JP2018112065A - Shovel support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide information useful for planning of an arrangement plan of a shovel in a work site.SOLUTION: A processor displays an image on a display screen based on information received via a transmitter-receiver circuit. The processor receives information on hardness of a foundation via the transmitter-receiver circuit, determines hardness information of the foundation based on the received information, and displays distribution of hardness of the foundation on the display screen.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a shovel support apparatus that provides information useful for planning an arrangement plan of a plurality of shovels on a work site.

  In excavators such as a hydraulic excavator, a hybrid excavator, and an electric excavator, the timing for parts replacement and inspection / repair is determined based on various operation information collected from the excavator. In the invention disclosed in Patent Document 1 below, not only the operation time of the excavator but also the operation time for each part of the excavator is measured. Based on the operation time for each part, the repair and replacement time for each part is required. As a result, it is possible to determine an appropriate time for repair and replacement of the parts.

  In the invention disclosed in Patent Document 2 below, the maintenance time is determined based on the wear state of the part and the cumulative load amount of the part. Thereby, an appropriate maintenance time can be determined.

Japanese Patent No. 4689134 Japanese Patent No. 4717579

  Even if the excavator operating time is the same, the degree of damage accumulated in the parts varies depending on external factors such as work contents and work environment (for example, the hardness of the ground to be worked).

  In the method of determining the maintenance time based on the hardness of the ground and the work time for each work content, a more appropriate maintenance time can be determined as compared with the case where it is based only on the operation time.

  An object of the present invention is to provide information useful for planning an arrangement plan on a work site.

According to one aspect of the invention,
A display screen for displaying images;
A transmission / reception circuit having a communication function;
A processing device for displaying an image on the display screen based on information received through the transmission / reception circuit;
The processing device receives information on the hardness of the ground through the transmission / reception circuit, obtains the hardness information of the ground based on the received information, and displays the distribution of the hardness of the ground on the display screen Is provided.

According to another aspect of the invention,
A display screen for displaying images;
A transmission / reception circuit having a communication function;
A processing device for displaying an image on the display screen based on information received through the transmission / reception circuit;
The processing device receives total work time information for each work content of each of the plurality of excavators through the transmission / reception circuit, and based on the received work time information, sums for each work content for each shovel. There is provided an excavator support device for displaying work time on the display screen.

  External factors can be displayed. This makes it possible to provide information useful for planning an arrangement plan on the work site.

FIG. 1 is a system configuration diagram including an excavator support device according to an embodiment. FIG. 2 is a side view of the excavator according to the embodiment. FIG. 3 is a block diagram of an excavator according to the embodiment. FIG. 4 is a diagram illustrating a communication sequence performed between the shovel, the shovel support device, and the management device. FIG. 5 is a diagram illustrating an example of an image displayed on the display screen of the shovel support apparatus. FIG. 6 is a diagram illustrating another example of an image displayed on the display screen of the shovel support apparatus. FIG. 7 is a diagram illustrating still another example of the image displayed on the display screen of the shovel support apparatus. FIG. 8 is a flowchart of processing executed by the management apparatus. 9A to 9D are diagrams illustrating an example of a series of operations repeated by the excavator. 10A to 10C are graphs showing examples of time waveforms (time changes) of the hydraulic pressure in the boom cylinder, the height of the tip of the arm, and the turning angle during the operation of the shovel, respectively. FIG. 11 is a diagram illustrating a calculation result of a distribution of stress applied to the boom at a certain analysis time. FIG. 12 is a graph showing an example of a time waveform of stress applied to one evaluation point Ep (FIG. 11) of the excavator component. FIG. 13 is a graph showing an example of the SN diagram. FIG. 14 is a diagram illustrating a communication sequence performed between the shovel support apparatus according to another embodiment, the shovel and the management apparatus. FIG. 15 is a diagram illustrating a communication sequence performed between a shovel support apparatus and a shovel according to still another embodiment. FIG. 16 is a block diagram of a hydraulic excavator to be supported.

  FIG. 1 shows a system configuration diagram including an excavator support device according to an embodiment. This system includes a plurality of excavators 20 to be managed, an excavator support device 30, and a management device 60. The excavator 20, the excavator support device 30, and the management device 60 communicate with each other via the communication line 70.

