WO2023112624A1 - ポンプの診断装置及び建設機械 - Google Patents
ポンプの診断装置及び建設機械 Download PDFInfo
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- WO2023112624A1 WO2023112624A1 PCT/JP2022/043304 JP2022043304W WO2023112624A1 WO 2023112624 A1 WO2023112624 A1 WO 2023112624A1 JP 2022043304 W JP2022043304 W JP 2022043304W WO 2023112624 A1 WO2023112624 A1 WO 2023112624A1
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- pressure
- pump
- hydraulic pump
- hydraulic
- abnormality
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- 238000010276 construction Methods 0.000 title claims abstract description 33
- 230000005856 abnormality Effects 0.000 claims abstract description 75
- 230000010349 pulsation Effects 0.000 claims abstract description 67
- 238000005070 sampling Methods 0.000 claims abstract description 53
- 238000005259 measurement Methods 0.000 claims abstract description 42
- 238000003745 diagnosis Methods 0.000 claims abstract description 35
- 238000009530 blood pressure measurement Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 abstract description 15
- 239000003921 oil Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 16
- 238000012544 monitoring process Methods 0.000 description 15
- 230000008859 change Effects 0.000 description 14
- 239000010720 hydraulic oil Substances 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B51/00—Testing machines, pumps, or pumping installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
Definitions
- the present invention relates to a pump diagnostic device and construction machinery including the diagnostic device.
- Patent Document 1 discloses a technique for diagnosing a hydraulic pump from the frequency component of the pressure that matches the rotation frequency of the hydraulic pump. According to Patent Document 1, when the piston shoe of the hydraulic pump wears, the frequency component of the pressure corresponding to the rotation frequency of the hydraulic pump increases. I am able to make a diagnosis.
- Patent Literature 1 has room for improvement in terms of accurate diagnosis.
- a pump diagnostic device is mounted on a construction machine and driven by a prime mover of the construction machine to supply pressure oil to a hydraulic actuator of the construction machine.
- a pump diagnostic device comprising: an operation instruction unit for outputting an operation instruction for causing a hydraulic actuator to perform a specific operation; and a measurement for setting sampling conditions when measuring the pressure of the pump during the specific operation.
- a condition setting unit a calculation unit that acquires the pressure measurement values sampled during the specific operation according to the set sampling conditions, and calculates the amplitude of the pressure pulsation of the pump, and the calculated pressure pulsation.
- an output unit for outputting the determination result of the abnormality determination unit to a display device.
- a construction machine includes a self-propelled lower traveling body, an upper revolving body rotatably supported with respect to the lower traveling body, a front working device provided on the upper revolving body, A hydraulic actuator that drives the front work device, a pump that supplies pressure oil to the hydraulic actuator, a pressure sensor that measures the pressure of the pump, and a display device that displays various information to an operator.
- the construction machine comprises a control device for displaying an operation instruction for operating the front work device on the display device and diagnosing the pump; causing the display device to display a screen for instructing the operator to perform an operation for diagnosing the construction machine while showing the operator the difference between the posture and the posture for diagnosis; setting the sampling conditions at the time of measuring the pressure in the set sampling conditions, calculating the amplitude of the pressure pulsation of the pump based on the measured values of the pressure sampled during the diagnostic operation according to the set sampling conditions, and calculating The presence or absence of an abnormality in the pump is determined based on the amplitude of the pressure pulsation thus obtained, and the determination result of the presence or absence of the abnormality is displayed on the display device.
- FIG. 2 is a view for explaining the configuration of a hydraulic excavator including the hydraulic pump shown in FIG. 1;
- FIG. 2 is a diagram for explaining changes in pressure over time when the hydraulic pump shown in FIG. 1 is abnormal;
- FIG. 2 is a block diagram for explaining the functional configuration of a hydraulic excavator including the hydraulic pump diagnostic device shown in FIG. 1 ;
- FIG. 5 is a diagram showing a display example of an action instruction output by the action instruction unit shown in FIG. 4; 5 is a diagram for explaining a sampling rate set by a measurement condition setting unit shown in FIG. 4;
- FIG. 7 is a diagram showing the distribution of the probability density of the measured values shown in FIG. 6;
- FIG. 5 is a diagram showing a display example of a judgment result of the abnormality judging unit shown in FIG. 4; 5 is a flowchart of diagnostic processing performed by the diagnostic device shown in FIG. 4; FIG. 10 is a diagram showing a display example of the degree of abnormality of the hydraulic pump specified by the diagnostic processing shown in FIG. 9;
- the diagnostic device 40 for a hydraulic pump 1 that discharges hydraulic oil for transmitting power to components of a construction machine will be described as an example of a diagnostic device for a pump.
- a hydraulic excavator 200 as shown in FIG. 5 will be described as an example of a construction machine, and a case where the diagnostic device 40 is mounted on the hydraulic excavator 200 will be described.
- the diagnostic device according to the present invention can also be applied to hydraulic pumps mounted on construction machines other than the hydraulic excavator 200, such as wheel loaders, dump trucks, road machines, and the like.
- the diagnostic device according to the present invention can be provided outside the construction machine.
- the diagnostic device has a configuration capable of communicating with the construction machine or the hydraulic pump.
- the diagnostic device is configured to receive information necessary for diagnosis from the construction machine or the hydraulic pump, execute diagnostic processing, and transmit instructions necessary for diagnosis and diagnosis results to the construction machine. Just do it.
- FIG. 1 is a diagram showing the configuration of the hydraulic pump 1.
- FIG. FIG. 1 is a schematic cross-sectional view along the axial direction of the hydraulic pump 1.
- FIG. 1 is a diagram showing the configuration of the hydraulic pump 1.
- FIG. 1 is a schematic cross-sectional view along the axial direction of the hydraulic pump 1.
- the hydraulic pump 1 shown in FIG. 1 is a variable displacement swash plate type axial piston pump.
- the hydraulic pump 1 may be a bent shaft type piston pump, vane pump or gear pump.
- a hydraulic pump 1 is used in a construction machine such as a hydraulic excavator 200 and is rotationally driven by a prime mover 30 such as an engine or a motor.
