JP6664339B2 - Operation assist device for manually operated valve - Google Patents

Operation assist device for manually operated valve Download PDF

Info

Publication number
JP6664339B2
JP6664339B2 JP2017008419A JP2017008419A JP6664339B2 JP 6664339 B2 JP6664339 B2 JP 6664339B2 JP 2017008419 A JP2017008419 A JP 2017008419A JP 2017008419 A JP2017008419 A JP 2017008419A JP 6664339 B2 JP6664339 B2 JP 6664339B2
Authority
JP
Japan
Prior art keywords
manually operated
operated valve
handle
assist device
attachment
Prior art date
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.)
Active
Application number
JP2017008419A
Other languages
Japanese (ja)
Other versions
JP2018116016A (en
Inventor
隆義 中嶋
隆義 中嶋
小野寺 賢司
賢司 小野寺
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 GE Nuclear Energy Ltd
Original Assignee
Hitachi GE Nuclear Energy 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.)
Filing date
Publication date
Application filed by Hitachi GE Nuclear Energy Ltd filed Critical Hitachi GE Nuclear Energy Ltd
Priority to JP2017008419A priority Critical patent/JP6664339B2/en
Publication of JP2018116016A publication Critical patent/JP2018116016A/en
Application granted granted Critical
Publication of JP6664339B2 publication Critical patent/JP6664339B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin

Landscapes

  • Barrages (AREA)
  • Mechanically-Actuated Valves (AREA)

Description

本発明は手動操作弁の操作補助装置に係り、特に、原子力発電プラントに使用されている手動操作弁を緊急時に操作するものに好適な手動操作弁の操作補助装置に関するものである。   The present invention relates to an operation assisting device for a manually operated valve, and more particularly to an operation assisting device for a manually operated valve suitable for operating a manually operated valve used in a nuclear power plant in an emergency.

発電施設などで使用されている手動ハンドル操作弁は、用途が多種多様にわたり、さまざまな条件下で使用されている。   BACKGROUND ART A manual handle operation valve used in a power generation facility or the like has a wide variety of uses and is used under various conditions.

その中でも原子力発電プラントに使用されている手動ハンドル操作弁は、原子力発電プラントの安全運転及び安定運転を行う上で大きな役割を担っている。   Among them, a manual handle operation valve used in a nuclear power plant plays a significant role in performing a safe operation and a stable operation of the nuclear power plant.

その役割として手動ハンドル操作弁は、原子力発電プラントに流れる水や空気或いはガス等の流体を開閉動作にて制御する機能を有している製品である。   As its role, a manual handle operation valve is a product having a function of controlling a fluid such as water, air, or gas flowing in a nuclear power plant by opening and closing operations.

その中で、例えば、原子力発電プラント内の全電源喪失事故が発生した場合、電動弁特有の機能である自動開閉動作が不可能となり、緊急時に弁の手動操作に時間を要する弁に対して開閉動作さえも困難となる事態が想定されている。   For example, in the event of a total power loss accident in a nuclear power plant, for example, automatic opening / closing operation, which is a function unique to a motor-operated valve, becomes impossible. It is assumed that even the operation becomes difficult.

なお、小さい駆動力でハンドルを回転させることで下水処理場及び浄水処理場等の貯水池や配水池、給水池等の水門や水槽或は水路等に設けたゲートを開閉操作する開閉機を駆動する技術が特許文献1に記載されている。   By rotating the handle with a small driving force, a switch for opening and closing a gate provided in a sluice, a water tank or a waterway of a sewage treatment plant, a water treatment plant, etc. The technology is described in Patent Document 1.

この特許文献1には、小型軽量で持ち運びが容易な開閉機の可搬型駆動装置を得ることを目的として、電動機にシャフトを介して連結した減速機と、減速機にシャフトを介して連結した連結軸とを備え、連結軸の先端に凹部を形成し、ハンドルの中心軸部に設けたと突部に嵌合させ、電動機の駆動によって連結軸と中心軸部を一体回転させ、ハンドルを回転させてゲートを開閉調整することが記載されている。   Patent Document 1 discloses a reduction gear connected to an electric motor via a shaft and a connection connected to a reduction gear via a shaft in order to obtain a portable drive device for a switchgear which is small, lightweight and easy to carry. A shaft is provided, a concave portion is formed at the tip of the connecting shaft, and provided on the center shaft portion of the handle and fitted to the protrusion, and the connecting shaft and the center shaft portion are integrally rotated by driving the electric motor, and the handle is rotated. It describes that the gate is opened and closed.

