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1. 发明专利

JPH03170283A APPARATUS FOR CONTROLLING ROBOT 失效
公开(公告)号：JPH03170283A
公开(公告)日：1991-07-23
申请号：JP30953289
申请日：1989-11-29
申请人： TOYOTA MOTOR CORP , TOYODA MACHINE WORKS LTD
发明人： HONDA SATOSHI , NAKADA SHUICHI , SUGITA SHINICHI , NIWA HIROSHI
IPC分类号： B24B51/00 , B25J5/00 , B25J9/10 , B25J9/22 , G05B19/42
摘要： PURPOSE:To automatically teach with a small number of teaching points at high accuracy a working orbit of a robot for optimizing a working state of a tool against a workpiece consisting of curves by providing a means for correcting the teaching points while a robot is actually run. CONSTITUTION:When there is a portion which is not suitable with respect to a matrix 50 shape on a working orbit interpolated from a teaching point, a stroke amount of a floating cylinder device 20 fluctuates at the portion to be out of a specific threshold value. The unsuitable portion out of the specific threshold value is stored in an NG section storing means 4 as NG sections per section corresponding to an interpolating point, and the interpolating point of the section is compensated by a correcting means 5 after completion of running of the working orbit. A second running is done by a new working orbit based on the compensated interpolating point, and thereafter running of a robot 10 and compensation of each teaching point are repeated until the stroke amounts in all sections are within the specific threshold value.

2. 发明专利

JPH03155473A POWER UNIT FOR AC PLASMA ARC MACHINING 失效
公开(公告)号：JPH03155473A
公开(公告)日：1991-07-03
申请号：JP29418989
申请日：1989-11-13
申请人： TOYOTA MOTOR CORP , SANSHA ELECTRIC MFG CO LTD , NIPPON STEEL WELDING PROD ENG
发明人： KOMATSU KUNINORI , HONDA SATOSHI , NISHIKAWA SHIGERU , YOMO KUNIO , HOSHINO TADASHI , FUJITA TAKASHI
IPC分类号： B23K10/00
摘要： PURPOSE:To prevent arc running out by maintaining automatically a pilot arc during chip touch with the power unit for AC plasma arc machining. CONSTITUTION:The power unit for AC plasma arc machining is provided with a pilot power source 6 to apply a pilot arc current between an electrode 2 of a plasma torch 1 and a nozzle chip 3, a contact detection means 13 to detect contact of the nozzle chip 3 with material 4 to be machined and a main power source 7 to apply a current in the same direcition and in the single direction to the electrode 2 of the pilot power source 6 between the material 4 to be machined and the electrode 2 during a contact detection period of time and apply an alternating current between both during an undetection period of time. By this method, the pilot arc is maintained during chip touch between the electrode 2 and the material 4 to be machined and when it is gone, the alternating current is supplied and arc running out is prevented.

3. 发明专利

JPS6227079A METHOD FOR HEATING AND PRECURING HEM SEALER 失效
公开(公告)号：JPS6227079A
公开(公告)日：1987-02-05
申请号：JP16626085
申请日：1985-07-27
申请人： TOYOTA MOTOR CORP
发明人： YASUMATSU SATOSHI , HONDA SATOSHI
IPC分类号： B05D3/02 , B05D7/14
摘要： PURPOSE:To precure uniformly in the thickness direction by arranging near infrared lamps furnished with a reflecting plate having a hyperbolic cross section on both surface sides of a product, the emission surface to the emission surface, shifting the position of each lamp in the lengthwise direction and uniformly heating both surfaces in accordance with the shape of each surface. CONSTITUTION:Near infrared lamps 1 and 2 provided with reflecting plates 7 and 8 having a hyperbolic cross section are arranged on both surface sides of a product 3, the emission surface to the emission surface, and the positions of the opposed lamps are shifted in the lengthwise direction. A clearance 12 is formed between the lamps adjacent to each other in the lengthwise direction, an additional lamp is arranged at the end position of the product in the clearance 12 in the direction crossing the lengthwise direction of said lamps and a difference in the lighting time between both lamps arranged on both surface sides of the product is provided. Consequently, uneven heating due to the difference in the sites of the lamps can be minimized, and precuring uniform in the thickness direction can be realized.