- Hydraulic pump 1 includes casing 2 , shaft 3 , cylinder block 4 , piston 5 , swash plate 6 and valve plate 7 .
- the casing 2 includes a bottomed cylindrical casing main body 8 and a lid 9 that closes the opening of the casing main body 8 .
- the lid body 9 forms a drain oil chamber 10 with the casing body 8 .
- a drain port 11 is provided in the casing main body 8 .
- the drain port 11 is connected via a drain pipe 12 to an oil tank 13 that stores hydraulic oil.
- Shaft 3 is rotatably supported by casing 2 and rotates as motor 30 rotates.
- the cylinder block 4 is fixed to the outer circumference of the shaft 3 via splines provided on the outer circumference of the shaft 3 .
- the cylinder block 4 rotates inside the casing body 8 as the shaft 3 rotates.
- the cylinder block 4 is disposed so that one end face faces the swash plate 6 and the other end face slides on the valve plate 7 .
- a plurality of cylinder holes 14 are provided in the cylinder block 4 .
- Each cylinder hole 14 is provided so as to be arranged at regular intervals in the circumferential direction of the cylinder block 4 with the shaft 3 as the center.
- Each cylinder hole 14 is provided so as to extend parallel to the axial direction of the cylinder block 4 .
- Each cylinder hole 14 opens toward the valve plate 7 and communicates with the discharge port 15 and the suction port 16 .
- the piston 5 is slidably arranged inside each cylinder hole 14 .
- a shoe 18 is provided on the swash plate 6 side of the piston 5 so as to be able to swing relative to the piston 5 .
- Each piston 5 axially reciprocates within the cylinder hole 14 as the cylinder block 4 rotates.
- each piston 5 sucks hydraulic oil into the cylinder bore 14 from the suction port 16 , compresses the sucked hydraulic oil, and discharges the pressure oil from the discharge port 15 .
- the shoe 18 is in slidable contact with the smooth surface of the swash plate 6 .
- the shoe 18 slides in a circular orbit on the smooth surface of the swash plate 6 .
- the swash plate 6 is tiltably supported by a swash plate support member 19 provided on the lid 9 of the casing 2 .
- the surface of the swash plate 6 opposite to the cover 9 is a smooth surface on which the shoe 18 slides. As the cylinder block 4 rotates, the shoes 18 slide on the smooth surface of the swash plate 6 , allowing the pistons 5 to reciprocate within the cylinder bores 14 .
- the surface of the swash plate 6 facing the lid 9 is provided with a pair of legs (only one is shown) each having a convex curved surface.
- a pair of legs provided on the swash plate 6 are adapted to a pair of concave curved surfaces (only one is shown) provided on the surface of the swash plate support member 19 opposite to the cover 9 .
- a minute gap (not shown) is formed between the cylinder hole 14 and the piston 5 in order to improve the sliding characteristics of the piston 5 .
- This gap communicates with the drain oil chamber 10 of the casing 2 .
- a part of the pressure oil in the cylinder bore 14 leaks into the drain oil chamber 10 of the casing 2 through this gap.
- a minute gap (not shown) is formed between the shoe 18 and the swash plate 6 in order to improve the sliding characteristics of the shoe 18 .
- This gap communicates with the inside of the cylinder bore 14 through a passage provided inside the shoe 18 and the piston 5 .
- a part of the pressure oil in the cylinder bore 14 leaks into the drain oil chamber 10 of the casing 2 through this gap.
- FIG. 2 is a diagram illustrating the configuration of a hydraulic excavator 200 including the hydraulic pump 1 shown in FIG.
- a drain port 11 of the hydraulic pump 1 is connected to an oil tank 13 via a drain pipe 12 .
- a suction port 16 of the hydraulic pump 1 is connected to the oil tank 13 via a suction pipe 20 .
- the hydraulic pump 1 sucks hydraulic oil supplied from the oil tank 13 through the suction pipe 20 .
- a discharge port 15 of the hydraulic pump 1 is connected to a control valve 22 via a discharge pipe 21 .
- the hydraulic pump 1 pressure-feeds pressure oil to the control valve 22 via the discharge pipe 21 .
- the control valve 22 distributes pressure oil to each hydraulic actuator 29 of the excavator 200 .
- the hydraulic excavator 200 includes a self-propellable lower traveling body 201, an upper revolving body 202 rotatably supported with respect to the lower traveling body 201, and a front working device 203 provided on the upper revolving body 202 ( See Figure 5).
- the front working device 203 has a boom 204 driven by a boom cylinder, an arm 205 driven by an arm cylinder, and a bucket 206 driven by a bucket cylinder.
- the hydraulic actuator 29 of the hydraulic excavator 200 is, for example, a boom cylinder, an arm cylinder, a bucket cylinder, a swing motor, a travel motor, or the like. Return oil from the hydraulic actuator 29 is returned to the oil tank 13 via the control valve 22 and return pipe 23 .
- the discharge pipe 21, the drain pipe 12 and the suction pipe 20 are provided with pressure sensors 24a to 24c for measuring various pressures of the hydraulic pump 1, respectively.
- the pressure sensor 24 a measures the discharge pressure of the hydraulic pump 1 .
- a pressure sensor 24 b measures the drain pressure of the hydraulic pump 1 .
- a pressure sensor 24 c measures the suction pressure of the hydraulic pump 1 .
- Output signals from the pressure sensors 24a to 24c are input to a control device 25 that controls various operations of the hydraulic excavator 200 (for example, controls the operations of the hydraulic pump 1, the control valve 22 and the prime mover 30).
- the pressure sensors 24a to 24c are also collectively referred to as the "pressure sensor 24".
- the control device 25 calculates the measured value of the pressure of the hydraulic pump 1 from the output signal of the pressure sensor 24.
- the control device 25 also includes a computing unit that computes the amplitude of the pressure waveform of the hydraulic pump 1 from the time-series data of the measured values, and a storage unit that stores a threshold value for determining whether the hydraulic pump 1 is abnormal. have.
