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51. 发明专利

JPS6161953B2 失效
公开(公告)号：JPS6161953B2
公开(公告)日：1986-12-27
申请号：JP20317682
申请日：1982-11-18
申请人： KOBE STEEL LTD
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , SAITO SHUNJI
IPC分类号： B25J17/02

52. 发明专利

JPS6133678B2 失效
公开(公告)号：JPS6133678B2
公开(公告)日：1986-08-04
申请号：JP20317582
申请日：1982-11-18
申请人： KOBE STEEL LTD
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , SAITO SHUNJI
IPC分类号： B25J9/16 , B25J17/00 , B25J17/02 , B25J19/06

53. 发明专利

JPS6119337B2 JPS6119337B2 - 失效
公开(公告)号：JPS6119337B2
公开(公告)日：1986-05-16
申请号：JP20317482
申请日：1982-11-18
申请人： Kobe Steel Ltd
发明人： TAKASE NAOZUMI , MASUDA NOBUTOMO , SAITO SHUNJI , OBATA MITSUYOSHI
IPC分类号： B23K7/06
CPC分类号： B23K7/06

54. 发明专利

JPS6117638B2 JPS6117638B2 - 失效
公开(公告)号：JPS6117638B2
公开(公告)日：1986-05-08
申请号：JP8773181
申请日：1981-06-08
申请人： Kobe Steel Ltd
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , NAKAMURA SATOSHI
IPC分类号： E02F9/22 , B25J3/00 , B25J3/04 , E21D11/10

55. 发明专利

JPS60143860A CONTROLLING METHOD OF ROBOT FOR SPRAYING CONCRETE OR THE LIKE 失效
公开(公告)号：JPS60143860A
公开(公告)日：1985-07-30
申请号：JP24928383
申请日：1983-12-28
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI
IPC分类号： B05B12/00 , B25J9/22 , E21D11/10 , G05B19/18 , G05B19/404 , G05B19/42
摘要： PURPOSE:To enable the spraying work of concrete, etc. without forming any spraying specks by moving correctly a spray nozzle along the surface of a cylinder to be sprayed in parallel with the axial center of a drift even when a robot is deflected from the axial center of the drift. CONSTITUTION:The inner surface of a circular-arcuate drift is sprayed with concrete, etc. with a nozzle 19 equipped to the leading ends of a revolute arms A1, A2, and 16 of a drift 31 for spraying concrete, etc. provided at an optional position in the drift. In this case, positions of the optional three points A, B, and C in a plane vertical to the axial center O1 of a main revolving shaft 4 of the robot 31 are instructed by detecting the distances (a), (b), and (c) between each point and the axial center O1 and angles alpha, beta, and gamma from a specified plane passing the axial center O1 with the axial center O1 as a center. The tilt angle of the axial center O1 with respect to a horizontal line in the direction O of the axial center of the drift is also detected. The nozzle 19 is moved in the circular- arcuate direction along an optional plane vertical to the axial center O of the drift by using the positional data of the three points and the data of the tilt angles.

56. 发明专利

JPS60132667A CONTROL OF CONCRETE SPRAYING ROBOT 失效
公开(公告)号：JPS60132667A
公开(公告)日：1985-07-15
申请号：JP24288483
申请日：1983-12-22
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , MAEDA SHIZUO
IPC分类号： B05B12/00 , B25J9/16 , B25J9/18 , E21D11/10 , G05B19/18 , G05B19/404 , G05B19/42
摘要： PURPOSE:To perform concrete spraying construction work generating no splash- back or spray spot, by detecting distances and angles from three arbitrary points on a plane at a right angle to the main revolving axial core of a robot and the angle of the main revolving axial core in the axial core direction of a pit. CONSTITUTION:From the positions of three selected points A, B, C in a plane at right angle to the main revolving axial core of a robot, the distances from the points A-C to the main revolving axial core and angles from the definite plane passing the main revolving axial core of the points A-C around said axial core are detected. In addition, the oblique angle of the main revolving axial core to the horizontal line in the axial core direction of a pit is detected. Subsequently, by using positional data of three points A, B, C and oblique angle data, a spray nozzle is moved in a circular arc state along the arbitrary plane at a right angle to the pit axial core. By this method, spraying is accurately performed even under such a state that the accurate centering of a robot position is difficult.

