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1. 发明专利

JP2007304713A Robot teaching path correction method and operation device using robot 有权
标题翻译：机器人教学路径校正方法和使用机器人的操作装置
公开(公告)号：JP2007304713A
公开(公告)日：2007-11-22
申请号：JP2006130471
申请日：2006-05-09
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KAWAI YASUHIRO , MURAKAMI SHINYA , MIZUTANI YOSHIKI , KOSAKA TOMOKAZU , ETO NAOKI
IPC分类号： G05B19/19 , B25J9/22 , G05B19/404
摘要： PROBLEM TO BE SOLVED: To provide a low cost teaching method which can cope with a curve of a large curvature in teaching methods using imaging means.
SOLUTION: An operation means 14 is at a work position. NL is called as a standard line of the operation means 14. At teaching time, a support plate 13 is moved downward and the imaging means 15 is positioned to the standard line NL and performs teaching. After teaching, teaching data is corrected based on a distance between the operation means 14 and the imaging means 15.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种低成本的教学方法，其可以使用成像装置在教学方法中应对大曲率的曲线。解决方案：操作装置14处于工作位置。 NL被称为操作装置14的标准线。在教导时，支撑板13向下移动，并且成像装置15定位到标准线NL并进行教导。在教学之后，基于操作装置14和成像装置15之间的距离校正教学数据。（C）2008年，JPO和INPIT

2. 发明专利

JP2010151770A Optical distance measuring system 有权
标题翻译：光学距离测量系统
公开(公告)号：JP2010151770A
公开(公告)日：2010-07-08
申请号：JP2008333246
申请日：2008-12-26
申请人： Alnair Labs:Kk , Honda Motor Co Ltd , 本田技研工業株式会社 , 株式会社アルネアラボラトリ
发明人： KOSAKA TOMOKAZU , IWASAKI TOMONORI , KANEKO MASAKATSU , SZE YUN SET , GOH CHEE SONG , NAMIKAWA TAKETOMO , NAGASHIMA YUICHI , KOTAKE TOMOHARU , YAGUCHI HIROSHI , WANG DEXIANG
IPC分类号： G01S17/10
摘要： PROBLEM TO BE SOLVED: To provide an optical distance measuring system measuring with high accuracy by a simple constitution.
SOLUTION: This optical distance measuring system 1 includes: an optical system component group 45 for emitting light radiated from a radiation end 41E on the other end side of a radiation optical fiber 41 toward a workpiece W, and allowing light reflected by the workpiece W to enter a light receiving end 42E on the other end side of a light-receiving optical fiber 42; and a casing C in which the optical system component group 45 is fixed. The optical distance measuring system 1 also includes an optical fiber 43 for correction for allowing light radiated from a light source part 31 to detour around the optical system component group 45 and to enter a photodetection part 32, and at least a partial fiber coil 43C of the optical fiber 43 for correction is provided in contact with the casing C. An operation device 6 corrects a measured distance based on the expansion/contraction amount of the optical fiber 43 for correction.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：通过简单的结构提供以高精度测量的光学距离测量系统。该光学测距系统1包括：光学系统部件组45，用于发射从放射线光纤41的另一端侧的辐射端部41E朝向工件W发射的光，并且允许由工件W进入光接收光纤42的另一端侧的受光端42E; 以及固定有光学系统部件组45的壳体C. 光学距离测量系统1还包括用于校正光纤43的光纤43，用于允许从光源部分31辐射的光围绕光学系统部件组45绕行并进入光电检测部分32，并且至少部分光纤线圈43C 用于校正的光纤43设置成与壳体C接触。操作装置6基于用于校正的光纤43的伸缩量来校正测量的距离。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2005265520A Scan setting method for surface inspection device 有权
标题翻译：表面检测装置的扫描设置方法
公开(公告)号：JP2005265520A
公开(公告)日：2005-09-29
申请号：JP2004075897
申请日：2004-03-17
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MATSUMOTO JUNICHI , MATSUMOTO EIZABURO , KOSAKA TOMOKAZU , ISOYA SHIGEJI , ITO YUICHI
IPC分类号： G01B11/30
摘要： PROBLEM TO BE SOLVED: To easily and exactly judge whether or not inspection light in a photographed inspection region is normally photographed.
