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1. 发明专利

JP2003275473A Plotting system using mobile robot 有权
标题翻译：使用移动机器人的绘图系统
公开(公告)号：JP2003275473A
公开(公告)日：2003-09-30
申请号：JP2002079710
申请日：2002-03-20
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ASANO SHIN , KAWAUCHI NAOTO , SASANO YUICHI , NAKAYAMA JUNJI , ISOZAKI YOSHIJI , MORIMOTO SEIICHI , MORII KYOKO , SOGO MASAAKI , KAMIMURA HIDEKAZU
IPC分类号： A63H11/18 , A63H11/00 , A63H13/15 , B25J19/04 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a plotting system capable of drawing a portrait of high quality while giving a spectator recognition of actually drawing the portrait using a mobile robot.
SOLUTION: This plotting system using the mobile robot is provided with a CCD camera 10 for photographing the face of a customer M to obtain face image data; a portrait controller 11 for processing the face image data to originate line drawing data; the robot 50 movable in a specific display area 1 and plotting on a liquid crystal display 6 with a pen tablet; a plotting operation data originating means for originating plotting operation data for allowing the robot to carry out plotting on the basis of the line drawing data; a robot control means for controlling the movement of the robot and allowing the robot to draw on a plotting medium; and a positioning device 30 for positioning the mobile robot 50 to the plotting medium.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种能够绘制高质量肖像的绘图系统，同时使用移动机器人实际绘制人像的观众识别。
解决方案：使用移动机器人的绘图系统设置有用于拍摄顾客M的脸部以获得面部图像数据的CCD照相机10; 肖像控制器11，用于处理面部图像数据以产生线条图数据; 机器人50可以在特定显示区域1中移动，并用笔式图形输入液晶显示器6; 绘制操作数据发起装置，用于发起绘制操作数据，用于允许机器人基于线条图数据执行绘图; 机器人控制装置，用于控制机器人的移动并允许机器人在绘图介质上绘图; 以及用于将移动机器人50定位到绘图介质的定位装置30。版权所有（C）2003，JPO

2. 发明专利

JP2003048180A Unit replacing system for disaster protection robot for nuclear power 审中-公开
标题翻译：用于核能的灾害保护机器人装置更换系统
公开(公告)号：JP2003048180A
公开(公告)日：2003-02-18
申请号：JP2001237806
申请日：2001-08-06
申请人： Japan Atom Energy Res Inst , Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社 , 日本原子力研究所
发明人： ISOZAKI YOSHIJI , ONISHI KEN , KOBANA KAZUHARU , IMAMURA YUTAKA , SHIBANUMA KIYOSHI , OKA KIYOSHI
IPC分类号： B25J9/08 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To reduce the exposure to nuclear power of a worker and increase the operation efficiency of a disaster protection robot for nuclear power by replacing a unit including a part causing a failure and returning it to a condition in which it can operate again by the remote operation from a control panel when the disaster protection robot for nuclear power cannot operate due to the failure of the part.
SOLUTION: A unit replacing system for the disaster protection robot for nuclear power is provided with a back-up disaster protection robot 4 which replaces a unit 3 in the event of a demand for replacement of any unit 3 constituting the disaster protection robot 2 for nuclear power therefrom by being constituted of a body 2a mounting a plurality of units 3 constituted by accumulating a plurality of parts.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：通过更换包括导致故障的部件的单元并将其恢复到可以再次运行的状态，减少对工作人员的核电暴露并提高用于核电的防灾机器人的运行效率当由于部件故障而导致核能的防灾机器人不能操作时，由控制面板进行远程操作。解决方案：提供用于核电的灾害保护机器人的单位更换系统，备有备用的防灾机器人4，在需要更换构成用于核的防灾机器人2的任何单元3的情况下，取代单元3 通过由安装由累积多个部件构成的多个单元3的主体2a构成。

