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1. 发明专利

JP2000158144A ELECTRIC CYLINDER, WELDING GUN UNIT USING IT, AND WELDING ROBOT 失效
公开(公告)号：JP2000158144A
公开(公告)日：2000-06-13
申请号：JP33866698
申请日：1998-11-30
申请人： THK CO LTD , TOYOTA MOTOR CORP
发明人： HOSHIIDE KAORU , YAMAKURA WATARU , FUKITA KAZUTSUGU , OKURA MORIHIKO , KONISHI YUTAKA , CHIKAGAWA HIROSHI
IPC分类号： B23K11/36 , B23K11/11
摘要： PROBLEM TO BE SOLVED: To obtain a small and light cylinder while supporting a working rod against a moment load rigidly by constituting this invention with a power transmitting means for transmitting rotation of a motor fixed to a locus rail to a feeding screw, and a working rod which is fixed to a slide member, protruded from one end of the locus rail, and reciprocated corresponding to movement of the slide member. SOLUTION: A reaction force of a pressurizing force acts on a movable arm side electrode 84 during welding. However, since a locus rail 1 of an electric cylinder C is channel-shaped, which is strong against a bending moment, and rigidly fixed to a unit frame 80 with a fixing bolt, a working rod 7, to which a movable arm 83 is directly fixed, also has strong rigidity against the bending moment. Therefore, the movable arm 83 is prevented from being displaced by the bending moment as much as possible, so as to perform accurate welding. The electric cylinder C is constituted to be extremely light and compact, and the welding gun unit G is also lightened, whereby a driving load of a welding robot is reduced.

2. 发明专利

JP2000158267A ELECTRIC CLAMP DEVICE 失效
公开(公告)号：JP2000158267A
公开(公告)日：2000-06-13
申请号：JP33909598
申请日：1998-11-30
申请人： CKD CORP , TOYOTA MOTOR CORP
发明人： YAMANO KENJI , ITAYA TEI , OTANI OSAMU , OKURA MORIHIKO
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To miniaturize an electric clamp device and to provide the electric clamp device superior in the operability. SOLUTION: An electric actuator 1 rotating a propulsion shaft 15 by the drive of an electric motor 11 and changing the rotation movement of the propulsion shaft 15 into a linear movement of a propulsion rod 34 so as to linearly and vertically move the propulsion rod 34 is provided. A clamp mechanism clamping work by the movement of the propulsion rod 34 is provided in the front end side of the propulsion rod 34. In the electric actuator 1, the propulsion rod 34 is inserted into the propulsion shaft 15 formed into a cylindrical shape and a feeder screw mechanism 36 for feeding the propulsion rod 34 is provided between the propulsion shaft 15 and the propulsion rod 34.

3. 发明专利

JP2000061765A FEEDING DEVICE FOR TOOL, ETC. 失效
公开(公告)号：JP2000061765A
公开(公告)日：2000-02-29
申请号：JP25048998
申请日：1998-08-20
申请人： TOYOTA MOTOR CORP
发明人： CHIKAGAWA HIROSHI , NAKAMURA HISANORI , IKUSHIMA JOJI , SUZUKI KANJI , OKURA MORIHIKO
IPC分类号： B23Q5/40 , B23K11/11 , B23K11/24 , B23Q5/46 , F16H25/20
摘要： PROBLEM TO BE SOLVED: To simplify structure and to reduce cost by mechanically and speedily changing high speed feeding over to low speed feeding. SOLUTION: Two magnetic screw mechanisms 14, 15 constituted by alternately and spirally magnetizing an S pole and an N pole are arranged on upper and lower parts of a rod 13 arranged along a main body of a spot welding machine and to be rotationally driven by a motor, a lead of the one magnetic screw mechanism 14 is set smaller than a lead of the other magnetic screw mechanism 15, magnetic nuts 18 and 19 of the both screw mechanisms are connected to each other by a connecting member 20, the magnetic nut 19 of the other magnetic screw mechanism 15 having the smaller lead is made to have a movable electrode 7, the magnetic nut 18 having the larger lead is firstly moved along a magnetic screw shaft 16, the movable electrode 7 is moved to the side of a fixed electrode at high speed, at a stage where the movable electrode 7 approaches the fixed electrode, the magnetic nut 19 having the smaller lead is fitted on a magnetic screw shaft 17, and the movable electrode 7 is made to approach the fixed electrode at low speed.

