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51. 发明专利

JPH02279477A DETACHABLE DEVICE FOR AUTOMOBILE TRUNK OR BONNET 失效
公开(公告)号：JPH02279477A
公开(公告)日：1990-11-15
申请号：JP9786989
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , WATANABE KOJI , OBATA MITSUYOSHI , YOMODA MASAHIKO , MAEDA SHIZUO
IPC分类号： B23P21/00 , B23P19/06 , B62D65/00
摘要： PURPOSE:To facilitate the detachment of a trunk or the like by opening the trunk or the like assembled to a body frame of an automobile by means of gauging, and holding the said trunk or the like after a position of this trunk or the like, while clamping or loosening a thread member screwed in an automobile body. CONSTITUTION:When a trunk 1 is removed from a body frame 2 of an automobile and carried into a coating process or the like, first an on-off mechanism 4, a holding mechanism 5 and a nut runner 121 are located to a specified position in relation to the body frame 2 placed in a specified position and then an arm 13 is moved onto a specified track by motors 38, 40, opening the trunk 1. Next, the trunk 1 is held by the holding mechanism 5, and a trunk locking bolt 102 is loosened by the nut runner 121. At this time, a detecting member 138 is moved in X and Y directions by an air cylinder, and the extent of travel till this member 138 comes into contact with the side of a head part 102a of the bolt 102 is detected by a potentiometer, and according to the detected result, a positional compensation for the runner 121 is carried out.

52. 发明专利

JPH02279476A DETACHABLE DEVICE FOR AUTOMOBILE FENDER 失效
公开(公告)号：JPH02279476A
公开(公告)日：1990-11-15
申请号：JP9786889
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , WATANABE KOJI , OBATA MITSUYOSHI , YOMODA MASAHIKO
IPC分类号： B23P21/00 , B23P19/06 , B62D65/00
摘要： PURPOSE:To facilitate the detachment of a fender by holding the said fender after a position of it assembled to a body frame of an automobile by means of gauging, while performing a positional compensation according to the detected result of a thread member screwed in an automobile body and then clamping or loosening the thread member. CONSTITUTION:When a fender 1 is removed from a body frame 2 of an automobile and carried into a coating process or the like, first a motor is driven and a holding mechanism 5 and a nut runner 121 are located to a preset position in relation to the body frame 2 placed in a specified position. Next, a locking bolt 102 so far supporting the fender 1 on the body frame 2 is loosened by the nut runner 121, having the fender 1 held by the holding mechanism 5. At this time, a detecting member 138 is moved in X and Y directions by air cylinders 141, 144, and the extent of travel till this member 138 comes into contact with the side of a head part 102 or the bolt 102 is detected by potentiometers 142, 145, and according to the detected result, positional compensation for the runner 121 is carried out.

53. 发明专利

JPH02279475A HANDLING DEVICE FOR TRUNK OR BONNET 失效
公开(公告)号：JPH02279475A
公开(公告)日：1990-11-15
申请号：JP9786689
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , OBATA MITSUYOSHI
IPC分类号： B23P21/00 , B62D65/00
摘要： PURPOSE:To improve operation efficiency by constituting a coating line in an automobile factory and a handling device at time of automatically disassembling or reassembling a trunk or the like in providing a holding mechanism holding the trunk or the like after a position of the trunk or the like in a state of being opened. CONSTITUTION:This handling device 3 has an on-off mechanism opening or closing a trunk 1 to a body frame and a holding mechanism 5 holding the trunk 1 after a position of the trunk 1 being opened by this on-off mechanism. This mechanism 4 is made up of supporting a set of arms 7 on both sides of a frame 6 in this holding mechanism 5 free of rocking motion, and these arms 7 are rocked and driven by a cylinder 8, and an on-off claw being driven by a cylinder 10 is installed at the side of a free end of the arms 7 free of rocking motion. On the other hand, the holding mechanism 5 has holding claws 14, 15 and 16, 17 set up in opposition to the frame 6, and front and rear ends of the trunk 1 are held by the claws 14, 15 and symmetrical sides of the trunk 1 by the claws 16, 17, respectively.

54. 发明专利

JPH02274438A NUT RUNNER 失效
公开(公告)号：JPH02274438A
公开(公告)日：1990-11-08
申请号：JP9786389
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , OBATA MITSUYOSHI
IPC分类号： B23P19/06
摘要： PURPOSE:To make work of automatically tightening and loosening a thread member possible by providing a detecting mechanism detecting a position of the thread member screwed to a workpiece, memory means for the above described detecting position, position correcting mechanism moving a socket in accordance with this thread position and a holding mechanism of the thread member. CONSTITUTION:A position of a bolt 2, screwed to a workpiece, is detected by a detecting mechanism 29 while stored in a memory 12 of a control unit 14. In accordance with the position of the bolt 2 stored in the memory 12, a socket 22 is corrected in its position by a position correcting mechanism 30, and by rotating this socket 22, the bolt 2 is tightened and loosened in that position. Further the bolt 2 loosened and placed in a separated condition by rotating the socket 22, is held by a holding mechanism 13 before its tightening action is started.