3. 发明专利

JP2010149279A Traveling working robot 有权
标题翻译：旅行机器人
公开(公告)号：JP2010149279A
公开(公告)日：2010-07-08
申请号：JP2010068695
申请日：2010-03-24
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ONISHI KEN , ISOZAKI YOSHIJI , KOHANAWA OSAMU , OMICHI TAKEO
IPC分类号： B25J5/00 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To perform a work with high reliability if an accident occurs.
SOLUTION: This traveling working robot is provided with: a traveling vehicle 2 which has crawlers 1 capable of following up a rough terrain and can travel on the rough terrain by the crawlers 1; a multiaxial body part 3 disposed on the traveling vehicle 2, a multi-joint arm 4 provided to the body part; and a multi-joint image pick-up means 5 provided to the body part 3. The traveling working robot is configured so that the multi-joint arm 4 is constituted of seven joints (S
1 -S
7 ).
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：如果发生事故，执行高可靠性的工作。该行走机器人具备：行驶车辆2，其具有能够跟随崎岖地形并且能够通过履带1在崎岖的地形上行驶的履带1; 设置在行驶车2上的多轴体部3，设置在车身部的多关节臂4; 以及设置在主体部3上的多关节图像拾取装置5.行走工作机器人构造成使多关节臂4由七个关节构成（S 1 SB> 7 ）。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2010158772A Traveling type work robot 有权
标题翻译：旅行类型的工作机器人
公开(公告)号：JP2010158772A
公开(公告)日：2010-07-22
申请号：JP2010068693
申请日：2010-03-24
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ONISHI KEN , ISOZAKI YOSHIJI , KOHANAWA OSAMU , OMICHI TAKEO
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To performing an operation in high reliability when a disaster occurs.
SOLUTION: A traveling type work robot includes a crawler 1 following an irregular ground, and also includes a traveling truck 2 traveling on the irregular ground with the crawler 1; a body section 3 with a multi-axes configuration arranged on the traveling truck 2; a multi-joint arm 4 arranged on the body section 3; and a multi-joint imaging means 5 arranged on the body section 3. The traveling type work robot has a plurality of crawlers 1 in a lower part of the traveling truck 2, wherein each crawler 1 is turned and swayed around the center section of the crawler 1 in the longitudinal direction as a fulcrum, and also has a crawler drive means (a crawler motor) for independently driving each furnished crawler 1.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：在发生灾害时进行高可靠性的操作。解决方案：行走式作业机器人包括跟随不规则地面的履带1，并且还包括在履带1上在不规则地面上行进的行驶车2; 具有布置在行驶车2上的多轴构造的主体部3; 布置在主体部分3上的多关节臂4; 以及布置在主体部分3上的多关节成像装置5.行进式作业机器人在行进车2的下部具有多个履带1，其中每个履带1围绕该行驶车2的中心部分转动并摇摆履带1在纵向上作为支点，并且还具有用于独立地驱动每个装载的履带1的履带驱动装置（履带式电动机）。（C）2010，JPO＆INPIT

5. 发明专利

JP2005144631A Remote control robot for gathering doubtful material and its gathering method 有权
标题翻译：远程控制机器人收集双重材料及其加工方法
公开(公告)号：JP2005144631A
公开(公告)日：2005-06-09
申请号：JP2003388621
申请日：2003-11-19
申请人： Mitsubishi Heavy Ind Ltd , Teikoku Sen I Co Ltd , 三菱重工業株式会社 , 帝国繊維株式会社
发明人： ISOZAKI YOSHIJI , FUJITA ATSUSHI , MASUTANI TORU
IPC分类号： B25J5/00 , B62D55/065 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To provide a remote control robot and its gathering method capable of advancing on a step difference and a narrow path of a job site, and capable of gathering a powdery material, a liquid material, a solid material and gas.
SOLUTION: This remote control robot is provided with a railless travel engine 31 having a body 12, a front side endless belt wheel 1 rockably supported by the body 12, a rear side endless belt wheel 2 rockably supported by the body, a front side restricting mechanism 15 for restricting rocking of the front side endless belt wheel 1 by regulating a rocking angle position of the front side endless belt wheel 1, and a rear side restricting mechanism 16 for restricting rocking of the rear side endless belt wheel 2 by regulating a rocking angle position of the rear side endless belt wheel 2. The railless travel engine 31 is provided with a monitoring camera 35, a detecting device 33 for detecting a component of gas, a converter for converting its detecting result into an electric signal, and a transceiver 32 for receiving a remote control signal of the railless travel engine 31 and transmitting the electric signal converted by the converter and a photographing signal of the monitoring camera 35.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种遥控机器人及其聚集方法，其能够推进作业现场的台阶差和狭窄路径，并且能够收集粉状材料，液体材料，固体材料和加油站。解决方案：该遥控机器人设置有无级行驶发动机31，其具有主体12，由主体12可摇摆地支撑的前侧环形带轮1，由主体可摇动地支撑的后侧环形带轮2，前侧限制机构15，用于通过调节前侧环形带轮1的摇摆位置来限制前侧环形带轮1的摆动;以及后侧限制机构16，用于限制后侧环形带轮2的摆动调节后侧环形带轮2的摇摆位置。无级行驶引擎31设置有监视摄像机35，用于检测气体成分的检测装置33，将其检测结果转换为电信号的转换器，以及收发器32，用于接收无轨迹发动机31的遥控信号，并传送由转换器转换的电信号和监视摄像机的拍摄信号版权所有。（C）2005年，JPO＆NCIPI

