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1. 发明专利

JP2013108780A Preventive maintenance apparatus and preventive maintenance method of pipe inner surface 有权
标题翻译：管道内表面的预防性维护装置和预防性维护方法
公开(公告)号：JP2013108780A
公开(公告)日：2013-06-06
申请号：JP2011252375
申请日：2011-11-18
申请人： Hitachi-Ge Nuclear Energy Ltd , 日立Geニュークリア・エナジー株式会社 , Sugino Machine Ltd , 株式会社スギノマシン
发明人： INADA TAKASHI , YOSHIKUBO FUJIO , MURAKAMI NOBUO , ANZAI TADASHI , SUGANO AKIHIRO , NAKADA MASAHIRO , TAKAKURA EIJI
IPC分类号： G21C19/02 , G21C17/003 , G21F9/28
CPC分类号： G21C17/017 , B08B9/04 , F16L55/36 , F16L55/44 , Y10S901/43
摘要： PROBLEM TO BE SOLVED: To provide a preventive maintenance apparatus capable of easily performing preventive maintenance work for a pipe inner surface filled with water.SOLUTION: A preventive maintenance apparatus 1 includes a moving object 2 and a water jet peening device (WJP device) 3. The moving object 2 is configured by installing a propelling injection nozzle 22 and buoyancy bodies 25, 26, 27, 28, 29, 30 on a base body 62. The moving object 2 suspended in cooling water 72 in a reactor pressure vessel 66 moves forward in the cooling water 72 by jetting high pressure water from a high pressure pump 17 through the injection nozzle 22 and inserted into a pipe 67 connected to the reactor pressure vessel 66 and filled with the cooling water 72. The posture of the moving body 2 in the pipe 67 is controlled by buoyancy control of the buoyancy bodies 25-30, so that passage of a bent pipe part 69 or the like can be facilitated. High pressure water from the high pressure pump 17 is jetted from injection nozzles 4A, 4B of the WJP device 3 and WJP is performed to the inner surface of a vertical pipe part 70.
摘要翻译：要解决的问题：提供一种能够容易地对填充有水的管内表面进行预防性维护工作的预防性维护装置。防护维护装置1包括移动体2和喷水喷丸装置（WJP装置）3。移动体2通过安装推进注射喷嘴22和浮力体25,26,27,28 在基体62上悬挂在冷却水72中的运动物体2通过从高压泵17喷射高压水通过喷嘴22在冷却水72中向前移动并插入连接到反应堆压力容器66并填充有冷却水72的管道67中。管道67中的移动体2的姿势由浮力体25-30的浮力控制来控制，使得弯管部件69等。来自高压泵17的高压水从WJP装置3的喷嘴4A，4B喷射，WJP被执行到垂直管部70的内表面。（C）2013，JPO＆INPIT

2. 发明专利

JP2013160740A In-reactor prevention maintenance device 有权
标题翻译：反应器预防维护装置
公开(公告)号：JP2013160740A
公开(公告)日：2013-08-19
申请号：JP2012025681
申请日：2012-02-09
申请人： Hitachi-Ge Nuclear Energy Ltd , 日立Geニュークリア・エナジー株式会社 , Sugino Machine Ltd , 株式会社スギノマシン
发明人： HAYATA TAKASHI , YOSHIKUBO FUJIO , INADA TAKASHI , TAKAKURA EIJI , MATSUBARA SHINICHI
IPC分类号： G21C17/003 , G21C19/02 , G21F9/28
摘要： PROBLEM TO BE SOLVED: To provide a prevention maintenance device capable of easily and accurately performing prevention maintenance of a wide range.SOLUTION: A prevention maintenance device is inserted into an annulus part 8 in a reactor pressure vessel to perform prevention maintenance of a weld part existing at the annulus part 8, and includes: prevention maintenance execution means 50 for performing the prevention maintenance of the weld part; feeding means 70 for moving the prevention maintenance execution means 50 in the peripheral direction of the reactor pressure vessel; and horizontal pushing means 90 for moving the prevention maintenance execution means 50 to the wall surface in the reactor pressure vessel, and bringing the prevention maintenance execution means 50 into contact with the wall surface in the reactor pressure vessel to be fixed, in which the prevention maintenance execution means 50, the horizontal pushing means 70, and the feeding means 90 are constituted as separate bodies, respectively.
摘要翻译：要解决的问题：提供能够容易且准确地进行广泛的防范维护的预防维护装置。解决方案：将预防维护装置插入到反应堆压力容器中的环形部分8中，以对焊接部分进行预防维护存在于环状部8，并且包括：用于进行焊接部的防止维护的防止维护执行装置50; 用于在防反应器压力容器的周向上移动防止维护执行装置50的进给装置70; 以及用于将防止维护执行装置50移动到反应堆压力容器中的壁表面的水平推动装置90，并且使防止维护执行装置50与待固定的反应堆压力容器中的壁表面接触，其中防止维护执行装置50，水平推动装置70和进给装置90分别构成分离的主体。

