CN113445566A

CN113445566A - Management system for excavator

Info

Publication number: CN113445566A
Application number: CN202110319920.XA
Authority: CN
Inventors: 小川正树; 阶户文乃
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2020-03-25
Filing date: 2021-03-25
Publication date: 2021-09-28
Anticipated expiration: 2041-03-25
Also published as: JP2021155930A; CN113445566B; JP7460414B2; JP7687601B2; JP2024028566A

Abstract

The invention provides a management system of a shovel capable of setting guarantee contents corresponding to use conditions. A management system for a shovel according to an embodiment of the present invention includes: a state detection device for detecting the working state of the excavator to be evaluated; a control device that calculates a fatigue degree of the shovel based on the detected operating state, and calculates guaranteed content information associated with the calculated fatigue degree; and a display device for displaying the calculated guaranteed content information.

Description

Management system for excavator

Technical Field

The present application claims priority based on japanese patent application No. 2020-054706, applied on 25/3/2020. The entire contents of this Japanese application are incorporated by reference into this specification.

The present invention relates to a management system for an excavator.

Background

Conventionally, there is known a technique of detecting an operating state of a shovel using a plurality of sensors and analyzing the operating state using an analysis model to calculate a stress applied to a component of the shovel (for example, see patent document 1).

Patent document 1: japanese patent laid-open publication No. 2014-85293

However, the guarantee period of the conventional shovel is uniquely determined by a predetermined period. However, in the excavator as described above, there are various operations such as an operation of applying a large load to the structural member such as a crusher operation, and an operation of applying a small load to the structural member such as a trimming operation, a loading operation, and a leveling operation.

Disclosure of Invention

In view of the above circumstances, an object of the present invention is to provide a shovel management system capable of setting warranty contents according to a usage situation.

A management system for a shovel according to an embodiment of the present invention includes: a state detection device for detecting the working state of the excavator to be evaluated; a control device that calculates a fatigue degree of the shovel based on the detected operating state, and calculates guaranteed content information associated with the calculated fatigue degree; and a display device for displaying the calculated guaranteed content information.

Effects of the invention

According to the management system for the excavator, the guarantee contents corresponding to the use state can be set.

Drawings

Fig. 1 is a diagram showing a management system of a shovel according to an embodiment.

Fig. 2 is a block diagram of a management system of an excavator according to an embodiment.

Fig. 3 is a flowchart showing an example of the fatigue degree calculation process.

Fig. 4 is a diagram showing an example of a display screen according to an embodiment.

Fig. 5 is a diagram showing another example of a display screen according to an embodiment.

Fig. 6 is a diagram showing still another example of the display screen according to the embodiment.

In the figure: 100-shovel, 200-management device, 210-control device, 211-shovel information management section, 212-fatigue degree calculation section, 213-busy period information management section, 214-guaranteed content solving section, 230-display device, 300-management system, 400, 500, 600-display screen.

Detailed Description

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description thereof may be omitted.

A management system of a shovel (hereinafter, also simply referred to as "management system") according to an embodiment will be described with reference to fig. 1. Fig. 1 is a diagram showing a management system of a shovel according to an embodiment.

The management system 300 includes the shovel 100 and the management device 200 that manage objects. The shovel 100 and the management device 200 communicate with each other via the communication network NW.

An upper revolving body 3 is rotatably mounted on the lower traveling body 1 of the shovel 100 via a revolving mechanism 2. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to a tip end of the boom 4, and a bucket 6 as a terminal attachment is attached to a tip end of the arm 5.

The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment. Boom 4 is driven by boom cylinder 7, arm 5 is driven by arm cylinder 8, and bucket 6 is driven by bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as "attitude sensors". This is because it is used when determining the posture of the attachment.

The boom angle sensor S1 detects the turning angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor that detects the turning angle of the boom 4 with respect to the upper swing body 3 (hereinafter referred to as the "boom angle"). The boom angle is, for example, a minimum angle when the boom 4 is lowered to the lowest level, and increases as the boom 4 is raised.

The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor that detects the turning angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). The arm angle is, for example, a minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"). The bucket angle is, for example, the minimum angle when the bucket 6 is most closed, and is increased as the bucket 6 is opened.

