L13/06 , F16L43/02 , Y02E30/40 , Y10T29/49718
摘要： PROBLEM TO BE SOLVED: To prevent the occurrence of cracks or the development of generated cracks for all welded lines in a reactor core spray system piping, while protecting welding seams even if cracks develop and ultimately damage the reactor core spray system piping, and keeping the function of a reactor core spray system at the occurrence of a loss of coolant accident. SOLUTION: A device for reinforcing a reactor core spray system piping is disposed on the outer peripheral side of the welded part of a reactor core spray system piping 4 and across the welded line 10 of a welded part, and holds the outer peripheral surface of the reactor core spray system piping 4 at a position symmetrically with respect to an axis. The device includes bolts 13 and 14 serving as a mechanical fastening mechanism for applying a compression force from the outer peripheral side of the reactor core spray system piping onto a welded part formed on a clamp 21 or the like. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题为了防止反应堆堆芯喷射系统管道中的所有焊接线产生裂缝或产生裂缝，同时即使裂纹发生并且最终损坏反应堆堆芯喷射系统管道也能保护焊缝，并且在发生冷却剂事故损失的情况下保持反应堆堆芯喷雾系统的功能。解决方案：用于加强反应堆堆芯喷射系统管道的装置设置在反应堆堆芯喷射系统管道4的焊接部分的外周侧上并跨过焊接部分的焊接线10，并且保持外周反应堆芯喷雾系统管道4的表面在相对于轴对称的位置。该装置包括用作机械紧固机构的螺栓13和14，用于将压力从反应堆芯喷射系统管道的外周侧施加到形成在夹具21等上的焊接部分上。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2013244498A Device and method for welding 审中-公开
标题翻译：用于焊接的装置和方法
公开(公告)号：JP2013244498A
公开(公告)日：2013-12-09
申请号：JP2012118648
申请日：2012-05-24
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGANUMA NAOTAKA , MATSUZAKI KENJI , SHIIHARA KATSUNORI , KOBAYASHI NORIYASU , ICHIKAWA HIROYA
IPC分类号： B23K26/00 , B23K9/00 , B23K9/12 , B23K9/167 , B23K26/20
摘要： PROBLEM TO BE SOLVED: To weld a complicated three-dimensional construction portion in a narrow place without interference.SOLUTION: A welding head 6 is mounted on a welding device body 40 in such a manner to be capable of rotating and ascending/descending so as to weld a construction point 11 of a target. A filler supply part 10 is mounted on the welding device body 40 in such a manner to be capable of rotating and ascending/descending so as to supply a filler wire 12 to the construction point 11. In a control area 42, a desired position and a posture of the welding head 6 to the construction point 11 are calculated, welding head side posture angle data representing the position and the posture is generated, a desired position and a posture of the filler supply part 10 to the construction point 11 are calculated, and filler supply part side posture angle data representing the position and the posture is generated, and the welding device body 40 is controlled on the basis of the welding head side posture angle data and the filler supply part side posture angle data.
摘要翻译：要解决的问题：在狭窄的地方焊接复杂的三维结构部分而不会产生干扰。解决方案：焊接头6以能够旋转和上升/下降的方式安装在焊接装置主体40上，以便焊接目标的施工点11。填料供给部10以能够旋转和上升/下降的方式安装在焊接装置主体40上，以便将填充线12提供给施工点11.在控制区域42中，期望的位置和计算出焊接头6到施工点11的姿势，计算表示位置和姿势的焊接头侧姿势角度数据，计算填料供给部10到施工点11的期望位置和姿势，并且产生表示位置和姿势的填充物供给部侧姿势角度数据，并且基于焊接头侧姿势角数据和填料供给部侧姿势角数据来控制焊接装置主体40。