55. 发明专利

JPS59132972A Automatic spraying method for concrete or the like 失效
标题翻译：混凝土或类似的自动喷涂方法
公开(公告)号：JPS59132972A
公开(公告)日：1984-07-31
申请号：JP637883
申请日：1983-01-18
申请人： Kobe Steel Ltd
发明人： OBATA MITSUYOSHI
IPC分类号： B05D1/02 , B05D7/22 , E21D11/10
CPC分类号： E21D11/105
摘要： PURPOSE:To make the work of spraying concrete onto the corner part of a support and the cylindrical inner surface of its middle part, by calculating the locus of the position of the arm of a robot corresponding to the locus of a cylindrical surface along which a nozzle is to be carried, and inducing said nozzle along the excavated surface of a tunnel. CONSTITUTION:For performing the work of automatically spraying concrete or the like onto the cylindrical inner surface of a tunnel, the inclination of a main swinging shaft 4 is adjusted in a manner such that the axis of said main swinging shaft 4 for the arms A1, A2 of a robot is made parallel with the axis of the tunnel. Then, the positions of two horizontal points A, B on a standard plane rectangular to the axis of the tunnel, the position of one vertical point C between the points A and B, and an inward point D existent at a position in a predetermined distance inside one of the aforementioned three points in parallel with the axis of the tunnel are all instructed to a nozzle 19. The positions of the arms A1, A2 against a spraying cylindrical surface J are calculated on the basis of said data, to incline the nozzle 19 toward the corner part of a support with a predetermined angle and to perform spraying while carrying said nozzle 19 along a circular locus. Then, the nozzle 19 is carried along the cylindrical surface J to perform said spraying onto the excavated surface K of the tunnel.
摘要翻译：目的：通过计算机器人的臂位置对应于圆柱形表面的轨迹的轨迹，将混凝土喷涂到支撑件的拐角部分及其中部的圆柱形内表面上，喷嘴将被运送，并沿着隧道的挖掘表面引导所述喷嘴。构成：为了进行将混凝土等自动喷洒到隧道的圆筒内表面上的工作，主摆动轴4的倾斜度被调节成使得主摆动轴4的臂A1，机器人的A2与隧道的轴线平行。然后，在距离隧道轴线的标准平面上的两个水平点A，B的位置，点A和B之间的一个垂直点C的位置与内部点D之间的位置存在于预定距离在与隧道的轴线平行的上述三个点之一内均被指示到喷嘴19.基于所述数据计算臂A1，A2对喷射圆柱形表面J的位置，以使喷嘴 19朝向预定角度的支撑件的角部，并且沿着圆形轨迹承载所述喷嘴19时进行喷射。然后，沿着圆筒面J承载喷嘴19，对隧道的挖掘面K进行喷涂。

56. 发明专利

JPS5993290A WRIST MECHANISM OF ROBOT, MANIPULATOR, ETC. 失效
公开(公告)号：JPS5993290A
公开(公告)日：1984-05-29
申请号：JP20317582
申请日：1982-11-18
申请人： KOBE STEEL LTD
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , SAITOU SHIYUNJI
IPC分类号： B25J9/16 , B25J17/00 , B25J17/02 , B25J19/06

57. 发明专利

JPS53136258A MEMORIZATION AND REPRODUCTION TYPE INDUSTRIAL ROBOT 失效
公开(公告)号：JPS53136258A
公开(公告)日：1978-11-28
申请号：JP4873977
申请日：1977-04-27
申请人： KOBE STEEL LTD
发明人： OOGAKE TOSHIO , OBATA MITSUYOSHI
IPC分类号： B23K9/12 , B23Q15/00 , B25J9/04 , B25J9/06 , B25J9/16 , B25J9/22 , G05B19/42
摘要： PURPOSE:To provide the subject robot wherein a first horizontal arm, a second horizontal arm and a front facing arm are pivotally connected in this sequance to a turning disc and Jig for carrying out displacement in the direction of axis Z is suspended from the front facing arm, thereby trying to carry out teaching.

58. 发明专利

JPS5152344A 失效
公开(公告)号：JPS5152344A
公开(公告)日：1976-05-08
申请号：JP12670674
申请日：1974-11-01
申请人： ISHIKAWAJIMA HARIMA HEAVY IND , KOBE STEEL LTD
发明人： KIMURA KENICHI , WATANABE HIDENORI , FUKUI AKIHIRO , OBATA MITSUYOSHI
IPC分类号： B23K9/00 , B23K9/02 , B23K9/127 , B23K37/00

59. 发明专利

JPS5146538A 失效
公开(公告)号：JPS5146538A
公开(公告)日：1976-04-21
申请号：JP12048174
申请日：1974-10-18
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , USUI KOKI
IPC分类号： B23K9/127 , B23K9/12 , B23K37/00

60. 发明专利

JP2001009771A MOTIVE POWER TRANSMISSION MECHANISM FOR ROBOT 失效
公开(公告)号：JP2001009771A
公开(公告)日：2001-01-16
申请号：JP18744899
申请日：1999-07-01
申请人： KOBE STEEL LTD
发明人： HONKE KOICHI , OBATA MITSUYOSHI
IPC分类号： B25J17/00
摘要： PROBLEM TO BE SOLVED: To actuate an arm in high positioning precision and at high working speed almost without causing increase of part cost and a burden of maintenance. SOLUTION: This mechanism transmits rotating driving force of a driving pulley to a driven pulley through a timing belt and revolves an arm connected to the driven pulley by giving tensile force to the timing belt by pushing a tension mechanism 10 against the timing belt to connect the driving pulley and the driven pulley to each other. The tension mechanism has a tension pulley 11 to be made contact with the timing belt, a viscoelastic support mechanism 13 to support the tension pulley 11 while having a character of viscosity and elasticity by a viscous member 15 and an elastic member 16 so as to absorb vibration energy given to the tension pulley 11 and an anchor block 14.

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