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor detecting a stroke amount of a corresponding hydraulic cylinder, a rotary encoder detecting a rotation angle around a coupling pin, a gyro sensor, an inertial measurement device including a combination of an acceleration sensor and a gyro sensor, and the like.

A boom cylinder 7 is attached with a boom lever pressure sensor S7R and a boom base pressure sensor S7B. The arm cylinder 8 is mounted with an arm pressure sensor S8R and an arm bottom pressure sensor S8B. A bucket lever pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom lever pressure sensor S7R, the boom base pressure sensor S7B, the arm lever pressure sensor S8R, the arm base pressure sensor S8B, the bucket lever pressure sensor S9R, and the bucket base pressure sensor S9B are collectively referred to as "cylinder pressure sensors".

The boom cylinder 7 has a rod side oil chamber (hereinafter referred to as "boom pressure") and a bottom side oil chamber (hereinafter referred to as "boom bottom pressure") that are respectively detected by the boom pressure sensor S7R and the boom bottom pressure sensor S7B, respectively. The arm pressure sensor S8R detects the pressure of the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm pressure"), and the arm bottom pressure sensor S8B detects the pressure of the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm bottom pressure"). The bucket lever pressure sensor S9R detects the pressure of the lever side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket lever pressure"), and the bucket bottom pressure sensor S9B detects the pressure of the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

The vibration sensor S10 detects vibration of the rotary reduction gear 20. In the present embodiment, the vibration sensor S10 is an acceleration sensor. An Acoustic Emission (AE) sensor using a piezoelectric element may be used. The vibration sensor S10 is configured to be attachable to and detachable from the rotary reduction gear 20 in a one-touch manner so that the rotary reduction gear 20 can be periodically diagnosed. However, the vibration sensor S10 may be fixed to the rotary reduction gear 20 so as to be able to detect the vibration of the rotary reduction gear 20 even during the operation of the excavator 100.

A cabin 10 as a cab is provided in the upper slewing body 3, and a power source such as an engine 11 is mounted thereon. The upper slewing body 3 is provided with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, a body inclination sensor S4, a slewing angular velocity sensor S5, an imaging device S6, and a communication device T1.

The controller 30 functions as a main control unit that performs drive control of the shovel 100. In the present embodiment, the controller 30 is constituted by a computer including a CPU, a RAM, a ROM, and the like. As for one or more functions in the controller 30, for example, it is realized by executing a program stored in a ROM by a CPU.

The display device 40 displays information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

Input device 42 enables an operator to input information to controller 30. The input device 42 includes a touch panel, a rotary switch, a membrane switch, and the like provided in the cab 10.

The audio output device 43 is a device that outputs various audio information. The sound output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In the present embodiment, the audio output device 43 outputs various audio information in accordance with an audio output command from the controller 30.

The storage device 47 is a device for storing information. The storage device 47 is a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by one or more devices during the operation of the shovel 100, or may store information acquired or input via one or more devices before the operation of the shovel 100 is started. The storage device 47 may store data on the target construction surface acquired via the communication device T1 or the like, for example. The target construction surface may be set by an operator of the excavator 100, or may be set by a construction manager or the like.

Positioning device P1 measures the position and orientation of upper revolving unit 3. Positioning device P1 is, for example, a GNSS compass, and detects the position and orientation of upper revolving unit 3 and outputs the detected values to controller 30. Therefore, the position measuring device P1 can function as a direction detecting device that detects the direction of the upper revolving structure 3. The orientation detecting means may be an orientation sensor attached to the upper slewing body 3.

Body inclination sensor S4 detects the inclination of upper slewing body 3 with respect to the horizontal plane. In the present embodiment, the body inclination sensor S4 is an acceleration sensor that detects the front-rear inclination angle about the front-rear axis of the upper revolving structure 3 and the left-right inclination angle about the left-right axis. The front-rear axis and the left-right axis of the upper slewing body 3 are orthogonal to each other at one point on the slewing axis of the shovel 100, i.e., at the shovel center point, for example. The body inclination sensor S4 may be an inertial measurement device constituted by a combination of an acceleration sensor and a gyro sensor.

The turning angular velocity sensor S5 detects the turning angular velocity and the turning angle of the upper turning body 3. In the present embodiment, a gyro sensor. A resolver, a rotary encoder, or the like may be used.

