JPH1185253A - Device and method for abnormality/fault diagnosis of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately diagnose abnormality and a fault of a working machine such as a construction machine by providing a decision part, etc., which decides whether or not input/output response data obtained by a detection part is within a previously found proper range. SOLUTION: A test signal output part 21 outputs a test signal to a dynamic element (hydraulc pump, control valve or the like) such as a hydraulic shovel and a detection part 23 detects input/output response data for the dynamic element. A decision part 24 compares the input/output response data obtained by the detection part 23 with corresponding proper range data in a memory 22 to decide whether or not the input/output response data is within the previously found proper range. An abnormality/fault diagnostic part 25 judges that the dynamic element which is diagnozed is abnormal or faulty when it is decided that the input/output response data is not within the proper range. Further, an abnormality/fault prediction part 27 estimates the time that the diagnosed dynamic element requires to enter the abnormal or faulty state according to the comparison result of the comparison part 26 to predict the abnormality or fault.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
More particularly, the present invention relates to an abnormality / failure diagnosis apparatus and method suitable for diagnosing an abnormality or a failure of a construction machine such as a hydraulic shovel or a bulldozer.

[0002]

2. Description of the Related Art FIG. 10 is a schematic view showing an example of a hydraulic shovel as a general working machine. As shown in FIG. 10, a hydraulic shovel is usually mounted on a lower traveling body 500 having an infinite rail section 500A. The operation room (cabin) 60
The upper revolving superstructure 100 is provided with a boom 200 and a stick 30.
0, an articulated arm mechanism comprising a bucket 400 is provided.

[0003] The hydraulic excavator has a boom 2
00, a hydraulic cylinder 121 for the stick 300, and a hydraulic cylinder 122 for the bucket 400.
A hydraulic circuit (not shown) for each of the hydraulic cylinders 120 to 122 is provided, and a discharge amount of a hydraulic pump in the hydraulic circuit and a control valve for the hydraulic cylinders 120 to 122 are operated by an operator (the cabin 600). Electronically controlled according to the operation of the operating lever in the hydraulic cylinders 120-1.
By appropriately changing the supply amount (oil pressure) of the working oil to the hydraulic cylinder 22, the amount of expansion and contraction displacement of the hydraulic cylinders 120 to 122 changes, and the boom 200, the stick 300, and the bucket 400
Are respectively driven.

By the way, such construction machines are usually
Since it is often used in extremely severe conditions, such as construction sites and disaster recovery sites, it is necessary to take appropriate measures for its abnormalities and failures. Therefore, conventionally, the above-described hydraulic pump, control valve, cylinders 120 to 12 are used.
2, a sensor is attached to an operation part (dynamic element) such as 2 and an electric signal (hereinafter, referred to as a sensor signal) obtained by the sensor is compared and determined whether or not it has an appropriate value determined in advance. In this way, an abnormality or a failure of the construction machine is diagnosed.

[0005]

However, according to the above-described diagnostic method, a dynamic element whose sensor signal greatly changes depending on the position of the operation lever or the operating condition of the construction machine is not detected by the sensor. Since the appropriate value range of the signal is widened, it is very difficult to perform accurate abnormality / failure diagnosis.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has been developed in order to accurately diagnose abnormalities or failures of a working machine such as a construction machine (particularly, dynamic elements of the working machine). It is an object of the present invention to provide an abnormality / failure diagnosis apparatus and method.

[0007]

According to the present invention, there is provided an abnormality / failure diagnosis apparatus for a working machine according to the first aspect of the present invention, which is an abnormality / failure diagnosis apparatus for a dynamic element of a working machine. Detecting means for detecting input / output response data to the input / output means, determining means for determining whether the input / output response data obtained by the detecting means is within an appropriate range determined in advance, and this determining means When the input / output response data is determined not to be within the proper range, the dynamic element is configured to include abnormality / failure diagnosis means for diagnosing an abnormality or a failure.

