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1. 发明专利

JPS62110590A DEVICE FOR DELIVERING AND WINDING MOORING LINE 失效
公开(公告)号：JPS62110590A
公开(公告)日：1987-05-21
申请号：JP24804785
申请日：1985-11-07
申请人： NIPPON KOKAN KK , ISHIKAWAJIMA HARIMA HEAVY IND , KAWASAKI HEAVY IND LTD , SUMITOMO HEAVY INDUSTRIES , HITACHI SHIPBUILDING ENG CO , MITSUI SHIPBUILDING ENG , MITSUBISHI HEAVY IND LTD , JAPAN SHIPBUILDING RES ASS
发明人： CHIBA RYUJI , NAKAJIMA TATSUYA , AZEYANAGI YOICHI , NAKAJIMA TOMOYUKI , CHUMA SHIGERU , MIURA YASUSHI , MIZOBUCHI KIYOHIDE , IWASA SHIGEAKI , SHIMIZU AKIO , HAISHI SHIGEO , TSUKAHARA SHUNEI , SATO KIKUO
IPC分类号： B63B21/04 , B65H49/18 , B65H59/38 , B65H61/00 , B66D1/50
摘要： PURPOSE:To make possible to perform the delivery and winding of the mooring line, efficiently, safely and surely, by providing a reversal means for reversing the direction of a pair of pinch rolls used for holding and delivering the mooring line provided on a rail traveling carriage and alternating the delivery direction by 180 deg.. CONSTITUTION:As a ship approach to a pier, an operation command signal is transmitted to a reversal means 13 by a controller 8, the relation of the upper and lower position of a pair of pinch rolls 15 is reversed in such a way that the delivery direction of a mooring line holder by the pinch rolls 15 is directed to the pier. Next, an operation command signal is transmitted to the carriage of delivering machine 7 by a sequencer so that the delivering machine 7 is moved from the housed position to a broadside and the operation command signal is transmitted to the pinch rolls 15 so that the mooring line is delivered by the pinch rolls 15. And, when the delivery length detected by a deliver length detector is coincident to the delivery length of the mooring line computed by a computor, a stoppage command signal is transmitted to the pinch roll 15 so that the delivery of the mooring line is stopped. Further, in case of the winding, above operation is performed based on the tension detection.

2. 发明专利

JPS6270177A CABLE BITE DETECTOR OF MOORING WINCH 失效
公开(公告)号：JPS6270177A
公开(公告)日：1987-03-31
申请号：JP20794885
申请日：1985-09-20
申请人： NIPPON KOKAN KK , JAPAN SHIPBUILDING RES ASS , HITACHI SHIPBUILDING ENG CO , MITSUI SHIPBUILDING ENG , MITSUBISHI HEAVY IND LTD
发明人： CHIBA RYUJI , NAKAJIMA TATSUYA , SHIMIZU AKIO , HAISHI SHIGEO , SATO KIKUO
IPC分类号： B65H63/04 , B63B21/16 , B66D1/50
摘要： PURPOSE:To obtain a cable bite detector for detecting the cable bite and immediately taking actions to release the random winding by comparing signals from the rotating speed meter of a mooring winch and the delivery speed meter of a mooring cable with reference values for judgement. CONSTITUTION:When a mooring cable 3 is drawn out while being bitten by a mooring winch 2, it is drawn out in response to the rotation of the mooring winch 2 up to the bitten place, but the delivery is stopped near the place facing a cable length meter 12. When the mooring winch 2 tends to rotate further, if the cable tension is larger than the torque of the mooring winch 2, the mooring winch 2 is stopped; if smaller, the cable 3 is wound. During delivery of the cable 3, a judging circuit 13 compares the rotating speed of the mooring winch 2 with the reference value for judgement, and when the mooring winch 2 is stopped, a cable bite signal is generated. In addition, even when the mooring winch 2 is rotating, the delivery speed of the cable 3 is compared with the reference value for judgement to generate a cable bite signal. Actions to release the random winding can be taken via these signals, and furthermore the cable bite can be detected with a simple structure.