このような特許文献1に記載の開閉機の可搬型駆動装置によれば、電動機の回転力を減速機によって減速してハンドルに伝達すると、電動機の回転力(トルク)は減速機により増幅されて開閉機のハンドルに伝達されることになるので、小さい駆動力でハンドルを回転させることができてゲートを開閉することができ、しかも、減速機で減速することで駆動力が小さくても回転駆動できるため、電動機は可搬型で小型のものが採用でき、ゲートの開閉機が高地や山間地等に設置されていても容易に持ち運びができるものである。   According to the portable drive device for a switchgear described in Patent Document 1, when the torque of the electric motor is reduced by the speed reducer and transmitted to the steering wheel, the torque (torque) of the motor is amplified by the speed reducer. Since the power is transmitted to the handle of the switchgear, the handle can be rotated with a small driving force and the gate can be opened and closed. In addition, even if the driving force is small by reducing the speed with the reduction gear, the rotary drive is performed. Since the motor can be used, a portable and small motor can be adopted, and the motor can be easily carried even if the gate opening / closing device is installed in a highland or a mountainous area.

特開2015−52226号公報JP-A-2005-52226

しかしながら、原子力発電プラント内の全電源喪失事故が発生した場合には、電動弁特有の機能である自動開閉動作が不可能となり、緊急時に手動操作により弁を開閉しようとしても時間が掛かり、特に、時間を要する高トルクを要する大口径弁に対して開閉動作さえも困難となってしまうという問題がある。   However, when a power loss accident in a nuclear power plant occurs, automatic opening / closing operation, which is a function unique to a motor-operated valve, becomes impossible, and it takes time to open and close the valve by manual operation in an emergency. There is a problem that even an opening and closing operation becomes difficult for a large-diameter valve requiring a long time and a high torque.

一方、特許文献1は、下水処理場や浄水処理場等の貯水池や配水池、給水池等の水門や水槽或は水路等に設けたゲートを開閉操作する開閉機を駆動するものであり、原子力発電プラント内の全電源喪失事故が発生した場合を全く想定していない。   On the other hand, Patent Literature 1 drives a switchgear that opens and closes a gate provided in a sluice, a water tank, a waterway, or the like of a reservoir, a distribution reservoir, a water supply reservoir, or the like of a sewage treatment plant or a water purification plant, It is not assumed at all that a power loss accident in a power plant occurs.

本発明は上述の点に鑑みなされたもので、その目的とするところは、原子力発電プラントにおける全電源喪失時であっても、緊急時の手動操作の弁の開閉に時間が掛かることはなく、しかも、高トルクを要する大口径弁であっても操作時間を短縮し、容易に開閉操作が可能な手動操作弁の操作補助装置を提供することにある。   The present invention has been made in view of the above points, and the purpose thereof is that even when total power supply is lost in a nuclear power plant, opening and closing of a manually operated valve in an emergency does not take time, In addition, an object of the present invention is to provide an operation assisting device for a manually operated valve that can shorten the operation time even for a large-diameter valve that requires a high torque and that can be easily opened and closed.

