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1. 发明公开

EP1008693A4 CONSTRUCTION MACHINE 失效
标题翻译：建筑机械
公开(公告)号：EP1008693A4
公开(公告)日：2000-06-28
申请号：EP98919524
申请日：1998-05-08
申请人： KOMATSU MFG CO LTD
发明人： KANDA TOSHIMASA , YANAGI KUNIKAZU , OKAMURA KENJI , YOSHINADA HIROSHI , OHTSUKASA NARITOSHI
IPC分类号： E02F3/34 , E02F3/96 , E02F9/08 , E02F9/16
CPC分类号： E02F9/0808 , E02F3/325 , E02F3/964 , E02F9/16
摘要： A construction machine reduced in overall body length without shortening arms of operating units and made suitable for use in limited space without sacrificing its working efficiency, wherein a second operating unit (14) is arranged above a traveling truck (11) so that the bases (14a) of the second operating unit (14) are positioned in areas (1d, 1e) between a tangent (1b) to the swiveling circle (1a) of a first base (13), which is parallel to the widthwise direction of the traveling truck (11), and a straight line (1c) passing the center of the swiveling circle (1a) and parallel to the widthwise direction of the traveling truck (11), in the outside vicinity of the swiveling circle (1a).

2. 发明公开

EP0816020A4 MASTER/SLAVE MANIPULATOR AND CONTROL METHOD THEREFOR 失效
标题翻译：主从机械手及其控制方法
公开(公告)号：EP0816020A4
公开(公告)日：1999-04-21
申请号：EP95931440
申请日：1995-09-19
申请人： KOMATSU MFG CO LTD
发明人： YOSHINADA HIROSHI , OKAMURA KENJI , YANAGI KUNIKAZU
IPC分类号： B25J3/04 , B25J9/16 , B25J9/18 , B25J3/00
CPC分类号： B25J9/1689 , B25J3/04 , G05B2219/40401 , G05B2219/40405 , G05B2219/45012 , G05B2219/45058
摘要： The present invention relates to a master/slave manipulator and a method for controlling the same in which a wide working area and good controllability can be provided and moreover corresponding position shift and enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts (β1, β2; υ1, υ2) when the leading ends (11, 12) of the one manipulator and the other manipulator reach respectively the plurality of representing points and the plurality of target points and a corresponding relationship between the working amounts of the two manipulators are obtained, and when the slave (2) is to be operated, the working amounts (β1, β2) 2) of the master are converted into working amounts (υ1, υ2) of the slave (2) to thereby operate the slave (2).

3. 发明专利

JPH08108380A MASTER-SLAVE MANIPULATOR AND ITS CONTROL METHOD 失效
公开(公告)号：JPH08108380A
公开(公告)日：1996-04-30
申请号：JP27285694
申请日：1994-10-11
申请人： KOMATSU MFG CO LTD
发明人： YOSHINADA YUTAKA , OKAMURA KENJI , YANAGI KUNIKAZU
IPC分类号： B25J3/04
摘要： PURPOSE: To safely perform a movement of a corresponding position and a change in the enlarging ratio while making a slave manipulator stationary as it is. CONSTITUTION: In a control method of a master-slave manipulator to make a slave 2 follow a master 1 by making a movement of a corresponding position and a change in the enlarging ratio of the master 1 and the slave 2 freely possible and by comparing operation signals from the master 1 and the slave 2 with each other by a comparator 3, at corresponding position moving time and enlarging ratio changing time, the master 1 is operated, and the tip of the slave 2 is moved to a target position. Afterwards, the operation signal from the master 1 to the comparator 3 is cut off, and the operation signal of the slave 2 at cutoff time is inputted to the comparator 3 instead of the operation signal from this master 1, and when this is inputted, the tip of the master 1 is moved to a desired position, and the enlarging ratio is changed.

