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1. 发明申请

WO1992001140A1 SYSTEM FOR SUPPORTING DRIVE OF EXCAVATING TYPE UNDERGROUND DIGGING MACHINE 审中-公开
标题翻译：支持地下穿孔机的驱动系统
公开(公告)号：WO1992001140A1
公开(公告)日：1992-01-23
申请号：PCT/JP1991000940
申请日：1991-07-12
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , HANAMOTO, Tadayuki; , TAKAHASHI, Norio;
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E21D09/06
CPC分类号： E21B7/068 , E21B47/022 , E21B2041/0028
摘要： A system for supporting the drive of an excavating type underground digging machine is provided to lighten the operator's burden so that an unskilled operator can operate the machine as well as a skilled operator. In this system for supporting the drive, output signals from a group of first sensors (12a) for measuring amount of a rocking actuator (10) for directional control and an output signal from a second sensor (12b) for measuring cutter torque hydraulic pressure are inputted into an automatic measuring section (14). These signals are adjusted in an automatic adjusting section (15) and input to a fuzzy control section. The rocking amount of an excavating cutter is calculated in a rocking amount supporting system section (16a) in response to the adjusted signal from the group of the first sensors. An optimal cutter torque control operation content is calculated in a cutter torque supporting system section (16b) in response to an adjusted signal from the second sensor, and the both results of calculation are displayed on a display output device (17).

2. 发明申请

WO1990001586A1 METHOD AND APPARATUS FOR CONTROLLING WORKING UNITS OF POWER SHOVEL 审中-公开
标题翻译：控制电力工作单位的方法与装置
公开(公告)号：WO1990001586A1
公开(公告)日：1990-02-22
申请号：PCT/JP1988000771
申请日：1988-08-02
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , HANAMOTO, Tadayuki , TAKASUGI, Shinji
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/43
CPC分类号： E02F3/438 , E02F3/437
摘要： This invention relates to a technique of automatic excavation by a power shovel. An ideal reference movement orbit of a bucket blade tip is approximated at a plurality of points and the positions of these points and the bucket posture at these points are set in advance. When automatic excavation start is designated by an operation pedal (10) or the like, a bucket blade tip position at this designated point is set as an excavation start point and, the positions of these points with respect to a vehicle, set on the basis of this excavation start position, are calculated for individual excavation zones divided by the plurality of points. The angle of rotation of each working unit necessary for the bucket blade tip to be moved to the position thus calculated and the bucket to assume the set bucket posture is calculated for each excavation zone. Each working unit is driven automatically using the calculated angle of rotation as a target angle of rotation for each excavation zone. In this manner, the bucket, arms and booms are controlled fully automatically so that the bucket blade tip moves along the set ideal reference movement orbit and the bucket assumes the set ideal posture to improve efficiency of work through simple operations. After excavation, the bucket is driven automatically in such a manner as to keep it always horizontal in accordance with the manual operation of the arms and booms and the chance of dropping cargoes can be reduced.

3. 发明申请

WO1998007959A1 METHOD AND DEVICE FOR CRUSHING MATERIAL BY DISCHARGING PULSED ELECTRIC ENERGY AND METHOD AND DEVICE FOR GENERATING HIGH-VOLTAGE PULSE 审中-公开
标题翻译：通过放电脉冲电能来破坏材料的方法和装置以及用于产生高电压脉冲的方法和装置
公开(公告)号：WO1998007959A1
公开(公告)日：1998-02-26
申请号：PCT/JP1997002888
申请日：1997-08-20
申请人： KOMATSU LTD. , HANAMOTO, Tadayuki , SAJIKI, Kazuyuki , ITOW, Koichiro
发明人： KOMATSU LTD.
IPC分类号： E21C37/18
CPC分类号： E21C37/18
摘要： A method for crushing material by discharging pulse electric energy by which preliminary holes for electrical crushing can be drilled into a material to be crushed and the material can be crushed with high workability and the electrical crushing can be performed efficiently. In the method, in which electrodes are inserted into preliminary holes (4) drilled into the material to be crushed and the material is crushed by discharging an electric current from the electrodes (4) by applying a high-voltage pulse across the electrodes (4) after the spaces in the holes around the electrodes (4) are filled up with a solution (9), the material is crushed by inserting the electrodes for crushing into the holes (4) and making a discharge current for crushing flow after the holes (4) are drilled into the material by making a discharge current for drilling flow from electrodes for drilling. The discharge current for drilling is made to flow through the material and the discharge current for crushing is made to flow through the solution.
摘要翻译：通过排出脉冲电能来破碎材料的方法，通过该电脉冲电能可以将待粉碎的原料孔钻入，并且能够以高的可加工性粉碎材料并且可以有效地进行电击碎。在该方法中，通过在电极（4）上施加高电压脉冲，将电极插入到待粉碎的材料中的预备孔（4）中，并且通过从电极（4）放电电流来破碎材料）在电极（4）周围的孔中的空间填充有溶液（9）之后，通过将用于粉碎的电极插入孔（4）中并且在孔之后进行破碎流动的排出电流来破碎材料（4）通过从用于钻孔的电极钻出流的放电电流钻入材料中。使用于钻孔的放电电流流过材料，并使用于破碎的放电电流流过溶液。

