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1. 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

2. 发明专利

JP2013040823A Nozzle stub processing device of reactor vessel 审中-公开
标题翻译：反应器船用喷嘴处理装置
公开(公告)号：JP2013040823A
公开(公告)日：2013-02-28
申请号：JP2011177124
申请日：2011-08-12
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KOJIMA HIROYOSHI , FUJITA ATSUSHI , YOKOE EIJI , NISHIKAWA KENJI , KUDOME HARUNORI
IPC分类号： G21C17/003 , G21C19/02
摘要： PROBLEM TO BE SOLVED: To simplify a structure and to improve work efficiency in a nozzle stub processing device of a reactor vessel.SOLUTION: A nozzle stub processing device of a reactor vessel includes: a base substrate 121 installed on a trestle 101; a base frame 122 supported on the base substrate 121 so as to horizontally swivel about a center axis O in a diametrical direction of the trestle 101; a slide frame 123 supported so as to move in the diametrical direction of the trestle 101 to the base frame 122; and handling devices 160, 210 and 250 detachably supported on the slide frame 123 so as to hold various jigs, and having an adjusting mechanism capable of adjusting positions in a vertical direction in the held jigs.
摘要翻译：要解决的问题：简化结构并提高反应堆容器的喷嘴短截线加工装置的工作效率。解决方案：反应堆容器的喷嘴短截线装置包括：安装在支架101上的基底121; 支撑在基底基板121上以便在支架101的直径方向上围绕中心轴线O水平地旋转的基座框架122; 被支撑成沿支架101的直径方向移动到基架122的滑动框架123; 以及可拆卸地支撑在滑动框架123上以便保持各种夹具的处理装置160,210和250，并且具有能够调节所保持的夹具中的竖直方向位置的调节机构。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2011148048A Shot peening device and shot peening method 审中-公开
标题翻译：拍摄装置和拍摄方法
公开(公告)号：JP2011148048A
公开(公告)日：2011-08-04
申请号：JP2010011705
申请日：2010-01-22
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： SAKASHITA EIJI , AKAHA TAKASHI , FUJITA ATSUSHI
IPC分类号： B24C1/10 , B24C3/16 , B24C9/00
摘要： PROBLEM TO BE SOLVED: To make shot material uniformly collide with all over the inner circumferential surface of a pipe, and recover the shot material after the collision without leaving them in the pipe.
SOLUTION: The shot peening device includes: a feed pipe 2 inserted into the pipe 102 from the opening at an end of the pipe 102; at least one jet hole 21 at the distal end of the feed pipe 2, directed outward of the circumference of the feed pipe 2; a rotating means 3 rotating the feed pipe 2 on an axis center R; a moving means 4 moving the feed pipe 2 along the axis center R; a shot material supply means 5 supplying the shot material into the feed pipe 2 and jetting it from the jet hole 21; a transfer means 6 helically provided on the outer circumference of the feed pipe 2 so as to transfer the jetted shot material to the proximal end side of the feed pipe 2, accompanied by the rotation of the feed pipe 2; and a recovery means 7 disposed at the opening portion of the pipe 102 so as to recover the shot material transferred by the transfer means 6.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：使喷射材料与管的整个内周面均匀地碰撞，并且在碰撞之后回收射出物质而不将其留在管道中。解决方案：喷丸硬化装置包括：从管102的端部处的开口插入管102中的进料管2; 在进料管2的远端处的至少一个喷射孔21指向进料管2的圆周的外部; 旋转装置3，使进给管2在轴心R上旋转; 使进给管2沿着轴心R移动的移动机构4; 射出材料供给装置5，将喷射材料供给到进料管2中并将其从喷射孔21喷射; 伴随着进料管2的旋转，螺旋地设置在进料管2的外圆周上的传送装置6，以将喷射的喷射材料转移到进料管2的基端侧; 以及设置在管102的开口部分以便回收由转移装置6转移的投射材料的回收装置7.版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2009066713A Attitude control method and attitude control device 有权
标题翻译：姿态控制方法和姿态控制装置
公开(公告)号：JP2009066713A
公开(公告)日：2009-04-02
申请号：JP2007238427
申请日：2007-09-13
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI
IPC分类号： B25J13/08 , G21C19/02
CPC分类号： B25J13/089 , B25J9/1684 , F22B37/005 , G21C17/017 , G21D1/006 , Y02E30/40
摘要： PROBLEM TO BE SOLVED: To provide an attitude control method and an attitude control device for easily controlling the attitude of a treatment means to face the treated face of a round pipe, as desired.
