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1. 发明专利

JP2000005896A WELDING DEVICE 失效
公开(公告)号：JP2000005896A
公开(公告)日：2000-01-11
申请号：JP17877398
申请日：1998-06-25
申请人： JAPAN ATOMIC ENERGY RES INST , TOSHIBA CORP
发明人： KOIZUMI KOICHI , NAKAHIRA MASATAKA , TADA EISUKE , YANAGI HIROSHI , TAKI KEIJI , SHIBUI MASANAO , OMORI HIROSHI
IPC分类号： G21C19/02 , B23K9/00 , B23K9/12 , B23K37/02 , B25J5/02 , G21B1/00 , G21B1/11 , G21B1/25
摘要： PROBLEM TO BE SOLVED: To simply, surely, smoothly, and safely carry out a welding process while securely avoiding limitted accessibility when a large structural material having a narrow spacing such as a nuclear fusion reactor vacuum container is welded. SOLUTION: This device is equipped with a rail 11 arranged along a welding direction of a welded material, a carriage 12 travelling on the rail 11, and a shrinkable arm 16 supported by the carriage 12, and a welding head 17 mounted to the tip of the arm 16. The arm 16 is designed to be a telescopic arm, and is rotatably supported on the carriage 12 via a rotation supporting mechanism 15. The mechanism 15 is designed to be a multi-shaft rotation supporting mechanism for providing degree of the rotation freedom of each shaft in a three-dimensional coordinate to the arm 16.

2. 发明专利

JP2003230959A REMOTE OPERATION WELDING ROBOT SYSTEM 审中-公开
公开(公告)号：JP2003230959A
公开(公告)日：2003-08-19
申请号：JP2002029914
申请日：2002-02-06
申请人： TOSHIBA CORP
发明人： KOJIMA MASAYOSHI , ASAI SATORU , TAKI KEIJI , TONMIYA YUICHI , AOYAMA KAZUO , TSUBOI RYUSUKE , AIKAWA TETSUO , TAKEBAYASHI HIROYUKI
IPC分类号： B25J13/00 , B23K9/095 , B23K9/10 , B23K9/12 , B23K9/127 , B23K9/167
摘要： PROBLEM TO BE SOLVED: To provide a remote operation welding robot system, where teaching work for welding work and the welding work can be performed by remote operation by an operator and a sound welding zone can be obtained. SOLUTION: A welding work robot 12 that is multi-articulated and three- dimensionally movable is employed. The teaching work necessary for the motion of the welding work robot is performed by storing previously taught data in a robot control device 20. Welding condition correcting work during the welding work is carried out by the remote operation using a teaching pendant 27 and a tool controller 28, by monitoring the image of a molten pool by an image pickup means such as a charge-coupled-device (CCD) camera 21 and by remotely conducting three-dimensional measurement by a binocular stereoscopic method. Furthermore, as a back bead monitoring device 23 is arranged, a welding current is automatically controlled by confirming the appearance of the rear side of a welding groove and picking up the image of the back bead molten pool, so that the generation of welding defects is effectively prevented. COPYRIGHT: (C)2003,JPO

3. 发明专利

JPH1158017A METHOD AND EQUIPMENT FOR TIG WELDING 失效
公开(公告)号：JPH1158017A
公开(公告)日：1999-03-02
申请号：JP14488298
申请日：1998-05-26
申请人： TOSHIBA CORP
发明人： TAKI KEIJI , YANAGI HIROSHI
IPC分类号： B23K9/16 , B23K9/00 , B23K9/02 , B23K9/12 , B23K9/167 , B23K9/29 , B23K33/00
摘要： PROBLEM TO BE SOLVED: To provide a method and an equipment for the TIG welding which are capable of greatly improving deposition efficiency even when the balance of the force to be applied to molten pool are easy to break in a vertical position welding or an overhead position welding, in particular, improving efficiency as all position welding to the construction of a large plant, and obtaining a large advantage from the practical aspect. SOLUTION: In a TIG welding method of double gas-shield and a plurality of wire feeding system in which a plurality of wires 5,6 are continuously fed as filler metals to an arc generation part while inner and outer double gas shields are formed around a tungsten electrode 17, one or more wires 5,6 are fed in a heated condition as the hot wire 5 for promoting the deposition, and the other one or more wires are fed in a non-heated condition as the cold wire 6 for cooling the molten pool.