4. 发明专利

JPH0335875A BRAZING DEVICE 失效
公开(公告)号：JPH0335875A
公开(公告)日：1991-02-15
申请号：JP17266189
申请日：1989-07-04
申请人： TOYOTA MOTOR CORP
发明人： KOMATSU KUNINORI , HONDA SATOSHI
IPC分类号： B23K9/12 , B23K3/00
摘要： PURPOSE:To perform brazing of stable high quality by controlling the feed rate of a welding wire to form an optimum bead width corresponding to the gap quantity of an overlapping part of a couple of works. CONSTITUTION:The respective gap quantities at the position and inclination of the overlapping part 1c between a roof 1a and a quarter 1b of a body and points 1-N are measured by a sensor 4. These data along with the positional data of each paint are taken in a robot controller 8 where these data are analyzed. Based on a result of this analysis, a command is transmitted to a robot main body 9 and the robot position is controlled and then, a welding torch 5 is moved to the brazing starting point 1. Here, brazing conditions in accordance with the gap quantity data of the point 1 are selected and a condition command is sent to a welding machine main body 17. The welding machine main body by outputs conditions corresponding to the condition command of a current value and the wire feed rate and brazing is performed. The brazing conditions are changed over according to the gap data of the point 2 at the point 2 and this is repeated hereafter.

5. 发明专利

JPS5775223A Apparatus and controlling method for bending 失效
标题翻译：用于弯曲的装置和控制方法
公开(公告)号：JPS5775223A
公开(公告)日：1982-05-11
申请号：JP15191380
申请日：1980-10-29
申请人： Toyota Motor Corp
发明人： HONDA SATOSHI
IPC分类号： B21D5/01 , B21D5/04
摘要： PURPOSE: To control the clearance between a forming roller and a forming punch as desired by detecting the bending angle of a plate immediately after bending and determining the deviation from allowable angle, and commanding the movement of an adjusting plate according to the deviation.
CONSTITUTION: A plate 24 is held between a forming punch 30 and a plate presser 34 to be bent. This formed product is sent to a guiding device 74 and held between a guide 78 and a clamper 80, and deviation is detected by deviation meters 86A, 86B of a measuring device 14. The detected value is sent to an arithmetic device 16 and bending angle is calculated. The bending angle is compared with preset range of allowable angle. If this value is above tolerance, a command is issued from a commanding device 18 to a driving cylinder 66 of an adjusting plate 64. By this command, the adjusting plate 64 moves to the direction to set the tolerance (amount of deviation) to zero, and desired clearance is obtained between the forming roller 42 and the forming punch 30.
COPYRIGHT: (C)1982,JPO&Japio
摘要翻译：目的：通过检测刚刚弯曲后的板材的弯曲角度并确定与允许的角度的偏差来控制成形辊和成形冲头之间的间隙，并根据偏差指示调节板的移动。构成：板24被保持在成形冲头30和压板34之间以弯曲。该成形产品被送到引导装置74并保持在引导件78和夹持器80之间，并且通过测量装置14的偏差计86A，86B检测到偏差。检测值被发送到运算装置16和弯曲角度被计算。弯曲角度与允许角度的预设范围进行比较。如果该值超过公差，则从指令装置18向调节板64的驱动筒66发出命令。通过该命令，调整板64向公差（偏差量）设定为零的方向移动并且在成形辊42和成形冲头30之间获得期望的间隙。

