Work machine

Patent metadata

Field	Value
Publication number	US-12091833-B2
Application number	US-201917265269-A
Country	US
Kind code	B2
Filing date	Aug 8, 2019
Priority date	Aug 23, 2018
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A work machine includes: a first posture detection device which detects a posture of an upper slewing body with respect to a lower travelling body; a second posture detection device which detects a posture of a blade; a laser beam receiver which is provided to the upper slewing body and can receive a laser beam emitted from a laser beam emitter; and a calculation unit which calculates a height position of a cutting edge of the blade with respect to a surface to be constructed. The calculation unit calculates the height position of the cutting edge of the blade with respect to the surface to be constructed based on a laser beam receiving position where the laser beam is received by the laser beam receiver, a posture of the upper slewing body with respect to the lower travelling body, and a posture of the blade.

First claim

The invention claimed is:

1. A work machine comprising:
a lower travelling body;
an upper slewing body rotatably provided to an upper portion of the lower travelling body;
a blade mounted on the lower travelling body in a rotatable manner in a vertical direction;
a first posture detection device which detects a posture of the upper slewing body with respect to the lower travelling body;
a second posture detection device which detects a posture of the blade;
a laser beam receiver provided to the upper slewing body and capable of receiving laser beam emitted from a laser beam emitter; and
a calculation unit which calculates a height position of a cutting edge of the blade with respect to a surface to be constructed,
wherein
an inclination direction of the laser beam is parallel to an inclination direction of the surface to be constructed,
the calculation unit calculates a height position of the cutting edge of the blade with respect to the surface to be constructed based on a laser beam receiving position where the laser beam is received by the laser beam receiver, a posture of the upper slewing body with respect to the lower travelling body, and a posture of the blade,
the work machine further comprises:
a first notification device capable of notifying an operator of information; and
a first notification control unit which causes the first notification device to perform a notification of prohibiting turning of the upper slewing body after the operation is started in an initial state where an angle of the upper slewing body with respect to the lower travelling body is a specific angle, and a direction of the upper slewing body with respect to the inclination direction of the laser beam is a specific direction, and

the notification is performed by causing a display to display a wording indicating that the turning of the upper slewing body is prohibited.

2. The work machine according to claim 1 , further comprising:
a second notification device capable of notifying the operator of information; and
a second control unit which causes the second notification device to notify the operator of the height position of the cutting edge of the blade with respect to the surface to be constructed calculated by the calculation unit.

3. The work machine according to claim 1 , further comprising:
a posture changing device which changes a posture of the blade; and
a posture control unit which controls the posture changing device such that the blade scrapes the ground to the height of the surface to be constructed based on the height position of the cutting edge of the blade with respect to the surface to be constructed calculated by the calculation unit.

4. The work machine according to claim 1 , wherein the upper slewing body includes a work device capable of rotating in the vertical direction,
the work machine further including a third posture detection device which detects a posture of the work device,
wherein
the laser beam receiver is mounted on the work device, and
the calculation unit calculates the height position of the cutting edge of the blade with respect to the surface to be constructed based on a laser beam receiving position where the laser beam is received by the laser beam receiver, a posture of the upper slewing body with respect to the lower travelling body, a posture of the work device, and a posture of the blade.

5. The work machine according to claim 4 , wherein
the work device includes:
a boom mounted on the upper slewing body in a rotatable manner in the vertical direction; and
an arm mounted on the boom in a rotatable manner in the vertical direction, and

the laser beam receiver is mounted on the arm so as to extend in a longitudinal direction of the arm.

6. The work machine according to claim 1 , wherein the first notification control unit causes the first notification device to perform the notification of prohibiting turning of the upper slewing body after the operation is started in a start state where the upper slewing body further turns by a predetermined angle from the initial state.

7. The work machine according to claim 1 , further comprising:
a warning device capable of issuing a warning; and
a warning control unit which causes the warning device to issue a warning when the upper slewing body is turned after the operation is started.

8. The work machine according to claim 1 , wherein
the first posture detection device is a relative angle detection device which detects a relative angle of the upper slewing body with respect to the lower travelling body, and
the calculation unit calculates the height position of the cutting edge of the blade with respect to the surface to be constructed based on the relative angle detected by the relative angle detection device in a case where the upper slewing body turns after the operation is started in the initial state where the angle of the upper slewing body with respect to the lower travelling body is the specific angle, and the direction of the upper slewing body with respect to the inclination direction of the laser beam is the specific direction.

9. The work machine according to claim 1 , wherein the initial state is a state where the upper slewing body faces a front surface with respect to a front surface of the lower travelling body, and the direction of the upper slewing body is parallel to the inclination direction of the laser beam.

10. The work machine according to claim 1 , further comprising:
an azimuth sensor which detects at least one of an azimuth of a front surface of the lower travelling body and an azimuth of a front surface of the upper slewing body; and
a determination unit which determines whether or not the work machine is in the initial state based on the inclination direction of the laser beam, the azimuth of the front surface of the lower travelling body, and the azimuth of the front surface of the upper slewing body.

Assignees

• Kobelco Constr Mach Co Ltd

Inventors

• Kamimura Yusuke
• Yamazaki Yoichiro
• Yamashita Koji
• Noda Daisuke

Classifications

• E02F9/123

  Drives or control devices specially adapted therefor (E02F9/125 and E02F9/128 take precedence) · CPC title

• E02F3/961

  with several digging elements or tools mounted on one machine (for backhoes E02F3/964 takes precedence) · CPC title

• E02F3/7618 Primary

  with the scraper blade adjustable relative to the pivoting arms about a horizontal axis · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title

• E02F9/265

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