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1. 发明专利

JPH07205022A CORRECTING METHOD FOR GRINDING WHEEL WEAR IN FORCE CONTROL ROBOT 失效
公开(公告)号：JPH07205022A
公开(公告)日：1995-08-08
申请号：JP35402293
申请日：1993-12-30
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： AIHARA YOSHIHIRO , OYAMA SHOZO , KURENUMA TOORU , YAMADA KAZUNORI
IPC分类号： B23Q15/00 , B23Q15/16 , B24B47/25 , B24B49/16 , B25J13/08 , G05D3/12
摘要： PURPOSE:To automatically, quickly and simply obtain the amount of grinding wheel wear, correct TCP and to prevent generation of unground parts due to wear by utilizing a movement based on a force control mode for a grinding operation of a force control robot. CONSTITUTION:A method for correcting grinding wheel wear is applied to a force control robot for grinding a workpiece 6 by means of a grinding wheel 7a based on the control of a position and a force by a control means 15 in accordance with a grinding route relating to the workpiece 6 by using a force signal from a force detecting means 5 and a position signal from a position detecting means 8. The tip of the grinding wheel is brought into contact with a reference surface before wear is generated, the position of TCP set to indicate the position and posture of the grinding wheel is obtained, likewise the position of a work center point is obtained after wear is generated, a difference therebetween is obtained as the amount of wear and based on this amount of wear a set value relating to the reference position of the work center point before wearing takes place.

2. 发明专利

JPH0760684A FORCE SENSOR BREAKAGE ALARM DEVICE FOR FORCE CONTROL ROBOT 失效
公开(公告)号：JPH0760684A
公开(公告)日：1995-03-07
申请号：JP23879293
申请日：1993-08-31
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： YOSHIDA KUNIHIKO , SATO KENICHI , AIHARA YOSHIHIRO , TANI YOSHIO
IPC分类号： B23Q11/00 , B24B55/00 , B25J13/08 , B25J19/06
摘要： PURPOSE:To improve an abnormal vibratory condition instantly, and prevent breakage of a force sensor by detecting a rotary operation time vibratory condi tion of a grinder or the like according to a mechanical structure, and informing an operator of this when vibration is abnormal in a force control robot. CONSTITUTION:Work tools 35 and 37 composed of a grinder or a grinding wheel or the like are installed in the tip part of a robot body operated as a multidegree of freedom work mechanism through a force sensor, and are applied to a force control robot to carry out force work by using a detecting signal of the force sensor. An alarm unit 10 containing vibratory bodies 2 and 3 to vibrate according to vibration generated by these work tools and a pronouncing body 4 to generate an alarm sound by vibration of these vibratory bodies is installed on these work tools. The vibratory bodies are formed of a coil spring 2 and a weight 3.

3. 发明专利

JPH0679567A ASSEMBLY REPRODUCIBILITY GUARANTEE DEVICE OF ROTARY TOOL IN INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0679567A
公开(公告)日：1994-03-22
申请号：JP25370592
申请日：1992-08-28
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： MINAMIYAMA EIJI , AIHARA YOSHIHIRO , KURENUMA TOORU
IPC分类号： B23Q3/12 , B25J19/00
摘要： PURPOSE:To guarantee the assembly reproducibility of a rotary tool in a good condition even though the rotary tool unit is dismantled and assembled repeatedly, and to improve the finishing accuracy of a work, by providing a jig to regulate the position and the posture of the rotary tool before and after the dismantling and the assembling, and an external standard member. CONSTITUTION:A jig 7 which can be installed to the rotary driving shaft 4 of a rotary tool base 4 instead of a rotary tool, and an external standard member 8 in which a standard point is set are provided. Depending on the positioning of the jig 7 and the external standard member 8, the position and the posture of the rotary tool unit after the assembly are regulated to coincide to the position and the posture of the rotary tool unit set beforehand. As a result, even though the rotary tool is dismantled and assembled repeatedly, the assembly reproducibility is guaranteed in a good condition.