- the control device 25 diagnoses the hydraulic pump 1 by comparing the amplitude of the pressure waveform and the threshold, and outputs the diagnosis result to the notification device 26 . Further, the control device 25 outputs to the notification device 26 an operation instruction for causing the hydraulic excavator 200 to perform a specific operation as a diagnostic condition for diagnosing the hydraulic pump 1 .
- the notification device 26 notifies the operator of the hydraulic excavator 200, that is, the rider of the hydraulic excavator 200, of the diagnosis result or operation instruction.
- the notification device 26 may notify users other than the operator, such as the manager of the hydraulic excavator 200 .
- the operator operates the operation lever 27 and the engine control dial 28 (hereinafter also referred to as the "engine control dial 28") in accordance with the operation instruction notified by the notification device 26, and operates the hydraulic excavator so that the hydraulic pump 1 can be diagnosed. 200 to operate.
- the control dial 28 is an operating device for operating the number of revolutions of the engine, which is the prime mover 30 .
- the operation lever 27 is an operation device for operating each device constituting the hydraulic excavator 200 such as the lower travel body 201 , the upper revolving body 202 and the front working device 203 .
- the control device 25 also controls the operation of the hydraulic excavator 200 in response to the operation of the operating lever 27 and the control dial 28 by the operator. Specifically, operation signals output from the operation lever 27 and the control dial 28 are input to the control device 25 .
- the control device 25 controls the operations of the control valve 22, the prime mover 30 and the hydraulic pump 1 according to the input operation signal.
- the control device 25 controls the posture (diagnostic posture) of the hydraulic excavator 200 expected when the operation (the operation corresponding to the diagnostic motion) is performed in accordance with the operation instruction, and the hydraulic pump 1 .
- the pressure (diagnostic pressure) is monitored, and if the diagnostic conditions are met, the hydraulic pump 1 is diagnosed.
- Fig. 3 is a diagram for explaining the change in pressure over time when the hydraulic pump 1 shown in Fig. 1 malfunctions.
- the horizontal axis in FIG. 3 indicates time, and the vertical axis in FIG. FIG. 3 shows changes over time in the pressure of the hydraulic pump 1 when some of the pistons 5 are damaged.
- pressure pulsation (broken line in FIG. 3 ) having a period matching an integral multiple of the rotation period of the hydraulic pump 1 may occur in the pipes connected to the respective ports of the hydraulic pump 1 . is assumed. It is possible to diagnose the hydraulic pump 1 by comparing the amplitude of the assumed pressure pulsation with a threshold value.
- the range of pressure pulsation amplitude that is, the pressure pulsation amplitude range (that is, the hydraulic pressure change width in the time change of the pressure caused by the abnormality of the pump 1). Therefore, in order to diagnose the hydraulic pump 1 accurately, it is important to distinguish whether the time change in the pressure of the hydraulic pump 1 is caused by an abnormality of the hydraulic pump 1 or not.
- FIG. 4 is a block diagram illustrating the functional configuration of the hydraulic excavator 200 including the diagnostic device 40 for the hydraulic pump 1 shown in FIG.
- FIG. 5 is a diagram showing a display example of the action instruction output by the action instruction section 42 shown in FIG.
- FIG. 6 is a diagram for explaining the sampling rate set by the measurement condition setting section 44 shown in FIG.
- FIG. 7 is a diagram showing the probability density distribution of the measured values shown in FIG.
- FIG. 8 is a diagram showing a display example of the judgment result of the abnormality judging section 47 shown in FIG.
- the diagnostic device 40 of the hydraulic pump 1 includes a processor and a storage device, and various functions of the diagnostic device 40 are realized by the processor executing a program stored in the storage device.
- the diagnostic device 40 of the hydraulic pump 1 is mounted inside the control device 25 of the hydraulic excavator 200 .
- the temperature sensor 31 is a sensor that measures the temperature of hydraulic oil.
- the attitude sensor 32 is a sensor that measures the attitude of the excavator 200 .
- the posture sensor 32 includes a boom angle sensor that measures the rotation angle of the boom 204, an arm angle sensor that measures the rotation angle of the arm 205, a bucket angle sensor that measures the rotation angle of the bucket 206, and an upper rotating body. and a turn angle sensor that measures the turn angle of 202 .
- the rotation speed sensor 33 is a sensor that measures the rotation speed of the prime mover 30 .
- the operation amount sensor 34 is a sensor that measures each operation amount of the operation lever 27 and the control dial 28 .
- a display device 35 is connected to the output side of the diagnostic device 40 .
- the display device 35 is a part of the notification device 26 and is a display provided in the cab of the hydraulic excavator 200 in this embodiment.
- the display device 35 is, for example, a management system for overall management of construction machines other than the hydraulic excavator 200 located away from the hydraulic excavator 200. It may include a display provided in an information terminal of a user other than the operator of the excavator 200, such as an operator.
- the diagnostic device 40 has a diagnostic condition setting unit 41, a measurement execution unit 45, a calculation unit 46, an abnormality determination unit 47, and an output unit 48.
- the diagnostic condition setting unit 41 sets diagnostic conditions for the hydraulic pump 1 .
- the diagnostic conditions include conditions related to the state or operation of the hydraulic excavator 200 and conditions related to pressure measurement of the hydraulic pump 1 .
- the diagnostic condition setting section 41 has an operation instructing section 42 , a monitoring section 43 and a measurement condition setting section 44 .
- the operation instruction unit 42 outputs an operation instruction to the output unit 48 to cause the hydraulic excavator 200 to perform a specific operation so that the hydraulic pump 1 can be diagnosed.
- the output unit 48 causes the display device 35 to display the operation instruction output by the operation instruction unit 42 .
- the operation instruction is such that the number of revolutions of the hydraulic pump 1, the temperature of the hydraulic oil, and the state of the hydraulic excavator 200, such as the attitude and load, are suitable for diagnosis of the hydraulic pump 1. This is information for instructing the operator to cause the hydraulic excavator 200 to perform a specific operation.