4. 发明专利

JP2012032180A Eddy current detector, method, and program 有权
标题翻译： EDDY电流检测器，方法和程序
公开(公告)号：JP2012032180A
公开(公告)日：2012-02-16
申请号：JP2010169725
申请日：2010-07-28
申请人： Toshiba Corp , 株式会社東芝
发明人： KOBAYASHI NORIYASU , UENO SOICHI , SUGANUMA NAOTAKA , OCHIAI MAKOTO , SHIMAMURA MITSUAKI , YUGUCHI YASUHIRO
IPC分类号： G01N27/90
摘要： PROBLEM TO BE SOLVED: To provide eddy current detection technique with excellent accuracy in detection by performing sensitivity correction in the detection signal of a coil, based on coil traveling information acquired on a subject.SOLUTION: An eddy current detector 1 includes: a traveling control part 10 for traveling a coil 23 on the front surface of a subject U; a transmission part 22 for transmitting an excitation signal J to the coil 23 so as to generate an eddy current in the subject U; a reception part 24 for receiving a detection signal D to be output by the coil 23 where a magnetic field induced by the eddy current is detected; an information acquisition part 12 for acquiring traveling information K of the coil 23 traveling on the front surface of the subject U; a correction part 25 for holding correction information H associated with the traveling information K; and a calculation processing part 26 for calculating a detection signal N of the subject U, based on the excitation signal J and the detection signal D.
摘要翻译：要解决的问题：通过基于在被摄体上获取的线圈行进信息，通过对线圈的检测信号进行灵敏度校正来提供具有优异的检测精度的涡流检测技术。涡流检测器1包括：用于使被检体U的前表面上的线圈23行进的行进控制部10; 用于将激励信号J发送到线圈23以在主体U中产生涡流的发送部22; 用于接收由线圈23输出的检测信号D的接收部分24，其中检测到由涡电流引起的磁场; 信息获取部分12，用于获取在对象U的前表面上行进的线圈23的行进信息K; 用于保持与行驶信息K相关联的校正信息H的校正部25; 以及计算处理部26，用于基于激励信号J和检测信号D来计算被检体U的检测信号N.（C）2012，JPO＆INPIT

5. 发明专利

JP2011079105A Method, device and program for interference check 有权
标题翻译：方法，干扰检查的设备和程序
公开(公告)号：JP2011079105A
公开(公告)日：2011-04-21
申请号：JP2009234497
申请日：2009-10-08
申请人： Toshiba Corp , 株式会社東芝
发明人： MATSUZAKI KENJI , SUGANUMA NAOTAKA , TOKUNAGA YASUAKI , SHIMAMURA MITSUAKI , SHIGEMATSU SOICHIRO
IPC分类号： B25J19/06 , B25J9/22 , G05B19/19 , G06F17/50 , G06T19/00
摘要： PROBLEM TO BE SOLVED: To rapidly process the evaluation of the distance of a space and the closest position between three-dimensional objects in addition to the evaluation of presence/absence of any interference between them. SOLUTION: An interference checking device 10 includes: a space segmentation unit 11 for dividing a virtual space into meshes and segmenting it into small areas; a shortest distance map preparation unit 12 for preparing a shortest distance map to a reference body object by calculating each apex of the mesh and the shortest distance and the direction to a surface of the reference body object, and registering them as information associated with each mesh apex; a shortest distance evaluation point setting unit 13 for setting the evaluation point for evaluating the shortest distance to the reference body object on a mobile body object; and an interference checking unit 14 for acquiring the shortest distance to the reference body object by referring the shortest distance map based on the coordinate values of the shortest distance evaluation point. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：除了评估它们之间的任何干扰的存在/不存在之外，还要快速处理空间的距离和三维物体之间的最近位置的评估。解决方案：干扰检查装置10包括：空间分割单元11，用于将虚拟空间分割成网格并将其分割成小区域; 最短距离映射准备单元12，用于通过计算网格的每个顶点和参考体对象的表面的最短距离和方向来准备到参考体对象的最短距离图，并将它们记录为与每个网格相关联的信息顶尖; 最短距离评估点设定单元13，用于设置用于评估与移动体物体上的参考体物体的最短距离的评估点; 以及干涉检查单元14，用于通过基于最短距离评估点的坐标值参考最短距离图来获取到参考体物体的最短距离。版权所有（C）2011，JPO＆INPIT

