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    Interference preventing system for construction machine
    1.
    发明授权
    Interference preventing system for construction machine 失效
    施工机械防干扰系统

    公开(公告)号：US5957989A

    公开(公告)日：1999-09-28

    申请号：US760572

    申请日：1996-12-04

    申请人： Eiji Egawa ,  Hiroshi Watanabe ,  Hiroyuki Adachi ,  Junichi Hosono ,  Toshiaki Nishida ,  Mitsuo Kihara ,  Masakazu Haga

    发明人： Eiji Egawa ,  Hiroshi Watanabe ,  Hiroyuki Adachi ,  Junichi Hosono ,  Toshiaki Nishida ,  Mitsuo Kihara ,  Masakazu Haga

    IPC分类号： E02F9/20 ,  E02F9/24 ,  E02F3/43 ,  E02F9/22

    CPC分类号： E02F9/2033

    摘要： A calculating portion 7a calculates a distance from the tip end of a front device to an interference prevention area, and a detection line 7m detects a moving speed of a boom 1. If the tip end of the front device comes close to the interference prevention area when the boom 1 is moving upward, control is made such that, while continuing to move the boom 1 upward, a control gain calculating portion 7h and a multiplier 7i cooperatively calculate a target speed of an arm in the arm dumping direction (interference avoiding direction) corresponding to the boom-up speed, and an input limit value calculating portion 7c, an adder 7j and a minimum value selecting portion 7f cooperatively control the arm to move in the interference avoiding direction relative to a vehicle body. Interference avoidance control enabling the tip end of the front device to be moved smoothly along the vicinity of a boundary of the interference prevention area is thereby effected and the front device can be prevented from interfering with the vehicle body without reducing the maneuverability and the working efficiency.

    摘要翻译： 计算部7a计算从前部装置的前端到防干扰区域的距离，检测线7m检测吊杆1的移动速度。如果前部装置的前端靠近防干扰区域 当吊杆1向上移动时，进行控制，使得在继续向上移动吊杆1的同时，控制增益计算部分7h和乘法器7i协同地计算臂倾倒方向上的臂的目标速度（干扰避免方向 ），并且输入限制值计算部分7c，加法器7j和最小值选择部分7f协调地控制臂相对于车身在干扰避免方向上移动。 从而能够使前端装置的前端能够沿着防干扰区域的边界附近平滑移动的干扰避免控制，并且可以防止前部装置与车身干涉而不会降低机动性和工作效率 。

    Front control system for construction machine
    2.
    发明授权
    Front control system for construction machine 失效
    施工机械前控制系统

    公开(公告)号：US5968104A

    公开(公告)日：1999-10-19

    申请号：US880506

    申请日：1997-06-23

    申请人： Eiji Egawa ,  Kazuo Fujishima ,  Masakazu Haga ,  Hiroshi Watanabe

    发明人： Eiji Egawa ,  Kazuo Fujishima ,  Masakazu Haga ,  Hiroshi Watanabe

    IPC分类号： E02F3/43 ,  E02F9/20 ,  E02F9/22 ,  E02F9/24 ,  E02F9/26

    CPC分类号： E02F3/435 ,  E02F3/437 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/26

    摘要： An area where a front device (1A) is allowed to move is set beforehand and the operation of the front device is controlled so that the front device will not go out of the set area. For this control process, an arm cylinder speed calculating portion (9d) of a control unit (9) estimates an arm cylinder speed for use in control by taking the sum of a low-frequency component of an arm cylinder speed which is derived through coordinate transformation and differentiation of an arm rotational angle detected by an angle sensor (8b), and a high-frequency component of an arm cylinder speed which is derived from a command value applied from a control lever unit (14b) to a flow control valve (15b) for an arm and a flow rate characteristic of the flow control valve (15b). The control unit controls the operation of the front device with the estimated operating speed. The operation of the front device is thereby controlled smoothly and accurately regardless of change in any parameters, such as load and fluid temperature, affecting the flow rate characteristic of the flow control valve.

