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1. 发明专利

JPH05333187A 失效
公开(公告)号：JPH05333187A
公开(公告)日：1993-12-17
申请号：JP13700792
申请日：1992-05-28
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI , ITO ARATA , HAMAMOTO YOSHIO , KIMURA MOTOHIKO
IPC分类号： B25J5/02 , B25J18/04 , G21C17/003
摘要： PURPOSE:To provide a remote reactor inspection/repairing device capable of inspecting the outer face of the shroud of the upper chamber of a reactor and the apparatuses installed on the outside and repairing the apparatuses and the repair subject place on the outer face of the shroud while avoiding obstacles. CONSTITUTION:A remote reactor inspection/repairing device is provided with a rail installed on the flange face of a reactor vessel, a travel device 11 travelably installed on the rail, a multi-joint arm 40 formed extendably, shrinkably, and foldably in the reactor vessel from the travel device 11, a tool fitted to the multi-joint arm 40 and repairing the outer face of a shroud 4 installed on the upper chamber of a reactor and the apparatuses on the outside, an inspection device 90 inspecting the outer face of the shroud 4 and the apparatuses on the outside, and an operating device 92 remotely operating the travel device 11, multi-joint arm 40, tool, and inspection device 90.

2. 发明专利

JPH0285054A GUIDE RAIL TRAVELING BODY SYSTEM 失效
公开(公告)号：JPH0285054A
公开(公告)日：1990-03-26
申请号：JP23340888
申请日：1988-09-20
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI
IPC分类号： B61B13/00 , B61B13/04
摘要： PURPOSE:To prevent the adhesion of dusts in the outside onto a contact type electricity collecting rail on the bottom surface in a guide rail body by constituting the title device so that a slider at the front edge in the advance direction opens a slide fastener as a traveling body travels and a slider at the rear edge closes the slide fastener. CONSTITUTION:Two covers 5 and 5 which are bound by a slide fastener 4 at the center in the width direction of an opened port part are installed at the opened port part 1a on the upper surface of a guide rail body 1 having a box-shaped section. While, a traveling body guided by the guide rail is equipped with wheels 7 which are on the inner bottom surface of the guide rail on the undersurface, and equipped with a contactor 8 which cooperates with each contact type electricity collecting rail 3. Sliders 9 and 9 for controlling the opening and closing of the guide rail body 1 are installed in the lower part at the both edges of the traveling body 6. Therefore, the opened part 1a of the guide rail body 1 is closed by the covers 5 and 5 at all times, except the part opposed to the traveling body 6, and the adhesion of dusts from outside onto the contact type electricity collecting rail 3 is prevented.

3. 发明专利

JPS63204139A UNMANNED SUBMARINE SYSTEM 失效
公开(公告)号：JPS63204139A
公开(公告)日：1988-08-23
申请号：JP3563987
申请日：1987-02-20
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI , SATO KATSUHIKO
IPC分类号： G01C13/00 , G01B21/00 , G01C21/00 , G01N21/84 , G01N21/88 , G01N21/93 , G01N21/954 , H04N7/18
摘要： PURPOSE:To facilitate the location of an abnormal position while relieving an operator of burden, by calculating a position of an image with an underwater TV camera to decide the presence of abnormality in comparison with a normal image stored beforehand. CONSTITUTION:An image with an underwater TV camera 4 is stored into an image recorder 11 before inputted into an image processor 10 to be digitized with the image processor 10 being regarded it as still image. Signals of an accelerometer 9a and a gyrocompass 9b of a hull 2 and information such as direction of the underwater camera 4 and zoom ratio are combined per image and a position caught by the underwater camera 4 is determined with a position calculator 13 to correspond to the respective images. Then, the normal image is called from the image recorder 11 and compared with the results to judge the presence of abnormality. When abnormality is detected, an alarm is given to show an image of an abnormal point on a display device 15.