本発明の手動操作弁の操作補助装置は、上記目的を達成するために、原子力発電プラントに設置されている手動操作弁を、前記原子力発電プラントの緊急時に操作する手動操作弁の操作補助装置であって、前記原子力発電プラントの緊急時に前記手動操作弁の弁駆動部に接続され、駆動部からの駆動力を前記弁駆動部に伝達するハンドル付アタッチメントと、該ハンドル付アタッチメントへ駆動力を伝達する倍力レンチと、前記弁駆動部に固定され、前記倍力レンチを支持するサポート部とを備え、前記ハンドル付アタッチメントはアタッチメントとハンドル部とから成り、前記アタッチメントには凹部が形成され、この凹部に前記ハンドル部のスポークを嵌め込むことで着脱可能に構成されていることを特徴とする。 In order to achieve the above object, a manual operation valve operation assist device of the present invention is a manual operation valve operation assist device that operates a manual operation valve installed in a nuclear power plant in an emergency of the nuclear power plant. And an attachment with a handle that is connected to the valve drive unit of the manually operated valve in an emergency of the nuclear power plant and transmits a drive force from the drive unit to the valve drive unit, and that transmits the drive force to the attachment with the handle. A booster wrench, and a support portion fixed to the valve drive portion and supporting the booster wrench, the attachment with a handle includes an attachment and a handle portion, and a recess is formed in the attachment. It is characterized in that it is configured to be detachable by fitting the spoke of the handle portion into the recess .

本発明によれば、原子力発電プラントにおける全電源喪失時であっても、緊急時の手動操作の弁の開閉に時間が掛かることはなく、しかも、高トルクを要する大口径弁であっても操作時間を短縮し、容易に開閉操作が可能となる。   According to the present invention, even in the event of a total power loss in a nuclear power plant, opening and closing of a manually operated valve in an emergency does not take a long time, and even a large-diameter valve requiring a high torque is operated. The time can be shortened, and the opening and closing operation can be easily performed.

本発明の手動操作弁の操作補助装置の実施例1を示す概略構成図である。It is a schematic structure figure showing Example 1 of an operation auxiliary device of a manual operation valve of the present invention.

以下、図示した実施例に基づいて本発明の手動操作弁の操作補助装置を説明する。   Hereinafter, an operation assisting device for a manually operated valve according to the present invention will be described based on the illustrated embodiment.

図1に、本発明の手動操作弁の操作補助装置の実施例1を示す。   FIG. 1 shows a first embodiment of an operation assisting device for a manually operated valve according to the present invention.

該図に示すように、本実施例の手動操作弁の操作補助装置10は、原子力発電プラントに設置されている手動操作弁(図示せず)の操作補助装置10であって、手動操作弁の弁駆動部1に接続され、駆動部(図示せず)からの駆動力を弁駆動部1に伝達する手動ハンドル2付のハンドル操作用アタッチメント3と、手動ハンドル2付のハンドル操作用アタッチメント3へ駆動力を伝達する倍力レンチ(加わる力が倍になる)4と、弁駆動部1の弁台座1aにボルト1bで固定され、倍力レンチ4を支持する反力受け用サポート部5と、倍力レンチ4を回転させる携帯電気ドリル(JISC9605)6を備えて概略構成されている。   As shown in the figure, an operation assisting device 10 for a manually operated valve according to the present embodiment is an operation assisting device 10 for a manually operated valve (not shown) installed in a nuclear power plant. A handle operation attachment 3 with a manual handle 2 and a handle operation attachment 3 with a manual handle 2 that are connected to the valve drive unit 1 and transmit a driving force from a drive unit (not shown) to the valve drive unit 1. A booster wrench (the applied force is doubled) 4 for transmitting the driving force, a reaction force receiving support portion 5 fixed to the valve seat 1a of the valve drive portion 1 with bolts 1b, and supporting the booster wrench 4; It is schematically configured with a portable electric drill (JISC9605) 6 for rotating the booster wrench 4.

上記倍力レンチ4は、エクステンションバー7及びトルクリミッタ8を介して、手動ハンドル2付のハンドル操作用アタッチメント3に駆動力を伝達する。なお、トルクリミッタ8は、手動操作弁に加わる力を緩和するものであり、倍力レンチ4とエクステンションバー7、エクステンションバー7とトルクリミッタ8の接続は、嵌め込み式で着脱自在となっている。   The booster wrench 4 transmits a driving force to the handle operation attachment 3 with the manual handle 2 via the extension bar 7 and the torque limiter 8. The torque limiter 8 reduces the force applied to the manually operated valve. The connection between the booster wrench 4 and the extension bar 7 and the connection between the extension bar 7 and the torque limiter 8 are of a fitting type and are detachable.