4. 发明专利

JPS6363887A REVOLUTION DRIVE FOR AUGER 失效
公开(公告)号：JPS6363887A
公开(公告)日：1988-03-22
申请号：JP20583086
申请日：1986-09-03
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： IIDA TAKEO , AIHARA YOSHIHIRO
IPC分类号： E21B3/00 , E21B3/035 , E21B7/04

5. 发明专利

JPH1149483A MOVABLE CRANE FOR UNDERGROUND CONSTRUCTION 失效
公开(公告)号：JPH1149483A
公开(公告)日：1999-02-23
申请号：JP20564697
申请日：1997-07-31
申请人： NAKAMURA KOGYO KK , HITACHI CONSTRUCTION MACHINERY
发明人： NAKAMURA YASUHIRO , MURAOKA TADASHI , SEKI KAZUHIDE , AIHARA YOSHIHIRO , SHIBA YOSHIMI , HASHIMOTO KENTARO
IPC分类号： E02F7/00 , B66C23/36
摘要： PROBLEM TO BE SOLVED: To provide a crane which is high in working efficiency in an earth and sand discharge and load works of an underground construction and high in correspondence in load works at narrow working spots which have been difficult in a conventional crane, that is, a narrow building and an underground construction spot such as a subway construction. SOLUTION: On a traveling device 1, an upper frame 4 in which a bucket 33 is possible to pass in the longitudinal direction and horizontal boom parts 6 are provided at both the ends is installed. A winch 5 is mounted on the upper part of the upper frame 4 and the upper frame 4 is provided with a rail 7. A sheave frame 10 having a sheave 9 around which a rope 8 wound and paid off by the winch 5 is passed is freely movably mounted along the rail 7. A moving device moving the sheave frame 10 along the rail 7 is provided. The bucket 33 or a hook 36 is supported by the rope 8 suspended by passing around the sheave 9.

6. 发明专利

JPH10196268A HOLE EXCAVATING DEVICE 失效
公开(公告)号：JPH10196268A
公开(公告)日：1998-07-28
申请号：JP223397
申请日：1997-01-09
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： SEKI KAZUHIDE , AIHARA YOSHIHIRO , SHIBA YOSHIMI
IPC分类号： E21B19/06 , E21B3/02 , E21B3/035 , E21D1/06
摘要： PROBLEM TO BE SOLVED: To form a longitudinal hole of sufficient depth while making a device compact and lightweight on the whole regarding a hole excavating device for excavating the longitudinal hole, relatively large in hole diameter and depth, in the ground. SOLUTION: A hole excavating device is provided with a excavator 4 driving an excavating tool by a turning motor 15 to excavate a longitudinal hole in the ground, a hydraulic power unit 12 arranged on the ground to supply pressure oil to the turning motor 15. The excavator 4 is provided with a drain tank 21 for storing leakage oil generated from the turning motor 15, and an auxiliary hydraulic pump 22 for feeding the leakage oil to the hydraulic power unit 12. The hole excavating device is also provided with an auxiliary pipe line 43 for connecting the hydraulic power unit 12 on the ground to the auxiliary hydraulic pump 22 of the excavator 4, a switching valve 28 for holding the auxiliary pipe line 43 into either an opened state or a closed state, an oil quantity sensor 23 for outputting a detection signal when the oil quantity in the drain tank 21 reaches the specified quantity, and a control device 30 for outputting a driving signal for putting the switching valve in the opened state in response to the detection signal.

7. 发明专利

JPH06331461A FORCE SENSOR BREAKAGE PREVENTION DEVICE FOR FORCE CONTROL ROBOT 失效
公开(公告)号：JPH06331461A
公开(公告)日：1994-12-02
申请号：JP13960793
申请日：1993-05-18
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： AIHARA YOSHIHIRO , SATO KENICHI , YOSHIDA KUNIHIKO , TANI YOSHIO
IPC分类号： B25J13/08 , B25J19/06 , G01L1/26 , G05D15/01
摘要： PURPOSE:To detect the vibration state during rotation of a grinder and the like with a force control robot, notify a worker abnormal vibration if it occurs, improve the abnormal operation state immediately and prevent the breakage of a force sensor. CONSTITUTION:Provided are a robot body 31, work tools fixed to the robot hand by way of a force sensor 34 and a control means for inputting the force signal from the force sensor 34 and generating the force control signal to give it to the robot body 31. Also provided are a filter circuit 4 for taking only signal component regarding the vibration from of the force signal, comparison circuits 6, 7 for comparing the output of the circuit 4 with a reference value and output the signal to judge whether the vibration is normal or abnormal, and an abnormal vibration prevention device 8 for conducting operation to avoid abnormal vibration based on the output signal. The comparison circuits are constituted of a first comparison circuit 6 for judging whether the vibration is normal or abnormal when the work tools receives a force in relation to the motion in an arbitrary direction and a second comparison circuit for 7 for judging whether the vibration is normal or abnormal when the work tools receives a force in relation to the motion in the opposite direction to the arbitrary direction.