According to a second aspect of the present invention, there is provided an abnormality / failure diagnosis apparatus for a working machine according to the first aspect of the invention.
When the input signal to the dynamic element changes stepwise, the detection means is configured to detect transient response data of an output signal as the input / output response data, and the determination means Is configured to determine whether the transient response data is within an appropriate range determined in advance, and the abnormality / failure diagnosis means determines that the transient response data is not within the appropriate range. And that the dynamic element is diagnosed as abnormal or faulty.

According to a third aspect of the present invention, in the work machine abnormality / failure diagnosis apparatus according to the second aspect, the detecting means includes the output signal transient response data as the output signal transient response data. The delay time response data for the input signal is detected. According to a fourth aspect of the present invention, there is provided the work machine abnormality / failure diagnosis apparatus according to the second aspect, wherein the detecting means outputs the output signal amplitude decay response as the transient response data of the output signal. It is characterized by being configured to detect data.

Further, according to a fifth aspect of the present invention, in the abnormality / failure diagnosis apparatus according to the first aspect of the present invention, when a change amount of the input signal to the dynamic element is equal to or less than a predetermined change amount, The detection means is configured to detect, as the input / output response data, dynamic characteristic data when a test signal is input to the dynamic element when the dynamic element is not operating, and the determination means includes: Is configured to determine whether the dynamic characteristic data is within an appropriate range determined in advance, and the abnormality / failure diagnosis means determines that the dynamic characteristic data is not within the appropriate range. And that the dynamic element is diagnosed as abnormal or faulty.

According to a sixth aspect of the present invention, there is provided an abnormality / failure diagnosis method for a dynamic element of a work machine, wherein input / output response data for the dynamic element is detected. A detecting step, a determining step of determining whether or not the input / output response data obtained in the detecting step is within an appropriate range determined in advance, and in the determining step, the input / output response data is A failure diagnosis step for diagnosing that the dynamic element is abnormal or a failure when the dynamic element is not within the range.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram schematically showing a hydraulic shovel as a working machine according to an embodiment of the present invention. As shown in FIG. 1, the hydraulic shovel according to the present embodiment is infinitely left and right with respect to the traveling direction. Rail 500
An upper revolving unit (construction machine main body) 100 with a driving operation room 600 is provided on a lower traveling unit 500 having an A to be rotatable in a horizontal plane.

Then, with respect to the upper revolving superstructure 100,
Boom (arm member) 20 whose one end is rotatably connected
0, and a stick (arm member) 300 whose one end is rotatably connected to the boom 200 via a joint. In addition, stick 30
A bucket (working member) 400 having one end rotatably connected to the base through an articulation portion and excavating the ground at its tip and capable of storing earth and sand therein is provided. FIG.
, The tip of the bucket 400 is indicated by reference numeral 112.

As shown in FIG. 1, the hydraulic excavator includes a boom hydraulic cylinder 120, a stick hydraulic cylinder 121, and a bucket hydraulic cylinder 1 with respect to the boom 200, the stick 300, and the bucket 400.
22 (hereinafter, the boom hydraulic cylinder 120 may be referred to as the boom cylinder 120 or simply the cylinder 120, and the stick hydraulic cylinder 121 is referred to as the stick cylinder 12
1 or simply the cylinder 121, and the bucket hydraulic cylinder 122 is sometimes referred to as the bucket cylinder 122 or simply the cylinder 122).

Here, one end of the boom cylinder 120 is rotatably connected to the upper swing body 100, and the other end is rotatably connected to the boom 200, that is, the upper swing body 100. The boom 200 is interposed between the boom 200 and the boom 200 by extending and contracting the distance between the ends.
00 can be rotated with respect to the upper swing body 100.

The stick cylinder 121 has one end rotatably connected to the boom 200 and the other end rotatably connected to the stick 300, that is, the connection between the boom 200 and the stick 300. The stick 300 can be rotated with respect to the boom 200 by being interposed therebetween and by expanding and contracting the distance between the ends.

Further, the bucket cylinder 122 has one end rotatably connected to the stick 300 and the other end rotatably connected to the bucket 400, that is, the connection between the stick 300 and the bucket 400. The bucket 400 can be rotated with respect to the stick 300 by being interposed between the sticks 300 as the distance between the ends expands and contracts. The bucket hydraulic cylinder 1
A link mechanism 130 is provided at the distal end of 22.

