Kawasaki Jukogyo Kabushiki Kaisha

Toyota Jidosha Kabushiki Kaisha

Eiichi Yagi

Masayuki Kamon

Takayuki Murata

Tetsuya Kubota

Mamoru Nishio

Katsumi Nakashima

Shigekazu Shikoda

Hirotaka Uehara

Osamu Satoh

Tomoyuki Uno

Yoshimitsu Kurosaki

Satoru Sakanaka

Hirozo Hishida

Toshiaki Nishiyama

Yasuo Nakano

An articulated manipulation device for increasing work volume that includes six links and corresponding joints. A first link connects to a base for rotation about a rotational axis aligned with the axis of the first link. A diagonal joint connects the first and second links, the second and third links, the third and fourth links and the fifth and sixth links. A coaxial joint connects the fourth and fifth links. The joints and links are configured to permit parallel and perpendicular axial rotation according to the specific arrangement of the links and angles of rotational inclination. The articulated manipulator has a large work volume.

Articulated manipulator

A positioning data calculating procedure calculates analytically relative rotation angles for the links arranged in series to form an articulated manipulator to locate an object in a desired orientation at a desired position. Coordinate expressions including an x-coordinate expression representing the x-coordinate of a triaxial intersection point, a yz addition coordinate expression representing the sum of the y- and the z-coordinate of the triaxial intersection point, and a yz subtraction coordinate expression representing the remainder of subtraction of the z-coordinate from the y-coordinate of the triaxial intersection point, and including first to third rotation angles corresponding to rotation angles through which the second link is turned relative to the first link, through which the third link is turned relative to the second link, and through which the fourth link is turned relative to the third link as variables are solved. The first to the third rotation angles can easily and analytically be determined by using the yz addition coordinate expression and the yz subtraction coordinate expression. Fourth to sixth angles can analytically be determined on the basis of the first to the third rotation angle. The determination of the first to the sixth rotation angle by an analytical operation needs a time shorter than that needed by the determination of the same by a convergence operation.

Positioning data calculating procedure, positioning data calculating apparatus and articulated manipulator

A weld portion detector ( ) and a laser beam projector ( ) disposed a predetermined distance behind the weld portion detector ( ) are moved together. The weld portion detector ( ) detects a weld line and the laser beam projector ( ) projects on the weld line detected by the weld portion detector ( ) for laser welding. Pieces of data on weld positions sequentially detected by the weld portion detector ( ) are stored sequentially in combination with times when the pieces of data on the weld positions are obtained and moving speeds of the weld portion detector ( ) in a memory. A time when the weld portion detector ( ) passed a point at which the laser beam projector ( ) has just arrived is calculated on the basis of the times and the moving speeds stored in the memory. The laser beam projector ( ) projects a laser beam on a weld position detected at the thus calculated time.

Laser welding method and laser welding apparatus

The disclosed press processing method and device can chamfer work, for instance by pressing a chamfering tool against the work at a predetermined contact pressure, without detecting the pressing force of the chamfering tool against the work or without feedbacking the detected pressing force to a robot controller. The press processing device used being mounted on automatic mechanical processing means such a multi-joint robot, comprises: a processing section (e.g., grinder) (11) held by a support body (12) in such a way that pressure caused by a dead load of the processing section is not applied to a processing portion (e.g. blade) (11d) of the processing section (11); a constant torque applying section (e.g., servomotor) (16) for pivoting the processing section in a predetermined direction at a constant torque; and a mounting member (20) for mounting the constant torque applying section to a robot arm (R). The work (W) is processed by the processing section (11) in such a state that the processing portion (11d) of the processing section (11) is pressed against the work under a constant pressing force.

Press processing method and press processing device

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Kobe, Japan

Eiichi Yagi