Position estimating system, position estimating unit, work machine, and extension unit

A position estimating unit estimating information regarding a position of a bucket of a work machine, the work machine including a work machine body, a first work implement, and a second work implement, the first work implement including an arm, the bucket, and a bucket cylinder driving the bucket, the first work implement pivotable with respect to the work machine body, the second work implement including a linkage mechanism transferring driving of the bucket cylinder to the bucket, the second work implement attachable to the arm and the bucket in a position therebetween, the position estimating unit comprising:

• a first posture detector enabled to be disposed in the linkage mechanism;
• and
• a detector controller configured to obtain a value detected by the first posture detector, the detector controller configured to transmit information based on the value detected by the first posture detector to the work machine body,
• the second work implement including an extension part, the extension part including a first end portion connectable to the bucket and a second end portion connectable to the arm, the second end portion being fixed to the arm, and the extension part extending in a longitudinal direction of the arm so as to extend the arm, and
• the linkage mechanism including
• a first linkage part connected to the extension part through a first coupling portion, the first linkage part connectable through a second coupling portion to a bucket linkage part connected to the bucket,
• a second linkage part connected to the first linkage part through the second coupling portion, the second linkage part extending toward a side of the second end portion, the second linkage part being arranged side-by-side with respect to the extension part in a direction perpendicular to a longitudinal direction of the extension part, and
• a third linkage part disposed closer to the second end portion than the first linkage part, the third linkage part connected to the extension part through a third coupling portion, the third linkage part connected to the second linkage part through a fourth coupling portion.

A work machine comprising:

• a work machine body;
• a first work implement including an arm, a bucket, and a bucket cylinder driving the bucket, the first work implement pivotable with respect to the work machine body;
• a second work implement including a linkage mechanism transferring driving of the bucket cylinder to the bucket, the second work implement attachable to the arm and the bucket in a position therebetween;
• a first posture detector disposed in the linkage mechanism;
• and
• a controller configured to estimate information regarding a position of the bucket with respect to the work machine body based on data regarding a shape of the first work implement, data regarding a shape of the second work implement, information regarding a posture of the first work implement, and a value detected by the first posture detector,
• the second work implement including an extension part, the extension part including a first end portion connectable to the bucket and a second end portion connectable to the arm, the second end portion being fixed to the arm, and the extension part extending in a longitudinal direction of the arm so as to extend the arm, and
• the linkage mechanism including
• a first linkage part connected to the extension part through a first coupling portion, the first linkage part connectable through a second coupling portion to a bucket linkage part connected to the bucket,
• a second linkage part connected to the first linkage part through the second coupling portion, the second linkage part extending toward a side of the second end portion, the second linkage part being arranged side-by-side with respect to the extension part in a direction perpendicular to a longitudinal direction of the extension part, and
• a third linkage part disposed closer to the second end portion than the first linkage part, the third linkage part connected to the extension part through a third coupling portion, the third linkage part connected to the second linkage part through a fourth coupling portion.

An extension unit comprising:

• an extension arm attachable to an arm and a bucket of a work machine in a position therebetween, the work machine including a work machine body and a first work implement, the first work implement including the arm, the bucket, and a bucket cylinder driving the bucket, the first work implement pivotable with respect to the work machine body;
• and
• a first posture detector disposed in the extension arm,
• the extension arm including
• an extension part including a first end portion connectable to the bucket and a second end portion connectable to the arm, the second end portion being fixed to the arm, and the extension part extending in a longitudinal direction of the arm so as to extend the arm, and
• a linkage mechanism transferring driving of the bucket cylinder to the bucket, and
• the linkage mechanism including
• a first linkage part connected to the extension part through a first coupling portion, the first linkage part connectable through a second coupling portion to a bucket linkage part connected to the bucket,
• a second linkage part connected to the first linkage part through the second coupling portion, the second linkage part extending toward a side of the second end portion, the second linkage part being arranged side-by-side with respect to the extension part in a direction perpendicular to a longitudinal direction of the extension part, and
• a third linkage part disposed closer to the second end portion than the first linkage part, the third linkage part connected to the extension part through a third coupling portion, the third linkage part connected to the second linkage part through a fourth coupling portion.