Although not shown, the left and right endless rail portions 5 are provided.
00A and the upper revolving unit 1
A turning motor for turning 00 is also provided. As shown in FIGS. 1 and 2, the hydraulic excavator is provided with at least a hydraulic circuit 2 for the cylinders 120 to 122 and the turning motor 123. As shown in FIG. 2,
Hydraulic oil tank 11, engine (diesel engine) E
, A control valve (three-way switching valve) 13A to 13D and the like are interposed.

Here, the hydraulic oil tank 11 stores hydraulic oil, and the hydraulic pump 12 discharges and supplies the hydraulic oil in the hydraulic oil tank 11 as a predetermined pressure oil. It is configured as a piston type variable displacement pump, and the flow rate of hydraulic oil can be controlled by changing the stroke amount of a piston (not shown) provided in the pump 12. That is, one end of the piston is configured to abut on a swash plate (creep plate: not shown), and the inclination (tilt angle) of the swash plate is determined by the tilt angle control device 12a.
Thus, the stroke amount of the piston is changed to change the discharge amount of the pump 12.

The control valves 13A to 13D
Are used to control the expansion and contraction of the cylinders 120 to 122 and the rotation direction of the rotation motor 123 by switching the supply direction of the hydraulic oil to the cylinders 120 to 122 and the rotation motor 123. When switching is performed in the direction of arrow B shown in FIG.
With respect to the above, while the hydraulic oil is supplied to the inner chamber 124 and the hydraulic oil is drawn out from the inner chamber 125 and the cylinder 120 is extended, when switching is performed in the direction of arrow A, the hydraulic oil is supplied to the inner chamber 125 and Hydraulic oil is extracted from the cylinder 124 so that the cylinder 120 contracts, and the rotation direction of the swing motor 123 is reversed in accordance with the switching between the directions of the arrows A and B.

Each of these control valves 13
The switching control of A to 13D is performed by the upper revolving superstructure 1
The operation is performed by a controller 1 provided in the operating room 600, based on operation information obtained by an operator operating a boom / bucket operation lever 6 and a stick / turn operation lever 8 in a driving operation room 600. Thus, a switching control signal for the control valves 13A to 13D is generated, and the switching control signal is supplied to each of the control valves 13A to 13D.

Further, as shown in FIG. 2, the hydraulic circuit 2 is provided with a relief valve 14 which can communicate with a return line 15A to the hydraulic oil tank 11 on the discharge port side of the hydraulic pump 12. When the discharge pressure of the pump 12 becomes higher than a predetermined pressure, the relief valve 20 is opened, and the hydraulic oil pressurized by the pump 12 is returned to the tank 11.

In the present embodiment, the controller 1 has a function as an abnormality / failure diagnosis device and an abnormality / failure prediction device for the excavator (working machine). As shown in FIG. 3, the test signal output unit 21, the memory 22, the detection unit 23, the determination unit 24, the abnormality / failure diagnosis unit 25, the comparison unit 26, and the abnormality / failure prediction unit 2
7. In FIG. 3,
Reference numeral 28 denotes an external device such as a monitor or a printer, which can display or print out a diagnosis result of the abnormality / failure diagnosis unit 25 and a prediction result of the abnormality / failure prediction unit 27.

The test signal output section 21 outputs a test signal such as an impulse signal or white noise, which will be described later, to dynamic elements of the excavator (such as the hydraulic pump 12 and the control valves 13A to 13D). is there. However, this test signal is output with a magnitude and time that does not affect the performance of the system (hydraulic shovel) (for example, when the operation levers 6 and 8 are in the neutral position and the dynamic element is When it's not working).

The memory 22 stores input / output response data (delay time response data: output signal reaches 63.2% of the target value) during normal operation of the dynamic element previously determined as appropriate range data. Time response data, amplitude decay response data: overshoot amount / undershoot amount for output signal), aging characteristic data,
The storage unit stores aging characteristic data detected at the time of the failure prediction processing, and the detection unit 23 detects input / output response data for the dynamic element. In the present embodiment, the following items (1) ) And (2), data corresponding to the characteristics of the dynamic element to be diagnosed is detected.

