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1. 发明专利

JP2011064645A Ultrasonic flaw detection apparatus and ultrasonic flaw detection method 审中-公开
标题翻译：超声波检测装置和超声波检测方法
公开(公告)号：JP2011064645A
公开(公告)日：2011-03-31
申请号：JP2009217580
申请日：2009-09-18
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： ADACHI SHUICHI , KUNITAKE TAKASHI , KAMEI HITOSHI , SANADA YOSHINORI , KATO ATSUSHI , YANOO KANA , SAKOTA NORIAKI , TANAKA KATSUYUKI
IPC分类号： G01N29/04
摘要： PROBLEM TO BE SOLVED: To improve the accuracy of ultrasonic flaw inspection, using a simple configuration. SOLUTION: An ultrasonic flaw detection device 1 includes: a mounting base 3 disposed in a water tank 2; a probe 41; and a moving means 4, and further, includes a flaw detection means for performing ultrasonic flaw inspection on an inspection target; a measuring instrument 51 for measuring the position and shape of an inspection target 5 on the mounting base 3; and a water-level raising/lowering means for raising and lowering the water level in the water tank 2. The water tank 2 is switched to an installation-measurement mode for immersing the inspection target 5 on the mounting base 3 in the air and measuring the position and the shape of the inspection target by the measuring instrument 51, by lowering the water level in the water tank 2 by the water-level raising/lowering means, and is switched to an inspection mode for performing ultrasonic flaw inspection on the inspection target 5, by immersing the inspection target 5 on the mounting base 3 into water and moving the probe by the moving means in this state, by raising the water level in the water tank 2 by the water-level raising/lowering means. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提高超声波探伤的精度，使用简单的配置。解决方案：超声波探伤装置1包括：设置在水箱2中的安装基座3; 探头41; 和移动装置4，并且还包括用于对检查对象进行超声波探伤的缺陷检测装置; 用于测量安装基座3上的检查对象5的位置和形状的测量仪器51; 以及用于升高和降低水箱2中的水位的水位升高/降低装置。水箱2切换到安装测量模式，用于将检查对象5浸没在安装基座3上的空气中并测量通过由水位升高/降低装置降低水箱2中的水位，由测量仪器51检查目标的位置和形状，并切换到用于对检查进行超声波探伤的检查模式通过在水位升高/降低装置中提高水箱2中的水位，通过在这种状态下将检查对象5浸入到安装基座3中并移动移动装置的探针。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2010038316A Actuator and power assist device 有权
标题翻译：执行器和动力辅助装置
公开(公告)号：JP2010038316A
公开(公告)日：2010-02-18
申请号：JP2008204050
申请日：2008-08-07
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： ADACHI SHUICHI , TAKAHASHI MASAYUKI , KATO ATSUSHI , KUNITAKE TAKASHI , FUJIMOTO TSUKASA , NAKAMATSU KAZUYUKI , KANEOKA KATSUYA
IPC分类号： F15B11/00 , F15B11/02 , F15B11/08
摘要： PROBLEM TO BE SOLVED: To provide an actuator equipped with an actuator driven by a fluid supplied thereto, and having a function of suppressing generation of vibration phenomenon as well as having a function of damping operation of the actuator.
SOLUTION: The actuator 1 is equipped with: a hydraulic cylinder 2 which is the actuator driven by being supplied with oil; a hydraulic pump 3 for supplying oil to the hydraulic cylinder 2; a first pipe 5 and a second pipe 6 for connecting the hydraulic pump 3 to the hydraulic cylinder 2; a motor 4 for driving the hydraulic pump 3; and both or either of a first throttling mechanism 7 and a second throttling mechanism 8 capable of reducing flow rate of the oil flowing in the first and second pipes 5, 6.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有由提供给其的流体驱动的致动器的致动器，并且具有抑制振动现象的产生以及具有阻尼操作的功能的功能。
解决方案：执行器1配备有：液压缸2，其是由供给油驱动的致动器; 用于向液压缸2供油的液压泵3; 用于将液压泵3连接到液压缸2的第一管5和第二管6; 用于驱动液压泵3的马达4; 以及能够降低在第一和第二管道5,6中流动的油的流量的第一节流机构7和第二节流机构8中的任一个。（C）2010，JPO和INPIT

