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1. 发明专利

JP2007054885A Joining tool, and friction stir joining method 审中-公开
标题翻译：接合工具和摩擦接合方法
公开(公告)号：JP2007054885A
公开(公告)日：2007-03-08
申请号：JP2005246662
申请日：2005-08-26
申请人： Hino Motors Ltd , Kawasaki Heavy Ind Ltd , 川崎重工業株式会社 , 日野自動車株式会社
发明人： SETA YOSHITAKA , FUJIMOTO MITSUO , HEIKO TAKEHIRO , FUKUDA HIROSHI
IPC分类号： B23K20/12
摘要： PROBLEM TO BE SOLVED: To provide a joining tool which can improve the joining strength of the object to be joined after joining, and can further improve its fine appearance.
SOLUTION: An annular recessed part 31 going round an axis is formed at the edge face part of each shoulder part 21. The deformed part of each object 3 to be joined extruded by a pin part 22 moves toward each annular recessed part. Since the pin 22 is formed so as to be a conical-trapezoidal shape, the object to be joined can be extruded also by the circumferential face part in the pin part 22 as well as the edge face parts thereof, and the deformed part of the extruded object to be joined is made easy to be moved toward the annular recessed part, and, even if rugged shape is not formed on a backing member 14, each boss part 4 for generating calking action on the object to be joined after the deformation can be largely formed. Thus, the improvement of its strength by calking deformation can be attained together with friction stir joining without deforming the surface part of the object 3 to be joined on which the backing member 14 is abutted, and the joining strength of the object 3 to be joined after joining can be improved.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以提高接合后待接合物体的接合强度的接合工具，并且可以进一步改善其精细外观。解决方案：在每个肩部21的边缘部分处形成一个环绕圆周的环形凹陷部分31.由销部分22挤出的每个物体3的变形部分朝向每个环形凹部移动。由于销22形成为圆锥形状，所以被接合物也可以通过销部22的周面部及其边缘面部分挤出，被接合的被挤压物易于朝向环状凹部移动，即使在背面部件14上没有形成凹凸形状，也可以在变形后对被接合体产生铆接作用的各凸起部4，主要形成。因此，通过摩擦搅拌接合可以实现其强度的提高，而不会使背衬构件14所抵接的待接合物体3的表面部分变形，并且待接合物体3的接合强度加盟后可以改善。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2007268588A Friction stir welding method 有权
标题翻译：摩擦焊接方法
公开(公告)号：JP2007268588A
公开(公告)日：2007-10-18
申请号：JP2006099517
申请日：2006-03-31
申请人： Hino Motors Ltd , Kawasaki Heavy Ind Ltd , 川崎重工業株式会社 , 日野自動車株式会社
发明人： FUKUDA HIROSHI , SETA YOSHITAKA
IPC分类号： B23K20/12 , B23K103/10
摘要： PROBLEM TO BE SOLVED: To provide a friction stir welding method for simultaneously solving such conventional problems that a decrease in strength due to material perforation and insufficient stirring, a decrease in productivity due to abnormal stop of welding equipment, and deterioration in quality due to defective appearance.
SOLUTION: When performing the friction stir welding of materials 1, 2, the adequate numbers of target positions are specified at arbitrary positions in the overlapping direction of the materials 1, 2, and the positional control of a welding tool 3 is performed by setting the welding condition of the welding time, the pressure, and the number of rotation for each positional control range to be classified in the overlapping direction by the target positions. When the position of a fore end of the welding tool 3 reaches the target position earlier than the welding time set in the positional control range, the present target position is maintained before the remaining welding time is elapsed. In the mean time, when the position of the fore end of the welding tool 3 does not reach the target position even if the welding time set in the positional control range is elapsed, the welding time is prolonged until the fore end reaches the target position.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种摩擦搅拌焊接方法，用于同时解决由于材料穿孔和搅拌不足导致的强度降低，由于焊接设备的异常停止而导致的生产率降低和质量劣化的常规问题由于外观不良解决方案：当进行材料1,2的摩擦搅拌焊接时，在材料1,2的重叠方向上的任意位置处指定足够数量的目标位置，并且执行焊接工具3的位置控制通过将各个位置控制范围的焊接时间，压力和旋转数的焊接条件设定为重叠方向上的目标位置。当焊接工具3的前端的位置比设定在位置控制范围内的焊接时间早到达目标位置时，在剩余焊接时间过去之前保持当前目标位置。同时，即使焊接工具3的前端的位置即使经过了设定在位置控制范围内的焊接时间，焊接工具3的前端位置也未到达目标位置，焊接时间也延长到前端到达目标位置。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2004291132A Holding device and articulated robot having the same 有权
公开(公告)号：JP2004291132A
公开(公告)日：2004-10-21
申请号：JP2003085846
申请日：2003-03-26
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： JO MITSUHIRO , SETA YOSHITAKA , FUKUDA TAKUYA , OSHIMA TAKASHI , UENO ATSUSHI
IPC分类号： B25J15/06
摘要： PROBLEM TO BE SOLVED: To provide a holding device preventing deflection and clamping a work even if the shape of the work and a storage state are different. SOLUTION: This holding device is provided with a plurality of claw members 9 locking the work 10 in the direction crossing with a reference direction A, a chuck body drive motor 16 driving a chuck body 7, which is provided with the respective claw members 9, to displace in the reference direction A, a plurality of adsorption pads displaceably held, and a lock mechanism. Even if the shape of the work 10 is different, this constitution can, after locking the respective claw members 9 to the work 10, locks the adsorption pads 4 to surely prevent the deflection of the work 10. If the attitude of the work 10 to be stored is unstable, the claw members 9 support the work 10 from the opposite direction of the adsorption pads of the work 10, so that the work is held with retaining the attitude in the storage. The claw members 9 are moved to prevent the claw members 9 from impeding the adsorption action. COPYRIGHT: (C)2005,JPO&NCIPI