(1) Input signal (control signal) to dynamic element
If step changes, transient response data such as delay time response data or amplitude decay response data of the output signal of the output signal from the dynamic element to the input signal,
Detected as the above input / output response data. (2) When the change of the input signal to the dynamic element is gentle or constant (the amount of change is equal to or less than a predetermined amount of change), the operation levers 6 and 8 are in the neutral position, and when the dynamic element is not operated, Dynamic characteristic data such as impulse response data or frequency response data when a test signal (impulse signal or white noise) is input from the test signal output unit 21 to the dynamic element is detected as the input / output response data.

However, when the operating levers 6 and 8 are in the neutral position and the dynamic element is in the non-operating state as shown in the item (2), in the present embodiment, the test signal output section is provided at required time intervals. By inputting a test signal to the dynamic element from 21, dynamic characteristic data of the dynamic element is detected a plurality of times in time. The dynamic characteristic data obtained in this way is temporarily stored in the memory 22.

Further, the determination section 24 stores the input / output response data [transient response data (delay time response data, amplitude attenuation response data), impulse response data or frequency response data] obtained by the detection section 23 and a memory. 22 to determine whether or not the input / output response data is within the previously determined appropriate range. The abnormality / failure diagnosis unit 25 determines whether the input / output response data is within the appropriate range determined in advance. If it is determined at 24 that the input / output response data is not within the appropriate range, the dynamic element to be diagnosed is diagnosed as being abnormal or faulty.

The comparing section 26 is adapted to store the dynamic characteristic data (impulse response data or frequency response data) obtained by the above-described detecting section 23 and the corresponding appropriate range data (predetermined aging characteristic) in the memory 22. The abnormality / failure prediction unit 27 estimates the time until the dynamic element to be diagnosed becomes abnormal or failure according to the comparison result of the comparison unit 26, Based on this time, abnormality / failure prediction of the dynamic element is performed.

Hereinafter, the operation of the controller 1 according to the present embodiment configured as described above will be described in detail. (A) Abnormal / Failure Diagnosis First, the abnormality / failure diagnosis of the hydraulic shovel (dynamic element) by the controller 1 will be described.

(A1) Abnormal / Fault Diagnosis When a Stepwise Changing Signal is Input to the Dynamic Element As shown in FIG.
For example, a step signal 31 as shown in FIG. 5 is input to dynamic elements such as the control valves 13A to 13D according to the operation of the operation levers 6 and 8 (step A).
1) The detection unit 23 detects step response data (delay time response data and amplitude attenuation response data) for the input step signal 31 (step A2).

Then, in the controller 1, the determination unit 24
Reads out the step response data serving as a criterion for determining an appropriate range from the memory 22 (step A3), and determines whether the step response data detected by the detection unit 23 is within the previously determined appropriate range in the memory 22. Is determined (step A4). For example, based on the reference step response characteristic 32 of the hydraulic pump 12 as shown in FIG. 5, data that the delay time of the output signal is 0.5 seconds at the maximum and the amount of overshoot / undershoot relative to the output signal is within 5%. If it is stored in the memory 22, the determination unit 24
Determines that the step response characteristic 33 as shown by the broken line in FIG. 5 is out of the proper range because the delay time of the output signal is 0.7 seconds, and is indicated by the dashed line in FIG. The step response characteristic 34 is determined to be outside the appropriate range because the overshoot amount is 5% or more.

When the determining unit 24 determines that the data detected by the detecting unit 23 is out of the proper range, the abnormality / failure diagnosing unit 25 sets the dynamic element (the hydraulic pump 12 And control valves 13A to 13D
(Step A5 from the NO route of step A4) and outputs the diagnosis result to the external device 28 (step A7).

When the determining unit 24 determines that the data detected by the detecting unit 23 is within the proper range,
The abnormality / failure diagnosis unit 25 diagnoses that the above dynamic element is normal (from the YES route of step A4 to step A).
6), and the fact is output to the external device 28 (step A).
7). (A2) When the change of the input signal to the dynamic element is gentle or constant Abnormal / failure diagnosis As shown in FIG. 6, first, the controller 1
When the operation levers 6 and 8 are at the neutral position, a test signal such as an impulse signal or white noise is input from the test signal output unit 21 to the hydraulic pump 12 (step B).
1). Then, the controller 1 detects a response to the input test signal (dynamic characteristic data such as impulse response data and frequency response data) in the detection unit 23 (step B2).