3. 发明专利

JP2011185853A Curvature center detector, and hole position detection method using the same 审中-公开
标题翻译：弯曲中心检测器和使用其的孔位置检测方法
公开(公告)号：JP2011185853A
公开(公告)日：2011-09-22
申请号：JP2010053334
申请日：2010-03-10
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： KUNITAKE TAKASHI , MONONOBE TAKAYUKI , KAMEI HITOSHI , KATO ATSUSHI , ADACHI SHUICHI , SANADA YOSHINORI
IPC分类号： G01B11/00 , G01B11/255
摘要： PROBLEM TO BE SOLVED: To provide a curvature center detector capable of accurately and efficiently detecting the position of the curvature center of a spherical body having a spherical surface, and to provide a hole position detection method using the curvature center detector. SOLUTION: The curvature center detector for detecting the curvature center of the spherical body 1 formed so as to have a fixed curvature radius includes a two-dimensional displacement sensor 21 for measuring the cross-sectional shape of the spherical body 1, and an arithmetic section 23 for calculating the curvature center of the spherical body 1 based on information related to the cross-sectional shape measured by the two-dimensional displacement sensor 21. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够精确有效地检测具有球面的球体的曲率中心的位置的曲率中心检测器，并且提供使用该曲率中心检测器的孔位置检测方法。解决方案：用于检测形成为具有固定曲率半径的球体1的曲率中心的曲率中心检测器包括用于测量球体1的横截面形状的二维位移传感器21，以及运算部23，用于根据与由二维位移传感器21测定的横截面形状有关的信息来计算球体1的曲率中心。（C）2011年，JPO＆INPIT

4. 发明专利

JP2011183535A Device and method for correcting teaching point 有权
标题翻译：用于校正教学点的装置和方法
公开(公告)号：JP2011183535A
公开(公告)日：2011-09-22
申请号：JP2010053923
申请日：2010-03-11
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： MONONOBE TAKAYUKI , KAMEI HITOSHI , ADACHI SHUICHI , KATO ATSUSHI , KUNITAKE TAKASHI , TANAKA KATSUYUKI
IPC分类号： B25J9/10 , G05B19/404 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a device and a method for correcting a teaching point in which the teaching point of a working robot can be corrected considering shape errors in addition to placing errors of an object workpiece. SOLUTION: The device for correcting the teaching point corrects a reference teaching point preset for the working robot 1 in accordance with a status of the object workpiece 30b to be a working object. The device for correcting the teaching point includes a two-dimensional deviation sensor 3 capable of measuring a position of a feature point set for a reference workpiece 30a and the object workpiece 30b and measuring a cross-sectional shape of the reference workpiece 30a and the object workpiece 30b, a calculation part 5 for calculating the placing error for the object workpiece 30b by comparing the position of the feature point of the reference workpiece 30a with the position of the feature point of the object workpiece 30b and calculating the shape error for the object workpiece 30b by comparing the cross sectional shape of the reference workpiece 30a with the cross sectional shape of the object workpiece 30b, and a correction part 6 for correcting the reference teaching point based on the placing error and the shape error. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于校正教学点的装置和方法，其中除了放置对象工件的误差之外，考虑到形状误差可以校正工作机器人的教导点。解决方案：用于校正教导点的装置根据作为工作对象的对象工件30b的状态来校正对于工作机器人1预设的参考教导点。用于校正教导点的装置包括二维偏差传感器3，其能够测量对于基准工件30a和对象工件30b设定的特征点的位置，并测量基准工件30a和对象物的横截面形状工件30b，用于通过将参考工件30a的特征点的位置与对象工件30b的特征点的位置进行比较并计算对象工件30b的形状误差来计算对象工件30b的放置误差的计算部5 通过将基准工件30a的横截面形状与对象工件30b的横截面形状进行比较，以及校正部6，基于放置误差和形状误差校正基准示教点，校正部6。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2011148045A Device and method for calibrating tool coordinate system 有权
标题翻译：用于校准工具坐标系的装置和方法
公开(公告)号：JP2011148045A
公开(公告)日：2011-08-04
申请号：JP2010011573
申请日：2010-01-22
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： KUNITAKE TAKASHI , MONONOBE TAKAYUKI , KATO ATSUSHI
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To improve operating accuracy of a work robot by properly performing calibration of a tool coordinate system of the work robot. SOLUTION: The device for calibrating the tool coordinate system includes: a two-dimensional displacement sensor 3a prepared in the work robot 1 equipped with the tool coordinate system used as the reference of the movement; a calibrating tool 30 whose cross-sectional shape is measured by the two-dimensional displacement sensor 3a; a calculating means for calculating errors of rotation components and displacement components in the coordinate axis direction between a tool coordinate system 19 presently set in the work robot 1 and a tool coordinate system 20 to be set essentially, based on information of the measured cross-sectional shape; and a calibration means for calibrating the tool coordinate system 19 based on the calculation result by the calculation means. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：通过适当地执行工作机器人的工具坐标系的校准来提高作业机器人的操作精度。用于校准工具坐标系的装置包括：准备在作业机器人1中的二维位移传感器3a，其具有用作运动参考的工具坐标系; 校准工具30，其横截面形状由二维位移传感器3a测量; 计算装置，用于计算当前设置在作业机器人1中的工具坐标系19和基本上设置的工具坐标系20之间的坐标轴方向上的旋转分量和位移分量的误差，并基于所测量的横截面的信息形状; 以及校准装置，用于基于计算装置的计算结果校准工具坐标系19。版权所有（C）2011，JPO＆INPIT

