JP7369353B2 - Abnormality diagnosis system and abnormality diagnosis method - Google Patents

Description

The present invention relates to an abnormality diagnosis system and an abnormality diagnosis method for a hydraulic device.

BACKGROUND ART Hydraulic pressure (hydraulic) devices have conventionally been used in cargo handling equipment and the like. In the hydraulic device, a motor drives a pump, and the pump discharges liquid (hydraulic oil). A valve provided in a hydraulic device switches the direction in which liquid flows, thereby supplying liquid to a hydraulic cylinder or discharging liquid from the hydraulic cylinder. When the piston of the hydraulic cylinder moves, the piston rod fixed to the piston moves. For example, a cargo platform attached to a piston rod is raised and lowered.

If a hydraulic device abnormally stops during use, it is necessary to repair the hydraulic device in that state. For example, cargo is placed on the bed of a truck and the bed is raised and lowered by a hydraulic device. If the hydraulic device abnormally stops while the loading platform is being raised or lowered, the truck cannot be moved because the hydraulic device must be repaired in that state. There is a risk that cargo handling operations at warehouses etc. will be interrupted. Therefore, it is necessary to discover abnormalities in the hydraulic equipment early and repair the abnormalities before the hydraulic equipment stops abnormally.

Patent Document 1 listed below discloses detecting an abnormality in a hydraulic device by measuring the pressure of liquid in the hydraulic device. Specifically, failures in the pressure control valve's unload circuit are detected by measuring the pressure in the line connected to the pressure control valve.

International publication number WO2017/164370

However, the pressure control valve is not the only part that can fail in a hydraulic system. For example, since multiple valves are typically used in hydraulic systems, each valve may fail. Furthermore, parts of hydraulic equipment other than valves, such as motors, pumps, and hydraulic cylinders, may also fail. Patent Document 1 cannot detect abnormalities occurring in these parts. Furthermore, if the hydraulic device stops abnormally, the user of the hydraulic device cannot identify the component that caused the problem. If we don't know where the abnormality is, we won't be able to arrange parts, and repairs will take time.

An object of the present invention is to provide an abnormality diagnosis system and an abnormality diagnosis method that can detect abnormalities in a hydraulic device at an early stage.

In order to solve the above problems, an abnormality diagnosis system and an abnormality diagnosis method according to the present invention have the following configuration.

The abnormality diagnosis system of the present invention includes a motor, a contactor that turns on or off the motor, a hydraulic cylinder, a tank that stores liquid, and a liquid that is driven by the motor and is stored in the tank. a pump that discharges toward a pressure cylinder; a valve that controls the flow of the liquid; a sensor that detects vibrations caused by the operation of at least one of the motor, the contactor, the hydraulic cylinder, the pump, and the valve; and the motor and the contactor. , a storage device that stores vibrations that occur when at least one of a hydraulic cylinder, a pump, and a valve operates normally; and a storage device that stores vibrations that occur when at least one of a hydraulic cylinder, a pump, and a valve operates normally; , a control device that determines an abnormality in at least one of the hydraulic cylinder, the pump, and the valve.

The abnormality diagnosis method of the present invention includes a motor, a contactor that turns on or off the motor, a hydraulic cylinder, a tank that stores liquid, and a liquid that is driven by the motor and is stored in the tank. a pump that discharges toward a pressure cylinder; a valve that controls the flow of the liquid; a sensor that detects vibrations caused by the operation of at least one of the motor, the contactor, the hydraulic cylinder, the pump, and the valve; and the motor and the contactor. , a storage device that stores vibrations that occur when at least one of a hydraulic cylinder, a pump, and a valve operates normally; and a storage device that stores vibrations that occur when at least one of a hydraulic cylinder, a pump, and a valve operates normally; a hydraulic cylinder, a pump, and a control device that determines an abnormality in at least one of the valves, the step of driving or stopping a motor by turning on or off the contactor; supplying or discharging liquid to or from a hydraulic cylinder by opening and closing said valve; and vibration caused by said sensor's operation of at least one of a motor, a contactor, a hydraulic cylinder, a pump, and a valve. and a step in which the control device compares the vibration detected by the sensor with the vibration stored in the storage means to determine an abnormality in at least one of the motor, the contactor, the hydraulic cylinder, the pump, and the valve. Be prepared.

According to the present invention, abnormalities can be determined by detecting vibrations caused by the operation of a contactor or the like using a sensor. Abnormalities can be detected by the vibrations of each part, so abnormal parts can be repaired or replaced at an early stage. It is now easier to prevent abnormal stoppages of hydraulic equipment.