6. 发明专利

JP2014087863A Device and method for correcting multijoint robot 审中-公开
标题翻译：用于校正多机器人的装置和方法
公开(公告)号：JP2014087863A
公开(公告)日：2014-05-15
申请号：JP2012238145
申请日：2012-10-29
申请人： Toshiba Corp , 株式会社東芝
发明人： TOKUNAGA YASUAKI , UEHARA TAKUYA , MATSUZAKI KENJI , SUGANUMA NAOTAKA , SUZUKI ATSUSHI
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To correct a rotation angle or the like of joints of a multijoint robot in a non-contact manner.SOLUTION: A device for correcting a multijoint robot 1 includes a body part 2, and leg parts 3, 4 installed to the body part and having a first joint 5A rotatable around a first rotary axis 8A and a second joint 5B rotatable around a second rotary axis 8B, in which the first joint 5A is installed closer to the side of the body part 2 than the second joint 5B. The device includes: a laser irradiation device 16A irradiating the predetermined position of the second joint 5B of the multijoint robot 1 taking a reference posture with laser light α; a light detector 17A mounted on a position where the laser light α can be detected when the rotation angle of the first joint 5A and the position and the direction of the first rotary axis 8A coincide to those when the multijoint robot 1 takes the reference posture; and a display device 18 displaying a detection result by the light detector 17A.
摘要翻译：要解决的问题：以非接触方式校正多关节机器人的关节的旋转角度等。解决方案：用于校正多点机器人1的装置包括主体部分2和安装到主体部分具有围绕第一旋转轴线8A旋转的第一关节5A和可围绕第二旋转轴线8B旋转的第二接头5B，其中第一接头5A设置为比第二接头更靠近主体部分2的侧面 5B。该装置包括：激光照射装置16A，照射具有激光α的参考姿势的多关节机器人1的第二关节5B的预定位置; 当第一关节5A的旋转角度和第一旋转轴线8A的位置和方向与多点机器人1参考基准姿势时的角度一致时，安装在可以检测激光α的位置处的光检测器17A; 以及显示装置18，其显示光检测器17A的检测结果。

7. 发明专利

JP2012198167A Refueling machine and method for suppressing vibration of the same 审中-公开
标题翻译：修补机及其抑制振动的方法
公开(公告)号：JP2012198167A
公开(公告)日：2012-10-18
申请号：JP2011063753
申请日：2011-03-23
申请人： Toshiba Corp , 株式会社東芝
发明人： SHIMAMURA MITSUAKI , TOKUNAGA YASUAKI , MATSUZAKI KENJI , SUGANUMA NAOTAKA , TSUYUKI AKIRA
IPC分类号： G21C19/18
摘要： PROBLEM TO BE SOLVED: To quickly convey a conveyance object such as a fuel while suppressing vibration.SOLUTION: A refueling machine including a bridge capable of traveling on a reactor well of a nuclear power plant in one direction, a trolley capable of moving on the bridge in a direction orthogonal to the traveling direction of the bridge and a grapple 17 suspended from the trolley in a vertical direction and capable of grasping the conveyance object such as the fuel to underwater convey the conveyance object between the reactor well and a fuel pool further includes a vibration suppressing mechanism 18 for suppressing the vibration of the grapple 17 grasping the conveyance object against the trolley. The vibration suppressing mechanism includes a camera for detecting the position aberration of the grapple 17 against the trolley, thrusters 32A-32D arranged on a suppression mechanism body 30 coaxially connected to the grapple 17 and capable of generating thrust to the grapple 17, and a control device for controlling drive of the thrusters based on detection information from the camera.
摘要翻译：要解决的问题：在抑制振动的同时快速地传送诸如燃料的输送物体。解决方案：一种加油机，其包括能够在一个方向上在核电站的反应器井上行进的桥梁，能够在与桥梁的行进方向正交的方向上在桥上移动的手推车和抓斗17 能够沿着竖直方向悬挂在手推车上并且能够抓住诸如燃料的输送对象以在水中输送反应堆井和燃料池之间的输送物体的步骤还包括：振动抑制机构18，其抑制抓握反对手推车的运输对象。振动抑制机构包括：摄像机，用于检测抓斗17相对于手推车的位置像差;布置在抑制机构主体30上的推进器32A-32D，该抑制机构主体30与抓爪17同轴连接并能够产生对抓斗17的推力;以及控制装置基于来自相机的检测信息来控制推进器的驱动的装置。版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2012011498A System and method for operating robot arm 审中-公开
标题翻译：用于操作机器人ARM的系统和方法
公开(公告)号：JP2012011498A
公开(公告)日：2012-01-19
申请号：JP2010149728
申请日：2010-06-30
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGANUMA NAOTAKA , MATSUZAKI KENJI , SHIMAMURA MITSUAKI , SHIGEMATSU SOICHIRO
IPC分类号： B25J3/00
摘要： PROBLEM TO BE SOLVED: To avoid obstacles safely, reliably and easily, in operating a robot arm.SOLUTION: An robot arm operating system includes: a remote controller 1 for operating the robot arm 2 on the basis of an operation command value received in real-time; an environmental data storage part 4 for storing environmental data including a 3D shape model of the obstacle; a repulsive force vector field generating processor 5 for setting a virtual repulsive force vector field so that a repulsive force is increased as the distance to the obstacle becomes shorter; a virtual force generating processor 6 for calculating a virtual repulsive force in the direction of moving away from the obstacle relative to the robot arm by using the repulsive force vector field; and a robot controller 3 for generating a motion command value to the robot arm by combining the virtual repulsive force calculated by the virtual force generating processor 6 and the operation command value from the remote controller 1.
摘要翻译：要解决的问题：为了在操作机器人手臂时安全，可靠和容易地避免障碍物。解决方案：机器人手臂操作系统包括：遥控器1，用于基于实时接收的操作命令值来操作机器人手臂2; 环境数据存储部分4，用于存储包括障碍物的3D形状模型的环境数据; 排斥力矢量场产生处理器5，用于设置虚拟排斥力矢量场，使得当与障碍物的距离变短时排斥力增加; 虚拟力产生处理器6，用于通过使用排斥力矢量场计算相对于机器人手臂离开障碍物的方向的虚拟排斥力; 以及机器人控制器3，用于通过组合由虚拟力产生处理器6计算出的虚拟排斥力和来自遥控器1的操作命令值来向机器人臂生成运动指令值。（C）2012年， JPO＆INPIT