The imaging device S6 acquires an image of the periphery of the shovel 100. In the present embodiment, the image pickup device S6 includes: a front camera S6F that photographs a space in front of the shovel 100, a left camera S6L that photographs a space on the left side of the shovel 100, a right camera S6R that photographs a space on the right side of the shovel 100, and a rear camera S6B that photographs a space behind the shovel 100.

The imaging device S6 is a monocular camera having an imaging element such as a CCD or a CMOS, for example, and outputs a captured image to the display device 40. The image pickup device S6 may be a stereo camera, a range image camera, or the like.

The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. However, the present invention may be attached to the outside of the cab 10, such as the ceiling of the cab 10 and the side surface of the boom 4. Left camera S6L is attached to the left end of the upper surface of upper revolving unit 3, right camera S6R is attached to the right end of the upper surface of upper revolving unit 3, and rear camera S6B is attached to the rear end of the upper surface of upper revolving unit 3.

The communication device T1 controls communication with an external device located outside the shovel 100. In the present embodiment, the communication device T1 controls communication with an external device via a satellite communication network, a mobile phone communication network, the internet, or the like.

Fig. 2 is a block diagram of a management system 300 of an excavator according to an embodiment. Further, a mechanical power transmission line, a working oil line, a pilot line, an electric control line, and a communication line are shown by a double line, a solid line, a broken line, a dotted line, and a one-dot chain line, respectively.

The basic system of the shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a discharge pressure sensor 28, an operation pressure sensor 29, a controller 30, and the like.

The engine 11 is a drive source of the excavator. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined number of revolutions. An output shaft of the engine 11 is coupled to input shafts of the main pump 14 and the pilot pump 15.

Main pump 14 supplies working oil to control valve 17 via a working oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

Regulator 13 controls the discharge rate of main pump 14. In the present embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with a control command from the controller 30. For example, the controller 30 receives the output of the operation pressure sensor 29 and the like, and outputs a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14.

The pilot pump 15 supplies the hydraulic equipment or the hydraulic equipment including the operation device 26 with the working oil via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump.

The control valve 17 is a hydraulic control device that controls a hydraulic system in the shovel. In the present embodiment, the control valve 17 is configured as a valve block including a plurality of control valves. Control valve 17 selectively supplies the hydraulic oil discharged from main pump 14 to one or more hydraulic actuators via one or more control valves. The control valve controls the flow rate of the working oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the working oil flowing from the hydraulic actuator to the working oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-side travel hydraulic motor 1L, a right-side travel hydraulic motor 1R, and a turning hydraulic motor 2A. The turning hydraulic motor 2A may be replaced with an electric generator for turning, which is an electric actuator.

The operation device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operation device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each hydraulic actuator. The operation device 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line. The operation device 26 includes, for example, a left operation lever, a right operation lever, a left travel lever, and a right travel lever, which are not shown.

The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

The operation pressure sensor 29 detects the operation content of the operator using the operation device 26. In the present embodiment, the operation pressure sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator as pressure, and outputs the detected values to the controller 30. The operation content of the operation device 26 may be detected by a sensor other than the operation pressure sensor.

The controller 30 includes a data processing unit 35, a determination unit 36, and a display unit 38 as functional elements. In the present embodiment, each functional element is realized as software, but may be realized by hardware, firmware, or the like.

The data processing unit 35 is configured to process the information acquired by the information acquisition device. In the present embodiment, the data processing unit 35 processes the data output from the information acquisition device so that the data output from the information acquisition device can be used by each of the determination unit 36 and the control device 210 of the management device 200. The information acquired by the information acquiring device includes information related to at least one of a boom angle, an arm angle, a bucket angle, a front-rear tilt angle, a left-right tilt angle, a swing angular velocity, a swing angle, an image captured by the imaging device S6, a boom pressure, a boom bottom pressure, an arm bottom pressure, a bucket bottom pressure, vibration of a swing reducer detected by the vibration sensor S10, a detection value of a strain sensor attached to an attachment or a frame, a discharge pressure of the main pump 14, an operation pressure related to the operation device 26, and the like. The information acquisition device includes at least one of a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, a turning angular velocity sensor S5, an imaging device S6, an arm pressure sensor S7R, a boom bottom pressure sensor S7B, an arm pressure sensor S8R, an arm bottom pressure sensor S8B, an arm pressure sensor S9R, a bucket bottom pressure sensor S9B, a vibration sensor S10, a strain sensor (not shown), a discharge pressure sensor 28, an operation pressure sensor 29, and the like. The data processing unit 35 may be omitted as long as the determination unit 36 and the control device 210 can directly use the data from the information acquisition device, respectively.

