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    • 102. 发明专利
    • POSITION DETECTING DEVICE
    • JPS5624503A
    • 1981-03-09
    • JP9959779
    • 1979-08-04
    • MITSUBISHI HEAVY IND LTD
    • OOMICHI TAKEO
    • G01C3/06G01B11/00G01C3/00G01C15/00G02B23/26
    • PURPOSE:To position a welding torch accurately by using a fiber scope provided with an imaging lens and a projecting lens, a transparent scale plate, a picture pickup device for converting the pictures on the scale plate into electrical signals, and a picture receiver for reconverting the electrical signals back into the pictures. CONSTITUTION:A walking robot 15 capable of moving along a ceiling tube plate 12 in a water chamber 14 is fitted with one end of a fiber scope 16 and with a welding torch spaced by a predetermined distance from the one end of the fiber scope 16, so as to accurately position the welding torch relatively to a specified thin steam vapor tube 13. An industrial television camera 19 as a picture pickup device is connected with a picture receiver 20 which reconverts the electrical signals fed from the camera 19 back into picture signals and simultaneously synthesizes and displays both the lower end surface of the thin steam vapor tube 13 and the graduation of the scale plate 17. Accordingly, it is possible to accurately position the welding torch relatively to the thin steam vapor tube 13.
    • 103. 发明专利
    • AUTOMATIC PENETRATING FLAW DETECTOR
    • JPS55138642A
    • 1980-10-29
    • JP4603279
    • 1979-04-17
    • MITSUBISHI HEAVY IND LTD
    • SHIMA MICHITSUNEKIHARA SHIZOUOOMICHI TAKEOIGARASHI TAENJIMANGETSU KENJI
    • G01N21/84G01N21/88G01N21/91G01N21/954
    • PURPOSE:To automatically and surely inspect multiple inspecting surfaces through remote operation by combining an automatic pretreating unit, automatic penetrant feeder, automatic cleaner, etc. CONSTITUTION:An automatic travelling device 8 mounted with a remote-operatable exchanging device 10, an automatic pretreating unit 11 provided with a rotary brush for removing the residues on the inspecting surfaces and a residue recovery device for recovering the removed residues, an automatic penetrant feeder 12 provided with a rotary penetrating head for coating penetrant on the inspecting surfaces and a penetrant recovery device for recovering the excess penetrant, an automatic cleaner 13 provided with a spray nozzle for spraying the cleaning solution to the inspecting surfaces and a liquid recovery device for wiping the inspecting surfaces, an automatic developing solution feeder 14 provided with an atomizing chamber for developing solution, rotary developing head and developing solution recovery device, an automatic viewing device 15 provided with a turning viewing head and an automatic post-treating unit 16 provided with a rotary brush and residue recovery device are prepared. After the automatic travelling device 8 is mounted to a tube plate 2, the respective units 11-16 are mounted to or dismounted from the automatic travelling device 8 by means of a guide jig 17 and guide wires 42, whereby the specified inspection is carried out.