6. 发明专利

JP2011106905A Flaw detection system 有权
标题翻译： FLAW检测系统
公开(公告)号：JP2011106905A
公开(公告)日：2011-06-02
申请号：JP2009260744
申请日：2009-11-16
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： MONONOBE TAKAYUKI , KAMEI HITOSHI , ADACHI SHUICHI , KATO ATSUSHI , KUNITAKE TAKASHI , TANAKA KATSUYUKI
IPC分类号： G01N29/26
摘要： PROBLEM TO BE SOLVED: To realize a flaw detection system capable of obtaining a flaw detection result of high precision while achieving the simplification of the system 1.
SOLUTION: The flaw detection system 1 is equipped with an articulated robot 4, a running device 5 for moving the robot 4 on a running shaft 51, the probe 31 attached to the wrist of the robot 4, a running device position data acquiring device 52 for outputting the data related to the position of the robot 4 at a predetermined cycle, a robot position data acquiring device 41 for outputting the data related to the position of the probe 31 at a predetermined cycle, a controller 42 for calculating the position data of the probe 31 to output the same and a flaw detector 43 allowing the position data of the probe to correspond to flaw detection data. When the allowance shift quantity of the acquired position data of the probe with an actual position is set to D, the allowance shift quantity D, an upper limit cycle Tmax, the moving speed V of the probe and the change ratio (r) to the running axis of the shape of a work are respectively set so as to satisfy the condition formula (1): Tmax
2 ×V
2 ≤(1/r
2 +1)D
2 .
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：实现能够在实现系统1的简化的同时获得高精度的探伤结果的探伤系统。解决方案：探伤系统1配备有铰接机器人4 用于将机器人4移动到行进轴51上的行驶装置5，安装在机器人手腕4上的探针31，运行装置位置数据取得装置52，用于将与机器人4的位置有关的数据输出到预定周期，用于以预定周期输出与探头31的位置有关的数据的机器人位置数据获取装置41，用于计算探头31的位置数据以输出的控制器42以及允许探针31输出的探伤器43 探头的位置数据对应于探伤数据。当具有实际位置的探头的获取位置数据的容限偏移量设定为D时，允许偏移量D，上限循环Tmax，探针的移动速度V和变化率（r）分别设定工件形状的运行轴以满足条件式（1）：Tmax 2 ×V 2 ≤（1 / r 2 1）D- 2 。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2010023201A Parallel link mechanism, and manipulator provided with parallel link mechanism 有权
标题翻译：并行链路机制，以及并行链路机制提供的操纵器
公开(公告)号：JP2010023201A
公开(公告)日：2010-02-04
申请号：JP2008189082
申请日：2008-07-22
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： KUNITAKE TAKASHI , TAKAHASHI MASAYUKI , ADACHI SHUICHI
IPC分类号： B25J11/00
摘要： PROBLEM TO BE SOLVED: To suppress reduction of rigidity caused by bending moment generated on a link in a manipulator provided with a parallel link mechanism having four degrees of freedom in space. SOLUTION: In first to fourth movable links 11-14, one end is connected to a base plate 2 through a joint 31 capable of performing rotation of two degrees of freedom or more, the other end is connected to an end plate 3 through a joint 32 capable of performing rotation of two degrees of freedom or more, and rotation of five degrees of freedom can be performed at total of one end and the other end. In the first fixed link 21 and the second fixed link 22, one end is connected to the base plate 2 through a joint 33 capable of performing rotation of one degree of freedom or more, and the other end is connected to the end plate 3 through a joint 34 capable of performing rotation of three degrees of freedom or more. The first fixed link 21 and the second fixed link 22 are connected to different positions from each other relative to the base plate 2, however, they are connected to the same position relative to the end plate 3. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：解决的问题：为了抑制由设置有具有四个空间自由度的平行连杆机构的机械手中的连杆上产生的弯矩所引起的刚性的降低。解决方案：在第一至第四可移动连杆11-14中，一端通过能够执行两个或更多自由度的接头31连接到基板2，另一端连接到端板3 通过能够执行两个以上自由度的旋转的接头32，并且可以在一端和另一端的总体上进行五个自由度的旋转。在第一固定连杆21和第二固定连杆22中，一端通过能够进行一个以上自由度的旋转的接头33与基板2连接，另一端通过能够进行三自由度以上的旋转的接头34。第一固定连杆21和第二固定连杆22相对于基板2彼此不同的位置连接，但是它们相对于端板3连接到相同的位置。（C） 2010年，JPO＆INPIT