SOLUTION: A fluorescent light for illuminating band-like detection light on the surface of a vehicle body and a CCD camera photographing images of an illuminated location are scanned with robot hands. The photographed images are binarized to obtain binarized images 210. The widths of illumination range 212 are respectively measured on 3 measurement lines L1, L2 and L3 set in the scanning direction on the binarized image 210. By comparing the widths of the illumination range 212 with a first threshold and a second threshold, warning signal and error signal are generated.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了容易且准确地判断拍摄的检查区域中的检查光是否被正常拍摄。解决方案：用机器人手扫描用于照射车身表面上的带状检测光的荧光灯和拍摄照明位置的图像的CCD照相机。拍摄的图像被二值化以获得二值化图像210.照射范围212的宽度分别在二值化图像210上沿扫描方向设置的3条测量线L1，L2和L3上测量。通过将照明范围212的宽度与产生第一阈值和第二阈值，产生警告信号和误差信号。版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2007222787A Coating gun 有权
标题翻译：涂漆枪
公开(公告)号：JP2007222787A
公开(公告)日：2007-09-06
申请号：JP2006047095
申请日：2006-02-23
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MURAKAMI SHINYA , KAWAI YASUHIRO , MIZUTANI YOSHIKI , KOSAKA TOMOKAZU , ETO NAOKI
IPC分类号： B05C5/00
摘要： PROBLEM TO BE SOLVED: To provide a coating gun capable of precisely coating a target position with a coating liquid by strengthening the discharge force of a liquid body from the coating gun and by enhancing the high-speed responsibility of the valve mechanism of the coating gun, capable of reducing man powers for removing the liquid body applied in an after-process, and improving the productivity. SOLUTION: The coating gun 13 is provided with a servo-motor 11, a reciprocating-motion converting means 22 converting the rotation of the servo-motor 11 to the reciprocating and straight linear motion, and an intermittent mechanism 24 connecting or releasing connecting a needle 32 to the reciprocation converting means 22. The coating gun is rotated by the servo-motor 11, the needle 32 is reciprocated by the operation of the intermittent mechanism 24 and a sealant 19 is intermitently discharged by repeating the opening and the closing of the nozzle 34. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过加强来自喷枪的液体的排出力并且通过增强阀机构的高速责任，能够通过涂布液精确地涂覆目标位置的涂布枪该喷涂枪能够降低人体以去除后处理中所使用的液体的能力，并提高生产率。解决方案：涂覆枪13设置有伺服电动机11，将伺服电动机11的旋转转换成往复和直线的直线运动的往复运动转换装置22，以及间歇机构24的连接或释放将针32连接到往复运动转换装置22.涂料枪由伺服电动机11旋转，针32通过间歇机构24的操作而往复运动，密封剂19通过重复打开和关闭而间歇地排出的喷嘴34.版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2005257429A Surface inspecting device with marking function 有权
标题翻译：具有标记功能的表面检测装置
公开(公告)号：JP2005257429A
公开(公告)日：2005-09-22
申请号：JP2004068779
申请日：2004-03-11
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MATSUMOTO JUNICHI , MATSUMOTO EIZABURO , KOSAKA TOMOKAZU , ISOYA SHIGEJI , ITO YUICHI
IPC分类号： G01N21/88
摘要： PROBLEM TO BE SOLVED: To provide a surface inspecting device having marking function, which is constituted simply and is capable of rapidly extracting a marking region to apply proper marking processing. SOLUTION: A flaw region is extracted from an image taken by the CCD cameras 36a-36d mounted on a robot hand 32 and a marking agent is discharged from the CCD cameras 36a-36d to the flawed region to carry out marking. When marking is carried out, marking is not applied to the flaw region extracted from the overlapped imaging ranges G1-G4 in an overlapped state. Further, marking is adjusted so that marking is not shifted from a vehicle body 41. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种具有标记功能的表面检查装置，该表面检查装置简单地构成并且能够快速地提取标记区域以进行适当的标记处理。解决方案：从安装在机器人手32上的CCD照相机36a-36d拍摄的图像中提取缺陷区域，并且将标记剂从CCD照相机36a-36d排出到有缺陷的区域以进行标记。当进行标记时，不会在重叠的状态下对从重叠的成像范围G1-G4中提取的缺陷区域进行标记。此外，对标记进行调整，使得标记不会从车体41移位。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2008268031A Hole position confirmation system 审中-公开
标题翻译：孔位置确认系统
公开(公告)号：JP2008268031A
公开(公告)日：2008-11-06
申请号：JP2007112323
申请日：2007-04-20
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： IWASAKI TOMONORI , KOSAKA TOMOKAZU , KANEKO MASAKATSU
IPC分类号： G01B11/00
摘要： PROBLEM TO BE SOLVED: To provide a hole position confirmation system capable of measuring displacement with high accuracy between an actually measured position of a hole formed in a workpiece and the position in design.