6. 发明专利

JPS5732826A Press working apparatus 失效
标题翻译：新闻工作装置
公开(公告)号：JPS5732826A
公开(公告)日：1982-02-22
申请号：JP10744880
申请日：1980-08-05
申请人： Toyota Motor Corp
发明人： IWASAKI NOBUO , HONDA SATOSHI
IPC分类号： B21D5/04 , B21D5/01
摘要： PURPOSE: To form a C-shaped member simply and effectively by small number of processes by holding the center of a plate with a punch and a plate holder, and at the same time, bending the side of the plate with a forming roll and bending the end of the plate with a flange bending edge.
CONSTITUTION: A plate 24 is placed on a drag 23 and a punch 23 fixed on a base stand 21. A cope base plate is lowered and the center of the plate 24 is held together with the punch 23 with a plate holder 26 hung from the base plate 27. At the same time, the side of the plate 24 is bent along the side of the punch 23 by a forming roll 30 attached through a support 29 to the cope 28 placed on the cope base plate 27. Then, a flange bending edge 34 attached to a holder 37 is driven by a hydraulic cylinder 39 installed on the inclined face of a pedestal on the base stand 1, and the end of the plate 24 is pressure welded and bend at the lower corner 34 of the punch 23. By this way a member having C-shaped cross-section can be obtained easily, after this. It is formed so that legs on both sides of the flat part makes an acute angle with the flat part.
COPYRIGHT: (C)1982,JPO&Japio
摘要翻译：目的：通过用冲头和板夹保持板的中心，通过少量工艺简单有效地形成C形构件，同时用成型辊弯曲板的侧面并弯曲板的端部带有法兰弯边。构成：将板24放置在固定在基座21上的拖把23和冲头23上。上底板下降，板24的中心与冲头23保持在一起，板保持架26悬挂在同时，板24的侧面通过一个通过支撑件29连接到放置在上基板27上的上模28的成形辊30沿着冲头23的侧面弯曲。然后，凸缘安装在保持架37上的弯曲边缘34由安装在基座1上的基座的倾斜面上的液压缸39驱动，并且板24的端部被压焊并在冲头23的下角34处弯曲通过这种方式，可以容易地获得具有C形横截面的构件。其形成为使得平坦部分两侧的腿与平坦部分成锐角。

7. 发明专利

JPH054183A ROBOT CONTROL DEVICE 失效
公开(公告)号：JPH054183A
公开(公告)日：1993-01-14
申请号：JP1643691
申请日：1991-02-07
申请人： TOYODA MACHINE WORKS LTD , TOYOTA MOTOR CORP
发明人： NAKADA SHUICHI , SUGITA SHINICHI , HONDA SATOSHI
IPC分类号： B23Q15/00 , B24B49/10 , B25J9/10 , B25J13/08 , G05B19/18 , G05B19/404
摘要： PURPOSE:To perform the weld-bead removing operation corresponding to a condition of plate superposition of a work composed of two plates bonded together by a weld bead. CONSTITUTION:Contactors 71, 72, and 73 are moved on each of a reference work 63 and an object work 50 to obtain amounts displaced. By comparing these amounts of displacement with each other, it is judged which one of an upper plate 50a and a lower plate 50b constituting the object work 50 is located on the upper side. A reference teaching point MT is corrected correspondingly to the result of judgement, and the object work 50 is worked in accordance with this corrected object teaching point MM.