4. 发明申请

WO1994000673A1 CONTROL APPARATUS FOR EXCAVATORS 审中-公开
标题翻译：挖掘机控制装置
公开(公告)号：WO1994000673A1
公开(公告)日：1994-01-06
申请号：PCT/JP1993000838
申请日：1993-06-22
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , HANAMOTO, Tadayuki , KATO, Yutaka , TAKAHASHI, Norio
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E21D09/06
CPC分类号： E21B44/00 , E21B7/201 , E21B44/06 , E21D9/093 , E21D9/124
摘要： This invention aims at improving the operation accuracy, operation efficiency and reliability of an excavator. The soil condition of a place where an excavator (1) is to be operated is inputted, and a reference revolution speed of a cutter (9) and a reference propulsive speed of the excavator (1) are set in accordance with the inputted soil condition. The loads imparted to actuators (17, 18) are detected. The cutter rotating actuator (18) is controlled so that the set revolution speed of the cutter (9) can be obtained. When the loads on the two actuators (17, 18) are detected to be respectively within predetermined ranges, the propulsion actuator (17) is controlled so that the set reference propulsive speed can be provided to the excavator (1). However, when the load on any one of the actuators (17, 18) is detected to be out of the predetermined range, the propulsion actuator (17) is controlled so that the actual propulsive speed becomes lower or higher than the set reference propulsive speed.
摘要翻译：本发明旨在提高挖掘机的操作精度，操作效率和可靠性。输入挖掘机（1）的操作地点的土壤条件，根据输入的土壤条件设定切割机（9）的基准转速和挖掘机（1）的基准推进速度。检测到施加到致动器（17,18）的载荷。控制切割器旋转致动器（18），使得可以获得切割器（9）的设定旋转速度。当检测到两个致动器（17,18）上的负载分别在预定范围内时，控制推进致动器（17），使得设定的参考推进速度可以提供给挖掘机（1）。然而，当检测到任何一个致动器（17,18）上的负载超出预定范围时，推进致动器（17）被控制成使得实际推进速度变得低于或高于设定的参考推进速度。

5. 发明申请

WO1998007960A1 UNDERGROUND AUGERING MACHINE BY ELECTRICAL CRUSHING, EXCAVATOR, AND ITS EXCAVATING METHOD 审中-公开
标题翻译：电动破碎机，挖掘机及其挖掘方法的地下扶手机
公开(公告)号：WO1998007960A1
公开(公告)日：1998-02-26
申请号：PCT/JP1997002889
申请日：1997-08-20
申请人： KOMATSU LTD. , INO, Takao , HANAMOTO, Tadayuki , TAKAHASHI, Norio , KATO, Yutaka
发明人： KOMATSU LTD.
IPC分类号： E21C37/18
CPC分类号： E21B7/15 , E02F5/18 , E02F5/305 , E21B7/001 , E21C37/18 , E21D9/00 , E21D9/06 , E21D9/10 , E21D9/1073
摘要： An underground augering machine by electrical crushing provided with a mechanism which can surely hold a solution around electrodes for electrical crushing, an excavator, and its control method. The underground augering machine is provided with at least one pair of electrodes (1) for electrical crushing provided on the front face of the underground augering machine, a pulse generator (10) which applies a high-voltage pulse between the electrodes (1), a solution (9) filling up the spaces around the electrodes (1), a solution retaining cover (14) which retains the solution around the electrodes (1) between the front face of the machine and the ground and is provided on the outer peripheral surface of the machine, a solution feeding pipe (7) for feeding the solution to the peripheries of the electrodes (1), a pump (6) which supplies the solution to the front face of the machine through the pipe (7), and a storage tank (5) for storing the solution. Cases (19) may be provided around the electrodes (1) for retaining the solution around the electrodes between the front face of the excavator and the ground.
摘要翻译：一种通过电破碎的地下螺旋输送机，其具有可以可靠地在电击碎的电极周围的溶液，挖掘机及其控制方法的机构。地下螺旋钻机设置有至少一对用于电击碎的电极（1），该电极用于在地下螺旋钻机的前表面上提供电脉冲，脉冲发生器（10）在电极（1），填充电极周围空间的溶液（9），溶液保留盖（14），其将溶液保持在机器前表面和地面之间的电极（1）周围，并设置在外周机器的表面，用于将溶液供给到电极（1）的周边的溶液供给管（7），通过管道（7）将溶液供给到机器的前表面的泵（6），以及用于存储溶液的储罐（5）。可以在电极（1）周围设置壳体（19），用于将溶液保持在挖掘机的前表面和地面之间的电极周围。

6. 发明申请

WO1991016525A1 SYSTEM FOR CONTROLLING DIRECTION OF UNDERGROUND EXCAVATOR 审中-公开
标题翻译：用于控制地下挖掘机方向的系统
公开(公告)号：WO1991016525A1
公开(公告)日：1991-10-31
申请号：PCT/JP1991000521
申请日：1991-04-19
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , HANAMOTO, Tadayuki; , TAKAHASHI, Norio;
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E21D09/06
CPC分类号： E21B47/022 , E21B7/068 , E21B2041/0028 , E21D9/003 , G05B13/0275 , G05D1/024 , G05D2201/021 , Y10S706/90
摘要： A system for controlling the direction of an underground excavator for carrying out underground excavation while performing a directional control by rocking a pilot jack through a rocking jack provided on the system, wherein a rocking manipulated variable in the vertical direction is determined by use of a fuzzy inference of two inputs and one output, in which a corrected pitching angle and a steering sensitivity in the vertical direction serve as the two inputs and a rocking manipulated variable in the vertical direction serves as the one output, while a rocking manipulated variable in the horizontal direction is determined by use of another fuzzy inference of two inputs and one output, in which a corrected yawing angle and a steering sensitivity in the horizontal direction serve as the two inputs and a rocking manipulated variable in the horizontal direction serves as the one output. As a result, a rocking manipulated variable can be determined in quick response to a change in the nature of the ground.

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