8. 发明专利

JP2009214242A Manipulator 审中-公开
标题翻译：操纵器
公开(公告)号：JP2009214242A
公开(公告)日：2009-09-24
申请号：JP2008061411
申请日：2008-03-11
申请人： Shin Meiwa Ind Co Ltd , 新明和工業株式会社
发明人： TAKEMATSU AIMI , KUNITAKE TAKASHI , TAKAHASHI MASAYUKI , YAMAOKA YOSHIHIRO
IPC分类号： B25J3/00
摘要： PROBLEM TO BE SOLVED: To suppress unintentional operation force from being input to an operation handle for operating an arm at operation of an operation lever for operating a hand in a manipulator provided with the arm and the hand.
SOLUTION: The power assist arm (manipulator) is provided with an operation device installed in a range that an operator can visually recognize action of the hand or in a range that the operator can hear a sound when the hand grasp an object to be grasped. The operation device is provided with the operation handle 13 having a rod-like body 9; a six-axis force sense sensor 10; and the operation lever 15. The operation lever 15 is provided with an upper side pressing plate 97 and a lower side pressing plate 93 and a deflection gauge 16 stuck on a connection plate 96. A downwardly extending first support rod 91 and a downwardly extending second support rod 92 are provided on the rod-like body 9. The operation lever 15 and the operation handle 13 are fixed to a fixed plate 95.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了在设置有手臂和手的操纵器中操作手的操作杆的操作时抑制无意的操作力被输入到用于操作手臂的操作手柄。解决方案：动力辅助臂（操纵器）设置有操作装置，该操作装置安装在操作者可视觉地识别手的动作的范围内，或者在手抓住物体的操作者可以听到声音的范围内被抓住操作装置设置有具有杆状体9的操作手柄13; 六轴力检测传感器10; 和操作杆15.操作杆15设置有粘贴在连接板96上的上侧按压板97和下侧按压板93以及偏转量规16.向下延伸的第一支撑杆91和向下延伸的第二支撑杆92设置在杆状体9上。操作杆15和操作手柄13固定在固定板95上。版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2009037383A Control system equipped with function for carrying out evaluation analysis of stability of control object by installing extended virtual power monitor 有权
标题翻译：具有功能的控制系统通过安装扩展的虚拟电源监控器来执行控制对象稳定性的评估分析
公开(公告)号：JP2009037383A
公开(公告)日：2009-02-19
申请号：JP2007200574
申请日：2007-08-01
申请人： Shin Meiwa Ind Co Ltd , 新明和工業株式会社
发明人： KUNITAKE TAKASHI , KATO ATSUSHI , KAMEI HITOSHI , KANEOKA KATSUYA
IPC分类号： G05B13/02
摘要： PROBLEM TO BE SOLVED: To correct the judgment of the stability/instability of a control system 2 for carrying out the evaluation analysis of the stability of the system by observing a virtual power which flows in this system. SOLUTION: This control system is provided with: a user control object 3; a user control law 5; a conservative control law H for inputting manipulated variables to the user control object 3 in response to a feedback signal from the user control object 3; and an extended virtual