公开(公告)号：WO2006109862A1

公开(公告)日：2006-10-19

申请号：PCT/JP2006/307879

申请日：2006-04-07

Applicant: NIPPON PAINT CO., LTD. ,  TOYOTA JIDOSHA KABUSHIKI KAISHA ,  KANEKO, Toshio ,  OKAMOTO, Satoshi ,  FUTSUHARA, Masanobu ,  DOI, Makoto ,  OKADA, Eisaku ,  NITO, Takehiro

Inventor： KANEKO, Toshio ,  OKAMOTO, Satoshi ,  FUTSUHARA, Masanobu ,  DOI, Makoto ,  OKADA, Eisaku ,  NITO, Takehiro

IPC: C09D5/44 ,  C25D9/12

CPC classification number: C25D13/22 ,  C09D5/4492

Abstract: The present invention is to provide a method for forming a multi-layer coating film, which can combine a pre-treating step conducted for a metal substrate, before electrodeposition coating, and an electrodeposition coating step. The method comprises: a step of dipping a material to be coated in an aqueous coating composition comprising (A) a rare earth metal compound, (B) a base resin having a cationic group, and (C) a curing agent, wherein a content of the rare earth metal compound (A) in the aqueous coating composition is limited to specific range; a pre-treating step of applying a voltage of less than 50 V in the aqueous coating composition, wherein the material to be coated is used as a cathode; and an electrodeposition coating of applying a voltage of 50 to 450 V in the aqueous coating composition, wherein the material to be coated is used as a cathode.

Abstract translation: 本发明提供一种形成多层涂膜的方法，其可以在电沉积涂覆之前组合对金属基材进行的预处理步骤和电沉积涂布步骤。 该方法包括：将待涂覆的材料浸渍在包含（A）稀土金属化合物，（B）具有阳离子基团的基础树脂和（C）固化剂）的水性涂料组合物中，其中含量 的水性涂料组合物中的稀土金属化合物（A）被限制在特定范围内; 在水性涂料组合物中施加小于50V的电压的预处理步骤，其中待涂覆的材料用作阴极; 以及在水性涂料组合物中施加50-450V的电压的电沉积涂层，其中待涂覆的材料用作阴极。

公开(公告)号：WO1987000478A1

公开(公告)日：1987-01-29

申请号：PCT/JP1986000363

申请日：1986-07-16

Applicant: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. ,  DOI, Makoto ,  NAKADA, Akiyoshi ,  INOUE, Toshitsugu ,  HASEGAWA, Mikio ,  SOGAWA, Kenji ,  IDE, Toshihiro

Inventor： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.

IPC: B25J09/10

CPC classification number: G05B19/39 ,  B25J9/046 ,  B25J9/1633 ,  G05B19/18 ,  G05B2219/36417 ,  G05B2219/36503 ,  G05B2219/37207 ,  G05B2219/37405 ,  G05B2219/42104 ,  G05B2219/42123 ,  G05B2219/42237 ,  G05B2219/49362 ,  G05B2219/50198 ,  Y10S414/13

Abstract: An industrial robot equipped with a control unit that can be controlled in a position control mode, a speed control mode and a current control mode. The control unit is equipped with a switching unit (20) for making a selection between the position control mode and the current control mode. An arm unit is driven in a power control mode which consists of a combination of the speed control mode and the current control mode. The position at which the arm unit has come into contact with an object and has come into halt is detected relying upon a signal sent from a position detector (15). Further, a plurality of detected values obtained by repeating the contact with the object at different positions are compared with reference data. A calculation unit (24) calculates the change in the position of the object from the reference position, and the robot detects for itself the two-dimensional or three-dimensional position and attitude of the object.

Abstract translation: 工业机器人配有控制单元，可控制位置控制模式，速度控制模式和电流控制模式。 控制单元配备有在位置控制模式和电流控制模式之间进行选择的切换单元（20）。 手臂被驱动到由速度控制模式和电流控制模式组成的功率控制模式。 基于来自位置检测器（15）的信号检测手臂接触对象并停止的位置。 另外，通过将与不同位置处的物体重复接触而获得的多个检测值与参考数据进行比较。 计算单元（24）计算物体相对于参考位置的位置变化，并且机器人自动检测物体的二维或三维位置和姿态。