JP3487740B2 - Work machine abnormality / failure diagnosis apparatus and method - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a work machine abnormality /
The present invention relates to a failure diagnosis device and method, and more particularly to a failure / failure diagnosis device and method suitable for diagnosing an abnormality or failure of a construction machine such as a hydraulic excavator or a bulldozer.

[0002]

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

The hydraulic excavator has a boom 2
00, a hydraulic cylinder 121 for the stick 300, a hydraulic cylinder 122 for the bucket 400, and at least
A hydraulic circuit (not shown) for each of these hydraulic cylinders 120 to 122 is provided, and the operator operates the discharge amount of the hydraulic pump in this hydraulic circuit and the control valve for the hydraulic cylinders 120 to 122 (cabin 600). Hydraulic cylinders 120 to 1 electronically controlled in accordance with the operation of the operating lever inside).
By appropriately changing the supply amount (hydraulic pressure) of hydraulic oil to the hydraulic cylinder 22, the expansion and contraction displacement amounts of the hydraulic cylinders 120 to 122 are changed, and the boom 200, the stick 300, and the bucket 400 are changed.
Are driven respectively.

By the way, such a construction machine is usually
Since it is often used in extremely severe situations such as construction sites and disaster recovery sites, it is necessary to take appropriate measures against abnormalities and failures. Therefore, conventionally, the hydraulic pump, the control valve, and the cylinders 120 to 12 described above are used.
Attach a sensor to the operating part (dynamic element) such as 2 and compare / determine whether the electrical signal obtained by the sensor (hereinafter referred to as sensor signal) is an appropriate value obtained in advance. As a result, construction machines are diagnosed for abnormalities and failures.

[0005]

However, in the diagnostic method as described above, the dynamic element whose sensor signal largely changes depending on the position of the operation lever or the operating condition of the construction machine is detected by the sensor. Since the appropriate value range of the signal is widened, it is very difficult to perform accurate abnormality / fault diagnosis.

The present invention was devised in view of the above problems, and it is possible to accurately diagnose an abnormality or a failure of a working machine such as a construction machine (in particular, a dynamic element of the working machine). It is an object of the present invention to provide an abnormality / fault diagnosis device and method.

Therefore, the abnormality / fault diagnosis device for a working machine according to the first aspect of the present invention is an abnormality / fault diagnosis device for a dynamic element of a working machine with an operating lever ,
Input / output response data should be detected according to the characteristics of the dynamic element.
Ku, when the control signal as an input signal to the animal element is changed stepwise in response to the operation of the operation lever, the dynamic transient response data to said control signal of the output signal from the dynamic element When the operation lever is detected as input / output response data to the element and the change amount of the control signal as the input signal to the dynamic element is less than or equal to a predetermined change amount, the operation lever is set to the neutral position. a detecting means that detect a dynamic characteristic data when the input test signal to said animal element during non-operation of certain animal elements as output response data to said animal elements, obtained by the detection means The determination means for determining whether or not the input / output response data is within the predetermined appropriate range, and if the determination means determines that the input / output response data is not within the appropriate range, the above dynamic The element is abnormal It is characterized in that it is constructed to include an abnormality / failure diagnosis means for diagnosing as being faulty.

[0008]

Furthermore, the working machine of the abnormality / failure diagnosis apparatus of the present invention described in claim 2, in the structure according to claim 1, wherein said detecting means, as the transient response data of the output signal, the output signal It is characterized in that it is configured to detect delay time response data with respect to an input signal. According to a third aspect of the present invention, there is provided the work machine abnormality / fault diagnosis apparatus according to the first aspect , wherein the detection means uses the output signal amplitude decay response as the transient response data of the output signal. It is characterized in that it is configured to detect data.

