WO2022071476A1

WO2022071476A1 - Working machine

Info

Publication number: WO2022071476A1
Application number: PCT/JP2021/036065
Authority: WO
Inventors: 健椎名; 寛兼澤
Original assignee: 日立建機株式会社
Priority date: 2020-10-01
Filing date: 2021-09-30
Publication date: 2022-04-07
Also published as: EP4098813A1; EP4098813A4; US20230115070A1; CN115244255B; JP7344398B2; JPWO2022071476A1; CN115244255A

Abstract

This working machine equipped with a working device (7) that extends outwardly of a machine body (1), is provided with: physical quantity detection sensors (15, 25, 31, 33, 35, 36, 37, 38, 39) that respectively detect physical quantities regarding the working machine; a monitor (43) that displays predetermined information (61, 63); and a controller (51) that controls the monitor. The controller has: a stress calculation unit (53) that calculates a distribution (63a) of stress applied to the working device on the basis of the physical quantities regarding the working machine, detected by the physical quantity detection sensors; and a display control unit (57) that controls the display of the predetermined information on the monitor. The display control unit controls the display of the monitor such that the distribution of stress applied to the working device, calculated by the stress calculation unit, is displayed in conjunction with operation of the working device.

Description

Work machine

The present invention relates to a work machine, and particularly relates to a technique for reducing damage to the work device.

For work machines such as construction machines, a large amount of stress may be generated in work equipment having structures such as booms and arms due to work such as excavation. Especially in places where stress is concentrated, it is conceivable that fatigue will accumulate and failure will occur. If the work machine has to be stopped due to such a failure of the work device, it will affect the productivity and the like, so it is necessary to predict the failure in advance.

Therefore, based on the data representing the distribution of the degree of damage (fatigue) accumulated in the parts of the work machine under multiple operating conditions, the distribution of the fatigue accumulated in the parts of the work machine is mutually distributed for each operating condition. A technique has been developed that enables an appropriate work plan and maintenance plan for a hydraulic excavator to be displayed as an image on a display screen in a state that can be compared with the above (Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-222003

However, in the technique disclosed in Patent Document 1, although it is possible to predict that the working device will break down earlier than expected and take measures such as replacing the working device, the fatigue itself accumulated in the working device itself. Can not be alleviated. Therefore, in order to reduce the fatigue of the work equipment, it is necessary to reduce the stress applied to the work equipment by improving the skill of the operator and homogenizing the skill.

In order to improve the skills of operators and homogenize the skills in this way, it is effective for operators with high skills (experts) to instruct operators with low skills (developed). However, at the time of the instruction, it is possible to convey abstract information such as the excavation image and sensation that the expert has empirically recognized, such as changes in the sound and vibration of the engine and hydraulic equipment, to the developing person. It was not possible to make the developing person aware of the relationship between the damage and the movement of the aircraft, and there was room for further improvement.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work machine capable of specifically recognizing the relationship between the stress applied to the work device and the operation of the machine body. There is something in it.

In order to achieve the above object, the work machine of the present invention is a work machine provided with a work device extending outward of the machine body, in which a physical quantity detection sensor for detecting a physical quantity related to the work machine and a monitor for displaying predetermined information are displayed. A controller that controls the monitor, the controller includes a stress calculation unit that calculates the distribution of stress applied to the work device based on the physical quantity of the work machine detected by the physical quantity detection sensor, and the controller. The display control unit has a display control unit that controls the display of the predetermined information on the monitor, and the display control unit sets the distribution of the stress applied to the work device calculated by the stress calculation unit to the operation of the work device. It is characterized in that the display of the monitor is controlled as shown in conjunction with.

As a result, by showing the monitor the distribution of stress applied to the work device calculated by the stress calculation unit so as to be linked with the operation of the work device, for example, the operation of the machine by the operator causes fatigue to accumulate in the work device. Since the distribution of stress applied to the work device operated by the operator's operation of the machine is displayed on the monitor in conjunction with the operation of the work device, the operator is tired of the operation. It is possible to intuitively understand that it is an operation that accumulates.

As another aspect, the display of the predetermined information controlled by the display control unit includes a simulated drawing imitating the working device, and the simulated drawing includes the work calculated by the stress calculation unit. It is preferable that the distribution of stress applied to the device is shown in conjunction with the operation of the working device.