また、ハンドル操作用アタッチメント3と手動ハンドル2は、ハンドル操作用アタッチメント3には凹部が形成され、この凹部に手動ハンドル2のスポーク2aを嵌め込むことで着脱可能に構成されている。   The handle operation attachment 3 and the manual handle 2 are configured so that a recess is formed in the handle operation attachment 3, and the spoke 2 a of the manual handle 2 is fitted into the recess so as to be detachable.

また、反力受け用サポート部5は、手動ハンドル2の回転を阻害しない範囲内の位置で、弁駆動部1に装着され、倍力レンチ4は、倍力レンチ4と共に回転するレバー4aを有し、このレバー4aの回転を反力受け用サポート部5で受けることで支持されている。   Further, the reaction force receiving support portion 5 is mounted on the valve driving portion 1 at a position within a range that does not hinder the rotation of the manual handle 2, and the booster wrench 4 has a lever 4 a that rotates together with the booster wrench 4. The lever 4a is supported by receiving the rotation of the lever 4a by the reaction force receiving support portion 5.

このような本実施例の構成とすることにより、原子力発電プラントの全電源喪失時等には、携帯電気ドリル(JISC9605)6を倍力レンチ4に差し込んで駆動することにより、短時間で弁の開閉操作を行うことができ、緊急時に弁の手動操作に時間を要しハンドル操作に高トルクを要する大口径弁であっても、操作時間を短縮して容易に開閉操作を行うことができる。また、トルクリミッタ8を装着していることから、弁への過剰なトルクも抑制できる。   By adopting such a configuration of the present embodiment, the portable electric drill (JISC9605) 6 is driven by inserting it into the booster wrench 4 in a short time when the power of the nuclear power plant is lost or the like. The opening / closing operation can be performed. Even in the case of a large-diameter valve that requires time for manual operation of the valve and requires high torque for handle operation in an emergency, the operation time can be shortened and the opening / closing operation can be easily performed. Further, since the torque limiter 8 is mounted, excessive torque to the valve can be suppressed.

なお、特に図示しないが、手動ハンドル2付のハンドル操作用アタッチメント3と弁駆動部1をフレキシブルシャフトで連結することにより、ハンドル操作用アタッチメント3と弁駆動部1の高さが相違しても、携帯電気ドリル(JISC9605)6の回転力を、ハンドル操作用アタッチメント3を介して弁駆動部1に伝達することができる。   Although not particularly shown, the handle operation attachment 3 with the manual handle 2 and the valve drive unit 1 are connected by a flexible shaft, so that even if the handle operation attachment 3 and the valve drive unit 1 have different heights, The rotational force of the portable electric drill (JISC9605) 6 can be transmitted to the valve drive unit 1 via the handle operation attachment 3.

なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かり易く説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。   Note that the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described above. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment. Also, for a part of the configuration of each embodiment, it is possible to add, delete, or replace another configuration.

1…弁駆動部、1a…弁台座、1b…ボルト、2…手動ハンドル、2a…スポーク、3…ハンドル操作用アタッチメント、4…倍力レンチ、4a…レバー、5…反力受け用サポート部、6…携帯電気ドリル、7…エクステンションバー、8…トルクリミッタ、10…手動操作弁の操作補助装置。   DESCRIPTION OF SYMBOLS 1 ... Valve drive part, 1a ... Valve seat, 1b ... Bolt, 2 ... Manual handle, 2a ... Spoke, 3 ... Handle operation attachment, 4 ... Double wrench, 4a ... Lever, 5 ... Reaction force receiving support part, 6: Portable electric drill, 7: Extension bar, 8: Torque limiter, 10: Operation assisting device for manually operated valve.

Claims (7)