- the operation instructing unit 42 performs a predetermined diagnostic operation after the front working device 203 (for example, the boom 204, the boom 204, and the arm 205) of the hydraulic excavator 200 assumes a predetermined diagnostic posture. While showing the operator the difference between the actual posture of the hydraulic excavator 200 and the posture for diagnosis, the display device 35 displays a screen for instructing the operator to operate the hydraulic excavator 200 to perform the operation for diagnosis. Outputs operation instructions.
- the action instruction output by the action instruction unit 42 may include a first action instruction 53 and a second action instruction 54, as shown in FIG.
- the first operation instruction 53 is an operation instruction for shifting the hydraulic excavator 200 to a predetermined state.
- the second operation instruction 54 is an operation instruction for causing the hydraulic excavator 200, which has been shifted to a predetermined state by the first operation instruction 53, to perform a predetermined operation.
- FIG. 5 shows an example in which a screen 51 including a first action instruction 53 and a second action instruction 54 is displayed on the display device 35.
- the first operation instruction 53 sets the bucket 206 of the hydraulic excavator 200 to an empty state, and adjusts the measured value (Value) of each item 55 so that it falls within the target range (Target). instructing the operator.
- 5 is an example of information corresponding to the actual posture of the excavator 200
- the target range (Target) shown in FIG. 5 is an example of information corresponding to the diagnostic posture. .
- the operation instruction unit 42 causes the display device 35 to display a screen 51 that displays both the actual measurement value (Value) and the target range (Target), so that the difference between the actual posture of the hydraulic excavator 200 and the posture for diagnosis is displayed. is shown to the operator.
- the second operation instruction 54 is, after the operation corresponding to the first operation instruction 53, operating the control dial 28 to minimize the number of revolutions of the prime mover 30, and raising the boom raising operation lever of the operation lever 27.
- the operator is instructed to perform a full stroke operation for 30 seconds of relief.
- the difference between the actual posture of the excavator 200 and the diagnostic posture for example, two side views of the hydraulic excavator 200 corresponding to the actual posture and the diagnostic posture, or A part of it may be displayed in the image display area 52 of the screen 51 or the difference between the actual measurement value (Value) and the target range (Target) may be displayed on the screen 51 .
- the diagnostic device 40 measures the pressure of the hydraulic pump 1 during this steady state and diagnoses the hydraulic pump 1 .
- the diagnostic device 40 measures the pressure of the hydraulic pump 1 while the boom raising operation lever of the operation lever 27 is being fully stroked and relieved for 30 seconds in response to the second operation instruction 54 .
- the diagnostic device 40 can stably measure the pressure of the hydraulic pump 1 under the same conditions regarding the state or operation of the hydraulic excavator 200 at all times. Therefore, the diagnostic device 40 can clearly distinguish whether or not the change in pressure over time is caused by an abnormality in the hydraulic pump 1 . Therefore, the diagnostic device 40 can diagnose the hydraulic pump 1 accurately and stably.
- the monitoring unit 43 acquires measurement values of the temperature sensor 31 , the attitude sensor 32 , the number of revolutions sensor 33 , the operation amount sensor 34 and the pressure sensor 24 , and the operator operates the excavator 200 according to the operation instruction from the operation instruction unit 42 . to monitor the operation of The monitoring unit 43 outputs these sensor measurement values and monitoring results to the output unit 48 .
- the output unit 48 causes the display device 35 to display the monitoring results and the like output by the monitoring unit 43 .
- the diagnostic device 40 can inform the operator whether or not the operator is operating the excavator 200 according to the operation instruction of the operation instruction unit 42 .
- the operator can adjust the operation amount of the operating lever 27 or the control dial 28 early. Therefore, the diagnostic device 40 can measure the hydraulic oil pressure under the same conditions regarding the state or operation of the hydraulic excavator 200, so that the diagnosis of the hydraulic pump 1 can be performed more accurately and stably. can.
- the diagnostic device 40 includes, as described above, the monitoring parameter of the monitoring unit 43 corresponding to the posture for diagnosis, the change mode of the monitoring parameter of the monitoring unit 43 corresponding to the operation for diagnosis, is stored as a monitoring criterion.
- the diagnostic device 40 determines whether or not the posture for diagnosis instructed by the motion instructing unit 42 is achieved, based on the state of deviation between the parameter serving as the monitoring reference and the actual monitoring result, and determines whether or not the diagnostic motion is performed. determine whether it has been done or not. Then, when the diagnostic posture is not obtained or when the diagnostic motion is not performed, the diagnostic device 40 cannot diagnose under appropriate conditions (recommended posture and recommended motion).
- the display device 35 is caused to display information (for example, character information "Diagnosis failed") indicating that. Further, in these cases, the diagnostic device 40 instructs the motion instructing unit 42 to perform the diagnostic motion again after the posture for diagnosis is assumed. Even if the diagnosis is performed under appropriate conditions, the diagnostic device 40 displays information indicating that the diagnosis has been performed (for example, character information "Diagnosis was successful") on the display device 35. can be displayed.
- information for example, character information "Diagnosis failed
- the measurement condition setting unit 44 sets conditions for measuring the pressure of the hydraulic pump 1 in the measurement execution unit 45 . Specifically, the measurement condition setting unit 44 sets, in the measurement execution unit 45, a sampling condition for pressure measurement during a specific operation of the hydraulic excavator 200 (that is, during diagnostic operation). Specifically, the measurement condition setting unit 44 sets the sampling rate when measuring the pressure of the hydraulic pump 1 . Details of the sampling rate set by the measurement condition setting unit 44 will be described later with reference to FIGS. 6 and 7. FIG.
- the measurement executing section 45 measures the pressure of the hydraulic pump 1 during a specific operation of the hydraulic excavator 200 according to the conditions set by the measurement condition setting section 44 . Specifically, the measurement executing section 45 samples the pressure of the hydraulic pump 1 at the sampling rate set by the measurement condition setting section 44 . The measurement execution unit 45 samples the pressure of the hydraulic pump 1 by using at least one pressure sensor 24 out of the pressure sensors 24a to 24c over a predetermined sampling time. Through this sampling, the measurement execution unit 45 discretely acquires the measured values of the pressure. The measured value of the pressure acquired by the measurement execution unit 45 is time-series data of the pressure discretely acquired. The measurement execution unit 45 outputs the acquired measurement values to the calculation unit 46 .