6. 发明专利

JP2011145224A Method of installing working device in water chamber 有权
标题翻译：在水箱中安装工作装置的方法
公开(公告)号：JP2011145224A
公开(公告)日：2011-07-28
申请号：JP2010007396
申请日：2010-01-15
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI , ISOZAKI YOSHIJI , KAMIYOSHI ATSUYUKI
IPC分类号： G21C19/02 , F22B37/02 , G21D1/00
CPC分类号： B25J9/0018 , B25J9/06 , F22B37/005 , G21D1/006 , G21D1/02 , Y02E30/40 , Y10T29/49352 , Y10T29/49826
摘要： PROBLEM TO BE SOLVED: To provide a method of installing a working device in a water chamber, facilitating an installing process of a manipulator, in a structure of suspending the manipulator from a ceiling of water chamber. SOLUTION: In this method of installing the working device 1 in the water chamber, the working device 1 is equipped with: a base 2 fixed on a tube plate surface 137a while holding heat transfer tubes 132 set on the plate surface 137a; and the manipulator 4 connected to the base 2 and suspendedly disposed in a water chamber 130 and having a divided structure. A base installation step of installing the base 2 on the plate surface 137a, and a manipulator connection step of sequentially and separately carrying into the water chamber 131 and connecting them to the base 2 (connection link 3), are performed. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种在水室中安装工作装置的方法，便于操纵器的安装过程，其结构是使操纵器从水室的顶板悬挂下来。在这种将工作装置1安装在水室中的方法中，工作装置1配备有固定在管板表面137a上的基座2，同时保持设置在板表面137a上的传热管132; 以及操作器4，其连接到基座2并且悬挂地设置在水室130中并且具有分开的结构。执行将基座2安装在板表面137a上的基础安装步骤，以及顺序并分别地携带到水室131中并将它们连接到基座2（连接链节3）的操纵器连接步骤。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2011145223A Device and method for working in water chamber 有权
标题翻译：在水箱中工作的装置和方法
公开(公告)号：JP2011145223A
公开(公告)日：2011-07-28
申请号：JP2010007395
申请日：2010-01-15
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI , ISOZAKI YOSHIJI , KAMIYOSHI ATSUYUKI
IPC分类号： G21C19/02 , B25J5/00 , F22B37/02 , G21D1/00
CPC分类号： F22B37/005 , B25J9/0018 , B25J9/06 , F22B1/025 , G21D1/006 , G21D1/02
摘要： PROBLEM TO BE SOLVED: To provide a device and method for working in a water chamber, improving the work efficiency in the water chamber in a steam generator. SOLUTION: This working device 1 in the water chamber is equipped with: a base 2 fixed on a tube plate surface 137a while holding heat transfer tubes 132 set on the plate surface 137a; and a manipulator 4 connected to the base 2 and suspendedly disposed in a water chamber 130. The base 2 has: a base body 21 connected to the manipulator 4; wings 22a and 22b forward/backward displaceable relative to the base body 21; and clampers 23a and 23b disposed on the wings 22, inserted into the heat transfer tubes 132 and clamp-holding the heat transfer tubes 132. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种在水室中工作的装置和方法，提高蒸汽发生器中的水室中的工作效率。解决方案：水处理室中的这个工作装置1装有：固定在管板表面137a上的基座2，同时保持设置在板表面137a上的传热管132; 以及连接到基座2并悬浮在水室130中的操纵器4.基座2具有连接到操纵器4的基体21。相对于基体21向前/向后移动的翼部22a和22b; 以及设置在翼22上的夹具23a和23b，插入到传热管132中并夹持传热管132.版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2010149278A Traveling working robot 有权
标题翻译：旅行机器人
公开(公告)号：JP2010149278A
公开(公告)日：2010-07-08
申请号：JP2010068694
申请日：2010-03-24
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ONISHI KEN , ISOZAKI YOSHIJI , KOHANAWA OSAMU , OMICHI TAKEO
IPC分类号： B25J5/00 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To perform a work with high reliability if an accident occurs.
SOLUTION: This traveling working robot is provided with: a traveling vehicle 2 which has crawlers 1 capable of following up a rough terrain and can travel on the rough terrain by the crawlers 1; a multiaxial body part 3 disposed on the traveling vehicle 2; a multi-joint arm 4 provided to the body part; and a multi-joint image pick-up means 5 provided to the body part 3. The body part 3 is swingable along a predetermined swing axis and rotatable about a predetermined rotating axis.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：如果发生事故，执行高可靠性的工作。该行走机器人具备：行驶车辆2，其具有能够跟随崎岖地形并且能够通过履带1在崎岖的地形上行驶的履带1; 设置在行驶车辆2上的多轴体部3; 设置在主体部的多关节臂4; 以及设置在主体部分3上的多关节图像拾取装置5.主体部分3可沿着预定的摆动轴线摆动并围绕预定的旋转轴线旋转。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JPH06194488A BORIC ACID REMOVING APPARATUS 失效
公开(公告)号：JPH06194488A
公开(公告)日：1994-07-15
申请号：JP34408492
申请日：1992-12-24
申请人： MITSUBISHI HEAVY IND LTD
发明人： OBAYASHI SHIZUO , ISOZAKI YOSHIJI
IPC分类号： G21C17/003
摘要： PURPOSE:To provide a boric acid removing apparatus for removing boric acid within an objective range for nondestructive inspection easily and positively in a short time and preventing recrystallization thereof. CONSTITUTION:Hot water or steam is blown through a nozzle 29 toward crystals of boric acid adhered to a gap 8 between a pipe base 14 and a thermal sleeve 17 mounted on the upper cover of a reactor vessel in a pressurized water type nuclear power plant. Boric acid within an objective range for nondestructive inspection is dissolved and removed and then the air is blown to sustain a dry state by means of an acid removing tool 23 and a hot water/ drying air generating unit 32.