The data processing unit 35 is configured to hold data output from the information acquisition device for a predetermined time. In the present embodiment, the data processing unit 35 temporarily records data output from the information acquisition device in a volatile storage medium for at least a predetermined time. The data processing unit 35 may record the data output by the information acquisition device in the storage device 47.

The determination unit 36 is configured to determine whether or not a set of data (hereinafter referred to as a "data set") output by the information acquisition apparatus is suitable for diagnosis by the control apparatus 210 of the management apparatus 200, which will be described later. For example, the determination unit 36 determines whether or not the data set output from the vibration sensor S10 is suitable for diagnosis by the control device 210. This is to prevent a data set unsuitable for diagnosis by the control device 210 from being supplied to the control device 210.

The display unit 38 is configured to display various information on the display device 40. In the present embodiment, a predetermined screen is displayed on the display device 40 in accordance with an instruction from the controller 30.

The management device 200 includes a control device 210, a communication device 220, and a display device 230. The control device 210 includes, as functional elements, a shovel information management unit 211, a fatigue level calculation unit 212, a busy period information management unit 213, and a guarantee content solving unit 214. The functional elements of the control device 210 may be implemented as software, hardware, firmware, or the like.

The shovel information management unit 211 is configured to store and manage the data set output by the information acquisition device. The data set is transmitted from the communication device T1 of the shovel 100 and input to the shovel information management unit 211 via the communication network NW and the communication device 220. The data set transmitted from the communication device T1 may be added with the determination result in the determination unit 36. Further, the communication device T1 may transmit only the data set determined to be suitable for diagnosis by the determination unit 36.

The fatigue degree calculation unit 212 is configured to calculate the fatigue degree of the attachment based on the data set stored in the shovel information management unit 211. In the present embodiment, the fatigue degree calculation unit 212 calculates the fatigue degree of each component of the shovel 100 based on the operation information collected from the shovel 100. Fatigue includes the cumulative damage accumulated in the various components of the shovel 100 and the remaining life of the various components. In this evaluation, the operation information and the accumulated damage degree accumulated in the storage device 203 up to the present time are used. The evaluation method of the cumulative damage and remaining life accumulated in the module will be described later. The evaluation results of the cumulative damage degree and the remaining life are stored in the shovel information management unit 211.

The busy hour information management unit 213 associates and stores the time and the busy hour coefficient for determining the price. For example, when the period is classified into the busy period information of 3 stages of a busy period, a normal period, and an idle period, the coefficient in the normal period may be set to be lower than the coefficient in the busy period, and the coefficient in the idle period may be set to be lower than the normal period. For example, the time when the repair request increases, such as the end of the accounting year, may be set as a busy period. In addition, the period when the operation rate of the shovel 100 increases may be a busy period.

The guaranteed content solving unit 214 decides the guaranteed content based on the information of the shovel 100 stored in the shovel information management unit 211. The guarantee content includes, for example, guarantee period, repair cost, and use cost. For example, by accessing the management apparatus 200, the user can display information of the guaranteed content (hereinafter, also referred to as "guaranteed content information") and the like on the display apparatus 230 of the management apparatus 200.

The guarantee period is, for example, a guarantee period of an attachment such as the boom 4, the arm 5, and the bucket 6. The guarantee period includes a normal guarantee period which is a gratuitous guarantee period guaranteed by a manufacturer or the like and an additional guarantee period additionally set in the normal guarantee period. The guarantee period is set based on the fatigue degree of the attachment calculated by the fatigue degree calculation unit 212. For example, the additional guarantee period is set to be longer as the cumulative damage degree of the accessory device calculated by the fatigue degree calculation unit 212 is smaller than the reference cumulative damage degree. The reference accumulated damage degree is an accumulated damage degree assumed when the shovel 100 is operated with standard work content, and is set, for example, based on the number of days elapsed after delivery of the shovel 100. The additional guarantee period is set to be longer as the remaining life of the attachment calculated by the fatigue degree calculation unit 212 is longer than the reference remaining life. The reference remaining life is a remaining life assumed when the shovel 100 is operated with standard work content, and is set, for example, based on the number of days elapsed after delivery of the shovel 100. The standard work content is a work content when, for example, a work (high-load work) with a large load on a structural member such as a breaker work and a work (low-load work) with a small load on a structural member such as a trimming work, a loading work, and a leveling work are performed at a predetermined ratio (for example, 1: 1).