  A vehicle controller 21, a communication device 22, a GPS (global positioning system) receiver 23, a display device 24, a short-range wireless communication device 25, and a plurality of sensor groups 26 are mounted on the excavator 20. The sensor group 26 detects various operating information of the excavator 20. A detection value of the sensor group 26 is input to the vehicle controller 21. The operation information includes, for example, hydraulic pump pressure, cooling water temperature, hydraulic load, attachment posture, hydraulic cylinder expansion / contraction length, turning angle, operation time, operation time, and the like.

  The vehicle controller 21 transmits the machine body identification information of the excavator 20, the detected values of various operation information, and the current position information calculated by the GPS receiver 23 from the communication device 22 to the management device 60 via the communication line 70. To do. The GPS receiver 23 serves as a position sensor that detects the current position of the excavator 20. Further, the vehicle controller 21 displays various information regarding the excavator 20 on the display device 24. The short-range wireless communication device 25 communicates directly with the excavator support device 30 without going through the communication line 70.

  The shovel support device 30 includes a display screen 31, an input device 32, a processing device 33, a transmission / reception circuit 34, a short-range wireless communication circuit 35, and a storage device 36. The transmission / reception circuit 34 has a function of communicating with the management device 60 via the communication line 70. The short-range wireless communication circuit 35 communicates with the nearby excavator 20 directly. The storage device 36 stores a program executed by the processing device 33 and various types of information related to the excavator. The processing device 33 performs data processing based on data received from the management device 60 via the communication line 70 through the transmission / reception circuit 34 and displays the processing result on the display screen 31. A user of the shovel support device 30 (hereinafter simply referred to as “user”) inputs a command from the input device 32 to the processing device 33. For the shovel support device 30, for example, a tablet terminal, a mobile phone terminal or the like is used. For example, a touch panel is used for the display screen 31 and the input device 32. The touch panel serves as both the display screen 31 and the input device 32.

  The management device 60 includes an input device 61, an output device 62, a storage device 63, a processing device 64, and a communication device 65. Various types of information transmitted from the shovel 20 via the communication line 70 are input to the processing device 64 via the communication device 65. The storage device 63 stores programs executed by the processing device 64 and various management information. The processing device 64 generates support information for the excavator 20 based on the machine identification information received from the excavator 20, various operation information, current position information, and management information stored in the storage device 63. The generated support information is output to the output device 62. Furthermore, the processing device 64 transmits the machine identification information, the current position information, and the support information from the communication device 65 to the excavator support device 30 via the communication line 70.

  FIG. 2 shows a side view of the excavator 20. An upper swing body 82 is turnably mounted on the lower traveling body 80 via a swing bearing 81. The turning motor 83 turns the upper turning body 82 clockwise or counterclockwise with respect to the lower traveling body 80. A turning angle sensor 84 attached to the turning motor 83 measures the turning angle of the upper turning body 82. An attachment including a boom 85, an arm 86, and a bucket 87 is attached to the upper swing body 82. The boom 85, the arm 86, and the bucket 87 are hydraulically driven by a boom cylinder 88, an arm cylinder 89, and a bucket cylinder 90, respectively. Further, the vehicle controller 21 is mounted on the upper swing body 82.

  Displacement sensors 91 for measuring the amount of expansion / contraction of the hydraulic cylinder are attached to the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90, respectively. The posture of the attachment can be obtained based on the amount of expansion / contraction measured by the displacement sensor 91. In this specification, the three displacement sensors 91 may be collectively referred to as an attitude sensor 91. The attitude sensor 91 is included in the sensor group 26 shown in FIG. The measurement result of the attitude sensor 91 is input to the vehicle controller 21. As the attitude sensor 91, an angle sensor that measures an angle formed by the upper swing body 82 and the boom 85, an angle formed by the boom 85 and the arm 86, and an angle formed by the arm 86 and the bucket 87 may be used.

  Furthermore, pressure sensors 92 are attached to the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90, respectively. The pressure sensor 92 measures the pressure on the bottom side and the pressure on the rod side of the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90. The load applied to the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90 (the load applied to the attachment) can be obtained by the pressure sensor 92. Based on the measurement result of the pressure sensor 92 and the posture of the attachment, the load applied to the bucket 87 can be obtained. In this specification, the pressure sensor 92 may be referred to as a load sensor 92. The load sensor 92 is included in the sensor group 26 (FIG. 1). The measurement result of the load sensor 92 is input to the vehicle controller 21.

