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1. 发明专利

JPH0446791A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0446791A
公开(公告)日：1992-02-17
申请号：JP15035590
申请日：1990-06-08
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI
IPC分类号： B25J17/00
摘要： PURPOSE:To easily change pipe members to perform maintenance by arranging pipe members out of a driving force transmitting mechanism arranged coaxially with each axial core of a first and a second arms, and providing cover members so as to cover the pipe members and each driving force transmitting mechanism from the circumference. CONSTITUTION:Pipe members 29, 30 are arranged out of a driving force transmitting mechanism 28 arranged coaxially with each axial core of a first and a second arms 1, 3, and while cover members 36, 37, 38 are provided so as to cover the pipe members 29, 30 and the driving force transmitting mechanism 28 from the circumference. In the case that the pipe members 29, 30 are broken, the pipe members 29, 30 are changed easily for maintenance without disassembling the driving force transmitting mechanism 28 having the complex structure.

2. 发明专利

JPH02274439A NUT RUNNER 失效
公开(公告)号：JPH02274439A
公开(公告)日：1990-11-08
申请号：JP9786589
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , WATANABE KOJI , OBATA MITSUYOSHI , YOMODA MASAHIKO
IPC分类号： B23P19/06
摘要： PURPOSE:To enable a thread member to be tightened and loosened even with relatively rough positioning accuracy by providing a universal joint mechanism acting when a socket is pressed in an opposite direction to the advancing direction of the thread member when it is screwed and an aligning mechanism acting when pressing of the above described socket is released. CONSTITUTION:A socket 22, when it is pressed in a direction of an arrow head 24 opposite to an advancing direction 23 of a bolt 2 when it is screwed, is placed by a universal joint mechanism 27 in a condition that the socket 22 can swivel further not rotate in a direction of an arrow head 26 with a steel ball 31 serving as the center for a drive shaft 25. As a result, even when the bolt 2 displaces a position of its head part 2a from the axial center of the socket 22, it is guided by a tapered surface 22c engaged with the head part 2a, moved along the bolt 2 and surely engaged with the head part 2a. On the contrary, the socket 22, when it is released from being pressed in the direction of the arrow head 24, aligns its axial center with the axial center of the shaft 25 by an aligning mechanism 28, that is, by fitting its male tapered part 22b to the female tapered part 37a of a socket guide 37.

3. 发明专利

JPH02274433A PIN IN-OUT MANIPULATING DEVICE 失效
公开(公告)号：JPH02274433A
公开(公告)日：1990-11-08
申请号：JP9786189
申请日：1989-04-18
申请人： HONDA MOTOR CO LTD , KOBE STEEL LTD
发明人： OZAWA SHOGO , YAMAMOTO TORU , WATANABE KOJI , OBATA MITSUYOSHI
IPC分类号： B23P19/02 , B23P19/04 , B23P21/00 , B62D65/00
摘要： PURPOSE:To easily and surely insert and remove a pin automatically by supporting by a supporting mechanism a supporting member positioned for the axial center of the pin following the fitting action of a position detecting member for the pin. CONSTITUTION:In the case of inserting and removing a pin 4 for mounting a door to an automobile body, first when a sensing pawl 2 is moved in a direction Y, by an air cylinder 11 the pin is moved in a direction X being guided by an opening part 2a, the respective moving amounts are defected by a potentiometer, and a position of the pin 4 is calculated and stored. Next a pin retaining pawl 8 is moved downward by an air cylinder 40, the pin 4 inserted into holes 3, is removed with its one end of the pin pressed in the direction of the axial center. A tapered part 4a on the other end of the pin 4 is engaged with a pin insertion pawl 10 and its engaging hole 10a so as to hold the pin 4 by advancing a pin clamping pawl 9 by an air cylinder 43. On the contrary, in the case of inserting the pin 4 again, the pin is inserted by the reverse action based on a memory position. Thus, the pin can be easily and surely inserted and removed automatically.

4. 发明专利

JPS62188692A HYDRAULIC CIRCUIT FOR MANIPULATOR 失效
公开(公告)号：JPS62188692A
公开(公告)日：1987-08-18
申请号：JP2817686
申请日：1986-02-12
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI
IPC分类号： B25J9/16 , B25J19/00 , F15B21/04

5. 发明专利

JPS61293785A MEMORY AND REGENERATION TYPE INDUSTRIAL ROBOT 失效
公开(公告)号：JPS61293785A
公开(公告)日：1986-12-24
申请号：JP14021086
申请日：1986-06-18
申请人： KOBE STEEL LTD , TOSHIBA CORP
发明人： OGAKE TOSHIO , OBATA MITSUYOSHI
IPC分类号： B25J9/06 , B23P19/02 , B25J9/22