[0010]

Next, an abnormality / fault diagnosis apparatus for a working machine according to a fourth aspect of the present invention is such that one end of the working machine is pivotally attached to the main body of the machine and a working member is provided at the other end of the machine, and the working machine is connected to each other via a joint. An articulated arm mechanism having a pair of connected arm members, a plurality of hydraulic cylinders that drive the arm mechanism by performing expansion and contraction operations, an operation lever provided on the machine body, and operation information of the operation lever. An abnormality / fault diagnosis apparatus for a dynamic element of a hydraulic construction machine as a working machine, comprising: a hydraulic circuit for controlling the expansion / contraction operation of the hydraulic cylinder by controlling the flow rate of hydraulic oil based on , Input / output response data according to the characteristics of the dynamic element
If the control signal as an input signal to the hydraulic pump and the control valve as the dynamic element in the hydraulic circuit changes stepwise in response to the operation of the operation lever, of detecting a transient response data as input and output response data to the animal element to said control <br/> signal of the output signal, the operating lever is in the control signal as an input signal to the animal element in the neutral position If the change amount is less than or equal to the predetermined change amount, the operation lever is in the neutral position.
A detecting means that detect a dynamic characteristic data when the input test signal to said animal elements during non-operation of the animal elements as output response data to the animal element in obtained in detection means Determining means for determining whether or not the input / output response data is within a predetermined appropriate range; and when the determining means determines that the input / output response data is not within the appropriate range, It is characterized in that it is provided with an abnormality / fault diagnosis means for diagnosing whether the dynamic element is abnormal or fault. Further, the abnormality of the present invention according to claim 5 /
The failure diagnosis method is an abnormality / fault diagnosis method for a dynamic element of a work machine with an operating lever ,
In order to detect the input / output response data according to the characteristics, the operation record
Control as an input signal to the dynamic element according to the operation of the bar
If the control signal is changed in steps detects the transient response data to said control signal of the output signal from the dynamic element as the input and output response data to the dynamic element, 該操
Work lever is the input signal to the animal element in a neutral position
If the amount of change in the control signal Te is below the predetermined change amount, the
A detection step of dynamic characteristic data that detect the input and output response data to said animal elements when the operating lever is inputted a test signal during the animal element inoperative of the animal element in a neutral position, this A determination step of determining whether the input / output response data obtained in the detection step is within a predetermined appropriate range, and in the determination step, when the input / output response data is not within the appropriate range, And a failure diagnosis step of diagnosing that the dynamic element is abnormal or malfunction.

[0012]

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

Then, with respect to the upper swing body 100,
Boom (arm member) 20 whose one end is rotatably connected
0 is further provided, and a stick (arm member) 300 having one end rotatably connected to the boom 200 via a joint is provided. Furthermore, stick 30
0 is provided with a bucket (working member) 400, one end of which is rotatably connected through a joint portion, the tip of which excavates the ground and which can store soil therein. Note that FIG.
In FIG. 3, reference numeral 112 indicates a tooth tip of the bucket 400.

Further, as shown in FIG. 1, the present hydraulic excavator has a boom hydraulic cylinder 120, a stick hydraulic cylinder 121, and a bucket hydraulic cylinder 1 for the boom 200, stick 300, and bucket 400.
22 (hereinafter, the boom hydraulic cylinder 120 may be referred to as the boom cylinder 120 or simply the cylinder 120, and the stick hydraulic cylinder 121 may be referred to as the stick cylinder 12).
1 or simply cylinder 121, and bucket hydraulic cylinder 122 may be referred to as bucket cylinder 122 or simply cylinder 122).

The boom cylinder 120 has one end rotatably connected to the upper swing body 100 and the other end rotatably connected to the boom 200, that is, the upper swing body 100. It is interposed between the boom 2 and the boom 200, and the distance between the ends expands and contracts, so that the boom 2
00 can be rotated with respect to the upper swing body 100.

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

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

Although not shown, the left and right infinite track portions 5 are also provided.
Hydraulic motors for driving 00A and upper revolving structure 1
A turning motor for turning and driving 00 is also provided. As shown in FIGS. 1 and 2, the hydraulic excavator described above is provided with at least a hydraulic circuit 2 for the cylinders 120 to 122 and the swing motor 123, and the hydraulic circuit 2 is further provided. As shown in FIG.
Hydraulic oil tank 11, engine (diesel engine) E
The hydraulic pump 12 driven by the control valve, control valves (three-way switching valves) 13A to 13D, and the like are interposed.