  FIG. 3 shows a block diagram of the excavator 20 (FIGS. 1 and 2). In FIG. 3, the mechanical power system is represented by a double line, the high-pressure hydraulic line is represented by a thick solid line, the electric control system is represented by a thin solid line, and the pilot line is represented by a broken line.

  The drive shaft of engine 110 is connected to the input shaft of torque transmission mechanism 121. For the engine 110, for example, an internal combustion engine such as a diesel engine is used. The drive shaft of the motor generator 111 is connected to the other input shaft of the torque transmission mechanism 121. The motor generator 111 can perform both the electric (assist) operation and the power generation operation. The torque transmission mechanism 121 has two input shafts and one output shaft. A drive shaft of the main pump 122 is connected to the output shaft.

  When the load applied to the main pump 122 is large, the motor generator 111 performs an assist operation, and the driving force of the motor generator 111 is transmitted to the main pump 122 via the torque transmission mechanism 121. Thereby, the load applied to the engine 110 is reduced. On the other hand, when the load applied to the main pump 122 is small, the driving force of the engine 110 is transmitted to the motor generator 111 via the torque transmission mechanism 121, so that the motor generator 111 is operated for power generation.

  The main pump 122 supplies hydraulic pressure to the control valve 124 via the high pressure hydraulic line 123. The control valve 124 distributes hydraulic pressure to the hydraulic motors 109A and 109B, the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90 in accordance with instructions from the driver. The hydraulic motors 109A and 109B drive the two left and right crawlers provided in the lower traveling body 80 (FIG. 2), respectively.

  An attitude sensor 91 and a load sensor 92 are attached to each of the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90.

  Motor generator 111 is connected to power storage circuit 112 via inverter 113A. A swing motor 83 is connected to the storage circuit 112 via an inverter 113B. Inverters 113 </ b> A and 113 </ b> B and power storage circuit 112 are controlled by vehicle controller 21.

  Inverter 113 </ b> A controls operation of motor generator 111 based on a command from vehicle controller 21. Switching between the assist operation and the power generation operation of the motor generator 111 is performed by the inverter 113A.

  During the period in which the motor generator 111 is assisted, necessary power is supplied from the power storage circuit 112 to the motor generator 111 through the inverter 113A. During the period in which the motor generator 111 is generating, the electric power generated by the motor generator 111 is supplied to the power storage circuit 112 through the inverter 113A. Thereby, the power storage device in the power storage circuit 112 is charged.

  The swing motor 83 is AC driven by the inverter 113B, and can perform both a power running operation and a regenerative operation. During the power running operation of the swing motor 83, electric power is supplied from the power storage circuit 112 to the swing motor 83 via the inverter 113B. The turning motor 83 turns the upper turning body 82 (FIG. 2) via the speed reducer 131. During the regenerative operation, the rotational motion of the upper swing body 82 is transmitted to the swing motor 83 via the speed reducer 131, whereby the swing motor 83 generates regenerative power. The generated regenerative power is supplied to the power storage circuit 112 via the inverter 113B. Thereby, the power storage device in the power storage circuit 112 is charged.

  The turning angle sensor 84 detects the position of the rotating shaft of the turning motor 83 in the rotational direction. For the turning angle sensor 84, for example, a resolver is used. The detection result of the turning angle sensor 84 is input to the vehicle controller 21. By detecting the position of the rotating shaft in the rotation direction before and after the operation of the turning motor 83, the turning angle and the turning direction are derived. The turning angle sensor 84 is included in the sensor group 26 (FIG. 1).

  A mechanical brake 133 is connected to the rotating shaft of the turning motor 83 and generates a mechanical braking force. The braking state and the release state of the mechanical brake 133 are switched by an electromagnetic switch under the control of the vehicle controller 21.

  The pilot pump 125 generates a pilot pressure necessary for the hydraulic operation system. The generated pilot pressure is supplied to the operating device 128 via the pilot line 126. The operation device 128 includes a lever and a pedal and is operated by a driver. The operating device 128 converts the primary side hydraulic pressure supplied from the pilot line 126 into a secondary side hydraulic pressure in accordance with the operation of the driver. The secondary hydraulic pressure is transmitted to the control valve 124 via the hydraulic line 129 and also to the pressure sensor 127 via the other hydraulic line 130.

