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1. 发明专利

JPH09287929A THREE-DIMENSIONAL MEASURING METHOD FOR MOVING BODY WORK 失效
公开(公告)号：JPH09287929A
公开(公告)日：1997-11-04
申请号：JP9725596
申请日：1996-04-19
申请人： ISHIKAWAJIMA SHIBAURA MACH
发明人： MIZUNO TAKESHI , NAKAZAWA MASAAKI , WADA HITOSHI , HAGIWARA HIROYUKI
IPC分类号： G01B11/00 , G01B11/24 , G01B11/245
摘要： PROBLEM TO BE SOLVED: To perform the measurement of the three-dimensional shape of the surface to be measured of a moving body work, without stopping the moving body work. SOLUTION: In this three-dimensional measuring method, the position of a moving body work 1, which is carried on a line 2, is detected by a work- position detecting sensor. The irregularities of a surface to be measured 3 of the moving body work 1 carried on the line 2 are detected by a displacement sensor 4, which can scan 111 one-axis direction. Thus, the three-dimensional shape of the surface to be measured 3 of the moving body work 1 is measured, based on the detected data from the work-position sensor, the detected data from the displacement sensor 4 and the scanning speed of the displacement sensor 4. Therefore, the three-dimensional shape can be measured without stopping the moving body work carried on the line 2, the efficiency of the measuring work of the three-dimensional shape can be enhanced, and the three-dimensional shapes can be measured for all of the moving body works 1 carried on the line 2.

2. 发明专利

JPH09203612A POSITION DETECTOR FOR STACKED CORE 失效
公开(公告)号：JPH09203612A
公开(公告)日：1997-08-05
申请号：JP1092896
申请日：1996-01-25
申请人： ISHIKAWAJIMA SHIBAURA MACH
发明人： HAGIWARA HIROYUKI , NAKAZAWA MASAAKI , WADA HITOSHI , MIZUNO TAKESHI
IPC分类号： G01B11/00 , B22C9/10 , B22C23/00 , B25J19/04 , G01B11/24
摘要： PROBLEM TO BE SOLVED: To allow correct position detection of cores which are transferred while being stacked. SOLUTION: A position detector comprises a camera 6 for recording from above a core transferred in a stacked state to the vicinity of a robot 4 for holding the core and putting into a main mold, an image processor 11 for detecting a position of the core based on recorded data from the camera 6 and a lift mechanism 8 for raising/lowering the camera 6. Thus positions of even cores which are transferred in a stacked state and also with the position shifted for each stage can be correctly detected. In addition, when the core is put with the core at the highest stage held by the robot 4, the camera 6 is lowered by one stage of the cores, thereby correctly detecting the position of the core positioned below. Therefore holding of the cores by the robot 4 can be reliably done.

3. 发明专利

JPH08294886A ROBOT CONTROL DEVICE 失效
公开(公告)号：JPH08294886A
公开(公告)日：1996-11-12
申请号：JP10153295
申请日：1995-04-26
申请人： ISHIKAWAJIMA SHIBAURA MACH
发明人： HAGIWARA HIROYUKI , NAKAZAWA MASAAKI , WADA HITOSHI , MIZUNO TAKESHI , MIYAMOTO HIDEKI
IPC分类号： B25J9/10 , B25J9/16
摘要： PURPOSE: To make automatic return to the initial condition quickly and smoothly by providing a plurality of return programs to the initial condition, furnishing a stop position sensing means and operating condition sensing means, and selecting the suitable program for the given condition when a robot stopped on the way of its works is to be started on the basis of the results from sensing made by the two sensing means. CONSTITUTION: A ROM as a storing part provided in a robot controller 4 contains a plurality of, for example three, return programs to the initial condition which are to control a reversible motor so that a robot stopped on the way of its works is returned automatically to the initial state. A stop position sensing means and an operating condition sensing means are furnished, and when the robot 1 stopped on the way of its works is to be started, a selecting means installed in the robot controller 4 selects the program suitable for the given condition to return the robot 1 automatically to its initial state on the basis of the results from sensing made by the two sensing means. Thus restitution takes place automatically in conformity to the selected program.

