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1. 发明专利

JPH06102258A METHOD AND EQUIPMENT FOR ULTRASONIC FLAW DETECTION 失效
公开(公告)号：JPH06102258A
公开(公告)日：1994-04-15
申请号：JP14310692
申请日：1992-04-20
申请人： KAWASAKI HEAVY IND LTD , CHUBU ELECTRIC POWER
发明人： ITOGA KOSUKE , OGATA TAKAMASA , HIRASAWA HIDEYUKI , MISUMI TAKANARI , UEDA SUMIHIRO , MIKI OSATAKE , OWAKI HIROO , FURUIKE HARUTAKA , SUGITA YUJI , ONDA KATSUHIRO , OKUMURA TAKAAKI
IPC分类号： G01B17/00 , G01B17/06 , G01N29/04 , G01N29/10
摘要： PURPOSE:To realize positive flaw detection by subjecting a three-dimensional work having complex free curved face to ultrasonic flaw detection and displaying a defective part thereof three-dimensionally as a multicolor graphic image. CONSTITUTION:External shape of a work 1' is measured by means of a laser light while, thickness and rear surface shape are measured by means of an ultrasonic probe 4', a CCD camera, or a PSD camera 12. Measurement data is fed to a three-dimensional graphic unit 16 where a multicolor three- dimensional image is displayed. Relative position, size, and the like of defective part are then identified positively to determine flaw detecting conditions which are then stored as a reference data for later flaw detection or ultrasonic flaw detection of other work. Since the position and size of defective part are imaged three-dimensionally along with the shape of the work 1', defective part can be measured accurately and countermeasure can be taken. Furthermore, aerial measurement or underwater flaw detection can be carried out in one processing environment without requiring two-dimensional operation.

2. 发明专利

JPH0457688A CONTROL DEVICE FOR ROBOT IN INERTIAL SYSTEM 失效
公开(公告)号：JPH0457688A
公开(公告)日：1992-02-25
申请号：JP17057190
申请日：1990-06-27
申请人： KAWASAKI HEAVY IND LTD
发明人： IOI KIYOSHI , NORO OSAMU , MIKI OSATAKE , KATSURAGAWA TAKASHI
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J13/08 , G05B19/18 , G05B19/404 , G05D3/12
摘要： PURPOSE:To bring an arm to a desired value by detecting the speed or acceleration of a robot body in a state where the robot body wafts in a robot coordinate system, and revising the desired value of the arm in an absolute coordinate system in an inertial system on the output of the above detection to form the corrected track of the arm. CONSTITUTION:A detecting means 14 for detecting the speed or acceleration in a robot coordinate system of a robot body is mounted on the robot body, and the desired value of an arm 3 in an absolute coordinate system given by a desired value setting means is repeatedly revised in addition circuits 8,9,10 on the detecting output of the detecting means 14 to form the corrected track of the arm 3 in an inertial system. Thus, even when the robot body waftingly moves in the inertial system, the arm 2 can be correctly brought to the desired value.

3. 发明专利

JPS63160984A STORING DEVICE FOR FLEXIBLE LONG SUBSTANCE 失效
公开(公告)号：JPS63160984A
公开(公告)日：1988-07-04
申请号：JP31159886
申请日：1986-12-23
申请人： KAWASAKI HEAVY IND LTD
发明人： MIKI OSATAKE , OTSUKI YASUO
IPC分类号： B65H75/36 , B65H54/82 , H02G11/00
摘要： PURPOSE:To decrease the size of a device, by a method wherein a base bed and a truck are driven for running, and through angular displacement driving of an arm, a long substance is laminated in a 8-shape in a horizontal plane in a storing place throughout a range larger than the moving range of the base bed and the truck. CONSTITUTION:A means 20, guiding a long substance 2, is situated in a position displaced from the vertical axis of the vertical axis of an arm 17, and the arm 17 is mounted to a truck 13 angularly displaceably around the vertical axis. A base bed 8 is movable within a horizontal plane in a first direction, i.e. direction extending vertically to a figure, and the truck 13 is mounted to the base bed 8 movably in a second direction, i.e. a lateral direction. Thus, the movement range of the base bed 8 and the truck 13 is decreased through movement of the base bed 8 and the truck 13 so that the longitudinal substance 2 is formed in a 8-shape within a horizontal plane as the arm 17 is angularly displaced. Besides, the long substance 2 can be laminated in a 8-shape throughout a large range. This constitution enables reduction of the size and the weight of a device.

