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1.发明授权Method of an apparatus for determining working original point for multi-joint manipulator 失效用于确定多关节机械手工作原点的装置的方法
公开(公告)号：US4811248A
公开(公告)日：1989-03-07
申请号：US20889
申请日：1987-03-02
申请人： Makoto Senoh , Fumio Tomizawa , Akihito Sekido , Masanori Suzuki , Sakae Sugiyama , Tomiharu Yoshida
发明人： Makoto Senoh , Fumio Tomizawa , Akihito Sekido , Masanori Suzuki , Sakae Sugiyama , Tomiharu Yoshida
CPC分类号： G05B19/427 , G05B2219/40353 , G05B2219/40478
摘要： A method of and apparatus for determining a position of a working original point at which working characteristics of a multi-joint manipulator are at optimum. According to the method and apparatus, a working point at which a hand mounted on the multi-joint manipulator works and a workspace needed for the work are assigned. Subsequently, a set of positions of the working original point of the multi-joint manipulator at which the hand may reach the workspace is calculated. Also, values of evaluation functions representative of preference of the working characteristics of the multi-joint manipulator are calculated with respect to the respective positions of the set. Then, the values of the evaluation functions are compared with each other, thereby selecting the position of the working original point at which the working characteristics are at optimum.
摘要翻译： 一种用于确定多关节机械手的工作特性处于最佳状态的工作原点的位置的方法和装置。 根据该方法和装置，分配安装在多关节机械手上的手工作的工作点和工作所需的工作空间。 随后，计算手可以到达工作空间的多关节机械手的工作原点的一组位置。 此外，相对于该组的各个位置计算表示多关节机械手的工作特性的偏好的评价函数的值。 然后，将评价功能的值进行比较，从而选择工作特性为最佳的工作原点的位置。
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2.发明授权Method and apparatus for master-slave manipulation supplemented by automatic control based on level of operator skill 失效用于主从操作的方法和装置，辅以基于操作者技能水平的自动控制
公开(公告)号：US4837734A
公开(公告)日：1989-06-06
申请号：US19601
申请日：1987-02-26
申请人： Yoshiaki Ichikawa , Makoto Senoh , Masanori Suzuki , Hiroshi Kamimura , Fumio Tomizawa , Sakae Sugiyama , Masayoshi Sasaki
发明人： Yoshiaki Ichikawa , Makoto Senoh , Masanori Suzuki , Hiroshi Kamimura , Fumio Tomizawa , Sakae Sugiyama , Masayoshi Sasaki
IPC分类号： G05D3/12 , B25J3/00 , G05B19/427
CPC分类号： G05B19/427
摘要： Remote manipulation method and system of the master-slave type in which an operation procedure plan is prepared for defining each of a sequence of pieces of work as being performed by manual operation or automatic operation at least on the basis of information on the level of skill of a human operator and the sequence of pieces of work is performed in accordance with the plan, whereby work can be done efficiently with human operator's skill taken into consideration.
摘要翻译： 主从类型的远程操作方法和系统，其中准备操作程序计划，用于至少基于关于技能水平的信息来定义通过手动操作或自动操作执行的一连串工作 根据计划进行人员操作人员的工作顺序，可以在考虑到操作人员的技能的情况下有效地进行工作。
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公开(公告)号：US4739261A
公开(公告)日：1988-04-19
申请号：US787485
申请日：1985-10-15
申请人： Sakae Sugiyama , Akira Kobana , Makoto Senoh
发明人： Sakae Sugiyama , Akira Kobana , Makoto Senoh
CPC分类号： B82Y15/00 , G01N27/9046
摘要： Equipment to measure flaws in an object using an eddy current. According to this equipment, attention is given to a relation between the amplitude of signal detected when the eddy current probe is scanning and the position of the eddy current probe, and the size of flaw is measured based upon the fact that scan distance of probe in which flaw detection signals of greater than a predetermined threshold value are obtained, is subject to change depending upon the depth of penetration of eddy current.
摘要翻译： 使用涡流测量物体中的缺陷的设备。 根据该设备，注意涡电流探头正在扫描时检测的信号的幅度与涡流探针的位置之间的关系，并且基于探头的扫描距离 获得大于预定阈值的探伤信号，根据涡电流的穿透深度而变化。
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公开(公告)号：US4655085A
公开(公告)日：1987-04-07
申请号：US759288
申请日：1985-07-26
申请人： Fumio Tomizawa , Kenji Tsuchita , Sakae Sugiyama
发明人： Fumio Tomizawa , Kenji Tsuchita , Sakae Sugiyama
CPC分类号： G01N29/26 , G01N2291/02854
摘要： A trackless scanner for examination of pipings comprises an annular base removably mountable to a plant pipe to be examined, and a plurality of drive wheels for running supported on the base and being in contact with the plant pipe. Each of the drive wheels is associated with a sensor for detecting an angle which the annular base makes when it turns circumferentially of the pipe, a mechanism responsive to a detection signal from the sensor to control the axial running of the drive wheel for running, and a sensor for detecting a curvature of the pipe.