3. 发明专利

JPH08295408A PLANNING METHOD FOR SEQUENCE OF RELOCATION OF CONTAINERS 失效
公开(公告)号：JPH08295408A
公开(公告)日：1996-11-12
申请号：JP10434195
申请日：1995-04-27
申请人： NIPPON KOKAN KK
发明人： ASE HAJIME , NAKAJIMA TATSUYA , TAKAHASHI JIICHI , KAWAI NOBUYUKI
IPC分类号： B65G1/137 , B65G1/14 , B66C13/48 , B66C15/04 , G06F17/00 , G06F19/00 , G06Q50/00 , G06Q50/16
摘要： PURPOSE: To remove interference among a plurality of carrying machines in order to shorten total work hours for relocation of containers by obtaining a combination of containers to be carried by a plurality of carrying machines as such a combination as minimizes the difference in moving time among the carrying machines and repeatedly obtaining this combination on every cycle. CONSTITUTION: A container terminal 30 is divided into two territories: one is so-called a 'buffer' 31 and the other is so-called a 'yard' 32. Containers called as import containers are placed in the buffer 31, while those called as export containers are placed in the yard 32. First, initial, evaluation function matrixes for the import containers and those for the export containers are prepared. Next, the minimum factors in the evaluation function matrixes are found out for respective, import and export containers. If the number of minimun factors is more than one, an optimum block pairs is obtained out of the factors. Next, the evaluation function matrixes are updated. These procesures form one cycle, and this cycle is repeated until no container remains.

4. 发明专利

JPH03163602A CORRECTING METHOD FOR POSITION, ATTITUDE AND DEFORMATION OF WORK 失效
公开(公告)号：JPH03163602A
公开(公告)日：1991-07-15
申请号：JP18706590
申请日：1990-07-17
申请人： NIPPON KOKAN KK
发明人： NAKANISHI MINORU , NAKAJIMA TATSUYA , HOTTA KUNIHIKO
IPC分类号： G05B19/18 , G05B19/404
摘要： PURPOSE:To improve the working accuracy by executing a measurement of measuring point data being in a position corresponding to a norm point for correction on a work and an operation of the correction quantity to an installed position, an attitude and a deformation of the work, and executing a correction of track data. CONSTITUTION:A work 9 being a work object is divided into finite pieces of areas, and at every area, measuring point data being in a position corresponding to norm point data for correction on the work 9 defined by CAD/CAM is measured. Subsequently, a correcting means 10 corrects not only a position and an attitude of the work 9 but also an error caused by a shaped deformation of the work 9. Next, based on the operated correction quantity, track data is corrected. As a result, the working accuracy of the work 9 is improved, and also, a sensor feedback is unnecessary, therefore, an interference between a robot 8 and the work 9 does not occur.

5. 发明专利

JPS63126008A CIRCULAR ARC LOCUS CONTROLLER FOR MULTI-AXIS SERVO MECHANISM 失效
公开(公告)号：JPS63126008A
公开(公告)日：1988-05-30
申请号：JP27171886
申请日：1986-11-17
申请人： NIPPON KOKAN KK
发明人： MIURA YASUSHI , NAKAJIMA TATSUYA
IPC分类号： G05B19/19 , G05B19/18
摘要： PURPOSE:To improve the responsiveness of circular arc locus control and locus accuracy by using the outline deviation value of a circular arc locus in each axis as a feedback value. CONSTITUTION:The X and Y axis direction positions X, Y in a driving table 5 respectively detected by pulse generators 7X, 7Y are sent to an outline deviation detecting device 13. The device 13 calculates outline deviations PQx, PQy, outline deviation accumulated value SIGMA¦PQ¦ and an angle theta based on the positions X, Y and X and Y axis position commands Xr, Yr obtained from an NC device. The deviation PQx, the outline deviation accumulated value SIGMA¦PQ¦ and the angle theta are sent to a proportion/integration controller 14X to execute proportional and integrating operations and the obtained result is sent to an adder 15X. The adder 15X adds the result of the controller 14X to a speed command X'r obtained from a position controller to calculate a driving speed value X'r for turning an X-axis component to zero and sends the calculated result to a speed control amplifier 2X through an adder 9 to control the position of the table 5.

