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1. 发明申请

WO1993009300A1 METHOD OF SELECTING AUTOMATIC OPERATION MODE OF WORKING MACHINE 审中-公开
标题翻译：选择工作机械自动运行模式的方法
公开(公告)号：WO1993009300A1
公开(公告)日：1993-05-13
申请号：PCT/JP1992001400
申请日：1992-10-29
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , KAMATA, Seiji , KUROMOTO, Kazunori , TOCHIZAWA, Mamoru , TAKEDA, Shuh
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/43
CPC分类号： E02F3/437
摘要： Even when a bucket is changed to an optional special bucket, a path control as intended by an operator can be automatically performed without making correction for the nose angle of the original bucket. For this purpose, in an operation mode determining section (9), there is calculated the possibility (U2) of an operation mode being a nose fixing mode depending on how much a bucket attitude angle ( gamma ) is deviated from a predetermined angle, and there is also calculated the possibility (U1) of an operation mode being a mode for fixing an angle to the ground depending on a magnitude of a value for computing an allowable angle held with respect to the ground, whereby an operation mode during the automatic path control can be automatically determined through the comparation between these two possibilities (U1, U2).
摘要翻译：即使将铲斗更换为可选的专用铲斗，也可以自动执行操作者所期望的路径控制，而无需对原始铲斗的鼻角进行校正。为此，在操作模式确定部（9）中，根据铲斗姿态角（γ）从预定角度偏离多少来计算作为鼻部固定模式的操作模式的可能性（U2），以及还计算出作为用于根据用于计算相对于地面保持的可允许角度的值的大小固定角度的方式的操作模式的可能性（U1），由此在自动路径期间的操作模式可以通过这两种可能性（U1，U2）之间的比较来自动确定控制。

2. 发明申请

WO1995018272A1 WORKING MACHINE CONTROL DEVICE FOR A CONSTRUCTION 审中-公开
标题翻译：工程机械控制装置
公开(公告)号：WO1995018272A1
公开(公告)日：1995-07-06
申请号：PCT/JP1994002254
申请日：1994-12-27
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TOCHIZAWA, Mamoru , NAGIRA, Atsushi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/43
CPC分类号： E02F3/435 , E02F3/437 , E02F9/2025
摘要： A construction machine comprising a first boom (1) rotatably mounted on a vehicle frame, a second boom (4) rotatably mounted on said first boom, a first boom cylinder (2) for connecting said vehicle frame (3) to said second boom (4) and a second boom cylinder (5) for connecting said second boom (4) to said first boom (1), wherein a target value at a leading end of a working machine is coordinate transformed into target angles of said first and second boom angles, wherein a target cylinder length of said first boom cylinder (2) is obtained from the coordinate transformed target angles of said first and second boom angles, and wherein said first boom cylinder (2) is driven based on this target cylinder length, whereby it is possible to simply and accurately drive and control each working machine of a new link mechanism by designating a position or a speed at a leading end of said each working machine.
摘要翻译：一种建筑机械，包括可旋转地安装在车架上的第一起重臂（1），可旋转地安装在所述第一起重臂上的第二起重臂（4），用于将所述车架（3）连接到所述第二起重臂 4）和用于将所述第二起重臂（4）连接到所述第一起重臂（1）的第二起重臂缸（5），其中工作机械的前端处的目标值被坐标转换成所述第一和第二起重臂的目标角角度，其中所述第一起重臂液压缸（2）的目标气缸长度由所述第一和第二起重臂角度的坐标变换目标角度获得，并且其中基于所述目标气缸长度驱动所述第一起重臂液压缸（2），由此可以通过在所述各个作业机的前端指定位置或速度来简单且准确地驱动和控制新的连杆机构的各个作业机械。

3. 发明申请

WO1995018271A1 CONTROLLER FOR WORKING MACHINES 审中-公开
标题翻译：工作机械控制器
公开(公告)号：WO1995018271A1
公开(公告)日：1995-07-06
申请号：PCT/JP1994002186
申请日：1994-12-22
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TOCHIZAWA, Mamoru , NAGIRA, Atsushi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/43
CPC分类号： E02F3/437
摘要： A controller for working machines capable of controlling the moving of a tool continuously over a wide range, and capable of moving it accurately along a desired path. Out of not less than three control shafts (3a, 4a, 5a), a first combination of two control shafts (3a, 5a) is selected, and a bucket (6) is moved in a first section (A-B) out of travelling path thereof with the driving of the two selected shafts (3a, 5a) controlled. A second combination of two control shafts (3a, 4a) which is different from the selected first combination of two control shafts (3a, 5a) is then selected, and the bucket (6) is moved in a second section (B-C), which is continuous from the first section (A-B), with the driving of the two selected shafts (3a, 4a) controlled.
摘要翻译：一种用于工作机器的控制器，其能够在宽范围内连续地控制工具的移动，并且能够沿着期望的路径准确地移动工具。在不少于三个控制轴（3a，4a，5a）中，选择两个控制轴（3a，5a）的第一组合，并且铲斗（6）在第一部分（AB）中从行进路径随着所选择的两个轴（3a，5a）的驱动被控制。然后选择与选择的两个控制轴（3a，5a）的第一组合不同的两个控制轴（3a，4a）的第二组合，并且铲斗（6）在第二部分（BC）中移动，与第一部分（AB）连续，两个选定的轴（3a，4a）的驱动受到控制。

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