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1. 发明专利

JP2002113699A MOVABLE BODY AND SYNCHRONISM OBTAINING METHOD WITHIN MOVABLE BODY GROUP 失效
公开(公告)号：JP2002113699A
公开(公告)日：2002-04-16
申请号：JP2000305951
申请日：2000-10-05
申请人： KAWASAKI HEAVY IND LTD
发明人： SHIMOMURA YOSHIKI , HASUNUMA HITOSHI , YASUMOTO FUMIO , MAKINO KAZUNORI , NAKANO YASUO , OTSUKI YASUO
IPC分类号： B81B7/04 , G06F15/16 , G06Q40/00 , G06Q40/02
摘要： PROBLEM TO BE SOLVED: To provide a method for obtaining synchronism by a simple algorithm even within a group comprising a plurality of identical micromachines with low information processing abilities and communicating functions. SOLUTION: A nucleus A transmits a clock count based upon an internal clock to movable bodies B-E. Movable bodies B, C, and D of the movable bodies B-E connected to the nucleus A by head ports tune their internal clocks to the clock count and transmits clock counts based upon their internal clocks after tuning to other movable bodies from other than the head ports. By this, synchronism is provided in the movable body group in a spreading manner.

2. 发明专利

JP2002160043A MACHINING TOOL FOR COPE OF SAND MOLD 失效
公开(公告)号：JP2002160043A
公开(公告)日：2002-06-04
申请号：JP2000364942
申请日：2000-11-30
申请人： KAWASAKI HEAVY IND LTD
发明人： YAMADA AKIRA , YASUMOTO FUMIO
IPC分类号： B22C23/00
摘要： PROBLEM TO BE SOLVED: To provide a machining tool for a cope of a sand mold which can automatically perform boring of a feeder hole. SOLUTION: The machining tool for the cope of the sand mold is attached to the top of an arm of a manipulator with multi-degree of freedom and applies machining on the cope of the sand mold placed horizontally. The machining tool is provided with a cylindrical tool holding base 4 connected to the top of the arm 2a of the manipulator 2 with multi-degree of freedom and various semi-cylindrical feeder hole tools 9 to drill feeder holes in molding sand of the cope, connected detachably to the top of the tool holding base via a tool exchanging joint 8.

3. 发明专利

JP2002066691A WORKING EQUIPMENT FOR UPPER MOLD OF SAND MOLD 失效
公开(公告)号：JP2002066691A
公开(公告)日：2002-03-05
申请号：JP2000253645
申请日：2000-08-24
申请人： KAWASAKI HEAVY IND LTD
发明人： YAMADA AKIRA , YASUMOTO FUMIO , IMAI YOSHIYUKI
IPC分类号： B22C23/00
摘要： PROBLEM TO BE SOLVED: To provide a working equipment for an upper mold of a sand mold capable of conducting accurately the boring work for a feeding head port with excellent productivity. SOLUTION: The equipment is provided with a carrying device 1 for carrying the upper mold 2 making it possible to be positioned and stopped, a multiple freedom degree manipulator 3 detachably provided with a tool for boring a feeding head port on the upper mold, a tool exchanger 9 for housing various kinds of tools corresponding to the diameter of the feeding head port to be made exchangeable, a database 10 for storing geometric data on the position, diameter and number of pieces of the ports of the various kinds of the upper mold, a manipulator controller 1 for controlling the tool exchanger and the manipulator based on the geometric data, a first computer 12 which can input the kind, the number of pieces and the order of the upper mold to be carried, and inputs the geometric data, being positioned and stopped, from the database at the request of the manipulator controller, and output them to the manipulator controller, and a second computer 13 for exciting the carrying device and the manipulator controller in the prescribed sequence.

4. 发明专利

JP2002144299A MOVING BODY, AND SELF-RECOVERING METHOD OF GROUP OF MOVING BODIES 失效
公开(公告)号：JP2002144299A
公开(公告)日：2002-05-21
申请号：JP2000337751
申请日：2000-11-06
申请人： KAWASAKI HEAVY IND LTD
发明人： SHIMOMURA YOSHIKI , HASUNUMA HITOSHI , YASUMOTO FUMIO , MAKINO KAZUNORI , NAKANO YASUO , OTSUKI YASUO
IPC分类号： B81B7/04
摘要： PROBLEM TO BE SOLVED: To provide a method of allowing even a group composed of plural micro-machines almost same as each other and having the low information processing capacity and the low communicating function, to have the self- recovering characteristic with simple algorism. SOLUTION: A moving body as a component of a pattern periodically diagnoses its communicating function (M12), spontaneously leaves from a group of moving bodies when it recognizes the fault in the self-communicating function (M13), further periodically diagnoses its moving function (M17), and leaves from the group of moving bodies by allowing another adjacent moving body to push it out when it recognizes the fault in the self-moving function.

