Kawasaki Jukogyo Kabushiki Kaisha

Tetsuya Kubota

Noriyuki Okaya

Minehiko Mukaida

Masayuki Enomoto

Akira Kimura

Masanori Hamamatsu

Hiroaki Kagaya

Akiyoshi Saiki

Kazuya Sumino

Mamoru Nishio

Shigekazu Shikoda

Hirotaka Uehara

Osamu Satoh

Tomoyuki Uno

Hideki Tanaka

Takayuki Murata

Takamasa Ogata

Jun Fujimori

Tsuyoshi Maehara

Naoyuki Matsumoto

Shinji Kajihara

Minoru Yokoyama

Eiichi Yagi

Tetsuhiko Nishimura

Yoshimitsu Kurosaki

Susumu Ikeda

Hidenori Tanaka

Yasuyuki Haneda

Tomoki Kuwabara

Noriyukí Okaya

A berth for a multi-purpose disaster response ship includes: a quay at which the multi-purpose disaster response ship is berthed; a building located along the quay, including at least one quay-facing gate, and sharing at least one common purpose with the multi-purpose disaster response ship; a horizontal movement restrainer that restricts and permits horizontal movement of the multi-purpose disaster response ship relative to the quay; and a vertical movement restrainer that adjusts a vertical location of the multi-purpose disaster response ship to a specified level relative to the quay and that restricts and permits vertical movement of the multi-purpose disaster response ship situated at the specified level.

Berth for multi-purpose disaster response ship and harbor structure

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

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.

Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.

Method of controlling seven-axis articulated robot, control program, and robot control device

A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.

Control system and teaching method for seven-axis articulated robot

An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.

Robot controller and robot control method

A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.

Synchronous motor control method and synchronous motor control system

A laser beam projector to be employed in an automatic welding machine, such as a robot, includes an optical head that projects a laser beam and a holding and turning mechanism that holds and turns the optical head. The spot of the laser beam can be accurately located on the portion to be welded by turning the optical head by the holding and turning mechanism.

Laser beam projector

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

A laser-welding head is capable of applying a fixed pressure to parts to be welded of workpieces regardless of the undulation of the surfaces of the parts to be welded. The laser-welding head includes a pressing device ( ) having a roller ( ) which rolls along parts of workpieces near a weld line ( ) to press together the same parts of the workpieces, a pressing unit ( ) for applying a predetermined pressure to the pressing device ( ) to press the pressing device ( ) toward the parts of the workpieces near the weld line ( ), and a laser beam projecting unit ( ) mounted on the pressing unit ( ) for movement together with the pressing device ( ). The pressing unit ( ) is provided with a pneumatic cylinder actuator for applying the predetermined pressure to the pressing device ( ).

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Kobe, Japan

Tetsuya Kubota