原子力発電プラントに設置されている手動操作弁を、前記原子力発電プラントの緊急時に操作する手動操作弁の操作補助装置であって、
前記原子力発電プラントの緊急時に前記手動操作弁の弁駆動部に接続され、駆動部からの駆動力を前記弁駆動部に伝達するハンドル付アタッチメントと、該ハンドル付アタッチメントへ駆動力を伝達する倍力レンチと、前記弁駆動部に固定され、前記倍力レンチを支持するサポート部とを備え
前記ハンドル付アタッチメントはアタッチメントとハンドル部とから成り、前記アタッチメントには凹部が形成され、この凹部に前記ハンドル部のスポークを嵌め込むことで着脱可能に構成されていることを特徴とする手動操作弁の操作補助装置。
A manually operated valve installed in a nuclear power plant, an operation assisting device for a manually operated valve that operates in an emergency of the nuclear power plant ,
Attachment with a handle connected to the valve drive unit of the manually operated valve in the event of an emergency of the nuclear power plant, and transmitting drive force from the drive unit to the valve drive unit, and a booster for transmitting drive force to the handle attachment. A wrench, and a support unit fixed to the valve drive unit and supporting the booster wrench ;
The manually-operated valve , wherein the attachment with a handle includes an attachment and a handle portion, and the attachment is formed with a concave portion, and is detachably configured by fitting a spoke of the handle portion into the concave portion. Operation assist device.
請求項1に記載の手動操作弁の操作補助装置において、
前記手動操作弁の操作補助装置は、前記倍力レンチを回転させる携帯電気ドリルを備えていることを特徴とする手動操作弁の操作補助装置。
The operation assist device for a manually operated valve according to claim 1,
The operation assisting device for a manually operated valve is provided with a portable electric drill for rotating the booster wrench.
請求項1又は2に記載の手動操作弁の操作補助装置において、
前記倍力レンチは、エクステンションバー及びトルクリミッタを介して前記ハンドル付アタッチメントに駆動力を伝達することを特徴とする手動操作弁の操作補助装置。
The operation assist device for a manually operated valve according to claim 1 or 2,
The operation assist device for a manually operated valve, wherein the booster wrench transmits a driving force to the attachment with the handle via an extension bar and a torque limiter.
請求項に記載の手動操作弁の操作補助装置において、
前記サポート部は、前記ハンドル部の回転を阻害しない範囲内の位置で、前記弁駆動部に装着されていることを特徴とする手動操作弁の操作補助装置。
The operation assist device for a manually operated valve according to claim 1 ,
The assisting device for a manually operated valve, wherein the support portion is mounted on the valve driving portion at a position within a range that does not hinder rotation of the handle portion.
請求項1乃至のいずれか1項に記載の手動操作弁の操作補助装置において、
前記倍力レンチは、該倍力レンチと共に回転するレバーを有し、前記レバーの回転を前記サポート部で受けることで支持されていることを特徴とする手動操作弁の操作補助装置。
An operation assisting device for a manually operated valve according to any one of claims 1 to 4 ,
The booster wrench has a lever that rotates together with the booster wrench, and is supported by receiving the rotation of the lever by the support portion.
請求項3に記載の手動操作弁の操作補助装置において、
前記トルクリミッタは、前記手動操作弁に加わる力を緩和するものであることを特徴とする手動操作弁の操作補助装置。
The operation assist device for a manually operated valve according to claim 3,
The operation assist device for a manually operated valve, wherein the torque limiter reduces a force applied to the manually operated valve.
請求項1に記載の手動操作弁の操作補助装置において、
前記ハンドル付アタッチメントと前記弁駆動部が、フレキシブルシャフトで連結されていることを特徴とする手動操作弁の操作補助装置。
The operation assist device for a manually operated valve according to claim 1,
The operation assist device for a manually operated valve, wherein the attachment with the handle and the valve drive unit are connected by a flexible shaft.
JP2017008419A 2017-01-20 2017-01-20 Operation assist device for manually operated valve Active JP6664339B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017008419A JP6664339B2 (en) 2017-01-20 2017-01-20 Operation assist device for manually operated valve

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017008419A JP6664339B2 (en) 2017-01-20 2017-01-20 Operation assist device for manually operated valve

Publications (2)

Publication Number Publication Date
JP2018116016A JP2018116016A (en) 2018-07-26
JP6664339B2 true JP6664339B2 (en) 2020-03-13

Family

ID=62984056

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017008419A Active JP6664339B2 (en) 2017-01-20 2017-01-20 Operation assist device for manually operated valve

Country Status (1)

Country Link
JP (1) JP6664339B2 (en)