    摘要翻译： 事先设定允许前方装置（1A）移动的区域，并且控制前方装置的动作，使得前装置不会离开设定区域。 对于该控制处理，控制单元（9）的斗杆缸速度计算部（9d）通过将通过坐标导出的臂缸速度的低频分量的和来估计用于控制的臂缸速度 由角度传感器（8b）检测到的臂旋转角度的变换和微分，以及从控制杆单元（14b）施加到流量控制阀的指令值导出的臂缸速度的高频分量 15b）和流量控制阀（15b）的流量特性。 控制单元以估计的运行速度来控制前置装置的操作。 无论诸如负载和流体温度的任何参数的变化影响流量控制阀的流量特性，前置装置的操作都能平稳而准确地进行控制。

    Area limiting excavation control system for construction machines
    3.
    发明授权
    Area limiting excavation control system for construction machines 失效
    施工机械区域限制挖掘控制系统

    公开(公告)号：US5752333A

    公开(公告)日：1998-05-19

    申请号：US817349

    申请日：1997-04-09

    申请人： Takashi Nakagawa ,  Hiroshi Watanabe ,  Masakazu Haga ,  Kazuo Fujishima ,  Eiji Egawa

    发明人： Takashi Nakagawa ,  Hiroshi Watanabe ,  Masakazu Haga ,  Kazuo Fujishima ,  Eiji Egawa

    IPC分类号： E02F3/43 ,  E02F9/20

    CPC分类号： E02F3/437

    摘要： An area where a front device 1A is movable is set in advance. A target speed vector of the front device is modified such that its component in the direction toward a boundary of the set area is reduced, by using signals obtained by reducing operation signals input from control lever units 4a-4c when a mode switch 20 is turned on and the front device is within and near the boundary of the set area, and by using the operation signals as they are when the mode switch 20 is turned off. When the front device is outside the set area, the target speed vector is modified so that the front device is returned to the set area. Thus, excavation within a limited area can be performed efficiently and smoothly, and an operator can select one of an accuracy precedence work mode and a speed precedence work mode at his own discretion.

    摘要翻译： PCT No.PCT / JP96 / 02252 Sec。 371日期1997年04月9日 102（e）1997年4月9日PCT PCT 1996年8月8日PCT公布。 公开号WO97 / 07297 日期1997年2月27日预先设置前置装置1A可移动的区域。 改变前置装置的目标速度向量，使得其在朝向设定区域的边界的方向上的分量减小时，通过使用当模式切换器20转动时通过减少从控制杆单元4a-4c输入的操作信号而获得的信号 并且前置装置在设定区域的边界内和附近，并且在模式切换器20被关闭时使用操作信号。 前置装置在设定区域外时，对目标速度矢量进行修正，使前置装置返回到设定区域。 因此，可以有效地平稳地执行有限区域内的挖掘，并且操作者可以自己选择精确优先工作模式和速度优先工作模式之一。

    Operation control device for three-joint excavator
    4.
    发明授权
    Operation control device for three-joint excavator 失效
    三联挖掘机操作控制装置

    公开(公告)号：US6101437A

    公开(公告)日：2000-08-08

    申请号：US51874

    申请日：1998-04-14

    申请人： Morio Oshina ,  Mitsuo Sonoda ,  Eiji Egawa ,  Junji Tsumura

    发明人： Morio Oshina ,  Mitsuo Sonoda ,  Eiji Egawa ,  Junji Tsumura

    IPC分类号： E02F3/30 ,  E02F3/43 ,  E02F9/20 ,  E02F9/22 ,  G06F19/00

    CPC分类号： E02F9/2025 ,  E02F3/301 ,  E02F3/435 ,  E02F3/437 ,  E02F9/2285

    摘要： A speed command value X1 for a first arm 3 is decided depending on a lever input amount in the direction c, d. Assuming that the side d corresponding to move-up of the first arm is positive, the side c corresponding to move-down thereof is negative, and a speed command value resulted upon full lever operation and corresponding to a rated speed of the first arm is 1, X1 is given by -1