6. 发明专利

JPS5814146B2 失效
公开(公告)号：JPS5814146B2
公开(公告)日：1983-03-17
申请号：JP6111378
申请日：1978-05-24
申请人： NIPPON KOKAN KK
发明人： HOSONO KAZUYA , NAKAJIMA TATSUYA , HORIGOME HIDEKAZU , KANAZAWA KAZUTAKA
IPC分类号： H02K33/00 , G21C7/14 , H02K7/10 , H02K41/03

7. 发明专利

JPS5759514B2 失效
公开(公告)号：JPS5759514B2
公开(公告)日：1982-12-15
申请号：JP1808878
申请日：1978-02-21
申请人： NIPPON KOKAN KK
发明人： HOSONO KAZUYA , NAKAJIMA TATSUYA , HORIGOME HIDEKAZU , KANAZAWA TAKASHI
IPC分类号： G21C7/14

8. 发明专利

JPH08198576A CONTAINER MULTISTAGE-LOADING SPREADER 失效
公开(公告)号：JPH08198576A
公开(公告)日：1996-08-06
申请号：JP2452395
申请日：1995-01-20
申请人： NIPPON KOKAN KK
发明人： SATO TOMOAKI , UBUSAWA KATSUMI , NAGAI HIROYUKI , NAKAJIMA TATSUYA
IPC分类号： B66C1/10 , B65G57/00 , B66C13/06
摘要： PURPOSE: To shorten container handling workhours by moving an elevating horizontal beam, having guide flippers for positioning a container, rapidly with simple constitution. CONSTITUTION: An elevating horizontal beam 7 having guide flippers 9, 11 for positioning a spreader 1 to a container 2 is rapidly elevated along the container 2 by a winch device 4. The elevating horizontal beam 7 and horizontal beams 3 at both longitudinal ends of the spreader 1 are connected by an expansion arm 8 formed of pantagraph mechanism so as to prevent oscillation at the elevating time of the elevating horizontal beam 7 to hold the attitude.

9. 发明专利

JPH08177264A VIBRATION-CONTROL DEVICE 失效
公开(公告)号：JPH08177264A
公开(公告)日：1996-07-09
申请号：JP32273594
申请日：1994-12-26
申请人： NIPPON KOKAN KK
发明人： MURANO KENICHI , NAKAJIMA TATSUYA
IPC分类号： E04H9/02 , F16F15/02
摘要： PURPOSE: To easily change a driving cycle to correspond with the vibration cycle of an object to be vibration-controlled. CONSTITUTION: A weight 8 hung down by an arm 7 is attached to the frame 4 of a vibration-control device to swing a pendulum motion with the rotary center of an axis 5. The pendulum motion is transmitted to the rack 11 as a linear motion through gears 6, 9 and a pinion gear 10. A motor 14 with a reducer is mounted on the frame 4. The driving force of the motor 14 is transmitted to the rack 11 through the gear 13 to horizontally move the frame. The diameters of the gears 6, 9 and the pinion gear 10 are calculated by a specified formula and the cycle of the pendulum motion of the weight 8 can be extremely easily set to coincide with the aimed vibration-control cycle by the combination of these gears.

10. 发明专利

JPH02130608A TRACKING CONTROL METHOD FOR SERVO MECHANISM 失效
公开(公告)号：JPH02130608A
公开(公告)日：1990-05-18
申请号：JP28401588
申请日：1988-11-11
申请人： NIPPON KOKAN KK
发明人： MIURA YASUSHI , NAKAJIMA TATSUYA
IPC分类号： G05B11/32 , G05D3/12
摘要： PURPOSE:To decrease a tracking error which is repeated with a same period, by correcting a target value which is supplied through a feed forward control system to a closing loop control system based on the tracking error before one period. CONSTITUTION:A repetition control system 5 is composed of filters 6 and 7 and adders 8 and 9. Auxiliary input quantity (u) is determined by the system 5 based on a tracking error (e) before one period and this input quantity (u) is sent to a closing loop control system 3. Then, a target value r(k) to be sent from a feed forward controller 4 is corrected. In tracking control, since the filter 6 for which a transmission function Gq(z ) goes to '1' in a low frequency area is adopted and the repetition control system 5 is constituted, the tracking error (e) can be decreased in a really important frequency area. Accordingly, to the input of the target value to be repeated with the same period, an output value can be tracked with high accuracy.

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