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5965678A (en) * 1982-10-08 1984-04-13 Hitachi Ltd Separating valve with function of swirl stop valve for measuring line
JPH0214932Y2 (en) * 1986-11-26 1990-04-23
JP2003232882A (en) * 2002-02-07 2003-08-22 Hitachi Ltd Removing method and removing device for large diameter bolt in nuclear reactor
JP4354783B2 (en) * 2003-11-12 2009-10-28 前田金属工業株式会社 Fastener and its socket unit
JP2005207476A (en) * 2004-01-21 2005-08-04 Kansai Electric Power Co Inc:The Input structure
JP4755536B2 (en) * 2006-06-12 2011-08-24 日立Geニュークリア・エナジー株式会社 Method for removing wedge support structure in nuclear reactor and apparatus for removing wedge support structure
JP2012149748A (en) * 2011-01-21 2012-08-09 Yoshio Miura Human error eliminating emergent valve responding to emergent time carrying out expected opening/closing despite handle operation error and error eliminating mechanism of the same
JP3175128U (en) * 2012-02-10 2012-04-19 有限会社横川鉄工所 Portable gate opening and closing device
JP5912636B2 (en) * 2012-02-17 2016-04-27 西部電機株式会社 Valve control and electric gate and electric valve
JP5975756B2 (en) * 2012-06-28 2016-08-23 株式会社空研 Reaction force receiver and hand-held screw attaching / detaching tool
JP2014163405A (en) * 2013-02-21 2014-09-08 Osaka Gas Co Ltd Opening/closing operation jig for manually operated valve and valve closing method for closing manually operated valve by using opening/closing operation jig
JP5805711B2 (en) * 2013-07-05 2015-11-04 中国電力株式会社 Valve drive device
JP3187613U (en) * 2013-09-25 2013-12-05 西部電機株式会社 Sluice opener
JP2016113778A (en) * 2014-12-12 2016-06-23 一身 谷 Auxiliary driving device for water gate opening/closing unit
JP6650590B2 (en) * 2014-12-26 2020-02-19 東芝エネルギーシステムズ株式会社 Valve drive device and valve drive method
JP6293077B2 (en) * 2015-03-02 2018-03-14 一身 谷 Auxiliary drive for sluice switch
JP6520236B2 (en) * 2015-03-06 2019-05-29 中国電力株式会社 Wilky

Also Published As

Publication number Publication date
JP2018116016A (en) 2018-07-26

Similar Documents

Publication Publication Date Title
JP2015052226A (en) Portable drive unit of opening and closing machine
CN105736796B (en) A kind of electromechanical linkage fluid control valve driver
ITTO20110156A1 (en) ARTICULATED ROBOT WRIST
WO2009020034A1 (en) Travel control device for working vehicle
WO2012043284A1 (en) Azimuth propeller
JP2007008189A (en) Electrically driven steering gear
JP6664339B2 (en) Operation assist device for manually operated valve
GB0625764D0 (en) Control apparatus for a machine
CN111059299B (en) High-density liquid pipeline quick adjusting valve
US10072529B2 (en) Turning device and rotary machine
JP5493156B2 (en) Electric valve actuator
CN210132438U (en) Holding type wrench
ITVI950010A1 (en) MOTORIZED CONTROL OF THE STEERING OF A VEHICLE
JP2010064569A (en) Electric parking brake device
US20160178040A1 (en) Drive assembly for machines
JP4526842B2 (en) Valve drive unit with manual operation mechanism
CN201201711Y (en) Rudderless supercharging propeller thruster
JP2019202620A (en) Assist grip
CN207762326U (en) A kind of electrically operated valve switchgear
CN201973348U (en) Transmission for actuator of pneumatic regulating valve
CN201149121Y (en) High-efficiency intermediate transmission valve electric operating device
PL2252494T3 (en) Electrical power steering system with driven steering shaft
ES2358709A1 (en) Screwing device for use in mechanical adjusting device, has effective connection produced during actuation between outer side and drive or inner side and drive, where drive force of drive is transferred to outer side or inner side
CN102086950A (en) Feedback unit transmission control device of valve positioner
JP6087992B2 (en) Quarter turn valve hydraulic actuator

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190227

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20191212

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20191224

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200127

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200212

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200218

R150 Certificate of patent or registration of utility model

Ref document number: 6664339

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150