  The detection result of the pressure detected by the pressure sensor 127 is input to the vehicle controller 21. Thereby, the vehicle controller 21 can detect the state of operation with respect to the lower traveling body 80, the turning motor 83, the boom 85, the arm 86, and the bucket 87 (FIG. 2).

  FIG. 4 shows a communication sequence performed between the excavator 20, the excavator support device 30, and the management device 60. Operation information is transmitted from the excavator 20 to the management device 60. The operation information includes the measurement results of the attitude sensor 91 (FIG. 2), the load sensor 92 (FIG. 2), and the turning angle sensor 84 (FIG. 3), the current position information acquired by the GPS receiver 23, the machine identification number, The work date, work details, etc. are included.

  Based on the operation information collected from the excavator 20, the management device 60 evaluates the cumulative damage level accumulated in each part of the excavator 20 and the remaining life of each part. For this evaluation, the operation information accumulated in the storage device 63 up to the present time, the cumulative damage degree, or the like is used. A method for evaluating the cumulative damage level accumulated in the component and the remaining life of the component will be described later with reference to FIGS. The cumulative damage degree and the remaining life evaluation results are stored in the storage device 63.

  When the excavator 20 is performing excavation work, the management device 60 obtains the hardness information of the ground that is the work target of the excavator 20 based on the operation information. The correspondence between the attachment posture and the detection result of the load sensor 92 and the hardness information of the ground is stored in the storage device 63 in advance. The ground hardness information can be obtained from the operation information collected from the excavator 20 and the correspondence relationship stored in the storage device 63. The hardness of the ground is represented by, for example, four levels of rank 1 to rank 4.

  Correspondence between operation information and ground hardness information differs depending on the work contents such as deep excavation on the ground and excavation on the slope. Therefore, this correspondence is prepared for each work content.

  The work contents include loading, ground leveling, slope leveling, dismantling, etc., in addition to deep excavation and altitude excavation. The work content included in the operation information transmitted from the excavator 20 to the management device 60 is input to the vehicle controller 21 of the excavator 20 by the driver of the excavator 20. It is also possible for the management device 60 to estimate the work content based on the time history of the attachment posture. When the management device 60 has a function of estimating the work content, the driver does not need to input the work content to the vehicle controller 21.

  The degree of damage to each part of the excavator 20 and the distribution of the cumulative damage level in the part differ depending on the hardness of the ground to be worked and the work content. The ground hardness, work content, and the like are external factors that affect the damage of the parts of the excavator 20. External factors such as ground hardness and work content are stored in the storage device 63.

  The hardness of the ground, which is one of the external factors affecting the damage of the parts of the excavator 20, affects the power load applied to the excavator 20. For example, the harder the ground to be excavated, the greater the power load applied to the excavator 20. The hardness of the ground is a load factor that affects the power load applied to the excavator 20 and is also an external factor that affects the damage of the components of the excavator 20. Further, when the work contents are different, the power load applied to the excavator 20 is also different. Therefore, the work content is also a load factor that affects the power load applied to the excavator 20, and is also an external factor that affects the damage of the parts of the excavator 20.

  A data transfer request command is transmitted from the shovel support device 30 to the management device 60. When the management device 60 receives the data transfer request command, the accumulated damage degree or remaining life evaluation result accumulated in the component and the current external factor (or load factor) affecting the damage are stored in the shovel. It transmits to the support apparatus 30. The excavator support device 30 displays the received evaluation result and external factors (or load factors) on the display screen 31.

  FIG. 5 shows an example of an image displayed on the display screen 31 of the excavator support device 30. For each machine of the excavator 20, the machine identification number 38, the cumulative damage degree 39, and the maximum damage degree point 40 of the excavator 20 are displayed in association with the ground hardness 41 and the work content 43, which are external factors. Further, the same work duration 42 and the accumulated operation time 44 are displayed for each machine of the excavator 20. The same work duration 42 represents the time during which work having the same work content is continuously performed on the ground having the same hardness.