4. 发明专利

JPH0929679A CLAMPING DEVICE 失效
公开(公告)号：JPH0929679A
公开(公告)日：1997-02-04
申请号：JP18018795
申请日：1995-07-17
申请人： ISHIKAWAJIMA SHIBAURA MACH , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： TAKADA KIMIHISA , NAKAZAWA MASAAKI , WADA HITOSHI , YAMAZAKI SHUSAKU , MURAKAMI HIROKI , MUTO MITSURU
IPC分类号： B25J15/00 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To grasp an article having a complicated form with good balance and in a stable condition. SOLUTION: A clamping device is provided with a plurality of guiding rods 20 arranged in parallel with one another, a movable grasping member 27 provided in each of the plurality of guiding rods 20, a fixed grasping member 33 fixed in the end part side of each of the plurality of guiding rods 20 caused to face the movable grasping member 27 and a driving means 39 for moving the movable grasping member 27 along the guiding rod 20, and an article is grasped by the pluralities of movable grasping members 27 and fixed grasping members 33.

5. 发明专利

JPH04342677A DOLLY 失效
公开(公告)号：JPH04342677A
公开(公告)日：1992-11-30
申请号：JP11279291
申请日：1991-05-17
申请人： ISHIKAWAJIMA SHIBAURA MACH
发明人： EJIMA HITOSHI , WADA HITOSHI , TAKIGAWA TATSUAKI , KONO SATORU
IPC分类号： B62D55/02 , B62D55/075
摘要： PURPOSE:To provide a crawler unit for holding a handcart loaded with carrying articles, carry the articles using the drive force of the crawler unit, and enable the unit to turn about the wheel of the handcart as a support point at the time of turning operation. CONSTITUTION:The holding section 65 of a crawler unit 7 retains a handcart 5. In addition, the handcart 5 and crawler unit 7 are relatively capable of freely moving in a vertical direction up to the positions where the lower ends of a pair of right and left wheels 3 and 4 of the cart 5 and the lower surface of the crawler belt 6 of the unit 7 are approximately at the same level, the lower ends of the wheels 3 and 4 project from the lower surface of the belt 6, and the lower ends of the wheels 3 and 4 are pulled above from the lower surface of the belt 6. Also, a brake means 111 is fitted to fix the handcart 5 and unit 7 at respective positions shifted vertically relative to each other.

6. 发明专利

JPH0919881A CLAMPING DEVICE 失效
公开(公告)号：JPH0919881A
公开(公告)日：1997-01-21
申请号：JP17336095
申请日：1995-07-10
申请人： ISHIKAWAJIMA SHIBAURA MACH , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： TAKADA KIMIHISA , NAKAZAWA MASAAKI , WADA HITOSHI , YAMAZAKI SHUSAKU , MURAKAMI HIROKI , MUTO MITSURU
IPC分类号： B25J15/00 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To grasp an object in complicated shape stably in well balanced condition. SOLUTION: A clamping device is composed of a plurality of tables 29, 30, 31 supported slidably on guide members 20, 21, a grasping part 36 having a pair of clamp arms 40 pivoted on support pins which are installed on the respective tables, and an electromagnetic clutch installed on the support pins to restrain the grasping part 36 swinging relative to the support pin when it is mounted on the support pin and energized. The object concerned in a complicated shape is grasped in a plurality of places by the two clamp arms 40.

7. 发明专利

JPH08318346A CASTING CORE STORING DEVICE 失效
公开(公告)号：JPH08318346A
公开(公告)日：1996-12-03
申请号：JP12696595
申请日：1995-05-26
申请人： ISHIKAWAJIMA SHIBAURA MACH
发明人： MIYAMOTO HIDEKI , NAKAZAWA MASAAKI , WADA HITOSHI , HAGIWARA HIROYUKI , MIZUNO TAKESHI
IPC分类号： B25J13/00 , B22C9/10
摘要： PURPOSE: To store various cores in a main die using a robot, and to prevent the core from being brought into contact with the inner surface of the main die to break the main die. CONSTITUTION: A robot having an arm movable in the horizontal and vertical direction, a hand part fitted to the tip part of the arm to hold a core, and a driving means to move the arm to the position where the core held by the hand part is stored in a main die is provided. A non-contact type distance measuring instrument which is lowered to the prescribed position in the main die, and measures the distance between the distance measuring instrument and the circumferential surface of the main die is fitted to the hand part, and the distance between the hand part and the main die is operated by a first operating means based on the measurement by the distance measuring instrument. The correction in storing the core of the arm necessary to store the core in the main die without bringing the core held by the hand part into contact with the circumferential surface of the main die is operated by a second operating means based on the results of operation by the first operating means, and the arm is moved based on the results of operation of the second operating means to accommodate the core.

