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31. 发明专利

JPH06158983A METHOD FOR AUTOMATICALLY MEASURING POSITION OF SUCCEEDING TRUCK OF SHIELD MACHINE 失效
公开(公告)号：JPH06158983A
公开(公告)日：1994-06-07
申请号：JP33105692
申请日：1992-11-17
申请人： KAJIMA CORP
发明人： SHIBATA MANABU , SATO TATSURO , MIZUTANI AKIRA
IPC分类号： E21D9/06 , G01B15/00 , G01C15/00
摘要： PURPOSE:To make it possible to automatically measure the position of a succeeding truck of a shield machine along a straight line and curved line of a tunnel without the need for turning work. CONSTITUTION:Positions of a truck 5 are determined by an ordinary measuring method. As the machine 3 excavates and moves forward, the truck 5 also moves. At every predetermined time interval, horizontal angle thetag is measured by a gyrocompass 7; mileage L is measured by a traveling distance meter 9; pitching angle thetap of the truck 5 by an inclinometer 13. By using these values, the position of the truck 5 is calculated. At a given time, the position of the truck 5 is remeasured to correct the position coordinates of the truck 5.

32. 发明专利

JPH08217381A BUCKET POSITIONING DEVICE FOR CABLE CRANE 失效
公开(公告)号：JPH08217381A
公开(公告)日：1996-08-27
申请号：JP2281895
申请日：1995-02-10
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND
发明人： KISHI MITSUTERU , SATO TATSURO , HONDA FUMIAKI , SHIMIZU TAKAKAZU , MURAYAMA SHIGEKI , MIYOSHI YASUMA
IPC分类号： B66C13/22 , B66C21/00
摘要： PURPOSE: To provide a bucket positioning device for a cable crane which can correct position displacing of a bucket and can contribute to automatizing the cable crane. CONSTITUTION: A stop region T of including a prescribed stop position S of a bucket 5 is interposed, to arrange a plurality of infrared sensors 12 in a matrix shape so that a light projecting/receiving part 12a, 12b of an infrared beam 11 is opposed to each other to a direction Y orthogonal to a laterally running direction of a traversing trolley 2 and further so that a projecting direction of the infrared beam 11 adjacent to each other is opposed. In this way, based on a pattern that the infrared beam 11 projected from the light projecting part 12a to the light receiving part 12b of the infrared sensor 12 is interrupted by the bucket 5, a stop position in the stop region T of the bucket 5 is confirmed, and a control device 14, outputting a correction drive signal 13 to a horizontally moving winch 4 in the case that the stop position of the bucket 5 is displaced, is provided.

33. 发明专利

JPH08199999A TRACKLESS MATERIAL CONVEYING DEVICE 失效
公开(公告)号：JPH08199999A
公开(公告)日：1996-08-06
申请号：JP881095
申请日：1995-01-24
申请人： KAJIMA CORP
发明人： KIKUCHI KENJI , MATSUNAGA YOSHINORI , SATO TATSURO , MIZUTANI AKIRA
IPC分类号： E21D11/40 , B65G7/04 , E21F13/02
摘要： PURPOSE: To improve the efficiency of a conveying work by a method wherein a cargo support base and an elevatable roller are arranged on an all-wheel trackless truck, a cargo is pushed up by a roller and traversed, and a transfer device is dispensed with. CONSTITUTION: A pair of cargo support bases 13 are arranged at a self-traveling type truck 1 to drive all of wheels 2 with a tire by a motor 3 and a roller 14 driven by the motor 3 is installed elevatably by a hydraulic cylinder 7. When a cargo is loaded on the truck 1, one end of the cargo is pushed up by the roller 14 and with this state, the roller 14 is driven for traversing and placed on a cargo support base 13. Meanwhile, when the cargo is unloaded, after the cargo is pushed up and traversed by the roller 14, the truck 1 is moved and removed from the cargo. When a long object is conveyed, the two ends and the intermediate part of the cargo are supported by a plurality of trucks 1. During delivery of the cargo, the roller 14 is raised. This constitution conveys a heavy object with high efficiency.