8. 发明专利

JPS5764498A Triple forming method and triple forming device 失效
标题翻译：三重成型方法和三重成形装置
公开(公告)号：JPS5764498A
公开(公告)日：1982-04-19
申请号：JP13933480
申请日：1980-10-07
申请人： Toyota Motor Corp
发明人： SUZUKI YUTAKA , HONDA SATOSHI
IPC分类号： B21D22/02 , B21D22/26 , B21D24/00 , B21D24/04 , B30B7/00
CPC分类号： B21D22/02
摘要： PURPOSE:To prevent generation of the surface strain in embossing by forming the ordinary surface after a part to be embossed has formed with both an innerpunch and an embossing tool, which is protruded from a die excessively beforehand. CONSTITUTION:Prime material W is placed on a fixed female die 21 under a condition in which both an outer blank holder 24 and an inner punch 27 have ascended. The holder 24 is then so made to descend as to hold and clamp a circumferential part 26 of the material W between a protruding part 25 and a groove 26, as shown in the figure (a). At this time, the punch 27 is made to descend as a embossing tool 29 is made to protrude from forming surface of a female 21 by H the maximal dimension, then, an embossed part 2 is, as shown in the figure (b), formed onto the material W through both a recess part 30, which is provided onto the lower surface of the punch 27, and the tool 29. Then, as shown in fugure (c), the ordinary surface 1a is formed with both the lower surface of the punch 27 and the forming surface of the die 21. Thereafter, the holder 24 and the punch 27 are made to ascend together, then, thus formed product is taken out.
摘要翻译：目的：为了防止在压花部分之后通过形成普通表面而形成压纹中的表面应变，该内表面和压纹工具都从过度地预先从模具突出出来。构成：在外部坯料夹持器24和内部冲头27都已经上升的状态下，将原料W放置在固定的阴模21上。如图（a）所示，保持器24如此被制成下降，以便在突出部分25和凹槽26之间保持和夹紧材料W的圆周部分26。此时，如图（b）所示，压花工具29使凹部21的形成面从母材21的成形面突出H为最大尺寸，使冲头27下降，然后压花部2如图通过设置在冲头27的下表面上的凹部30和工具29形成在材料W上。然后，如图（c）所示，普通表面1a形成有两个下表面冲头27和模具21的成形表面。此后，保持器24和冲头27一起上升，然后取出形成的产品。

9. 发明专利

JPH03258428A METHOD FOR PREVENTING DEVIATION OF HEMMED PART 失效
公开(公告)号：JPH03258428A
公开(公告)日：1991-11-18
申请号：JP5595990
申请日：1990-03-07
申请人： TOYOTA MOTOR CORP
发明人： HONDA SATOSHI
IPC分类号： B21D39/02
摘要： PURPOSE:To prevent a hemmed part from deviating by putting an outer panel on a projecting part provided on the edge part of an inner panel to form a projecting part. CONSTITUTION:In the hemming work for folding the edge part of the outer panel 10 inward and connecting it with the inner panel 12, a 1st projection 18 is provided on the inner panel 12 and the edge part of the outer panel 10 is folded by a hemming die to hold the edge part of the inner panel 12. In this case, a part of the folded part 16 is projected into a projected allowable part 36 provided on the pressing surface 32 of a hemming die to form a 2nd projecting part 20. In this way, both panels of the hemmed part connecting both panels can be prevented from deviating.

10. 发明专利

JPH03149173A POLISHING ROBOT CONTROL DEVICE 失效
公开(公告)号：JPH03149173A
公开(公告)日：1991-06-25
申请号：JP28934689
申请日：1989-11-07
申请人： TOYOTA MOTOR CORP , TOYODA MACHINE WORKS LTD
发明人： HONDA SATOSHI , NAKADA SHUICHI , SUGITA SHINICHI , NIWA HIROSHI
IPC分类号： B24B27/00 , B24B9/04 , G05B19/18 , G05B19/404
摘要： PURPOSE:To perform sizing work by a simplified control by performing a polishing work through repeated running on a target locus taught by a reference workpiece, while swelling of a bead part is relieved by a floating cylinder device. CONSTITUTION:A base material position with a stroke amount of a floating cylinder device 20 serving as a predetermined value, that is the base material position, in which dispersion in the shapes of a base material 50 is also contained in a condition that a tool 27 is pressed to the base material 50 by a fixed pressing force, is stored in a memory means 2. Based on this based material position, a target work locus is corrected by a correcting means 3. In accordance with the corrected target work locus, a polishing work is performed. Next, when a bead part 51 is swollen from the base material 50 is a work part, this swollen part is absorbed by changing a stroke amount of the floating cylinder device 20. The polishing work is continued before a change of this stroke amount is focused to within a predetermined threshold value.

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