JP6675809B2 - Excavator support device - Google Patents

Description

  The present invention relates to a shovel support device that provides information useful for drafting an arrangement plan of a plurality of shovels at a work site.

  BACKGROUND ART In shovels such as hydraulic shovels, hybrid shovels, and electric shovels, the timing of component replacement and inspection / repair is determined based on various operation information collected from the shovel. In the invention disclosed in Patent Literature 1 below, not only the operating time of the shovel but also the operating time of each part of the shovel is measured. The repair / replacement time for each part is determined based on the operating time for each part. Thereby, it is possible to determine an appropriate repair / replacement time of the component.

  In the invention disclosed in Patent Literature 2 below, the maintenance time is determined based on the wear state of the component and the cumulative load of the component. Thus, an appropriate maintenance time can be determined.

Japanese Patent No. 4689134 Japanese Patent No. 4717579

  Even if the operation time of the shovel is the same, the degree of damage accumulated in the parts differs depending on external factors such as the work content and the 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 operation time for each operation content, a more appropriate maintenance time can be determined as compared with the case where the maintenance time is based only on the operation time.

  An object of the present invention is to provide information that is useful for planning an arrangement at 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 that displays an image on the display screen based on the information received through the transmission / reception circuit,
The processing device receives information detected by a group of sensors mounted on the shovel through the transmitting and receiving circuit, obtains ground hardness information based on the received information, and displays the distribution of ground hardness 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 that displays an image on the display screen based on the information received through the transmission / reception circuit,
The processing device receives the total work time information for each work content of each of the plurality of shovels through the transmitting and receiving circuit, based on the received work time information, for each shovel, the total of each work content A shovel support device that displays work time on the display screen is provided.

  External factors can be displayed. As a result, it is possible to provide useful information for drafting an arrangement plan at the work site.

FIG. 1 is a system configuration diagram including a shovel support device according to an embodiment. FIG. 2 is a side view of the shovel according to the embodiment. FIG. 3 is a block diagram of the shovel 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 device. FIG. 6 is a diagram illustrating another example of the image displayed on the display screen of the excavator support device. FIG. 7 is a diagram illustrating still another example of the image displayed on the display screen of the excavator support device. FIG. 8 is a flowchart of a process executed by the management device. 9A to 9D are diagrams illustrating an example of a series of operations repeated by the shovel. 10A to 10C are graphs each showing an example of the time waveform (time change) 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. FIG. 11 is a diagram illustrating a calculation result of a distribution of a stress applied to the boom at a certain analysis time. FIG. 12 is a graph showing an example of a time waveform of a stress applied to one evaluation point Ep (FIG. 11) of the shovel part. FIG. 13 is a graph showing an example of the SN diagram. FIG. 14 is a diagram illustrating a communication sequence performed between a shovel support device and a shovel and a management device according to another embodiment. FIG. 15 is a diagram illustrating a communication sequence performed between the shovel support device and the shovel according to another embodiment. FIG. 16 is a block diagram of a hydraulic excavator to be supported.

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

  The shovel 20 includes 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. The sensor group 26 detects various operation information of the shovel 20. The detection value of the sensor group 26 is input to the vehicle controller 21. The operation information includes, for example, a hydraulic pump pressure, a cooling water temperature, a hydraulic load, an attachment posture, a hydraulic cylinder expansion / contraction length, a turning angle, an operation time, an operation time, and the like.

  The vehicle controller 21 transmits, from the communication device 22 to the management device 60 via the communication line 70, the vehicle identification information of the shovel 20, detection values of various operation information, and current position information calculated by the GPS receiver 23. I do. The GPS receiver 23 has a role as a position sensor that detects the current position of the shovel 20. Further, the vehicle controller 21 displays various information on the shovel 20 on the display device 24. The short-range wireless communication device 25 directly communicates with the shovel support device 30 without passing 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 directly communicates with the nearby shovel 20. The storage device 36 stores a program executed by the processing device 33 and various information related to the shovel. The processing device 33 performs data processing based on data received from the management device 60 via the communication line 70 and the transmission / reception circuit 34, and displays a processing result on the display screen 31. A user of the shovel support device 30 (hereinafter, simply referred to as a “user”) inputs a command from the input device 32 to the processing device 33. As the shovel support device 30, for example, a tablet terminal, a mobile phone terminal, or the like is used. As the display screen 31 and the input device 32, for example, a touch panel is used. 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 information transmitted from the shovel 20 via the communication line 70 is input to the processing device 64 via the communication device 65. The storage device 63 stores a program executed by the processing device 64 and various management information. The processing device 64 generates support information for the shovel 20 based on the machine identification information, various pieces of operation information, current position information, and management information stored in the storage device 63 received from the shovel 20. The generated support information is output to the output device 62. Further, the processing device 64 transmits the machine identification information, the current position information, and the support information from the communication device 65 to the shovel support device 30 via the communication line 70.

