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A platform for research: civil engineering, architecture and urbanism
EXTERNAL FORCE ESTIMATION DEVICE OF WORK MACHINE, WORK MACHINE COMPRISING THE EXTERNAL FORCE ESTIMATION DEVICE, PARAMETER ESTIMATION DEVICE OF WORK DEVICE, AND EXTERNAL FORCE ESTIMATION METHOD OF WORK MACHINE
To provide an external force estimation device of a work machine capable of securing high durability to external impact etc. and capable of estimating a direction and a size of an external force applied to a work device while suppressing increase in a manufacturing cost of the work machine.SOLUTION: An estimation machine 100 calculates a direction θe and a size F of an external force applied to a work device 3 based on an arm driving force fc2 and an attachment driving force fc3 detected by an arm driving force sensor 72 and an attachment driving force sensor 73 and an arm angle θab and an attachment angle θn detected by an arm angle sensor 82 and an attachment angle sensor 83.SELECTED DRAWING: Figure 5
【課題】外部衝撃等に対して高い信頼性を担保し、かつ、作業機械の製造コストの上昇を抑えつつ、作業装置に作用する外力の方向及び大きさを推定することが可能な、作業機械の外力推定装置を得る。【解決手段】推定器１００は、アーム駆動力センサ７２及びアタッチメント駆動力センサ７３によって検出されたアーム駆動力ｆｃ２及びアタッチメント駆動力ｆｃ３と、アーム角センサ８２及びアタッチメント角センサ８３によって検出されたアーム角θａｂ及びアタッチメント角θｎとに基づいて、作業装置３に作用する外力の方向θｅ及び大きさＦを算出する。【選択図】図５
EXTERNAL FORCE ESTIMATION DEVICE OF WORK MACHINE, WORK MACHINE COMPRISING THE EXTERNAL FORCE ESTIMATION DEVICE, PARAMETER ESTIMATION DEVICE OF WORK DEVICE, AND EXTERNAL FORCE ESTIMATION METHOD OF WORK MACHINE
To provide an external force estimation device of a work machine capable of securing high durability to external impact etc. and capable of estimating a direction and a size of an external force applied to a work device while suppressing increase in a manufacturing cost of the work machine.SOLUTION: An estimation machine 100 calculates a direction θe and a size F of an external force applied to a work device 3 based on an arm driving force fc2 and an attachment driving force fc3 detected by an arm driving force sensor 72 and an attachment driving force sensor 73 and an arm angle θab and an attachment angle θn detected by an arm angle sensor 82 and an attachment angle sensor 83.SELECTED DRAWING: Figure 5
【課題】外部衝撃等に対して高い信頼性を担保し、かつ、作業機械の製造コストの上昇を抑えつつ、作業装置に作用する外力の方向及び大きさを推定することが可能な、作業機械の外力推定装置を得る。【解決手段】推定器１００は、アーム駆動力センサ７２及びアタッチメント駆動力センサ７３によって検出されたアーム駆動力ｆｃ２及びアタッチメント駆動力ｆｃ３と、アーム角センサ８２及びアタッチメント角センサ８３によって検出されたアーム角θａｂ及びアタッチメント角θｎとに基づいて、作業装置３に作用する外力の方向θｅ及び大きさＦを算出する。【選択図】図５
EXTERNAL FORCE ESTIMATION DEVICE OF WORK MACHINE, WORK MACHINE COMPRISING THE EXTERNAL FORCE ESTIMATION DEVICE, PARAMETER ESTIMATION DEVICE OF WORK DEVICE, AND EXTERNAL FORCE ESTIMATION METHOD OF WORK MACHINE
作業機械の外力推定装置、当該外力推定装置を備える作業機械、作業装置のパラメータ推定装置、並びに作業機械の外力推定方法
KIKUUE RYO (author)
2021-09-13
Patent
Electronic Resource
Japanese
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