  The cumulative damage degree 39 represents the maximum value of the cumulative damage degree accumulated in the parts of the excavator 20, and is graphically displayed, for example, in 10 stages. The machine body identification number 38, the maximum damage degree portion 40, the ground hardness 41, the same work duration 42, the work content 43, and the cumulative operation time 44 are displayed as character strings. In the example shown in FIG. 5, the location where the cumulative damage degree accumulated in the first machine of the excavator 20 is the largest is the boom top boss. Unit 1 is excavating high places, and the hardness of the ground to be excavated is rank 4. The time during which high-altitude excavation is continued with respect to ground having a hardness of rank 4 is 5000, and the cumulative operation time is 7000.

  On the shovel support device 30, a ground hardness distribution map 45 is further displayed as a figure. In FIG. 5, the positions of rank 4 to rank 1 are indicated by the thickest solid line, the second thickest solid line, the thin solid line, and the broken line, respectively. Further, the current position of the excavator 20 is indicated by an icon in the ground hardness distribution map 45. The ground hardness distribution map 45 is created based on the position information for each machine of the excavator 20 and the hardness of the ground that is the work target of each machine of the excavator 20. By incorporating not only current information but also past information, the hardness of the ground where the work has been performed in the past by the plurality of excavators 20 can also be displayed in the ground hardness distribution map 45. . By pinching in or out the display screen 31, the distribution map 45 can be reduced or enlarged. Thereby, the detailed confirmation of the distribution of the hardness of the ground is possible.

  The administrator of the shovel 20 can make an appropriate repair inspection plan and relocation plan for the shovel 20 based on the information displayed on the shovel support device 30. For example, it is possible to make a repair inspection plan that preferentially inspects an aircraft with a large cumulative damage degree. Furthermore, it is possible to relocate an aircraft with a large cumulative damage level to a soft ground location, and relocate a small cumulative damage level to a strong ground location. In addition, an aircraft having a large cumulative damage degree may be rearranged at the site of loading work. Thus, by rearranging the excavator 20, it is possible to lengthen the period until the excavator 20 needs to be repaired.

  FIG. 6 shows another example of an image displayed on the excavator support device 30. In the example shown in FIG. 6, the remaining life 48 is displayed instead of the cumulative damage degree 39 displayed in FIG. The displayed remaining life 48 represents the shortest remaining life (shortest remaining life) of the remaining life of the components of the excavator 20. Instead of the damage degree maximum portion 40 displayed in FIG. 5, the shortest remaining life portion 49 is displayed. Also in this example, it is possible to make an appropriate repair inspection plan and rearrangement plan for the excavator 20 based on the remaining life of each aircraft.

  FIG. 7 shows still another example of an image displayed on the excavator support device 30. In the examples shown in FIGS. 5 and 6, attention is paid to the hardness of the ground as an external factor that affects the damage of the excavator 20. In the example shown in FIG. 7, attention is paid to the work content as an external factor that affects the damage of the excavator 20.

  For each machine of the excavator 20, the machine identification number 38, the cumulative damage degree 39, and the maximum damage degree point 40 of the excavator 20 are displayed in association with the work content 43 that is an external factor. Further, the work terrain 46, the same work duration time 47, and the cumulative operation time 44 are displayed for each body of the excavator 20. When the work content 43 is excavation or leveling, a slope or flat land classification is displayed as the work topography 46. In the example shown in FIG. 7, the work content of Unit 1 is “dismantling”, and the location with the greatest damage degree is the boom top boss.

  Information regarding the work terrain 46 is input to the vehicle controller 21 of the excavator 20 by the driver or maintenance personnel of the excavator 20. It is also possible for the management device 60 to estimate the work content based on the time history of the posture of the attachment and the load applied to the attachment. When the management device 60 has a function of estimating the work content, the driver or the maintenance staff does not need to input information on the work topography to the vehicle controller 21.

  Instead of the displayed ground hardness distribution diagram 45 shown in FIG. 5, a work content history 50 is displayed. The work content history 50 is displayed for each machine of the excavator 20, and the total work time for each work content performed in the past is indicated by a stacked bar graph. Information necessary for displaying the work content history 50, that is, total work time information for each work content of the excavator 20, is received from the management device 60 through the transmission / reception circuit 34 by the processing device 33.

  Also in the example shown in FIG. 7, the shovel manager can make an appropriate repair inspection plan and rearrangement plan for the shovel 20 based on the magnitude of the cumulative damage degree 39.

  Next, with reference to FIGS. 8 to 13, how to determine the cumulative damage degree and the remaining life will be described.