  FIG. 2 shows a side view of the shovel 20. An upper swing body 82 is swingably 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.

  A displacement sensor 91 for measuring the amount of expansion and contraction of the hydraulic cylinder is attached to each of the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90. The attitude of the attachment can be obtained based on the amount of expansion and contraction measured by the displacement sensor 91. In this specification, the three displacement sensors 91 may be collectively referred to as a posture sensor 91. The posture 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 posture sensor 91, an angle sensor that measures an angle formed between the upper swing body 82 and the boom 85, an angle formed between the boom 85 and the arm 86, and an angle formed between the arm 86 and the bucket 87 may be used.

  Further, a pressure sensor 92 is attached to each of the boom cylinder 88, the arm cylinder 89, and the bucket cylinder 90. The pressure sensor 92 measures the bottom pressure and the rod pressure 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. The load applied to the bucket 87 can be determined based on the measurement result of the pressure sensor 92 and the posture of the attachment. 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 shovel 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. As 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 another input shaft of the torque transmission mechanism 121. The motor generator 111 can perform both an electric (assist) operation and a power generation operation. The torque transmission mechanism 121 has two input shafts and one output shaft. The drive shaft of the main pump 122 is connected to this output shaft.

  When the load applied to the main pump 122 is large, the motor generator 111 performs the 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 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 performs a power generation operation.

  The main pump 122 supplies a hydraulic pressure to a control valve 124 via a 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 according to a command from the driver. The hydraulic motors 109A and 109B respectively drive two left and right crawlers provided on the lower traveling body 80 (FIG. 2).

  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.

  Motor generator 111 is connected to power storage circuit 112 via inverter 113A. The turning motor 83 is connected to the power storage circuit 112 via the inverter 113B. Inverters 113A and 113B and power storage circuit 112 are controlled by vehicle controller 21.

  Inverter 113A controls the 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 when the motor generator 111 is in the assist operation, necessary electric power is supplied from the power storage circuit 112 to the motor generator 111 through the inverter 113A. During the period when the motor generator 111 is performing the power generation operation, 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 power storage circuit 112 is charged.

  The swing motor 83 is AC-driven by the inverter 113B, and can perform both the powering operation and the 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. At the time of the regenerative operation, the rotational motion of the upper swing body 82 is transmitted to the swing motor 83 via the speed reducer 131, so that the swing motor 83 generates regenerative electric power. The generated regenerative power is supplied to power storage circuit 112 via inverter 113B. Thereby, the power storage device in 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 rotation direction. As 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 rotating direction before and after the operation of the swing motor 83, the swing angle and the swing direction are derived. The turning angle sensor 84 is included in the sensor group 26 (FIG. 1).

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

  A pilot pump 125 generates a pilot pressure required for the hydraulic operation system. The generated pilot pressure is supplied to the operation 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 hydraulic pressure supplied from the pilot line 126 into a secondary hydraulic pressure in accordance with a driver's operation. The hydraulic pressure on the secondary side is transmitted to the control valve 124 via a hydraulic line 129 and to the pressure sensor 127 via another 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 status of the operation on 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 sequence of communication performed between the shovel 20, the shovel support device 30, and the management device 60. Operation information is transmitted from the shovel 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 body identification number, The work date, work content, etc. are included.

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

  When the shovel 20 is performing excavation work, the management device 60 obtains hardness information of the ground on which the shovel 20 is to be worked based on the operation information. The correspondence between the attitude of the attachment 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. From the operation information collected from the shovel 20 and the correspondence stored in the storage device 63, ground hardness information can be obtained. The hardness of the ground is represented by, for example, four levels of rank 1 to rank 4.