4. 发明专利

JP2007144458A Friction stirring and joining method 有权
标题翻译：摩擦搅拌和接合方法
公开(公告)号：JP2007144458A
公开(公告)日：2007-06-14
申请号：JP2005342000
申请日：2005-11-28
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： SETA YOSHITAKA , OSHIMA TAKASHI , FUKUHARA KAZUMI , FUJIMOTO MITSUO
IPC分类号： B23K20/12
摘要： PROBLEM TO BE SOLVED: To provide a friction stirring and joining method capable of locally increasing the joining strength of a work, and expanding a joinable range of application. SOLUTION: A joining tool 20 is embedded in a first joining part 23 to allow a plurality of members 25, 26 to be subjected to the friction stirring and joining. Next, the joining tool 20 is embedded in a second joining part 24 brought close to the first joining part 23, and the plurality of members 25, 26 are subjected to friction stirring and joining. The space between the two joining parts 23, 24 can be reduced in comparison with the resistance spot welding, and the joining strength of a work 27 can be locally increased. Further, a high joining strength can be given to the work 27 by using the joining tool 20 of small diameter, and the friction stirring and joining applicable range can be expanded. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供能够局部地提高工件的接合强度并扩大可接合的应用范围的摩擦搅拌和接合方法。解决方案：接合工具20嵌入在第一接合部23中，以允许多个构件25,26进行摩擦搅拌和接合。接下来，将接合工具20嵌入到靠近第一接合部23附近的第二接合部24中，并且使多个部件25,26进行摩擦搅拌接合。与电阻点焊相比，两个接合部23,24之间的间隔可以减小，并且工件27的接合强度可以局部增加。此外，通过使用小直径的接合工具20，可以对工件27赋予高的接合强度，并且可以扩大摩擦搅拌和接合适用范围。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2004244141A Robot system 审中-公开
标题翻译：机器人系统
公开(公告)号：JP2004244141A
公开(公告)日：2004-09-02
申请号：JP2003033862
申请日：2003-02-12
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： USUNAGA YASUO , SETA YOSHITAKA
IPC分类号： B25J5/00 , B65G47/90
摘要： PROBLEM TO BE SOLVED: To provide a robot system capable of precisely performing work for a working object by preventing an arrangement position of the working object with respect to a robot from being deviated.
SOLUTION: In this system, the robot 3 and a holding device 4 are arranged in a working area adjacent to a storage place 10 by a truck 2. When a work is carried in a carrying-in area 72 of the holding device 4 from the storage place 10, the work is displaced and aligned with the working area 73 by the holding device 4. The robot 3 performs palletizing work to the aligned work. The work to be aligned with the working area is in a predetermined positional relationship to the robot. Thus the robot 3 is allowed to work in accordance with a predetermined procedure without teaching the robot 3 a position of each work. Accordingly even when the truck 2 is arranged being slightly shifted from a target position, the work can be precisely performed by the robot without changing the working procedure of the robot during the working of the robot.
COPYRIGHT: (C)2004,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够通过防止工作对象相对于机器人的布置位置的偏移而能够精确地对作业对象进行工作的机器人系统。
解决方案：在该系统中，机器人3和保持装置4通过卡车2布置在与存储位置10相邻的工作区域中。当工件被携带在保持装置的搬入区域72中时如图4所示，通过保持装置4将工件移位并与工作区域73对准。机器人3对对准的工件进行码垛作业。与工作区域对准的工作与机器人成预定的位置关系。因此，机器人3被允许按照预定的过程进行工作，而不向机器人3指示每个工件的位置。因此，即使在卡车2被布置成从目标位置稍微偏移的情况下，也可以在机器人的作业中不改变机器人的作业程序的情况下由机器人精确地进行作业。版权所有（C）2004，JPO＆NCIPI