4. 发明专利

JPH07328960A TRACK TRAVELING ROBOT 失效
公开(公告)号：JPH07328960A
公开(公告)日：1995-12-19
申请号：JP12548794
申请日：1994-06-07
申请人： TOKYO ELECTRIC POWER CO , TOHOKU ELECTRIC POWER CO , CHUBU ELECTRIC POWER , HOKURIKU ELECTRIC POWER , CHUGOKU ELECTRIC POWER , JAPAN ATOMIC POWER , HITACHI LTD , TOSHIBA CORP
发明人： TEZUKA KENICHI , NATSUI KENKICHI , SHIBAMOTO HIROSHI , KINAMI MUNETAKA , SAEGUSA TOSHIIE , TAKI KEIJI , IIMORI HIROSHI
IPC分类号： B25J5/02 , G05D1/02
摘要： PURPOSE:To surely detect a collision with another robot even when the shape of the other traveling robot differs or even at the straight line section or vertical/lateral curve sections of a track. CONSTITUTION:This track traveling robot is traveled along a track 2 by the control command from an operation panel. An arm 3 formed with a slide section slid in contact with the track 2 is pivotally supported on a robot main body 1 rotatably in the vertical direction, this arm 3 is provided with a spring 4 invariably applying the deviating force to the slide section in the contacting direction with the track 2, and a rear-end collision sensor 5 detecting a rear-end collision with another robot is fitted at the tip section of the arm 3.

5. 发明专利

JPH0728525A SELF-ADVANCING ROBOT 失效
公开(公告)号：JPH0728525A
公开(公告)日：1995-01-31
申请号：JP17460693
申请日：1993-07-15
申请人： TOSHIBA CORP
发明人： TAKI KEIJI
IPC分类号： B25J13/00 , B25J5/02 , B25J19/02 , B60L3/08 , B61B13/06 , G05D1/02
摘要： PURPOSE:To obtain an absolute position without recognizing the origin again even at the time of losing the absolute position by arranging a position recognition plate, which reports the absolute position, on a track route with plural blocks as a bit string. CONSTITUTION:A robot main body 1 is moved on a track 4 to which a position recognition plate 3 is attached and reads the position recognition plate 3 by a sensor 2 to recognize the absolute position. Meanwhile, a console panel 6 consists of an operation part 7, a power source part 8, and a control part 9, and transmission of a control signal, power supply, or the like is performed through a trolley line 5, laid on the track 4 to remotely control the robot 1. That is, one or more position recognition plates 3 which report the absolute position are arranged on the track route, and the robot is provided with the sensor 2 which reads these position recognition plates 3. The position recognition plate 3 is arranged with plural blocks as a bit string, and the absolute position can be recognized by only this recognition plate.

6. 发明专利

JPH05216532A GUIDED RADIO ROBOT 失效
公开(公告)号：JPH05216532A
公开(公告)日：1993-08-27
申请号：JP1729492
申请日：1992-02-03
申请人： TOSHIBA CORP
发明人： TAKI KEIJI
IPC分类号： G05D1/02 , H04B5/00
摘要： PURPOSE:To provide a guided radio robot which is capable of uniform and satisfactory communication wherever the robot main body is. CONSTITUTION:This robot is provided with a fixedly connected communication line 1 and a robot main body 2 which has plural couplers 23 inductively coupled to this communication line and is moved while communicating control data, pictures, sounds, etc., as FM or AM modulation signals through these couplers. The interval of adjacent couplers is set to an about half of the communication frequency.

7. 发明专利

JPH04164719A LUMBER PILING DEVICE 失效
公开(公告)号：JPH04164719A
公开(公告)日：1992-06-10
申请号：JP29145190
申请日：1990-10-29
申请人： TOSHIBA CORP
发明人： OTSUKA SHUNPEI , TAKI KEIJI
IPC分类号： B65G57/00 , B65G57/03 , B65G57/18 , B65G57/22 , B65G60/00
摘要： PURPOSE:To reduce the working labor and improve the efficiency at the above lumber piling device for the piling up work of unworked boards, by arranging so that lumber combination may be decided and paid out according to a piling length set value, by means a classification command outputted together with a lumber length detection signal, and lumber pieces may be piled in plural rows at a predetermined piling length. CONSTITUTION:The length of each lumber is measured by means of a detecting means 100 and sent to a control means 300. The means 300 outputs a classification command to a sorting means 200, and a lumber piece is classified to a predetermined length group according to a length thus measured. Its outcome is memorized at a memory 310. Next, an operation portion 320 decides such lumber combination as has a predetermined piling length, on the basis of the data of the memory portion 310, and conduct output to a paying out means 500. On the basis of this, a pre-alignment stage 600 aligns lumber and sending out is made to a piling means 700, and the 1st step is piled, and next, piling is done in order, to plural steps with spacers interposed.

