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11. 发明专利

JPH0338462A VARIABLE SPEED LIFT 失效
公开(公告)号：JPH0338462A
公开(公告)日：1991-02-19
申请号：JP17342089
申请日：1989-07-05
申请人： KAJIMA CORP
发明人： MATSUI NOBUYUKI , OCHI TATSUYUKI
IPC分类号： B61B11/00 , B61B13/06 , B65G21/22
摘要： PURPOSE:To freely change transfer speed and interval of respective carriers by a method wherein a variable speed linear motor is composed of numerous electromagnets and a permanent magnet of each moving support car to be moving driving unit of the moving support can supporting the carrier. CONSTITUTION:A variable speed linear motor is formed of numerous electromagnets 5 of a guide rail 3 and a permanent magnet 6 of each moving support car 4. By sequentially converting the electromagnets 5 alternately in south poles and north poles with power supplied to these electromagnets 5 so that adjacent electromagnets 5 are not in the same pole, the permanent magnet 6 of each moving support car 4 is attracted or repulsed, while attraction and repulsion of each electromagnet 5 for the permanent magnet 6 of each moving support car 4 is utilized as a moving driving source to transfer respective moving support cars 4, that is, respective carriers 2 along the guide rail 3.

12. 发明专利

JPS6250911A SELF-TRAVELING TYPE ROBOT 失效
公开(公告)号：JPS6250911A
公开(公告)日：1987-03-05
申请号：JP18968785
申请日：1985-08-30
申请人： KAJIMA CORP
发明人： OCHI TATSUYUKI , KIKUCHI SHIGERU , SASAKI TSUTOMU , TANAKA NOBUO
IPC分类号： B25J5/00 , B25J9/16 , B25J13/08 , G05D1/02
摘要： PURPOSE:To obtain the self-traveling type robot which does not cause the accumulative error by correcting the position of the self-traveling type robot by the signal from the direction sensor and the signal from the laser photodetecting sensor for the suitable section in accordance with the prescribed program. CONSTITUTION:A direction sensor 14 on a traveling truck 1 detects the direction of the traveling truck 1 and outputs it to an arithmetic control device 10. A traveling distance sensor 15 detects the traveling distance and outputs to the device 10. Laser photodetecting sensors 16 and 17 photodetects the laser beam of a laser lighthouse 18 and outputs the signal to the device 10. The device 10 is composed of the program (PG) to calculate the accumulative position of the traveling truck 1, PG to calculate the minimum distance between the fixed point and the traveling truck, PG to calculate the traveling distance, PG to calculate the traveling distance and the position correcting calculation PG to control the mechanism of the traveling truck 1. Based upon these PG, the position of the traveling vehicle 1 is corrected for the suitable section.

13. 发明专利

JPS61193209A SELF-TRAVELING ROBOT 失效
公开(公告)号：JPS61193209A
公开(公告)日：1986-08-27
申请号：JP3142885
申请日：1985-02-21
申请人： KAJIMA CORP
发明人： OCHI TATSUYUKI , TANAKA NOBUO , KIKUCHI SHIGERU
IPC分类号： E01C19/45 , A01B69/00 , E01H1/00 , G05D1/02
摘要： PURPOSE:To attain the unmanned operation of a robot (truck) by calculating the present position of the truck by the signals given from a direction sensor and a traveled distance sensor anc comparing the result of said calculation with an indicated driving path for control of both the direction and speed of the truck. CONSTITUTION:When the X coordinates 3 of a point D is controlled in a working area S while a self-traveling 1 is steered in a pattern of a driving path RO between a fixed point O and an end point R, the following algorithm is applied. That is, the minimum distance l2 is obtained between the point O and the robot 1 while the robot 1 travels up to a point N from a point M. The robot 1 has a rectangular turn at the point N, and the distance between points N and Q is controlled to (l2+l3), where l2 and l3 mean the measured value and estimated value respectively. Then the robot 1 has a rectangular turn at the point Q. Hereafter the Y coordinates of a point E and the X coordinates of a point F are controlled in the same way. Here it is supposed that the traveling direction is controlled to the fixed value by a direction sensor 14 for each drive section of the robot 1.

14. 发明专利

JPS6114360A Running cart equipped with self-erection navigation apparatus 失效
标题翻译：跑步机配备自检导航装置
公开(公告)号：JPS6114360A
公开(公告)日：1986-01-22
申请号：JP13202984
申请日：1984-06-28
申请人： Kajima Corp
发明人： TANAKA NOBUO , ARAI KAZUHIKO , NAMETAKE SEIZOU , SAKANO KOUICHI , OCHI TATSUYUKI
IPC分类号： E04F21/24 , G05D1/02

15. 发明专利

JPS59209580A Preventive facility for deposition of sludge in crude oil storage underground tank 失效
标题翻译：在原油储存地下油罐中沉淀泥沙的预防措施
公开(公告)号：JPS59209580A
公开(公告)日：1984-11-28
申请号：JP8367183
申请日：1983-05-13
申请人： Kajima Corp
发明人： SETOGAWA HIROSHI , SAGOUYA TAKAMICHI , ENOMOTO MAKOTO , MORITA HIDEO , SHIMURA EIKI , OCHI TATSUYUKI , TAKIZAWA SEIICHIROU
IPC分类号： B65D90/00