3. 发明专利

JP2012056064A Device and method for generating route 有权
标题翻译：用于生成路由的设备和方法
公开(公告)号：JP2012056064A
公开(公告)日：2012-03-22
申请号：JP2010204096
申请日：2010-09-13
申请人： Sugino Machine Ltd , 株式会社スギノマシン
发明人： KAMOI RYOSUKE , SAKAI HIDEAKI , TAKAKURA EIJI , TAKEYAMA SHINICHI
IPC分类号： B25J9/10 , G05B19/4093 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To reduce man-hour for planning an action route by eliminating excessive calculation in a C-space.SOLUTION: A device for generating a route includes an initial position storage unit, a target position storage unit, a present position detection unit, a route storage unit, a first candidate determination unit obtaining present position adjacent configuration points, a second candidate determination unit obtaining an interference point adjacent configuration point adjacent to an interference point against an obstacle among the present position adjacent configuration points, an interference check unit determining whether the present position adjacent configuration point is the interference point or not, and a distance candidate determination unit selecting a configuration point out of the present position adjacent configuration points so as to approach a target configuration point from the present position. When the distance candidate configuration point selected by the distance candidate determination unit is not the interference point at the present position, the device generates a straight traveling mode route. When the distance candidate configuration point is the interference point, the device generates a boundary trailing mode route.
摘要翻译：要解决的问题：通过消除C空间中的过度计算，减少计划行动路线的工时。解决方案：一种用于生成路线的装置，包括初始位置存储单元，目标位置存储单元，当前位置检测单元，路线存储单元，第一候选确定单元，获得与配置点相邻的当前位置，第二候选确定单元获得与当前位置相邻配置点之间的与障碍物的干扰点相邻的相邻配置点的干扰点，干扰检查单元确定相邻配置点当前位置是否是干扰点;距离候选确定单元从配置点附近的当前位置中选择配置点，以便从当前位置接近目标配置点。当由距离候选确定单元选择的距离候选配置点不是当前位置处的干扰点时，设备产生直线行驶模式路线。当距离候选配置点为干扰点时，设备生成边界拖尾模式路由。版权所有（C）2012，JPO＆INPIT

