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1. 发明专利

JPS62194981A VACUUM ADSORPTION TYPE WALL SURFACE TRANSFER APPARATUS 失效
公开(公告)号：JPS62194981A
公开(公告)日：1987-08-27
申请号：JP3298786
申请日：1986-02-19
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： FUJITA AKITAKA , TSUGE MUNENORI , IOBE YOSHISHIGE , SAKUMA YASUJI , WATABIKI MASAYUKI , SONODA SHINJI
IPC分类号： B62D57/024 , B62D57/02
摘要： PURPOSE:To lighten the impact in the case when a frame for traveling is released, by installing a buffer device between the inner and outer frames for traveling of a vacuum adsorption type wall surface transfer device. CONSTITUTION:Either an outer frame 2 for traveling or an inner frame 1 for traveling is adsorbed onto a wall surface through a vacuum adsorbing pad, and the other is relatively transferred along the wall surface. A constant load spring is used for a pulling spring for the inner and outer frames 1 and 2 for traveling, and a buffer device 16 is installed between the inner and outer frames 1 and 2 for traveling.

2. 发明专利

JPS6250281A WALKING TYPE WALL-SURFACE TRAVELING DEVICE 失效
公开(公告)号：JPS6250281A
公开(公告)日：1987-03-04
申请号：JP17783985
申请日：1985-08-13
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： TSUGE MUNENORI , FUJITA AKITAKA , SONODA SHINJI , WATABIKI MASAYUKI , SAKUMA YASUJI , IOBE YOSHISHIGE , SATO CHIKARA
IPC分类号： B62D57/024 , B25J5/00 , B62D57/02
摘要： PURPOSE:To permit the smooth traveling even on a curved wall surface by installing sucking legs equipped with a sensor for detecting the distance from the wall surface, onto an adjusting frame and either of an inner or outer frame. CONSTITUTION:An adjusting frame 11 is supported in tiltable ways at a fulcrum 10 onto an inner frame 4, and a spring 9 and an expandable actuator 8' are installed therebetween. Sucking legs having an sucking device 7 and an expandable actuator are installed onto the adjusting frame 11 and an outer frame 1, and further, a sensor 15 for detecting the gap 14 between a wall W is installed onto the sucking device 7. A detecting circuit 12 detects the information simultaneously with the detection by the sensor 15, and a control instruction is calculation-outputted so that the attitude for the wall surface W of the frame 1 or 11 in transfer is set uniform for the wall surface, and the relative attitude between the inner frame 4 and the adjusting frame 11 is controlled by driving the actuator 8'.

3. 发明专利

JPH03148058A DAMAGE DETECTING SYSTEM FOR UNDERGROUND PIPE 失效
公开(公告)号：JPH03148058A
公开(公告)日：1991-06-24
申请号：JP28828689
申请日：1989-11-06
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： YANO HIDEO , IOBE YOSHISHIGE , OTAKA TOSHIHIDE , OKADA MASUMI , MIYAMOTO YUKINORI
IPC分类号： G01N27/20
摘要： PURPOSE:To simplify a system by applying an AC voltage through one end of an underground pipe beforehand in order to detect the damage at an arbitrary position of the undergroun pipe. CONSTITUTION:A corrosionproof electrode 13 is surrounded by a dotted line as one unit, and the obtained equivalent circuit is made to be one block. When the blocks A - N are connected, the block assembly constitutes the electric equivalent circuit along the entire length of a steel pipe in the longitudinal direction. An AC voltage is applied to the steel pipe from an AC power source 8 which is provided at one end part of the electric equivalent circuit. Then the applied AC voltage is transmitted. The voltage is attenuated with a resistance 10 of the steel pipe, self-inductance 11 and the resistance between the steel pipe and the ground due to the corrosionproof electrode 13 in the way of transmission. When the attenuation in the middle of the embedded pipe is large, the transmitting distance of the AC voltage which is applied on one end of the steel pipe and transmitted through the steel pipe is shortened. Therefore, the voltage between a point (a) in the figure A and the ground is continuously monitored. Presence or absence of the damage of the underground pipe can be judged based on the voltage difference at the point (a) when the damage is present in the underground pipe and when the damage is not present.