As a result, by displaying the distribution of stress applied to the work device on the monitor in conjunction with the operation of the work device on a simulated diagram imitating the work device, for example, the operation of the machine by the operator causes fatigue to accumulate in the work device. It is possible to easily visually understand whether or not the operation is such that the operation is performed.

As another embodiment, the posture calculation unit that calculates the posture of the work device based on the physical quantity related to the work device detected by the physical quantity detection sensor is provided, and the simulated figure is calculated by the posture calculation unit. It is preferable that the posture of the work device is a pseudo image linked to the operation of the work device.

As a result, by displaying the stress distribution linked to the operation of the working device on the simulated image linked to the posture of the working device calculated by the posture calculation unit, the posture and stress distribution of the working device can be visually recognized at the same time. It is said that.

As another embodiment, the image pickup device for imaging the work device is provided, and the display of the predetermined information includes an image of the work device imaged by the image pickup device, and the stress distribution shown in the simulated diagram. And, it is preferable that the image of the working device is linked with the operation of the working device.

As a result, the simulated image and the captured image of the working device captured by the imaging device are displayed on the monitor in conjunction with the operation of the working device, so that the work can be performed while comparing the captured image of the existing working device with the simulated image. It is possible to recognize the distribution of stress applied to the device.

As another aspect, it is preferable that the airframe is provided with a cockpit on which an operator who operates the airframe is boarded, and the monitor is arranged in the cockpit.

As a result, by arranging the monitor in the cockpit where the operator who operates the aircraft is on board, the operator visually recognizes the monitor while operating the aircraft, and the operator's operation causes fatigue to accumulate in the work equipment. It is possible to intuitively understand whether or not it is.

As another aspect, it is preferable to have a communication device that performs wireless communication between the airframe and the monitor, and the monitor is provided separately from the airframe.
As a result, by having a monitor provided separately from the machine and a communication device that performs wireless communication between the machine, it is possible to recognize the distribution of stress applied to the work device at a place away from the machine such as a remote place. It is said that.

According to the work machine of the present invention, by showing the monitor the distribution of stress applied to the work device calculated by the stress calculation unit so as to be interlocked with the operation of the work device, for example, the operation of the machine by the operator can be performed by the work device. In the case of an operation in which fatigue accumulates, the distribution of stress applied to the working device operated by the operation of the machine by the operator is displayed in conjunction with the operation of the working device, so that the operator can perform the operation. It is possible to intuitively understand that the operation is such that stress accumulates in the work equipment. This makes it possible to specifically recognize the relationship between the stress applied to the working device and the operation of the machine.

It is a side view of the hydraulic excavator which concerns on 1st Embodiment. It is a block diagram which showed the connection structure of the controller which concerns on the control of 1st Embodiment. It is explanatory drawing explaining the information displayed on the monitor which concerns on 1st Embodiment. It is a block diagram which showed the connection structure of the controller which concerns on the control of 2nd Embodiment.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings.

With reference to FIG. 1, a side view of the hydraulic excavator (machine, work machine) 1 according to the first embodiment is shown. The hydraulic excavator 1 is a large hydraulic excavator that operates at a site such as a mine, and is, for example, a machine having a maximum front-rear length of 25 m, a left-right length of 7 m, and a ground clearance of 15 m. Further, the hydraulic excavator 1 is normally operated 24 hours a day with 3 to 4 operators taking turns. The hydraulic excavator 1 includes a lower traveling body 2, an upper turning body 3, and a turning device 4.

The lower traveling body 2 is a traveling device of the hydraulic excavator 1, and here, the crawler type lower traveling body 2 is exemplified. The upper swivel body 3 is connected to the lower traveling body 2 via a swivel frame 3a and a swivel device 4 forming a skeleton below the upper swivel body 3. The turning device 4 is a device capable of turning the upper turning body 3 relative to the lower traveling body 2. The swivel device 4 is provided with a swivel bearing (not shown) inside, and by driving a swivel hydraulic motor (not shown), the swivel body 3 can be swiveled around the swivel bearing.

The upper swivel body 3 has a cockpit 5, a front attachment (working device) 7, a building 6, and the like mounted on the swivel frame 3a. The cockpit 5 is provided with various operating devices for operating the hydraulic excavator 1. Therefore, by boarding the cockpit 5, the operator can perform various operations of the hydraulic excavator 1, such as a turning operation for operating the turning device 4 and a work operation for operating the front attachment 7.