    摘要翻译： PCT No.PCT / JP97 / 02757 Sec。 371日期：1998年4月14日 102（e）1998年4月14日PCT PCT 1997年8月7日提交PCT公布。 公开号WO98 / 06909 日期1998年2月19日第一臂3的速度指令值X1根据方向c，d的杠杆输入量而决定。 假设对应于第一臂的上升的侧面d为正，则对应于其下降的侧面c为负，并且在全杆操作时产生并对应于第一臂的额定转速的速度指令值为 1，X1由-1

    Operation control device for three-joint type excavator
    5.
    发明授权
    Operation control device for three-joint type excavator 失效
    三联式挖掘机操作控制装置

    公开(公告)号：US6079131A

    公开(公告)日：2000-06-27

    申请号：US171019

    申请日：1998-10-15

    申请人： Morio Oshina ,  Mitsuo Sonoda ,  Eiji Egawa ,  Junji Tsumura

    发明人： Morio Oshina ,  Mitsuo Sonoda ,  Eiji Egawa ,  Junji Tsumura

    IPC分类号： E02F3/43 ,  E02F9/20 ,  G05D3/00 ,  G06F15/46

    CPC分类号： E02F3/435 ,  E02F9/2228 ,  E02F9/265

    摘要： Two control lever units 11, 12 for operating a first arm 3, a second arm 4 and a third arm 5 of a 3-articulation work front 2 are provided, and signals 132, 133 from the two control lever units are sent to a controller 131. On condition that a virtual 2-articulation type work front comprising a virtual first arm 13 and a virtual second arm 14 is imaginarily provided and the relationship in movement between the virtual second arm and the actual third arm is set in advance as if both the arms constitute a rigid body together, the controller 131 determines respective command values .omega..sub.1, .omega..sub.2 and .omega..sub.3 for the actual first arm 3, the actual second arm 4 and the actual third arm 5 so that an intended angular speed of the actual third arm is provided by an angular speed of the virtual second arm resulted when the two control lever units are manipulated to function respectively as first operating means 11 for the virtual first arm and second operating means 12 for the virtual second arm 14. The command values are output as driving command signals to proportional pressure reducing valves 129, 130 of a hydraulic drive system. Operators having an ordinary skill can operate the 3-articulation type work front 2 with a similar operating feeling as obtained with 2-articulation type work fronts.

    摘要翻译： PCT No.PCT / JP98 / 00616 Sec。 371日期：1998年10月15日 102（e）1998年10月15日日期PCT提交1998年2月16日PCT公布。 第WO98 / 36132号公报 1998年8月20日提供用于操作3关节工作前部2的第一臂3，第二臂4和第三臂5的两个控制杆单元11,12，以及来自两个控制杆单元的信号132,133 被送到控制器131.在假想地提供包括虚拟第一臂13和虚拟第二臂14的虚拟2-铰接型工作面并设定虚拟第二臂与实际第三臂之间的移动关系的条件下 预先好像两个臂同时构成刚体一样，控制器131确定实际的第一臂3，实际的第二臂4和实际的第三臂5的各自的指令值ω1，ω2和ω3，使得预期的 实际的第三臂的角速度由两个控制杆单元被操作时分别作为虚拟第一臂的第一操作装置11和用于t的第二操作装置12而产生的虚拟第二臂的角速度提供 虚拟第二臂14.命令值作为驱动指令信号输出到液压驱动系统的比例减压阀129,130​​。 具有普通技能的操作者可以以与2-铰接式工作面相似的操作感觉来操作3关节式工作面2。

    Hst Travel System for Working Machine
    7.
    发明申请
    Hst Travel System for Working Machine 有权
    Hst工作机械旅行系统

    公开(公告)号：US20070235241A1

    公开(公告)日：2007-10-11

    申请号：US11632776

    申请日：2006-03-06

    申请人： Tsutomu Udagawa ,  Eiji Egawa ,  Akira Nakayama ,  Kazuo Takiguchi ,  Tsukasa Toyooka ,  Makoto Sugaya ,  Kensuke Sato

