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1. 发明专利

JP2002022665A METHOD AND APPARATUS FOR INSPECTION OF SURFACE DEFECT 失效
公开(公告)号：JP2002022665A
公开(公告)日：2002-01-23
申请号：JP2000211310
申请日：2000-07-12
申请人： NIPPON KOKAN KK , TOYOTA MOTOR CORP
发明人： UESUGI MITSUAKI , KAWAMURA TSUTOMU , NATSUME AKIRA , MIYAMOTO YASUSHI , SAKAKIBARA MASATO , YAMADA KIYOSHI
IPC分类号： G01N21/88 , G06T1/00 , G06T3/00 , H04N1/40
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus, for the inspection of a surface defect, wherein a robust inspection can be performed even with reference to the influence of the strain of slit light due to the reflectance or the 3-D irregular shape of a face to be inspected. SOLUTION: The semispecular face 2, to be inspected, having an irregular defect 1 is irradiated with slitlike diffusion illumination light by using an illuminator 3, and its illumination mirror image 4 is photographed by an imaging device 5. The illuminator 3 can be scanned by a scanning mechanism 6. When it is scanned, the illumination mirror image 4 is moved on the face 2 to be inspected. The position of the illuminator 3 is output as a scanning position signal by the scanning mechanism 6. An image compositing device 7 processes the momentary image of the face to be inspected. The value of the scanning position signal at a timing at which every pixel corresponding to every point on the face 2 to be inspected is regarded as the value of the pixel, and an image having the value of the pixel is composited. A defect judgment device 8 processes the composited image so as to extract a defect part on the face to be inspected. Thereby, its size or its degree is discriminated.

2. 发明专利

JP2012232386A Method for calculating axial force and fastening tool 有权
标题翻译：计算轴力和紧固件工具的方法
公开(公告)号：JP2012232386A
公开(公告)日：2012-11-29
申请号：JP2011103530
申请日：2011-05-06
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MORI TAKEO , SAKAKIBARA MASATO , MATSUMOTO YUSUKE , NAKAMURA HISANORI , OKURA MORIHIKO
IPC分类号： B25B23/14
摘要： PROBLEM TO BE SOLVED: To provide a method for calculating axial force which can calculate an axial force which remains after a lapse of a predetermined time when a flexible member such as a packing is interposed in a fastening part of a bolt.SOLUTION: The method for calculating axial force calculates an expected axial force Facting on a bolt 11 (or nut hole 15a) when fastening respective workpieces 13, 15 by tightening the bolt 11 while interposing the packing 14 between respective workpieces 13, 15. The method for calculating axial force preliminarily calculate a relational expression (formula 5) that expresses a ratio (axial force descent rate M (t)) between the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the expected axial force Facting on the bolt 11 after a lapse of the predetermined time from the completion of fastening the bolt 11 as a function of a fastening time tof the bolt 11, and also substitutes a detection value of the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the fastening time tof the bolt 11 into a relational expression (formula 5) to calculate the expected axial force F.
摘要翻译：要解决的问题：提供一种用于计算轴向力的方法，其可以计算在诸如填料的柔性构件插入螺栓的紧固部分中之后经过预定时间后保持的轴向力。解决方案：用于计算轴向力的方法计算当通过紧固紧固相应的工件13,15时作用在螺栓11（或螺母孔15a）上的预期轴向力F 2 螺栓11，同时将密封件14插入在各个工件13,15之间。轴向力的计算方法预先计算表示比例（轴向下降率M（t 1 在从螺栓11的紧固结束完成经过预定时间之后作用在螺栓11上的“> 2 作为紧固时间t 1 的函数螺栓11，并且在完成螺栓11的固定和紧固时间t SB SB =“时，也可以代替作用在螺栓11上的轴向力F 1 的检测值 POST“> 1 将螺栓11转换为关系式（公式5）以计算预期的轴向力F 2 。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2002109513A COATING DEFECT DETECTOR AND MASK IMAGE PREPARING METHOD 失效
公开(公告)号：JP2002109513A
公开(公告)日：2002-04-12
申请号：JP2000296064
申请日：2000-09-28
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： B05C21/00 , G06T1/00 , G06T7/00
摘要： PROBLEM TO BE SOLVED: To automatically prepare a mask image capable of reliably masking a border line of a light-and-shade pattern, and to appropriately detect coating defect. SOLUTION: The concentration at predetermined points of the coating image which is illuminated and photographed by using the light-and-shade pattern is measured (S200), and the predetermined points are classified into white and black groups by using the average value (S202 and S204). The predetermined points arranged in the longitudinal or transverse direction are classified in groups in a range of a predetermined concentration by comparing the concentration with respect to one of the white and black groups for each column and each row (S206). The point number in grouping is divided by the minimum point number constituting the group for each column and each row to make the basic number of division, and the division pattern for dividing the coating image is selected with the minimum basic number of division for column and row as each number of division (S208 and S210). The center of gravity is calculated for each divided image to extract the intermediate concentration (S214-S218), which is defined as the mask image of the border of the light-and- shade pattern.