The building 6 accommodates machines such as an engine and a hydraulic pump (not shown), and is arranged behind the cockpit 5. The front attachment 7 is provided at the center of the front portion of the upper swing body 3, and includes a boom 10, an arm 11, and a bucket 12. The boom 10 has a base end portion pivotally supported by a connecting pin (not shown) on the swivel frame 3a. As a result, the boom 10 can swing relative to the swivel frame 3a. An arm 11 is rotatably connected to the tip of the boom 10 in the vertical direction, and a bucket 12 is rotatably connected to the tip of the arm 11 in the vertical direction.

Here, the boom 10 can be rotated by adjusting the boom cylinder 10a hydraulically and expanding and contracting. Similarly, the arm 11 can rotate the arm cylinder 11a, and the bucket 12 can rotate by hydraulically adjusting the bucket cylinder 12a to expand and contract. Therefore, the front attachment 7 appropriately adjusts the boom cylinder 10a, the arm cylinder 11a, and the bucket cylinder 12a to expand and contract, thereby appropriately rotating the boom 10, the arm 11, and the bucket 12, and performing operations such as excavation, which will be described later. It is possible to do the work.

The front attachment 7 is provided with a plurality of sensors that detect various physical quantities. Specifically, the boom cylinder 10a is provided with a boom pressure sensor 10b, the arm cylinder 11a is provided with an arm pressure sensor 11b, and the bucket cylinder 12a is provided with a bucket pressure sensor 12b. These pressure sensors can detect the pressure in each cylinder. Hereinafter, the boom pressure sensor 10b, the arm pressure sensor 11b, and the bucket pressure sensor 12b are also collectively referred to as a cylinder pressure sensor 15.

Further, a first angle meter 21, a second angle meter 22, and a third angle meter 23 are provided at each connecting portion of the swivel frame 3a, the boom 10, the arm 11, and the bucket 12, respectively. The first goniometer 21 is a sensor that detects the relative angle between the swivel frame 3a and the boom 10. The second angle meter 22 is a sensor that detects the relative angle between the boom 10 and the arm 11. The third goniometer 23 is a sensor that detects the relative angle between the arm 11 and the bucket 12. Hereinafter, the first angle meter 21, the second angle meter 22, and the third angle meter 23 are also collectively referred to as a front angle meter 25.

Further, the upper swivel body 3, the swivel device 4, and the building 6 have a vehicle body tilt angle meter 31, a swivel angle meter 33, a hydraulic oil temperature gauge 35, an engine tachometer 36, a hydraulic pump discharge pressure gauge 37, and a hydraulic motor inlet pressure gauge. 38 and an accelerometer 39 are provided. The vehicle body tilt angle meter 31 is a sensor that detects an inclination angle indicating the inclination of the hydraulic excavator 1 in the front-rear and left-right directions. The turning angle meter 33 is a sensor that detects the relative angle between the upper turning body 3 and the lower traveling body 2. The hydraulic oil thermometer 35 is a sensor that detects the temperature of hydraulic oil supplied to a hydraulic motor, a hydraulic cylinder, or the like by a hydraulic pump (not shown).

The engine tachometer 36 is a rotation sensor that detects the rotation speed of an engine (not shown).
The hydraulic pump discharge pressure gauge 37 is a pressure sensor that detects the pressure of hydraulic oil supplied from a hydraulic pump (not shown) to a hydraulic motor, a hydraulic cylinder, or the like. The hydraulic motor inlet pressure gauge 38 is a pressure sensor that detects the pressure of hydraulic oil supplied to a swing hydraulic motor or the like (not shown). The accelerometer 39 is an acceleration sensor that detects the vibration acceleration generated in the upper swivel body 3 and the lower traveling body 2.

The cockpit 5 is provided with a camera 41 and a monitor 43. The camera 41 is installed in the cockpit 5, for example, and is an image pickup device that images the front of the cockpit 5. Various information related to the hydraulic excavator 1, such as the state and posture of the hydraulic excavator 1, is displayed on the monitor 43. The information displayed on the monitor 43 will be described later.

With reference to FIG. 2, the connection configuration of the controller 51 according to the control of the first embodiment is shown in the block diagram. The controller 51 is a control device for comprehensively controlling the hydraulic excavator 1 including engine operation control, and is an input / output device, a storage device (ROM, RAM, non-volatile RAM, etc.), and a central processing unit (CPU). ) And the like, for example, arranged in the control room 5 of the upper swivel body 3.

