EP0195454A3 - Working robot used for the water chamber of the heat exchanger - Google Patents

Working robot used for the water chamber of the heat exchanger Download PDF

Info

Publication number: EP0195454A3
Authority: EP; European Patent Office
Prior art keywords: heat exchanger; water chamber; working robot; robot used; working
Prior art date: 1985-03-22
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP86103863A

Other versions

EP0195454B1 (en

EP0195454A2 (en

Inventor

Yasuo Fujitani

Katsumoto Otake

Yoshikuni Ohshima

Shigeru Izumi

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Hitachi Ltd

Original Assignee

Hitachi Ltd

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

1985-03-22

Filing date

1986-03-21

Publication date

1987-06-16

1986-03-21 Application filed by Hitachi Ltd filed Critical Hitachi Ltd

1986-09-24 Publication of EP0195454A2 publication Critical patent/EP0195454A2/en

1987-06-16 Publication of EP0195454A3 publication Critical patent/EP0195454A3/en

1991-01-16 Application granted granted Critical

1991-01-16 Publication of EP0195454B1 publication Critical patent/EP0195454B1/en

Status Expired legal-status Critical Current

Classifications

- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet

Landscapes

Physics & Mathematics (AREA)
Engineering & Computer Science (AREA)
High Energy & Nuclear Physics (AREA)
Thermal Sciences (AREA)
Mechanical Engineering (AREA)
General Engineering & Computer Science (AREA)
Manipulator (AREA)

EP19860103863 1985-03-22 1986-03-21 Working robot used for the water chamber of the heat exchanger Expired EP0195454B1 (en)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
JP60056171A JPH086894B2 (en)	1985-03-22	1985-03-22	Heat exchanger Water chamber work Robot movement / holding device
JP56171/85		1985-03-22

Publications (3)

Publication Number	Publication Date
EP0195454A2 EP0195454A2 (en)	1986-09-24
EP0195454A3 true EP0195454A3 (en)	1987-06-16
EP0195454B1 EP0195454B1 (en)	1991-01-16

Family

ID=13019651

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP19860103863 Expired EP0195454B1 (en)	1985-03-22	1986-03-21	Working robot used for the water chamber of the heat exchanger

Country Status (3)

Country	Link
EP (1)	EP0195454B1 (en)
JP (1)	JPH086894B2 (en)
DE (1)	DE3676840D1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JP2892406B2 (en) *	1989-12-28	1999-05-17	株式会社日立製作所	Movement control method of working robot in heat exchanger
JP3365802B2 (en) *	1992-12-01	2003-01-14	健柳沢	Walking robot
DE19545724C1 (en) *	1995-12-07	1997-01-30	Howaldtswerke Deutsche Werft	Equipment carrier
US8746089B2 (en) *	2009-01-19	2014-06-10	Babcock & Wilcox Nuclear Energy, Inc.	Apparatus for automated positioning of eddy current test probe
JP5634073B2 (en) *	2010-01-15	2014-12-03	三菱重工業株式会社	Water chamber working device and water chamber working method
CN106314586B (en) *	2016-10-22	2018-09-18	哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司	A kind of intelligence Chinese herbal medicine acquisition robot
CN109649095B (en) *	2018-12-17	2021-10-01	上海交通大学	Bionic crocodile amphibious robot
CN114905529A (en) *	2022-06-06	2022-08-16	商丘职业技术学院	Multifunctional water delivery robot control system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US3913752A (en) *	1973-08-01	1975-10-21	Combustion Eng	Remotely movable platform
US3984008A (en) *	1974-07-15	1976-10-05	Mitsubishi Jukogyo Kabushiki Kaisha	Apparatus for automatizing flaw detection
CA1014724A (en) *	1975-03-11	1977-08-02	Peter D. Stevens-Guille	Locating test probes in heat exchanger tubes
EP0014616A1 (en) *	1979-02-05	1980-08-20	INTERCONTROLE Société dite:	Process and apparatus for withdrawing from or reinserting into the lower chamber of a tube heat exchanger a probe carrier

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JPS6057542B2 (en) *	1977-09-06	1985-12-16	三菱重工業株式会社	automatic work equipment

1985
- 1985-03-22 JP JP60056171A patent/JPH086894B2/en not_active Expired - Fee Related
1986
- 1986-03-21 EP EP19860103863 patent/EP0195454B1/en not_active Expired
- 1986-03-21 DE DE8686103863T patent/DE3676840D1/en not_active Expired - Lifetime