SOLUTION: The attitude control method is provided for controlling the attitude of the treatment means while using four distance measuring means for measuring a distance between the treatment means and the treated face of the round pipe to be subjected to treatment by the treatment means. It controls the attitude around a pitch axis in accordance with a difference between a first measured distance and a second measured distance and a difference between a third measured distance and a fourth measured distance, controls the attitude around a yaw axis in accordance with a difference between the first measured distance and the third measured distance and a difference between the second measured distance and the fourth measured distance, and controls the attitude around a roll axis in accordance with a difference between a first combined distance with the second measured distance and the third measured distance combined and a second combined distance with the first measured distance and the fourth measured distance combined.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种姿态控制方法和姿态控制装置，用于根据需要容易地控制处理装置的朝向圆管的处理面的姿态。解决方案：提供了一种姿态控制方法，用于控制处理装置的姿态，同时使用四个距离测量装置，用于测量待处理装置与经处理装置处理的圆管的处理面之间的距离。根据第一测量距离和第二测量距离之间的差异以及第三测量距离和第四测量距离之间的差异来控制围绕俯仰轴的姿态，根据第一测量距离和第四测量距离之间的差来控制偏转轴线周围的姿态，第一测量距离和第三测量距离以及第二测量距离和第四测量距离之间的差，并且根据第一组合距离与第二测量距离之间的差异控制围绕辊轴的姿态，以及第三测量距离距离组合，第二组合距离与第一测量距离和第四测量距离组合。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2012242158A Repair method of lining 有权
标题翻译：修理方法
公开(公告)号：JP2012242158A
公开(公告)日：2012-12-10
申请号：JP2011110332
申请日：2011-05-17
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： WATANABE MASARU , UEDA TAKASHI , FUJITA ATSUSHI , YAMAMOTO TAKESHI
IPC分类号： G21C19/02
摘要： PROBLEM TO BE SOLVED: To provide a repair method of lining, which is capable of easily and surely removing foreign matters on the surface of a lining and surely repairing cracks.SOLUTION: A repair method for a lining 3 which is disposed on the surface of a nuclear fuel storage pit 1 for storing spent nuclear fuel includes: a foreign matter removal process for removing foreign matters in a repair area 5 by generating cavitation in water in the vicinity of the repair area 5 including a crack (position to be repaired) 4 in the surface of the lining 3; and an adhesive coating process in which the repair area 5 is coated by an adhesive after the foreign matter removal process.
摘要翻译：要解决的问题：提供衬里的修复方法，其能够容易且可靠地去除衬里表面上的异物并且可靠地修复裂纹。解决方案：设置在用于储存乏核燃料的核燃料储存坑1的表面上的衬里3的修复方法包括：异物去除工艺，用于通过在修复区域5中产生气蚀来除去修复区域5中的异物在修理区域5附近的水，包括衬里3的表面中的裂纹（要修复的位置）4; 以及在异物去除处理之后用粘合剂涂覆修复区域5的粘合剂涂布方法。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2011226865A Work method in water chamber and jig for work apparatus in water chamber 有权
标题翻译：水箱中的工作方法和水箱中的工作装置
公开(公告)号：JP2011226865A
公开(公告)日：2011-11-10
申请号：JP2010095484
申请日：2010-04-16
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI , YAMAMOTO KUNIHIRO
IPC分类号： G21C19/02 , F22B37/02
摘要： PROBLEM TO BE SOLVED: To provide a work method in a water chamber and a jig for a work apparatus in water chamber with which the workability of the work in a water chamber in a steam generator can be enhanced.SOLUTION: A work method in a water chamber includes a step for lifting an assembly of a base 2 and a connecting link 3 by means of a wire 12 to install the assembly on a pipe plate surface 137a of a water chamber 131 and a step in which a work apparatus 1 in a water chamber moves along the pipe plate surface 137a while mooring at the wire 12 to perform the work in the water chamber. In this case, the work apparatus 1 in a water chamber performs the work in a water chamber in the state in which a weight 19 is movably attached to the wire 12 and the winding amount of the wire 12 is set to more than a predetermined value so that the wire 12 sags.
摘要翻译：要解决的问题：提供一种在水室中的工作方法和用于水室中的工作装置的工具，可以提高在蒸汽发生器中的水室中的工作的可加工性。解决方案：水室中的工作方法包括通过线12提升基座2和连接连杆3的组件以将组件安装在水室131的管板表面137a上的步骤，以及在水槽中的作业装置1沿着管板表面137a移动，同时在线12停泊以在水室中进行作业的步骤。在这种情况下，水箱中的作业装置1在重量19可移动地附接到线12的状态下在水室中进行作业，并且将线12的卷绕量设定为大于预定值使得电线12下垂。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2014226735A 昇降装置及び作業システム审中-公开
标题翻译：提升装置和工作系统
公开(公告)号：JP2014226735A
公开(公告)日：2014-12-08
申请号：JP2013106274
申请日：2013-05-20
申请人：三菱重工業株式会社 , Mitsubishi Heavy Ind Ltd
发明人： ONISHI KEN , SHIMONABE NORIAKI , FUJITA ATSUSHI
IPC分类号： B25J19/00
摘要：【課題】昇降装置及び作業システムにおいて、ケーブルの捌きを適正に行うことで各種作業の作業性の向上を図る。【解決手段】移動台車11と、基端部が移動台車11に支持される伸縮アーム12と、伸縮アーム12の先端部に装着される工具13と、一端部が工具13に連結される移動台付ケーブル14と、伸縮アーム12の伸縮動作に応じて伸縮可能であると共に移動台付ケーブル14を案内可能なケーブルガイド15とを設ける。【選択図】図1
摘要翻译：要解决的问题：提供一种提升装置和工作系统，其中通过适当地处理电缆来改善各种工作的可操作性。解决方案：提升装置包括：可移动的托架车11; 具有由可移动滑架车11支撑的基端部的伸缩臂12; 安装在伸缩臂12的前端部的工具13; 具有可移动滑架并在一端部连接到工具13的电缆14; 以及响应于伸缩臂12的伸缩运动而能够延伸并且能够引导具有可移动托架的电缆14的电缆引导件15。

