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1. 发明专利

JP2000117673A OPERATING DEVICE FOR MANIPULATOR AND CONTROL DEVICE THEREFOR 失效
公开(公告)号：JP2000117673A
公开(公告)日：2000-04-25
申请号：JP28714398
申请日：1998-10-09
申请人： OHBAYASHI CORP , HITACHI SHIPBUILDING ENG CO
发明人： UEDA HISATERU , KITAOKA TAKASHI , OKADA TOSHIYUKI , KAWASAKI TADASHI , SHIMODA HIROTOSHI , TANAKA YUJI
IPC分类号： B25J13/02 , G05G9/047
摘要： PROBLEM TO BE SOLVED: To provide an operating device for a manipulator allowing an operator to perceive an operating feeling. SOLUTION: This operating device is made to be controlled in an X-axis direction, in a Y-axis direction, in a Z-axis direction, about the X-axis, about the Y-axis, and about the Z-axis. In this case, a rubber element 23 is disposed between 6-axial force sensor 21 capable of detecting force in each axis direction and rotating force about each axis, and an operating rod 24 exerting force on a detecting surface of the 6-axial force sensor 21, so that the repulsion of the rubber element 23 is exerted on a grip portion 24a to make an operator obtain an operating feeling under operating the operating rod 24.

2. 发明专利

JP2000265794A TRAINING DEVICE FOR ASSEMBLING SEGMENT 失效
公开(公告)号：JP2000265794A
公开(公告)日：2000-09-26
申请号：JP6762099
申请日：1999-03-15
申请人： OHBAYASHI CORP , HITACHI SHIPBUILDING ENG CO
发明人： UEDA HISATERU , KITAOKA TAKASHI , OKADA TOSHIYUKI , KAWASAKI TADASHI , SHIMODA HIROTOSHI , TANAKA YUJI
IPC分类号： E21D11/40
摘要： PROBLEM TO BE SOLVED: To provide a training device for assembling segments by which the assembling operation of segments in a tunnel can be simulated not in a construction site but other places. SOLUTION: A segment holder 18 is disposed in a circular frame body 11 and a reflection mark is attached to the holding tool 26 for segments S in the segment holder 18. When a trainee simulatively assembles segments, the mark is imaged by a camera to get the movement track of the holding tool 26 by a track detector. The movement track and signals from a gyrosensor attached to the holding tool 26 are input in a computer to evaluate the asembling operation on the basis of an evaluation program.

3. 发明专利

JP2000158371A CONTROL METHOD AND CONTROL DEVICE OF MANIPULATOR 失效
公开(公告)号：JP2000158371A
公开(公告)日：2000-06-13
申请号：JP33353598
申请日：1998-11-25
申请人： OHBAYASHI CORP , HITACHI SHIPBUILDING ENG CO
发明人： UEDA HISATERU , KITAOKA TAKASHI , OKADA TOSHIYUKI , KAWASAKI TADASHI , SHIMODA HIROTOSHI , TANAKA YUJI
IPC分类号： E21D11/40 , B25J11/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To smoothly guide and move an installing member when installing the installing member on the mating installing surface. SOLUTION: A control method and a control device of a manipulator are provided with a command converting part 21 for converting an operation command from an operation device 12 into a speed command, a displacement converting part 22 for converting the speed command from this command converting part into a displacement command in rod parts of respective cylinder devices 8, a PID control part 24 for outputting this control command to servo valves 8b of the respective cylinder devices by applying PID control to the displacement command from the displacement converting part, a feedback circuit part 26 for feedback a position to the displacement command by detecting the position of the rod parts of the respective cylinder devices and a reaction removing circuit part 33 for subtracting the reaction from the speed command by determining the reaction acting on an end effector for holding a segment being an installing member by determining pressing force generated in the respective cylinder devices.