On the input side of the controller 51, a cylinder pressure sensor 15, a front angle meter 25, a vehicle body tilt angle meter 31, a turning angle meter 33, a hydraulic oil temperature meter 35, an engine rotation meter 36, a hydraulic pump discharge pressure meter 37, and a hydraulic motor A sensor (physical quantity detection sensor) for detecting a physical quantity related to the machine body 1 such as an inlet pressure gauge 38 and an accelerometer 39, and a camera (imaging device) 41 are electrically connected. As a result, information regarding the pressure in the boom cylinder 10a, the arm cylinder 11a and the bucket cylinder 12a is input from the cylinder pressure sensor 15, and the swivel frame 3a, the boom 10, the arm 11 and the bucket 12 are connected from the front angle meter 25. Information about the relative angle in the part is entered.

Further, on the input side of the controller 51, information on the tilt angle of the hydraulic excavator 1 is input from the vehicle body tilt angle meter 31, and information on the relative angle between the upper swing body 3 and the lower traveling body 2 is input from the turn angle meter 33. It is input, and information about the temperature of the hydraulic oil is input from the hydraulic oil thermometer 35. Further, information on the engine rotation speed is input from the engine rotation meter 36, information on the pressure of hydraulic oil supplied from the hydraulic pump to the hydraulic motor, the hydraulic cylinder, etc. is input from the hydraulic pump discharge pressure gauge 37, and the hydraulic motor Information on the pressure of the hydraulic oil supplied to the swivel hydraulic motor and the like is input from the inlet pressure gauge 38, and information on the vibration acceleration generated in the upper swivel body 3 and the lower traveling body 2 is input from the accelerometer 39. Information about the image in front of the cockpit 5 is input from 41.

A monitor 43 is electrically connected to the output side of the controller 51, and by controlling the monitor 43, it is possible to notify the operator boarding the cockpit 5 of various information regarding the hydraulic excavator 1. can. Information input / output between each sensor or the like and the controller 51 may be performed via a network such as a control area network (CAN) or a local area network (LAN).

Here, the controller 51 has a stress calculation unit 53, a posture calculation unit 55, and a display control unit 57. The stress calculation unit 53 is a calculation unit capable of calculating the stress distribution applied to the front attachment 7. Specifically, the stress calculation unit 53 includes a cylinder pressure sensor 15, a front angle meter 25, a vehicle body tilt angle meter 31, a turning angle meter 33, a hydraulic oil temperature meter 35, an engine rotation meter 36, a hydraulic pump discharge pressure meter 37, and the like. Based on the information about physical quantities input from the hydraulic motor inlet pressure gauge 38 and the accelerometer 39, using numerical analysis methods such as the finite element method and statistical methods such as regression analysis, for each part of the front attachment 7. Calculate the stress distribution that occurs in. Further, the stress calculation unit 53 calculates the stress distribution at least every time the information regarding the physical quantity changes.

The posture calculation unit 55 can calculate the posture of the front attachment 7 based on the information regarding the relative angles at the connecting portions of the swivel frame 3a, the boom 10, the arm 11 and the bucket 12 input from the front angle meter 25. It is a calculation unit. The posture calculation unit 55 calculates the posture of the front attachment 7 each time the information regarding the relative angle in each connecting portion input from the front angle meter 25 changes. The display control unit 57 shifts to the monitor 43 based on the stress distribution calculated by the stress calculation unit 53, the attitude of the front attachment 7 calculated by the attitude calculation unit 55, and the image in front of the cockpit 5 captured by the camera 41. It is a control unit that controls the display of.

With reference to FIG. 3, an explanatory diagram illustrating information displayed on the monitor 43 according to the first embodiment is shown. The monitor 43 has an image in front of the cockpit 5 (hereinafter referred to as a front image 61) and a perspective view of the front attachment 7 (hereinafter referred to as a pseudo image 63) captured by the camera 41 under the control of the display control unit 57. ) Is displayed side by side on the left and right. The simulated image 63 is a diagram simulating a three-dimensional perspective view of the front attachment 7 so that the posture of the front attachment 7 is calculated by, for example, the posture calculation unit 55.

This pseudo image 63 is a perspective view when the camera 41 is viewed from a direction corresponding to the direction in which the front attachment 7 is imaged. Further, the simulated image 63 shows that the stress distribution 63a calculated by the stress calculation unit 53 is, for example, in four stages, and the higher the stress, the darker the color. The color may be changed according to the degree of stress.