8. 发明专利

JP2014001994A Remote inspection device and remote inspection method 有权
标题翻译：远程检测设备和远程检测方法
公开(公告)号：JP2014001994A
公开(公告)日：2014-01-09
申请号：JP2012136396
申请日：2012-06-15
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI
IPC分类号： G21C17/003 , G21C17/013
摘要： PROBLEM TO BE SOLVED: To provide a remote inspection device and a remote inspection method which allow efficient inspection work.SOLUTION: A remote inspection device 1 inspects an inspection object 100 stored in a storage chamber 110, in a work chamber 120 divided from the storage chamber 110 by a partition 130. The remote inspection device 1 includes: an inspection unit 3 which performs prescribed inspection on the inspection object 100; a guide passage 2A (2B to 2E) along which the inspection unit 3 is guided from the work chamber 120 to the storage chamber 110; and an insertion mechanism 4 which inserts the inspection unit 3 to the guide passage 2A (2B to 2E) to send it from the work chamber 120 to the storage chamber 110. The guide passage 2A (2B to 2E) extends from the work chamber 120 to the storage chamber 110 through a through hole 131 provided in the partition 130 and has openings 21 and 22 in a prescribed work space 121 in the work chamber 120 and at a prescribed thickness measurement point in a body part 101 of a sludge storage tank 100 in the storage chamber 110 respectively.
摘要翻译：要解决的问题：提供允许有效检查工作的远程检查装置和远程检查方法。解决方案：远程检查装置1检查存储在存储室110中的检查对象100，工作室120与存储部分远程检查装置1包括：对检查对象100进行规定检查的检查单元3; 导向通道2A（2B至2E），检查单元3沿着该导向通道从工作室120引导到储存室110; 以及插入机构4，其将检查单元3插入到引导通道2A（2B至2E）中以将其从工作室120发送到储存室110.引导通道2A（2B至2E）从工作室120 通过设置在分隔件130中的通孔131到存储室110，并且在工作室120中的规定工作空间121中和在污泥储存罐100的主体部分101中的规定厚度测量点处具有开口21和22 分别在储存室110中。