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

Further, the control valves 13A to 13D
2 is for switching the supply direction of the hydraulic oil to the cylinders 120 to 122 and the swing motor 123 to control the expansion and contraction of the cylinders 120 to 122 and the rotation direction of the swing motor 123. Here, FIG. Cylinders 120 to 122 when switched in the direction of arrow B shown therein.
With regard to the above, while the working oil is supplied to the inner chamber 124 and the working oil is drained from the inner chamber 125 to extend the cylinder 120, when the cylinder 120 is switched in the direction of arrow A, the working oil is supplied to the inner chamber 125 and the inner chamber 125 is expanded. The hydraulic oil is drained from 124 so that the cylinder 120 contracts, and the rotation motor 123 is rotated in the reverse direction in accordance with the switching between the directions A and B.

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

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

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

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

Further, the memory 22 stores input / output response data (delay time response data: until the output signal reaches 63.2% of the target value) at the time of normal operation of the dynamic element, which is previously obtained as appropriate range data. Time response data, amplitude attenuation response data: overshoot amount / undershoot amount for output signal) and secular change characteristic data
The aging characteristic data and the like detected during the failure prediction process are stored, and the detection unit 23 detects the input / output response data for the dynamic element. In the present embodiment, the following items (1 ), (2), data corresponding to the characteristics of the dynamic element to be diagnosed is detected.

(1) Input signal (control signal) to the dynamic element
When changes stepwise, transient response data such as delay time response data for the input signal of the output signal from the dynamic element and amplitude attenuation response data of the output signal,
It is detected as the above input / output response data. (2) When the change of the input signal to the dynamic element is gentle or constant (the change amount is less than or equal to a predetermined change amount), the operation levers 6 and 8 are in the neutral position and Dynamic characteristic data such as impulse response data or frequency response data when a test signal (impulse signal or white noise) is input to the dynamic element from the test signal output unit 21 is detected as the input / output response data.

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

Further, the above-mentioned judging section 24 stores the input / output response data [transient response data (delay time response data, amplitude attenuation response data), impulse response data or frequency response data] obtained by the detecting section 23 and a memory. It is to determine whether or not the input / output response data is within the previously obtained proper range by comparing with the corresponding proper range data in 22. If it is determined in 24 that the input / output response data is not within the proper range, it is diagnosed that the dynamic element to be diagnosed is abnormal or faulty.

The comparison unit 26 also uses the dynamic characteristic data (impulse response data or frequency response data) obtained by the detection unit 23 and the corresponding appropriate range data in the memory 22 (the previously-obtained secular change characteristic). Data)), and the abnormality / fault prediction unit 27 estimates the time until the dynamic element to be diagnosed becomes abnormal or fault, according to the comparison result of the comparison unit 26. Based on this time, abnormality / fault prediction for the dynamic element is performed.

Hereinafter, the operation of the controller 1 in the present embodiment configured as described above will be described in detail. (A) Abnormality / Fault Diagnosis First, here will be described the abnormality / fault diagnosis of the hydraulic excavator (dynamic element) by the controller 1.

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

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

When the determination unit 24 determines that the data detected by the detection unit 23 is outside the proper range in this way, the abnormality / fault diagnosis unit 25 causes the dynamic element (hydraulic pump 12). And control valves 13A-13D
It is diagnosed that an abnormality or a failure has occurred (from NO route of step A4 to step A5), and the diagnosis result is output to the external device 28 (step A7).

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

Then, in the controller 1, the determination unit 24
Reads from the memory 22 the dynamic characteristic data serving as a criterion for determining an appropriate range (step B3), and determines whether the dynamic characteristic data detected by the detection unit 23 is within the previously obtained appropriate range in the memory 22. Is determined (step B
4). For example, white noise is input to the hydraulic pump 12 as the test signal, and the frequency when the peak gain or the phase of the output signal is 90 degrees is about 1 based on the reference dynamic characteristic 35 in the BODE diagram as shown in FIG. .5-
If the data within the range of 2.5 Hz is stored in the memory 22 as the proper range data, the determination unit 2
4 shows that the frequency characteristic at the peak gain (phase 90 degrees) is about 1.6 Hz for the dynamic characteristic 36 as shown by the broken line in FIG.
Therefore, the dynamic characteristic 37 as indicated by the alternate long and short dash line in FIG. 7 is out of the proper range because the frequency at the peak gain (phase 90 degrees) is smaller than 1.5 Hz. To determine.