4. 发明专利

JP2002089783A MACHINE LIMITER 失效
公开(公告)号：JP2002089783A
公开(公告)日：2002-03-27
申请号：JP2000281206
申请日：2000-09-18
申请人： TOYOTA MOTOR CORP
发明人： INOUE MASAHIRO , SAKAKIBARA MASATO
IPC分类号： F16P3/12
摘要： PROBLEM TO BE SOLVED: To reduce the size of equipment by shortening a process line while assuring the safety of a worker. SOLUTION: A first area sensor 24 for limiting the operations of working robots 22a, 22b, 22c, and 22d is installed at an entrance to a working area 38b smaller than the maximum operating area 38a in which the working robots 22a, 22b, 22c, and 22d can be operated and a second area sensor 26 for detecting the entry of the worker into a working area 38b is installed in an area apart a specified distance from the first area sensor 24. When detecting the passing of either of the first area sensor 24 and the second area sensor 26, a controller 40 stops the operations of the working robots 22a, 22b, 22c, and 22d. Thus, the process line can be shortened while assuring the safety of the worker.

5. 发明专利

JP2002029624A METHOD FOR JUDGING INTERFERENCE OF ADVANCING OBJECT WITH FACILITY 失效
公开(公告)号：JP2002029624A
公开(公告)日：2002-01-29
申请号：JP2000214659
申请日：2000-07-14
申请人： TOYOTA MOTOR CORP
发明人： FUJISHIMA MASATAKE , SAKAKIBARA MASATO , WASHIZU SHINICHI
IPC分类号： B65G35/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a method for judging the interference of an advancing object with a facility capable of judging the interference by use of a distance center and a computer. SOLUTION: This method comprises, in the judgment of the interference of the object 11 with the facility 13 when advancing the object 11 within the facility 13 by a carrying device 12, advancing the carrying device 12 in the facility 13 with the distance sensor 14 being loaded thereon, measuring and recording the distance between the distance sensor 14 and the facility 13 in each position or each direction of the distance sensor 13, forming a virtual three-dimensional model 15 of the facility 13 around the distance center advancing linear axis from the record data by use of the computer, and judging whether the virtual three-dimensional model 15 of the facility 13 interferes with the outer shape of the object 11 or not on the computer.

6. 发明专利

JP2001149836A METHOD AND DEVICE FOR ROLLER COATING 失效
公开(公告)号：JP2001149836A
公开(公告)日：2001-06-05
申请号：JP33785199
申请日：1999-11-29
申请人： TOYOTA MOTOR CORP
发明人： SAKAKIBARA MASATO , MURATE MASASHI , FUJISHIMA MASATAKE
IPC分类号： B05D1/28 , B05C1/02 , B05C11/00
摘要： PROBLEM TO BE SOLVED: To provide a roller coating method and a device therefor eliminating the necessity of cleaning a coating roller in replacing colors to contribute to the improvement of productivity and reduction of the manufacturing cost. SOLUTION: Coating rollers 5, coating material tanks 6 and feed rollers 7 for feeding coating material P in the coating material tanks 6 into the coating roller 5 are provided for respective colors, and the feed rollers 7 colors are disposed on the same axis, and all of them are supported on a rotating shaft 11 rotated and driven by a motor 13, while supporting means 14 horizontally supporting the coating rollers 5 and bringing them into contact with the feed rollers 7 are provided around respective feed rollers 7, and a fitting and removing mechanism fitting and removing the coating rollers 5 is provided on a wrist section 4 of a robot 3 so that the robot 3 can hold one coating roller 5 for the color required for the coating in place of the coating roller used so far for the replacement of colors.

7. 发明专利

JPH11319642A ELECTROSTATIC COATING METHOD AND ELECTROSTATIC COATING DEVICE 失效
公开(公告)号：JPH11319642A
公开(公告)日：1999-11-24
申请号：JP13002598
申请日：1998-05-13
申请人： TOYOTA MOTOR CORP
发明人： SAKAKIBARA MASATO , MURATE MASASHI , YAMAZAKI ISAMU , TANI SHINJI
IPC分类号： B05D1/04 , B05B5/03 , B05B5/04 , B05B5/16 , B05B7/08
摘要： PROBLEM TO BE SOLVED: To provide an electrostatic coating method and an electrostatic coating device capable of preventing electric current from being leaked through a coating material. SOLUTION: At a coating time when the coating material is fed from a coating material feed path 20 to an atomizing head 10, gas 41 is fed into the coating material feed path 20 and a flow of the coating material 40 in the coating material feed path 20 is partially stopped. This electrostatic coating device is provided with the atomizing head 10 consisting of a cup part 11 and a hub 12 provided inside the cup part 11, the coating material feed path 20 for feeding the coating material to the atomizing head 10, and a gas feed part 30 for feeding the gas into the coating material feed path 20. A gas discharge port 13 for discharging the gas is provided on the back of the hub 12 in the atomizing head 10.