4. 发明专利

JP2012056063A Smooth motion path generating device and smooth motion path generating method 有权
标题翻译： SMOOTH运动路径发生装置和平滑运动路径生成方法
公开(公告)号：JP2012056063A
公开(公告)日：2012-03-22
申请号：JP2010203871
申请日：2010-09-13
申请人： Institute Of National Colleges Of Technology Japan , Sugino Machine Ltd , 株式会社スギノマシン , 独立行政法人国立高等専門学校機構
发明人： SATO KEISUKE , TAKEYAMA SHINICHI , SAKAI HIDEAKI , TAKAKURA EIJI , KAMOI RYOSUKE
IPC分类号： B25J9/10 , G05B19/4155
摘要： PROBLEM TO BE SOLVED: To eliminate unnecessary motions from a motion path and regenerate a smooth motion path.SOLUTION: A smooth motion path generating device includes: a motion path storing means; a path waypoint setting means; a path waypoint storing means; a path waypoint pair adopting means for adopting a pair of path waypoints including a path waypoint and another waypoint to be paired among waypoints; a midpoint calculating means for obtaining a midpoint between a path waypoint and another path waypoint by a calculation formula, (position data of a path waypoint+position data of another path waypoint)/2; and a midpoint interference checking means for determining whether the midpoint interferes with an obstacle. When the midpoint interferes with the obstacle, a current motion path is adopted (S7). When the midpoint does not interfere with the obstacle, the midpoint is adopted as a new path waypoint, and a smooth path generating step of selecting a new motion path from a path waypoint to another path waypoint through the new path waypoint (S6).
摘要翻译：要解决的问题：消除运动路径的不必要的运动并再生平滑的运动路径。解决方案：平滑运动路径生成装置包括：运动路径存储装置; 路径设定方式; 路径路点存储装置; 路径点对采用采用包括路径航路点和路段之间配对的另一航点的一对路径点的装置; 一个中点计算装置，用于通过计算公式（路径点的位置数据+另一个路径点的位置数据）/ 2获得路径点和另一路径点之间的中点; 以及中点干扰检查装置，用于确定中点是否干扰障碍物。当中点干扰障碍物时，采用当前运动路径（S7）。当中点不干扰障碍物时，采用中点作为新的路径点，以及平滑路径生成步骤，通过新的路径点选择从路径点到另一路径点的新的运动路径（S6）。版权所有（C）2012，JPO＆INPIT

5. 发明专利

JP2007292655A Method and device for preventive maintenance on annulus section in reactor 有权
标题翻译：在反应器中防止维护的方法和装置
公开(公告)号：JP2007292655A
公开(公告)日：2007-11-08
申请号：JP2006122127
申请日：2006-04-26
申请人： Hitachi Ltd , Sugino Mach Ltd , 株式会社スギノマシン , 株式会社日立製作所
发明人： INADA TAKASHI , KUROSAWA KOICHI , KASHIWAKURA JUN , YOSHIKUBO FUJIO , HAYATA TAKASHI , NAKADA MASAHIRO , TAKAKURA EIJI
IPC分类号： G21C19/02 , G21D1/00
CPC分类号： Y02E30/40
摘要： PROBLEM TO BE SOLVED: To provide a method and a device for the easy and highly efficient preventive maintenance on welds of an annulus section in a reactor by enabling a stable movement of a preventive maintenance mechanism in water. SOLUTION: The preventive maintenance device for the annulus section in the reactor is constituted of a rail feeding mechanism 16 mounted on a baffle plate 6, a rail 17 laid in an interstice between a reactor pressure vessel 1 and a jet pump diffuser 7 or an interstice between a shroud support cylinder 4 and the jet pump diffuser 7 by using the rail feeding mechanism 16, a cable/hose feeding mechanism 34 mounted at an end of the rail 17, a cable 24/a hose 25 let off and drawn by the cable/hose feeding mechanism 34 and a preventive maintenance mechanism 26 guided by the rail 17 by driving the cable 24/hose 25 feeding mechanism 34 and transported in the direction along the interstices. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种方法和装置，用于通过使预防性维护机构稳定地运动在水中来实现对反应器中的环形部分的焊缝的容易且高效的预防性维护。解决方案：反应堆中的环形部分的预防性维护装置由安装在挡板6上的导轨进给机构16，布置在反应堆压力容器1和喷射泵扩散器7之间的间隙中的轨道17构成或者通过使用轨道进给机构16，护罩支撑筒4和喷射泵扩散器7之间的间隙，安装在轨道17的端部的电缆/软管馈送机构34，电缆24 /软管25释放和拉出通过电缆/软管进给机构34和由轨道17引导的预防性维护机构26，通过驱动电缆24 /软管25进给机构34并沿着间隙的方向传送。版权所有（C）2008，JPO＆INPIT

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