power monitor 10 for observing a virtual power to be virtually transmitted from the conservative control law H to the user control object 3 and the scale of manipulated variables from the conservative control rule and the scale of the output of the user control object. The extended virtual power monitor 10 observes (a) times a virtual power P ν (t) , b times a square of the scale of manipulated variables from the conservative control law and -1 times a square of the scale of the output of the user control object. Thus, the evaluation function E x (t) of stability includes items to be shifted to a stable direction according as the input/output gain of the user control system is made small. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过观察在该系统中流动的虚拟功率来校正控制系统2的稳定性/不稳定性的判断，以进行系统的稳定性的评估分析。
解决方案：该控制系统具有：用户控制对象3; 用户控制规则5; 用于响应于来自用户控制对象3的反馈信号将操纵变量输入到用户控制对象3的保守控制律H; 以及扩展虚拟功率监视器10，用于观察从保守控制律H虚拟地发送到用户控制对象3的虚拟功率和来自用户控制对象的保守控制规则和输出的比例的操作变量的比例。扩展的虚拟功率监视器10观察（a）虚拟功率P（SB），SP（S）），从保守控制定律得到操纵变量的标度的平方b， -1倍的用户控制对象的输出的比例的平方。因此，稳定性的评价函数E ×SP（t）根据用户控制系统的输入/输出增益变小而移动到稳定方向的项目。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2009012133A Safety apparatus and manipulator equipped with the same 审中-公开
标题翻译：安装设备和配备其的操纵器
公开(公告)号：JP2009012133A
公开(公告)日：2009-01-22
申请号：JP2007177420
申请日：2007-07-05
申请人： Shin Meiwa Ind Co Ltd , 新明和工業株式会社
发明人： KUNITAKE TAKASHI , ADACHI SHUICHI , KATO ATSUSHI , FUJIMOTO TSUKASA
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To effectively suppress contact of a manipulator with a prescribed object, and also to suppress the lowering of operating rate, in a safety apparatus of the manipulator.
SOLUTION: The safety apparatus 20 for a power assist arm is used for suppressing the contact of the power assist arm with a prescribed object 50. The safety apparatus is provided with: a distance measuring means 22 for measuring the distance between the prescribed object 50 and the power assist arm; and a repulsive force generating means 21 for generating a repulsive force at the power assist arm so that the power assist arm avoids the prescribed object 50, when the distance between the prescribed object 50 measured by the distance measuring means 22 and the power assist arm is less than the predetermined distance.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了有效地抑制操纵器与规定物体的接触，并且还能够抑制操作者的安全装置中的运转率的降低。解决方案：用于动力辅助臂的安全装置20用于抑制动力辅助臂与规定物体50的接触。安全装置设置有：距离测量装置22，用于测量规定的物体50和动力辅助臂; 以及排斥力产生装置21，用于在动力辅助臂处产生排斥力，使得当由距离测量装置22测量的规定物体50与动力辅助臂之间的距离为小于预定距离。版权所有（C）2009，JPO＆INPIT

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