34. 发明专利

JPH08129418A INTELLIGENT ROBOT SIMULATION SYSTEM 失效
公开(公告)号：JPH08129418A
公开(公告)日：1996-05-21
申请号：JP28917494
申请日：1994-10-28
申请人： KAJIMA CORP
发明人： MATSUNAGA YOSHINORI , SATO TATSURO , UEDA AKIRO , MIZUTANI AKIRA
IPC分类号： E04G21/16 , G05D1/02 , G06F17/50
摘要： PURPOSE: To simulate the behavior, etc., of an intelligent robot without using its experimental model. CONSTITUTION: In the intelligent robot simulation system 1, an intelligent robot 3 including a position sensor part 21 and a visual sensor part 23 is designed at a shape generation part 5 and a structure analysis part 7. A dynamic mechanism analysis part 9 and an external processing part 11 analyze the behavior of the robot 3 and send the data to an expert system 15 via a communication part 13 if the selection of operations is needed. The system 15 selects the next behavior of the robot 3 based on a prescribed algorithm and returns this selection result to the part 9 to carry out the simulation of the robot 3. This simulation result is shown by a diaplay means which can show the numerical value, locus charts, animations, etc.

35. 发明专利

JPH0843060A METHOD FOR MEASURING SURFACE ROUGHNESS 失效
公开(公告)号：JPH0843060A
公开(公告)日：1996-02-16
申请号：JP18213094
申请日：1994-08-03
申请人： KAJIMA CORP
发明人： SATO TATSURO
IPC分类号： G01B11/16 , G01B11/30
摘要： PURPOSE:To provide a highly accurate surface roughness-measuring method which can keep a detecting space in constant state easily and is resistive to external disturbances such as influences by an external light, etc. CONSTITUTION:A recessed part is formed on a measuring surface 7 of a square main body l. The measuring surface 7 is to be in tight touch with a surface to be measured A light-emitting part 6 having a plurality of light-emitting elements 6a and a photodetecting part 4 having a plurality of photodetecting elements 4a set at, the recessed part,.

36. 发明专利

JPH07215678A AUTOMATIC OPERATING DEVICE FOR CRANE 失效
公开(公告)号：JPH07215678A
公开(公告)日：1995-08-15
申请号：JP3548194
申请日：1994-02-08
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA MATERIALS HANDLIN
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/48 , B66C23/00 , B66C23/88 , G05B13/02 , G05D3/12 , G05D13/62
摘要： PURPOSE:To set an operating pass which permits the prevention of swing without any interference with an obstacle by providing such a means for conducting fussy computation for positions where swiveling and derricking are started, completed, accelerated and decelerated in consideration of swing control based on an operation type and an operatable zone. CONSTITUTION:An operations type discriminating block 1 selects a prescribed operation type from automatic start and completion positions of a crane and the position of an obstacle. An operation zone setting block 2 sets an operatable zone by conducting color-retrieval on a computer screen to recognize an obstacle. A swing prevention fussy computing block 3 computes positions where swiveling and derricking are started, completed, accelerated or decelerated in consideration of swing control based on the operation type and the operatable zone. A speed pattern preparing block 4 conduct swing prevention control according to the computed results. A crane control panel 5 converts a speed pattern into a control signal, thereby conducting automatic operation of the crane.

37. 发明专利

JPH07215669A OPERATION AREA MONITORING DEVICE FOR CRANE 失效
公开(公告)号：JPH07215669A
公开(公告)日：1995-08-15
申请号：JP3548094
申请日：1994-02-08
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA MATERIALS HANDLIN
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： B66C13/48 , B66C15/00 , B66C23/88 , G05B9/02
摘要： PURPOSE:To improve the safety and reliability of an automatic operating device by comparing a preset operation possible area with a position (condition) of a crane detected by various sensors, and outputting the crane stop signal in the case where a departure from the operation possible area is judged. CONSTITUTION:An operation area setting block sets the operation possible area of a hook or a hoisted material on the basis of the real position and the target position of the hook or the hoisted material of a crane during the movement and a building frame and a fixed obstacle position. An operation area departure monitoring block 10 compares the set operation possible area 1 with the various positions (condition) 2 of the crane respectively detected by various sensors 3-7, and checks that the hook or the hoisted material is positioned within the operation possible area or not, and monitors departure of the hook or the hoisted material from the operation possible area. Furthermore, a crane stop signal output block 20 judges abnormality of an automatic operating device when a departure from the operation possible area is generated, and outputs the crane stop signal 21 to a crane controller.