  FIG. 8 shows a flowchart of processing executed by the management apparatus 60 (FIG. 1). First, in step S1, the processing device 64 obtains measured values for at least one cycle of a series of operations repeated during work by the excavator 20 (FIG. 1), an attachment attitude sensor 91 (FIG. 2), and an attachment load sensor. 92 (FIG. 2) and the turning angle sensor 84 (FIG. 3). Along with these measured values, information such as work type, work date, machine identification number, etc. is acquired.

  The turning angle of the upper turning body 82 (FIG. 2) is acquired from the turning angle sensor 84 (FIG. 2). The attitude of the shovel 20 is specified by the detected values of the attachment attitude sensor 91 and the turning angle sensor 84. Of the series of operations of the excavator 20, the management operator of the management device 60 may set the time range for obtaining measurement values by the attachment attitude sensor 91, the attachment load sensor 92, and the turning angle sensor 84. An excavator driver or maintenance personnel may set it.

  9A to 9D show an example of a series of operations repeated in the excavator 20. FIGS. 9A to 9D schematically show the posture of the shovel 20 at any point in each step within one cycle of a series of operations, specifically, each step of excavation start, lifting swivel, soil removal, and return swirl. Shown in During operation of the excavator 20, for example, the postures shown in FIGS. 9A to 9D appear in order by repeating a series of operations.

  10A to 10C show examples of time waveforms (time changes) of the hydraulic pressure in the boom cylinder, the height of the tip of the arm, and the turning angle during the operation of the excavator 20, respectively. Solid lines L1 and L2 shown in FIG. 10A indicate the rod-side hydraulic pressure and the bottom-side hydraulic pressure in the boom cylinder, respectively. 10A to 10C, time t1 corresponds to the excavation start shown in FIG. 9A. Excavation is performed during a period from time t1 to t2. During the period from time t2 to t3, the boom lifting and turning operations shown in FIG. 9B are performed. During the period from time t3 to t4, the soil removal and return turning operations shown in FIG. 9C are performed. Corresponding to the repetition of a series of operations, a waveform that approximates the waveform from time t1 to t4 appears periodically.

  In step S2 (FIG. 8), a plurality of times to be analyzed (hereinafter referred to as “analysis time”) are extracted within one cycle of a series of operations. As an example, as shown in FIG. 10A, four analysis times of times t1 to t4 are extracted from one cycle. For example, characteristic times such as the hydraulic pressure in the cylinder, the peak of the time waveform of the turning angle, and the inflection point are extracted as the analysis time. If the number of analysis times to be extracted is increased, the analysis accuracy is improved, but the calculation time required for the analysis is increased. The processing device 64 (FIG. 1) may automatically extract the analysis time based on the time waveform shown in FIGS. 10A to 10C, or the operator may determine the analysis time by observing the time waveform. The analysis time may be input from the input device 61 (FIG. 1).

  In step S3 (FIG. 8), the distribution of stress applied to each of the parts such as the boom and the arm is calculated using the analysis model at each analysis time. The stress distribution is calculated based on the specific posture of the excavator determined at each analysis time. That is, the distribution of stress is calculated based on the load applied to the parts of the shovel for each position of the various shovels that appear within one cycle of a series of repeated operations. For the calculation of the stress distribution, for example, a numerical analysis method such as a finite element method can be applied. At this time, the posture applied to the shovel and the load applied to the parts of the shovel are used as analysis conditions. Here, the load is represented by a vector. The magnitude and direction of the load are determined by the hydraulic pressure in the hydraulic cylinder, the axial direction of the hydraulic cylinder (attachment posture), and the turning angular acceleration. The turning angular acceleration is calculated by differentiating the turning angle twice.

  FIG. 11 shows the calculation result of the distribution of stress applied to the boom at a certain analysis time. The stress is calculated for each element and node constituting the analysis model. In FIG. 11, locations where the stress is relatively large are shown in a relatively dark color. The analysis result of the stress distribution as shown in FIG. 11 is calculated for each analysis time and for each part.

  FIG. 12 shows an example of a time waveform of stress applied to one evaluation point Ep (FIG. 11) of the excavator part. The stress is calculated at each of the analysis times t1 to t4. The time waveform of stress shown in FIG. 12 is obtained for a plurality of evaluation points (a plurality of elements and nodes when the finite element method is used) for each part such as a boom, an arm, and a bucket.