4. 发明专利

JPH1170417A POSITIONING DEVICE 失效
公开(公告)号：JPH1170417A
公开(公告)日：1999-03-16
申请号：JP23222197
申请日：1997-08-28
申请人： TOYOTA MOTOR CORP
发明人： OKURA MORIHIKO , YAMAMOTO YOSHITAKA
IPC分类号： B23P19/00 , B23K37/04 , B23P21/00
摘要： PROBLEM TO BE SOLVED: To simplify a drive mechanism for replacing a receiving piece, and perform positioning in accordance with more part shapes. SOLUTION: Receiving pieces 6a and 6a' abut on the inner wall 13a having an earthenware mortar state, by stretching upward elastic body rods 7 and 7a by means of hydraulic cylinders 8 and 8a, to slide on the surface of an amphitheaten-like inner wall 13, as shown by a sign 6a''. At that time, the elastic body rods 7 and 7a are elastically deformed, and the receiving piece 6a and a receiving piece 6a'' move toward an opening 13b. Moreover, the receiving 6a is inserted into the opening 13b to be protruded from a housing 13, as shown by a sign 6a'''. The number of the receiving pieces 6 can be increased any number if the pieces 6 can be housed in the inside of the housing 13, and of course, the number of the receiving pieces 6 for being housed can be increased with the enlargement of the housing 13.

5. 发明专利

JP2007175844A Finger unit of robot hand and assembling method 有权
标题翻译：机器人手指装配方法
公开(公告)号：JP2007175844A
公开(公告)日：2007-07-12
申请号：JP2005379771
申请日：2005-12-28
申请人： Harmonic Drive Syst Ind Co Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社ハーモニック・ドライブ・システムズ
发明人： HORIUCHI MASASHI , HIRABAYASHI TOSHIHIRO , OTA YUICHI , OKURA MORIHIKO
IPC分类号： B25J17/00 , F16H19/08
CPC分类号： B25J15/0009 , B25J9/102 , B25J19/0075 , Y10T29/49826 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To provide an articulated finger unit suitable for being used in a place having a lot of dust and a clean room or the like. SOLUTION: The articulated finger unit 1 is equipped with first and second joint parts 3, 5 composed by using bevel gears. In respective joint parts 3, 5, the meshing parts of driving side bevel gears 10, 44 and driven side bevel gears 14, 56, and bearing parts of joint shafts 15, 57 are assembled in the inside of the cylindrical housings 13, 51 having blocked tip ends. The opening parts 13A, 52 of the rear end of the cylindrical housings 13, 51 are blocked by the cylindrical housing 7 of a finger root part and the cylindrical housing 41 of a finger body part. The meshing parts of gears of the joint parts 3, 5, and the bearing parts are substantially sealed, foreign matters can be prevented from entering in these parts from the outside, and the lubricant is not leaked from these parts to the outside. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供适于在具有大量灰尘和洁净室等的地方使用的铰接指状单元。铰接式手指单元1配备有使用锥齿轮构成的第一和第二关节部3,5。在各接合部3,5中，驱动侧锥齿轮10,44和从动侧伞齿轮14,56的啮合部以及关节轴15,57的轴承部组装在圆筒状的壳体13,51的内侧，封闭的末端。圆筒形壳体13,51的后端的开口部分13A，52由手指根部的圆柱形壳体7和手指主体部分的圆柱形壳体41阻挡。接合部3,5的齿轮的啮合部和轴承部分基本上被密封，可以防止异物从外部进入这些部分，并且润滑剂不会从这些部分泄漏到外部。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2006346794A ROBOT HAND 审中-公开
公开(公告)号：JP2006346794A
公开(公告)日：2006-12-28
申请号：JP2005174552
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP , KAWASAKI HEAVY IND LTD , HARMONIC DRIVE SYSTEMS
发明人： OTA YUICHI , OKURA MORIHIKO , NAKAOKA NOBUHIKO , KOBAYASHI KIYOTO , HORIUCHI MASASHI
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand capable of surely holding various shape works. SOLUTION: This robot hand 14 is provided with a main body 40, a pair of fingers 41 and 43, pads 76, 91, 115 and 116, and an energizing means. The pads 76, 91, 115 and 116 are fitted to the fingers 41 and 43 in one end thereof freely to be tilted in any direction and formed with a contact face to be brought in contact with a work in the other end thereof. The energizing means energizes the pads 76, 91, 115 and 116 into the predetermined posture in relation to the fingers. The pair of fingers 41 and 43 hold the work through the pads 76, 91, 115 and 116 by turning to come close to each other, and in the holding condition, the pads 76, 91, 115 and 116 are tilted, resisting the energizing force of the energizing means, so that the contact face follows the work. COPYRIGHT: (C)2007,JPO&INPIT

7. 发明专利

JP2000190136A POSITIONING JIG 失效
公开(公告)号：JP2000190136A
公开(公告)日：2000-07-11
申请号：JP36551998
申请日：1998-12-22
申请人： TOYOTA MOTOR CORP
发明人： ISOBE TOSHIYUKI , OKURA MORIHIKO , HAYASHI TETSUSHI
IPC分类号： B23P19/00 , B23K37/04 , B62D65/00 , B62D65/02
摘要： PROBLEM TO BE SOLVED: To increase the versatility of a positioning jig and also facilitate the set of a work and reduce the obstacle which can disturb the entering of a weld gun. SOLUTION: This is a positioning jig for positioning respective constitution parts in the assembly process of a work and the jig main body is separated to an upper jig 10 and lower jig 30 and for the lower jig 30, the standard (standard post 34) for positioning the work constitution parts common to respective car kinds is summerized and provided. In the upper jig 10, the standard (standard post 14) for positioning the work constitution parts changed by the car kinds is provided. The standards of both jigs 10, 30 are arranged so as to position the constitution parts of the work from the inside.

