| 摘要 |
PROBLEM TO BE SOLVED: To provide a thrust control method of an excavation mechanism with which excavation can be performed while stabilizing an attitude of the excavation mechanism.SOLUTION: In an excavation mechanism 1, two main body excavators 3 are arrayed in a horizontal direction, and each excavator 3 includes a cutter 31 that reciprocates and swivels in the horizontal direction. During excavation by the excavation mechanism 1, a thrust Pof a left jack group 41a is determined by increasing/decreasing thrust correction values L, Lcorresponding to a swiveling direction of each cutter 31 from a base thrust Xof the left jack group 41a and a thrust Pof a right jack group 41b is determined by increasing/decreasing thrust correction values R, Rcorresponding to the swiveling direction of each cutter 31 from a base thrust Xof the right jack group 41b, thereby canceling a reaction moment M applied to the excavation mechanism 1 with swiveling of the cutter 31. |