The repair cost is, for example, the repair cost of the attachment such as the boom 4, the arm 5, and the bucket 6. The repair cost is set according to the repair time determined according to the remaining life of the accessory device calculated by the fatigue degree calculation unit 212 after the crack is generated in the accessory device. For example, when the accessory is repaired immediately after a crack is generated, the repair fee is set to a fee obtained by adding a predetermined 1 st proportional increment to the reference amount. When the accessory is repaired after the accessory is used for a predetermined period (for example, 2 days to 1 week) within the range of the remaining life after the crack is generated in the accessory, the repair fee is set to be a fee obtained by adding a 2 nd proportional increment smaller than the 1 st proportional increment to the reference amount. When the operation content is changed so that the remaining life of the attachment is increased after the crack is generated in the attachment, and the attachment is repaired after the attachment is continuously used for a predetermined period (for example, 1 week to 1 month) within the range of the remaining life, the repair fee is set to a fee that does not add a proportional increase to the reference amount. The repair fee may be a fee obtained by accumulating the busy factor of the busy information management unit 213 in the reference amount.

The usage charge is a usage charge of the shovel 100, and includes, for example, a charge paid to a rental company by a rental shovel 100 person, and a refund fee refunded from the rental company to the rental shovel 100 person. The usage cost is set based on the fatigue degree calculated by the fatigue degree calculation unit 212. For example, the credit of the refund fee is set to be higher as the cumulative damage of the slave device calculated by the fatigue calculation unit 212 is smaller than the reference cumulative damage. The reference cumulative damage degree is a cumulative damage degree assumed when the shovel 100 is operated with standard work content, and is set, for example, based on the number of days elapsed after the rental shovel 100 starts using the shovel 100. The credit of the refund fee is set to be higher as the remaining life of the attachment calculated by the fatigue degree calculation unit 212 is longer than the reference remaining life. The reference remaining life is a remaining life assumed when the shovel 100 is operated with standard work content, and is set, for example, based on the number of days elapsed after the rental shovel 100 user starts using the shovel 100.

The communication device 220 is configured to be able to communicate with another device, for example, the shovel 100, via the communication network NW.

The display device 230 is configured to display various information.

With reference to fig. 3, a process of calculating the degree of fatigue of the shovel 100 (hereinafter referred to as "fatigue degree calculation process") will be described. The fatigue degree calculation process is executed by the control device 210 of the management device 200. Fig. 3 is a flowchart showing an example of the fatigue degree calculation process.

First, in step ST1, the management device 200 acquires a measurement value of at least one cycle of a series of operations repeated by the excavator 100 during the work, from the attitude sensor of the attachment, the cylinder pressure sensor of the attachment, and the turning angular velocity sensor S5. Together with these measured values, information such as the type of work, the year, month, and day of work, and the machine identification number is acquired.

The rotation angle of the upper slewing body 3 is acquired from the rotation angular velocity sensor S5. The attitude of the shovel 100 is determined based on the detection values of the attitude sensor of the attachment and the rotation angular velocity sensor S5. In a series of operations of the shovel 100, the range of the time at which the measurement value is obtained by the posture sensor of the attachment, the cylinder pressure sensor of the attachment, and the turning angular velocity sensor S5 may be set by the operator of the management apparatus 200, or may be set by the driver or the serviceman of the shovel 100. The series of operations repeated in the shovel 100 is repeated in a cycle including, for example, the steps of start of excavation, lifting and turning, soil discharge, and returning and turning.