6. 发明专利

JP2004010288A STACKING DEVICE FOR OBJECT 审中-公开
公开(公告)号：JP2004010288A
公开(公告)日：2004-01-15
申请号：JP2002167937
申请日：2002-06-07
申请人： KAWASAKI HEAVY IND LTD
发明人： SETA YOSHITAKA , SAWADA HIROSHI , DERIBA SADAMI , SETO TADAYOSHI
IPC分类号： B65D19/38 , B65G57/03 , B65G59/04 , B65G59/06 , B65G60/00 , B65H31/18 , B65H33/02
摘要： PROBLEM TO BE SOLVED: To automate work for separating plywood 5 from a combination body 2 wherein the plywood 5 that is a protective member is lapped on a pallet 4, placing an object 7 such as a cardboard sheet onto the pallet 4, and placing the plywood 5 onto the object 7. SOLUTION: In this stacking device, the combination body 2 wherein the pallet 4 and the plywood 5 are overlapped is fed from a first feeding means 3 one by one, and is carried by a second carrying means 11. A detection means 6 detecting the presence of the plywood 5 on the pallet 4 is provided halfway along a carrying route 12 of the second carrying means 11. When the the detection means 6 detects the single sheet of plywood 5, a robot 9 separates the plywood 5 and temporally lays the plywood 5 onto a temporally-laying area 71 in a work area 69. Next, the object 7 from a second feeding means 8 is grasped and placed onto the pallet 4. Next, the robot 9 places the plywood 5 from the temporally-laying area 71 onto the object 7. Finally, the pallet 4, the object 7 and the plywood 5 are bound and packed by a belt 15, and are made to be a shipment packing style. COPYRIGHT: (C)2004,JPO

7. 发明专利

JPH07165223A AUTOMATIC BAG-OPENING SYSTEM 失效
公开(公告)号：JPH07165223A
公开(公告)日：1995-06-27
申请号：JP34150993
申请日：1993-12-10
申请人： KAWASAKI HEAVY IND LTD
发明人： TOYODA HIROO , SETA YOSHITAKA , FUKUNISHI TOYOAKI , TAMURA HIROKAZU
IPC分类号： B65B69/00
摘要： PURPOSE:To prevent a cut-out piece of a bag from becoming mixed with contents, to prevent decline of strength in areas near the opening and to facilitate adjustment of discharge amount for the contents by a method wherein the bag is held with its one end projecting and the projecting end of the bag is opened and the bag is tilted slowly toward a port for throwing-in. CONSTITUTION:One of palletized bags P is drawn by suction with a suction device 21 held with an arm of a first robot 20 and is transferred to a conveyance device 40. Then, a bag-holding device 50 held with an arm of a second robot 30 is positioned to the rear end of the conveyance device 40. The conveyed bag P is thrown into the holding device 50 and turned, being pressed with s pressing plate, so that a part to be opened of the bag comes to face upward. A disk-like blade of an opening device 10 is turned to cut the upper end of the bag P, and contents in the bag around the opening are dropped into the inside of the bag P. Then, the bag-holding device 50 is transferred, with the opening part of the bag held facing upward, to a port I for throwing-in and tilted slowly to allow the contents to fall into the port I for throwing-in.