  The correspondence between the operation information and the hardness information of the ground is different due to the difference in work contents such as deep excavation of the ground and excavation of the slope. Therefore, this correspondence is prepared for each work content.

  The work content includes loading, leveling of the ground, leveling of the slope, demolition, etc., in addition to deep excavation and high-level excavation. The work content included in the operation information transmitted from the shovel 20 to the management device 60 is input to the vehicle controller 21 of the shovel 20 by the driver of the shovel 20. The management device 60 can also estimate the work content based on the time history of the posture of the attachment. If the management device 60 has a function of estimating the work content, the driver need not input the work content to the vehicle controller 21.

  The degree of damage to each part of the shovel 20 and the distribution of the cumulative damage degree in the part differ depending on the hardness of the ground to be worked and the work content. The hardness of the ground, the content of work, and the like are external factors that affect damage to parts of the shovel 20. External factors such as the hardness of the ground and the 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 shovel 20, affects the power load applied to the shovel 20. For example, the harder the ground to be excavated, the greater the power load applied to the shovel 20. The hardness of the ground is a load factor that affects the power load applied to the shovel 20 and is an external factor that affects damage to parts of the shovel 20. Further, when the work content is different, the power load applied to the shovel 20 is also different. Therefore, the work content is not only a load factor affecting the power load applied to the shovel 20, but also an external factor affecting damage to parts of the shovel 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 excavator determines the accumulated damage degree or the remaining life evaluation result accumulated in the component and the current external factor (or load factor) affecting the damage. It is transmitted to the support device 30. The shovel support device 30 displays the received evaluation result and the external factor (or the load factor) 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 body of the shovel 20, the body identification number 38, the cumulative damage level 39, and the maximum damage level 40 of the shovel 20 are displayed in association with the ground hardness 41 and the work contents 43, which are external factors. Further, the same work continuation time 42 and the cumulative operation time 44 are displayed for each of the excavators 20. The same work continuation time 42 represents a time during which works of the same work content are continuously performed on the ground having the same hardness.

  The cumulative damage degree 39 indicates the maximum value of the cumulative damage degree accumulated in the parts of the shovel 20, and is graphically displayed in, for example, 10 levels. The machine identification number 38, the damage maximum point 40, the ground hardness 41, the same work continuation time 42, the work content 43, and the cumulative operation time 44 are displayed as character strings. In the example illustrated in FIG. 5, the location where the cumulative damage degree accumulated in the first excavator 20 is the boom top boss. Unit 1 is excavating at high altitude, and the hardness of the ground to be excavated is rank 4. The time during which high-level excavation is continued on the ground having the hardness of rank 4 is 5000, and the cumulative operation time is 7000.

  The ground hardness distribution map 45 is further displayed on the shovel support device 30 as a graphic. In FIG. 5, the positions of ranks 4 to 1 are indicated by the thickest solid line, the second thickest solid line, the thinnest solid line, and the broken line, respectively. Further, in the distribution map 45 of the hardness of the ground, the current position of the shovel 20 is indicated by an icon. The distribution map 45 of the hardness of the ground is created based on the position information of each of the shovels 20 and the hardness of the ground on which each of the shovels 20 is to be worked. By incorporating past information as well as current information, the hardness of the ground where work has been performed in the past with a plurality of shovels 20 can also be displayed in the ground hardness distribution map 45. . By pinching the display screen 31 in or out, the distribution map 45 can be reduced or enlarged. Thereby, the distribution of the hardness of the ground can be confirmed in detail.

  The manager of the shovel 20 can make an appropriate repair inspection plan and a relocation plan of 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 in which inspection of an airframe having a large cumulative damage degree is preferentially performed. Further, it is possible to relocate an airframe with a large cumulative damage degree to a place on a soft ground, and relocate an airframe with a small cumulative damage degree to a place on a strong ground. Further, an aircraft having a large cumulative damage degree may be relocated to the site of the loading operation. Thus, by rearranging the shovel 20, it is possible to lengthen the period until the shovel 20 needs to be repaired.