- the calculation unit 46 calculates the amplitude of the pressure pulsation assumed as the time change of the pressure based on the acquired measured value of the pressure. That is, the calculation unit 46 acquires the pressure measurement values of the hydraulic pump 1 sampled during a specific operation of the hydraulic excavator 200 according to the sampling conditions (specifically, the sampling rate) set by the measurement condition setting unit 44. , the amplitude of the pressure pulsation of the hydraulic pump 1 is calculated based on the obtained measured value of the pressure. Specifically, the calculation unit 46 performs statistical processing on the measured pressure values discretely acquired at the sampling rate set by the measurement condition setting unit 44, thereby determining the range of the measured pressure values.
- the computing unit 46 may compute the variance of the discretely acquired pressure measurement values, and compute the amplitude of the pressure pulsation from the computed variance.
- the calculation unit 46 outputs the calculated pressure pulsation amplitude to the abnormality determination unit 47 .
- the abnormality determination unit 47 determines whether or not the hydraulic pump 1 is abnormal based on the pressure pulsation amplitude calculated by the calculation unit 46 . Specifically, the abnormality determination unit 47 stores in advance a threshold value for determining whether or not the hydraulic pump 1 is abnormal. The abnormality determination unit 47 determines that the hydraulic pump 1 has an abnormality when the amplitude of the pressure pulsation calculated by the calculation unit 46 is equal to or greater than a pre-stored threshold value. The abnormality determination unit 47 determines that the hydraulic pump 1 is normal when the amplitude of the pressure pulsation calculated by the calculation unit 46 is less than a pre-stored threshold value. The abnormality determination unit 47 outputs the abnormality determination result of the hydraulic pump 1 to the output unit 48 .
- the abnormality determination unit 47 may store in advance a plurality of threshold values having different sizes.
- a plurality of thresholds with different magnitudes are thresholds for specifying the degree of abnormality of the hydraulic pump 1 .
- the abnormality determination unit 47 identifies the degree of abnormality of the hydraulic pump 1 by comparing the amplitude of the pressure pulsation calculated by the calculation unit 46 with a plurality of threshold values having different magnitudes.
- the abnormality determination unit 47 outputs the specified abnormality degree of the hydraulic pump 1 to the output unit 48 .
- the output unit 48 outputs the degree of abnormality of the hydraulic pump 1 specified by the abnormality determination unit 47 to the display device 35 for display.
- the diagnosis device 40 can quantitatively express how serious the abnormality of the hydraulic pump 1 is, and can notify the user of a sign that a serious abnormality will occur in the hydraulic pump 1 .
- the user can plan when to repair or replace the hydraulic pump 1 before the hydraulic pump 1 fails. Therefore, the diagnostic device 40 can significantly reduce the downtime of the hydraulic excavator 200 and improve the productivity of the hydraulic excavator 200 .
- FIG. 6 As described above, if the piston 5, the cylinder hole 14, or the shoe 18 is damaged in some way, it is assumed that the drain pressure, discharge pressure, or suction pressure of the hydraulic pump 1 will experience pressure pulsation. In order to obtain an accurate pressure waveform of this pressure pulsation, generally, the pressure of the hydraulic pump 1 is sampled with a high time resolution of 10 times or more the frequency of the pressure pulsation (hereinafter also referred to as "pulsation frequency"). is required. Further, as a method of diagnosing the hydraulic pump 1 from the pressure waveform, there is a method of frequency analysis of the pressure waveform sampled with high time resolution.
- the cost of the pressure measuring device and the arithmetic processing unit becomes very high. Furthermore, the number of revolutions of the hydraulic pump 1 is directly affected by the change in the number of revolutions of the prime mover 30, but since the number of revolutions of the prime mover 30 changes moment by moment during operation of the excavator 200, the frequency component of the pressure is stabilized. It may not be possible to obtain Therefore, even if the hydraulic pump 1 is diagnosed using the frequency analysis method, it is difficult to perform an accurate diagnosis.
- the pressure is sampled at a sampling rate smaller than the frequency (pulsation frequency) of the pressure of the hydraulic pump 1 .
- the diagnostic device 40 performs statistical processing on the measured values of the pressure discretely acquired at the set sampling rate, thereby calculating the amplitude of the pressure pulsation assumed as the time change of the pressure.
- the diagnostic device 40 determines whether the hydraulic pump 1 is abnormal based on the calculated amplitude of the pressure pulsation.
- the diagnostic device 40 diagnoses the hydraulic pump 1 in this manner.
- the diagnostic device 40 samples the pressure while avoiding a sampling rate near 0.5n times (where n is an integer) the frequency (pulsation frequency) of the pressure of the hydraulic pump 1 .
- n is an integer
- the diagnostic device 40 acquires the pressure measurement value 64 at a sampling rate of 0.5 times the frequency of the pressure waveform 63 (that is, the pressure pulsation waveform).
- the range of the acquired measured values 64 is the amplitude range of the waveform 63 (the range from the positive amplitude peak value to the negative amplitude peak value). is different from As is clear from a comparison between "64" and "63" in FIG. 7, the probability density distribution of the measured value 64 is clearly different from the probability density distribution of the waveform 63.
- FIG. Such an event is the same when the pressure is measured with a sampling rate near 0.5n times the frequency of the waveform 63 of the pressure.
- the diagnostic device 40 samples the pressure at a sampling rate in the vicinity of 0.5n times the frequency (pulsation frequency) of the pressure of the hydraulic pump 1, the pressure pulsation amplitude is assumed to change over time. It is difficult to calculate so as to cover
- the diagnostic device 40 acquires the measured value 65 of the pressure.