Then, in the controller 1, the determination unit 24
Reads out dynamic characteristic data serving as a criterion for determining an appropriate range from the memory 22 (step B3), and determines whether the dynamic characteristic data detected by the detection unit 23 is within a previously determined appropriate range in the memory 22. (Step B
4). For example, white noise is input to the hydraulic pump 12 as the test signal, and the frequency when the peak gain or the phase of the output signal is 90 degrees is about 1 based on the reference dynamic characteristic 35 in the BODE diagram as shown in FIG. .5-
Assuming that the data within the range of 2.5 Hz is stored in the memory 22 as appropriate range data, the determination unit 2
4, the frequency at the time of the peak gain (phase 90 degrees) is about 1.6 Hz for the dynamic characteristic 36 as shown by the broken line in FIG.
Therefore, it is determined that the frequency is within the appropriate range, and the frequency at the time of the peak gain (phase 90 degrees) is smaller than 1.5 Hz for the dynamic characteristic 37 as indicated by the one-dot chain line in FIG. Is determined.

If the judging section 24 judges that the data detected by the detecting section 23 is out of the proper range, the abnormality / failure diagnosing section 25 judges that the hydraulic pump 12 has an abnormality or a failure. Diagnosis (N in step B4)
From the O route, step B5), the diagnosis result is output to the external device 28 (step B7). On the other hand, when the determination unit 24 determines that the data detected by the detection unit 23 is within the appropriate range, the abnormality / failure diagnosis unit 25 diagnoses that the hydraulic pump 12 is operating normally (step B4).
From the YES route of step B6), the fact is output to the external device 28 (step B7).

As described above, according to the controller (working machine abnormality / failure diagnosis device) 1 of the present embodiment, the hydraulic pump 12 of the hydraulic shovel and the control valves 13A to 13A are provided.
Input / output response data for a dynamic element such as 13D is detected, and if the input / output response data is not within an appropriate range obtained in advance, the dynamic element is diagnosed as abnormal or faulty. It is not necessary to change the appropriate range depending on the magnitude of the operation displacement of the dynamic element or the operating conditions of the dynamic element as in the past. Appropriate measures can be taken.

(B) Abnormal / Failure Prediction Next, the abnormality / failure prediction of the hydraulic shovel (dynamic element) by the controller 1 will be described with reference to a flowchart (steps C1 to C7) shown in FIG. . As shown in FIG. 8, first, the controller 1
When the operating levers 6 and 8 are in the neutral position and the dynamic element is in a non-operating state, white noise is input as a test signal from the test signal output unit 21 to, for example, the hydraulic pump 12 (step C1). The dynamic characteristic data of the hydraulic pump 12 (for example, frequency response data: frequency at the primary resonance point) is detected (step C2).

At this time, the controller 1 applies the above-described test to the hydraulic pump 12 at required time intervals (for example, every one hour) on condition that the dynamic element is in the non-operating state as described above. A signal is input, and data obtained by detecting a plurality of frequency response data of the hydraulic pump is stored in the memory 22 (step C3). Then, the controller 1 reads out the aging characteristic data obtained in advance from the memory 22 by the comparing unit 26 (step C4), and forms the aging characteristic data with the frequency response data detected by the plurality as described above. The aging characteristic is compared with the aging characteristic by the comparing unit 26 (step C5).
2 estimates the time until an abnormality or failure occurs, and predicts an abnormality / failure of the hydraulic pump 12 based on the estimated time (step C6).

