TUNNEL EXCAVATION DEVICE, AND CONTROL METHOD THEREFOR

WIPO Patent Application WO/2015/079872

A1

This excavator (10) is provided with: a front body section (11); a rear body section (13); a prescribed intermediate folding point (Px); a parallel link mechanism (14); an input unit (21); an intermediate-folding-point position calculation unit (23); and a jack control unit (26). The parallel link mechanism (14) includes a plurality of thrust jacks (14a-14f) which change the position of the front body section (11) relative to the rear body section (13). The intermediate-folding-point position calculation unit (23) calculates the position of the intermediate folding point (Px) on the basis of the content of a received operation input from the input unit (21), a centre line and a centre point of the rear body section (13), and the position of a centre point of the front body section (11). The jack control unit (26) controls the strokes of the thrust jacks (14a-14f) so as to achieve forward movement which corresponds to a curve generated from the respective positions of the centre point of the rear body section (13), the intermediate folding point (Px), and the centre point of the front body section (11).

KURAMOTO TOYOSHI (JP)

PCT/JP2014/079264

June 04, 2015

November 04, 2014

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KOMATSU MFG CO LTD (JP)

E21D9/11; A44B19/16; B65D33/25

JPH05106390A	1993-04-27
JPH1025987A	1998-01-27
JPH08165888A	1996-06-25
JPH09189190A	1997-07-22
JPH10280871A	1998-10-20

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