4. 发明专利

JPH0866884A CONTROL LEVER 失效
公开(公告)号：JPH0866884A
公开(公告)日：1996-03-12
申请号：JP22562794
申请日：1994-08-26
申请人： KOMATSU MFG CO LTD
发明人： YOSHINADA YUTAKA , OKAMURA KENJI , YANAGI KUNIKAZU
IPC分类号： B25J13/02 , G05D3/12 , G05G9/04
摘要： PURPOSE: To hold the amount of horizontal displacement of a grip constant for easy control regardless of the position of the grip by providing a grip part about a horizontal rotating shaft. CONSTITUTION: The longitudinal and vertical movements of a grip 10a are achieved, respectively, as the rotation of a second arm 12 about a pin 11 and the rotation of a first arm 4 about a pin 2. The horizontal movement of the grip 10a is achieved as the rotation of a lever 10 about a rotating member 12a. Even if the grip 10a is pushed forward and moved horizontally, the horizontal rotating member 12a itself is also pushed forward, and the amount of horizontal displacement of the grip 10a is held constant; i.e., the amount of horizontal displacement can be held constant regardless of the position of the grip 10a.

5. 发明专利

JP2000257961A COOLING SYSTEM 失效
公开(公告)号：JP2000257961A
公开(公告)日：2000-09-22
申请号：JP5711399
申请日：1999-03-04
申请人： KOMATSU MFG CO LTD
发明人： YANAGI KUNIKAZU , OGATA MASAMI , YOSHIHARA MOTOJI
IPC分类号： F25B1/00 , F25D23/00
摘要： PROBLEM TO BE SOLVED: To miniaturize a cooling system without reducing cooling capability. SOLUTION: For the shaft center of a cylindrical accumulator 13, an evaporator 11 that allows temperature fluid to be cooled and a refrigerant to pass and has double pipe structure is arranged into neatly a concentric circle shape, and at the same time, a spiral shape with the same diameter, and the accumulator 13 is surrounded in the inside space of the evaporator 11. Also, a condenser 14 with the double pipe structure can be similarly arranged. Furthermore, a compressor 12 may be used as a center instead of the accumulator 13, for concentrically arranging the evaporator 11.

6. 发明专利

JPH1129954A CONSTRUCTION MACHINERY 失效
公开(公告)号：JPH1129954A
公开(公告)日：1999-02-02
申请号：JP18515197
申请日：1997-07-10
申请人： KOMATSU MFG CO LTD
发明人： YANAGI KUNIKAZU , YOSHINADA YUTAKA , OKAMURA KENJI , OJI NARUTOSHI , KANDA TOSHIMASA
IPC分类号： E02F3/38
摘要： PROBLEM TO BE SOLVED: To improve the mobility and the stability against over-turning of a working machine by supporting a bucket by two arms which are separated from each other in the right-to-left direction to avoid the interference between the arms and a lower traveling body during the turning operation and to reduce the length of the arms. SOLUTION: In a turning bulldozer shovel 1', an upper turning body 7 provided with arms 9R, 9L to support a bucket 10 for the bulldozer work is arranged on an upper part of a track type lower traveling body 2 in a turnable manner around the axis A. The interference with the lower traveling body 2 is avoided in comparison with the case of one arm by separating the arms 9R, 9L by 2L in plan view, and the length of the arms 9R, 9L can be reduced. The distance 2L of the arms 9R, 9L is set so that the upper turning body 7 is stored within the vehicle width when the bucket 10 is located forward of the vehicle. The length of the arms 9R, 9L is reduced, the mobility during the traveling is improved, and the stability against the over-turning of the vehicle can also be improved.

7. 发明专利

JPH10219728A INTERFERENCE PREVENTIVE DEVICE FOR CONSTRUCTION EQUIPMENT 失效
公开(公告)号：JPH10219728A
公开(公告)日：1998-08-18
申请号：JP1883497
申请日：1997-01-31
申请人： KOMATSU MFG CO LTD
发明人： OJI NARUTOSHI , YOSHINADA YUTAKA , OKAMURA KENJI , YANAGI KUNIKAZU
IPC分类号： E02F3/43 , E02F9/24
摘要： PROBLEM TO BE SOLVED: To prevent interferences among each working machine and in the working machines and a construction equipment body surely and easily even when a plurality of the working machines capable of being slewed are installed on one travelling truck, and to lighten a burden applied to an operator while safely conducting operation even at the time of cooperation works by a plurality of the working machines. SOLUTION: Joint angles and relative turning angles from a plurality of working machines capable of being turned on one travelling truck are detected in a detecting section SC, and each point place on the preset working machines is stored beforehand, distances among a plurality of the working machines are obtained on the basis of the results of detection and each point place and a shortest approach distance from the distances is computed in an interference-distance arithmetic section 21. When the shortest approach distances reach a specified set distance or less, an alarm is generated from an alarm section 29a through an output control section 25 while interference preventive control such as the stoppage and deceleration of the approach-side working machines, equalization to the speed of the approach- side working machines of the approached-side working machines, etc., is conducted to a hydraulic control section CC on the basis of a set mode in an interference preventive control section 22.