  In step S4 (FIG. 8), for each evaluation point of each component, the damage degree accumulated during one cycle of the operation period (hereinafter referred to as “single-cycle damage degree”) is calculated. Thereby, distribution of the single period damage degree in components is obtained. The single cycle damage degree is calculated based on the extreme value of the stress extracted from the time change of the stress. Hereinafter, an example of a method for calculating the single-cycle damage degree will be described. First, the maximum value and the minimum value of the time waveform of stress shown in FIG. 12 are detected. Based on the maximum value and the minimum value, a stress range Δσ that is a range in which the stress fluctuates is obtained, and an appearance frequency for each stress range Δσ is obtained. The appearance frequency of the stress range Δσi is represented by ni.

FIG. 13 shows an example of the SN diagram. For example, in the SN diagram shown in FIG. 13, the fatigue life (number of repetitions of fracture) in the stress range Δσi is Ni. The single cycle damage degree D is expressed by the following equation according to the cumulative fatigue damage law (also known as the linear damage law).

  For example, assuming that the guaranteed lifetime of a part is Tg (time) and the average time per cycle of a series of operations is Tp (time), the guaranteed number of repetitions is represented by Tg / Tp. The assumed value of the single cycle damage degree is represented by this reciprocal, that is, Tp / Tg. When the excavator 20 is used under the condition that the single-cycle damage degree D matches the assumed value, the guaranteed lifetime Tg of the component can be guaranteed.

  In step S5 (FIG. 8), the cumulative damage degree and the remaining life distribution of the component are calculated. Hereinafter, a method for calculating the cumulative damage degree and the remaining life will be described. The management device 60 (FIG. 1) calculates the total sum (cumulative damage degree) of the single-cycle damage degree from the start of operation of the machine body to the present time for each machine body and parts of the excavator 20 to be managed. The cumulative damage degree accumulated until the start of the operation to be collected this time is stored in the storage device 63 (FIG. 1). When the cumulative damage degree of a part of the excavator 20 becomes 1, the possibility of breakage at that part increases. By subtracting the cumulative damage degree from 1, the remaining life is obtained.

  In step S6 (FIG. 8), the cumulative damage degree and the remaining life determined in step S5 are stored in the storage device 63 (FIG. 1) in association with information such as the machine identification number.

  The management device 60 reads the requested data from the storage device 63 in response to a command from the excavator support device 30 (FIG. 1) and transmits it to the excavator support device 30.

  FIG. 14 shows a sequence of communication performed between the excavator support device 30 according to another embodiment, and the excavator 20 and the management device 60. Hereinafter, differences from the embodiment shown in FIGS. 1 to 13 will be described, and description of the same configuration will be omitted.

  Operation information is transmitted from the shovel 20 to the shovel support device 30 using the short-range wireless communication device 25 (FIG. 1) of the shovel 20 and the short-range wireless communication circuit 35 (FIG. 1) of the shovel support device 30. The excavator support device 30 transmits a data transfer request command to the management device 60. When the management device 60 receives the data transfer request command, the management device 60 reads out the cumulative damage level of the requested shovel 20 up to the present time from the storage device 63 and transmits it to the shovel support device 30.

  The shovel support device 30 calculates the total single-cycle damage degree based on the operation information received from the shovel 20. The cumulative damage degree is updated to a new value by adding the total of the single-cycle damage degree newly obtained by the excavator support device 30 to the past cumulative damage degree received from the management device 60. The remaining life is obtained based on the updated cumulative damage degree. The updated cumulative damage degree is transmitted to the management device 60. The management device 60 rewrites the cumulative damage degree data to the updated value.

  Further, the shovel support device 30 obtains external factors such as ground hardness and work content based on the operation information received from the shovel 20. The obtained cumulative damage level, remaining life, external factors, etc. are displayed on the display screen 31 (FIG. 1). Information displayed on the display screen 31 is the same as any of the information shown in FIGS.

  FIG. 15 shows a communication sequence performed between the excavator support device 30, the excavator 20 and the management device 60 according to still another embodiment. Hereinafter, differences from the embodiment shown in FIG. 14 will be described, and description of the same configuration will be omitted.

  In the example shown in FIG. 15, the excavator support device 30 has information regarding the cumulative damage level up to the present time. For this reason, the shovel support device 30 can calculate a new cumulative damage level and a remaining life without making an inquiry to the management device 60 (FIG. 14).