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

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

  For each machine of the shovel 20, the machine identification number 38, the cumulative damage level 39, and the maximum damage level 40 of the shovel 20 are displayed in association with the work content 43 which is an external factor. Further, the work terrain 46, the same work continuation time 47, and the cumulative operation time 44 are displayed for each body of the shovel 20. When the work content 43 is excavation or leveling, a slope or a flat ground is displayed as the work topography 46. In the example shown in FIG. 7, the work content of the first machine is “dismantling”, and the location with the highest damage degree is the boom top boss.

  Information about the work terrain 46 is input to the vehicle controller 21 of the shovel 20 by a driver or maintenance personnel of the shovel 20. The management device 60 can also 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 terrain to the vehicle controller 21.

  A work content history 50 is displayed instead of the displayed ground hardness distribution diagram 45 shown in FIG. The work content history 50 is displayed for each machine of the shovel 20, and the total work time for each work content performed in the past is shown as 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 shovel 20 is received by the processing device 33 from the management device 60 through the transmission / reception circuit 34.

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

  Next, a method of obtaining the cumulative damage degree and the remaining life will be described with reference to FIGS.

  FIG. 8 shows a flowchart of a process executed by the management device 60 (FIG. 1). First, in step S1, the processing device 64 uses the attachment posture sensor 91 (FIG. 2) and the load sensor of the attachment for at least one cycle of a series of operations repeated during operation by the shovel 20 (FIG. 1). 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, and the like are acquired.

  The turning angle of the upper turning body 82 (FIG. 2) is obtained from the turning angle sensor 84 (FIG. 2). The posture of the shovel 20 is specified based on the values detected by the posture sensor 91 and the turning angle sensor 84 of the attachment. In a series of operations of the shovel 20, the range of time for acquiring the measurement values by the attachment attitude sensor 91, the attachment load sensor 92, and the turning angle sensor 84 may be set by the management operator of the management device 60. May be set by a shovel operator or maintenance personnel.

  9A to 9D show an example of a series of operations repeated by the shovel 20. 9A to 9D schematically show the posture of the shovel 20 at any time during each step in one cycle of a series of operations, specifically, during each step of excavation start, lifting rotation, earth discharging, and return rotation. Shown in During the operation of the shovel 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 the time waveform (time change) 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 20, respectively. Solid lines L1 and L2 shown in FIG. 10A indicate the hydraulic pressure on the rod side and the hydraulic pressure on the bottom side 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 operation of lifting and turning the boom shown in FIG. 9B is performed. During the period from time t3 to time t4, the operations of discharging and turning shown in FIG. 9C are performed. Corresponding to the repetition of the series of operations, a waveform approximating the waveform from time t1 to time t4 appears periodically.

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

  In step S3 (FIG. 8), at each analysis time, the distribution of the stress applied to each of the components such as the boom and the arm is calculated using the analysis model. The stress distribution is calculated based on a specific posture of the shovel determined at each analysis time. That is, the distribution of the stress is calculated based on the load applied to the parts of the shovel for each of various postures of the shovel appearing 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 of 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 (the attitude of the attachment), and the turning angular acceleration. The turning angle acceleration is calculated by differentiating the turning angle twice.

  FIG. 11 shows a calculation result of the distribution of the stress applied to the boom at a certain analysis time. The stress is calculated for each element and each node constituting the analysis model. In FIG. 11, portions 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 component.

  FIG. 12 shows an example of a time waveform of a stress applied to one evaluation point Ep (FIG. 11) of the shovel part. The stress is calculated at each of the analysis times t1 to t4. The time waveform of the 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), the degree of damage accumulated during one cycle of operation (hereinafter referred to as "single-period damage") is calculated for each evaluation point of each component. Thereby, the distribution of the single-period damage degree in the component 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 of calculating the single-cycle damage degree will be described. First, the maximum value and the minimum value of the time waveform of the stress shown in FIG. 12 are detected. Based on the local maximum value and the local minimum value, a stress range Δσ, which is a range in which the stress varies, is determined, and an appearance frequency for each stress range Δσ is determined. 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 (the number of repeated fractures) in the stress range Δσi is Ni. According to the cumulative fatigue damage rule (also called the linear damage rule), the single-cycle damage degree D is represented by the following equation.

