Title:
TUNNEL EXCAVATION DEVICE, AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2015/079877
Kind Code:
A1
Abstract:
This excavator (10) is provided with: a front body section (11); a rear body section (13); a parallel link mechanism (14); stroke sensors (16a-16f); pressure sensors (17a-17h); and a control unit (26). The parallel link mechanism (14) includes eight thrust jacks (14a-14h) which change the position and orientation of the front body section (11) relative to the rear body section (13). The control unit (26) calculates, on the basis of detection results from the stroke sensors (16a-16f) and the pressure sensors (17a-17h), target distribution forces to be distributed to the eight thrust jacks (14a-14h), and controls the thrust jacks (14a-14h) such that stroke control is implemented with respect to six of the thrust jacks (14a-14f), and force control is implemented with respect to two of the thrust jacks (14g-14h).
Inventors:
KURAMOTO TOYOSHI (JP)
Application Number:
PCT/JP2014/079331
Publication Date:
June 04, 2015
Filing Date:
November 05, 2014
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
International Classes:
E21D9/11
Foreign References:
| JP2001311389A | 2001-11-09 | |||
| JPH0988481A | 1997-03-31 | |||
| JPH10131664A | 1998-05-19 |
Attorney, Agent or Firm:
Shinjyu Global IP (JP)
fresh green -- a global IP patent business corporation (JP)
fresh green -- a global IP patent business corporation (JP)
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