8. 发明专利

JP2000176876A WORK CARRIER DEVICE AND ATTITUDE HOLDING METHOD OF WORK CARRIER DEVICE 失效
公开(公告)号：JP2000176876A
公开(公告)日：2000-06-27
申请号：JP35196498
申请日：1998-12-10
申请人： KOMATSU MFG CO LTD
发明人： OJI NARUTOSHI , YANAGI KUNIKAZU
IPC分类号： H01L21/677 , B25J17/00 , B65G49/05 , H01L21/68
摘要： PROBLEM TO BE SOLVED: To control the position of a work while restraining enlargement and increase of weight. SOLUTION: Deflection of arms A1, A2 is restrained by giving tensile force to belts 6, 9 wound between pulleys 5, 8 provided on head end parts of the arms A1, A2 and pulleys 4, 7 provided on base end parts through idler rollers 11, 21 and tension rollers 12, 22.

9. 发明专利

JPH1129958A CONSTRUCTION MACHINE 失效
公开(公告)号：JPH1129958A
公开(公告)日：1999-02-02
申请号：JP18653297
申请日：1997-07-11
申请人： KOMATSU MFG CO LTD
发明人： YANAGI KUNIKAZU , YOSHINADA YUTAKA , OKAMURA KENJI , OJI NARUTOSHI , KANDA TOSHIMASA
IPC分类号： E02F3/96 , E02F9/08
摘要： PROBLEM TO BE SOLVED: To enhance operability by enabling an upper working machine to take a working-machine position such that it does not interfere with a lower working machine, and thus enabling the revolving and turning movements of the lower working machine to be effected without caring for interference. SOLUTION: This construction machine has a lower revolving structure 3 supporting a first working machine 20 and placed in such a way as to freely revolve relative to a traveling truck 1, and has an upper revolving structure 8 supporting a second working machine 30 and placed in such a way as to freely revolve relative to the lower revolving structure 3. In that case, the entire second working machine 30 can be almost stored in a three-dimensional space sandwiched between the upper surface of the upper revolving structure 8 and a plane obtained by parallel projection of the upper revolving structure 8 in the upward direction.

10. 发明专利

JPH10219727A WORKING-MACHINE CONTROLLER FOR CONSTRUCTION EQUIPMENT 失效
公开(公告)号：JPH10219727A
公开(公告)日：1998-08-18
申请号：JP1883697
申请日：1997-01-31
申请人： KOMATSU MFG CO LTD
发明人： OKAMURA KENJI , YOSHINADA YUTAKA , YANAGI KUNIKAZU , OJI NARUTOSHI
IPC分类号： E02F3/43 , E02F9/20
摘要： PROBLEM TO BE SOLVED: To realize copying works by arbitrary pushing force by comparatively simple constitution without requiring the fine operation of an operator. SOLUTION: Load detecting means 11, 12 detecting load from a working plane applied to an attachment and a working-machine attitude detecting means 10 detecting the attitudes of a plurality of moving nodes and the attachment are mounted. An arithmetic means 12 arithmetically operating and outputting a component in the vertical direction to the working plane on the basis of output values from the load detecting means and the working-machine attitude detecting means, a target-value setting means 13 setting the target value of pushing force proper to operation, and driving control means 14-17 conducting copying works by generating driving force in the attachment by automatically controlling a plurality of actuators while driving other actuators so that an arithmetic output from the arithmetic means coincides with the setting target value of the target-value setting means are installed.

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