In step ST2, a plurality of times to be analyzed (hereinafter referred to as "analysis times") are extracted in one cycle of a series of operations. For example, characteristic times such as peaks and inflection points of the hydraulic pressure and the time waveform of the rotation angle in the cylinder are extracted as the analysis time. If the number of extracted analysis times is increased, the analysis accuracy is improved, but the calculation time required for the analysis becomes longer. The management device 200 may automatically extract the analysis time from the time waveform of the hydraulic pressure in the boom cylinder 7, the height of the tip of the arm 5, and the turning angle during the operation of the excavator 100, or may determine the analysis time by observing the time waveform by the operator and input the analysis time.

At each analysis time, step ST3 calculates the stress distribution applied to each component such as the boom 4 and the arm 5 using the analysis model. The stress distribution is calculated from the determined posture of the shovel 100 determined for each analysis time. That is, the stress distribution is calculated from the load applied to the components of the shovel 100 for each posture of the shovel 100 that occurs in one cycle of a series of repeated operations. For the calculation of the stress distribution, a numerical analysis method such as a finite element method can be applied. At this time, the posture of the shovel 100 and the load applied to the components of the shovel 100 are used as analysis conditions. Here, the load is represented by a vector. The magnitude and direction of the load are determined by the hydraulic pressure in the hydraulic cylinder, the axial direction of the hydraulic cylinder (the attitude of the attachment), and the angular acceleration of rotation. The cornering angle acceleration is calculated by differentiating the cornering angle twice. The stress is calculated for each element and node constituting the analysis model. The analysis result of the stress distribution is calculated for each component at each analysis time.

In step ST4, the damage degree accumulated during the operation period of one cycle (hereinafter referred to as "single-cycle damage degree") is calculated for each evaluation point of each component. Thereby, a distribution of the degree of monocycle damage within the assembly may be obtained. The single-cycle damage degree is calculated from an extreme value of stress extracted from a temporal change of stress. The degree of monocycle damage can be calculated by a known method.

In step ST5, the distribution of the cumulative damage and remaining life of the component is calculated. Hereinafter, a method of calculating the cumulative damage degree and the remaining life will be described. The management device 200 calculates the total of the single-cycle damage degrees (the cumulative damage degree) from the operation start time of the machine body to the current time for each machine body and each component of the excavator 100 to be managed. The cumulative damage degree accumulated before the start of the operation to be the target of the data collection is stored in the shovel information management unit 211. When the cumulative damage degree of a certain portion of the components of the shovel 100 becomes 1, the possibility of occurrence of a fracture at the portion increases. The remaining life can be determined by subtracting the cumulative damage from 1.

In step ST6, the cumulative damage degree and remaining life obtained in step ST5 are stored in the shovel information management unit 211 in association with information such as the machine body identification number.

An example of the display screen generated by the shovel management system 300 will be described with reference to fig. 4. Fig. 4 is a diagram showing an example of a display screen according to an embodiment. In the following description, the display screen 400 is displayed on the display device 230 of the management device 200, and displays information including the remaining life calculated by the fatigue degree calculation process and the guarantee period associated with the remaining life.

The display screen 400 includes a guaranteed period display unit 410, a weak portion display unit 420, and a remaining life display unit 430. In the example of fig. 4, guaranteed period display unit 410, weak portion display unit 420, and remaining life display unit 430 are arranged in this order from above. However, the arrangement of the guaranteed period display unit 410, the weak portion display unit 420, and the remaining life display unit 430 is not limited to the arrangement shown in fig. 4.

The guaranteed period display unit 410 displays information on the guaranteed period of the accessory device. In the example of fig. 4, a bar scale (bar gauge)411 indicating a normal guarantee period of the accessory and a bar scale 412 indicating an additional guarantee period are displayed on the guarantee period display unit 410. The guarantee period is generally a free guarantee period such as a manufacturer guarantee, and is displayed based on a preset guarantee period. The additional guarantee period is displayed based on the remaining life of the accessory calculated by the fatigue degree calculation process.