57. 发明专利

JPS59132958A Control apparatus of robot for spraying concrete or the like 失效
标题翻译：用于喷雾混凝土或类似物的机器人的控制装置
公开(公告)号：JPS59132958A
公开(公告)日：1984-07-31
申请号：JP637683
申请日：1983-01-18
申请人： Kobe Steel Ltd
发明人： OBATA MITSUYOSHI
IPC分类号： B05B7/12 , B05B13/00 , B05B13/04 , B05D1/02 , B05D7/22 , B25J9/16 , E21D11/10
CPC分类号： B05B13/005 , E21D11/105
摘要： PURPOSE:To prevent the generation of irregularity or the splash of concrete, by a method wherein the inclination angle of the main revolving axis of a robot main body is detected and the robot main body is controlled so as to be held in such a state that it is inclined to a direction coincided with the inclination angle due to a design by an outrigger. CONSTITUTION:The main body 1 of a concrete spraying robot 31 is run by a roller 2 and has outriggers 3 at the front and rear parts thereof and lifted up by these outriggers to incline the center axis 4 at an arbitrary angle and directed to the axial direction of a tunnel. While arms A1, A2 and a nozzle attaching arm 16 are revolved around the center axis 4, the revolving angle of each arm is adjusted while the distance from the center axis to the leading end of a nozzle 19 is adjusted and spraying to a pit drilling surface K is performed while the nozzle 19 is moved along a cylindrical surface to be sprayed in such a state that the nozzle 19 is spaced apart from the tunnel inner surface K over a definite distance. The correction of the inclination angle is performed in such a manner that the inclination angle is detected by an angle detector and the outriggers 3 are hydraulically protruded and retracted on the basis of the signals of a differential operator and the comparator.
摘要翻译：目的：为了防止产生混凝土的不规则或飞溅，通过检测机器人主体的主旋转轴的倾斜角度并且机器人主体被控制以保持在如下状态的方法：由于外伸支架的设计，它倾向于与倾斜角度一致的方向。构成：混凝土喷涂机器人31的主体1由辊子2运行，并且在其前部和后部具有外伸支架3，并且由这些外伸支架提升以使中心轴线4以任意角度倾斜并指向轴向隧道方向当臂A1，A2和喷嘴连接臂16围绕中心轴线4旋转时，调节每个臂的旋转角度，同时调节从喷嘴19的中心轴到前端的距离并喷射到钻井在喷嘴19沿着要喷射的圆柱形表面移动的同时执行表面K，使得喷嘴19在一定距离上与隧道内表面K间隔开的状态。以角度检测器检测倾斜角度的方式进行倾斜角的校正，并且基于差动运算器和比较器的信号液压突出和缩回。

58. 发明专利

JPS5997860A MANIPULATOR FOR SCARFING 失效
公开(公告)号：JPS5997860A
公开(公告)日：1984-06-05
申请号：JP20632782
申请日：1982-11-24
申请人： KOBE STEEL LTD
发明人： TAKASE NAOZUMI , MASUDA NOBUTOMO , SAITOU SHIYUNJI , OBATA MITSUYOSHI
IPC分类号： B23K7/06 , B25J5/02

59. 发明专利

JPS5993291A WRIST CONTROLLER 失效
公开(公告)号：JPS5993291A
公开(公告)日：1984-05-29
申请号：JP20317682
申请日：1982-11-18
申请人： KOBE STEEL LTD
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , SAITOU SHIYUNJI
IPC分类号： B25J17/02

60. 发明专利

JPS5918193B2 JPS5918193B2 - 失效
公开(公告)号：JPS5918193B2
公开(公告)日：1984-04-25
申请号：JP11830777
申请日：1977-09-30
申请人： Kobe Steel Ltd
发明人： OBATA MITSUYOSHI
IPC分类号： B25J9/22 , B25J9/00
CPC分类号： B25J9/0081

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