10. 发明专利

JPH1062393A INSPECTING DEVICE OF CIRCUMFERENTIAL WELD PART 失效
公开(公告)号：JPH1062393A
公开(公告)日：1998-03-06
申请号：JP22251596
申请日：1996-08-23
申请人： MITSUBISHI HEAVY IND LTD
发明人： NISHIKAWA KENJI , ISOZAKI YOSHIJI , HOSOE FUMIHIRO
IPC分类号： G01N29/04 , G01N29/26 , G21C17/003 , G01N29/10
摘要： PROBLEM TO BE SOLVED: To provide a highly reliable inspection result by mounting a device body on a tubular member forming a circumferential seal weld part to be inspected, and scanning and inspecting the circumferential weld part by an inspecting probe. SOLUTION: Two probe raising and lowering mechanisms 70 are arranged on a rotating frame 61 with a circumferential space, and probes 80 are mounted on the lower. ends thereof. The probe raising and lowering mechanism 70 can move a probe support shaft 77 vertically by regulating the feed and discharge air quantity. The probe 80 has a tensile spring 87, so that a sensor 81 is pressed, in inspection, to a canopy seal part 11 having a dome-like section to hold a proper position. A body 30 is arranged around the canopy seal part 11 to be inspected, and fixed by a clamp mechanism 40, whereby the canopy seal part 11 can be inspected. Since the sensor 81 is pressed onto the canopy seal part 11 and moved along it when the height of the sensor 81 is regulated by the probe raising and lowering mechanism 70, and the rotating frame 61 is circumferentially driven by a rotating mechanism, flaw detection data can be provided.

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