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    • 1. 发明专利
    • Friction stir equipment and method
    • 摩擦设备和方法
    • JP2006334639A
    • 2006-12-14
    • JP2005162857
    • 2005-06-02
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • HIRATSUKA JIYUUICHIINUZUKA MASAYUKINISHIDA HIDETONISHIO MAMORUHEIKO TAKEHIROOKUBO KATSUMIKAMIOKA MITSUHIROSUGIMOTO SUNAO
    • B23K20/12
    • PROBLEM TO BE SOLVED: To provide friction stir equipment capable of suppressing the unevenness of quality of an objective material, which is caused by the influence from disturbance such as an outside air temperature. SOLUTION: A controller determines a rotation resistance force around an axis exerted to a rotary tool 30 from a material 33 to be joined, based on the current value given to a motor for rotating the rotary tool 30, and judges, as a shoulder part contact time t2, the time when the rotation resistance force takes the maximum value. A travelling start time when the movement of the rotary tool 30 in the travelling direction is started is decided based on the shoulder part contact time t2. The state of friction stirring after the shoulder part contact time t2 is less influenced from the disturbance. Accordingly, by deciding a travelling start time t3 of the rotary tool 30 based on the shoulder part contact time t2, the travelling of the rotary tool 30 is started when a softening state reachs a stable just enough state, so that the quality of the material 33 to be joined is stabilized after joining. COPYRIGHT: (C)2007,JPO&INPIT
    • 要解决的问题:提供能够抑制由诸如外部空气温度的干扰的影响引起的目标材料质量不均匀的摩擦搅拌设备。 解决方案:控制器基于给予用于旋转旋转工具30的电动机的当前值,确定围绕从被接合材料33施加到旋转工具30的轴线的旋转阻力,并且作为 肩部接触时间t2,旋转阻力达到最大值的时间。 基于肩部接触时间t2来决定旋转工具30沿行驶方向的移动开始的行驶开始时刻。 肩部接触时间t2之后的摩擦搅拌状态受干扰影响较小。 因此,通过基于肩部接触时间t2决定旋转工具30的行进开始时刻t3,当软化状态达到稳定的刚好状态时,开始旋转工具30的行进,从而材料的质量 33在接合后稳定。 版权所有(C)2007,JPO&INPIT
    • 2. 发明专利
    • Joining device
    • 加工设备
    • JP2007203307A
    • 2007-08-16
    • JP2006021444
    • 2006-01-30
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • OKUBO KATSUMITAKECHI MASAJISEDO MASARUHIRATSUKA JIYUUICHI
    • B21J15/28B21J15/00
    • B21J15/025B21J15/285
    • PROBLEM TO BE SOLVED: To provide a joining apparatus which can hold objects to be joined with a predetermined gripping force even when the state of the objects to be joined fluctuates. SOLUTION: A control means 73 detects a pushing force, applied on the objects 9 to be joined from a clamping rod 53, by means of a clamping load-cell 80a, and controls a clamping servomotor 55 based on the detected pushing force such that the pushing force of the clamping rod 53 applied on the objects 9 to be joined becomes a predetermined force. By this method, the objects 9 to be joined can be gripped by the predetermined gripping force irrespective of the position where the objects 9 to be joined is arranged, the thickness of the objects 9 to be joined, and the existence of the clearance between respective joining members 2, 3. Further, even when a rivet 1 deeply plunges, the objects 9 to be joined are not gripped by an excessive force. As a result, the joining operation can be carried out in the state that the objects to be joined have been gripped by an suitable gripping force, and the joining quality can be improved. COPYRIGHT: (C)2007,JPO&INPIT
    • 要解决的问题:即使当待接合物体的状态波动时,提供一种能够以预定夹持力保持待接合物体的接合装置。 解决方案:控制装置73通过夹紧负载传感器80a检测施加在待接合物体9上的推力,并根据检测到的推力控制夹紧伺服电动机55 使得施加在要接合的物体9上的夹紧杆53的推力成为预定的力。 通过这种方法,可以通过预定的夹紧力来夹持要被接合的物体9,而不考虑要被接合物体9的位置的布置,被接合物体9的厚度和各接合部9之间的间隙的存在。 此外,即使当铆钉1深度地突出时,被接合的物体9也不被过大的力夹住。 结果,能够通过适当的夹持力在被接合体被夹持的状态下进行接合动作,能够提高接合质量。 版权所有(C)2007,JPO&INPIT
    • 3. 发明专利
    • Joint line detection method and apparatus
    • 联合线检测方法和装置
    • JP2005284725A
    • 2005-10-13
    • JP2004097877
    • 2004-03-30
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • YAMASHITA SEIICHIROOKUBO KATSUMIUEHARA HIROTAKATAKAHASHI AKIO
    • B23K31/00G06T1/00G06T3/00
    • PROBLEM TO BE SOLVED: To provide a joint line detection method that can accurately detect a joint line and can significantly reduce detection errors even when workpieces to be butt-jointed such as extruded shapes or plates have disturbance factors such as stains and scars on the surface.
