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公开(公告)号：US20100170879A1
公开(公告)日：2010-07-08
申请号：US12630492
申请日：2009-12-03
申请人： Kohei KANAYA , Haruo Machida , Naoji Yamaoka , Tsutomu Asaina
发明人： Kohei KANAYA , Haruo Machida , Naoji Yamaoka , Tsutomu Asaina
IPC分类号： B23K11/08
CPC分类号： B23K11/067 , B23K11/093 , B23K11/255 , B23K2101/006 , B23K2101/12
摘要： The seam welding apparatus welds a workpiece held by a robot while delivering the workpiece between a pair of electrode rolls. The seam welding apparatus includes a load cell mounted on the robot, for detecting a load imposed along a Y direction which is perpendicular to a pressing direction Z along which the electrode rolls press the workpiece at a weld point and a delivering direction X along which the robot delivers the workpiece at the weld point, a robot controller and an arithmetic unit, a turning mechanism for turning the electrode rolls about the pressing direction Z, and a control device for controlling the turning mechanism to operate depending on the magnitude of the load in the Y direction detected by the load cell.
摘要翻译： 缝焊装置焊接由机器人保持的工件，同时在一对电极辊之间输送工件。 缝焊装置包括安装在机器人上的负载传感器，用于检测沿着Y方向施加的负载，该负载垂直于按压方向Z，电压辊沿焊接点按压工件，沿着该方向将 机器人在焊接点处传送工件，机器人控制器和运算单元，用于围绕按压方向Z转动电极辊的转动机构，以及用于根据负载的大小来控制转动机构进行操作的控制装置 由称重传感器检测到的Y方向。
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公开(公告)号：US08431858B2
公开(公告)日：2013-04-30
申请号：US12630492
申请日：2009-12-03
申请人： Kohei Kanaya , Haruo Machida , Naoji Yamaoka , Tsutomu Asaina
发明人： Kohei Kanaya , Haruo Machida , Naoji Yamaoka , Tsutomu Asaina
CPC分类号： B23K11/067 , B23K11/093 , B23K11/255 , B23K2101/006 , B23K2101/12
摘要： The seam welding apparatus welds a workpiece held by a robot while delivering the workpiece between a pair of electrode rolls. The seam welding apparatus includes a load cell mounted on the robot, for detecting a load imposed along a Y direction which is perpendicular to a pressing direction Z along which the electrode rolls press the workpiece at a weld point and a delivering direction X along which the robot delivers the workpiece at the weld point, a robot controller and an arithmetic unit, a turning mechanism for turning the electrode rolls about the pressing direction Z, and a control device for controlling the turning mechanism to operate depending on the magnitude of the load in the Y direction detected by the load cell.
摘要翻译： 缝焊装置焊接由机器人保持的工件，同时在一对电极辊之间输送工件。 缝焊装置包括安装在机器人上的负载传感器，用于检测沿着Y方向施加的负载，该负载垂直于按压方向Z，电压辊沿焊接点按压工件，沿着该方向将 机器人在焊接点处传送工件，机器人控制器和运算单元，用于围绕按压方向Z转动电极辊的转动机构，以及用于根据负载的大小来控制转动机构进行操作的控制装置 由称重传感器检测到的Y方向。
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3.发明申请SENSING METHOD, ACCURACY CONTROL METHOD, WORKPIECE POSITIONING SYSTEM AND WORKPIECE POSITIONING METHOD 审中-公开传感方法，精度控制方法，工件定位系统和工件定位方法公开(公告)号：US20100154193A1
公开(公告)日：2010-06-24
申请号：US12640467
申请日：2009-12-17
申请人： Kaoru Kitamura , Shinichi Ohnaka , Chiyoko Nemoto , Haruo Machida , Shin Koiwa , Tadashi Goto , Naoji Yamaoka , Kotaro Fujikura
发明人： Kaoru Kitamura , Shinichi Ohnaka , Chiyoko Nemoto , Haruo Machida , Shin Koiwa , Tadashi Goto , Naoji Yamaoka , Kotaro Fujikura
CPC分类号： B25J9/0084 , B23K31/02 , B23K37/0426 , B23K37/047 , B23K2101/006 , B23K2101/24 , Y10T29/49829
摘要： Positions of predetermined spots in a frame of a motorcycle are determined by sensing all the predetermined spots in one direction from a front side or a rear side of the frame of the motorcycle by a sensing device.