4. 发明专利

JPS6218375A MAGNETIC ADSORPTION TYPE MOVABLE ROBOT 失效
公开(公告)号：JPS6218375A
公开(公告)日：1987-01-27
申请号：JP15784285
申请日：1985-07-17
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI , IIDA HITOSHI , HOZUMI HISASHI
IPC分类号： B62D33/073 , B62D57/02 , B62D57/024
摘要： PURPOSE:To enable a robot to freely walk on the vertical and inclined surfaces of wall, plane or the like made of steel by providing a plurality of walking legs provided on each end with a magnetic adsorbing board on a robot body slidably in the longitudinal direction of the body and movably relative to a magnetic body surface. CONSTITUTION:A movable robot 2 has four walking legs 16a-16d provided on the front, rear, left and right portions of a robot body 15 having frame construction (hereinafter appendices a-d are omitted) which are provided respectively on the ends with magnetic adsorbing boards 18 consisting of electromagnets or the like to be moved by a slide mechanism 20 and an advance-retreat mechanism 21. The slide mechanism 20 is connected to a timing belt 27 pivoted through a worm mechanism 24 or the like by a drive motor 23 with a support 31 and has a holding table 30 movable along guide rail 33. And on the holding table 30 is prrovided a slide base 40 of the advance-retreat mechanism 21 moved by a screw shaft rotated by a drive motor 37, and the walking legs 16 are provided on the base 40.

5. 发明专利

JPH0441185A ROBOT DEVICE 失效
公开(公告)号：JPH0441185A
公开(公告)日：1992-02-12
申请号：JP14745390
申请日：1990-06-07
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI
IPC分类号： B25J5/00
摘要： PURPOSE:To perform various inspection, maintenance and repair works quickly and surely yet smoothly by providing a control mean which performs the motion control corresponding to work with the motion state of a work robot being detected. CONSTITUTION:The data base concerning an object equipment is accumulated in advance corresponding to the estimation result of a failure cause on a command mean and control mean 6 and the necessary work item and content for the repair, etc., of each equipments 3, 4 are set in advance. The systematization executing work can thus be performed with the work robot group 2 capable of sharing various works being selected and various works in the chemical plant, nuclear installation, etc., composed of a lot of equipments can be executed autonomously. For instance from the failure discovery to the repair work thereof can be executed as a series of works autonomously, by the transmission of the information obtained by the inspection robot 5, by arranging various inspection robots 5 around a work robot 2 with its being as the center.

6. 发明专利

JPH02268880A SYSTEM FOR CLEANING INSIDE OF PIPELINE 失效
公开(公告)号：JPH02268880A
公开(公告)日：1990-11-02
申请号：JP9061489
申请日：1989-04-12
申请人： TOSHIBA CORP
发明人： IIDA HITOSHI , NAKAYAMA RYOICHI , KIKUCHI AKIRA , ITO TAKAO
IPC分类号： B08B9/032 , B08B9/02
摘要： PURPOSE:To easily induce a cleaner in a specified direction by judging the circumferential contact positions of the cleaner and a pipeline from the outputs of a contact sensor and a vibration sensor and bending a turning mechanism when the cleaner intrudes into a branch pipe or a bent pipe. CONSTITUTION:A cleaner 1 is inserted into a pipeline 50a, high-pressure water from a hose 5 is injected to the inner surface of the pipe from a cleaning nozzle 25 to clean the pipe while rotating a rotor 23, and the entire cleaner 1 is pushed up by the injection from a propulsion nozzle 26 while bringing guide covers 21 and 31 into contact with the inner surface of the pipe. When the cleaner 1 reaches a cross 50, the absolute position of the cleaner 1 is detected by the contact of any of contact sensors 70 and 71 fixed to the guide covers 21 and 31, the circumferential contact position of the cleaner 1 with the pipeline 50a is detected by the outputs from plural sensors 72, plural wires 6 are selectively operated based on the respective detection values, a turning mechanism part 4 is bent in the desired direction, and the cleaner is allowed to intrude in the direction.

7. 发明专利

JPH02212906A MULTI-LEG TYPE MOVING DEVICE 失效
公开(公告)号：JPH02212906A
公开(公告)日：1990-08-24
申请号：JP3266989
申请日：1989-02-14
申请人： TOSHIBA CORP
发明人： OKADA SATOSHI , HOZUMI HISASHI , IIDA HITOSHI , NAKAYAMA RYOICHI
IPC分类号： B25J5/00 , G05D1/02
摘要： PURPOSE:To correctly grasp a moving route and to correctly move the route by making walking legs walk by using both the recognition of a forward direction caused by the picture processing of a picture in the forward progressing direction photographed with a TV camera, and the detection of a distance to a floor surface or a facing object with use of a distance sensor provided at a walking leg tip member. CONSTITUTION:A TV camera place on the top face of a moving device main body 1 image-picks-up the state of the forward progressing direction, and a picture processing circuit 6 detects the current position of the moving device and an obstacle position based on the image pickup input. A synthetic controller 5 forms the moving route and the walking mode of respective walking legs 2-1 to 2-6 based on a stored map, the present position and the position information of the obstacle, and transmits these information to a walking controllers 3-1 to 3-6. Thus a robot can move while forming the route by itself, and can be control its movement at high speed.