1 is a diagram showing the configuration of an abnormality diagnosis system of the present application. It is a diagram showing a cargo handling device of a truck. FIG. 6 is a diagram showing the difference between vibrations stored in a storage device and vibrations having an abnormality. It is a graph showing the relationship between a contactor, a directional control valve, and vibration. FIG. 6 is a diagram showing the difference between vibrations stored in a storage device and vibrations having an abnormality. FIG. 2 is a diagram showing the configuration of an abnormality diagnosis system for a hydraulic device using two hydraulic cylinders. 1 is a diagram showing the configuration of an abnormality diagnosis system including a communication device.

An abnormality diagnosis system and an abnormality diagnosis method according to an embodiment of the present invention will be described with reference to the drawings. Although a plurality of embodiments will be described, even in different embodiments, the same means may be given the same reference numerals and the explanation thereof may be omitted.

[Embodiment 1]
The abnormality diagnosis system 10 of the present application shown in FIG. 1 diagnoses abnormalities in a hydraulic (hydraulic) device 12. The hydraulic device 12 is incorporated into a cargo handling device such as a truck or a forklift. For example, a cargo handling device 16 of a truck 14 shown in FIG. 2 includes a hydraulic device 12 and a cargo receiving platform 18. The loading platform 18 is raised and lowered by the hydraulic device 12.

[Hydraulic device]
The hydraulic device 12 includes a power source 20, a motor 22 driven by the power of the power source 20, a contactor 24 that turns on or off the motor 22, a hydraulic cylinder 26, a tank 28 for storing liquid (hydraulic oil), and the tank 28. A pump 30 that discharges liquid stored in the hydraulic cylinder 26 toward the hydraulic cylinder 26, valves 32, 34, 36, 38, and 40 that control the flow of the liquid, and a control device 42 are provided.

Power supply 20 is a DC power supply. In the case of the truck 14 in FIG. 2, the on-vehicle battery of the truck 14 is used as the power source 20. In addition to the on-board battery of the truck 14, a dedicated power source 20 may be provided for the hydraulic device 12. The power supply 20 may be one in which the output of an AC power supply is converted to DC using a power supply circuit.

Although a DC brushless motor is used as the motor 22, other motors may be used. Motor 22 is connected to power supply 20 via contactor 24 . When the contactor 24 is turned on, the power supply 20 and the motor 22 are connected, and power is supplied from the power supply 20 to the motor 22.

The contactor 24 is an electromagnetic switch. The contactor 24 includes a contact switch 44 and a coil 46. A controller 42 can apply current to a coil 46 of contactor 24 . The contact switch 44 is turned on or off depending on the presence or absence of current flowing through the coil 46. When the contact switch 44 is turned on, the motor 22 and the power source 20 are connected, and the motor 22 is driven.

The hydraulic cylinder 26 is such that a piston within the cylinder moves linearly when liquid is supplied or discharged therein. A piston rod is attached to the piston, and when the piston moves linearly, the parts attached to the tip of the piston rod move. For example, when the loading platform 18 is attached to the tip of the piston rod, the loading platform 18 can be moved up and down.

The pump 30 can be a gear pump, vane pump, screw pump, plunger pump, or the like. The pump 30 is driven by the power of the motor 22. Pump 30 discharges the liquid stored in tank 28 toward hydraulic cylinder 26 .

The valves 32, 34, 36, 38, 40 include directional control valves 32, 34, pressure control valves (relief valves) 36, and check valves (non-return valves) 38, 40. The directional control valve includes a first directional control valve 32 and a second directional control valve 34.

The first directional control valve 32 switches between supplying and stopping liquid to the hydraulic cylinder 26 . The first directional control valve 32 is selected as a check valve in a state where the excitation coil is not excited, and the supply of liquid to the hydraulic cylinder 26 is stopped. When the exciting coil is excited, the first directional control valve 32 is opened and liquid is supplied to the hydraulic cylinder 26.

The second directional control valve 34 switches between discharging and stopping the liquid from the hydraulic cylinder 26. The second directional control valve 34 is closed as a check valve when the exciting coil is not excited, and discharge of liquid from the hydraulic cylinder 26 is stopped. When the exciting coil is excited, the second directional control valve 34 is opened and liquid is discharged from the hydraulic cylinder 26.

For example, when the loading platform 18 is attached to the tip of the piston rod, the loading platform 18 will be raised by opening the first directional control valve 32 and selecting the check valve of the second directional control valve 34. Conversely, if the check valve of the first directional control valve 32 is selected and the second directional control valve 34 is opened, the cargo platform 18 will be lowered. The excitation coils of each of the directional control valves 32 and 34 are wired so that an excitation current is passed therethrough by the control device 42 (not shown).

