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1. 发明专利

JP2013139703A Asbestos containment working robot system 审中-公开
标题翻译： ASBESTOS集装箱机器人系统
公开(公告)号：JP2013139703A
公开(公告)日：2013-07-18
申请号：JP2012001238
申请日：2012-01-06
申请人： Shimizu Corp , 清水建設株式会社 , Sugino Machine Ltd , 株式会社スギノマシン
发明人： NAKADA MASAHIRO , TAKEYAMA SHINICHI , FUNATSU AKIHIRO , MIYAMURA TORU , TSUKAHARA YUICHI , FUKASE YUTARO
IPC分类号： E04G23/02 , B25J13/08 , B66B5/00 , B66B7/00 , E04G23/08
摘要： PROBLEM TO BE SOLVED: To provide a robot system capable of performing efficient asbestos containment work by manpower saving and mechanization though it is simpler and lighter in constitution than conventional one.SOLUTION: The asbestos containment working robot system comprises: X-, Y-, and Z-shaft bodies installed on a steel bed of an elevator cage; a robot body having an arm sliding in a vertical direction with respect to the Z-shaft body and an injection nozzle at the tip of the arm; an asbestos containment agent storage tank and a feeding device for feeding the agent to the injection nozzle mounted on the cage; and a control section for performing drive control of the robot body. The robot body is provided with a shape measuring instrument for measuring a wall surface shape of an elevator shaft target area in advance and a distance measuring instrument for measuring the height position of an injection nozzle. The control section accumulates measurement results from the shape measuring instrument and determines an agent injection area/non-injection area of an object area, and controls rotation/stop of respective drive motors of the X- and Y-shaft bodies and the arm and injection/stop of the agent of the injection nozzle on the basis of data of an agent injection region and positional data from the distance measuring instrument during work.
摘要翻译：要解决的问题：提供一种能够通过人力储存和机械化进行有效的石棉遏制工作的机器人系统，尽管其结构比常规的更简单和更简单。解决方案：石棉包容作业机器人系统包括：X，Y-，和安装在电梯笼的钢床上的Z轴体; 具有相对于所述Z轴主体在垂直方向上滑动的臂和在所述臂的尖端处的喷嘴的机器人主体; 石棉容纳剂储存罐和用于将试剂送入安装在保持架上的注射喷嘴的进料装置; 以及用于执行机器人主体的驱动控制的控制部分。机器人主体设置有用于测量电梯井目标区域的壁面形状的形状测量仪器，以及用于测量喷射喷嘴的高度位置的距离测量仪器。控制部分积累来自形状测量装置的测量结果，并确定对象区域的试剂注入区域/非注射区域，并且控制X轴和Y轴体以及臂和注射器的驱动马达的旋转/停止基于代理注入区域的数据和工作中距离测量仪器的位置数据，停止喷嘴的代理。

2. 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

3. 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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