- the range of the acquired measured values 65 (the range from the maximum value to the minimum value of the measured values 65) is the amplitude range of the waveform 63 (the range from the positive amplitude peak value to the negative amplitude peak value). is consistent with As is clear from a comparison between "reference numeral 65" and "reference numeral 63" in FIG.
- a sampling rate that avoids a sampling rate near 0.5n times the pressure frequency (pulsation frequency) of the hydraulic pump 1 is a sampling rate that can calculate the entire range of pressure pulsation amplitude.
- the frequency of the pressure of the hydraulic pump 1 can be obtained from the number of revolutions of the hydraulic pump 1, that is, the number of revolutions of the prime mover 30 and the number of pistons 5 of the hydraulic pump 1, as shown in Patent Document 1.
- a sampling rate around 0.5n times the frequency of the pressure of the hydraulic pump 1 can be obtained from the reciprocal of the sampling time.
- the measurement condition setting unit 44 sets the sampling rate when measuring the pressure of the hydraulic pump 1 to be smaller than the frequency of the pressure (pulsation frequency), and is capable of calculating the entire range of pressure pulsation amplitude.
- the measurement executing section 45 samples the pressure of the hydraulic pump 1 at the sampling rate set by the measurement condition setting section 44 .
- the calculation unit 46 calculates the range of pressure pulsation amplitude by calculating the range of the pressure measurement values discretely acquired at the sampling rate set by the measurement condition setting unit 44 .
- the abnormality determination unit 47 determines whether or not the hydraulic pump 1 is abnormal based on the amplitude of pressure pulsation calculated by the calculation unit 46 .
- the diagnostic device 40 can detect the presence or absence of an abnormality in the hydraulic pump 1 with sufficient precision and accuracy.
- the amplitude of the pressure pulsation with accuracy can be obtained. Therefore, the diagnostic device 40 can easily diagnose the hydraulic pump 1 accurately and stably.
- the output unit 48 outputs the operation instruction output by the operation instruction unit 42, the monitoring result output by the monitoring unit 43, and the like to the display device 35 for display. Further, the output unit 48 outputs the determination result of the abnormality determination unit 47 to the display device 35 for display. The output unit 48 causes the display device 35 to display the determination result of the abnormality determination unit 47 using numerical values, characters, drawings, colors, and the like.
- the hydraulic excavator 200 is equipped with a plurality of hydraulic pumps 1 .
- the calculation unit 46 acquires the pressure measurement value for each of the plurality of hydraulic pumps 1 and calculates the amplitude of pressure pulsation for each of the plurality of hydraulic pumps 1 .
- the abnormality determination unit 47 determines whether or not each of the plurality of hydraulic pumps 1 has an abnormality.
- the output unit 48 displays the judgment results of the abnormality judgment unit 47 for each of the plurality of hydraulic pumps 1 together on one screen of the display device 35 .
- FIG. 8 shows an example in which a screen 81 including an area 82 for displaying the determination result of the abnormality determination unit 47 is displayed on the display device 35.
- FIG. 8 shows an example in which a screen 81 including an area 82 for displaying the determination result of the abnormality determination unit 47 is displayed on the display device 35.
- the abnormality determination results 87 for each of the four hydraulic pumps 83 to 86 are also displayed on the screen 81.
- the display device 35 schematically displays the mounting layout of the hydraulic pumps 83 to 86 in the hydraulic excavator 200, and then the hydraulic pumps 83 to 86 by the abnormality determination unit 47. 86 diagnostic results are displayed superimposed on this.
- the diagnosis device 40 can display the diagnosis results of the plurality of hydraulic pumps 1 mounted on the same hydraulic excavator 200 on the display device 35 so that the user can easily compare them intuitively.
- FIG. 9 is a flowchart of diagnostic processing performed by the diagnostic device 40 shown in FIG.
- the threshold Pa(0) and the threshold Pa(i) may be predetermined values, or may be values calculated when the pressure of the hydraulic pump 1 is measured.
- the threshold Pa(0) and the threshold Pa(i) may be values calculated from time average values of pressures measured in other hydraulic pumps 1 of the same type mounted on the same hydraulic excavator 200. , may be a value calculated from the amplitude of the pressure pulsation calculated in the other hydraulic pump 1 .
- the threshold Pa(0) and the threshold Pa(i) may be values empirically obtained from the operating conditions of the hydraulic pump 1 including the number of revolutions of the hydraulic pump 1 .
- the diagnostic device 40 measures the pressure of the hydraulic pump 1 and acquires the measured value of the pressure.
- step s2 the diagnostic device 40 calculates the pressure pulsation amplitude Pa based on the acquired measurement values.
- step s3 the diagnostic device 40 determines whether or not the calculated amplitude Pa of pressure pulsation is equal to or greater than the threshold value Pa(0). If the pressure pulsation amplitude Pa is less than the threshold value Pa(0), the diagnostic device 40 proceeds to step s4. When the pressure pulsation amplitude Pa is equal to or greater than the threshold value Pa(0), the diagnostic device 40 proceeds to step s5.
- step s4 the diagnostic device 40 determines that the hydraulic pump 1 is normal. After that, the diagnostic device 40 proceeds to step s10.
- the diagnostic device 40 determines that the hydraulic pump 1 has an abnormality.
- the diagnostic device 40 sets the argument i of the threshold Pa(i) to its lower limit value of 1.
- the diagnostic device 40 determines whether the argument i of the threshold Pa(i) is greater than its upper limit value n. Diagnosis device 40 proceeds to step s10 if argument i is greater than its upper limit value n. Diagnosis device 40 proceeds to step s8 if argument i is less than or equal to its upper limit value n.
- step s8 the diagnostic device 40 determines whether the calculated amplitude Pa of pressure pulsation is equal to or greater than the threshold value Pa(i).
- the diagnostic device 40 identifies the degree of abnormality of the hydraulic pump 1 corresponding to the threshold Pa(i). After that, the diagnostic device 40 proceeds to step s10.
- the degree of abnormality of hydraulic pump 1 corresponding to threshold Pa(i) is predetermined.
- the diagnostic device 40 proceeds to step s9.