As a result, the posture calculation unit 55 calculates the posture of the front attachment 7 every time the information regarding the relative angle in each connecting portion input from the front angle meter 25 changes, and the pressure sensor 15, the front angle meter 25, and the vehicle body tilt angle are calculated. Stress calculation every time the information about the physical quantity input from the total 31, swivel angle meter 33, hydraulic oil temperature meter 35, engine rotation meter 36, hydraulic pump discharge pressure meter 37, hydraulic motor inlet pressure meter 38 and acceleration meter 39 changes. Since the unit 53 calculates the stress distribution 63a, the operator can recognize the stress distribution 63a of the front attachment 7, which changes according to the operation of the hydraulic excavator 1, at the same time as the operation, so-called real time. Further, the operator can easily recognize the stress distribution 63a in the front attachment 7 by comparing the front image 61 and the simulated image 63.

As described above, in the work machine according to the first embodiment, in the work machine provided with the front attachment 7 extending outward of the hydraulic excavator 1, the cylinder pressure sensor 15, the front angle meter 25, the vehicle body inclination angle meter 31, Sensors that detect physical quantities such as turning angle meter 33, hydraulic oil temperature gauge 35, engine rotation meter 36, hydraulic pump discharge pressure gauge 37, hydraulic motor inlet pressure gauge 38, accelerator 39, etc., front image 61, simulated image 63, etc. A monitor 43 for displaying predetermined information and a controller 51 for controlling the monitor 43 are provided.

Further, the controller 51 includes a cylinder pressure sensor 15, a front angle meter 25, a vehicle body tilt angle meter 31, a turning angle meter 33, a hydraulic oil temperature meter 35, an engine rotation meter 36, a hydraulic pump discharge pressure meter 37, and a hydraulic motor inlet pressure meter. 38, the stress calculation unit 53 that calculates the stress distribution 63a, which is the distribution of the stress applied to the front attachment 7 based on the physical quantity detected by the sensor such as the accelerometer 39, and the display of predetermined information to be displayed on the monitor 43. It has a display control unit 57 to be controlled.

Then, the display control unit 57 controls the display of the monitor 43 so as to show the stress distribution 63a in the front attachment 7 calculated by the stress calculation unit 53 in conjunction with the operation of the front attachment 7.

Therefore, by showing the monitor 43 the stress distribution 63a in the front attachment 7 calculated by the stress calculation unit 53 so as to be interlocked with the operation of the front attachment 7, the operation of the hydraulic excavator 1 by the operator causes fatigue in the front attachment 7. When the operation is such that the stress is accumulated, the operator can sensibly understand that the operation is an operation in which the fatigue is accumulated in the front attachment 7.

Further, if the operator is, for example, a person (developing person) who is still unfamiliar with the operation of the hydraulic excavator 1 and is operating the hydraulic excavator 1 under the guidance of an expert, the front is used. Since the hydraulic excavator 1 can be operated and the operation is instructed while observing the stress distribution 63a of the attachment 7, the operation skill of the hydraulic excavator 1 of a developing person can be satisfactorily improved by the guidance of a skilled person.

The display of predetermined information controlled by the display control unit 57 and displayed on the monitor 43 includes a simulated diagram imitating the front attachment 7, and the simulated diagram includes the stress calculated by the stress calculation unit 53. Since the distribution 63a is shown on the monitor 43 in conjunction with the operation of the front attachment 7, for example, it is visually easy to visually determine whether or not the operation of the hydraulic excavator 1 by the operator is an operation in which stress accumulates in the front attachment 7. Can be understood.

Further, a cylinder pressure sensor 15, a front angle meter 25, a vehicle body tilt angle meter 31, a turning angle meter 33, a hydraulic oil temperature meter 35, an engine rotation meter 36, a hydraulic pump discharge pressure meter 37, a hydraulic motor inlet pressure meter 38, and an acceleration meter. It has a posture calculation unit 55 that calculates the posture of the front attachment 7 based on a physical quantity detected by a sensor such as 39, and the posture of the front attachment 7 calculated by the posture calculation unit 55 is linked to the operation of the front attachment 7. Since the simulated image 63 is displayed as a simulated diagram, the posture of the front attachment 7 and the stress distribution 63a can be visually recognized at the same time.