8. 发明专利

JPH07289980A METHOD FOR COATING BY EXTRUSION OF THINNER 失效
公开(公告)号：JPH07289980A
公开(公告)日：1995-11-07
申请号：JP8279194
申请日：1994-04-21
申请人： TOYOTA MOTOR CORP
发明人： SAKAKIBARA MASATO , ONISHI YOSHIAKI , OISHI SHOGO
IPC分类号： B05D1/02 , B05B12/14 , B05D1/04 , B05D3/00 , B05D5/06
摘要： PURPOSE:To suppress the fluctuation in the output of a coating by a method wherein when the last part of the coating is applied for coating by ejecting it with a thinner, after a thinner valve has been opened before a gate valve is opened, the gate valve is opened at the same time when or before a color change valve is closed. CONSTITUTION:A color change valve is connected with the upstream side of a coating gun 1 through a regulator for the output. In addition, a gate valve 4 is arranged on the rearmost part of the color change valve 3. Furthermore, a thinner valve 5 and an air valve 6 are connected with the upstream side of the gate valve 4 through a hose 7. In this case, when an ordinary coating is shifted to a thinner extrusion coating, at first, before the gate valve 4 is opened, the thinner valve 5 is opened. Air in the hose 7 is compressed thereby. Then, the gate valve is opened at the same time when or before the color change valve is closed. The flow rate and the output of extrusion of the coating is prevented thereby from decreasing by utilizing expansion of air.

9. 发明专利

JPH06235623A INSPECTING APPARATUS FOR DEFECT OF PAINTING 失效
公开(公告)号：JPH06235623A
公开(公告)日：1994-08-23
申请号：JP2136293
申请日：1993-02-09
申请人： TOYOTA MOTOR CORP
发明人： OISHI HIROYUKI , KAWASE MASAO , MORINAGA YASUHIKO , SAKAKIBARA MASATO
IPC分类号： G01B11/30 , G01N21/88
摘要： PURPOSE:To improve the inspecting efficiency and make an apparatus compact by controlling an image processing means and a marking controlling means so that a processing time to detect a defect on the surface of a to-be-inspected object and a marking processing time overlap for a predetermined time. CONSTITUTION:An image signal including data of the state of a predetermined area on an automobile body 1 which is generated by a photographing camera 7 is sent to an image processing device 22. The device 22 binarizes the image signal thereby to extract a defect and sends a defect detecting data to a total controlling device 21. The device 21 feeds the defect detecting data including coordinates of the photographing point to a data processing device 23. As the photographing process proceeds, the controlling device 21 detects whether the driving range of a photographing robot 5 and that of a marking robot 9 become not to interfere with each other. If the driving range is detected not to interfere, the detection of the defect by the camera 7 and the processing device 22 is conducted simultaneously with the marking by a marking device 6 and a marking controlling device 16, etc. Accordingly, the time necessary for the inspection of the painting defect is shortened.

10. 发明专利

JPH0477806A DETECTING DEVICE FOR POSITION ERROR OF ROBOT 失效
公开(公告)号：JPH0477806A
公开(公告)日：1992-03-11
申请号：JP18594390
申请日：1990-07-13
申请人： TOYOTA MOTOR CORP
发明人： MORINAGA YASUHIKO , SAKAKIBARA MASATO
IPC分类号： B25J9/22 , G05B19/18 , G05B19/404 , G05D3/12
摘要： PURPOSE:To automatically detect the dimensional deviation and the angular deviation of a movable part by detecting the dimensional deviation between a 1st reference point of an image and a 1st target position, the dimensional deviation between a 2nd reference point of the image and a 2nd target position, and the dimensional deviation between the size of the 1st or 2nd reference point and a target size respectively. CONSTITUTION:The dimensional deviation is detected between a 1st reference point T of an image photographed by an image pickup device and a 1st prescribed target position. The dimensional deviation is detected between a 2nd reference point M of the image and a 2nd prescribed target position. Then the deviation is also detected between the size of the 1st or 2nd reference point of the image and a prescribed target size. Thus the dimensional and angular deviation are obtained between a movable part 22 and a reference position. As a result, the teaching position data can be automatically corrected in a short time and with high accuracy.

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