8. 发明专利

JP2003195934A FAILURE DIAGNOSING SYSTEM, FAILURE DIAGNOSING DEVICE AND COMPUTER PROGRAM 审中-公开
公开(公告)号：JP2003195934A
公开(公告)日：2003-07-11
申请号：JP2001399322
申请日：2001-12-28
申请人： KAWASAKI HEAVY IND LTD
发明人： WADA TAKAO , MIYAMOTO YUICHI , SAWAI TSUNEYOSHI , MATSUMOTO SUMIAKI , KANO YUZO , SETA YOSHITAKA , FUJI MASATO
IPC分类号： G06Q50/10 , G05B23/02 , G06Q50/00 , H04Q9/00 , G06F17/60
摘要： PROBLEM TO BE SOLVED: To provide a failure diagnosing system, a failure diagnosing device and a computer program, capable of minimizing a size of the data used in the failure diagnosis, and diagnosing the failure even from equipment at a remote place and the like. SOLUTION: The temporal response patterns of state signals respectively representing two or more states of the intended equipment are recorded as two or more state data, the combination of the state data 31, 32 necessary for diagnosing the designated failure are extracted from the state data, the extracted state data 31, 32 are compressed in the time base direction to be converted into a time compressed data 43, the abnormal case data as the time compressed data obtained from the combination of state data of the case when the intended equipment is abnormal, is collated with the time compressed data 43, and the failure of the intended equipment is diagnosed on the basis of a result of the collation. COPYRIGHT: (C)2003,JPO

9. 发明专利

JP2002145448A REVERSAL PILING UP DEVICE 失效
公开(公告)号：JP2002145448A
公开(公告)日：2002-05-22
申请号：JP2000340306
申请日：2000-11-08
申请人： KAWASAKI HEAVY IND LTD
发明人： SETA YOSHITAKA , SAWADA HIROSHI , DERIBA SADAMI , SETO TADAYOSHI
IPC分类号： B25J15/08 , B65G47/90 , B65G57/081 , B65G61/00
摘要： PROBLEM TO BE SOLVED: To efficiently carry out a reversal piling up work of works in a short time. SOLUTION: A work 3 is placed on a horizontal placing surface of a feed means 17 extending toward a taking out side of the work 3 and is clamped between a first fork means 30 and a second fork means 31 of a hand 19. The hand 19 is attached to a wrist 21 of a robot 20 and the wrist 21 can be displaced by an angle of at least 180 deg. around a wrist axis J6. A lower arm 50, an upper arm 51 and the wrist 21 of the robot 20 can be angularly displaced around a second axis J2, a third axis J3, a fourth axis J4 and a fifth axis J5 respectively. Thereby, the work 3 can be conveyed from the feed means 17 to a receiving means 18 while shortening a movement distance by an angular displacement motion and the work 3 can be piled up on the receiving means 18 while alternately reversing upper and lower ends of the work 3.

10. 发明专利

JPH0781870A BAG-OPENING HAND FOR USE WITH ROBOT 失效
公开(公告)号：JPH0781870A
公开(公告)日：1995-03-28
申请号：JP25505493
申请日：1993-09-18
申请人： KAWASAKI HEAVY IND LTD
发明人： TOYODA HIROO , SETA YOSHITAKA
IPC分类号： B25J15/06 , B65B69/00 , B66C1/02 , B66C1/28 , B66C1/59
摘要： PURPOSE:To provide a bag-opening hand for use with a robot, that eliminates the possibility of the cut ends of a bag being put in the contents of the bag, prevents the strength of the bag near an opening from being deteriorated when the bag is cut, and allows easy adjustment of the amount by which the contents are discharged. CONSTITUTION:An attraction means 20 having a vertically movable attracting portion 21 is provided in the center portion of the upper side of a bag-opening hand main body 10 having a coupling portion to a robot arm, and a bag F is depalletized by this attracting portion 21 and set on a setting portion in which needles 55 are placed to prevent the bag F from slipping, and then the center of the lower side of the bag F is cut by a cutter C. The contents of the bag F are discharged by the butterfly movement of the lower portion 50 of the holding means 30. The speed of the discharging can be regulated by the adjustment of the angle and speed of the butterfly movement.

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