Mitsubishi Denki Kabushiki Kaisha

Mitsubishi Denki K.k.

Toyota Motor Engineering & Manufacturing North America, Inc.

The University of Akron

Hisao Kato

Akira Fujita

Hongfei Jia

Li Qin Zhou

Kan Huang

Zhenmeng Peng

Xiaochen Shen

Yasushi Adachi

Akira Sato

Kanji Mizuno

Teruo Kurihara

Nobuo Yagi

A fuel cell catalyst for oxygen reduction reactions including Pt—Ni—Cu nanoparticles supported on nitrogen-doped mesoporous carbon (MPC) having enhanced activity and durability, and method of making said catalyst. The catalyst is synthesized by employing a solid state chemistry method, which involves thermally pretreating a N-doped MPC to remove moisture from the surface; impregnation of metal precursors on the N-doped MPC under vacuum condition; and reducing the metal precurors in a stream of CO and Hgas mixture.

Fuel cell cathode catalyst

An industrial robot apparatus comprise for controlling an industrial robot and a peripheral unit thereof according to a program so as to load workpieces on a pallet, an abnormal stop unit for detecting an abnormality which occurs in at least either of the industrial robot and the peripheral unit and for stopping both the industrial robot and the peripheral unit, a storage unit for storing a step of the program which is being executed when the abnormal stop takes place, and a removal unit for removing remaining workpieces to be loaded on the pallet in steps following the stored step of the storage unit.

Industrial robot apparatus

A stowage device for stowing workpieces of a plurality of kinds on pallets in accordance with inputted shipment information includes a supply conveyor system provided with a refuge track conveyor. A plurality of carrier means devices (e.g. containers) carrying workpieces of different kinds are supplied via the supply conveyor system. Pallets on which workpieces are stowed by an industrial robot are transferred via a transfer device. The stowing of workpieces on each pallet is effected in two cycles: In the first cycle, workpieces of each kind filling a complete layer or layers of workpieces on the pallet are stowed. In the second re-stowing cycle, remaining fractional numbers of workpieces of respective kinds are stowed on the pallet. During these stowing operations, the carrier devices may be temporarily taken into the refuge conveyor before being transferred away from the robot.

Stowage device for plural species of works

A loading management apparatus for managing the loading of a plurality of types of workpieces onto a pallet is disclosed which is small in size, simple in structure and inexpensive to manufacture, and hence is particularly suitable for handling a relatively small number of workpieces. An operator can load a plurality of types of workpieces onto a pallet in a predetermined pattern with extreme ease in accordance with an imaged loading instruction which is displayed. The condition of the loaded workpieces is also displayed so that if there is an error or disagreement between the loading instruction and the condition of the loaded workpieces, the operator is immediately warned of such an error, thus enabling appropriate action to be taken for proper or correct loading.

Apparatus for controlling the loading of workpieces onto a pallet

An industrial robot device in which accurate alignment between the robot and the processing machine with which it is employed are ensured. Alignment datum points are provided both on a standard mounting face of the robot, which preferably corresponds to the X axis assumed by the robot-operating software, and on a standard mounting face of the processing machine, which corresponds to the X axis of the latter. The robot is mounted to the processing machine in such a manner that the two datum points are aligned.

Apparatus for aligning a robot and a processing machine

An industrial robot apparatus comprises a plurality of storage devices for accommodating workpieces of specified kinds, respectively; a supply device for supplying workpieces from at least two of the storage devices; a supply command device for giving the supply device an instruction directing the kinds of workpieces and the number of workpieces by kind supplied from the storage devices, for issuing a conveyance command in time to convey the workpieces by kind; a plurality of pallets; an industrial robot for stowing supplied workpieces onto the pallets; and a stowage command device for giving the industrial robot an instruction directing the kinds of workpieces and the number of workpieces by kind to be stowed onto the pallets.

In a second PLL circuit 200, a phase comparator 13 compares the phase of a clock B' from a frequency divider 11 with the phase of a clock A' from a first PLL circuit 100 to transmit a comparison result to low pass filters X and Y in a filter circuit 14. A phase shift detector 12 detects a phase shift between the clocks A' and B' to output a detection signal E corresponding to the phase shift. A selector 15 selectively outputs an output of either the low pass filter X or Y in response to the detection signal E to input it to a VCXO 10. When the phase shift between the clocks A' and B' exceeds a predetermined value, the low pass filter Y having a high cut-off frequency is selected, whereby the second PLL circuit 200 responds rapidly, and the clock B' follows the clock A' quickly.

