JP2021050522A5

JP2021050522A5 -

Info

Publication number: JP2021050522A5
Application number: JP2019173863A
Authority: JP
Filing date: 2019-09-25
Publication date: 2022-09-27
Anticipated expiration: 2039-09-25

Claims

an articulated working device having an attachment with a consumable part at its tip;
an attitude sensor that detects the attitude of the working device;
The attitude data of the working device is calculated based on the signal output from the attitude sensor, and based on the calculated attitude data and the dimensional data of the working device, the control points set in the consumable part in the vehicle body coordinate system. In a working machine equipped with a controller that calculates position data,
The controller is
Based on the posture data of the working device and the position data of the control points calculated while the reference plane on the attachment is in contact with the measurement plane setting object, the position of the reference plane in the vehicle body coordinate system is set to the measurement plane. a first process for setting
Whether or not the posture of the working device is maintained in a measurement posture in which the consumable portion of the attachment is brought into contact while holding the attachment at a predetermined angle with respect to the contact surface of the measurement surface setting object contacted by the reference surface. A second process for determining whether
a third process of calculating the distance between the measurement plane and the control point based on the position of the control point in the vehicle body coordinate system and the position of the measurement plane set in the vehicle body coordinate system;
and executing a fourth process of calculating the amount of wear of the consumable portion based on the calculated distance when it is determined that the working device is held in the measurement posture, out of the calculated distance. A working machine characterized by:

The work machine of claim 1,
a first display for instructing an operator to bring the reference plane into contact with the measurement plane setting object before the first processing is executed by the controller;
and a monitor for displaying a second display for instructing an operator to hold the posture of the working device in the measurement posture before the second processing is executed by the controller. working machine.

The working machine of claim 2,
a first input for inputting to the controller that the reference plane has come into contact with the measurement plane setting object after the first display is displayed on the monitor;
an input device for inputting a second input for inputting to the controller that the posture of the working device is held in the measurement posture after the second display is displayed on the monitor. and working machine.

The working machine of claim 2,
further comprising a pressure sensor that detects pressure acting on the actuator that drives the work device;
The controller is
After the first display is displayed on the monitor, the first processing is executed when the contact of the reference surface with the measurement surface setting object is detected by the pressure detected by the pressure sensor,
A working machine characterized in that, after the second display is displayed on the monitor, the second processing is executed when it is detected by the pressure detected by the pressure sensor that the working device has taken the measurement posture. .

The work machine of claim 1,
the attachment is a bucket, the consumable part is a claw of the bucket, the control point is a point set at the tip of the bucket,
A working machine, wherein the measurement posture is a posture in which the back surface of the bucket is held perpendicular to the contact surface and the toe of the bucket is in contact with the contact surface.

The working machine of claim 2,
The controller calculates the angle between the attachment and the contact surface based on the attitude data of the working device calculated based on the signal output from the attitude sensor and the position of the measurement surface in the vehicle body coordinate system. and displaying the calculated angle on the monitor.

The work machine of claim 1,
A working machine, wherein the controller updates the dimension data of the working device based on the calculated wear amount.

The work machine of claim 1,
A working machine, wherein the controller controls the working device based on the calculated position of the control point in the vehicle body coordinate system.