A throttle 48 is provided between the tank 28 and the second directional control valve 34. When liquid is discharged from the hydraulic cylinder 26, if the liquid is discharged all at once, the piston moves all at once. For example, if the loading platform 18 is attached to the tip of the piston rod, the loading platform 18 will be lowered all at once. The throttle 48 prevents liquid from being discharged from the hydraulic cylinder 26 all at once.

The pressure control valve 36 is a valve that is opened when the pressure of the liquid exceeds a certain level. After the maximum amount of liquid discharged from the pump 30 is supplied to the hydraulic cylinder 26, no liquid enters the hydraulic cylinder 26. Further, if the two directional control valves 32 and 34 are closed while the pump 30 is driven, there is nowhere for the liquid to go. In these cases, the pressure of the liquid increases, and there is a risk that components of the hydraulic device 12, such as the pump 30 and the hydraulic cylinder 26, may be damaged. When the pressure of the liquid exceeds a certain level, the pressure control valve 36 is opened and the liquid is discharged into the tank 28, thereby protecting the components of the hydraulic device 12.

The check valves 38 and 40 are valves to prevent liquid from flowing back into the pump 30. Check valves 38, 40 open when liquid is flowing from pump 30 toward hydraulic cylinder 26. When liquid attempts to flow from the hydraulic cylinder 26 toward the pump 30, the check valves 38, 40 close.

A pressure gauge 50 is provided to measure the pressure of the liquid. The pressure gauge 50 can be a Bourdon tube pressure gauge or a diaphragm pressure gauge, but the pressure gauge 50 is not particularly limited as long as it can measure the pressure of a liquid. The value of the pressure gauge 50 is input to the controller 42 to monitor the pressure of the liquid. If the liquid pressure rises above the upper limit, controller 42 turns off contactor 24 and stops motor 22 and pump 30.

The control device 42 includes an arithmetic circuit such as a CPU (Central Processing Unit) or a PLC (Programmable Logic Controller). The control device 42 is operated by the power supply 20 described above. A controller 42 controls the contactor 24 and each directional control valve 32,34. When the controller 42 applies current to the coil 46, the contactor 24 is turned on, and when the controller 42 does not apply current, the contactor 24 is turned off. When the control device 42 applies current to the excitation coils of the directional control valves 32 and 34, the excitation coils are excited and the directional control valves 32 and 34 are opened. If no current is applied to the excitation coil, check valves are selected as the directional control valves 32 and 34.

Switches SW1 and SW2 are connected to the control device 42. For example, when the hydraulic device 12 raises and lowers the loading platform 18, it includes a lift switch SW1 and a lowering switch SW2 for the loading platform 18. When either switch SW1 or SW2 is pressed, the control device 42 controls the contactor 24 and the directional control valves 32, 34 as described above to control the supply and discharge of liquid to the hydraulic cylinder 26.

Some parts of the hydraulic device 12 are housed in a housing 52. Housed in the housing 52 are at least the motor 22, the contactor 24, the pump 30, the valves 32, 34, 36, 38, 40, and the control device 42.

[Abnormality diagnosis system]
The abnormality diagnosis system 10 of the present application diagnoses an abnormality in at least one of the contactor 24 and the directional control valves 32 and 34 of the hydraulic device 12. The abnormality diagnosis system 10 includes a sensor 54 that detects vibrations, a storage device 56 that stores normal vibrations, and a control device 42.

Sensor 54 detects vibrations occurring in contactor 24 and directional control valves 32,34. The vibrations include sound traveling through the air, and the sensor 54 includes a microphone. A microphone collects the sound generated when the contactor 24 and the directional control valves 32 and 34 operate. For example, a condenser microphone can be used as a microphone. Since a condenser microphone can detect changes between electrodes due to sound, the sound is not limited to sounds in the audible range. That is, a condenser microphone is used as a vibration sensor.

Semiconductor memory or magnetic storage devices can be used as storage device 56. The storage device 56 stores vibrations when the contactor 24 and the directional control valves 32, 34 operate normally. Vibration is sound and remembers the amplitude, frequency and time of the vibration. The time includes the duration of the vibration and the time when the vibration begins. The time when the vibration starts is defined as the time from when the control device 42 turns on or stops current to the coil 46 of the contactor 24 until the contact switch 44 is turned on or off, and when the control device 42 turns on or off the directional control valves 32 and 34. It includes the time from energizing or de-energizing the coil until the directional control valves 32, 34 are opened or switched to check valves.

The vibration detected by the sensor 54 may be stored in the storage device 56. The vibration data stored in the storage device 56 can be used to analyze the operation of the hydraulic device 12.