8. 发明专利

JP2000176764A CLAMPING DEVICE 失效
公开(公告)号：JP2000176764A
公开(公告)日：2000-06-27
申请号：JP35338398
申请日：1998-12-11
申请人： TOYOTA MOTOR CORP , SMC CORP
发明人： OKURA MORIHIKO , ISOBE TOSHIYUKI , OKADA AKIHIKO , KANEKO JUNYA
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To move a clamping arm capable of being revolved by a driving cylinder through a space between a clamping position and an evacuation position through which material can pass, and accomplish the miniaturization of a clamping device and the simplification of its structure with no additional equipment required such as an elevator and the like. SOLUTION: A clamping device clamps a specified work using a clamping part 14 and a work receiver 18 so as to position the work with a clamping arm 12 revolved, and the clamping arm 12 revolves around a supporting shaft 16 with respect to the supporting body 10 of the clamping device in order to secure the quantity of movement between a clamping position and an evacuating position where the clamping part 14 is lower than the level of a clamping surface at the work receiver 18. A driving cylinder 20 for revolving the clamping arm 12 is assembled in the supporting body 10.

9. 发明专利

JP2012232386A Method for calculating axial force and fastening tool 有权
标题翻译：计算轴力和紧固件工具的方法
公开(公告)号：JP2012232386A
公开(公告)日：2012-11-29
申请号：JP2011103530
申请日：2011-05-06
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MORI TAKEO , SAKAKIBARA MASATO , MATSUMOTO YUSUKE , NAKAMURA HISANORI , OKURA MORIHIKO
IPC分类号： B25B23/14
摘要： PROBLEM TO BE SOLVED: To provide a method for calculating axial force which can calculate an axial force which remains after a lapse of a predetermined time when a flexible member such as a packing is interposed in a fastening part of a bolt.SOLUTION: The method for calculating axial force calculates an expected axial force Facting on a bolt 11 (or nut hole 15a) when fastening respective workpieces 13, 15 by tightening the bolt 11 while interposing the packing 14 between respective workpieces 13, 15. The method for calculating axial force preliminarily calculate a relational expression (formula 5) that expresses a ratio (axial force descent rate M (t)) between the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the expected axial force Facting on the bolt 11 after a lapse of the predetermined time from the completion of fastening the bolt 11 as a function of a fastening time tof the bolt 11, and also substitutes a detection value of the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the fastening time tof the bolt 11 into a relational expression (formula 5) to calculate the expected axial force F.
摘要翻译：要解决的问题：提供一种用于计算轴向力的方法，其可以计算在诸如填料的柔性构件插入螺栓的紧固部分中之后经过预定时间后保持的轴向力。解决方案：用于计算轴向力的方法计算当通过紧固紧固相应的工件13,15时作用在螺栓11（或螺母孔15a）上的预期轴向力F 2 螺栓11，同时将密封件14插入在各个工件13,15之间。轴向力的计算方法预先计算表示比例（轴向下降率M（t 1 在从螺栓11的紧固结束完成经过预定时间之后作用在螺栓11上的“> 2 作为紧固时间t 1 的函数螺栓11，并且在完成螺栓11的固定和紧固时间t SB SB =“时，也可以代替作用在螺栓11上的轴向力F 1 的检测值 POST“> 1 将螺栓11转换为关系式（公式5）以计算预期的轴向力F 2 。版权所有（C）2013，JPO＆INPIT

10. 发明专利

JP2008062368A Clamping force adjusting method and clamping device 有权
标题翻译：夹紧力调节方法和夹紧装置
公开(公告)号：JP2008062368A
公开(公告)日：2008-03-21
申请号：JP2006245513
申请日：2006-09-11
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OTA YUICHI , OKURA MORIHIKO
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To provide a clamping force adjusting method and a clamping device for adjusting clamping force of a workpiece to the minimum required extent without using a measuring device.
SOLUTION: The clamping device clamps the workpiece 2 by letting clamping force N act in the direction forming a predetermined angle θ for a clamping shaft CO. The force F for movement of the workpiece 2 in the direction of sliding for clamp is thereby obtained based on component of force Fsinθ of the force F. As a result, the clamping device adjusts the clamping force N to the minimum extent in accordance with the force F for moving the workpiece 2 in the direction of sliding for a movable side gripping part 7 without using the measuring device.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种夹紧力调节方法和夹持装置，用于在不使用测量装置的情况下将工件的夹紧力调节到最小要求的程度。解决方案：夹紧装置通过使夹紧力N沿夹持轴CO形成预定角度θ的方向夹紧工件2，从而使工件2沿夹紧方向移动的方向的力F 基于力F的力Fsinθ的分量获得。结果，夹紧装置根据用于使工件2沿滑动方向移动的可动侧夹持部分的力F将夹紧力N调整到最小程度 7不使用测量装置。版权所有（C）2008，JPO＆INPIT

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