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1. 发明授权

US06278903B1 Working robot for heat exchangers and method of operating said working robot 失效
标题翻译：用于热交换器的工作机器人和操作所述工作机器人的方法
公开(公告)号：US06278903B1
公开(公告)日：2001-08-21
申请号：US09468390
申请日：1999-12-20
申请人： Hisashi Iwasaki , Shuji Komada , Hirotaka Takahashi , Minoru Hyuga , Takashi Fujimura
发明人： Hisashi Iwasaki , Shuji Komada , Hirotaka Takahashi , Minoru Hyuga , Takashi Fujimura
IPC分类号： G06F1900
CPC分类号： F28G1/02 , B08B9/055 , B08B9/0551 , B08B9/0553 , B25J11/00 , B62D57/02 , F28G1/163 , F28G15/02 , F28G15/04 , Y10S700/90
摘要： A robot body (21) is carried into the water chamber (2A) of a condenser (1) and disposed on a tube sheet (4) through which a number of narrow tubes (3) open. Inner nozzles (23) are inserted into narrow tubes (3) from working devices (24) installed on the front ends of four combined-use arms (22A through 22D) to position and fix the robot body (21). And the arm turning motors (25) and arm extending and contracting cylinder devices (26) of the combined-use arms (22A through 22D) are driven to move the robot body (21). Further, a cleaning brush (12) and a flaw detection probe (13) are inserted into a narrow tube (3) from each working device (24) and moved along the narrow tube (3) by cleaning water, whereby cleaning and inspection are performed. With three of the combined-use arms (22A through 22D) fixed to the narrow tubes (3), the inner nozzle (23) is extracted from the narrow tube (3) and the working device is moved to the next narrow tube (3).
摘要翻译：机器人主体（21）被运送到冷凝器（1）的水室（2A）中，并设置在多个细管（3）打开的管板（4）上。内部喷嘴（23）从安装在四个组合使用臂（22A至22D）的前端上的作业装置（24）插入到狭窄的管（3）中，以定位和固定机器人主体（21）。并且驱动组合用臂（22A至22D）的臂转动马达（25）和臂伸缩缸装置（26）以移动机器人主体（21）。此外，清洁刷（12）和探伤探针（13）从每个工作装置（24）插入到窄管（3）中，并通过清洁水沿着细管（3）移动，从而清洁和检查执行。通过将三个组合使用的臂（22A至22D）固定到窄管（3）上，内部喷嘴（23）从窄管（3）中提取，并且将工作装置移动到下一个窄管（3 ）。

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