For example, the reference aging characteristic of the normal hydraulic pump 12 obtained in advance is as shown by a solid line (see reference numeral 38) in FIG.
It is assumed that z is within the appropriate range of the frequency response of the hydraulic pump 12. In this case, the comparison unit 26 calculates the aging characteristic 38 (for example, the inclination of the characteristic 38 at a certain time) shown in FIG. 9 and the inclination when the plurality of frequency response data detected by the detection unit 23 are connected. Compare with

As a result of this comparison, for example, as shown by a broken line (see reference numeral 39) in FIG. 9, the inclination when a plurality of pieces of frequency response data detected by the detection unit 23 are connected changes over time. If the slope is abnormally larger than the slope of the characteristic 38, the abnormality / failure predicting unit 27 determines that the time required for the frequency response of the hydraulic pump 12 to be outside the above-described appropriate range is extremely short, and Also, the abnormality / failure of the hydraulic pump 12 is predicted if an abnormality or a failure will occur at an early stage.

As shown in FIG. 8, the result of the abnormality / failure prediction (for example, the time until the hydraulic pump 12 reaches the abnormality / failure) is output to the external device 28 (step C7). As described above, according to the controller (work machine abnormality / failure prediction device) 1 of the present embodiment, the frequency characteristic 39 of the hydraulic pump 12 is detected, and the obtained frequency characteristic 39 and the reference aging obtained in advance. Since the time until the hydraulic pump 12 reaches an abnormality or a failure is estimated based on the comparison result with the change characteristic 38, and the abnormality / failure of the hydraulic pump 12 is predicted based on the estimated time. It is very easy to recognize how long the hydraulic pump 12 will last.

Accordingly, it is possible to prevent an abnormality or a failure from occurring in the hydraulic pump 12, and the use efficiency of the hydraulic shovel can be greatly improved. Also,
Useless replacement or repair of the hydraulic pump 12 can be greatly reduced, and the use efficiency of the hydraulic pump 12 itself can be greatly improved. In addition, the above-mentioned abnormalities /
In the failure prediction process, white noise is input to the hydraulic pump 12 as a test signal and the frequency response characteristic at that time is detected as dynamic characteristic data. However, an impulse signal is input and the impulse response data at that time is detected as dynamic characteristic data. You may do so. In this case, the comparing unit 26 compares the obtained impulse response data with the previously obtained aging characteristic data.

In the abnormality / failure prediction process described above,
Although the hydraulic pump 12 is taken as an example of a dynamic element for inputting a test signal, at least if the operating levers 6 and 8 are in the neutral position and the dynamic element of the excavator is in a non-operating state, the other dynamic elements Can also perform abnormality / failure prediction in the same manner, and the same operation and effect as described above can be obtained.

Further, in the above-described embodiment, the case where the present invention is applied to a hydraulic excavator has been described.
The present invention is not limited to this, and is similarly applied to construction machines such as tractors, loaders, bulldozers, etc., as long as it is a work machine having at least a dynamic element. The effect can be obtained.

The present invention is not limited to the above-described embodiment, and can be implemented with various modifications without departing from the spirit of the present invention.

[0047]

As described above in detail, according to the work machine abnormality / failure diagnosis apparatus and method of the present invention, input / output response data for a dynamic element of a work machine is detected and the input / output response data is detected. Is not within the appropriate range previously determined,
Since the above dynamic element is diagnosed as abnormal or faulty, there is no need to change the appropriate range depending on the magnitude of the operation displacement of the dynamic element or the operating conditions of the dynamic element as in the past, and the work is always performed accurately. It is possible to recognize an abnormality or a failure of the machine and take an appropriate measure for the abnormality or the failure.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing a hydraulic excavator as a working machine according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a main part of a hydraulic circuit in the hydraulic shovel of the present embodiment.

FIG. 3 is a block diagram illustrating a configuration of a main part of a controller in the hydraulic excavator according to the embodiment.

FIG. 4 is a flowchart illustrating an operation of a controller (abnormality / failure diagnosis) in the hydraulic excavator according to the embodiment.

FIG. 5 is a diagram illustrating an example of a step response characteristic for explaining an operation of a controller (abnormality / failure diagnosis) in the hydraulic shovel of the embodiment.

FIG. 6 is a flowchart illustrating an operation of a controller (abnormality / failure diagnosis) in the hydraulic excavator according to the embodiment.

