Title:
TUNNEL DRILLING DEVICE AND CONTROL METHOD THEREOF
Document Type and Number:
Japanese Patent JP2015105511
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a tunnel drilling device and a control method thereof for appropriately handling external forces of all directions and magnitudes during tunnel excavation.SOLUTION: A drilling machine 10 comprises a front barrel part 11, a rear barrel part 13, a parallel linkage 14, stroke sensors 16a to 16f, pressure sensors 17a to 17h and a control section 26. The parallel linkage 14 includes eight units of thrust jack 14a to 14h for changing the position and attitude of the front barrel part 11 with respect to the rear barrel part 13. The control section 26 calculates the target distributed forces distributed among the eight units of thrust jack 14a to 14h in accordance with the detection results by the stroke sensors 16a to 16f and the pressure sensors 17a to 17h, at the same time controlling the thrust jacks 14a to 14h so that the six units of thrust jack 14a to 14f perform stroke control while the two units of thrust jack 14g and 14h perform force control.
Inventors:
KURAMOTO TOYOJI
Application Number:
JP2013247695A
Publication Date:
June 08, 2015
Filing Date:
November 29, 2013
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
E21D9/10
Domestic Patent References:
| JP2001311389A | 2001-11-09 | |||
| JPH09184394A | 1997-07-15 | |||
| JP2003262521A | 2003-09-19 | |||
| JPH0988481A | 1997-03-31 | |||
| JPH10131664A | 1998-05-19 | |||
| JPH11336484A | 1999-12-07 |
Foreign References:
| US5205613A | 1993-04-27 | |||
| US4548443A | 1985-10-22 | |||
| US20120230771A1 | 2012-09-13 |
Attorney, Agent or Firm:
Shinki Global IP Patent Corporation