[0036] Then, when it is detected by the detection unit 23 in the determination unit 24 data is determined to be outside the appropriate range, the abnormality / failure diagnosis unit 25, abnormality or fault has occurred in the hydraulic pump 12 (N in step B4
From the O route, step B5), and the diagnosis result is output to the external device 28 (step B7). On the other hand, if the determination unit 24 determines that the data detected by the detection unit 23 is within the proper range, the abnormality / fault diagnosis unit 25 diagnoses that the hydraulic pump 12 is operating normally (step B4).
From the YES route of step B6), that effect is output to the external device 28 (step B7).

As described above, according to the controller (work machine abnormality / fault diagnosis device) 1 of this embodiment, the hydraulic pump 12 of the hydraulic excavator and the control valves 13A to 13A.
If the input / output response data for the dynamic element such as 13D is detected and the input / output response data is not within the predetermined appropriate range, it is diagnosed that the above dynamic element is abnormal or malfunction. There is no need to change the appropriate range depending on the size of the displacement of the dynamic element and the operating conditions of the dynamic element as in the past, and always recognize the abnormality or failure of the hydraulic excavator and accurately respond to the abnormality or failure. Appropriate measures can be taken.

(B) Abnormality / Failure Prediction Next, the abnormality / failure prediction of the hydraulic excavator (dynamic element) by the controller 1 will be described below with reference to the flowchart (steps C1 to C7) shown in FIG. . As shown in FIG. 8, first, the controller 1
When the operation levers 6 and 8 are in the neutral position and the dynamic element is in the non-operating state, white noise is input as a test signal from the test signal output unit 21 to the hydraulic pump 12, for example (step C1), and is detected by the detection unit 23. Dynamic characteristic data of the hydraulic pump 12 (for example, frequency response data: frequency at primary resonance point) is detected (step C2).

At this time, the controller 1 causes the hydraulic pump 12 to perform the above-mentioned test at required time intervals (for example, every one hour) on condition that the dynamic element is in the non-operating state as described above. A signal is input, a plurality of frequency response data of the hydraulic pump are detected, and the obtained data is stored in the memory 22 (step C3). Then, the controller 1 reads out the secular change characteristic data obtained in advance from the memory 22 by the comparison unit 26 (step C4), and forms the secular change characteristic data and the frequency response data detected for a plurality of times as described above. The aging characteristic is compared by the comparison unit 26 (step C5), and the abnormality / failure prediction unit 27 is used by the abnormality / failure prediction unit 27 according to the comparison result.
The time until 2 becomes abnormal or fails is estimated, and the abnormality / failure prediction of the hydraulic pump 12 is performed based on this time (step C6).

For example, the standard secular change characteristic of the normal hydraulic pump 12 obtained in advance is shown by the solid line (see reference numeral 38) in FIG. 9, and the frequency is 1.5 to 2.5H.
It is assumed that z is the proper range of the frequency response of the hydraulic pump 12. In this case, the comparison unit 26 connects the aging characteristic 38 (for example, the slope of the characteristic 38 at a certain time) shown in FIG. 9 and a plurality of frequency response data detected by the detection unit 23. Compare with.

As a result of this comparison, for example, as indicated by a broken line (see reference numeral 39) in FIG. 9, the inclination when the frequency response data for a plurality of parts detected by the detector 23 are connected changes with time. If the inclination of the characteristic 38 is abnormally large, the abnormality / failure prediction unit 27 determines that the time until the frequency response of the hydraulic pump 12 deviates from the appropriate range is very short, and the abnormality / failure prediction unit 27 determines that the hydraulic pump 12 has a normal response. The abnormality / failure of the hydraulic pump 12 is predicted if the abnormality or failure will occur at an early stage.

As shown in FIG. 8, the abnormality / failure prediction result (for example, the time until the hydraulic pump 12 becomes abnormal / failure) is output to the external device 28 (step C7). As described above, according to the controller (work machine abnormality / fault prediction device) 1 of the present embodiment, the frequency characteristic 39 of the hydraulic pump 12 is detected, and the obtained frequency characteristic 39 and the reference aging obtained in advance are detected. The change characteristic 38 is compared, the time until the hydraulic pump 12 becomes abnormal or malfunction is estimated according to the comparison result, and abnormality / failure prediction of the hydraulic pump 12 is performed based on this time. It is possible to recognize very easily how much the hydraulic pump 12 has.