    发明人： Tsutomu Udagawa ,  Eiji Egawa ,  Akira Nakayama ,  Kazuo Takiguchi ,  Tsukasa Toyooka ,  Makoto Sugaya ,  Kensuke Sato

    IPC分类号： B60K17/356

    CPC分类号： F16H61/435 ,  B60K17/10 ,  B60K17/356 ,  B60K23/08 ,  F16H61/425 ,  F16H61/439 ,  F16H61/44 ,  F16H61/444

    摘要： A hydro-static transmission travel system for a working machine enables the working machine to travel over a range from low speed to high speed with a simplified circuit arrangement. By referring to a machine traveling speed (vehicle speed) based on a detected signal from a rotation sensor, a controller computes respective target tilting amounts of hydraulic motors 10, 20 and controls the tilting amount for the hydraulic motors and a clutch. Depending on whether the traveling speed exceeds a setting speed as a reference boundary, the controller selectively switches over a drive mode between low-speed four-wheel drive, in which travel units 12, 22 are both driven, and high-speed two-wheel drive, in which the front-wheel side hydraulic motor 10 is controlled to zero displacement and only the rear-wheel side travel unit 22 is driven.

    摘要翻译： 一种用于工作机械的静电传动传动系统使得工作机器能够以简化的电路布置在低速到高速的范围内行进。 通过参照基于来自旋转传感器的检测信号的机器行进速度（车速），控制器计算液压马达10,20的各目标倾斜量，并控制液压马达和离合器的倾斜量。 根据行驶速度是否超过作为参考边界的设定速度，控制器选择性地切换在驱动行驶单元12,22的低速四轮驱动与高速二轮之间的驱动模式 驱动，其中前轮侧液压马达10被控制到零位移，并且仅后轮侧行驶单元22被驱动。

    HST travel system for working machine
    8.
    发明授权
    HST travel system for working machine 有权
    HST工作机械旅行系统

    公开(公告)号：US07712565B2

    公开(公告)日：2010-05-11

    申请号：US11632776

    申请日：2006-03-06

    申请人： Tsutomu Udagawa ,  Eiji Egawa ,  Akira Nakayama ,  Kazuo Takiguchi ,  Tsukasa Toyooka ,  Makoto Sugaya ,  Kensuke Sato

    发明人： Tsutomu Udagawa ,  Eiji Egawa ,  Akira Nakayama ,  Kazuo Takiguchi ,  Tsukasa Toyooka ,  Makoto Sugaya ,  Kensuke Sato

    IPC分类号： B60K17/356

    CPC分类号： F16H61/435 ,  B60K17/10 ,  B60K17/356 ,  B60K23/08 ,  F16H61/425 ,  F16H61/439 ,  F16H61/44 ,  F16H61/444

    摘要： A hydro-static transmission travel system for a working machine enables the working machine to travel over a range from low speed to high speed with a simplified circuit arrangement. By referring to a machine traveling speed (vehicle speed) based on a detected signal from a rotation sensor, a controller computes respective target tilting amounts of hydraulic motors 10, 20 and controls the tilting amount for the hydraulic motors and a clutch. Depending on whether the traveling speed exceeds a setting speed as a reference boundary, the controller selectively switches over a drive mode between low-speed four-wheel drive, in which travel units 12, 22 are both driven, and high-speed two-wheel drive, in which the front-wheel side hydraulic motor 10 is controlled to zero displacement and only the rear-wheel side travel unit 22 is driven.

    摘要翻译： 一种用于工作机械的静电传动传动系统使得工作机器能够以简化的电路布置在低速到高速的范围内行进。 通过参照基于来自旋转传感器的检测信号的机器行进速度（车速），控制器计算液压马达10,20的各目标倾斜量，并控制液压马达和离合器的倾斜量。 根据行驶速度是否超过作为参考边界的设定速度，控制器选择性地切换在驱动行驶单元12,22的低速四轮驱动与高速二轮之间的驱动模式 驱动，其中前轮侧液压马达10被控制到零位移，并且仅后轮侧行驶单元22被驱动。