SOLUTION: The hole position confirmation system 1 includes a measuring robot 10 for measuring the positions of a plurality of points on scanning lines by scanning the surface of the workpiece; an actual measurement data visualization part 21 for expressing the plurality of the points as actually measured points; a design data visualization part 22 for expressing the positions in the design of the holes in a virtual space as design positions; a first proximate circle formation part 23 for forming a first proximate circle proximate to a matter substantially equal to size in the design of the hole and positioned to an end out of the actually measured points in the virtual space; an allowable range formation part 24 for forming an allowable range centering the first proximate circle in the virtual space; a second proximate circle formation part 25 for forming a second proximate circle proximate to a matter proximate to the first proximate circle out of the actually measured points included in the allowable range in the virtual space; and a position displacement calculating part 26 for calculating the displacement between the actually measured position and the design position, by making the second proximate circle the actually measured position.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种孔位置确认系统，其能够以在工件中形成的孔的实际测量位置和设计位置之间的高精度来测量位移。孔解决方案：孔位置确认系统1包括测量机器人10，用于通过扫描工件的表面来测量扫描线上的多个点的位置; 用于将多个点表示为实际测量点的实际测量数据可视化部分21; 用于将虚拟空间中的孔的设计中的位置表示为设计位置的设计数据可视化部分22; 第一接近圆形成部分23，用于形成接近基本上等于孔的设计中的尺寸的物质并且定位在虚拟空间中的实际测量点之外的第一近邻圆; 允许范围形成部分24，用于形成以虚拟空间中的第一近邻圆圈为中心的允许范围; 第二接近圆形成部分25，用于形成靠近包括在虚拟空间的允许范围内的实际测量点的靠近第一接近圆的事物的第二接近圆; 以及位置位移计算部26，用于通过使第二接近圆成为实际测量位置来计算实际测量位置和设计位置之间的位移。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2008249484A Method for calculating center of sphere 有权
标题翻译：计算球面中心的方法
公开(公告)号：JP2008249484A
公开(公告)日：2008-10-16
申请号：JP2007091175
申请日：2007-03-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KOSAKA TOMOKAZU , KANEKO MASAKATSU , IWASAKI TOMONORI
IPC分类号： G01B11/00
摘要： PROBLEM TO BE SOLVED: To provide a method for calculating center of sphere capable of calculating quickly and accurately the center of a spherical surface.
SOLUTION: This sphere center calculation method calculates a distance from a measuring instrument 10 to the center of a sphere 20, using the measuring instrument 10, the first driving mechanism 11 and the second driving mechanism 12. The sphere center calculation method scans at first a surface of the sphere 20 with a laser beam by the measuring instrument 10, by driving the first driving mechanism 11 while emitting the laser beam, monitors a relation between an intensity of a reflected light beam and a rotation angle around a Y-axis, and stores the rotation angle with the maximum intensity of reflected light beam out of the rotation angles around the Y-axis, as the first rotation angle. Then, the sphere center calculation method scans the surface of the sphere 20 with the laser beam by the measuring instrument 10, by driving the second driving mechanism 12, while emitting the laser beam, monitors a relation between the intensity of the reflected light beam and a rotation angle around an X-axis, and stores the rotation angle with the maximum intensity of reflected light beam out of the rotation angles around the X-axis, as the second rotation angle. The center of the sphere 20 is calculated based on the first rotation angle and the second rotation angle.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于计算球面中心的方法，其能够快速准确地计算球面的中心。解决方案：使用测量仪器10，第一驱动机构11和第二驱动机构12，该球面中心计算方法计算从测量仪器10到球体20的中心的距离。球体中心计算方法扫描首先通过测量仪器10的具有激光束的球体20的表面，通过在发射激光束的同时驱动第一驱动机构11来监测反射光束的强度与围绕Y轴的旋转角度之间的关系，并且以与第一旋转角度相对的围绕Y轴的旋转角度的反射光束的最大强度存储旋转角度。然后，球面中心计算方法通过驱动第二驱动机构12，同时发射激光束，用测量仪器10用激光束扫描球体20的表面，监测反射光束的强度与围绕X轴的旋转角度，并且将旋转角度与X轴周围的旋转角度之间的反射光束的最大强度存储为第二旋转角度。基于第一旋转角度和第二旋转角度来计算球体20的中心。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2004141800A Two-liquid mixing coating device 有权
公开(公告)号：JP2004141800A
公开(公告)日：2004-05-20
申请号：JP2002311286
申请日：2002-10-25
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： OCHIAI HIROSHI , TAGUCHI SHUSUKE , MURAKAMI SHINYA , KOSAKA TOMOKAZU
IPC分类号： B05B7/04 , B05B3/10 , B05B12/14
摘要： PROBLEM TO BE SOLVED: To enable quick change of the type of a base resin and to prevent a nozzle from clogging caused by hardening of the base resin or the like of a two-liquid mixing coating device which mixes, atomizes and coats the base resin and a curing agent.
