Hitachi, Ltd.

Kabushiki Kaisya Advance Kaihatsu Kenkyujo

Shimon Ando

Taro Iwamoto

Sho Kusumoto

Tsutomu Omae

Kazuhiro Yoshida

Koji Kurokawa

Takaichi Koyama

Toshitaka Suzuki

Masatake Takidera

Kunio Hamada

A transmission apparatus having an annular casing formed integrally, in its inner face, with a plurality of wave-shaped inner teeth, a plurality of drive roll elements rolling along the toothed inner face of the annular casing, a carrier for swingably supporting the drive roll elements by means of associated connecting element, and a wave generator for cyclically urging the drive roll elements to radially displace while rolling along the toothed inner face, thereby urging the carrier element to exert thereon a drive force.

Transmission apparatus

In a method and a system for inspection of the inside of a nuclear reactor vessel in which an inspection device for inspecting a defect in a nuclear reactor vessel is so moved by a drive/control device as to permit inspection of a part to be inspected in the reactor vessel, and the presence or absence of defect in the reactor vessel is judged based upon information from the inspection device in the course of the above-mentioned movement of the inspection device; the movement of the inspection device is pursued and monitored by monitor means, and the movement of the inspection device is suppressed when an abnormality in the movement of the inspection device is judged based upon information from the monitor means, to avoid the abnormal movement.

Method and system for inspection of inside of nuclear reactor vessel

Apparatus for applying liquids including a main body and a carrier supporting the main body for movement, the main body having mounted therein conduits and charge-over valves for supplying liquids, and spray nozzles for spraying the liquids in predetermined amounts onto a liquid-absorptive, resilient contacting member to enable the latter to apply the liquids to a surface by sliding rubbing contact therewith as the carrier is actuated or for spraying the liquids directly onto the surface. The liquids absorbed by the contacting member are squeezed therefrom when a surface cleaning operation or a liquid applying operation is completed or any time the contacting member is soiled, by bringing the contacting member into pressing engagement with a liquid receiving pan. The contacting member may be in the form of a cylinder and mounted at a forward end of a hollow shaft rotatably connected to the carrier, so that the contacting member can be brought into rubbing sliding contact with the surface to apply the liquids thereto or can be covered with a movable cover to remove absorbed liquids by centrifugal forces. The conduits for supplying the liquids are connected to tanks containing the liquids and divided into a cleaning liquid feeding system and an applied liquid feeding system, and the change-over valves are capable of switching the apparatus between the two systems. The main body is capable of movement in a three dimensional space determined by the movement of various elements of the carrier in the directions of the X, Y and Z axes.

Liquid applying apparatus

A compact automatic pipe welding apparatus having a base member separable into three sections and having a welding unit, detecting unit and a driving unit which are distributed on the circumference of the base member at an equal distance from one another is suitable for use in welding work in limited space, as is the case of installation or repair of pipings in nuclear or chemical plant. For enhancing the welding precision, ring gears are provided for interlocking a plurality of clamping means for securing the base member to the pipe stably.

Automatic pipe welding apparatus

A mechanism for driving a sensor for detecting the shapes of weld beads is completely separated from a mechanism for driving a welding torch with the sensor being operative independently of the welding torch. Prior to or during a welding operation, the sensor is moved above the groove in a direction perpendicular to a weld line in accordance with a command from a computer. Information about the shapes, in particular, information about the shapes of cross-sections of a groove portion which has been obtained by scanning is first stored in a memory. Then, information processing is executed so as to calculate a central position of the groove, the amount of dislocation, and the shape of the bead. In case enough information for enabling a welding operation to be carried out satisfactorily has not been obtained by a single scanning, particularly in case the groove portion is too deep to enable the sensor to perform its detection function satisfactorily, the sensor is again moved in scanning motion in the direction perpendicular to the weld line and in a vertical direction to collect information. The information thus collected is combined with the information previously obtained, so as to detect the accurate shapes of weld beads.

Method and apparatus for detecting the shapes of weld beads

An automatic welding apparatus having a robot and a welding torch, the robot including a main body serving as a drive means, an arm supported and driven by the main body to move in three-dimensional directions, and a wrist connected to a forward end of the arm for universal pivotal movement and supporting the welding torch. The wrist has mounted thereon two tactile sensors for sensing the positions of components to be joined by welding into a unitary structure, one of such sensors extending radially of the pivotal axis of the wrist and the other tactile sensor extending in the direction of the pivotal axis of the wrist. The positions of points at which welding should be performed are calculated based on the amount of displacement of each tactile sensor whereby the operation of the welding torch can be controlled.

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Hitachi, Japan

Shimon Ando