4. 发明专利

JPS61200069A WALKING TYPE WALL SURFACE MOVING DEVICE 失效
公开(公告)号：JPS61200069A
公开(公告)日：1986-09-04
申请号：JP3875785
申请日：1985-03-01
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： FUJITA AKITAKA , TSUGE MUNENORI , SONODA SHINJI , WATABIKI MASAYUKI , SAKUMA YASUJI , IOBE YOSHISHIGE , SATO CHIKARA
IPC分类号： B25J5/00 , B62D57/024 , B62D57/02
摘要： PURPOSE:To allow adsorption even on the wall surface with a spherical shape by providing a spherical guide with the same spherical shape as that of an adsorption wall surface at one of inner and outer frames and also providing a moving mechanism, that is moved following this guide, at the other of the frames through an elastic body. CONSTITUTION:Wall surface adsorption legs 11 are fixed to an outer frame 12 for walking. In addition, a spherical guide 12a with almost the same curved surface as that of an adsorption wall surface 10 is formed inside the central part of the frame 12 for walking. On the other hand, an inner frame 14 for walking is arranged inside the outer frame 12 for walking and wall surface adsorption legs 13 are fixed to this inner frame 14 for walking. A moving mechanism section 18 that is moved following the spherical guide 12a is provided at the central part of the inner frame 14 for walking. This moving mechanism section 18 is connected to a movable T-shaped member 19 that can be moved by a power transmission mechanism 16 through an elastic body 20. The inner and outer frames 14 and 12 can be moved following the curved surface of the wall surface 10. Besides, when the legs 11 and 13 run on protrusions unbalance moment is absorbed, by the elastic body 20.

5. 发明专利

JPS6451283A VACUUM SUCKER 失效
公开(公告)号：JPS6451283A
公开(公告)日：1989-02-27
申请号：JP20635687
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SAKUMA YASUJI , SAKAMOTO KIYOSHI , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： B25J15/06
摘要： PURPOSE: To make a suction pad follow the shape of a surface with large level differences to be sucked and surely suck it by arranging a support guide having flexibility in the sucking direction of the suction pad, in the circumferential direction of the ring suction pad. CONSTITUTION: A bellows type flexible guide 4 which is freely expanded/ contracted only in the sucking direction of a suction pad 3 and has a drag of some extent to a side force is attached to the internal circumferential face of the suction pad 3 provided in the outer circumferential end in the suction surface side of a suction plate 1. When this suction pad 3 sucks a surface with large level differences to be sucked, the suction pad 3 follows and surely sucks the surface to be sucked by the expansion/contraction performance of the flexible guide 4.

6. 发明专利

JPS6451282A METHOD OF CONTROLLING SUCTION OF VACUUM PAD 失效
公开(公告)号：JPS6451282A
公开(公告)日：1989-02-27
申请号：JP20635587
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SAKAMOTO KIYOSHI , YAMASHITA MAKOTO , FUJITA AKITAKA , TSUGE MUNENORI
IPC分类号： B25J15/06
摘要： PURPOSE: To suck and detach without transmitting a reaction to a support part in suction or detaching a vacuum pad by constituting it in such a state as controlling the pressure of operating fluid, at least, into two stages. CONSTITUTION: A change-over valve 11' feeds high pressure P fluid to a terminal feeding hole 7 through a feeding hole 15 via a change-over valve 11. In this case, the suction pad 5' is drawn to a support rod 1. Secondly, the whole support part 3 is made to approach to the wall surface 6 to a prescribed distance so as to apply the vacuum. Then, when the feeding hole of the change-over valve 11 is shifted to 8, the vacuum pad 5' is pushed toward the wall surface 6 so as to start suction in such a position as bringing the vacuum pad 5' in contact with the wall surface. In this case, the pad 5' is pushed from the back so that as long as the reaction to the support part 3 is moving, it is not generated. Thirdly, when the suction and the contraction of the vacuum pad 5' is completed, the change-over valve 11 is shifted, and when the pressure in the support rod guide part inside is set to the atmospheric pressure, the vacuum is turned off, the feeding hole of the change-over valve 11 is returned to 15, and the reaction to the support part 3 is set to zero so that the pad 5' is detached therefrom.

7. 发明专利

JPS6451281A WALL SURFACE FOLLOWER OF WALKING TYPE ROBOT 失效
公开(公告)号：JPS6451281A
公开(公告)日：1989-02-27
申请号：JP20635487
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SATO CHIKARA , SAKAMOTO KIYOSHI , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： B25J5/00
摘要： PURPOSE: To stably travel a frame along a wall surface by providing a slidable guide element to one frame along an arc guide which is provided in the other frame and by constituting the frame center faced to the center of the curved wall surface. CONSTITUTION: An adsorption element 13 of one frame 1 is adsorbed to a sphere of a prescribed curvature or an R surface 16 and the absorption element 13 of the other frame 2 is detached from the surface 16. An actuator 12 is driven in this state, the frame 2 detached from the absorption element is moved by the relative movement of the drive mechanism 3 of one frame and the drive support part 5 of the other frame. This operation is repeated in the each frame alternately so that the frames 1, 2 are traveled and moved along the surface 16. In this case, though the frame 2 becomes to be inclined to the frame 1, it is followedly rotated by the free rotation of a pin 9 and a roller guide element 10 of the frame 2 is moved along the arc guide 4 of the frame 1. As a result, the center of the frame can be held in such a state as being faced to the center of the curvature of the surface 6 at all times.