For example, when the remaining life of the attachment calculated by the fatigue degree calculation process is longer than the reference remaining life, the bar scale 412 indicating the additional guarantee period is displayed on the right side of the bar scale 411 indicating the normal guarantee period with a length corresponding to the difference between the calculated remaining life and the reference remaining life. On the other hand, when the remaining life of the attachment calculated by the fatigue degree calculation process is shorter than the reference remaining life, the bar scale 412 indicating the additional guarantee period is not displayed. The reference remaining life is a remaining life assumed when the shovel 100 is operated with standard work content, and is set, for example, based on the number of days elapsed after delivery of the shovel 100. The standard work content is a work content when, for example, a work (high-load work) with a large load on a structural member such as a breaker work and a work (low-load work) with a small load on a structural member such as a trimming work, a loading work, and a leveling work are performed at a predetermined ratio (for example, 1: 1).

In the example of fig. 4, in order to easily distinguish the normal guarantee period from the additional guarantee period, a bar scale 411 indicating the normal guarantee period is displayed by a solid line, and a bar scale 412 indicating the additional guarantee period is displayed by a broken line. However, the display method of the normal guarantee period and the additional guarantee period is not limited to this, and for example, the guarantee period and the additional guarantee period may be displayed in different colors.

The weakest part display part 420 displays information for identifying the weakest part of the accessory device. In the example of fig. 4, an image 421 of the arm 5, an image 422 specifying the weakest part of the arm 5, an image 423 of the boom 4, and an image 424 specifying the weakest part of the boom 4 are displayed on the weakest part display unit 420. The weakest portion of the arm 5 and the weakest portion of the boom 4 are displayed based on the distribution of the fatigue degrees (for example, the cumulative damage degree and the remaining life) calculated by the fatigue degree calculation process. For example, the weakest point in the arm 5 and the weakest point in the boom 4 are points at which the cumulative damage degree is the greatest in the distribution of the cumulative damage degree calculated by the fatigue degree calculation process. For example, the weakest point in the arm 5 and the weakest point in the boom 4 are the points at which the remaining life is the shortest in the distribution of the remaining life calculated by the fatigue degree calculation process. In the example of fig. 4, the image 421 of the arm 5 and the image 422 of the boom 4 are displayed in a left-right arrangement, but the present invention is not limited to this, and may be displayed in an up-down arrangement, for example. Further, only one of the image 421 of the arm 5 and the image 422 of the boom 4 may be displayed.

The remaining life display unit 430 displays the remaining life of the accessory device. In the example of fig. 4, a bar scale 431 indicating the current remaining life of the arm 5 and a bar scale 432 indicating the current remaining life of the boom 4 are displayed on the remaining life display unit 430. The remaining life of the arm 5 and the remaining life of the boom 4 are displayed based on the distribution of the remaining life calculated by the fatigue degree calculation process. For example, the current remaining life of the arm 5 and the current remaining life of the boom 4 may be the shortest remaining life in the distribution of the remaining lives calculated by the fatigue degree calculation process, or may be an average value or a median value. Further, in the remaining life display unit 430, an image indicating the reference remaining life may be displayed so as to overlap with a bar scale 431 indicating the current remaining life of the arm 5 and a bar scale 432 indicating the current remaining life of the boom 4. By displaying the image indicating the reference remaining life, the manager can easily grasp the current remaining life with respect to the reference remaining life. The remaining life display unit 430 may display the cumulative damage level of the accessory device instead of or together with the remaining life of the accessory device.

As described above, according to the management system 300 of one embodiment, as shown in fig. 4, the remaining life (or the cumulative damage degree) of the accessory is displayed in association with the guaranteed period. Thus, the manager can set the guarantee period corresponding to the use state of the shovel 100 based on the information displayed on the display screen 400 of the display device 230. For example, when the remaining life of the accessory displayed on the display screen 400 of the display device 230 is longer than the reference remaining life, the administrator can set the normal guarantee period of the accessory to which the guarantee period is added.

In the example of fig. 4, for example, when the guaranteed period is 5000 hours, 80% (4000 hours) of the guaranteed period is used. Even in this case, when a work with a small load is performed, the remaining life of the boom 4 and the arm 5 is left at about 60% of the reference remaining life (100%) secured in the securing period set as the reference. I.e. only about 40% is used. Therefore, at a time when 80% (4000 hours) of the guaranteed period is used, an additional guaranteed period of 1500 hours (130%) can be set.

In the example of fig. 4, the display device 230 of the management device 200 displays information including the remaining life and the guaranteed period of the attachment, but the present invention is not limited to this, and may be displayed on the display device 40 of the shovel 100, for example. Further, the display may be performed on another device that can communicate with the management device 200 through the communication network NW.