The camera 41 that captures the front attachment 7 is included, and the display of predetermined information includes the front image 61 captured by the camera 41, and the stress distribution 63a and the front image 61 of the pseudo image 63 are front attachments. Since it is linked with the operation of 7, the stress distribution 63a of the front attachment 7 can be recognized while comparing the front image 61, which is an image of the existing front attachment 7, with the simulated image 63, which is a simulated diagram.

The hydraulic excavator 1 is provided with a control room 5 on which the operator who operates the hydraulic excavator 1 is boarded, and the monitor 43 is arranged in the control room 5. Therefore, the operator operates the hydraulic excavator 1. While visually observing the monitor 43, it is possible to sensibly understand whether or not the operation is such that fatigue accumulates in the front attachment 7.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to FIG.
It should be noted that the description of the configuration and the action and effect common to the first embodiment will be omitted, and the parts different from the first embodiment will be described here.

With reference to FIG. 4, the connection configuration of the controller 151 according to the control of the second embodiment is shown in the block diagram. The controller 151 according to the second embodiment is different in that the communication device 160 is connected instead of the monitor 43 electrically connected to the output side of the controller 51 according to the first embodiment.

The communication device 160 includes a first communication device 161 and a second communication device 162, and is a device capable of wirelessly transmitting and receiving information between the first communication device 161 and the second communication device 162. Specifically, the first communication device 161 is arranged in the hydraulic excavator 1, and the second communication device 162 is arranged in, for example, a management center (remote place) 100 that manages the hydraulic excavator 1. Further, the management center 100 is provided with a PC (Personal Computer) 143 that manages the operation of the hydraulic excavator 1 and the state of the hydraulic excavator 1, and the PC 143 can input and output information to the second communication device 162. It is connected to the computer.

Here, the controller 151 according to the second embodiment corresponds to the controller 51 according to the first embodiment, and the display control unit 57 forms the same images as the front image 61 and the pseudo image 63. Further, the controller 151 transmits the front image 61 and the pseudo image 63 to the PC 143 via the communication device 160. Then, the PC 143 projects the front image 61 and the pseudo image 63 on the screen.

The image projected on the PC 143 in this way can be viewed, for example, by a skilled person located in the management center 100 or an operator who remotely controls the hydraulic excavator 1 from the management center 100. Therefore, based on the image projected on the PC 143, an expert may instruct the operator who rides on the hydraulic excavator 1 to operate the hydraulic excavator 1 from the management center 100, or the hydraulic excavator 1 may be operated. The operator who operates remotely can improve the operation technique of the hydraulic excavator 1 by himself / herself.

As described above, the work machine according to the second embodiment has a communication device 160 that performs wireless communication between the hydraulic excavator 1 and the PC 143, and the PC 143 is provided separately from the hydraulic excavator 1. Therefore, the stress distribution 63a of the front attachment 7 can be recognized at a place away from the hydraulic excavator 1 such as the management center 100. Further, based on the stress distribution 63a of the front attachment 7 recognized in this way, the operator can improve the operation technique of the hydraulic excavator 1.

This concludes the description of the working machine according to the present invention, but the present invention is not limited to the above embodiment and can be changed without departing from the gist of the present invention.

For example, in the present embodiment, the hydraulic excavator 1 has been described, but a working machine having a working device such as a wheel loader may be used.
Further, in the present embodiment, the stress calculation unit 53 includes a cylinder pressure sensor 15, a front angle meter 25, a vehicle body tilt angle meter 31, a turning angle meter 33, a hydraulic oil temperature meter 35, an engine rotation meter 36, and a hydraulic pump discharge pressure meter. 37, It was decided to calculate the stress distribution 63a of the front attachment 7 based on the information input from the hydraulic motor inlet pressure gauge 38 and the accelerometer 39, but sensors other than these sensors may be used. It is not necessary to use some of these sensors, and it is sufficient that the stress distribution 63a can be calculated based on the physical quantity applied to the front attachment 7.

Further, in the present embodiment, it is exemplified that the calculation method of the stress distribution 63a by the stress calculation unit 53 uses a numerical analysis method such as a finite element method or a statistical method such as regression analysis, but other calculation methods are used. The calculation may be performed, and it is sufficient that the stress distribution 63a of the front attachment 7 can be calculated.

Further, in the present embodiment, the installation location of the image pickup device for photographing the front of the cockpit 5 is illustrated in the cockpit 5, but it may be installed in the upper swivel body 3 outside the cockpit, and the position away from the aircraft. It may be installed in.

