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1. 发明专利

JPS6451283A VACUUM SUCKER 失效
公开(公告)号：JPS6451283A
公开(公告)日：1989-02-27
申请号：JP20635687
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SAKUMA YASUJI , SAKAMOTO KIYOSHI , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： B25J15/06
摘要： PURPOSE: To make a suction pad follow the shape of a surface with large level differences to be sucked and surely suck it by arranging a support guide having flexibility in the sucking direction of the suction pad, in the circumferential direction of the ring suction pad. CONSTITUTION: A bellows type flexible guide 4 which is freely expanded/ contracted only in the sucking direction of a suction pad 3 and has a drag of some extent to a side force is attached to the internal circumferential face of the suction pad 3 provided in the outer circumferential end in the suction surface side of a suction plate 1. When this suction pad 3 sucks a surface with large level differences to be sucked, the suction pad 3 follows and surely sucks the surface to be sucked by the expansion/contraction performance of the flexible guide 4.

2. 发明专利

JPS6451282A METHOD OF CONTROLLING SUCTION OF VACUUM PAD 失效
公开(公告)号：JPS6451282A
公开(公告)日：1989-02-27
申请号：JP20635587
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SAKAMOTO KIYOSHI , YAMASHITA MAKOTO , FUJITA AKITAKA , TSUGE MUNENORI
IPC分类号： B25J15/06
摘要： PURPOSE: To suck and detach without transmitting a reaction to a support part in suction or detaching a vacuum pad by constituting it in such a state as controlling the pressure of operating fluid, at least, into two stages. CONSTITUTION: A change-over valve 11' feeds high pressure P fluid to a terminal feeding hole 7 through a feeding hole 15 via a change-over valve 11. In this case, the suction pad 5' is drawn to a support rod 1. Secondly, the whole support part 3 is made to approach to the wall surface 6 to a prescribed distance so as to apply the vacuum. Then, when the feeding hole of the change-over valve 11 is shifted to 8, the vacuum pad 5' is pushed toward the wall surface 6 so as to start suction in such a position as bringing the vacuum pad 5' in contact with the wall surface. In this case, the pad 5' is pushed from the back so that as long as the reaction to the support part 3 is moving, it is not generated. Thirdly, when the suction and the contraction of the vacuum pad 5' is completed, the change-over valve 11 is shifted, and when the pressure in the support rod guide part inside is set to the atmospheric pressure, the vacuum is turned off, the feeding hole of the change-over valve 11 is returned to 15, and the reaction to the support part 3 is set to zero so that the pad 5' is detached therefrom.

3. 发明专利

JPS6451281A WALL SURFACE FOLLOWER OF WALKING TYPE ROBOT 失效
公开(公告)号：JPS6451281A
公开(公告)日：1989-02-27
申请号：JP20635487
申请日：1987-08-21
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , WATABIKI MASAYUKI , IOBE YOSHISHIGE , SATO CHIKARA , SAKAMOTO KIYOSHI , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： B25J5/00
摘要： PURPOSE: To stably travel a frame along a wall surface by providing a slidable guide element to one frame along an arc guide which is provided in the other frame and by constituting the frame center faced to the center of the curved wall surface. CONSTITUTION: An adsorption element 13 of one frame 1 is adsorbed to a sphere of a prescribed curvature or an R surface 16 and the absorption element 13 of the other frame 2 is detached from the surface 16. An actuator 12 is driven in this state, the frame 2 detached from the absorption element is moved by the relative movement of the drive mechanism 3 of one frame and the drive support part 5 of the other frame. This operation is repeated in the each frame alternately so that the frames 1, 2 are traveled and moved along the surface 16. In this case, though the frame 2 becomes to be inclined to the frame 1, it is followedly rotated by the free rotation of a pin 9 and a roller guide element 10 of the frame 2 is moved along the arc guide 4 of the frame 1. As a result, the center of the frame can be held in such a state as being faced to the center of the curvature of the surface 6 at all times.