8. 发明专利

JP2000206287A WORKING ROBOT IN REACTOR 失效
公开(公告)号：JP2000206287A
公开(公告)日：2000-07-28
申请号：JP994599
申请日：1999-01-18
申请人： TOSHIBA CORP , TOSHIBA F A SYSTEM ENG
发明人： SUDO KAZUO , YASUDA TOSHIHIRO , TONMIYA YUICHI , ISHIKAWA KIYOSHI , KOBAYASHI MASAHIRO , TSUBOI RYUSUKE , TAKI KEIJI , AOYAMA KAZUO , TAKEBAYASHI HIROYUKI
IPC分类号： G21C17/003 , G21C19/02
摘要： PROBLEM TO BE SOLVED: To quickly execute operation in a reactor such as welding even under much radiation dose and to reduce exposure dose by equipping an arm part that can be operated three-dimensionally due to a base part that can travel in the reactor and an articulated interlocking structure and an operation part that is provided at the tip. SOLUTION: A working robot in a reactor basically consists of a traveling robot 11 and a control device 12 for controlling it. The robot 11 is provided with a base part 13 with a traveling wheel and an articulated arm part that is supported by a robot body 15 that is connected via a post 14 (shaft O1) that is vertical to the base part 13. A welding head 21 is detachably mounted to the tip of a rotary arm 19 via a holder 20 that can be rotated around a shaft 15 that orthogonally crosses a shaft O4, and a welding torch 22 can be rotated around a head 21 via a shaft O6 that is concentric with the shaft O5. An encoder is provided at each joint part. Regarding welding to a welded site in a complex shape and a narrow part also, the installation location, procedures of a welding machine, a site, and the design of a connection head and the like are considered for simplifying the execution.

9. 发明专利

JPH09201790A INDUSTRIAL ROBOT, AND LIMIT SWITCH DETECTING METHOD IN INDUSTRIAL ROBOT 失效
公开(公告)号：JPH09201790A
公开(公告)日：1997-08-05
申请号：JP1266996
申请日：1996-01-29
申请人： TOSHIBA CORP
发明人： TAKI KEIJI
IPC分类号： B25J19/00
摘要： PROBLEM TO BE SOLVED: To reduce the number of wiring cables connecting the machine side and the control box side in the respective driving shafts by connecting the contact points of limit switches to a motor-driving circuit. SOLUTION: When the limit is detected in the normal rotation by the command from a microcomputer system 1, a limit switch 5 is operated so as to be apart from the contact point, and the applied voltage of a motor becomes zero to stop the motors 3 (3-1 to 3-n). In the case where the motors are reversed from this point of time, by applying a reverse voltage a voltage is applied to the motors 3 through diodes 7 that are apart from the contact points and have been connected in parallel with the limit switches. On the contrary, when the limit switches 6 are operated in the reverse rotation, the contact points are separated to stop the motors, and the motors 3 are normally rotated by applying a normal voltage through diodes 8.

10. 发明专利

JPH0894790A MONITORING DEVICE FOR INSIDE OF CONTAINER 失效
公开(公告)号：JPH0894790A
公开(公告)日：1996-04-12
申请号：JP23096094
申请日：1994-09-27
申请人： TOSHIBA CORP
发明人： TAKI KEIJI , KANEKO MASAKI
IPC分类号： G21C17/00 , G21C17/08
摘要： PURPOSE: To prevent degradation of monitoring device for monitoring inside of a container in a reactor power plant. CONSTITUTION: A monitoring camera 1 is covered with a box shield body 2 opening only the lens surface and the lens surface is faced to wall by turning the device except for monitoring time zone. By placing reflection mirrors or prism in the box shield body, the light coming through the opening of the box shield body 2 is reflected to reach the camera and radiation beam going straight is made not to reach the camera. In place of the box shield body 2, the box of camera is made a shield body to place the reflection mirror and prism. The monitoring device moves along a rail in a container 4 and stand-by position made of shielding material is provided at a proper position on the rail so that the monitoring camera comes in the stand-by position to prevent from exposure except for monitoring time.

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