4. 发明专利

JPS63160924A TRANSPORT METHOD FOR LONGITUDINALLY STRETCHING OBJECT IN LIQUID 失效
公开(公告)号：JPS63160924A
公开(公告)日：1988-07-04
申请号：JP31159586
申请日：1986-12-23
申请人： KAWASAKI HEAVY IND LTD
发明人： SAKAGAMI HIROSHI , MIKI OSATAKE
IPC分类号： B25J5/00 , B61B13/10 , B65G51/01 , B65G51/02
摘要： PURPOSE:To transport a longitudinal extending object easily in fluid by forming the object from a portion having a smaller specific gravity than the liquid and a one having greater specific gravity. CONSTITUTION:A cable 5 has flexibility in its longitudinal direction, and that portion of cable 5 which accommodates an adjusting member A displaces upward when set in a watercoarse 1, while that position of the cable 5 which accommodates another adjusting member B displaces downward, to provides such a form as bent zigzagged in the plumb plane in the direction 15 of water stream. Therefore, the projection area of the cable 5 becomes greater to the water stream. Thereby the cable 6 is given a force acting alongside the water stream through utilization of that great fluid resistance force which is obtained by water. Accordingly a minor power is required of the motor to tract the cable 5 which is in connection with a robot 4, said power being also allowed to be zero.

5. 发明专利

JPH11262886A WORK CLAMPING DEVICE 失效
公开(公告)号：JPH11262886A
公开(公告)日：1999-09-28
申请号：JP9077298
申请日：1998-03-19
申请人： KAWASAKI HEAVY IND LTD
发明人： KANAMARU TAKAO , KUBO SADAO , SHIMADA MASAHIRO , KIMIKADO YASUHIRO , MIKI OSATAKE
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To eliminate an interruption of working due to the change of hands, even if works have various sizes and forms, and clamp the works with sufficient clamping force by making it possible to adjust space of clamping claws mounted on the fingers of a four point contact type parallel two finger hand. SOLUTION: Clamping claws 5 of a claw space varying mechanism 4 provided on the opposed surface sides at each tip of two fingers of a robot hand 1 vertically move for the moving directions of the fingers in a surface in which all the clamping claws 5 exist and are mounted to have sharp edges from the claw space varying mechanism 4 toward the inside. When a robot hand 1 clamps a work 11 whose clamping side length is long, the clamping claws 5 are located near the end of each of two clamping surfaces of the work 11 and the work 11 can be surely clamped by widening claw space (d) by the claw space varying mechanism 4. When a work 12 whose clamping side length is short is clamped, proper claw space of the clamping claws 5 to clamp the work 12 can be maintained by narrowing the claw space (d) by the claw space varying mechanism 4.

6. 发明专利

JPS63160982A CABLE STORING DEVICE 失效
公开(公告)号：JPS63160982A
公开(公告)日：1988-07-04
申请号：JP31159686
申请日：1986-12-23
申请人： KAWASAKI HEAVY IND LTD
发明人： MIKI OSATAKE , OTSUKI YASUO
IPC分类号： B65H75/36 , B65H75/34 , H02G11/00
摘要： PURPOSE:To prevent overheating of a cable due to a resistance heat, by providing a water tank from which to feed water or in which to store water and a means, which laminates a flexible cable, bent in a 8-shape within a horizontal plane, in the water tank. CONSTITUTION:When a cable 3 is stored in a water tank 1, the cable 3 is stored in a state to be bent in a 8-shape in a horizontal plane by means of a guide means 4. Water is injected through the nozzle of a shower means 5 against the cable 3 stored. Since the injected water forced into contact with the outer periphery of the cable 3 and the water flows, the cable 3 is prevented from overheating. This constitution prevents damage of the synthetic resin sheathing layer of the cable 3, and prevents the occurrence of firing to ensure safety.