摘要翻译： 摩托车的框架中的预定点的位置通过感测装置从摩托车的框架的前侧或后侧感测到一个方向上的所有预定点来确定。
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公开(公告)号：US20060124603A1
公开(公告)日：2006-06-15
申请号：US10513958
申请日：2003-05-08
IPC分类号： B23K9/12
摘要： TIG welding equipment, comprising a first articulate robot having a first arm, a TIG torch holding means holding a TIG torch at a specified position so that the TIG torch can perform a weaving operation, and a filler wire guide moving means formed so as to surround the TIG torch holding means and holdingly moving a filler wire guide in Z-axis direction.
摘要翻译： TIG焊接设备，包括具有第一臂的第一铰接机器人，在指定位置保持TIG焊炬的TIG焊炬保持装置，使得TIG焊炬可以进行织造操作，以及填充焊丝引导件移动装置，以便围绕 TIG焊炬保持装置，并且在Z轴方向上保持填充焊丝引导。
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公开(公告)号：US5947222A
公开(公告)日：1999-09-07
申请号：US900483
申请日：1997-07-25
申请人： Naoji Yamaoka , Katsumi Kohama , Toshiyuki Hakuno , Takeo Okada , Toshiyuki Higashi , Teruaki Yoshida , Takao Shibayama , Masayoshi Kimura , Yukihiro Yaguchi
发明人： Naoji Yamaoka , Katsumi Kohama , Toshiyuki Hakuno , Takeo Okada , Toshiyuki Higashi , Teruaki Yoshida , Takao Shibayama , Masayoshi Kimura , Yukihiro Yaguchi
IPC分类号： B62D61/06
CPC分类号： B62D61/06
摘要： A three-wheeled automobile comprises a front cowl for enclosing a front portion of the automobile, and a floor forming a passenger step. The front cowl has on lateral sides thereof rear ends positioned above front wheels of the automobile, and a front end surface positioned forwardly of the front wheels. As a result, a large space is provided between a front wall of the front cowl and a seat. A handle post is provided generally centrally of the floor. The floor has roomy foot platforms located around the handle post. As a result, a space left forwardly of the handle post can be used as a feet accommodating area.
摘要翻译： 三轮汽车包括用于封闭汽车前部的前罩和形成乘员台阶的地板。 前罩具有位于汽车的前轮上方的后端的侧面和位于前轮前方的前端面。 结果，在前罩的前壁和座之间设置有大的空间。 手柄通常位于地板的中央。 地板上有足够的脚踏台位于手柄柱的周围。 结果，可以将手柄柱前方的空间用作足部容纳区域。
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公开(公告)号：US20060245901A1
公开(公告)日：2006-11-02
申请号：US10550242
申请日：2004-03-12
申请人： Naoji Yamaoka , Teiji Miwa
发明人： Naoji Yamaoka , Teiji Miwa
IPC分类号： B66C23/00
CPC分类号： B23K37/0443 , B25J9/0096 , B62D65/02
摘要： In a welding station, one end of a positioning jig is held by a positioning robot, and the other end of the positioning jig is held by a positioning jig holder mechanism. The positioning robot is moved for positioning and fixing a vehicle body frame, which is fixed to the positioning jig, in any attitude, and a desired welding operation is performed on the vehicle body frame.
摘要翻译： 在焊接站中，定位夹具的一端由定位机器人保持，定位夹具的另一端由定位夹具夹持机构保持。 移动定位机器人，以固定在定位夹具上的车身框架以任何姿势进行定位和固定，并且对车体框架执行期望的焊接操作。
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公开(公告)号：US20060151572A1
公开(公告)日：2006-07-13
申请号：US10525124
申请日：2003-08-13
IPC分类号： B23K37/00
CPC分类号： B23K9/0026 , B23K37/0435 , B23K37/0443 , B23K2101/006 , B62J35/00
摘要： A plurality of attachments having springs hold the outer plate of a fuel tank, and an inner jig positions the inner plate. The attachments are attached to clamp arms which are opened/closed by cylinders. When the overlap portion between the outer and inner plates is welded, the thermal deformation caused by welding is accommodated by the springs. The attachments are spaced from the fuel tank in the order in which the welding point is approached.