5. 发明专利

JP2001079646A METHOD FOR FINISHING SAND MOLD FOR CASTING AND AUTOMATIC MOLD SHAPING APPARATUS FOR SAND MOLD 失效
公开(公告)号：JP2001079646A
公开(公告)日：2001-03-27
申请号：JP25781499
申请日：1999-09-10
申请人： KAWASAKI HEAVY IND LTD
发明人： YASUMOTO FUMIO , YAMADA AKIRA
IPC分类号： B22C9/18 , B22C9/08 , B22C19/04
摘要： PROBLEM TO BE SOLVED: To eliminate the need for change of a squeeze head for each product and to mechanize the finishing work by fitting a sprue sleeve shorter than a molding flask height at the position of the sprue, filling molding sand into the molding flask, making it hard with a squeeze head, flatly scraping the molding sand to the upper end of the sprue sleeve, exposing the sprue sleeve and setting a sprue cup. SOLUTION: For example, a pattern 13 is set in the molding flask 11 and the molding sand 14 is filled. The sprue 15 is formed on the pattern 13 and the sprue sleeve 16 shorter than the height of the molding flask 11, is inserted into the outer periphery of the sprue 15. Successively, a sand mold is fitted to a pressing compressor to squeeze and harden the molding sand 4 with the squeeze head 21. The upper end surface of the sprue sleeve 16 is burried into the molding sand 14, and not broken with the squeeze head 21. Successively, the sprue position is decided and the molding sand 14 is scraped with a cutting tool fitted to a manipulator to expose the upper end surface of the sprue sleeve 16, and the sprue cup is fitted to the tip part of the sprue sleeve 16 with the manipulator.

6. 发明专利

JPH10315166A REMOTE VISUAL DISPLAY DEVICE PROVIDED WITH WATCHING FUNCTION 失效
公开(公告)号：JPH10315166A
公开(公告)日：1998-12-02
申请号：JP14856197
申请日：1997-05-22
申请人： KAWASAKI HEAVY IND LTD
发明人： HASUNUMA HITOSHI , IDOKO TOSHIYUKI , MURAI KENICHI , TAKATORI MASAO , YASUMOTO FUMIO
IPC分类号： B25J9/10 , B25J19/04 , H04N5/225 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To reduce burned of a watchman by providing a function able to easily watch an object by stabilizing an image and for reducing uncomfortableness to be applied to the watchman, in a remote visual display device for remote-controlling a camera by the movement of the head. SOLUTION: A watching function is provided for measuring the positional relationship between the camera 2 and the watching object 10 when the watching object position is indicated and for specifying the movement of a camera 2 by a spherical coordinate system taking the position of a watching object 10 as an origine. A head mount display 4 is used as a display device, the operation of a robot hand 1 and the camera 2 may be performed by the movement of the head of an operator, detected by a three-dimensional position measuring device 5 provided on the head mount display 4. A control mode for changing the position of the camera 2 while keeping the distance from the origine of the spherical coordinate system constant, and a control mode for changing the distance to the origine are provided, and it is desirable that the operation of the camera 2 is performed by switching the control modes.

7. 发明专利

JPH10296669A POSITION DETECTING METHOD AND POSITION DETECTING DEVICE FOR OBJECT 失效
公开(公告)号：JPH10296669A
公开(公告)日：1998-11-10
申请号：JP13045197
申请日：1997-05-02
申请人： KAWASAKI HEAVY IND LTD
发明人： IDOKO TOSHIYUKI , KATSURAGAWA TAKASHI , YASUMOTO FUMIO
IPC分类号： B25J9/10 , B25J13/02 , B25J13/08 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a position detecting method and a position detecting device for objects, which uses a laser projector capable of improving positioning precision, and positioning a wide range of area without restraining the operation of the hand or the manipulator of a robot. SOLUTION: This device uses a laser projecting means which is built in the hand 10 of a robot and is capable of irradiation in two directions, and irradiates an object W with the first laser beam along the central line of the hand 10. The second laser beam is applied toward a reflecting surface formed at a groove bottom surface 17a formed at the movable arm 14 of the hand 10, and its reflected light crosses the first laser beam at a prescribed position. By photographing the position of the object W, there the first and second laser beams are applied using an image pick-up means, calculating an irradiating distance between the first and second laser beams from the picked-up image, dislocation from the preset position of the object W is calculated by a control means, for example, using the irradiation distance.

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