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1. 发明专利

JP2007000876A FRICTION STIR WELDING APPARATUS 审中-公开
公开(公告)号：JP2007000876A
公开(公告)日：2007-01-11
申请号：JP2005180702
申请日：2005-06-21
申请人： KAWASAKI HEAVY IND LTD , KAWASAKI SHIPBUILDING CORP
发明人： KOGA SHINJI , INUZUKA MASAYUKI , NISHIDA HIDETO , OTSUKI YASUO , NAKAJIMA KATSUMI , NISHIYAMA GORO , YAMAZAKI KENTARO , OTA KOICHI
IPC分类号： B23K20/12
摘要： PROBLEM TO BE SOLVED: To provide a friction stir welding apparatus which can flexibly cope with the size and shape of an object to be welded. SOLUTION: A car body 34 moves along the welding line 29 of the object 23 to be welded in the state that a welding tool 24 is plunged into the object 23 by turning a tool holding portion 31 holding the welding tool 24. By this operation, two members 21, 22 to be joined are welded. The car body 34 moves above or below the object 23. As a result, the friction stir welding apparatus 20 does not need to hold the tool holding portion 31, a rotationally driving means 32, and a translationally driving means 33 at the positions outside the object 23 in the horizontal direction. Therefore, the friction stir welding operation can be carried out irrespective of the size and shape of the object 23. COPYRIGHT: (C)2007,JPO&INPIT

2. 发明专利

JP2009291104A Automatic cell culture apparatus 有权
标题翻译：自动细胞培养装置
公开(公告)号：JP2009291104A
公开(公告)日：2009-12-17
申请号：JP2008146480
申请日：2008-06-04
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： SAKURAI TAKASHI , NAKAJIMA KATSUMI , ITO SHINPEI
IPC分类号： C12M3/00
CPC分类号： C12M41/48 , C12M23/50 , C12M37/00 , C12M41/14
摘要： PROBLEM TO BE SOLVED: To provide an automatic cell culture apparatus having a layout structure that is easily operated by an operation robot, facilitates addition and extension of apparatuses, readily monitors operation conditions of the operation robot and includes excellent maintenance. SOLUTION: The automatic cell culture apparatus includes a constitution that an incubator 14, a refrigeration storage 19, a capper 53, an operation station 20, a temporary station 9, a chip stand 8 and a centrifugal separator 7 are arranged along an installation surface 1 in parallel with the backside 10a of a case body 10, a rail 13 is laid along the installation surface 1, a lifting and lowering post 3 that is perpendicular to the rail 13 and extended in the vertical direction, the lifting and lowering post 3 is equipped with the operation robot 11, the operation robot 11 is movable along the installation surface 1 in the horizontal direction and in the vertical direction, the case body 10 is disassemble into three units 10A, 10B and 10C and the rail 13 can be extended in its extension direction. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：解决问题的方案：提供一种具有操作机器人容易操作的布置结构的自动细胞培养装置，便于设备的添加和扩展，容易地监视操作机器人的操作条件并且包括良好的维护。解决方案：自动细胞培养装置包括如下构造：将培养箱14，冷藏库19，封盖器53，操作站20，临时站9，切屑架8和离心分离器7沿着安装面1与壳体10的背面10a平行，轨道13沿着安装面1铺设，垂直于导轨13并沿垂直方向延伸的升降柱3，升降柱3配备有操作机器人11，操作机器人11可沿着安装面1沿水平方向和垂直方向移动，壳体10分解成三个单元10A，10B和10C，轨道13可以延伸到其延伸方向。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2008237112A Automatic cell culture apparatus equipped with medicine-spraying gum 有权
标题翻译：自动细胞培养装置配有医药喷雾胶
公开(公告)号：JP2008237112A
公开(公告)日：2008-10-09
申请号：JP2007082435
申请日：2007-03-27
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： NAKAJIMA KATSUMI , SAKURAI TAKASHI , KINOSHITA HIROTAKA
IPC分类号： C12M3/00 , C12M1/12
CPC分类号： C12M37/00 , C12M41/48
摘要： PROBLEM TO BE SOLVED: To provide an automatic cell culture apparatus equipped with a medicine-spraying gum, which can be gripped with an operation robot and can spray on the operation robot itself.
SOLUTION: An articulated operation robot 19 is disposed in a device-setting portion 12 of the automatic cell culture apparatus 1, and a spray gum 25 for spraying a medicine is disposed below the closing door 13 of an operation portion 11 for performing various operations. The spray gum 25 is held in a state capable of being detached with a holder 26. The holder 26 is provided at a place where the medicine can be sprayed on the singer portions 22 of the operation robot 19, and the spray gum 25 is held in the horizontal direction.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种配备有药物喷雾胶的自动细胞培养装置，其可以用操作机器人夹持并且可以在操作机器人本身上喷雾。解决方案：一种铰接操作机器人19设置在自动细胞培养装置1的装置设置部分12中，并且用于喷射药物的喷雾胶25设置在操作部分11的关闭门13的下方，用于执行各种作业。喷雾胶25保持在能够与保持器26分离的状态。保持器26设置在可以将药物喷射到操作机器人19的歌手部分22上的地方，并且保持喷雾胶25 在水平方向。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2005007490A Control method and device of super-multidegree-of-freedom system 有权
标题翻译：超自由度系统的控制方法和装置
公开(公告)号：JP2005007490A
公开(公告)日：2005-01-13
申请号：JP2003171621
申请日：2003-06-17
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： KOBAYASHI MASAMI , NAKAJIMA KATSUMI , MIFUNE FUMISATO , HASUNUMA HITOSHI
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a control method, and a control device, for performing operation suiting to an intention of an operator, by inputting instruction on a conscious little degree of freedom, in a super-multidegree-of-freedom system having several tens of degrees of freedom.
SOLUTION: This device is connected to an input device 22 capable of directly instructing several degrees of freedom. A degree of freedom uninstructed directly is automatically controlled according to an inference, by inferring a behavior pattern of the highest probability of being performed in a give state, by using a probability network 23 expressed as the joint probability distribution between operations of a degree of freedom by an operation estimating part 21.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种控制方法和控制装置，用于执行适合于操作者的意图的操作，通过以超自由度的自由度输入有意识的小自由度的指令具有几十个自由度的系统。
解决方案：该装置连接到能够直接指示几个自由度的输入装置22。通过使用表示为自由度运算之间的联合概率分布的概率网络23来推断在给予状态下执行的最高概率的行为模式，通过推断自动地控制直接未建立的自由度通过操作估计部分21。版权所有（C）2005，JPO＆NCIPI