8. 发明专利

JPH07308883A CASTING CORE INSERTING MACHINE 失效
公开(公告)号：JPH07308883A
公开(公告)日：1995-11-28
申请号：JP196495
申请日：1995-01-10
申请人： ISHIKAWAJIMA SHIBAURA MACH , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： YAMAZAKI SHUSAKU , MURAKAMI HIROKI , MUTO MITSURU , TANITSU KENJI , KITAYAMA HITOSHI , WADA HITOSHI
IPC分类号： B25J9/06 , B25J17/02
摘要： PURPOSE:To provide a casting core inserting machine by which a core can be inserted into a main mold without impairing the main mold. CONSTITUTION:A casting core inserting machine is purposed for inserting a core 13 inside a main mold 17 after the core continuously conveyed has been transported above the inserting position of the casting main mold and stopped in a prescribed position. The machine is provided with a robot body 1, a fixing side base part 10 that has been provided to the robot body 1 and is moved from a core receiving position to an inserting position 50 and also is lowered vertically downward in the inserting position 50, a moving side base part 12 to which a holding part 14 for holding the core 13 has been provided, and a parallel link 11 for connecting the moving side base part 12 with the fixing side base part 10; and it is also provided with a compliance mechanism 15 for horizontally moving the moving side base part 12 so that the dislocation of the main mold 17 can be absorbed.

9. 发明专利

JPH07236945A CASTING CORE LAYING DEVICE 失效
公开(公告)号：JPH07236945A
公开(公告)日：1995-09-12
申请号：JP3021194
申请日：1994-02-28
申请人： ISHIKAWAJIMA SHIBAURA MACH , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： NAKAZAWA MASAAKI , WADA HITOSHI , HAGIWARA HIROYUKI , MIZUNO TAKESHI , MIYAMOTO HIDEKI , MURAKAMI HIROKI , YAMAZAKI SHUSAKU
IPC分类号： B25J9/10 , B22C9/10 , B22D17/24 , B25J13/08 , G05B19/18 , G05B19/404
摘要： PURPOSE:To prevent collapse of a main core when a core is brought into contact with the periphery of a main mold, while core laying is executed by a core laying robot. CONSTITUTION:The tip part of an arm 16 and a hand part 17 of robot are connected through a compliance device 18 free to oscillate the hand part 17 in horizontal direction. While a core 2 clamped with the hand part 17 is laid in a main mold 1, when the hand part 17 is oscillated while the core 2 is brought into contact with the periphery of the main core 1, in order to eliminate contact of the core 2 with the main mold 1 based on the oscillated direction, oscillated a quantity and descended quantity of the hand, a required position correcting quantity of the arm 16 is operated by an arithmetic means 19, further, a position of the arm is corrected based on the operated position correcting quantity by a correcting means 19, thus, the core 2 is not brought into contact with the main mold 1.

10. 发明专利

JPH07236944A TEACHING DEVICE OF CORE LAYING ROBOT AND METHOD THEREOF 失效
公开(公告)号：JPH07236944A
公开(公告)日：1995-09-12
申请号：JP3021094
申请日：1994-02-28
申请人： ISHIKAWAJIMA SHIBAURA MACH , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： NAKAZAWA MASAAKI , WADA HITOSHI , HAGIWARA HIROYUKI , MIZUNO TAKESHI , MIYAMOTO HIDEKI , MURAKAMI HIROKI , YAMAZAKI SHUSAKU
IPC分类号： B25J9/10 , B22C9/10 , B22D17/24 , B25J9/22 , B25J13/08 , G05B19/42
摘要： PURPOSE:To execute teaching of core laying position with use of a real main mold and core when core laying to a main mold is executed with use of a core placing robot. CONSTITUTION:A hand part 17 is mounted at the tip part of an arm 16 of a core placing robot through a compliance device 18. A core 2 is laid in a main mold 1 positioned at a specific core laying position, by moving the hand 17 to a position above of the core 2 and lowering the hand part 17, the core 2 is clamped. Oscillatinging of the hand 17 at clamping the core 2 is detected by an oscillatinging detecting means 19, the arm 16 is position corrected to the position to eliminate oscillating, the position of arm 16 after corrected is stored in a memory part 11 as the teaching position of core laying.

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