4. 发明专利

JPH0583311B2 失效
公开(公告)号：JPH0583311B2
公开(公告)日：1993-11-25
申请号：JP1988988
申请日：1988-01-29
申请人： HITACHI SHIPBUILDING ENG CO
发明人： TOJO CHIAKI , SUZUKI MOTOMITSU , KAWASAKI TADASHI
IPC分类号： B07B11/02 , B02C19/00 , B07B7/083

5. 发明专利

JPS58176462A FUEL INJECTION VALVE CONTROLLING APPARATUS FOR DIESEL ENGINE 失效
公开(公告)号：JPS58176462A
公开(公告)日：1983-10-15
申请号：JP5875082
申请日：1982-04-07
申请人： HITACHI SHIPBUILDING ENG CO
发明人： KAWASAKI TADASHI , ASADA CHIYUUKEI , TOMOKIYO OSAMU
IPC分类号： F02D41/40 , F02M47/00 , F02M47/02 , F02M51/00 , F02M61/20 , F02M65/00
摘要： PURPOSE:To enable to control a needle valve in an optimal manner, by achieving optimal control on the fuel valve opening and closing timing and the valve opening pattern by affording the output signal of a sensor for measuring the movement of the needle valve and thereby detecting the movement of the needle valve. CONSTITUTION:The injection timing of a fuel valve 1 is controlled by opening and closing a spool valve 4 by energizing opposed electromagnets 14A, 14B of a fuel valve controller 2 on the basis of outputs signals (a), (b) of a fuel valve opening and closing signal transmitter 3 and thereby controlling hydraulic pressure (c) supplied to a chamber 9 located on the upper side of a hydraulic piston 10. Thus, the response of control can be improved with no use of spring force. Further, since the movement of the piston 10 is measured by a sensor 16 disposed in the fuel valve 1 and controlled by feedbacking the output signal of the sensor 16 to the fuel valve opening and closing signal transmitter 3, it is enabled to achieve optimal control on the injection timing by means of a needle valve 11.

6. 发明专利

JPS58170835A CONTROL DEVICE FOR DIESEL ENGINE 失效
公开(公告)号：JPS58170835A
公开(公告)日：1983-10-07
申请号：JP5451682
申请日：1982-03-31
申请人： HITACHI SHIPBUILDING ENG CO
发明人： TOMOKIYO OSAMU , ASADA CHIYUUKEI , KAWASAKI TADASHI
IPC分类号： F02D41/04 , F02B3/06 , F02D13/02 , F02D41/02
摘要： PURPOSE:To make available an optimum control of a diesel engine and to reduce a fuel consumption rate, by providing a control circuit adapted to compute an optimum opening/closing timing of inlet and exhaust valves for the Diesel engine and by actuating the circuit to output opening/closing signals upon a revolution angle of shaft being detected to correspond to a preset value. CONSTITUTION:While a revolution angle of a crankshaft 7 of a multiple cylinder Diesel engine is detected by an encoder 8, and is then input to an electronic circuit 10 and a F/V converter, a signal indicating various engine operating conditions is input to a central processing unit (CPU) 14 via an A/D converter 12. The CPU 14 computes an optimum opening/closing timing of inlet and exhaust valves 4a and 6a, a fuel valve 5a and the like, a preset signal is written to a memory of the control circuit 10 and the preset signal thus stored is read out to send a signal instructive of opening/closing timings of actuators 4b, 5b and 6b of each control valve when a signal of rotation angle detected is verified by comparison to correspond to the preset signal.

7. 发明专利

JPS58167840A CONTROLLER OF DIESEL ENGINE 失效
公开(公告)号：JPS58167840A
公开(公告)日：1983-10-04
申请号：JP5176282
申请日：1982-03-29
申请人： HITACHI SHIPBUILDING ENG CO
发明人： TOMOKIYO OSAMU , ASADA CHIYUUKEI , KAWASAKI TADASHI
IPC分类号： F02D41/40 , F02B3/06 , F02D13/02 , F02D41/02 , F02D41/04
摘要： PURPOSE:To reduce fuel consumption, by providing an arithmetic unit, in which a digital rotary angle signal and various engine condition signal are input to calculate the optimum open and close timing of plural control valves in each cylinder and output an opening and closing signal, to an engine. CONSTITUTION:An encoder 8 is provided as the digital rotary angle detector to a crankshaft 7 of a Diesel engine 1, and a signal of this detector is input to an electronic control circuit 10 through a bus line 9 while to an A/D converter 12 through an A/V converter 11 with various engine condition signal, and input as the digital signal to a central processing unit 14 (CPU14). Arithmetic operation under optimized control is performed by the CPU14 to feed a setting open close angle signal of plural control valves in a cylinder to the circuit 10, if a detection angle signal coincides, an open close signal is output to each control valve. In this way, fuel consumption can be reduced.