Therefore, it is possible to prevent the hydraulic pump 12 from being abnormal or broken, and it is possible to greatly improve the use efficiency of the hydraulic excavator. Also,
Useless replacement or repair of the hydraulic pump 12 can be significantly reduced, and the use efficiency of the hydraulic pump 12 itself can be significantly improved. In addition, the above-mentioned abnormality /
In the failure prediction process, white noise is input to the hydraulic pump 12 as a test signal and the frequency response characteristic at that time is detected as dynamic characteristic data, but an impulse signal is input and the impulse response data at that time is detected as dynamic characteristic data. You may do it. In this case, the comparison unit 26 compares the obtained impulse response data with the previously obtained secular change characteristic data.

Further, in the above-mentioned abnormality / fault prediction processing,
The hydraulic pump 12 is taken as an example of the dynamic element for inputting the test signal, but at least the operation levers 6 and 8 are in the neutral position and the dynamic element of the hydraulic excavator is in the non-operating state, other dynamic elements will be described. Similarly, it is possible to predict abnormality / fault, and it is possible to obtain the same effect as the above.

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

The present invention is not limited to the above-mentioned embodiment, but can be variously modified and implemented without departing from the spirit of the present invention.

[0047]

As described in detail above, according to the working machine abnormality / fault diagnosis apparatus and method of the present invention, the input / output response data for the dynamic element of the work machine is detected and the input / output response data is detected. Is not within the proper range that was previously obtained,
Since the above dynamic element is diagnosed as abnormal or faulty, it is not necessary to change the appropriate range depending on the size of the dynamic element operating displacement and the operating condition of the dynamic element as in the past, and always work accurately and accurately. It is possible to recognize an abnormality or failure of a machine and take appropriate measures against the abnormality or failure.

[Brief description of drawings]

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

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

FIG. 3 is a block diagram showing a configuration of a main part of a controller in the hydraulic excavator of the present embodiment.

FIG. 4 is a flowchart for explaining the operation of a controller (abnormality / fault diagnosis) in the hydraulic excavator of this embodiment.

FIG. 5 is a diagram showing an example of step response characteristics for explaining an operation of a controller (abnormality / fault diagnosis) in the hydraulic excavator of the present embodiment.

FIG. 6 is a flowchart for explaining an operation of a controller (abnormality / fault diagnosis) in the hydraulic excavator of this embodiment.

FIG. 7 is a BODE diagram showing an example of frequency response characteristics for explaining the operation of the controller (abnormality / fault diagnosis) in the hydraulic excavator of the present embodiment.

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

FIG. 9 is a diagram showing an example of frequency response characteristics for explaining the operation of a controller (abnormality / failure prediction) in the hydraulic excavator of the present embodiment.

FIG. 10 is a schematic view showing an example of a hydraulic excavator as a general working machine.

[Explanation of symbols]

1 Controller (Abnormality / Failure Diagnosis Device, Abnormality / Failure Prediction Device) 2 Hydraulic Circuit 6 Boom / Bucket Operation Lever 8 Stick / Swing Operation Lever 10 Monitor 10A Monitor Panel 11 Hydraulic Oil Tank 12 Hydraulic Pump 12a Tilt Angle Control Device 13A ~ 13D control valve (three-way switching valve) 14 relief valve 15A return line 21 test signal output unit 22 memory 23 detection unit 24 determination unit 25 abnormality / fault diagnosis unit 26 comparison unit 27 abnormality / fault prediction unit 28 external device 32 reference step response Characteristics 33, 34 Step response characteristics 35 Standard dynamic characteristics 36, 37 Dynamic characteristics 38 Standard secular change characteristics 39 Secular change characteristics 100 Upper swing body (main body of construction machine) 112 Tooth tips 120 Boom hydraulic cylinder 121 Stick hydraulic cylinder 122 Bucket hydraulic cylinder 123 Whirl Motor 124 and 125 interior 130 link mechanism 200 boom 300 stick 400 bucket 500 undercarriage 500A caterpillar unit 600 operator cab E engine (diesel engine)