      SOLUTION: Imaging means such as a CCD camera images a joint line from above to acquire a multivalued image (step 1). The multivalued image is subjected to differential filtering that enhances edges along the joint line to create a differential image (step 2). The differential image is subtracted from the multivalued image to create a joint-line-enhanced image (step 3). The joint-line-enhanced image is density-projected along the joint line to produce a density projection result (step 4). A third-order or higher approximation curve of the density projection result is computed by the method of least squares (step 5). The density projection result is compared in magnitude with the computed approximation curve, which serves as a threshold, to detect the joint line (step 6).
      COPYRIGHT: (C)2006,JPO&NCIPI
    • 要解决的问题:为了提供能够精确地检测接合线的联合线检测方法,并且即使当诸如挤压形状或板的对接接头的工件具有诸如污渍和伤痕等干扰因素时也可以显着降低检测误差 在表面上。 解决方案:诸如CCD摄像机的成像装置从上方拍摄联合线以获得多值图像(步骤1)。 对多值图像进行差分滤波,增强沿着接合线的边缘以产生差分图像(步骤2)。 从多值图像中减去差分图像以创建关节线增强图像(步骤3)。 联合线增强图像沿着关节线进行密度投影以产生密度投影结果(步骤4)。 通过最小二乘法计算密度投影结果的三阶或更高近似曲线(步骤5)。 密度投影结果在大小上与用作阈值的计算出的近似曲线进行比较,以检测关节线(步骤6)。 版权所有(C)2006,JPO&NCIPI
    • 6. 发明专利
    • Friction stir welding method
    • 摩擦焊接方法
    • JP2005111533A
    • 2005-04-28
    • JP2003350208
    • 2003-10-09
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • OKUBO KATSUMIYAMADA SHOZOYAMASHITA SEIICHIRO
    • B23K20/12
    • PROBLEM TO BE SOLVED: To provide a friction stir welding method capable of attaining excellent joining without any special work such as cutting even when a gap is present between workpieces to be joined.
      SOLUTION: Two workpieces P1 and P2 are abutted on each other to form a joining line between them. Friction stir welding is performed by feeding a filler S while moving a joining tool 1 along the joining line at a predetermined joining speed. The feed speed of the filler S is determined on the basis of the magnitude of the gap between the two workpieces P1 and P2 to be joined and the joining speed. The filler S is formed of the same material as the two workpieces P1 and P2, or a material which can be a welding material thereof.
      COPYRIGHT: (C)2005,JPO&NCIPI
    • 要解决的问题:提供一种能够获得良好接合的摩擦搅拌焊接方法,即使当要接合的工件之间存在间隙时,也不需要诸如切割的特殊工作。 解决方案:两个工件P1和P2彼此邻接以在它们之间形成接合线。 通过沿着接合线以预定的接合速度移动接合工具1来馈送填料S来执行摩擦搅拌焊接。 基于要接合的两个工件P1和P2之间的间隙的大小和接合速度来确定填料S的进给速度。 填料S由与两个工件P1和P2相同的材料或可作为其焊接材料的材料形成。 版权所有(C)2005,JPO&NCIPI
    • 8. 发明专利
    • Friction stir equipment and method
    • 摩擦设备和方法
    • JP2011025317A
    • 2011-02-10
    • JP2010224426
    • 2010-10-01
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • HIRATSUKA ATSUICHIINUZUKA MASAYUKINISHIDA HIDETONISHIO MAMORUHEIKO TAKEHIROOKUBO KATSUMIKAMIOKA MITSUHIROSUGIMOTO SUNAO
    • B23K20/12
    • PROBLEM TO BE SOLVED: To provide a friction stir equipment capable of suppressing the unevenness of quality of an objective material, which is caused by the influence from disturbance such as an outside air temperature. SOLUTION: A controller 253 determines a rotation resistance force around an axis exerted to a rotary tool 30 from a material 33 to be joined, based on the value of current flowing to a servo motor for rotating the rotary tool 30, and determines, as a shoulder part contact time t2, the time when the rotating resistance force takes the maximum value. Then, a travelling start time t4 when the rotary tool 30 is made to travel from the material 33 to be joined is decided based on the shoulder part contact time t2. The state of friction stirring after the contact time t2 has passed is less influenced by the disturbance. Accordingly, by deciding the travelling start time t4 based on the contact time t2, the rotary tool 30 can be traveled in a fixed friction stirring state with the influence of disturbance suppressed, so that the quality of the material 33 to be joined is stabilized after joining. COPYRIGHT: (C)2011,JPO&INPIT