4. 发明专利

JPS61117450A Ultrasonic inspecting device for cracking defect detection 失效
标题翻译：用于破裂缺陷检测的超声波检查装置
公开(公告)号：JPS61117450A
公开(公告)日：1986-06-04
申请号：JP23842784
申请日：1984-11-14
申请人： Hitachi Eng Co Ltd , Hitachi Ltd , Tokyo Gas Co Ltd
发明人： KUBOTA JUN , SASAKI SOJI , WATABIKI MASAYUKI , KOSHIRAE MITSUO , FUJITA AKITAKA , OKADA MAMORU , SHIMIZU SHINICHI
IPC分类号： G01N29/04 , G01N29/06 , G01N29/07 , G01N29/11 , G01N29/38 , G01N29/42 , G01N29/44
CPC分类号： G01N29/4445 , G01N29/0618 , G01N29/07 , G01N29/11 , G01N29/38 , G01N29/42 , G01N2291/02854 , G01N2291/044 , G01N2291/2675
摘要： PURPOSE:To detect a directional defect and discriminate between a shape echo and a defect echo by providing a converter so that an ultrasonic wave is transmitted to and received from a part to be inspected simultaneously and also independently. CONSTITUTION:Transmitted pulses generated by a pulser 51 are supplied to one of converters 31-34 selectively by a multiplexer (MPX) 52 and sent as an ultrasonic wave to the part 43 to be inspected. One of echoes that the converters 31-34 receive from a defect, etc., is selected by the MPX 53 and amplified by a receiver 54 on a frequency selective basis. Then, a gate 55 selects only a signal of time when the signal from the part 43 to be inspected is expected to arrive with time. Then, a defective echo discriminating device 8 calculates the position of a reflection source for the echo from a beam route, amplitude data, data on a flaw detection direction, etc., and stores it together with the respective data to discriminate the defect and decide on its direction. Therefore, the defect is detected speedily and securely.
摘要翻译：目的：通过提供转换器来检测方向性缺陷并区分形状回波和缺陷回波，使得超声波同时且独立地被传输到要被检查的部件并被接收。构成：由脉冲发生器51产生的发送脉冲由多路复用器（MPX）52选择性地提供给转换器31-34之一并作为超声波发送到待检查的部分43。转换器31-34从缺陷等接收的回波之一由MPX 53选择，并由频率选择性地由接收器54放大。然后，门55仅选择来自待检查部分43的信号随时间到达的时间信号。然后，缺陷回波识别装置8计算来自波束路径的回波的反射源的位置，振幅数据，探伤方向上的数据等，并将其与各个数据一起存储以区分缺陷并决定在它的方向。因此，可以快速，安全地检测缺陷。

5. 发明专利

JPS6483924A FLEXIBLE JOINT 失效
公开(公告)号：JPS6483924A
公开(公告)日：1989-03-29
申请号：JP23716287
申请日：1987-09-24
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： SONODA SHINJI , FUJIWARA KENJI , WATABIKI MASAYUKI , KURITA SHINICHI , NAKANISHI KAZUO , FUJITA AKITAKA
IPC分类号： F16D3/74
摘要： PURPOSE:To stably transmit power in all directions even with a small bend radius by providing a flexible joint comprising a chain having a plurality of ring-shaped members coupled to connect a drive side shaft and a driven side shaft and a guide member for covering the outer periphery of the chain through a fixed clearance. CONSTITUTION:Drive side and driven side shafts 1, 2 are respectively rotatably supported on fixed portions 3, 4 through bearings, and chain engaging pins 7, 8 are fixed to the inner peripheral portions of shaft inserting members 5, 6 to kink both ends of a chain 10 formed by connecting a plurality of ring- shaped members 9. A chain guide member 11 is formed like a coil spring and fixed at both ends thereof to support members 12, 13 in such a manner as to form a designated clearance with the chain 10. In this arrangement, even if the bend radius of the chain 10 is less than 50mm for example, the chain 10 is rotated with the posture thereof properly retained by the guide member 11 so as to stably transmit power between the shafts 1, 2.

6. 发明专利

JPS6416402A WHEEL FOR ADSORBING MAGNETISM 失效
公开(公告)号：JPS6416402A
公开(公告)日：1989-01-19
申请号：JP17103487
申请日：1987-07-10
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： TAWARA KAZUO , OHARAGI HARUO , TAKAHASHI NORIYOSHI , SONODA SHINJI , TSUGE MUNENORI , FUJITA AKITAKA
IPC分类号： B60B19/00 , H01F7/02
摘要： PURPOSE:To increase a magnetic attraction force, by a method wherein, in a title wheel for a running device, e.g. a robot, the thickness on the outer size side of a disc-shaped core situated in a hole for an axle is set to a value higher than that on the inner size side thereof. CONSTITUTION:A thickness (b) on the outer size side of each of disc-shaped cores 2a and 2b is set to a value higher than a thickness (a) on the inner side thereof. In this constitution, when the magnetizing direction of a permanent magnet 1 is poles N and S shown in a figure, the flows of the magnetic fluxes of a surface 6 to be attracted, the permanent magnet 1, and the disc-shaped cores 2a and 2b are as shown by an arrow mark. As noted above, in a place near the surface 6 to be attracted, the length of a magnetic pass is decreased, and a magnetic flux is concentrated. Thus, by increasing the thickness of the disc-shaped core on the side near the surface 6 to be attracted, a local magnetic flux is prevented from saturation, a magnetism collection effect is improved, and a magnetic attraction force can be increased.