─────────────────────────────────────────────────── --- Continuation of the front page (56) Reference JP-A-7-281736 (JP, A) JP-A-60-238905 (JP, A) JP-A-3-282718 (JP, A) JP-A-7- 325614 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05B 23/00-23/02

Claims (5)

(57) [Claims] 1. An abnormality / fault diagnosis device for a dynamic element of a work machine having an operating lever , which is capable of detecting input / output response data according to the characteristic of the dynamic element.
Ku, when the control signal as an input signal to the animal element is changed stepwise in response to the operation of the operation lever, animal transient response data to said control signal of the output signal from the dynamic element Detected as input / output response data to the dynamic element , and the operation lever is in the neutral position and the change amount of the control signal as the input signal to the dynamic element is less than or equal to a predetermined change amount, the operation lever is in the neutral position. a detecting means that detect a dynamic characteristic data when the input test signal to said animal elements during non-operation of the animal elements as output response data to the animal element in obtained in detection means Determining means for determining whether or not the input / output response data is within a predetermined appropriate range; and when the determining means determines that the input / output response data is not within the appropriate range, The dynamic element is abnormal or Characterized in that it is configured to include an abnormality / failure diagnosis means for diagnosing as being disabled, the work machine of the abnormality / failure diagnosis device. 2. The detection means is configured to detect, as the transient response data of the output signal, delay time response data of the output signal with respect to the input signal. Abnormality / fault diagnosis device for work machines. 3. The abnormality of the work machine according to claim 1, wherein the detection means is configured to detect amplitude attenuation response data of the output signal as transient response data of the output signal. / Fault diagnosis device . 4. An articulating arm mechanism having a pair of arm members having one end pivotally attached to the machine body and the other end side having a working member and mutually connected via a joint part, and performing a stretching operation. To control a plurality of hydraulic cylinders for driving the arm mechanism, an operation lever provided on the machine body, and the expansion / contraction operation of the hydraulic cylinder based on operation information of the operation lever by controlling the flow rate of hydraulic oil. An abnormality / fault diagnosis device for a dynamic element of a hydraulic construction machine as a working machine, which is provided with a hydraulic circuit for the purpose of detecting input / output response data according to the characteristic of the dynamic element.
When the control signal as an input signal to the hydraulic pump and the control valve as the dynamic element in the hydraulic circuit changes stepwise according to the operation of the operation lever, the output signal from the dynamic element. change amount predetermined change amount of the control signal as an input signal of the transient response data detected as input and output response data to said animal elements, the operating lever is to have the animal element in the neutral position relative to the said control signal in the following cases, the operating lever is it detected as input and output response data to said animal element dynamic characteristics data when inputting test signals to the animal element during non-operation of the animal element in the neutral position a detecting means, said input output response data determination means for determining if it is within the appropriate range obtained in advance obtained by the detecting means, by said determining means is said input output response data An abnormality / fault diagnosis device for a working machine, comprising an abnormality / fault diagnosis means for diagnosing that the dynamic element is abnormal or fault when it is determined that the dynamic element is not within the proper range. . 5. A method for diagnosing an abnormality / fault in a dynamic element of a working machine having an operating lever , which is capable of detecting input / output response data according to the characteristic of the dynamic element.
Ku, if the input signal to the animal element is changed stepwise in response to the operation of the operation lever, entering the transient response data to said control signal of the output signal from the dynamic element relative to the animal element It is detected as output response data and the operation record
The bar is in the neutral position and as an input signal to the dynamic element
If the change amount of the control signal is less than or equal to a predetermined change amount, the operation
And Step detect lever you detected as input and output response data to said animal element dynamic characteristics data when inputting test signals to the animal element during non-operation of the animal element in the neutral position, the detection A determination step of determining whether or not the input / output response data obtained in the step is within a predetermined appropriate range, and in the determination step, when the input / output response data is not within the appropriate range, An abnormality / fault diagnosis method for a work machine, comprising: a fault diagnosis step of diagnosing that the dynamic element is abnormal or fault.