5. 发明专利

JPH10281936A TESTING METHOD AND TESTING DEVICE OF MOBILE PART 失效
公开(公告)号：JPH10281936A
公开(公告)日：1998-10-23
申请号：JP9797297
申请日：1997-03-31
申请人： KAWASAKI HEAVY IND LTD
发明人： YAGI EIICHI , NAKAJIMA KATSUMI , FUJII SHUICHI , KODAIRA HIROAKI , OKA AKIHIKO , FUJIWARA KENJI , KOIZUMI YUTAKA , SATO KIMIHARU
IPC分类号： G01M13/00 , G01M7/02 , G01M99/00
摘要： PROBLEM TO BE SOLVED: To perform a test simulating the actual operation of a mobile part. SOLUTION: This device T has a body 10 capable of performing a prescribed operation to a mobile part P to be tested in the state where the mobile part P is held, and a control means 20 for instructing a prescribed operation to the body 10. By use of this device T, the actual operation data is converted into the operation data of the body 10 by the control means 20 to perform the test of the mobile part P.

6. 发明专利

JPH0890766A PLATE-SHAPED OBJECT PRINTING APPARATUS 失效
公开(公告)号：JPH0890766A
公开(公告)日：1996-04-09
申请号：JP23175994
申请日：1994-09-27
申请人： KAWASAKI HEAVY IND LTD
发明人： TANEDA SADAHIRO , IWAMI KATSUHIRO , NAKAJIMA KATSUMI
IPC分类号： B41J2/01 , B41J25/308
摘要： PURPOSE: To print a desired image on the surface of a plate-shaped object such as a steel plate within a short time by providing a marking control means responding to the output of a plate-shaped object feed position detection means and reading the content stored in a memory to eject ink to the desired position of a plate-shaped object from a nozzle. CONSTITUTION: When the start point of a steel plate 2 is detected by a start point detection means 35, a means detecting the feed position in a first direction operates and calculates the feed moving quantity of the steel plate 2. The motor of a rising and falling drive means is driven corresponding to the output of a distance detection means to drive a support 11, therefore, a marking head 5 so as to displace the same up and down. A plate thickness detection means 31 applies only initial positioning data and the data controlling the rising and falling displacement at a time when the steel plate is present under the head is outputs of four distance detection means attached on the upstream side of the support 11 in the same way as the start point detection means 35. When the final point of the steel plate 2 is detected by a final point detection means 36, the detection operation of the feed moving quantity along the first direction 4 of the steel plate 2 is completed.