9. 发明专利

JP2011031309A Method of generating moving body posture and device of generating moving body posture 有权
标题翻译：产生移动身体姿势的方法和产生运动身体姿势的装置
公开(公告)号：JP2011031309A
公开(公告)日：2011-02-17
申请号：JP2009176730
申请日：2009-07-29
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGANUMA NAOTAKA , MATSUZAKI KENJI , SHIMAMURA MITSUAKI
IPC分类号： B25J9/22
摘要： PROBLEM TO BE SOLVED: To solve the problem that, when a part of a moving body moves in accordance with a motion trajectory, a posture of the whole moving body has been conventionally generated by use of inverse kinematics, which is complicated in calculation and prevents the automatic choice of a solution when a number of solutions exist.
SOLUTION: In a workspace, a repulsive force vector field set up based on the obstacles in the space is defined. The whole moving body is put into a three-dimensional shape model, on the surface of which representative points are set up. The posture of the whole moving body is automatically generated by applying repulsive force vectors to the representative points.
COPYRIGHT: (C)2011,JPO&INPIT

10. 发明专利

JP2014172095A Support device and method for remote work automatic machine 有权
标题翻译：远程工作自动机的支持装置和方法
公开(公告)号：JP2014172095A
公开(公告)日：2014-09-22
申请号：JP2013043415
申请日：2013-03-05
申请人： Toshiba Corp , 株式会社東芝
发明人： UEHARA TAKUYA , MATSUZAKI KENJI , SUGANUMA NAOTAKA , FUKUSHIMA TAKETO , FUJIWARA RYOMA , MITSUYA YUSUKE , OCHIAI MAKOTO , MIURA TAKAHIRO , TOKUNAGA YASUAKI , TSUYUKI AKIRA
IPC分类号： B25J5/00
CPC分类号： B25J5/00 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To realize field work by a remote work automatic machine quickly and at low cost through supporting movement of the remote work automatic machine.SOLUTION: A support device (multi-leg robot support device 10) for a remote work automatic machine which moves with loading a remote work automatic machine (multi-leg robot 15) in that two or more legs 16 composed by link structures 14 comprising plural joints are provided at a trunk 17 part and that moves by movement of the legs 16 is configured to include a transport structure part 11 which comprises the multi-leg robot 15 as capable of being loaded, and wheels 34 or a caterpillar, and to include a support structure part 12 which supports the load of the trunk part 17 of the multi-leg robot 15.
摘要翻译：要解决的问题：通过远程工作自动化机器的移动，通过远程工作自动化机器快速，低成本地实现现场工作。解决方案：用于远程工作自动机器的支撑装置（多腿机器人支撑装置10）其中装载远程工作自动机（多腿机器人15），其中由腿部17部分设置由包括多个关节的连杆结构14构成的两个或多个腿部16，并且通过腿部16的移动而移动，构造成包括运输结构部分11，其包括能够加载的多腿机器人15，以及车轮34或履带，并且包括支撑结构部分12，其支撑多腿机器人的躯干部分17的负载 15。

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