  In the embodiment shown in FIGS. 14 and 15 as well, an appropriate repair / inspection plan and rearrangement plan for the excavator 20 can be established as in the embodiment shown in FIGS.

  In the above embodiment, as an object to be supported by the shovel support device, as shown in FIG. 3, the hybrid excavator in which the upper swing body 82 is swung by the electric swing motor 83 is illustrated, but the hydraulic shovel is the support target. Is also possible.

  FIG. 16 shows a block diagram of a hydraulic excavator to be supported. Hereinafter, differences from the hybrid excavator shown in FIG. 3 will be described, and description of the same configuration will be omitted.

  In the hydraulic excavator, the motor generator 111, the inverters 113A and 113B, and the power storage circuit 112 shown in FIG. 3 are not mounted. It should be noted that batteries for starting the engine 110 and for powering various electronic devices are mounted. Instead of the electric turning motor 83 (FIG. 3), a turning hydraulic motor 83A is mounted. The turning hydraulic motor 83A is driven by hydraulic oil supplied from the main pump 122. Similar to the hybrid excavator shown in FIG. 3, a posture sensor 91 and a load sensor 92 are attached to each of the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90.

  Although the present invention has been described with reference to the embodiments, the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications, improvements, combinations, and the like can be made.

20 excavator 21 vehicle controller 22 communication device 23 GPS receiver 24 display device 25 short-range wireless communication device 26 sensor group 30 excavator support device 31 display screen 32 input device 33 processing device 34 transmission / reception circuit 35 short-range wireless communication circuit 36 storage device 38 Machine identification number 39 Cumulative damage degree 40 Damage maximum point 42 Same work duration 43 Work content 44 Cumulative operation time 45 Ground hardness distribution diagram 46 Work topography 47 Same work duration 48 Remaining life 49 Shortest remaining life 50 Work content History 60 Management device 61 Input device 62 Output device 63 Storage device 64 Processing device 65 Communication device 70 Communication line 80 Lower traveling body 81 Slewing bearing 82 Upper swing body 83 Swing motor 83A Swing hydraulic motor 84 Swing angle sensor (resolver)
85 Boom 86 Arm 87 Bucket 88 Boom cylinder 89 Arm cylinder 90 Bucket cylinder 91 Attitude sensor (displacement sensor)
92 Load sensor (pressure sensor)
109A, 109B Hydraulic motor 110 Engine 111 Motor generator 112 Power storage circuit 113A, 113B Inverter 121 Torque transmission mechanism 122 Main pump 123 High pressure hydraulic line 124 Control valve 125 Pilot pump 126 Pilot line 127 Pressure sensor 128 Operating device 129, 130 Hydraulic line 131 Reducer 133 Mechanical brake

Claims (8)

A display screen for displaying images;
A transmission / reception circuit having a communication function;
A processing device for displaying an image on the display screen based on information received through the transmission / reception circuit;
The processing device receives information on the hardness of the ground through the transmission / reception circuit, obtains the hardness information of the ground based on the received information, and displays the distribution of the hardness of the ground on the display screen .   The shovel support device according to claim 1, wherein the processing device classifies the hardness of the ground into a plurality of stages based on the hardness information of the ground, and displays the divided stages on the display screen.   The excavator support device according to claim 1 or 2, wherein the ground hardness information includes information indicating the hardness of the ground at a place where work has been performed in the past.   4. The shovel support apparatus according to claim 1, wherein the processing device receives excavator position information through the transmission / reception circuit and displays the received position information of the excavator on the display screen. 5.   The shovel support device according to any one of claims 1 to 4, wherein the processing device displays an evaluation result based on a load factor applied to the shovel on the display screen. A display screen for displaying images;
A transmission / reception circuit having a communication function;
A processing device for displaying an image on the display screen based on information received through the transmission / reception circuit;
The processing device receives total work time information for each work content of each of the plurality of excavators through the transmission / reception circuit, and based on the received work time information, sums for each work content for each shovel. An excavator support device for displaying work time on the display screen.   The shovel support apparatus according to claim 6, wherein the processing apparatus displays the total work time on the display screen in a stacked graph. The shovel support apparatus according to any one of claims 1 to 7, wherein the processing device receives information related to work terrain through the transmission / reception circuit.