8. 发明专利

JPS6480859A MULTICHANNEL FLAW DETECTION SYSTEM 失效
公开(公告)号：JPS6480859A
公开(公告)日：1989-03-27
申请号：JP23716587
申请日：1987-09-24
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , YAMASHITA MAKOTO , KOSHIRAE MITSUO , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： G01N29/44 , G01N29/04
摘要： PURPOSE:To discriminate between a cracking defect and an unevenness defect by arranging probes and counting ultrasonic wave-received signals from the same position. CONSTITUTION:Three probes 3 are arranged at intervals of 45 deg. from one point on a weld line 2 and slid on the surface of a body 1 to be inspected. An ultrasonic wave beam 3' is sent to the probes 3 through a pulser 4 in order corresponding to three modes of the probes 3 and a detection signal is sent to an amplifier 7 through a receiver 5; when a signal higher than a constant level is obtained, it is transferred to a data processor 11 through an echo gate circuit 9 in synchronism with position data. A reflection echo due to the unevenness of the body 1 is obtained over a wide range and a reflection echo from the crack defect has high directivity, so the cracking defect can be discriminated as the unevenness.

9. 发明专利

JPS62181978A VACUUM ADSORBING TYPE WALL FACE MOVING DEVICE 失效
公开(公告)号：JPS62181978A
公开(公告)日：1987-08-10
申请号：JP2195986
申请日：1986-02-05
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： TSUGE MUNENORI , FUJITA AKITAKA , IOBE YOSHISHIGE , SONODA SHINJI , WATABIKI MASAYUKI , SAKUMA YASUJI , SATO CHIKARA
IPC分类号： B62D57/032 , B62D57/02 , B62D57/024
摘要： PURPOSE:To enable a free revolution without the restriction of revolving angle at the time of the change of directions by arranging the positions of plural vacuum adsorbing pads which are provided on the end parts of inner and outer traveling frames via lifting cylinders, on nearly the coaxial circle of each of said frames. CONSTITUTION:Inner and outer traveling frames 1, 2 are formed into a circular shape, with the outside diameter of the frame 1 being formed smaller than the inside diameter of the frame 2. Vacuum adsorbing pads 4a, 4b which are fixed to each of the frames 1, 2 are placed on nearly the coaxial circle of each of the frames 1, 2. When the captioned device is revolved, defined gaps are always formed between the vacuum pads 4a and 4b, and accordingly, the inner and outer traveling frames 1, 2 can revolve at 360 deg.. Also, due to the circular form of both the inner and outer traveling frames 1, 2, the positions of the center of gravity of both the frames 1, 2 while revolving is always at the center of both the frames 1 and 2, eliminating unbalance at the time of revolving operation and obtaining a stable revolving operation.

10. 发明专利

JPS62105787A WALL SURFACE MOVING DEVICE OF VACUUM ADSORPTION TYPE 失效
公开(公告)号：JPS62105787A
公开(公告)日：1987-05-16
申请号：JP24401885
申请日：1985-11-01
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： TSUGE MUNENORI , FUJITA AKITAKA , IOBE YOSHISHIGE , SONODA SHINJI , WATABIKI MASAYUKI , OOUCHI KEI
IPC分类号： B62D57/032 , B25J5/00 , B62D57/02 , B62D57/024
摘要： PURPOSE:To improve the adsorption quality of an adsorption pad by separating a vertical motion cylinder with an adsorption pad into upper and lower chambers, and applying a larger diameter to a cylinder rod passing through the lower chamber than another rod as part of said rod through the upper chamber. CONSTITUTION:Elevating cylinders 6a and 6b are separated into upper chambers 6a1 and 6b1, and lower chambers 6a2 and 6b2 respectively, and the diameters d2 of a cylinder rod 13b passing through the lower chambers 6a2 and 6b2 is made larger than that of a cylinder rod 13b running through the upper chambers 6a1 and 6a2. The cylinder rods 13a and 13b are made monolithic and respectively connected to the ends of a travel inner frame 1 and a travel outer frame 2. In this state, when pressurized air has been supplied to a space below the upper chamber 6a1 and above the upper chamber 6b1, the relations between the elevating force F1 of the inner frame 1 and the downward force F2 of the outer frame 2 are expressed as F1

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