The control device 42 not only controls the contactor 24 and the directional control valves 32 and 34 of the hydraulic device 12 but also determines whether the contactor 24 and the directional control valves 32 and 34 are abnormal. The control device 42 compares the vibration detected by the sensor 54 and the vibration stored in the storage device 56, and determines that there is an abnormality if the detected vibration differs from the stored vibration by a certain value or more.

The contactor 24 is turned on or off by the control device 42 controlling the coil 46 of the contactor 24 by applying or stopping current. At this time, if there is an abnormality in the contactor 24, at least one of the amplitude, frequency, and period of vibration generated in the contactor 24, and the time from when the control device 42 controls the contactor 24 until the contactor 24 is turned on or off is different. The control device 42 controls the direction control valves 32 and 34, thereby operating the direction control valves 32 and 34. If there is an abnormality in the directional control valves 32, 34, at least one of the amplitude, frequency, period of vibration, and time required for the directional control valves 32, 34 to operate or stop will differ. The control device 42 compares these abnormal vibrations with normal vibrations to determine abnormality.

For example, the vibration shown at the top of FIG. 3 is the vibration 60a when the contactor 24 operates normally, and is the vibration stored in the storage device 56. The amplitude of vibration 60b is greater than the amplitude of stored vibration 60a, the frequency of vibration 60c is higher than the frequency of stored vibration 60a, the duration of vibration 60d is longer than the duration of stored vibration 60d, and vibration 60e The start time of is later than the stored start time of vibration 60a. In this way, by comparing the amplitude, frequency, period, and time of vibration, it is possible to detect differences in sound, difference in length, presence or absence of chattering noise, etc. when the contactor 24 and directional control valves 32 and 34 operate. . As an example of a specific comparison method, the difference between the vibration stored in the storage device 56 and the vibration detected by the sensor 54 is taken, and the presence or absence of an abnormality is determined based on the value of the obtained difference.

When the switches SW1 and SW2 are turned on or off, the time during which the control device 42 controls the contactor 24 and the time during which the directional control valves 32 and 34 are controlled are made different. As shown in FIG. 4, there is a time difference between the time T1 when the contactor 24 is turned on and the time T2 when the directional control valves 32 and 34 are opened, and the time T3 when the contactor 24 is turned off and the directional control valves 32 and 34 are checked. There is a time difference with the time T4 when switching to the valve. By not driving the contactor 24 and the directional control valves 32 and 34 at the same time, the vibration detected by the sensor 54 can be easily distinguished. Furthermore, by driving the directional control valves 32 and 34 after the vibration of the contactor 24 ends, it becomes easier for the sensor 54 to distinguish between vibrations.

A sensor 54 and a storage device 56 are also housed in the housing 52. Since the housing 52 can block external sounds, the sensor 54 can easily detect vibrations of the contactor 24 and the directional control valves 32 and 34.

The abnormality diagnosis system 10 may include a display that displays an abnormality in the contactor 24 or the directional control valves 32 and 34, a speaker that emits a warning sound, and the like. The operator of the hydraulic device 12 is informed of the abnormality of the hydraulic device 12 by displaying the failure on a display or emitting a warning sound through a speaker.

[Abnormality diagnosis method]
Next, a failure diagnosis method using the abnormality diagnosis system 10 will be explained. (1) The hydraulic device 12 is controlled by the operator operating the switches SW1 and SW2. When the rise switch SW1 is turned on, the control device 42 turns on the contactor 24. When contactor 24 is turned on, motor 22 is connected to power source 20 . The motor 22 is driven, and the pump 30 is also driven. Pump 30 pumps liquid toward hydraulic cylinder 26 . When the rise switch SW1 is turned off, the control device 42 turns off the contactor 24. Power source 20 and motor 22 are disconnected, motor 22 stops, and pump 30 also stops.

Furthermore, even when the lower switch SW2 is turned on or off, the control device 42 controls the contactor 24 in the same way as when the upper switch SW1 is turned on or off.

(2) When the switches SW1 and SW2 are turned on, the directional control valves 32 and 34 are opened depending on the type of the switches SW1 and SW2 that have been turned on. When the rise switch SW1 is turned on, the control device 42 applies a current to the excitation coil of the first directional control valve 32 to excite it, and opens the first directional control valve 32. The liquid discharged by the pump 30 is supplied to the hydraulic cylinder 26. The piston rises, and the loading platform 18 rises. When the rise switch SW1 is turned off, the control device 42 stops excitation of the excitation coil of the first directional control valve 32, and the first directional control valve 32 is switched to a check valve. At this time, if the second directional control valve 34 is closed, the liquid is held by the second directional control valve 34 and the check valve 38. The cargo receiving platform 18 is held in an elevated state.