摘要翻译： 具有弹簧的多个附件保持燃料箱的外板，内夹具定位内板。 附件连接到由气缸打开/关闭的夹臂上。 当焊接外板和内板之间的重叠部分时，通过弹簧容纳焊接引起的热变形。 附件按焊接点接近的顺序与燃料箱隔开。
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公开(公告)号：US5771309A
公开(公告)日：1998-06-23
申请号：US405450
申请日：1995-03-16
申请人： Naoji Yamaoka , Koji Oda
发明人： Naoji Yamaoka , Koji Oda
CPC分类号： G06T7/0042 , G01B11/002 , G06T7/606 , G06T2207/30164
摘要： The position of a hole is measured by image-sensing a holed portion formed in a workpiece and then measuring the central position of the holed portion based on an image of the holed portion on a screen of an image sensing apparatus. A plurality of hole edge points which coincide with a hole edge of the image of the holed portion are picked up. A regression ellipse which represents the image of the holed portion from coordinates of the hole edge points is calculated. The central position of the holed portion is obtained from coordinates of the center of the regression ellipse.
摘要翻译： 孔的位置通过对形成在工件中的孔部进行图像感测，然后基于图像感测装置的屏幕上的孔部的图像来测量孔部的中心位置来测量。 拾取与孔部的图像的孔边缘重合的多个孔边缘点。 计算从孔边缘点的坐标表示孔洞部分的图像的回归椭圆。 孔部分的中心位置是从回归椭圆中心的坐标得到的。
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公开(公告)号：US5633950A
公开(公告)日：1997-05-27
申请号：US362238
申请日：1994-12-22
申请人： Naoji Yamaoka , Koji Oda
发明人： Naoji Yamaoka , Koji Oda
CPC分类号： G06T7/0042 , G06T2207/30164
摘要： An optical cutting image which has a maximum portion in the X-axis direction on the screen of an image sensing device and which extends in the X-axis direction away from the maximum portion so as to expand in the Y-axis direction is measured by means of plural windows to be set on both side portions of the image as seen in the Y-axis direction, equations to represent the image lines of both side portions, and the like. The position of a front end point of the image is measured. A first window which is oblong in the X-axis direction is set such that the front end point is contained therein. A position of the center of gravity of image inside the first window is measured. Second and third windows which are oblong in the Y-axis direction are set at a position which is backwardly away by a predetermined length from the center of gravity of image inside the first window in the X-axis direction to measure the position of the center of gravity of image inside each of the windows. A reference point which has a predetermined correlation with the centers of gravity of image inside the second and third windows is obtained. The above-mentioned plural windows are respectively set in a predetermined positional relationship with this reference point.
摘要翻译： 在图像感测装置的屏幕上在X轴方向上具有最大部分并且沿X轴方向远离最大部分以在Y轴方向上扩展的光学切割图像通过 在Y轴方向上看到的要在图像的两侧部分设置的多个窗口的装置，表示两侧部分的图像线的方程式等。 测量图像的前端点的位置。 在X轴方向上呈椭圆形的第一窗口被设定为使前端点容纳在其中。 测量第一窗口内的图像的重心位置。 在Y轴方向上长圆形的第二窗口和第三窗口设置在从X轴方向的第一窗口内的图像的重心向后偏离预定长度的位置，以测量中心的位置 每个窗户内的图像的重力。 获得与第二和第三窗口内的图像的重心有预定相关性的参考点。 上述多个窗口分别设定为与该参考点的预定位置关系。
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公开(公告)号：US07544912B2
公开(公告)日：2009-06-09
申请号：US10525124
申请日：2003-08-13
CPC分类号： B23K9/0026 , B23K37/0435 , B23K37/0443 , B23K2101/006 , B62J35/00
摘要： A plurality of attachments having springs hold the outer plate of a fuel tank, and an inner jig positions the inner plate. The attachments are attached to clamp arms which are opened/closed by cylinders. When the overlap portion between the outer and inner plates is welded, the thermal deformation caused by welding is accommodated by the springs. The attachments are spaced from the fuel tank in the order in which the welding point is approached.
摘要翻译： 具有弹簧的多个附件保持燃料箱的外板，内夹具定位内板。 附件连接到由气缸打开/关闭的夹臂上。 当焊接外板和内板之间的重叠部分时，通过弹簧容纳焊接引起的热变形。 附件按焊接点接近的顺序与燃料箱隔开。
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