8. 发明专利

JPS587537A METHOD AND DEVICE FOR DETECTING OPERATION OF INTERNAL COMBUSTION ENGINE 失效
公开(公告)号：JPS587537A
公开(公告)日：1983-01-17
申请号：JP10582281
申请日：1981-07-06
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAKANO TERUO , OOBA KOUZOU , NAGAI SUSUMU , MIZUSHIMA KAZUHIRO , KAWASAKI TADASHI
IPC分类号： F01L1/46 , F02B77/08 , G01M15/04
摘要： PURPOSE:To detect the operation of the internal combustion engine highly reliably under the actual operating state in a short time, by detecting the operation of an intake valve and an exhaust valve by a magnetic sensor and detecting the operation timing. CONSTITUTION:The operation timing of the valve is detected by a magnetic sensor 7 which is contacted with the intake valve of the internal combustion engine. The detected signal goes through a differential amplifier 16 and a filter circuit 7, and it is processed in comparators 18-20 wherein reference signal levels E1-E3 are threshold values. Thus binary signals are obtained. Said binary signals are combined and processed in a logic circuit 21 to which engine type signals such as four cylinders and two cylinders are applied through a terminal 22. Thus, the operation timing such as the maximum lift point of the intake valve, valve opening time, and valve closing time, engine speed, and the like are detected highly reliably under the actual operating state in a short time. When the operations of both intake and exhaust valves are simultaneously detectedm, the exhaust valve opening period, the periods of compression and expansion strokes, the intake valve opening period, and the like are determined. Thus the operation of the internal combustion engine can be detected highly reliably under the actual operating state in a short time.

9. 发明专利

JPS57212366A METHOD OF DETECTING OPERATION TIMING IN FUEL INJECTION SERIES AND SYSTEM THEREFOR 失效
公开(公告)号：JPS57212366A
公开(公告)日：1982-12-27
申请号：JP9704581
申请日：1981-06-22
申请人： HITACHI SHIPBUILDING ENG CO
发明人： NAGAI SUSUMU , MIZUSHIMA KAZUSUKE , KAWASAKI TADASHI , NAKANO TERUO , OOBA KOUZOU
IPC分类号： F02M65/00 , F02D41/34
摘要： PURPOSE:To detect directly the timing of fuel discharging with respect to a crank angle by a method wherein the generating time of a detecting signal obtained by processing the vibration or the sound signal of a sensor provided at the outlet of a fuel pump, which is accompanied with the flow of the fuel, is delayed by a predetermined amount. CONSTITUTION:The output signal of the acceleration senser 12, provided at the outlet of the fuel pump (not shown in the diagram), is processed to extract a signal including the fuel discharging timing of the specified cylinder 14, the discharging timing is etected by comparing it with a standard level, a stroboscope driving circuit 39 is triggered by a delay signal in which the detected signal is delayed by a predetermined time, and the TDC mark 44 of the specified cylinder 14 is projected. Then, the mark 44 and the standard TDC mark 45 are adjusted so as to be coincided and the fuel discharging timing with respect to the angle of the crank 41 is detected directly by this delay amount. According to this method, relations of the begninning and the end of the fuel discharging and injection and the relation between the period of injection and the crank 41 may be confirmed by actual operations and an operability as well as the reliability may be improved.

10. 发明专利

JPS5529053A DETECTING METHOD FOR SCARFING AND SCARFING DETECTOR 失效
公开(公告)号：JPS5529053A
公开(公告)日：1980-03-01
申请号：JP10198078
申请日：1978-08-21
申请人： HITACHI SHIPBUILDING ENG CO , NIPPON ZOUSEN KENKIYUU KIYOUKA
发明人： NAGAI SUSUMU , HIRANO SHINSAKU , AKANE HARUO , SUMITA MITSUHIRO , OGINO SHIYOUICHI , KAWASAKI TADASHI
IPC分类号： G01M15/04 , F02B77/08 , F02D45/00 , G01H17/00 , G01N19/08
摘要： PURPOSE:To securely detecting scarfing that is a seizing phenomenon of piston and cylinder by detecting abnormal wave-from contained in signals after having removed signals by combustion from vibrating signals generated from an engine. CONSTITUTION:An accelerometer, such as a vibrometer 2 is installed at the lower part of a cylinder liner 1. Its output signals are amplified by an amplifier 3, observed by an oscilloscope 4, and input to a gate circuit 5 to eliminate vibrating signals due to combustion. Subsequently, in concurrence of displaying its vibration in the level by a level indicator 11 through a reliability improving circuit 6 to eliminate noise with comparing it with a settled value by a comparator 12, when signals overstepped its settled value are input, an alarm device 13 gives alert, to display scarfing.

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