- the diagnostic device 40 increments the argument i of the threshold Pa(i). After that, the diagnostic device 40 proceeds to step s7.
- the diagnostic device 40 outputs the determination result of the presence or absence of abnormality of the hydraulic pump 1 and the identified degree of abnormality of the hydraulic pump 1 to the display device 35 for display. After that, the diagnostic device 40 ends the diagnostic processing shown in FIG.
- FIG. 10 is a diagram showing a display example of the degree of abnormality of the hydraulic pump 1 identified by the diagnostic processing shown in FIG.
- FIG. 10 shows an example of a display device 35 displaying a screen 101 including an area 102 displaying changes in the degree of abnormality of two hydraulic pumps 103 and 104 as the plurality of hydraulic pumps 1 .
- the screen 101 also displays changes in the degree of abnormality of the hydraulic pumps 103 and 104 during a predetermined period from the past to the present.
- the user can change the display contents of the area 102 by tapping the icon 105 on the screen 101, such as changing the period for displaying the transition of the degree of abnormality.
- the example of FIG. 10 indicates that the degree of abnormality of the hydraulic pump 104 is generally stable.
- FIG. 10 shows an example of a display device 35 displaying a screen 101 including an area 102 displaying changes in the degree of abnormality of two hydraulic pumps 103 and 104 as the plurality of hydraulic pumps 1 .
- the screen 101 also displays changes in the degree of abnormality of the hydraulic pumps 103 and 104 during a predetermined period from the past to the present.
- the user can change the display contents of the
- the diagnostic device 40 can notify the user of a sign that a serious abnormality will occur, such as the hydraulic pump 103 shown in FIG.
- the diagnostic device 40 is mounted on the hydraulic excavator 200 and is driven by the prime mover 30 of the hydraulic excavator 200 to diagnose the hydraulic pump 1 that supplies pressure oil to the hydraulic actuator 29 of the hydraulic excavator 200. It is a device.
- the diagnostic device 40 includes an operation instructing unit 42 that outputs an operation instruction to the hydraulic actuator 29 to perform a specific operation, and a measurement condition setting that sets sampling conditions for measuring the pressure of the hydraulic pump 1 during the specific operation.
- unit 44 a calculation unit 46 that acquires the pressure measurement values sampled during a specific operation according to the set sampling conditions and calculates the amplitude of the pressure pulsation of the hydraulic pump 1, and the calculated amplitude of the pressure pulsation. Based on this, it has an abnormality determination unit 47 that determines whether or not there is an abnormality in the hydraulic pump 1 and an output unit 48 that outputs the determination result of the abnormality determination unit 47 to the display device 35 .
- the diagnostic device 40 can stably measure the pressure of the hydraulic pump 1 under the same conditions regarding the state or operation of the hydraulic excavator 200 at all times. Therefore, the diagnostic device 40 can clearly distinguish whether the time change in the pressure of the hydraulic pump 1 is caused by the abnormality of the hydraulic pump 1 or not. Therefore, the diagnostic device 40 can diagnose the hydraulic pump 1 accurately and stably. Therefore, according to the present embodiment, it is possible to provide the diagnostic device 40 for the hydraulic pump 1 that enables accurate diagnosis.
- the measurement condition setting unit 44 sets the sampling rate at the time of measuring the pressure of the hydraulic pump 1 to the frequency of the pressure (pulsation frequency ) was set smaller.
- the measurement condition setting unit 44 sets the number of revolutions of the prime mover 30 that drives the hydraulic pump 1 instead of the sampling rate at the time of measuring the pressure of the hydraulic pump 1 so that the entire range of amplitude of pressure pulsation can be calculated. May be set. Specifically, the measurement condition setting unit 44 may set the rotation speed of the prime mover 30 such that the set sampling rate is lower than the pressure frequency (pulsation frequency) of the hydraulic pump 1 . Then, the operation instruction unit 42 may output an operation instruction to rotate the prime mover 30 at the set number of rotations.
- the diagnostic device 40 can acquire the pressure pulsation amplitude with sufficient precision and accuracy to determine whether there is an abnormality in the hydraulic pump 1. can be done. Therefore, the diagnosis device 40 can easily diagnose the hydraulic pump 1 more accurately and stably than when using the frequency analysis method.
- the diagnostic device 40 can be applied to the hydraulic excavator 200 .
- the hydraulic excavator 200 includes a self-propelled lower traveling body 201, an upper revolving body 202 supported so as to be capable of turning with respect to the lower traveling body 201, a front working device 203 provided on the upper revolving body 202, A hydraulic actuator 29 for driving the front working device 203, a hydraulic pump 1 for supplying pressure oil to the hydraulic actuator 29, a pressure sensor 24 for measuring the pressure of the hydraulic pump 1, and a display for displaying various information to the operator.
- a construction machine including a device 35;
- the hydraulic excavator 200 includes a control device 25 that causes the display device 35 to display operation instructions for operating the front working device 203 and that diagnoses the hydraulic pump 1 .
- the control device 25 displays a screen 51 for instructing the operator to operate the hydraulic excavator 200 to perform a diagnostic operation while showing the operator the difference between the actual posture of the excavator 200 and the diagnostic posture. to display.
- the controller 25 sets the sampling conditions for measuring the pressure during the diagnostic operation.
- the control device 25 calculates the amplitude of the pressure pulsation of the hydraulic pump 1 based on the pressure measurement values sampled during the diagnostic operation according to the set sampling conditions.
- the control device 25 determines whether or not the hydraulic pump 1 is abnormal based on the calculated amplitude of the pressure pulsation.
- the control device 25 causes the display device 35 to display the determination result of the presence or absence of abnormality.
- the hydraulic excavator 200 can stably measure the pressure of the hydraulic pump 1 under the same conditions regarding the state or operation of the hydraulic excavator 200 . Therefore, the hydraulic excavator 200 can clearly distinguish whether or not the time change in the pressure of the hydraulic pump 1 is caused by the abnormality of the hydraulic pump 1 . Therefore, the hydraulic excavator 200 can accurately and stably diagnose the hydraulic pump 1 . Therefore, according to the present embodiment, it is possible to provide the hydraulic excavator 200 capable of accurately diagnosing the hydraulic pump 1 .