When the lowering switch SW2 is turned on, the control device 42 excites the excitation coil of the second directional control valve 34 and opens the second directional control valve 34. The piston of the hydraulic cylinder 26 is pushed by the weight of the cargo receiving platform 18 and the weight of the cargo placed on the receiving platform 18 . Liquid is discharged from the hydraulic cylinder 26 through the first directional control valve 32 and the second directional control valve 34 into the tank 28 . When the lowering switch SW2 is turned off, the control device 42 stops excitation of the excitation coil of the second directional control valve 34, and the second directional control valve 34 is switched to a check valve. The liquid in the hydraulic cylinder 26 is maintained, and the cargo receiving platform 18 is maintained in a stopped state.

(3) The sensor 54 detects vibrations caused by turning on and off the contactor 24 in (1) and (2) above and vibrations caused by driving each of the directional control valves 32 and 34. The sensor 54 is a microphone, and the vibration is sound transmitted through the air.

(4) The control device 42 compares the vibration detected by the sensor 54 and the vibration stored in the storage device 56, and if the vibration detected by the sensor 54 differs from the vibration stored in the storage device 56 by more than a certain level. For example, it is determined that the contactor 24 or the directional control valves 32 and 34 are abnormal. The controller 42 compares the amplitude of the vibrations, the frequency, the duration of the vibrations, and the time when the vibrations start. If any of them differs by a certain amount or more, there is a high possibility that an abnormality has occurred in the contactor 24 or the directional control valves 32, 34, and it is determined that the contactor 24 or the directional control valves 32, 34 are abnormal. For example, if the time from when current is applied to the coil 46 of the contactor 24 until the contact switch 44 is turned on is slower than the stored time by a certain amount, or if vibration is detected in a period different from the period in which the contactor 24 is vibrating, It is determined that an abnormality has occurred in the contactor 24. The control device 42 displays a message to that effect on the display or emits an alarm sound through a speaker.

As described above, the present application can detect abnormalities in the contactor 24 and the directional control valves 32 and 34 at an early stage. It is now easier to identify abnormalities than before, making it easier to arrange parts for repairs.

[Embodiment 2]
In the first embodiment, it has been described that vibrations of the contactor 24 and the directional control valves 32 and 34 are detected, but vibrations of other parts may also be detected. Specifically, motor 22 and pump 30 are mentioned. Since the motor 22 and the pump 30 operate in accordance with the operation of the contactor 24, when the vibration of the contactor 24 is detected, the vibration of the motor 22 and the pump 30 can also be detected. If the vibration of the motor 22 or the pump 30 differs by a certain amount or more from the vibration stored in the storage device 56, it is determined that the motor 22 or the pump 30 is abnormal. As in the first embodiment, the vibrations are compared in terms of amplitude, frequency, period, and time.

As shown in FIG. 5, the vibration of the motor 22 stored in the storage device 56 is denoted by 66f. Since the motor 22 is driven while the contactor 24 is on, vibrations occur for a longer period of time than the contactor 24. Therefore, as shown in the vibration 66g in FIG. 5, the vibration may have a different amplitude, or the vibration may have a different frequency, such as the vibration 60h. Therefore, the amplitude and frequency may be compared every unit time.

Note that when the load on the motor 22 and pump 30 changes, the vibration also changes. The upper and lower limits of the amplitude and frequency of the vibrations of the motor 22 and the vibrations of the pump 30 stored in the storage device 56 may be widened.

The valves 32, 34, 36, 38, 40 whose vibrations are detected are not limited to the directional control valves 32, 34. Vibration of pressure control valve 36 and check valves 38, 40 may be detected. Furthermore, the sensor 54 is not limited to the parts housed in the housing 52, and the vibration of the hydraulic cylinder 26 may be directly detected by attaching the sensor 54 to the hydraulic cylinder 26, for example.

[Embodiment 3]
The number of sensors 54 is not limited to one, and a plurality of sensors 54 may be used. For example, one sensor 54 may be attached to each component to directly detect vibrations. Direct detection of vibration increases the accuracy of abnormality diagnosis. By attaching the sensor 54 directly to the component, it is also possible to directly detect vibrations other than audible sounds. For example, by attaching the sensor 54 directly to the directional control valves 32, 34, it is also possible to detect vibrations caused by liquid flowing through the directional control valves 32, 34.

[Embodiment 4]
The controller 42 may compare at least one of the amplitude, frequency, duration, and time of the vibrations. When the control device 42 compares amplitude, frequency, period, and time, a plurality of them may differ by a certain amount or more. It may be possible to determine an abnormality by comparing at least one of the amplitudes and the like.