8. 发明专利

JP2002349824A INCINERATOR AND STUFFING DEVICE FOR INCINERATOR 失效
公开(公告)号：JP2002349824A
公开(公告)日：2002-12-04
申请号：JP2001159368
申请日：2001-05-28
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： TAWARA MASANORI , AIHARA YOSHIHIRO , MURAOKA TADASHI
IPC分类号： F23G5/44 , F23G5/033
摘要： PROBLEM TO BE SOLVED: To provide an incinerator capable of improving an incineration disposal amount and a stuffing device for an incinerator used in the incinerator. SOLUTION: The stuffing device is provided with a front side plate 2a, a left side plate 2b, a rear side plate 2c, a right side plate 2d, a top plate 2e, and a bottom plate 2f to partition an incineration chamber 2; an opening part 6 formed in the front side plate 2a; a plurality of rotary shafts 9a1 and 9b1 situated in parallel, and rotary teeth 9a2 and 9b2 formed on the rotary shafts. The incinerator is provided with a stuffing device 3 provided at the front side plate 2a such that a substance to be incinerated is stuffed in the incineration chamber 2 through the opening part 6; and a material charge hopper 12 to cover the stuffing device 3 and the opening part 6.

9. 发明专利

JPH11229799A TRAVELING TYPE GONDOLA 失效
公开(公告)号：JPH11229799A
公开(公告)日：1999-08-24
申请号：JP3340998
申请日：1998-02-16
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： MURAOKA TADASHI , SEKI KAZUHIDE , AIHARA YOSHIHIRO , SHIBA YOSHIMI , HASHIMOTO KENTARO
IPC分类号： E02F3/36 , B66F9/06 , B66F11/04 , E04G3/28 , E21F13/00 , E04G3/10
摘要： PROBLEM TO BE SOLVED: To facilitate a worker's access to a shaft or the transportation of materials into the shaft by installing a winch on a boom connected to the body of a self-traveling work machine, and liftably supporting a gondola body via a wire rope wound and delivered from the winch. SOLUTION: A lifting device 14 with a winch 12 is mounted on the forward end of a boom 8 connected to a crawler type travel body 1, and a gondola body 10 is liftably supported via a wire rope 11. When the boom 8 is elevated, the lifting device 14 can be lifted up to height where the gondola body 10 comes above the ground. When the boom 8 contracts, the lifting device 14 comes lower and limitation height for a transport on a trailer can be cleared. Also, the gondola body 10 can be used as a worker's elevator means in a shaft and can be as well used as a material delivery means. In addition, a work machine body is self-traveling type and can be used for a plurality of shafts in common, thereby eliminating the need of space for the installation of the gondola body 10.

10. 发明专利

JPH11229750A TRAVELING TYPE GONDOLA 失效
公开(公告)号：JPH11229750A
公开(公告)日：1999-08-24
申请号：JP3628398
申请日：1998-02-18
申请人： HITACHI CONSTRUCTION MACHINERY
发明人： SEKI KAZUHIDE , MURAOKA TADASHI , HASHIMOTO KENTARO , AIHARA YOSHIHIRO , SHIBA YOSHIMI
IPC分类号： E21D7/00
摘要： PROBLEM TO BE SOLVED: To improve mobility by installing a rack between a pair of crawlers, a winch on the rack and supporting a gondola body with the winch via a wire rope. SOLUTION: A rack 2 is laid between paired crawlers 1 and 1. A power unit is mounted outside a gate type frame at one end of the rack 2. Also, a winch 4 is installed on the rack 2 for liftally supporting a gondola body 6 via a wire rope 5. In the case of a work in a shaft 30, the crawlers 1 and 1 are positioned at both sides of the shaft 30 by self-traveling. In addition, the winch 4 is operated to take the gondola body 6 into the shaft 30, thereby performing a work within the shaft 30. As a result, the gravity center of a load due to the gondola body 6 comes to be positioned between the crawlers 1 and 1, and the gondola body 6 is stably supported. Also, the gondola body 6 can easily travel and change a working place even on the non-leveled ground or the slope when the crawlers 1 and 1 are operated, thereby improving mobility.

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