Patents by Inventor Masami NAKAKURA
Masami NAKAKURA has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10821540Abstract: The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).Type: GrantFiled: June 17, 2015Date of Patent: November 3, 2020Assignees: KABUSHIKI KAISHA YASKAWA DENKI, HONDA MOTOR CO., LTD.Inventors: Yasuhiro Kawai, Kazuhiko Yamaashi, Haruhiko Kobayashi, Mitsugu Kaneko, Noriko Kurimoto, Masami Nakakura, Teppei Sonoda
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Patent number: 10543560Abstract: A seam welding system includes a pair of roller electrodes. The pair of roller electrodes hold a to-be-welded object between circumferential surfaces of the roller electrodes, rotate while holding the to-be-welded object between the circumferential surfaces, and perform seam welding on the to-be-welded object when a current flows between the roller electrodes while rotating and holding the to-be-welded object between the circumferential surfaces. To an electrode movement mechanism, the roller electrodes are mounted. The electrode movement mechanism moves the roller electrodes along a welding line of the to-be-welded object. Drive sources respectively rotate the roller electrodes and a joint of the electrode movement mechanism. A controller controls an amount by which the roller electrodes rotate based on a torque change in the drive sources so as to keep torques respectively acting on the roller electrodes within a predetermined range.Type: GrantFiled: April 17, 2015Date of Patent: January 28, 2020Assignees: KABUSHIKI KAISHA YASKAWA DENKI, HONDA MOTOR CO., LTD.Inventors: Masami Nakakura, Teppei Sonoda
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Patent number: 10112299Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.Type: GrantFiled: December 28, 2015Date of Patent: October 30, 2018Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Tatsuo Hiro, Kuniaki Katamine, Ryuta Kagawa, Yusuke Kinoshita, Manabu Okahisa, Masami Nakakura
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Patent number: 9908160Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.Type: GrantFiled: October 31, 2014Date of Patent: March 6, 2018Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Manabu Okahisa, Masami Nakakura, Teppei Sonoda
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Patent number: 9434020Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.Type: GrantFiled: August 1, 2013Date of Patent: September 6, 2016Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Masami Nakakura, Teppei Sonoda, Manabu Okahisa
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Publication number: 20160136813Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.Type: ApplicationFiled: December 28, 2015Publication date: May 19, 2016Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Tatsuo HIRO, Kuniaki KATAMINE, Ryuta KAGAWA, Yusuke KINOSHITA, Manabu OKAHISA, Masami NAKAKURA
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Publication number: 20160121480Abstract: A machining apparatus includes a robot and a controller. A target acquirer acquires a target value of a position and posture of a distal end of the robot. With a movement target value of a distance adjustment actuator of the robot being fixed, a first calculator calculates movement target values of first to third actuators and posture adjustment actuators of the robot corresponding to the target value of the position and posture. A determiner determines whether a movement target value of one of the actuators is within an allowable range. When out of the allowable range, a second calculator calculates the movement target values of the actuators corresponding to the target value of the position and posture to cause the movement target value to fall within the range. An outputter controls the actuators in accordance with the respective movement target values.Type: ApplicationFiled: October 1, 2015Publication date: May 5, 2016Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Manabu OKAHISA, Masami NAKAKURA
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Publication number: 20150298244Abstract: A seam welding system includes a pair of roller electrodes. The pair of roller electrodes hold a to-be-welded object between circumferential surfaces of the roller electrodes, rotate while holding the to-be-welded object between the circumferential surfaces, and perform seam welding on the to-be-welded object when a current flows between the roller electrodes while rotating and holding the to-be-welded object between the circumferential surfaces. To an electrode movement mechanism, the roller electrodes are mounted. The electrode movement mechanism moves the roller electrodes along a welding line of the to-be-welded object. Drive sources respectively rotate the roller electrodes and a joint of the electrode movement mechanism. A controller controls an amount by which the roller electrodes rotate based on a torque change in the drive sources so as to keep torques respectively acting on the roller electrodes within a predetermined range.Type: ApplicationFiled: April 17, 2015Publication date: October 22, 2015Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Masami NAKAKURA, Teppei SONODA
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Publication number: 20150283644Abstract: The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).Type: ApplicationFiled: June 17, 2015Publication date: October 8, 2015Applicants: HONDA MOTOR CO., LTD., KABUSHIKI KAISHA YASKAWA DENKIInventors: Yasuhiro KAWAI, Kazuhiko YAMAASHI, Haruhiko KOBAYASHI, Mitsugu KANEKO, Noriko KURIMOTO, Masami NAKAKURA, Teppei SONODA
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Publication number: 20150121983Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.Type: ApplicationFiled: October 31, 2014Publication date: May 7, 2015Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Manabu OKAHISA, Masami NAKAKURA, Teppei SONODA
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Publication number: 20140061168Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.Type: ApplicationFiled: August 1, 2013Publication date: March 6, 2014Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Masami NAKAKURA, Teppei SONODA, Manabu OKAHISA