8. 发明专利

JPH02180571A WALKING ROBOT 失效
公开(公告)号：JPH02180571A
公开(公告)日：1990-07-13
申请号：JP33126888
申请日：1988-12-29
申请人： TOSHIBA CORP
发明人： IIDA HITOSHI , OKADA SATOSHI , HOZUMI HISASHI , NAKAYAMA RYOICHI
IPC分类号： B62D57/032 , B25J5/00 , B25J13/00
摘要： PURPOSE:To enable a wide movement irrespective of a trouble road and curved passage, etc., with securing quickness and stability, by fitting six leg units at least at about equal intervals to the circumferential part of a robot main body. CONSTITUTION:At least six leg units 7 are fitted to the circumferential part of a robot main body 6 and the robot main body is supported by the leg units 7 in half number every other unit, i.e. three leg units at least. So, the stability is secured because of the min. three points support being executed and sufficient walk width can be given to the residual leg units 7, and the overcoming opera tion of an obstruction and rapidity become easy to be obtd. Also because of the base end link of each leg unit 7 having the degree of freedom on the horizon tal face, the track change can quickly be executed without the need for changing the direction of the robot main body 6, by turning the leg unit 7 in a swing up state for instance.

9. 发明专利

JPH0268276A MULTI-WHEEL RUNNING VEHICLE 失效
公开(公告)号：JPH0268276A
公开(公告)日：1990-03-07
申请号：JP21840588
申请日：1988-09-02
申请人： TOSHIBA CORP
发明人： NAKAYAMA RYOICHI
IPC分类号： G21C17/013 , B62D61/00
摘要： PURPOSE:To provide possibility of turning even in narrow passages without requiring the heading of a car by incorporating such an arrangement that a small-wheel units on front wheel side and a small-wheel unit on the rear wheel side fitted at the front and rear of the car body can be revolved independently by a front-wheel and rear-wheel steering mechanisms to any desired angles. CONSTITUTION:A left and a right small-wheel unit 13 are fitted at the front and rear of a car body 10 through a front-wheel steering mechanism 20 and a rear-wheel steering mechanism 21 having respective drive mechanisms 22, 23. Each small-wheel unit 13 is formed by fixing an automatic type small wheel 12 at the tip of each leg of stellate arms 11 protruding radially at 120 intervals. This allows change of the running direction without requiring revolution of the car body 10, which enables constitution of a robot with a wide range of motion.

10. 发明专利

JPH0215920A WALL SURFACE DECONTAMINATING DEVICE 失效
公开(公告)号：JPH0215920A
公开(公告)日：1990-01-19
申请号：JP16616488
申请日：1988-07-04
申请人： TOKYO ELECTRIC POWER CO , TOHOKU ELECTRIC POWER CO , CHUBU ELECTRIC POWER , HOKURIKU ELECTRIC POWER , CHUGOKU ELECTRIC POWER , JAPAN ATOMIC POWER , TOSHIBA CORP
发明人： AKAHORI FUMINORI , SUDA KENICHI , NARUSE KIYOSHI , OGAMI MASAHARU , NABETA TAKAAKI , SAKAMOTO SEIJI , NAKAYAMA RYOICHI , WADA MIKIO
IPC分类号： B23H5/00 , B23H5/08
摘要： PURPOSE:To enable a large-scale metal construction of being decontaminated effectively within a short period at high efficiency by providing a travelling rail laid on the wall face of an object to be decontaminated, a decontaminating device which executes the electrolytic composite grinding for the wall surface, a controller of the device and a cable processing device used as a relay function. CONSTITUTION:A decontaminating device 7 is mounted as it is able to travel along a travelling rail 6 laid along a wall face. Said device 7 is travelled under the remote control by a controller 5 via a cable processing device 3, while executing the electrolytic composite grinding for the wall face 2. Even if the object to be decontaminated is a large-scale construction, these is no problem and the operation is executed under the remote control by a controller 5 so that exposure of a personnel to radio-active emission may be reduced considerably. The travelling rail 6 itself is able to be moved via the cable processing device 3 so that the specified electrolytic composite grinding may be efficiency executed for the entire wall face 2 and also for the arbitrary portion thereby selectively.

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