16. 发明专利

JPH09297022A PRECISE DETECTION METHOD FOR UNDERGROUND EXCAVATOR POSITION 失效
公开(公告)号：JPH09297022A
公开(公告)日：1997-11-18
申请号：JP11087296
申请日：1996-05-01
申请人： KAJIMA CORP
发明人： ISHIZAKA MINE , KIKUCHI TETSUKI , MATSUI NOBUYUKI , OCHI TATSUYUKI
IPC分类号： G01C15/00 , E02F5/14 , G01B7/00 , G01B21/00 , G01D5/12
摘要： PROBLEM TO BE SOLVED: To suppress influence of variety of characteristics in a proximity sensing element. SOLUTION: In each of one or more fixed reference points 17 which are provided on a top surface 2 of an excavator, three line segments α, β and γ are provided on the top surface 2 while crossing at 120 deg.C each other. Multiple proximity sensing elements 11, whose output is in correspondence to a distance from a deadweight 9, are fixed with constant intervals on each of line segments α, β and γ, and the deadweight 9 whose diameter is smaller than the constant interval is hung from a reference point 7 (7A, 7B) on a ground surface 3, up to just above the corresponding reference point 17 on the excavator 1. Based on distribution of output of the proximity sensing element 11 on each of the three line segments α, β and γ, a point where the output is maximum is estimated for each lines. A triangular area is drawn on the top surface 2 with perpendiculars of three line segments passing through the point of maximum output, and a center of gravity of the area is made to be a vertical projection position of the deadweight 9. Based on a coordinate of the gravity center of the reference point 17, a coordinate of the reference point 17 of the excavator 1 for the ground reference point 7 is decided.

17. 发明专利

JPH07213963A GONDOLA-ATTACHED COATING ROBOT 失效
公开(公告)号：JPH07213963A
公开(公告)日：1995-08-15
申请号：JP927294
申请日：1994-01-31
申请人： KAJIMA CORP
发明人： MATSUNAGA YOSHINORI , KUBO KIRYO , MIYAMOTO TAKEZO , SHIRAI SHUNSUKE , OCHI TATSUYUKI , TAKIZAWA SEIICHIRO , SAITO MINORU , ITOU KIYOKAZU , ARAI KAZUHIKO , MIYAJIMA TOSHIKAZU , TERAUCHI SHIN
IPC分类号： B05B12/00 , B05B13/04 , B05C9/00
摘要： PURPOSE:To carry out coating work with a coating robot without being affected by the ground and improve the workability and safety by laying transverse rail in a gondola main body, and mounting a coating robot on the transverse rail freely transversely. CONSTITUTION:A pair of brackets 6 to be pin-connected with a bracket of a winder are projected and formed in a gondola main body 10. The wall face side of the gondola main body 10 is opened, and a pair of transverse rails 11 are laid in the bottom face in the longitudinal direction. A coating robot main body 20 is mounted on the transverse rails 11 in the way it can move freely transversely. Since the coating robot itself sprays a coating compound through a nozzle N to a wall face 2, the nozzle N may be pivotably attached to a link. Consequently, work efficiency of the gondola can be heightened without being affected by the condition of the ground.

18. 发明专利

JPH06214648A EMERGENCY STOPPING DEVICE FOR BATTERY LOCOMOTIVE 失效
公开(公告)号：JPH06214648A
公开(公告)日：1994-08-05
申请号：JP647593
申请日：1993-01-19
申请人： KAJIMA CORP
发明人： OCHI TATSUYUKI , SAKAI KATSUMI
IPC分类号： B60L3/08 , B61C3/02 , E21F17/18 , G05D1/02
摘要： PURPOSE:To provide a simple and inexpensive device of no contact which can stop an unmanned vehicle running in a tunnel in an emergency. CONSTITUTION:The flash lights 4 are provided in a tunnel with proper spaces secured among them, and a photodetector 3 is provided on a vehicle running in the tunnel. In an emergency, the photodetector 3 senses the flash lights 4. Then the running vehicle is stopped.

19. 发明专利

JPH04285886A APPARATUS FOR CONTROLLING AND ARRANGING SNOW THICKNESS 失效
公开(公告)号：JPH04285886A
公开(公告)日：1992-10-09
申请号：JP4935791
申请日：1991-03-14
申请人： KAJIMA CORP , JAPAN RADIO CO LTD
发明人： OCHI TATSUYUKI , SHIMAZU TADAHIRO , MATSUI NOBUYUKI , MATSUMOTO ISAO , HONDA SHUNJI , TANII SHINYA
IPC分类号： G01B15/02 , E01H4/02 , G01W1/14
摘要： PURPOSE:To accurately control and arrange objective snow thickness over the entire region of a snow surface with high efficiency by mounting an arranging means, a vertical movement means, radar, a snow thickness calculation means and a control means controlling the vertical movement means to adjust snow thickness to a set value. CONSTITUTION:When a snowmobile is allowed to run and a pulse like radio wave B is emitted from a transmitter 21, the radio wave C reflected from a metal body 3 is received by a receiver 22. A propagation time measuring and arriving function 23 measures a propagation time from the difference between a pulse emitting time and a reflected wave arriving time. A snow thickness conversion function 24 calculates snow thickness within a real time from the dielectric constant of snow and the transmission time of a radio wave in snow to display the same on a display device 25. A control unit 26 compares the snow value from the function 24 with the preliminarily inputted set value of snow thickness to extend and contract a cylinder 14 and a plate 12 is moved up and down to extrude snow and automatically performs adjustment so as to allow the snow thickness to coincide with the set value while levels unevenness.

20. 发明专利

JPH033022B2 失效
公开(公告)号：JPH033022B2
公开(公告)日：1991-01-17
申请号：JP20036484
申请日：1984-09-27
申请人： KAJIMA CORP
发明人： TANAKA NOBUO , ADACHI YOSHINORI , TAKIZAWA SEIICHIRO , OCHI TATSUYUKI
IPC分类号： E04F21/24 , E04F21/16 , E04G21/10 , E04G21/16

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