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

  In step S5 (FIG. 8), the distribution of the cumulative damage degree and the remaining life of the component is calculated. Hereinafter, a method of calculating the cumulative damage degree and the remaining life will be described. The management device 60 (FIG. 1) calculates the sum of the single-cycle damages (cumulative damage) from the start of operation of the machine to the current time for each machine of the shovel 20 to be managed and for each component. The cumulative damage degree accumulated before the start of the operation targeted for the current data collection is stored in the storage device 63 (FIG. 1). If the cumulative damage degree of a part of the component of the shovel 20 becomes 1, the possibility of breakage at that part increases. The remaining life is determined by subtracting the cumulative damage degree from 1.

  In step S6 (FIG. 8), the accumulated damage degree and the remaining life obtained 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 according to the command from the shovel support device 30 (FIG. 1), and transmits the data to the shovel support device 30.

  FIG. 14 illustrates a communication sequence performed between the shovel support device 30 according to another embodiment, the shovel 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.

  The operating 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 shovel support device 30 transmits a data transfer request command to the management device 60. When receiving the data transfer request command, the management device 60 reads out the accumulated 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 degrees newly obtained by the shovel support device 30 to the past cumulative damage degree received from the management device 60. The remaining life is calculated 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 data of the cumulative damage degree to the updated value.

  Furthermore, 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 degree, remaining life, external factors, and the like are displayed on the display screen 31 (FIG. 1). The information displayed on the display screen 31 is the same as any of the information shown in FIGS.

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

  In the example illustrated in FIG. 15, the excavator support device 30 has information on the cumulative damage degree up to the present time. For this reason, the shovel support device 30 can calculate the new cumulative damage degree and the remaining life without querying the management device 60 (FIG. 14).

  In the embodiment shown in FIG. 14 and FIG. 15, similarly to the embodiment shown in FIG. 1 to FIG.

  In the above embodiment, as shown in FIG. 3, the hybrid shovel in which the upper swing body 82 is turned by the electric turning motor 83 is illustrated as a support target of the shovel support device. Is also possible.

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

  The hydraulic excavator does not include the motor generator 111, the inverters 113A and 113B, and the power storage circuit 112 illustrated in FIG. A battery for starting the engine 110 and a power source for various electronic devices are mounted. A hydraulic motor for turning 83A is mounted in place of the electric turning motor 83 (FIG. 3). The turning hydraulic motor 83A is driven by hydraulic oil supplied from the main pump 122. As in the hybrid shovel 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. For example, it will be apparent to those skilled in the art that various modifications, improvements, combinations, and the like can be made.

Reference Signs List 20 shovel 21 vehicle controller 22 communication device 23 GPS receiver 24 display device 25 short-range wireless communication device 26 sensor group 30 shovel 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 Aircraft identification number 39 Cumulative damage degree 40 Damage degree maximum point 42 Same work duration 43 Work content 44 Cumulative operation time 45 Ground hardness distribution map 46 Work topography 47 Same work duration 48 Remaining life 49 Shortest remaining life location 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 revolving body 83 Slewing motor 83A Slewing hydraulic motor 84 Slewing 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 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 that displays an image on the display screen based on the information received through the transmission / reception circuit,
The processing device receives information detected by a group of sensors mounted on the shovel through the transmitting and receiving circuit, obtains ground hardness information based on the received information, and displays the distribution of ground hardness on the display screen. Excavator support device to be displayed.   The excavator support device according to claim 1, wherein the processing device divides 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 shovel support device according to claim 1, wherein the ground hardness information includes information indicating the hardness of the ground at a location where work has been performed in the past.   4. The shovel support device according to claim 1, wherein the processing device receives position information of the shovel through the transmission / reception circuit, and displays the received position information of the shovel on the display screen. 5.   The shovel support device according to claim 1, 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 that displays an image on the display screen based on the information received through the transmission / reception circuit,
The processing device receives the total work time information for each work content of each of the plurality of shovels through the transmitting and receiving circuit, based on the received work time information, for each shovel, the total of each work content A shovel support device that displays work time on the display screen.   The shovel support device according to claim 6, wherein the processing device displays the total work time on the display screen in a stacked graph. The shovel support device according to any one of claims 1 to 7, wherein the processing device receives information on a work topography through the transmission / reception circuit.