Further, in the present embodiment, the simulated image 63 of the three-dimensional perspective view is used as the simulated view, but other types of simulated views such as a developed view and a hexagonal view may be used. Further, the stress distribution 63a may be displayed so as to be superimposed on the front image 61.
Further, in the present embodiment, the front image 61 and the pseudo image 63 are displayed side by side on the monitor 43, but only the pseudo image 63 may be displayed, and the operator may operate the hydraulic excavator 1. In order to compare the degree of improvement, one set is the stress distribution 63a overlaid with the front image 61, and two or more sets of the past set and the current set are arranged at the same time and displayed on the monitor 43 for comparison. May be good.

Further, in the second embodiment, the PC 143 disposed in the management center 100 has been described, but the tablet terminal is displayed in the front image 61 and the pseudo image 63, and the hydraulic excavator 1 can be visually observed in the tablet at the corner of the work site. You may use a terminal.

Further, in the second embodiment, it has been described that the display control unit 57 of the controller 151 arranged on the hydraulic excavator 1 forms the same images as the front image 61 and the pseudo image 63, but the display control unit 57 and the stress calculation are performed. The unit 53 and the posture calculation unit 55 may be arranged on the PC 143 to form an image on the management center 100 side. In this case, the information from each sensor or camera 41 may be transmitted to the PC 143 via the communication device 160.

Further, in the second embodiment, the front image 61 and the simulated image 63 are displayed on the PC 143, but a microphone is arranged on the hydraulic excavator 1 to acquire sound information, and the vehicle is mounted on the hydraulic excavator 1. The operator who remotely operates the hydraulic excavator 1 may be made to recognize the same sound as that acquired when the excavator is in the control center 100.

1 Hydraulic excavator (machine, work machine)
7 Front attachment (working equipment)
15 Cylinder pressure sensor (physical quantity detection sensor)
25 Front protractor (physical quantity detection sensor)
31 Tilting train (physical quantity detection sensor)
33 Swing angle meter (physical quantity detection sensor)
35 Hydraulic oil thermometer (physical quantity detection sensor)
36 Engine tachometer (physical quantity detection sensor)
37 Hydraulic pump discharge pressure gauge (physical quantity detection sensor)
38 Hydraulic motor inlet pressure gauge (physical quantity detection sensor)
39 Accelerometer (physical quantity detection sensor)
41 Camera (imaging device)
43

Monitor

51, 151 Controller 53 Stress calculation unit 55 Posture calculation unit 57 Display control unit 63 Pseudo video 63a Stress distribution 143 PC (monitor)
160 communication device

Claims

In a work machine equipped with a work device that extends to the outside of the machine
A physical quantity detection sensor that detects a physical quantity related to the work machine,
A monitor that displays the specified information and
A controller for controlling the monitor is provided.
The controller has a stress calculation unit that calculates the distribution of stress applied to the work device based on the physical quantity related to the work machine detected by the physical quantity detection sensor, and a display that controls the display of the predetermined information on the monitor. Has a control unit,
The display control unit is a work machine that controls the display of the monitor so as to show the distribution of stress applied to the work device calculated by the stress calculation unit in conjunction with the operation of the work device.
The display of the predetermined information controlled by the display control unit includes a simulated drawing imitating the working device.
The simulated diagram shows the distribution of stress applied to the working device calculated by the stress calculation unit in conjunction with the operation of the working device.
The work machine according to claim 1, wherein the work machine is characterized by the above.
It has a posture calculation unit that calculates the posture of the work device based on the physical quantity related to the work machine detected by the physical quantity detection sensor.
The simulated diagram is a simulated image in which the posture of the work device calculated by the posture calculation unit is linked to the operation of the work device.
The work machine according to claim 2, wherein the work machine is characterized in that.
It has an image pickup device that captures the image of the work device, and has an image pickup device.
The display of the predetermined information includes an image of the working device captured by the imaging device.
The stress distribution shown in the simulated diagram and the image of the working device are linked to the operation of the working device.
The work machine according to claim 2, wherein the work machine is characterized in that.
The aircraft is provided with a cockpit on which an operator who operates the aircraft is boarded.
The monitor is disposed in the cockpit.
The work machine according to claim 1, wherein the work machine is characterized by the above.
It has a communication device that performs wireless communication between the aircraft and the monitor.
The monitor is provided separately from the airframe.
The work machine according to claim 1, wherein the work machine is characterized by the above.