7. 发明专利

JPH0655481A HAND OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0655481A
公开(公告)日：1994-03-01
申请号：JP20915792
申请日：1992-08-05
申请人： KAWASAKI HEAVY IND LTD
发明人： MIYAHARA KEIZO , NAKAJIMA KATSUMI , OTSUKI YASUO
IPC分类号： B25J15/08
摘要： PURPOSE:To grip a substance easily and securely by increasing the gripping force in the area near the gripping position while increasing the movement of the fingers in the area other than the area where the gripping force is increased, by combining links with pins between a driving piece and the fingers of a pair of holding bodies. CONSTITUTION:A double action pneumatic cylinder 10 is installed demountable to the hand 8 of an industrial robot through a flange coupling 9. And a connecting member 14 is fixed to the piston rod 13 of the cylinder 10, so as to compose a driving piece 15. Furthermore, a pair of fingers 18 and 19 are arranged displaceable with pins 16 and 17 to a pair of holding bodies 11 and 12 fixed to the cylinder 10, and a substance 24 is gripped by moving the finger tips 20 and 21 of the fingers 18 and 19 in the approaching directions 22 and 23 each other. And a pair of intermediate links 28 and 29 are connected with pins 30 to 33 to the connecting member 14 and the base ends 26 and 27 of the fingers 18 and 19. Consequently, while the gripping force is increased in the area near the gripping position, the movements of the fingers 18 and 19 are increased at the area other than the area where the gripping force is increased.

8. 发明专利

JPH04176583A MANIPULATOR 失效
公开(公告)号：JPH04176583A
公开(公告)日：1992-06-24
申请号：JP30130790
申请日：1990-11-07
申请人： KAWASAKI HEAVY IND LTD
发明人： WADA TAKAO , NAKAJIMA KATSUMI
IPC分类号： B25J17/02 , B25J11/00
摘要： PURPOSE:To enable a sure motion and quick operation, by using a force sensor and compliance device with their combination. CONSTITUTION:An inner force sensor detecting the force applied on a robot hand 3 is installed onto a robot flange 30. Moreover a compliance device 10 which is interposed between the robot flange 30 and robot hand 3, which prohibits the turning of the robot hand 3 until the force applied on the robot hand 3 becomes in the specified size and which has the mechanism making it freely turnable in case of exceeding the specified size, is provided. Therefore the movement of relief can be done without an excessive force being applied on an outside fitting 4. The turning of the robot hand 3 is prohibited also in case of the load being eliminate with this outside fitting 4 being removed.

9. 发明专利

JPH04149398A SEGMENT POSITION DETECTING DEVICE OF SHIELD EXCAVATOR 失效
公开(公告)号：JPH04149398A
公开(公告)日：1992-05-22
申请号：JP27423190
申请日：1990-10-11
申请人： KAWASAKI HEAVY IND LTD
发明人： MANABE TAKAO , HINO TAKENORI , NAKAJIMA KATSUMI
IPC分类号： E21D11/40 , G01C15/00
摘要： PURPOSE:To accurately position each segment by forming in each segment a marked portion to be detected for positioning, and also providing the segment holding means of an erector with a detecting means for the portion to be detected, and controlling and shifting the holding means to a predetermined position. CONSTITUTION:A distance detecting means 1 which generates laser light 2 is connected to a motor 4 and an encoder 6 which detects the angular displacement of the means 1 about a rotary shaft 5 is provided. This device is mounted on the segment holding means of the erector of a shield excavator. The laser 2 is turningly applied to portions to be detected for positioning which are formed in advance in an existing segment and a new segment being held by the holding means and the distance from and the angle to each portion to be detected are detected. The distance over which to move the new segment is computed by a processing means 30 and the holding means is shifted to a predetermined position via a drive means 32. Thereby each segment can be accurately positioned.

10. 发明专利

JPH01295770A OMNIDIRECTIONAL EQUI-INERTIAL MASTER ARM 失效
公开(公告)号：JPH01295770A
公开(公告)日：1989-11-29
申请号：JP12666888
申请日：1988-05-24
申请人： KAWASAKI HEAVY IND LTD
发明人： NAKAJIMA KATSUMI , IOI KIYOSHI
IPC分类号： B25J3/00 , B25J9/06 , B25J13/02 , B25J19/00
摘要： PURPOSE:To enable a master arm to be operated three-dimesionally with same feeling for improving the maneuverability by disposing a balancing weight and a drive motor to equalizing approximately the omnidirectional inertia of hand end within the operational region of the arm. CONSTITUTION:An arm twisting DD motor 20, wrist twisting DD motor 21 and wrist bending DD motor 22 are disposed on a clamp portion (wrist) 16 on an end of the upper arm in a master arm to make the wrist heavy. A weight 23 is mounted on a horizontal link 14 in the master arm for balancing, while a balancing weight 24 is also mounted on the lower arm 12 to make approximately gravity torque zero around each rotary shaft of the master arm, while equalizing approximately the omnidirectional inertia of hand end within the operational range of the arm.

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