SOLUTION: The nozzle 34 for supplying the curing agent and five types of base resins is composed of five dispersed supply passages 50 to which each of the five types of base resins is supplied respectively and an assembly section 62 where the dispersed supply passages 50 are put together in one clearance part 64. One of the five types of base resins is supplied, passes through the dispersed supply passage 50 and the clearance part 64 and is discharged from a tip part 54a of a front section 54. The curing agent passes through an axial center supply passage 48 and a center pore 44a of an inner tube 44 and is discharged from a tip opening part 44b.
COPYRIGHT: (C)2004,JPO

9. 发明专利

JP2008286643A Sensing method 有权
标题翻译：感应方法
公开(公告)号：JP2008286643A
公开(公告)日：2008-11-27
申请号：JP2007132069
申请日：2007-05-17
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KOSAKA TOMOKAZU , KANEKO MASAKATSU , IWASAKI TOMONORI
IPC分类号： G01B11/24
摘要： PROBLEM TO BE SOLVED: To provide a sensing method capable of measuring highly accurately the shape of a portion to be measured of a workpiece.
SOLUTION: This sensing method has the steps of: irradiating measuring light from a laser light irradiation part 11 toward measuring points P1-P8 on the workpiece 2 surface to cross a hole 3; detecting reflected light by the laser light irradiation part 11, and determining the distance to each measuring point P1-P8; determining an irradiation angle of the measuring light irradiated toward each measuring point P1-P8; determining each position of the measuring points P1-P8; using each determined position as a temporary position, and determining an approximate surface of the temporary position; providing a virtual line passing the temporary position and having the irradiation angle of the measuring light, and determining an intersection point between the virtual line and the approximate surface; and determining the hole 3 shape of the workpiece 2 by using the position of each determined intersection point as each true position of the measuring points P1-P8.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供能够高精度地测量被测量部件的形状的检测方法。解决方案：该感测方法具有以下步骤：将来自激光照射部分11的测量光照射到工件2表面上的测量点P1-P8以穿过孔3; 检测由激光照射部11反射的光，并确定到各测点P1〜P8的距离; 确定向每个测量点P1-P8照射的测量光的照射角度; 确定测量点P1-P8的每个位置; 使用每个确定的位置作为临时位置，并且确定临时位置的近似表面; 提供通过临时位置并具有测量光的照射角的虚拟线，以及确定虚拟线与近似表面之间的交点; 并且通过使用每个确定的交点作为测量点P1-P8的每个真实位置来确定工件2的孔3的形状。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2007296453A Coating supply device 有权
标题翻译：涂料供应设备
公开(公告)号：JP2007296453A
公开(公告)日：2007-11-15
申请号：JP2006125630
申请日：2006-04-28
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： NAKAZONO DAISUKE , FUKUNO JUNICHI , KOSAKA TOMOKAZU
IPC分类号： B05C11/10
摘要： PROBLEM TO BE SOLVED: To provide a coating supply device capable of suppressing sedimentation of a coating in a pipe without increasing the flow rate of the coating.
SOLUTION: A coating pipe 20 includes a pipe 20A going to a coating circulation, a pipe 20B returning from the coating circulation and a pipe 20C returning from an excess coating circulation, and these pipe 20A, pipe 20B and pipe 20C are attached to respective rotatable pipes 21. The rotatable pipes 21 consist of a straight line pipe 22 extending the left and right directions in Fig. and rotary joints 30, 30 installed at both ends of the straight line pipe 22, and are rotated by a rotating mechanism 50. When the straight line pipe 22 is rotated, the inside coating is vertically stirred. This stirring prevents separation and sedimentation of the coating. From above, the sedimentation of coating components in the pipes is suppressed without increasing the flow rate of the coating.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供能够抑制管道中的涂层沉降而不增加涂层流动的涂层供给装置。
解决方案：涂布管20包括进行涂布循环的管20A，从涂布循环返回的管20B和从多余涂布循环返回的管20C，并且将这些管20A，管20B和管20C附接可旋转管21由在图1中的左右方向延伸的直线管22组成。以及安装在直线管22的两端的旋转接头30,30，并通过旋转机构50旋转。当直线管22旋转时，内侧涂层被垂直搅拌。这种搅拌防止了涂层的分离和沉淀。从上而言，在不增加涂层的流量的情况下，抑制管中涂层组分的沉降。版权所有（C）2008，JPO＆INPIT

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