38. 发明专利

JPH07144883A DEVICE FOR MEASURING SWINGING ANGLE OF LOAD OF CRANE AND LENGTH OF SUSPENDING ROPE 失效
公开(公告)号：JPH07144883A
公开(公告)日：1995-06-06
申请号：JP31413893
申请日：1993-11-19
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： G01B11/00 , B66C13/22 , B66C23/00 , G01B11/02 , G01B11/26 , G01S17/06 , G05D3/12
摘要： PURPOSE:To measure the swinging angle of a rope of a crane and a distance from the crane to a hook without requiring the signal from the hook side. CONSTITUTION:In a device for measuring the swinging angle of load of a crane and a length of a suspending rope, a reflecting prism 22 for reflecting the light in the incident direction is fitted to a crane hook 18, and on the other hand, a tracking device 21, which outputs the light to the reflecting prism 22 and receives the reflected light to perform the two-axis operation so as to always track the reflecting prism 22, and a swinging angle processing device for reading the rotating angle of two axes at the time of tracking are fitted to a crane main body 6. The tracking device 21 is loaded with a light wave distance meter 24 for measuring the distance to the reflecting prism 22.

39. 发明专利

JPH07144882A DEVICE FOR DISPLAYING AND RECORDING SWINGING ANGLE OF LOAD SUSPENDED BY CRANE 失效
公开(公告)号：JPH07144882A
公开(公告)日：1995-06-06
申请号：JP31413793
申请日：1993-11-19
申请人： KAJIMA CORP , ISHIKAWAJIMA HARIMA HEAVY IND , ISHIKAWAJIMA UNPAN KIKAI KK
发明人： KISHI MITSUTERU , KUBO KIRYO , NEMOTO TSUTOMU , SATO TATSURO , MURAYAMA SHIGEKI , SAITO TOSHIAKI , OKANO SHIGERU , MUTA YOSHIHIRO
IPC分类号： G01B11/00 , B66C13/22 , B66C23/00 , G01B11/26 , G05B23/02 , G05D3/12
摘要： PURPOSE:To provide a device for displaying and recording the swinging angle of a load suspended by a crane, which can easily evaluate and control the automatic operation of a crane. CONSTITUTION:The swinging angle signal S1 of a hoisted load from a swinging angle measuring device 20 fitted to a crane is corrected on the basis of the crane posture signal S2 and the deflection correcting signal S3 to compute the accurate swinging angle of the suspended load at real time. The obtained swinging angle data is displayed as a waveform of the swinging angle in a display so as to be easily recognized, and the swinging data is recorded in a recording device with a specific format.

40. 发明专利

JPH0734776A METHOD AND DEVICE FOR MEASURING TAIL CLEARANCE 失效
公开(公告)号：JPH0734776A
公开(公告)日：1995-02-03
申请号：JP19898193
申请日：1993-07-16
申请人： KAJIMA CORP
发明人： OKABE YASUNORI , SATO TATSURO
IPC分类号： E21D9/06
摘要： PURPOSE:To enable measurement of tail clearances easily and directly. CONSTITUTION:A supporter 13 of a tail clearance measuring device 11 is secured to a center axis A of a shield machine 1 and legs 15a, 17a... of the device 11 each are expanded outwardly until each tip of the legs 15a, 17a... makes contact with a skin plate 3. At this moment angles theta and phi formed by the legs 15a, 17a... and the axis A are measured so that distances between the axis A and the plate 3 are determined based on the measured angles. And each of the legs 15a, 17a... is expanded outwardly until the tips of the legs 15a, 17a... make contact with a segment 9, while anges theta and phi formed by each of the legs 15a, 17a... and the axis A are measured so that distances between the axis A and the segment 9 are determined based on the measured angles. Tail clearances are calculated using the distances between the axis A and the plate 3 and the distances between the axis A and the segment 9.

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