9. 发明专利

JP2012220500A Inspection robot and method of inspecting reactor using inspection robot 有权
标题翻译：检查机器人和使用检查机器人检查反应器的方法
公开(公告)号：JP2012220500A
公开(公告)日：2012-11-12
申请号：JP2012090001
申请日：2012-04-11
申请人： Massachusetts Institute Of Technology , Mitsubishi Heavy Ind Ltd , マサチューセッツインスティテュートオブテクノロジー , 三菱重工業株式会社
发明人： HARUHIKO HARRY ASADA , ANIRBAN MAZUMDAR , IAN C RUST , FUJITA ATSUSHI
IPC分类号： G21C17/08 , G21C17/00 , G21C17/003
CPC分类号： B25J13/006 , G21C17/013
摘要： PROBLEM TO BE SOLVED: To provide an inspection robot which is simple and compact and can be freely moved without connecting rope, and a method of inspecting a reactor using the inspection robot.SOLUTION: An inspection robot is provided which inspects a reactor, and comprises a ship body 30, an on-board control section which controls move of the inspection robot and controls one or more sensors inspecting a structure inside a reactor, a gimbal mechanism which rotates the ship body 30 of the inspection robot, a camera 26 which provides visible indications of one or more structures inside the reactor and is rotatable around an axial center by the gimbal mechanism, and a wireless communication link 34 which enables the inspection robot to wirelessly communicate with a remote station. By using the wireless communication link 34, the remote station outputs an instruction to execute various inspection tasks to the inspection robot, and the inspection robot communicates investigation results relating to the inspection tasks to the remote station.
摘要翻译：要解决的问题：提供一种简单紧凑并且可以在不连接绳索的情况下自由移动的检查机器人，以及使用检查机器人检查反应堆的方法。解决方案：提供一种检查反应堆的检查机器人，包括船体30，控制检查机器人的移动并控制检测反应堆内的结构的一个或多个传感器的车载控制部，万向节使检查机器人的船体30旋转的机构;相机26，其提供反应器内的一个或多个结构的可见指示并且可通过万向节机构围绕轴心旋转;以及无线通信链路34，其使得检查机器人与远程站无线通信。通过使用无线通信链路34，远程站向检查机器人输出执行各种检查任务的指示，并且检查机器人将与检查任务相关的调查结果传达给远程站。版权所有（C）2013，JPO＆INPIT

10. 发明专利

JP2012220218A Pipeline processing apparatus and pipeline processing method 有权
标题翻译：管道加工设备和管道加工方法
公开(公告)号：JP2012220218A
公开(公告)日：2012-11-12
申请号：JP2011083116
申请日：2011-04-04
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： FUJITA ATSUSHI , YOSHIOKA KYOICHI , TAKEDA YOSHIKATSU
IPC分类号： G01N29/26 , G01N29/04
CPC分类号： G01N29/04 , F22B37/003 , G01B17/00 , G01N29/043 , G01N29/225 , G01N29/265 , G01N2291/2636 , G01N2291/267 , G21C17/017
摘要： PROBLEM TO BE SOLVED: To guide insertion to a pipeline and to guide the insertion through a center of the pipeline.SOLUTION: In a pipeline processing apparatus, an object 1 to be inserted from an opening of a pipeline into the pipeline is provided to be moved by a moving mechanism with respect to an axial direction along a center axis S1 of the object 1 to be inserted, a radial direction orthogonal to the center axis S1, a rotating direction of rotating around the center axis S1 and a tilting direction of tilting with respect to the center axis S1. The pipeline processing apparatus comprises an insertion terminal part 2, an axial direction ultrasonic sensor 21, a radial direction ultrasonic sensor 22 and a control section. The insertion terminal part 2 is provided at a front side of the object 1 to be inserted into the pipeline and formed with an outer diameter smaller than an inner diameter of the pipeline. The axial direction ultrasonic sensor 21 transmits/receives sonic waves in the direction of insertion in a front end of the insertion terminal part 2. The radial direction ultrasonic sensor 22 transmits/receives sonic waves in a direction crossing the center axis S1 in a side portion of the insertion terminal part 2. In accordance with detection results of the axial direction ultrasonic sensor 21 and the radial direction ultrasonic sensor 22, the control section controls the moving mechanism.
摘要翻译：要解决的问题：引导插入管道并引导插入通过管道的中心。解决方案：在流水线处理装置中，将从管道的开口插入到管道中的物体1通过沿着轴线方向的移动机构沿着物体1的中心轴线S1移动被插入，与中心轴线S1正交的径向方向，围绕中心轴线S1旋转的旋转方向和相对于中心轴线S1倾斜的倾斜方向。流水线处理装置包括插入端子部2，轴向超声波传感器21，径向超声波传感器22以及控制部。插入端子部分2设置在物体1的前侧，以插入到管道中并且形成有比管道的内径小的外径。轴向超声波传感器21在插入端子部2的前端沿着插入方向发送接收声波。径向超声波传感器22在与侧面部分的中心轴S1交叉的方向上发送/接收声波根据轴向超声波传感器21和径向超声波传感器22的检测结果，控制部控制移动机构。版权所有（C）2013，JPO＆INPIT

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