Kawasaki Jukogyo Kabushiki Kaisha

Kawaskai Jukogyo Kabushiki Kaisha

Hiroaki Kagaya

Noriyuki Okaya

Minehiko Mukaida

Masayuki Enomoto

Tetsuya Kubota

Akira Kimura

Masanori Hamamatsu

Kazuya Sumino

Akiyoshi Saiki

Takafumi Okamoto

Takeshi Morimoto

Jun Fujimori

Takashi Okada

Yuta Yoshimatsu

Tsuyoshi Maehara

Naoyuki Matsumoto

Masatoshi Sano

Tetsuhiko Nishimura

Katsuya Ihara

Toshiyuki Itoko

Keizo Miyahara

Noriyukí Okaya

An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.

Underwater sailing body and method of controlling posture of underwater sailing body

An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.

Underwater mobile inspection apparatus and underwater inspection equipment

A brake control device of a railcar includes: a brake switching portion configured to perform switching from an operation of an electric brake device to an operation of a mechanical brake device when a switching monitoring speed obtained from a wheelset speed becomes less than a switching threshold; and an adhesion control portion configured to, when the brake switching portion performs the switching, control at least one of the electric brake device and the brake switching portion to cause a wheel to adhere to a rail.

Brake control device of railcar

An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising; including a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.

An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.

A control unit ( ) makes an end effector ( ) compliant with respect to an x-axis and a y-axis which are perpendicular to a z-axis parallel to a direction in which a shaft ( ) is moved for insertion and makes the end effector ( ) produce a pressing force acting in a direction parallel to the z-axis to press the shaft ( ) against an internally toothed disk ( ). The control unit ( ) moves the compliance center of the shaft ( ) along a predetermined groping route in a state where the pressing force acting in the direction parallel to the z-axis is produced by the end effector ( ). The shaft ( ) gripped by the end effector ( ) repeats radially outward movement from a position near the center of the center opening ( ) of the internally toothed disk ( ) in different phases in an xy plane defined by the x-axis and the y-axis to find a position where the splines ( ) of the shaft ( ) are able to engage the internal teeth ( ) of the outermost internally toothed disk ( ). If the shaft ( ) stays at the same z position for a predetermined time, the control unit ( ) instruct the end effector ( ) to reduce the pressing force for a predetermined time to separate the shaft ( ) temporarily from the internally toothed disk ( ) and to resume moving the shaft ( ) along the groping route.

Method and apparatus for automatic position-finding assembling

Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.

Drive-controlling method and apparatus and robot having the apparatus

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Kobe, Japan

Hiroaki Kagaya