Work machine and control device for work machine
AssigneeSumitomo Heavy Industries, Ltd.
InventorsYasuhiro Yamamoto, Kazunori Hiranuma
Life of this patent
Estimating the term…
Abstract
A work machine is provided that includes: an attachment attached on an upper rotating body and including at least a boom, an arm attached on an end of the boom, and an end attachment attached on an end of the arm; and a control device, wherein the control device compensates for a torque, which causes the boom to rotate, based on either or both of a centrifugal force on the arm and an inertial force on the arm, and calculates a weight of a conveyance object conveyed by the attachment based on the torque for which the compensation is performed.
Claims17
A work machine, comprising:
- an attachment attached on an upper rotating body and including at least a boom, an arm attached on an end of the boom, and an end attachment attached on an end of the arm;
- a posture sensor configured to detect an attitude of the work machine;
- and
- a hardware processor configured to
- calculate either or both of an arm centrifugal force torque and an arm inertial force torque based on an output of the posture sensor, the arm centrifugal force torque being a torque about a foot pin of the boom due to a centrifugal force on the arm when the arm is being opened or closed, the arm inertial force torque being a torque about the foot pin of the boom due to an inertial force on the arm when the arm is being opened or closed,
- compensate for a torque, which causes the boom to rotate, based on said calculated either or both of the arm centrifugal force torque and the arm inertial force torque, and
- calculate a weight of a conveyance object conveyed by the attachment based on the torque compensated for.
A work machine, comprising:
- an attachment attached on an upper rotating body and including at least a boom, an arm attached on an end of the boom, and an end attachment attached on an end of the arm;
- a posture sensor configured to detect an attitude of the work machine;
- and
- a hardware processor configured to
- calculate either or both of an end attachment centrifugal force torque and an end attachment inertial force torque based on an output of the posture sensor, the end attachment centrifugal force torque being a torque about a foot pin of the boom due to a centrifugal force on the end attachment when the end attachment is being opened or closed, or rotated, the end attachment inertial force torque being a torque about the foot pin of the boom due to an inertial force on the end attachment when the end attachment is being opened or closed, or rotated,
- compensate for a torque, which causes the boom to rotate, based on said calculated either or both of the end attachment centrifugal force torque and the end attachment inertial force torque, and
- calculate a weight of a conveyance object conveyed by the attachment based on the torque compensated for.
Dependencies are inferred from the claim text.