- SYMBOLS 1 Hydraulic pump (pump), 24... Pressure sensor, 25... Control device, 29... Hydraulic actuator, 30... Prime mover, 35... Display device, 40... Diagnosis device, 42... Operation instruction part, 44... Measurement condition setting part, 46... Calculation unit 47... Abnormality determination unit 48... Output unit 200... Hydraulic excavator (construction machine) 201... Lower running body 202... Upper rotating body 203... Front working device 204... Boom 205... Arm , 206 buckets
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Abstract
Description
Claims (7)
- 建設機械に搭載され、且つ、前記建設機械の原動機にて駆動されることによって前記建設機械の油圧アクチュエータに圧油を供給するポンプの診断装置であって、
前記油圧アクチュエータに対して特定の動作を行わせる動作指示を出力する動作指示部と、
前記特定の動作中における前記ポンプの圧力の測定時のサンプリング条件を設定する測定条件設定部と、
設定された前記サンプリング条件によって前記特定の動作中にサンプリングされた前記圧力の測定値を取得し、前記ポンプの圧力脈動の振幅を演算する演算部と、
演算された前記圧力脈動の振幅に基づいて、前記ポンプの異常の有無を判定する異常判定部と、
前記異常判定部の判定結果を表示装置に出力する出力部と、を有する
ことを特徴とするポンプの診断装置。 - 前記測定条件設定部は、前記圧力の測定時のサンプリングレートを、前記圧力の脈動周波数よりも小さく設定し、
前記演算部は、設定された前記サンプリングレートによってサンプリングされた前記圧力の測定値の範囲を演算することよって、前記圧力脈動の振幅の範囲を演算する
ことを特徴とする請求項1に記載のポンプの診断装置。 - 前記測定条件設定部は、前記圧力の測定時のサンプリングレートが前記圧力の脈動周波数よりも小さくなるように、前記原動機の回転数を設定し、
前記動作指示部は、設定された前記回転数によって前記原動機を回転させる動作指示を出力する
ことを特徴とする請求項1に記載のポンプの診断装置。 - 前記ポンプは、前記建設機械に複数搭載されており、
前記演算部は、複数の前記ポンプのそれぞれについて前記圧力の測定値を取得して、複数の前記ポンプのそれぞれについて前記圧力脈動の振幅を演算し、
前記異常判定部は、複数の前記ポンプのそれぞれについて前記異常の有無を判定し、
前記出力部は、複数の前記ポンプのそれぞれに対する判定結果を併せて前記表示装置の一画面に表示させる
ことを特徴とする請求項1に記載のポンプの診断装置。 - 前記異常判定部は、演算された前記圧力脈動の振幅を、大きさの異なる複数の閾値と比較することよって、前記ポンプの異常度を特定し、
前記出力部は、特定された前記ポンプの異常度を前記表示装置に出力する
ことを特徴とする請求項1に記載のポンプの診断装置。 - 前記建設機械は、ブーム、アーム及びバケットを有するフロント作業装置を含む油圧ショベルであり、
前記動作指示部は、前記油圧ショベルの実際の姿勢と診断用の姿勢との差異を前記油圧ショベルのオペレータに示しつつ、前記油圧ショベルに診断用の動作を行わせる操作を前記オペレータに指示する画面を、前記表示装置に表示させる動作指示を出力する
ことを特徴とする請求項1に記載のポンプの診断装置。 - 自走可能な下部走行体と、前記下部走行体に対して旋回可能に支持された上部旋回体と、前記上部旋回体に設けられたフロント作業装置と、前記フロント作業装置を駆動する油圧アクチュエータと、前記油圧アクチュエータに圧油を供給するポンプと、前記ポンプの圧力を測定する圧力センサと、オペレータに対して種々の情報表示を行う表示装置と、を含む建設機械であって、
前記フロント作業装置の動作を行うための操作指示を前記表示装置に表示させ、且つ、前記ポンプの診断を行う制御装置を備え、
前記制御装置は、
前記建設機械の実際の姿勢と診断用の姿勢との差異を前記オペレータに示しつつ、前記建設機械に診断用の動作を行わせる操作を前記オペレータに指示する画面を、前記表示装置に表示させ、
前記診断用の動作中における前記圧力の測定時のサンプリング条件を設定し、
設定された前記サンプリング条件によって前記診断用の動作中にサンプリングされた前記圧力の測定値に基づいて前記ポンプの圧力脈動の振幅を演算し、
演算された前記圧力脈動の振幅に基づいて、前記ポンプの異常の有無を判定し、
前記異常の有無の判定結果を前記表示装置に表示させる
ことを特徴とする建設機械。
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58200131A (ja) * | 1982-05-17 | 1983-11-21 | Hitachi Constr Mach Co Ltd | 回転式油圧機器の故障診断装置 |
JP2013170509A (ja) | 2012-02-21 | 2013-09-02 | Hitachi Constr Mach Co Ltd | 液圧ポンプの異常検出装置および油圧作業機械 |
JP2015045145A (ja) * | 2013-08-27 | 2015-03-12 | 住友建機株式会社 | ショベル用表示装置 |
WO2017065249A1 (ja) * | 2015-10-14 | 2017-04-20 | 日本電産トーソク株式会社 | 油振診断装置および油振診断方法 |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS58200131A (ja) * | 1982-05-17 | 1983-11-21 | Hitachi Constr Mach Co Ltd | 回転式油圧機器の故障診断装置 |
JP2013170509A (ja) | 2012-02-21 | 2013-09-02 | Hitachi Constr Mach Co Ltd | 液圧ポンプの異常検出装置および油圧作業機械 |
JP2015045145A (ja) * | 2013-08-27 | 2015-03-12 | 住友建機株式会社 | ショベル用表示装置 |
WO2017065249A1 (ja) * | 2015-10-14 | 2017-04-20 | 日本電産トーソク株式会社 | 油振診断装置および油振診断方法 |
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