FIG. 7 is a BODE diagram showing an example of a frequency response characteristic for explaining an operation of a controller (abnormality / failure diagnosis) in the hydraulic shovel of the embodiment.

FIG. 8 is a flowchart for explaining the operation of a controller (abnormality / failure prediction) in the hydraulic shovel of the embodiment.

FIG. 9 is a diagram illustrating an example of a frequency response characteristic for describing an operation of a controller (abnormality / failure prediction) in the hydraulic shovel of the embodiment.

FIG. 10 is a schematic diagram illustrating an example of a hydraulic shovel as a general working machine.

[Explanation of symbols]

1 Controller (Abnormal / Failure Diagnosis Device, Abnormal / Failure Prediction Device) 2 Hydraulic Circuit 6 Boom / Bucket Operating Lever 8 Stick / Swirl Operating Lever 10 Monitor 10A Monitor Panel 11 Hydraulic Oil Tank 12 Hydraulic Pump 12a Tilting Angle Control Device 13A ~ 13D control valve (3-way switching valve) 14 relief valve 15A return line 21 test signal output unit 22 memory 23 detection unit 24 judgment unit 25 abnormality / failure diagnosis unit 26 comparison unit 27 abnormality / failure prediction unit 28 external device 32 reference step response Characteristics 33, 34 Step response characteristics 35 Reference dynamic characteristics 36, 37 Dynamic characteristics 38 Reference aging characteristics 39 Aging characteristics 100 Upper revolving superstructure (construction machine body) 112 Tooth tip 120 Boom hydraulic cylinder 121 Stick hydraulic cylinder 122 Bucket hydraulic Cylinder 123 Swing motor 124, 125 Inner chamber 130 Link mechanism 200 Boom 300 Stick 400 Bucket 500 Lower traveling body 500A Infinite rail section 600 Operation room E Engine (diesel engine)

Claims (6)

[Claims] 1. An abnormality / failure diagnosis apparatus for a dynamic element of a work machine, comprising: detecting means for detecting input / output response data for the dynamic element; and input / output response data obtained by the detecting means. Determining means for determining whether the input / output response data is within the appropriate range. If the input / output response data is determined not to be within the appropriate range, the dynamic element is abnormal or abnormal. An abnormality / failure diagnosis device for a work machine, comprising an abnormality / failure diagnosis means for diagnosing a failure. 2. When the input signal to the dynamic element changes in a stepwise manner, the detecting means is configured to detect transient response data of an output signal as the input / output response data. Means is configured to determine whether the transient response data is within a previously determined proper range, and the abnormality / failure diagnostic means is determined that the transient response data is not within the proper range. 2. The abnormality / failure diagnosis device for a work machine according to claim 1, wherein the apparatus is configured to diagnose that the dynamic element is abnormal or faulty. 3. The apparatus according to claim 2, wherein said detecting means is configured to detect, as transient response data of said output signal, delay time response data of said output signal with respect to said input signal. Work machine abnormality / failure diagnosis device. 4. The work machine abnormality according to claim 2, wherein said detection means is configured to detect amplitude decay response data of said output signal as transient response data of said output signal. / Failure diagnosis device. 5. When the amount of change of an input signal to the dynamic element is equal to or less than a predetermined amount of change, the detection means outputs the input / output response data as the input / output response data when the dynamic element is not operating. Is configured to detect dynamic characteristic data when a test signal is input to the control unit, and the determining unit is configured to determine whether the dynamic characteristic data is within a proper range obtained in advance. The abnormality / failure diagnosis means is configured to diagnose that the dynamic element is abnormal or faulty when it is determined that the dynamic characteristic data is not within the appropriate range. An abnormality / failure diagnosis device for a work machine according to claim 1. 6. A method for diagnosing abnormality / failure of a dynamic element of a work machine, comprising: a detection step of detecting input / output response data for the dynamic element; and the input / output response data obtained in the detection step. A determining step of determining whether the dynamic element is within an appropriate range determined in advance; and, in the determining step, when the input / output response data is not within the appropriate range, the dynamic element is abnormal or faulty. An abnormality / failure diagnosis method for a working machine, comprising: a failure diagnosis step of diagnosing the work machine.