摘要翻译： 用于检查管道的无轨扫描器包括可拆卸地安装到待检查的植物管的环形基座，以及支撑在基部上并与植物管接触的多个驱动轮。 每个驱动轮与用于检测环形基座在其周向旋转时形成的角度的传感器相关联，响应于来自传感器的检测信号以控制用于行驶的驱动轮的轴向运行的机构，以及 用于检测管道曲率的传感器。
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公开(公告)号：US4108720A
公开(公告)日：1978-08-22
申请号：US595330
申请日：1975-07-11
申请人： Takao Sato , Sakae Sugiyama
发明人： Takao Sato , Sakae Sugiyama
摘要： A plurality of local power range monitors are provided in the core of a nuclear reactor and the total output of the reactor is obtained from the outputs of the monitors. The output of the reactor, if it reached its equilibrium state, will normally keep a constant value, but after the load is changed, the output is also varied by the influence of the neutron absorbing property of the fission products generated as a result of the load change, and especially after the reactor output has been increased, it is spontaneously increased over its setting value to cause the reactor to overheat. The minimum allowable recirculating flow which prevents the overheat at a given total output, is obtained on the basis of the total output. If the actual recirculating flow is larger than the minimum allowable flow, the recirculating flow is freely controlled, but if the actual flow is smaller than the minimum value, the control of the recirculating flow is prohibited and the control rods are inserted for the control of the reactor output. The insertion begins with one of the control rods near the local power range monitor whose output is the maximum.
摘要翻译： 在核反应堆的核心中提供多个局部功率范围监视器，并且从监视器的输出获得反应堆的总输出。 如果反应堆的平衡状态达到平衡状态，反应堆的输出通常会保持恒定值，但是在负载变化之后，输出也会随着作为结果产生的裂变产物的中子吸收特性的影响而变化 尤其是在反应器输出增加之后，自然增加超过其设定值使反应堆过热。 基于总输出获得防止给定总输出过热的最小允许再循环流量。 如果实际的再循环流量大于最小允许流量，则可以自由地控制循环流量，但如果实际流量小于最小值，则禁止再循环流量的控制，并且控制杆被插入以控制 反应堆输出。 插入开始于输出为最大值的本地功率范围监视器附近的控制杆之一。
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公开(公告)号：US4428235A
公开(公告)日：1984-01-31
申请号：US274428
申请日：1981-06-17
申请人： Sakae Sugiyama
发明人： Sakae Sugiyama
CPC分类号： G01N29/4427 , G01N29/12 , G01N29/348 , G01N29/4445 , G01N29/46 , G01N2291/044 , G01N2291/267
摘要： A method of inspecting non-destructively a specimen for examining the presence or absence of a defect in the specimen, in which an ultrasonic wave is emitted from a probe and a reflected wave from the specimen is received by the probe whose output signal is processed to determine the presence or absence of the defect. The signal processing includes steps of extracting characteristic parameters from a frequency spectrum of the ultrasonic echo and comparing the extracted parameter with corresponding experimentally or theoretically determined values. The invention makes it possible to automatically determine discriminatively whether the reflector of the ultrasonic echo is a configured portion, a weld boundary or a defect of a specimen to be inspected.
摘要翻译： 一种无损检测样本的方法，用于检查样品中存在或不存在从探针发射超声波和来自标本的反射波的缺陷，其输出信号被处理的探针被接收 确定缺陷的存在或不存在。 信号处理包括从超声回波的频谱中提取特征参数并将提取的参数与对应的实验或理论确定的值进行比较的步骤。 本发明使得能够自动判断超声波回波的反射器是否是被检查样本的构成部分，焊接边界或缺陷。
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公开(公告)号：US4077836A
公开(公告)日：1978-03-07
申请号：US613430
申请日：1975-09-15
申请人： Takashi Omori , Sakae Sugiyama
发明人： Takashi Omori , Sakae Sugiyama
摘要： An apparatus for automatically starting up a nuclear reactor, which causes control rods in the reactor to be withdrawn in the predetermined order according to the signal obtained by adding the heat-up ratio as a compenstory component determined by the reactor pressure to the deviation of the heat-up ratio of the reactor temperature from the predetermined heat-up ratio and which causes the reactor to be subjected to heat-up and pressurization by opening turbine bypass valves when the heat-up ratio exceeds a reference value.
