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    • 5. 发明申请
    • ROBOT SYSTEM
    • 机器人系统
    • US20120000891A1
    • 2012-01-05
    • US13172800
    • 2011-06-29
    • Mitsuaki NAKANISHIMakoto Wada
    • Mitsuaki NAKANISHIMakoto Wada
    • B23K37/02
    • B23K11/115
    • For teaching a welding-point position for a robot, processing of a robot system includes first processing for moving a spot welding gun to a position at which movable and fixed electrodes pinch the welding point; second processing for extending the movable electrode toward a member to be welded by driving of a motor, detecting contact between the movable electrode and the member based on a torque command to the motor, and stopping the movable electrode after the contact is detected; and third processing for operating the robot toward the movable electrode to move the fixed electrode toward the member while maintaining the contact between the movable electrode and the member by the driving of the motor, detecting contact between the fixed electrode and the member based on a disturbance torque acting on a joint of the robot, and stopping the operation of the robot after the contact is detected.
    • 为了教导机器人的焊点位置,机器人系统的处理包括将点焊枪移动到可动和固定电极夹住焊接点的位置的第一处理; 第二处理,用于通过电动机的驱动将可动电极朝向待焊接的部件延伸,基于对电动机的转矩指令检测可动电极和部件之间的接触,并且在检测到接触之后停止可动电极; 以及用于将机器人朝向可动电极操作的第三处理,以通过电动机的驱动来保持固定电极朝向构件的同时保持可动电极和构件之间的接触,基于扰动来检测固定电极和构件之间的接触 作用在机器人的关节上的扭矩,并且在检测到接触之后停止机器人的操作。
    • 8. 发明授权
    • Foamable organic polymer composition and production of foamed article
    • 可发泡有机聚合物组合物和泡沫制品的生产
    • US5574074A
    • 1996-11-12
    • US197884
    • 1994-02-17
    • Toshihiro ZushiTakashi HigashikuboTamotsu KaideTakuma TakaiMakoto WadaKaneharu Suga
    • Toshihiro ZushiTakashi HigashikuboTamotsu KaideTakuma TakaiMakoto WadaKaneharu Suga
    • C08J9/04C08J9/12H01B3/44C08J9/10
    • C08J9/122C08J9/04H01B3/441C08J2323/02
    • A foamable organic composition comprising a compound foamable to 50% or more comprising an organic polymer and a chemical foaming agent, and, as a physical foaming agent, at least one member selected from the group consisting of rare gases and carbon dioxide; and a method for producing a foamed article having a high expansion ratio by using said composition. According to the present invention, a foamed article having a uniform and fine foam structure and a high expansion ratio of not less than 75% (which is as high as when freon gas is used) can be obtained without causing environmental problems such as depletion of the ozon layer. When applied, in particular, to a foamed layer for an insulated conductor, such as foam-insulated electric wire which is required to have high performance insulation and is occasionally installed under severe conditions, the composition of the present invention advantageously provides an insulated conductor with no potential buckling.
    • 一种可发泡的有机组合物,其包含可发泡至50%或更多的包含有机聚合物和化学发泡剂的化合物,以及作为物理发泡剂的至少一种选自稀有气体和二氧化碳的组分; 以及通过使用所述组合物制造具有高膨胀率的发泡制品的方法。 根据本发明,可以获得具有均匀且细小的泡沫结构和高膨胀率不小于75%(与使用氟利昂气体时相同的高膨胀率)的发泡制品,而不会造成环境问题,如消耗 臭氧层。 尤其适用于要求具有高性能绝缘性且偶尔在恶劣条件下安装的绝缘导体如泡沫绝缘电线的发泡层时,本发明的组合物有利地提供了一种具有 没有潜在的屈曲。