6. 发明专利

JPS59132971A Controlling method for robot for spraying concrete or the like 失效
标题翻译：用于喷涂混凝土或类似物的机器人的控制方法
公开(公告)号：JPS59132971A
公开(公告)日：1984-07-31
申请号：JP637783
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 carry a nozzle along a cylindrical surface in parallel with the axis of a tunnel, in controlling a robot provided at any position inside the tunnel, by instructing four positional coordinates on the basis of a horizontal line passing through the axis of the main swinging shaft of said robot. CONSTITUTION:The positional coordinates of two horizontal points A, B existent in a predetermined spraying distance inside the points A', B' of a horizontal line, which passes through the supporting shaft of the main body 1 of a robot and an axis on a plane rectangular to a main swinging shaft 4, i.e. the axis of a tunnel, intersecting the excavated surface K of the tunnel are instructed. Distances from a point O1 where the supporting shaft on the main swinging shaft 4 is existing to the points A, B are instructed, too. In addition, from the positional coordinates of a point C where a perpendicular line existent on said plane and raised above the point O1 intersects a spraying cylindrical surface J existent in a predetermined spraying distance inside the excavated surface K of the tunnel, the distance between the point C and the shaft 4 is detected. Hereon, the spraying distance and the radius of the cylindrical surface J are values known by planning. Then, a nozzle is induced to the position of a point D which is existent in a distance z inside the point C along a direction in parallel with the axis of the tunnel.
摘要翻译：目的：沿着隧道的轴线沿圆柱面平行运送喷嘴，在控制隧道内任何位置的机器人的基础上，通过基于主轴的轴线的水平线指示四个位置坐标所述机器人的摆动轴。构成：两个水平点A，B的位置坐标存在于水平线的点A'，B'内的预定喷射距离内，该水平线通过机器人的主体1的支撑轴和轴线指示与主摆动轴4成矩形的矩形，即与隧道的挖掘表面K相交的隧道的轴线。也指示与主摆动轴4上的支撑轴存在于点A，B上的点O1的距离。此外，根据在所述平面上存在的垂直线上升并且在点O1上方升高的点C的位置坐标与在隧道的挖掘表面K内部的预定喷射距离存在的喷射圆柱形表面J相距，点C，检测到轴4。因此，喷射距离和圆柱形表面J的半径是通过规划已知的值。然后，喷嘴被引导到沿着与隧道的轴线平行的方向在点C内存在的距离z的点D的位置。

7. 发明专利

JPS59132959A Driving method for nozzle for spraying concrete or the like and apparatus therefor 失效
标题翻译：用于喷射混凝土或其类似物和装置的喷嘴的驱动方法
公开(公告)号：JPS59132959A
公开(公告)日：1984-07-31
申请号：JP638183
申请日：1983-01-18
申请人： Kobe Steel Ltd
发明人： OBATA MITSUYOSHI
IPC分类号： B05B7/12 , B05B13/04 , B05D1/02 , B05D7/22 , E21D11/10
CPC分类号： E21D11/105
摘要： PURPOSE:To enable to perform spraying to a corner part, etc. at the root of a timbering with a proper angle, by supporting a nozzle in a manner such that it can be independently swung on planes in parallel with its axis intersecting each other so as to bring about oscillating motion. CONSTITUTION:When a swinging motor 31 is rotated, said rotation is transmitted through a shaft 32 to a bevel gear 33. By turning another bevel gear 34 and a shaft 35 along a direction theta4 about the axis of said shaft 35, a nozzle N is swung along the same direction theta4 about the shaft 35. Thereafter, when another motor 36 is rotated, said rotation is transmitted to a gear 36 and then to a gear 39 and a hollow shaft 38, to rotate a casing 41 along a direction theta5 about the shaft 32 and to turn the shaft 35 along the same direction theta5. Hence, the nozzle N is swung along the same direction. Hereon, by turning the casing 41 under the condition that the shaft 32 is fixed by making the numbers of teeth of gears 33, 34 equal to each other, the nozzle N is swung along the direction theta4. Consequently, the desired inclination of the nozzle N can be obtained so that proper spraying to the vicinity of a timbering can be performed.
摘要翻译：目的：为了能够以适当的角度对木材根部的角部等进行喷涂，通过以与其相互交叉的轴线平行的平面独立摆动的方式支撑喷嘴，从而以产生摆动。构成：当摆动马达31旋转时，所述旋转通过轴32传递到锥齿轮33.通过围绕轴35的轴线沿着方向θ4转动另一锥齿轮34和轴35，喷嘴N为然后，当另一马达36旋转时，所述旋转被传递到齿轮36，然后传递到齿轮39和中空轴38，以使壳体41沿着方向θ5旋转约轴32并沿同一方向θ5转动轴35。因此，喷嘴N沿着相同的方向摆动。这样，通过使齿轮33,34的齿数彼此相等的方式使轴32固定的状态转动壳体41，喷嘴N沿着θ4方向摆动。因此，可以获得喷嘴N的期望倾斜度，从而能够对木材附近进行适当的喷射。

8. 发明专利

JPS57205079A AUTOMATIC OPERATION TYPE MASTER-SLAVE DEVICE 失效
公开(公告)号：JPS57205079A
公开(公告)日：1982-12-16
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

9. 发明专利

JPS57149188A CONTROLLER FOR WRIST OF MULTI-ARTICULATE TYPE ROBOT 失效
公开(公告)号：JPS57149188A
公开(公告)日：1982-09-14
申请号：JP3617181
申请日：1981-03-12
申请人： KOBE STEEL LTD
发明人： KAWAISHI IWAO , OBATA MITSUYOSHI , NAKAMURA SATOSHI
IPC分类号： B25J17/02 , G05B19/18 , G05D3/00

10. 发明专利

JPS5451173A DEVICE FOR LIGHTLY MOVING ARMS OF ROBOT 失效
公开(公告)号：JPS5451173A
公开(公告)日：1979-04-21
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
摘要： PURPOSE:To perform accurate positioning and facilitate teaching operation, by reducing manual operating force. CONSTITUTION:To cause a robot to perform teaching, a jig is removed and a four-way shift valve 12 and a teaching lever 13 are attached together to a jig holding plate 11. Then, a solenoid valve 1 is energized to a position (a) to push the lever 13 forth. At that time, fluid is conducted to the top of a cylinder 8 through a valve 14, passages Ps and Cs and a uelve 18 to expand the cylinder 8 through. As a result, a vetical arm 1 is moved down to move a horizontal arm 2 forth in response to the motion of the lever 13. When the horizontal arm 2 is moved forth, the lever 13 is brough into a neutral hang position and the shift valve 12 is set into neutral position. Therefore, the arms can be lightly moved to desired position only by both the drive resistance of the horizontal arm 2 and the turning operation of the lever 13.

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