[Embodiment 5]
Although a condenser microphone has been described as an example of the sensor 54, other microphones may be used. The sensor 54 may detect only sounds in the audible range. When one sensor 54 is attached to each component, a vibration sensor other than a microphone may be used as the sensor 54.

[Embodiment 6]
In FIG. 4, the directional control valves 32 and 34 are driven after the contactor 24 is turned on or off, but the contactor 24 may be turned on or off after the directional control valves 32 and 34 are opened and closed. It is sufficient that the contactor 24 is turned on or off and the directional control valves 32 and 34 are driven at the same time. Further, it is preferable that valves other than the directional control valves 32 and 34 are not driven at the same time as the contactor 24 and turning on or turning off. Preferably, the plurality of valves 32, 34, 36, 38, 40 are not driven simultaneously. Since the parts used in the hydraulic device 12 are not driven at the same time, the vibration of each part can be easily detected by the sensor 54.

[Embodiment 7]
The hydraulic device 12 is not limited to the configuration shown in FIG. The hydraulic device 62 of FIG. 6 includes two hydraulic cylinders 12, 64. For example, the hydraulic cylinder 26 is used to raise and lower the loading platform 18, and the hydraulic cylinder 64 is used to open and close the loading platform 66 on the loading platform 18 of the truck 14. When the excitation coil of either of the directional control valves 32 and 34 is excited, the hydraulic cylinder 26 is operated. The operation of the hydraulic cylinder 26 has been described in the first embodiment, so a description thereof will be omitted.

The space on the side of the hydraulic cylinder 64 that has the rod from the piston is called the rod side A, and the space on the opposite side is called the head side B. The excitation coil of the directional control valve 64 allows an excitation current to flow from the control device 42 . When driving the hydraulic cylinder 64, if the directional control valve 70 is energized and the directional control valve 72 is not energized, a liquid path is formed from the pump 30 to the rod side A of the hydraulic cylinder 64, and the directional control valve 70 is not energized. A liquid path is formed from the head side B to the tank 28. Check valve 74 prevents liquid from flowing back into pump 30 from rod side A of hydraulic cylinder 64 . Liquid is sent to the rod side A of the hydraulic cylinder 64, liquid is discharged from the head side B, and the piston rod of the hydraulic cylinder 64 is housed.

When the direction control valve 70 is not excited and the direction control valve 72 is excited, a liquid path is formed from the pump 24 to the head side B of the hydraulic cylinder 64. Since the head side B of the hydraulic cylinder 64 has a wider space than the rod side A, it is possible to supply liquid to the head side B of the hydraulic cylinder 64 while discharging liquid from the rod side A and supplying liquid to the head side B. Sent. The piston rod of the hydraulic cylinder 64 is pushed out.

When driving the hydraulic cylinder 64, the excitation coil of the directional control valve 76 is energized so that the pressure control valve 78 can be driven. If neither of the excitation coils of the directional control valves 70, 72 is energized, the hydraulic cylinder 64 is stopped. A throttle 80 may be provided between the pump 30 and the check valve 74 to adjust the flow rate of the liquid.

When driving the hydraulic cylinder 26, the hydraulic cylinder 64 is stopped. When driving the hydraulic cylinder 64, the hydraulic cylinder 26 is stopped. Switches SW3 and SW4 for driving the hydraulic cylinder 64 are connected to the control device 42. When the switch SW3 is turned on, liquid is supplied to the rod side A as described above, and when the switch SW4 is turned on, liquid is supplied to the head side B as described above.

Even if two hydraulic cylinders 26 and 64 are provided, the sensor 54 detects vibrations generated when parts provided in the hydraulic device 62 are driven, as in other embodiments, and the vibrations detected by the control device 42 are detected by the sensor 54. and the vibration stored in the storage device 56, and if they differ by a certain amount or more, it is determined that there is an abnormality.

[Embodiment 8]
The abnormality diagnosis system 10 may include a thermometer, a hygrometer, or both. The temperature measured by the thermometer and the humidity measured by the hygrometer are input to the control device 42. When it is determined that there is an abnormality as described above, the control device 42 stores the temperature and humidity at the time when the abnormality is determined in the storage device 56. The temperature and humidity at which an abnormality occurs can be analyzed from the stored temperature and humidity.

