Device for estimating external force of working machine, working machine having said external force estimation device, parameter estimation device for working device, and external force estimation method of working machine

摘要

Problem to be solved: to obtain an external force estimating device capable of securing the high reliability against external impact and the estimation of the direction and size of the external force acting on the work device while suppressing the increase in manufacturing cost of the working machine.The estimator 100 is an arm angle detected by the arm driving force sensor 72 and the attachment driving force sensor 73, and the arm angle detected by the arm angle sensor 82 and the attachment angle sensor 83 θ AB and attachment angle θ External force acting on working device 3 based on n θ E and F are calculated.Diagram