Double PLL device

An industrial robot apparatus of the present invention comprises a rail, a plurality of robots which use the rail in common, which are disposed so as to be movable along the rail and which are respectively stopped on the rail so as to perform a robot work, a work command unit for instructing at least one of the plurality of robots to perform a predetermined robot work, and a controlling unit for maintaining the other robots in a predetermined state when the robot, which is instructed from the work command unit, works.

An industrial robot system comprises a robot movable on a track formed on a floor; work stations arranged along the track, where the robot deals with workpieces in a predetermined order; reference points provided at the stations, respectively, and a detector installed on the robot for detecting the reference points so that the robot can be properly positioned with respect to each work station.

Industrial robot system

A robotic apparatus for automobile assembly includes a robot which moves in sequence to a plurality of different stations and performs an operation at each station based on information obtained from a video camera. The camera can pivot to form an image of each station. While the robot is performing an operation at one station, the camera is forming an image at a subsequent station. By the time that the robot finishes the operation at one station and moves to the subsequent station, the image formed by the camera at the next station has already been processed by a controller, and the robot can immediately begin to perform an operation at the subsequent station.

Robotic apparatus and method for automobile assembly

A system for reducing horizontal deviations of elevators in which a cage ascends or descends in an ascending/decending path while engaged with guide rails through guide shoes is provided. The system includes a displacement device, disposed between the cage and the guide shoes, for displacing the cage relative to the guide rails in a horizontal direction. A position detecting device is provided for detecting a position of the cage in an ascending/descending direction, storage device for storing error data corresponding to guide rail installation errors with respect to positions of the cage in the ascending/descending direction and control device for controlling the displacement device to correct positional deviations of the cage in the horizontal direction resulting from the guide rail installation errors in accordance with the error data stored in the storage device, the error data corresponding to the position detected by the position detecting device.

System for adjusting horizontal deviations of an elevator car during

An industrial robot system comprises a control unit including programs for operating an industrial robot and a peripheral device of the industrial robot according to the programs; a memory for storing the steps of the programs which are effected when the industrial robot and peripheral device are stopped unintentionally; a detector for detecting the conditions of the industrial robot and peripheral device when the industrial robot and peripheral device are stopped unintentionally; and a restarter for starting the industrial robot and peripheral device again when the contents of the memory coincide with the conditions detected by the detectors.

A work forming apparatus of this invention includes a robot which operates within a predetermined operational range, a working machine with a chuck, a supply loop, a discharge loop, supply pallets for accommodating material works, and discharge pallets for accommodating formed works. An information card is attached to each pallet so as to record work information relative to the corresponding pallet. Two information processing heads are provided for effecting reading and writing of work information at a work supplying section and a work discharging section, respectively. A control device provided for controlling all the above elements inputs a production command so that a specified hand is automatically selected and the robot employs the hand to take the required material works alone out of the supply pallets which are being circulated on the supply loop. The material works are then formed and discharged by the discharge pallet.

Robot machining system having supply and discharge conveyor belts and

An apparatus for predicting the lifetime of cables for movable portions of an industrial robot, the apparatus comprising: measuring devices connected to the cables for the movable portions of the industrial robot for measuring mechanical movement of the cables for said movable portions; and a CPU for making accummulating results obtained by the measuring devices and predetermined reference values to determine that the cables for said movable portions have exceeded their lifetime if the accumulated exceeds a predetermined reference value.

Apparatus for predicting the lifetime of cable for movable portion of

Control circuit, which is connected to a data processor, a D-A converter, such as a current integration type adaptive delta demodulator, and a data processing mode change command terminal, attenuates output from the data processor in response to a data processing mode change command from the data processing mode change command terminal while delaying the data processing mode change command by a first prescribed time to supply the command to the D-A converter and releasing the attenuation of the output of the data processor after a lapse of a second prescribed time which is longer than the first prescribed time. Thus, no instable output data from the data processor appear at the output of the D-A converter so that no noise is caused.

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Aichi, Japan

Hisao Kato