公开(公告)号：US20180171799A1

公开(公告)日：2018-06-21

申请号：US15380772

申请日：2016-12-15

Applicant: Caterpillar Inc.

Inventor： Carl Moberg ,  Brent Michael Duppong ,  Justin Philip Pahl ,  Matthew Thomas Palmer ,  Frank Karl Kuehnemund ,  Thomas Temmann

IPC: E21D9/10

CPC classification number: E21D9/1093 ,  E21C27/24 ,  E21D9/1006 ,  E21D9/102 ,  E21D9/1086

Abstract: A control system may be provided for operating a machine having a rotary cutting head. The control system may include a wrist capable of rotating about a wrist axis, a gear mechanism capable of driving rotation of the wrist. A cutting head may be attached to the wrist and capable of rotating about a cutter axis that is substantially perpendicular to the wrist axis. The control system may also include primary and redundant angular sensors capable of generating signals indicative of angular orientations of the wrist. The control system may additionally include a controller, capable of controlling operation of the wrist and the cutting head, comparing an actual angular orientation of the wrist to a target angular orientation, as indicated by the primary and secondary signals, and selectively inhibiting the cutting head from operating when the actual angular orientation differs from the target angular orientation by an operation threshold.