7. 发明专利

JPS61200069A WALKING TYPE WALL SURFACE MOVING DEVICE 失效
公开(公告)号：JPS61200069A
公开(公告)日：1986-09-04
申请号：JP3875785
申请日：1985-03-01
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： FUJITA AKITAKA , TSUGE MUNENORI , SONODA SHINJI , WATABIKI MASAYUKI , SAKUMA YASUJI , IOBE YOSHISHIGE , SATO CHIKARA
IPC分类号： B25J5/00 , B62D57/024 , B62D57/02
摘要： PURPOSE:To allow adsorption even on the wall surface with a spherical shape by providing a spherical guide with the same spherical shape as that of an adsorption wall surface at one of inner and outer frames and also providing a moving mechanism, that is moved following this guide, at the other of the frames through an elastic body. CONSTITUTION:Wall surface adsorption legs 11 are fixed to an outer frame 12 for walking. In addition, a spherical guide 12a with almost the same curved surface as that of an adsorption wall surface 10 is formed inside the central part of the frame 12 for walking. On the other hand, an inner frame 14 for walking is arranged inside the outer frame 12 for walking and wall surface adsorption legs 13 are fixed to this inner frame 14 for walking. A moving mechanism section 18 that is moved following the spherical guide 12a is provided at the central part of the inner frame 14 for walking. This moving mechanism section 18 is connected to a movable T-shaped member 19 that can be moved by a power transmission mechanism 16 through an elastic body 20. The inner and outer frames 14 and 12 can be moved following the curved surface of the wall surface 10. Besides, when the legs 11 and 13 run on protrusions unbalance moment is absorbed, by the elastic body 20.

8. 发明专利

JPS6069508A RUNNING TYPE MEASURING DEVICE 失效
公开(公告)号：JPS6069508A
公开(公告)日：1985-04-20
申请号：JP17175183
申请日：1983-09-17
申请人： TOKYO GAS CO LTD , HITACHI LTD
发明人： NEMOTO MAKOTO , MIYAGAWA TAKEO , SHIMIZU SHINICHI , KAMIYA ATSUSHI , OGASAWARA TAKESHI , TSUGE MUNENORI , FUJITA AKITAKA , OOZEKI TADAKATSU , SATOU HIROYASU
IPC分类号： G01B21/00 , B62B5/02 , G01B21/08
摘要： PURPOSE:To run a running car so that even if there is a step on a floor surface, the car gets over the step sutomatically by providing a elevation mechanism which elevates the front end of the running car. CONSTITUTION:The elevation mechanism 4 equipped with upward/downward movable ball casters is provided to the front part of the running car 1. The rotation of a driving motor is transmitted to bevel gears 8 and 9, a shaft 10, and a chain wheel 11 to move a chain 12. The rotation of the chain wheel 11 is transmitted to a sliding shaft 13 through the chain 12 to move up and down a sliding frame 14. When the driving motor rotates clockwise, the sliding shaft 13 rotates counterclockwise to lower the sliding frame 14, so ball casters are pressed against the floor surface to elevate the front part of the running car.

9. 发明专利

JPH0238192A CHECKING DEVICE OF SELF-RUN IN PIPE 失效
公开(公告)号：JPH0238192A
公开(公告)日：1990-02-07
申请号：JP18848288
申请日：1988-07-29
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： FUJIWARA KENJI , WATABIKI MASAYUKI , SONODA SHINJI , FUJITA AKITAKA
IPC分类号： G01B17/02 , B61B13/10 , B62D57/024 , G01N21/84 , G01N27/90 , G01N29/04
摘要： PURPOSE:To facilitate the self-run in a small-bore pipe in the entitled small-bore pipe purpose device including an insertion type 90 deg. elbow by constituting a drive unit from a pair of semi-spherical frames which are able to make friction with each other and engaged with each other constantly in the approximately spherical form, and forcing the frames to separate from each other. CONSTITUTION:A head unit 3, guide units 6 and 7, a drive unit 9 a gear unit 13 and a motor unit 14 are flexibly connected to flexible joints 4, 5 and 8 and flexible couplings 10 to 12, respectively. The drive unit 9 has the primary and the secondary frame 21 and 33 thereof engaged with each other as that they are able to make friction at respective friction faces 21a and 21b within the range of the specified stroke, and contains a drive member. Both the frames 21 and 33 are forced to be separated with a compression coiled spring 36. In such constitution the drive unit may easily run even through small-diameter pipes joined with each other using insertion elbows.

10. 发明专利

JPS6480857A IN-TUBE SELF-RUNNING INSPECTION INSTRUMENT 失效
公开(公告)号：JPS6480857A
公开(公告)日：1989-03-27
申请号：JP23716487
申请日：1987-09-24
申请人： HITACHI LTD , TOKYO GAS CO LTD
发明人： FUJIWARA KENJI , WATABIKI MASAYUKI , SONODA SHINJI , YAMAGISHI KAZUO , FUJITA AKITAKA
IPC分类号： G01N29/04 , G01N27/90 , G01N29/26
摘要： PURPOSE:To enable the title in-tube self-running inspection instrument to easily run by itself even in small-diameter piping which has a 90 deg. elbow, burrs, or stepped parts by rotating its leading wheel with the power of a motor wheel through flexible couplings. CONSTITUTION:The leading wheel 1 is rotated with the power transmitted from the motor wheel 7 by a 1st flexible coupling 2. A microswitch which detects the reaction when the leading wheel 1 passes through the elbow is incorporated in a 1st guide wheel and a 2nd guide wheel 5 is guided through a 2nd flexible coupling in passing through the elbow. This 2nd guide wheel 5 guides three following driving wheels 6 in passing through the elbow. Respective wheels between the 1st guide wheel 3 and a tail wheel 10 are connected by 2nd flexible couplings 4 which transmit the power from the motor wheel 7 and also transmits pushing-in force and towing force.

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