7. 发明专利

JPS5813448B2 失效
公开(公告)号：JPS5813448B2
公开(公告)日：1983-03-14
申请号：JP8646375
申请日：1975-07-14
申请人： KAWASAKI HEAVY IND LTD
发明人： KEIDAI GUNJI , MIKI OSATAKE , NAGAO YOICHI , ITAYA MITSUYOSHI
IPC分类号： B65G65/30 , B65G65/34 , B65G65/40

8. 发明专利

JP2001183117A INSTRUMENT AND METHOD FOR MEASURING SURFACE SHAPE 失效
公开(公告)号：JP2001183117A
公开(公告)日：2001-07-06
申请号：JP36935199
申请日：1999-12-27
申请人： KAWASAKI HEAVY IND LTD
发明人： SUZUKI RIYOUSUKE , UEHARA HIROTAKA , KANAMARU TAKAO , MIKI OSATAKE , NAKAYAMA SHIGERU
IPC分类号： G01B11/00 , G01B11/24 , G01B11/26
摘要： PROBLEM TO BE SOLVED: To provide an instrument and a method for surface shape measurement on a light-beam scanning basis which facilitate signal analysis, enable accurate shape measurement even if the influence of disturbance is large, and make the device small-sized and inexpensive. SOLUTION: A laser light projector 1, a laser scanner 4 which makes a scan with laser light through the rotation of a mirror, a photodetecting element for distance measurement which photodetects reflected light from the surface of a measured body and gives distance information, and a rotational angle detecting means 3 for the laser scanner are arranged and the output signals of the photodetecting element for distance measurement and rotational angle detecting means for the mirror are both obtained synchronously in time series to analyze the shape. A general motor 12 and a crank mechanism 13 are used as a rotating mechanism for the mirror and an optical measuring means or a means which directly measure the rotation of the shaft of a potentiometer, etc., is used as the rotational angle detecting means for the laser scanner 4.

9. 发明专利

JP2000176675A HMD-ATTACHED MONITORING DEVICE FOR WELD ZONE 失效
公开(公告)号：JP2000176675A
公开(公告)日：2000-06-27
申请号：JP35954798
申请日：1998-12-17
申请人： KAWASAKI HEAVY IND LTD
发明人： KUROSAKI YASUMITSU , MIKI OSATAKE , KANAMARU TAKAO , UEHARA HIROTAKA
IPC分类号： H04N7/18 , B23K9/095 , B23K9/10 , B23K31/00 , B25J19/04
摘要： PROBLEM TO BE SOLVED: To observe a state of a weld zone by the operator regardless of his position, by providing an optical filter having a different transmissivity for plural cameras having nearly the same optical axis, separately photographing the arc part and the molten pool part of a weld zone, adjusting the luminance, superimposing the pictures, synthesizing so as to clearly show the actuality of the weld zone, and displaying it in the head-mount display. SOLUTION: It is desirable that there are plural CCD cameras and that they are relatively fixed a to a head-mount display(HMD) 3. Two of the CCD cameras attached with an optical filter having a different transmissivity are incorporated in a photographing device 1. The arc part 51 and the molten pool part 52 of a weld zone being welded by a weld torch 4 are separately photographed by the two CCD cameras. The pictures are synthesized by an image processor 2 so that the picture positions are superimposed, making a synthesized picture clearly showing both the molten pool part 52 and the weld arc part 51 therein, and displaying it in the HMD 3.

10. 发明专利

JPH0557190B2 失效
公开(公告)号：JPH0557190B2
公开(公告)日：1993-08-23
申请号：JP31159686
申请日：1986-12-23
申请人： KAWASAKI HEAVY IND LTD , KANSAI ELECTRIC POWER CO
发明人： MIKI OSATAKE , OOTSUKI YASUO
IPC分类号： B65H75/36 , B65H75/34 , H02G11/00

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