    • 要解决的问题:提供一种能够抑制由诸如外部空气温度的干扰的影响引起的目标材料质量不均匀的摩擦搅拌设备。 解决方案:控制器253基于流过用于旋转旋转工具30的伺服电动机的电流值,确定围绕从旋转工具30施加到旋转工具30的轴的旋转阻力,并且确定 作为肩部接触时间t2,旋转阻力为最大值的时间。 然后,基于肩部接触时间t2来决定旋转工具30从待接合材料33行进时的行进开始时间t4。 接触时间t2过后的摩擦搅拌状态受到扰动的影响较小。 因此,通过基于接触时间t2来决定行驶开始时间t4,能够以干扰抑制的影响,以固定的摩擦搅拌状态行驶旋转工具30,使得待接合材料33的质量在 加盟。 版权所有(C)2011,JPO&INPIT
    • 9. 发明专利
    • Friction stir welding apparatus
    • 摩擦焊接设备
    • JP2005219092A
    • 2005-08-18
    • JP2004029400
    • 2004-02-05
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • OHASHI RYOJIKOGA SHINJIINUZUKA MASAYUKIOKUBO KATSUMIYAMASHITA SEIICHIRO
    • B23K20/12
    • PROBLEM TO BE SOLVED: To provide a friction stir welding apparatus which can be miniaturized irrespective of the size of an object to be welded. SOLUTION: The friction stir welding apparatus 20 is provided with: a support 35 holding the object 23 to be welded; and a loading body 36 loaded with a tool holding part 31, capable of guiding the tool holding part 31 toward a running direction X, and provided at the support 35 freely attachably and detachably, wherein the loading body 36 is moved based on the welding region beforehand fixed to the object 23 to be welded. Thus, the tool holding part is not required to have moving capacity exceeding the welding region. As a result, even if the object 23 to be welded is made large-sized, the loading body is not enlarged, and the friction stir welding apparatus 20 can be miniaturized. COPYRIGHT: (C)2005,JPO&NCIPI
    • 要解决的问题:提供一种可以小型化的摩擦搅拌焊接装置,而不管被焊接物体的尺寸如何。 解决方案:摩擦搅拌焊接装置20设置有:保持待焊接物体23的支撑件35; 以及装载有工具保持部31的装载主体36,能够将工具保持部31朝向行进方向X引导,并且可自由地安装和拆卸地设置在支撑体35处,其中,装载主体36基于焊接区域移动 预先固定在待焊接物体23上。 因此,工具保持部不需要具有超过焊接区域的移动能力。 结果,即使要被焊接的物体23大型化,装载体也不会扩大,并且可以使摩擦搅拌焊接装置20小型化。 版权所有(C)2005,JPO&NCIPI
    • 10. 发明专利
    • Instruction method and instruction device for robot
    • 机器人的指导方法和指导装置
    • JP2003311666A
    • 2003-11-05
    • JP2002118307
    • 2002-04-19
    • Kawasaki Heavy Ind Ltd川崎重工業株式会社
    • AOKI ATSUHITOOKUBO KATSUMINAGAO YOICHIINOKI TATSU
    • B25J9/22B23K9/12G05B19/42
    • PROBLEM TO BE SOLVED: To provide an instruction method and an instruction device having a positioner for attaining a simple instruction to avoid a case wherein a robot having redundant flexibility against a rotation around a tool axis cannot realize the position/attitude of required tools due to the restriction of possible operation range of each axis of the robot.
      SOLUTION: In instructing a robot 1 having a positioner 2 with respect to an operation with arbitrary rotation around a tool axis, the instruction device is provided with a tool attitude setting part 20 and a positioner angle setting part 30. The positioner angel setting part 30 sets the angle of the positioner 2 for forming the minimum angle between a desired direction vector and a tool direction vector in operation, and the tool attitude setting part 20 sets each axis value of the robot 1 for a tool T to turn towards the tool direction vector.
      COPYRIGHT: (C)2004,JPO
    • 要解决的问题:提供一种具有用于获得简单指令的定位器的指令方法和指令装置,以避免其中具有针对工具轴线周围的旋转具有冗余柔性的机器人不能实现所需的位置/姿态的情况 由于机器人的每个轴的可能的操作范围的限制,工具。

      解决方案:指示装置具有刀具姿态设定部20和定位器角度设定部30,指示具有相对于围绕刀具轴的任意旋转的动作的定位器2的机器人1。 设定部30将定位器2的角度设定为在操作中形成期望的方向矢量和刀具方向矢量之间的最小角度,并且刀具姿势设定部20将工具T的机器人1的各轴值设定为朝向 刀具方向矢量。 版权所有(C)2004,JPO