Abstract: A hydraulic drive unit includes: a pump; a pair of supply-discharge lines; a valve block; a sealed tank; a suction line that leads hydraulic oil in the sealed tank to the pump; a connecting line that connects an air vent port of the pump to the suction line; and a gas-liquid separator that separates air and the hydraulic oil flowing through the connecting line from each other. The pump is disposed upward of the valve block and the sealed tank in a vertical direction.
August 8, 2018
July 9, 2020
KAWASAKI JUKOGYO KABUSHIKI KAISHA
Koki MIBU, Akihiro KONDO, Akihito SUZUKI
Abstract: A body including a drive wheel and movable by rotation of the wheel; an electric motor to rotate the drive wheel; a controller to control the electric motor such that the rotational speed of the electric motor is a target rotational speed; an operation input device to receive an input of an amount of operation relating to movement speed of the body; a handle to be used by an operator to maneuver the body, the handle including grips to be grasped by the operator; and a grasping power detection sensor mounted on one of the grips to detect a grasping power with which the operator grasps the one of the grips. The controller determines a gain positively correlated with the grasping power, the amount of the operation as amplified by the gain, and the target rotational speed based on the amount of the operation as amplified by the gain.
Abstract: A hydraulic drive system of a construction machine includes: an over-center pump connected to a turning motor; a regulator that adjusts tilting angle of the over-center pump; a main pump coupled to over-center pump; and a controller that controls the regulator such that when a turning deceleration operation is performed, the over-center pump's tilting angle decreases in accordance with decrease in a turning operation signal outputted from a turning operation device. The controller: when a pressure accumulation condition satisfied, switches a switching valve to pressure accumulation position to bring an accumulator into communication with a delivery line of the main pump; when a pressure release condition is satisfied, switches the switching valve to a pressure release position to bring accumulator into communication with a suction line of main pump; and when neither the pressure accumulation condition nor pressure release condition is satisfied, switches the switching valve to a neutral position.
Abstract: A substrate transfer device including a substrate-grasping hand and a holding member provided on the substrate-grasping hand, the holding member including a claw portion configured to hold a substrate and a support post portion supporting the claw portion. When a force acts on the claw portion the support post portion bends to reduce the force acting on the claw portion.
Abstract: There is provided a configuration in which an association between a location of each brake shoe of a railway vehicle and each abrasion detection tag is easily learned, and system implementation and management are simplified. A brake shoe abrasion detection system of a railway vehicle includes a computer that receives data of a signal read by a reader from at least one abrasion detection RF tag attached to each of a plurality of brake shoes of the railway vehicle passing the reader. The computer determines an association between a plurality of the signals and the plurality of brake shoes based on an order that the reader reads the plurality of signals from a plurality of the abrasion detection RF tags attached to the plurality of brake shoes, respectively.
August 29, 2018
Date of Patent:
July 7, 2020
KAWASAKI JUKOGYO KABUSHIKI KAISHA
Yoshi Sato, Takehiro Nishimura, Akihiko Tada, Takao Sekiya, Takashi Miyazaki, Kazutsuna Ikeda, Masayuki Mitsue, Yuta Yoshimatsu
Abstract: A robot system is provided, which includes a robot body including, robot arm and an end effector attached to robot arm, and operating device, having operating part and configured to output, when operating part is operated, operational information according to operation, a motion controller configured to control operation of robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.
Abstract: A method of producing an electrode-equipped plate spring of a railcar bogie includes: a resin removing step of partially irradiating a surface of fiber-reinforced resin, prepared by including electrically conductive fibers in resin, of a plate spring with a laser beam to partially remove the resin and partially expose the electrically conductive fibers; and an electrode forming step of attaching an electrode to an exposed region formed by partially exposing the electrically conductive fibers of the fiber-reinforced resin.
Abstract: A friction stir spot welding method includes a welding step of forming a build-up portion on a workpiece by friction-stirring the workpiece, using a pin and a shoulder, while pressing a surface of the workpiece with an end face of a clamp, and filling a portion of the workpiece being softened in a chamber portion of the clamp by press-fitting at least one of the pin and the shoulder into a plastic flow portion of the workpiece. and the friction stir spot welding method further includes a pressing step of pressing a surface of at least one of a region of the build-up portion, which is frictionally stirred by the shoulder, and an adjacent region of the build-up portion against the end face of the clamp with the pin and the shoulder retracted into an accommodation space.
Abstract: A control device controls non-excitation-actuated electromagnetic brake operation. The control device includes an electronic component having a characteristic that when an inter-terminal voltage of two electrodes is equal to or higher than a predetermined voltage, a resistance value is lower than when the voltage is lower than the voltage and a diode disposed such that a cathode is on a side having a higher potential than an anode. The coil in the non-excitation-actuated electromagnetic brake and the electronic component are connected in series to form a first series circuit, the first series circuit and the diode are connected in parallel, and the electronic component is connected in series with the coil provided in the non-excitation-actuated electromagnetic brake so as not to be conducted when the inter-terminal voltage is lower than the predetermined voltage, but to be conducted when the inter-terminal voltage becomes equal to or higher than the predetermined voltage.
