Hydraulic excavator and hydraulic excavator calibration method

Patent metadata

Field	Value
Publication number	US-10422111-B2
Application number	US-201715757107-A
Country	US
Kind code	B2
Filing date	Jul 13, 2017
Priority date	Jul 13, 2017
Publication date	Sep 24, 2019
Grant date	Sep 24, 2019

Abstract

A boom is attached to a body. A boom pin supports the boom while being swingable with respect to the body. A through-hole is made in the body. The through-hole is made such that a member (for example, the boom pin or a boom angle detector) that recognizes a position of the boom pin can be observed through the through-hole from a side of a hydraulic excavator.

First claim

The invention claimed is:

1. A hydraulic excavator comprising:
a vehicular main body;
a boom attached to the vehicular main body; and
a boom pin swingably supporting the boom on the vehicular main body, wherein
the vehicular main body includes a cover disposed on a side of the boom pin and a through-hole is provided in the cover,
the through-hole is provided such that a boom position acquisition region used to acquire a position of the boom pin can be observed through the through-hole from a side of the hydraulic excavator.

2. The hydraulic excavator according to claim 1 , further comprising a boom angle detector disposed on a side of an end face of the boom pin, wherein
the boom angle detector has the boom position acquisition region.

3. The hydraulic excavator according to claim 1 , wherein the boom pin has the boom position acquisition region.

4. The hydraulic excavator according to claim 1 , wherein a diameter of the through-hole is smaller than a maximum diameter of the boom pin.

5. The hydraulic excavator according to claim 1 , further comprising an operator's compartment,
wherein the through-hole is located on a side opposite to the operator's compartment with respect to the boom.

6. The hydraulic excavator according to claim 1 , Therein the through-hole is located on an extended line of an axial line of the boom pin.

7. A hydraulic excavator comprising:
a vehicular main body;
a boom attached to the vehicular main body; and
a boom pin swingably supporting the boom on the vehicular main body, wherein
a through-hole is provided in the vehicular main body,
the through-hole is provided such that a boom position acquisition region used to acquire a position of the boom pin can be observed through the through-hole from a side of the hydraulic excavator,
the vehicular main body includes an openable cover disposed on a side of the boom and on the same side as the through-hole with respect to the boom, and
the through-hole is formed such that the boom position acquisition region can be observed while the cover is closed.

8. A hydraulic excavator calibration method for calibrating a plurality of parameters in a hydraulic excavator, the hydraulic excavator including:
a vehicular main body;
a work implement including a boom attached to the vehicular main body, a dipper stick attached to a tip of the boom, and a work tool attached to a tip of the dipper stick;
a boom pin swingably supporting the boom on the vehicular main body; and
a controller for computing a current position of a work point included in the work tool based on the plurality of parameters including at least a position of the boom pin,
the hydraulic excavator calibration method comprising the step of calibrating the plurality of parameters based on the position of the boom pin acquired by observing a boom position acquisition region used to acquire the position of the boom pin from a side of the hydraulic excavator through a through-hole provided in a side surface of the vehicular main body.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Yamada Takeo
• Okui Ryosuke
• Nakashima Gousuke

Classifications

• E02F9/264 Primary

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• E02F3/43 Primary

  Control of dipper or bucket position; Control of sequence of drive operations · CPC title

• E02F9/265 Primary

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F3/439

  Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence) · CPC title