[Embodiment 9]
Like the abnormality diagnosis system 82 in FIG. 7, the system may include a communication device 84 for communicating the vibration detected by the sensor 54, the abnormality determined by the control device 42, or both. Examples of the communication device 84 include a device that can perform mobile communication via the network 86, a device that communicates via WiFi, and the like. The above data is transmitted from the communication device 84 to the network 86 and stored in the storage means of the host computer 88. Further, the host computer 88 may perform the abnormality determination made by the control device 42. The results determined by the host computer 88 may be displayed via the network 86 on a terminal used by the operator of the hydraulic device 12. The abnormality determination results are integrated and managed by the host computer 88. Furthermore, the results may be transmitted from the host computer 88 via the network 86 to a terminal of the operator of the hydraulic device 12, such as a computer, mobile phone, smart phone, or tablet. By being able to confirm an abnormality on a computer connected to the host computer 88, it becomes possible to confirm the names of repair parts and to arrange for repair parts. In addition to transmitting the results to the terminal of the operator of the hydraulic device 12, the results may also be transmitted to the terminal of the administrator of the hydraulic device 12, such as a computer, mobile phone, smartphone, or tablet. By transmitting the results to the terminal of the administrator of the hydraulic device 12, the administrator can quickly recognize an abnormality and quickly schedule repairs and arrange parts. Alternatively, the results may be sent to both the operator and administrator of the hydraulic device 12.

Although various embodiments have been described above, the configuration of the hydraulic device 12 is not limited as long as it has a configuration that allows the sensor 54 to detect vibrations and detect abnormalities. The hydraulic device 12 only needs to include at least a power source, a motor, a contactor, a hydraulic cylinder, a tank, a pump, and a valve. Moreover, their number and types are not limited.

(Paragraph 1) The abnormality diagnosis system of the present application includes a motor, a contactor for turning on or off the motor, a hydraulic cylinder, a tank for storing liquid, and a liquid driven by the motor and stored in the tank. a pump that discharges liquid toward the hydraulic cylinder; a valve that controls the flow of the liquid; a sensor that detects vibrations caused by the operation of at least one of the motor, contactor, hydraulic cylinder, pump, and valve; A storage device that stores vibrations that occur when at least one of the motor, contactor, hydraulic cylinder, pump, and valve operates normally, and the vibrations detected by the sensor and the vibrations stored in the storage means are compared. , a control device that determines an abnormality in at least one of the motor, contactor, hydraulic cylinder, pump, and valve.

According to the abnormality diagnosis system described in item 1, an abnormality in a valve or the like can be determined simply by comparing the vibration detected by the sensor and the vibration stored in the storage device. Unlike conventional methods, abnormalities in various parts can be detected early.

(Section 2) The sensor includes a microphone, and the vibrations generated by the operation of at least one of the motor, contactor, hydraulic cylinder, pump, and valve include sound.

According to the abnormality diagnosis system described in Section 2, an abnormality can be determined by detecting and comparing sounds made when each component is driven, and therefore does not have a complicated configuration.

(Section 3) The control device compares the vibration detected by the sensor with at least one of the frequency, amplitude, period, and time of the vibration stored in the storage device.

According to the abnormality diagnosis system described in Section 3, an abnormality can be determined simply by comparing frequencies and the like that are the constituent elements of vibration.

(Section 4) A housing that houses the motor, contactor, pump, valve, and sensor is provided.

According to the abnormality diagnosis system described in Section 4, by housing a contactor, etc. inside the casing, sound from outside the casing is blocked by the casing, and a sensor inside the casing detects vibrations. It becomes easier to do.

(Section 5) The on/off timing of the contactor and the timing of driving the valve are different.

According to the abnormality diagnosis system described in Section 5, the timings of the vibrations generated in the contactor and the vibrations generated in the valve are different, making it easy to distinguish between the vibrations of the contactor and the valve.

(Section 6) A communication device is provided that communicates data of vibration detected by the sensor.

According to the abnormality diagnosis system described in Section 6, data can be managed on the cloud by communicating vibration data.

(Section 7) The abnormality diagnosis method of the present application includes a motor, a contactor for turning on or off the motor, a hydraulic cylinder, a tank for storing liquid, and a liquid driven by the motor and stored in the tank. a pump that discharges liquid toward the hydraulic cylinder; a valve that controls the flow of the liquid; a sensor that detects vibrations caused by the operation of at least one of the motor, contactor, hydraulic cylinder, pump, and valve; A storage device that stores vibrations that occur when at least one of the motor, contactor, hydraulic cylinder, pump, and valve operates normally, and the vibrations detected by the sensor and the vibrations stored in the storage means are compared. and a control device that determines an abnormality in at least one of a motor, a contactor, a hydraulic cylinder, a pump, and a valve, the step of driving or stopping the motor by turning the contactor on or off; The motor drives or stops a pump; the valve is driven to supply or discharge liquid to a hydraulic cylinder; and the sensor controls at least one of a motor, a contactor, a hydraulic cylinder, a pump, and a valve. detecting vibrations caused by the operation, the controller comparing the vibrations detected by the sensor with the vibrations stored in the storage means, and detecting an abnormality in at least one of the motor, the contactor, the hydraulic cylinder, the pump and the valve; and a step of determining.