摘要翻译： 一种用于自动启动核反应堆的装置，其使得反应器中的控制棒按照预定顺序取出，根据由加热比作为由反应器压力确定的补充组分而获得的信号， 当加热比超过参考值时，通过打开涡轮旁通阀，使反应器温度从预定的加热比增加，并使反应器受到加热和加压。
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公开(公告)号：US4543817A
公开(公告)日：1985-10-01
申请号：US480787
申请日：1983-03-31
申请人： Sakae Sugiyama
发明人： Sakae Sugiyama
摘要： A method of detecting a leakage of fluid is disclosed, in which a leaking sound, which is produced when the pipe is broken and propagates through the pipe, is detected by a couple of acoustic sensors mounted to a pipe through which fluid flows at portions separated from each other with a proper distance, the amplitudes of a plurality of different frequency components extracted from the output signals of the acoustic sensors are obtained and then a leaking location of fluid in the pipe and a leaking amount of fluid are determined on the basis of these amplitudes.
摘要翻译： 公开了一种检测流体泄漏的方法，其中当管道破裂并通过管道传播时产生的泄漏声由安装到管道上的几个声学传感器检测，流体在该管道上被分离 从适当的距离相互之间获得从声传感器的输出信号中提取出的多个不同频率分量的振幅，然后基于流体的泄漏位置和流体的泄漏量来确定 这些振幅。
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9.发明授权
公开(公告)号：US4475394A
公开(公告)日：1984-10-09
申请号：US340718
申请日：1982-01-19
申请人： Hiroyuki Takeda , Kunio Kudo , Izumi Kobayashi , Yohsuke Ojiri , Mitsuyuki Oda , Sakae Sugiyama
发明人： Hiroyuki Takeda , Kunio Kudo , Izumi Kobayashi , Yohsuke Ojiri , Mitsuyuki Oda , Sakae Sugiyama
CPC分类号： G01N29/4445 , G01N29/07 , G01N29/11 , G01N29/265 , G01N29/343 , G01N29/48 , G01N2291/044
摘要： In ultrasonic flaw inspection for determining the size of a flaw by emitting an ultrasonic wave to a subject via a probe and receiving an ultrasonic echo from said flaw existing inside said subject, changes in the propagation distances of the ultrasonic echoes before and after movement of said probe through a micro-small distance are compared with each other and the ultrasonic echoes are determined to result from the same flaw if the change width falls within a predetermined value determined by the angle of incidence of the ultrasonic wave and the directional angle.
摘要翻译： 在超声波探伤中，通过经由探头向对象发射超声波，并从所述对象内存在的所述缺陷接收超声回波来确定缺陷的尺寸，所述超声回波的传播距离的变化在所述 如果变化宽度落在由超声波的入射角和方向角度确定的预定值内，则通过微小距离的探测被彼此比较，并且超声波回波被确定为由相同的缺陷引起的。
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公开(公告)号：US4279158A
公开(公告)日：1981-07-21
申请号：US061050
申请日：1979-07-26
申请人： Sigeru Kajiyama , Kimio Kanda , Sakae Sugiyama
发明人： Sigeru Kajiyama , Kimio Kanda , Sakae Sugiyama
IPC分类号： G01N29/04 , G01N29/26 , G01N29/265 , G21C17/003
CPC分类号： G01N29/265 , G01N2291/2695
摘要： A ultrasonic flaw detector driving apparatus including a driving apparatus which is equipped with an arm mounted respective side faces of a main frame of the ultrasonic flaw detector driving apparatus so as to allow the arms to move into an open and closed position. A resilient member provides a force which acts on the respective arms in such a direction so as to urge the arms into the open position. A ratchet prevents the arms from being opened by the resilient member as teeth engage with a pawl in a stepwise manner. Rollers are rotatably mounted to a tip of the respective arms and are in rolling contact with the guide rail on which the driving apparatus travels. The arms are moved to the open for mounting the driving apparatus to the guide rail and thereafter the arms are moved to the closed position. Thus, the main frame of the driving apparatus can be position movably fixed onto the guide rail.
摘要翻译： 一种超声波探伤仪驱动装置，包括驱动装置，该驱动装置配备有安装在超声波探伤器驱动装置的主框架的各侧面上的臂，以使臂能够移动到打开和关闭位置。 弹性构件在这样的方向上提供作用在相应臂上的力，以便将臂推动到打开位置。 当齿与棘爪以逐步方式啮合时，棘轮防止臂被弹性构件打开。 辊可旋转地安装在各个臂的尖端上并与驱动装置所在的导轨滚动接触。 臂移动到开口以将驱动装置安装到导轨上，此后臂移动到关闭位置。 因此，驱动装置的主框架可以可移动地固定在导轨上。
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