Abstract: A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.
Abstract: A medical manipulator according to an embodiment may include an arm base including a first engagement portion and a manipulator arm including a distal end portion to support a surgical tool and a proximal end portion including a second engagement portion. One of the first and second engagement portions includes a shaft member and the other includes an engagement member engageable with the shaft member such that the engagement member engaged with the shaft member is rotatable with respect to the shaft member. The arm base includes a restriction portion to restrict rotation of the manipulator arm about the shaft member to which the engagement member is engaged. The proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member in a state where restriction portion stops the rotation of the manipulator arm.
Abstract: A clamp member, for a double-acting friction stir spot welding device, is provided for the double-acting friction stir spot welding device to perform friction stir spot welding of a workpiece by using a rotary tool, and presses a surface of the workpiece while the workpiece is supported. The rotary tool has a pin member and a shoulder member. The clamp member includes an end face that comes into surface contact with the surface of the workpiece to press the surface and a protruding portion protruding from the end face in an axial direction and extending around an axis. The protruding portion is configured to press the workpiece, the clamp member surrounding an outer periphery of the shoulder member.
Abstract: In a double-acting friction stir spot welding device or a double-acting friction stir spot welding method, a pin member and a cylindrical shoulder member that rotates around the axis of the pin member are used as rotary tools, and a clamp member that has a cylindrical shape positioned so as to surround the outside of the shoulder member and is configured to press a workpiece from an obverse surface with an annular pressing surface of the distal end is used as a holding jig. The clamp member has an inclined surface that is adjacent to the inner edge portion of the pressing surface and inclined so as to reduce the inner diameter of the clamp member toward the back side as viewed from the pressing surface.
Abstract: A surgery manipulator arm according to an embodiment may include an arm body and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached; a connection unit connecting the proximal and distal side units; and an electrical wiring circuit electrically connecting the proximal and distal side units. The connection unit includes first and second pulleys; and a belt member wound around the first and second pulleys. The proximal and distal side units are attached to first and second attachment positions of the belt member such that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member.
Abstract: A method of correcting a position of a robot includes: a correction step of rotating an arm around a first axis to detect a rotation angle around the first axis when a target blocks detection light, and locating the first axis, a third axis, and the target on an identical straight line by rotating the arm and/or a hand around the first axis, a second axis, and/or the third axis based on a detection result; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on the rotation angle of each rotation axis acquired after the correction step in a first posture.
December 27, 2018
July 2, 2020
KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
Masaya YOSHIDA, Takao YAMAGUCHI, Hajime NAKAHARA, Daniel CHUNG
Abstract: An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.
Abstract: A robot system includes a robot that self-travels along a traveling shaft and is provided with a position detection sensor at a distal end, a support member that has a plurality of reference positions juxtaposed and supports a workpiece, a plurality of calibration members that are juxtaposed along the traveling shaft, and a control device, in which the calibration members each have a calibration position, and the control device is configured to cause the robot to move by a predetermined first distance along the traveling shaft, calibrate position coordinates of the robot based on position coordinates of the calibration positions detected by the position detection sensor, and subsequently calibrate position coordinates of the workpiece based on position coordinates of the reference positions detected by the position detection sensor.
Abstract: A control device of a robot system including a plurality of robots having servo motors of a plurality of axes. The control device includes a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers. The control unit determines a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the controllers, and sets a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.
Abstract: A robot system including a robot, a marker unit, a sensor, storage device, and a control device. The robot performs an operation with regard to a workpiece. The marker unit is attached to a measurement object and includes a base section and a plurality of markers attached to the base section. The sensor detects identification information and three-dimensional positions of the plurality of markers. The storage device stores teaching data including operation data and attachment position data indicating a correspondence relationship between the identification information of each of the markers and an attachment position of the corresponding marker. The control device calculates a three-dimensional position of the measurement object based on the three-dimensional positions of the plurality of markers and the attachment position data and controls the robot based on the three-dimensional position of the measurement object and the operation data so as to make the robot perform the operation.
June 11, 2018
July 2, 2020
KAWASAKI JUKOGYO KABUSHIKI KAISHA
Shohei MASE, Jun FUJIMORI, Masao TAKATORI, Kenji NOGUCHI
Abstract: A viscous material wiping device wipes the viscous material attached to the tip of a spatula with a sheet. A sheet support jig has a groove recessed in the sheet facing surface, the groove includes a receiving portion and a wiping portion that are continuous in the groove extending direction, and the wiping portion has a groove width smaller than that of the receiving portion and substantially equal to the outer dimension of the tip of the spatula. A controller drives the moving mechanism to position the spatula on the opposite side of the sheet supporting jig with respect to the sheet in a posture that the spatula extends parallel to the groove extending direction and overlaps the groove when viewed in a normal direction of the sheet facing surface, and move the spatula in the normal direction so that the tip of the spatula is received in the receiving portion by pressing the sheet against the groove with the spatula.