According to the abnormality diagnosis method described in Section 7, an abnormality is determined by comparing the vibration detected by the sensor and the vibration stored in the storage device, and the abnormal location can be determined at an early stage.

(Section 8) The sensor includes a microphone, and in the step of detecting the vibration, the microphone collects sound generated by the operation of at least one of a motor, a contactor, a hydraulic cylinder, a pump, and a valve.

According to the abnormality diagnosis method described in Section 8, an abnormality can be determined by detecting and comparing sounds made when each component is driven, and therefore an abnormality is detected using a complicated configuration.

(Section 9) The control device compares the vibration detected by the sensor with at least one of the frequency, amplitude, period, and time of the vibration stored in the storage device.

According to the abnormality diagnosis method described in Section 9, an abnormality is determined simply by comparing frequencies and the like that are the constituent elements of vibration.

(Section 10) The timing of turning on or off the contactor and driving the valve are different.

According to the abnormality diagnosis method described in Section 10, the timings of the vibrations generated in the contactor and the vibrations generated in the valve are different, making it easy to distinguish between the vibrations of the contactor and the valve.

(Section 11) The method includes a step of communicating data of vibration detected by the sensor using a communication device.

According to the abnormality diagnosis method described in Section 11, data can be managed on the cloud by communicating vibration data.

In addition, the present invention can be implemented with various improvements, modifications, and changes based on the knowledge of those skilled in the art without departing from the spirit thereof.

10, 82: Abnormality diagnosis system 12, 62: Hydraulic device 14: Truck 16: Cargo handling device 18: Loading platform 20: Power source 22: Motor 24: Contactor 26, 64: Hydraulic cylinder 28: Tank 30: Pump 32, 34 , 70, 72, 76: Direction control valve 36, 78: Pressure control valve 38, 40, 74: Check valve 42: Control device 44: Contactor contact switch 46: Contactor coil 48, 80: Throttle 50: Pressure gauge 52 : Housing 54: Sensor 56: Storage device 84: Communication device 86: Network 88: Host computer

Claims (4)

motor and
a contactor that turns the motor on or off;
a hydraulic cylinder;
A tank for storing liquid,
a pump that is driven by the motor and discharges liquid stored in the tank toward the hydraulic cylinder;
a valve that controls the flow of the liquid;
a sensor that detects vibrations caused by turning on or off the contactor and vibrations caused by driving the valve;
a storage device that stores vibrations that occur when the contactor and valve operate normally;
a control device that compares the vibration detected by the sensor with the vibration stored in a storage means and determines whether there is an abnormality in the contactor or the valve;
The timing of turning on or off the contactor and driving the valve are different,
An abnormality diagnosis system that distinguishes between vibrations caused by the contactor and vibrations caused by the valve by driving the valve after the vibrations caused by turning on or turning off the contactor end. The abnormality diagnosis system according to claim 1 , wherein the control device compares the vibration detected by the sensor with at least one of the frequency, amplitude, period, and time of the vibration stored in the storage device. motor and
a contactor that turns the motor on or off;
a hydraulic cylinder;
A tank for storing liquid,
a pump that is driven by the motor and discharges liquid stored in the tank toward the hydraulic cylinder;
a valve that controls the flow of the liquid;
a sensor that detects vibrations caused by turning on or off the contactor and vibrations caused by driving the valve;
a storage device that stores vibrations that occur when the contactor and valve operate normally;
a control device that compares the vibration detected by the sensor with the vibration stored in a storage means and determines whether there is an abnormality in the contactor or the valve;
In a hydraulic device in which the on/off timing of the contactor and the timing of driving the valve are different,
driving or stopping the motor by turning the contactor on or off;
the motor driving or stopping the pump;
supplying or discharging liquid to or from the hydraulic cylinder by opening and closing the valve;
the sensor detecting vibrations caused by operation of at least one of a contactor and a valve;
a step in which the control device compares the vibration detected by the sensor with the vibration stored in the storage means, and determines an abnormality in at least one of the contactor and the valve;
Equipped with
An abnormality diagnosis method, in which vibrations caused by the contactor and vibrations caused by the valve are distinguished by driving the valve after the vibrations caused by turning the contactor on or off end. 4. The abnormality diagnosis method according to claim 3 , wherein the control device compares the vibration detected by the sensor with at least one of the frequency, amplitude, period, and time of the vibration stored in the storage device.

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