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US3913752A (en) *	1973-08-01	1975-10-21	Combustion Eng	Remotely movable platform
US3984008A (en) *	1974-07-15	1976-10-05	Mitsubishi Jukogyo Kabushiki Kaisha	Apparatus for automatizing flaw detection
CA1014724A (en) *	1975-03-11	1977-08-02	Peter D. Stevens-Guille	Locating test probes in heat exchanger tubes
EP0014616A1 (en) *	1979-02-05	1980-08-20	INTERCONTROLE Société dite:	Process and apparatus for withdrawing from or reinserting into the lower chamber of a tube heat exchanger a probe carrier

Also Published As

Publication number	Publication date
JPS61217603A (en)	1986-09-27
EP0195454B1 (en)	1991-01-16
DE3676840D1 (en)	1991-02-21
EP0195454A2 (en)	1986-09-24
JPH086894B2 (en)	1996-01-29

Publication	Publication Date	Title
GB2174790B (en)	1988-09-01	Heat exchanger
GB2180634B (en)	1988-12-21	Heat exchanger
DE3660324D1 (en)	1988-07-21	Heat exchanger
GB2190736B (en)	1989-09-27	Heat exchanger
JPS57204798A (en)	1982-12-15	Assembled body of heat exchanger
GB2173585B (en)	1988-12-14	Heat exchanger
GB2195756B (en)	1990-07-25	Heat exchanger
GB2175990B (en)	1989-07-19	Heat exchanger
EP0189113A3 (en)	1987-11-19	Heat exchanger
EP0195454A3 (en)	1987-06-16	Working robot used for the water chamber of the heat exchanger
GB2175387B (en)	1989-03-08	Heat exchanger
EP0223995A3 (en)	1987-09-30	Heat exchanger
DE3660015D1 (en)	1988-02-18	Heat exchanger
GB8500316D0 (en)	1985-02-13	Cleaning heat exchangers
GB8600950D0 (en)	1986-02-19	Heat exchanger
GB8510138D0 (en)	1985-05-30	Heat exchangers
GB8602965D0 (en)	1986-03-12	Heat exchanger
GB2184826B (en)	1989-10-11	Heat exchanger
GB2184223B (en)	1989-09-13	Heat exchanger
GB8630221D0 (en)	1987-01-28	Heat exchanger
GB2153841B (en)	1988-05-11	Reduction of heat exchanger fouling
GB8512578D0 (en)	1985-06-19	Heat exchanger
HUT48018A (en)	1989-04-28	Device for improving the efficiency of heat exchangers
GB8502694D0 (en)	1985-03-06	Heat exchanger
BG42799A1 (en)	1988-02-15	Device for scouring of heat exchanger

Legal Events

Date	Code	Title	Description
1986-08-09	PUAI	Public reference made under article 153(3) epc to a published international application that has entered the european phase	Free format text: ORIGINAL CODE: 0009012
1986-09-24	AK	Designated contracting states	Kind code of ref document: A2 Designated state(s): DE FR GB
1987-04-27	PUAL	Search report despatched	Free format text: ORIGINAL CODE: 0009013
1987-06-16	AK	Designated contracting states	Kind code of ref document: A3 Designated state(s): DE FR GB
1987-08-19	17P	Request for examination filed	Effective date: 19870623
1989-05-17	17Q	First examination report despatched	Effective date: 19890331
1990-12-01	GRAA	(expected) grant	Free format text: ORIGINAL CODE: 0009210
1991-01-16	AK	Designated contracting states	Kind code of ref document: B1 Designated state(s): DE FR GB
1991-02-21	REF	Corresponds to:	Ref document number: 3676840 Country of ref document: DE Date of ref document: 19910221
1991-03-29	ET	Fr: translation filed
1991-11-16	PLBE	No opposition filed within time limit	Free format text: ORIGINAL CODE: 0009261
1991-11-16	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT
1992-01-08	26N	No opposition filed
1994-01-28	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: FR Payment date: 19940128 Year of fee payment: 9
1994-03-10	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: GB Payment date: 19940310 Year of fee payment: 9
1994-05-30	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: DE Payment date: 19940530 Year of fee payment: 9
1995-03-21	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: GB Effective date: 19950321
1995-11-15	GBPC	Gb: european patent ceased through non-payment of renewal fee	Effective date: 19950321
1995-11-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 19951130
1995-12-01	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: DE Effective date: 19951201
1996-03-22	REG	Reference to a national code	Ref country code: FR Ref legal event code: ST