In the example of fig. 4, the display screen 400 of the display device 230 displays the remaining life of the accessory device in association with the guaranteed period, but the present invention is not limited to this, and for example, the cumulative damage degree of the accessory device may be displayed in association with the guaranteed period. In this case, the administrator can set the normal guarantee period of the accessory device to which the guarantee period of the additional guarantee period is added when the cumulative damage degree of the accessory device displayed on the display screen 400 of the display device 230 is smaller than the reference cumulative damage degree.

Further, the date and time, the device number, the user, and the time of use up to now (not shown) may be displayed on the display screen 400.

Another display example of a display screen generated by the management system 300 of the shovel will be described with reference to fig. 5. Fig. 5 is a diagram showing another example of a display screen according to an embodiment. In the following description, the display screen 500 is displayed on the display device 230 of the management device 200, and displays information including the remaining life calculated by the fatigue degree calculation process and the repair cost associated with the remaining life.

The display screen 500 includes a remaining life display unit 510, a repair cost display unit 520, and a weakest part display unit 530. In the example of fig. 5, a remaining life display unit 510, a repair cost display unit 520, and a weakest part display unit 530 are arranged in this order from above. However, the arrangement of the remaining life display unit 510, the repair cost display unit 520, and the weakest part display unit 530 is not limited to the arrangement shown in fig. 5.

The remaining life display unit 510 displays the remaining life of the accessory device. In the example of fig. 5, a bar scale 511, a bar scale 512, and graphs 513 to 515 are displayed on the remaining life display unit 510. The bar 511 displays the remaining life of the attachment when the shovel 100 continues to be used with the current job content (current job content). The bar scale 512 indicates the remaining life of the attachment when the excavator 100 is used by changing the current job content to the recommended job content (recommended job content) in order to extend the remaining life. As for the recommended work content, for example, the excavator for the ground excavation work is changed to the carry-out work or the like. An excavator that is performing a rock-cutting operation is changed to a flat excavation or the like. Graphs 513 to 515 show different repair timings. The graph 513 shows the time when the repair is performed immediately after the crack is generated in the accessory (or the time when the crack is generated). The graph 514 shows a period (for example, 2 days to 1 week) within the range of the remaining life when the shovel 100 is continuously used with the current work content after the crack is generated in the attachment. The graph 515 shows a period (for example, 1 week to 1 month) within a range of the remaining life when the current job content is changed to the recommended job content in order to extend the remaining life after the crack is generated in the accessory. The remaining life of the attachment when the shovel 100 is continuously used in the current work and the remaining life of the attachment when the shovel 100 is used in the recommended work are displayed based on the remaining life calculated by the fatigue degree calculation process. For example, the remaining life of the attachment when the shovel 100 is continuously used in the current work and the remaining life of the attachment when the shovel 100 is used in the recommended work may be the shortest remaining life in the distribution of the remaining lives calculated by the fatigue degree calculation process, or may be an average value or a median value.

The repair fee display unit 520 displays information on the repair fee of the accessory device. In the example of fig. 5, the repair cost display unit 520 displays a bar scale 521 to a bar scale 523. The bar 521 indicates the repair cost for repairing the accessory at the time indicated in the graph 513 displayed on the remaining life display unit 510. The repair fee indicated by the bar 521 is the fee obtained by adding a predetermined 1 st proportional increment 521b to the base amount 521 a. The bar scale 522 indicates the repair cost for repairing the attachment while the graph 514 displayed on the remaining lifetime display unit 510 is in progress. The repair fee indicated by the bar 522 is a fee obtained by adding a 2 nd proportional increment 522b, which is lower than the 1 st proportional increment 521b, to the base amount 522 a. The bar scale 523 indicates the repair cost for repairing the accessory during the period shown in the graph 515 displayed on the remaining life display unit 510. The repair fee indicated by the bar 523 is a fee in which a proportional increase is not added to the reference amount 523 a. The reference amount 521a, the reference amount 522a, the reference amount 523a, the 1 st proportional increment 521b, and the 2 nd proportional increment 522b may also accumulate the busy factor of the busy information management unit 213.

The weakest part display part 530 displays information for identifying the weakest part of the accessory device. In the example of fig. 5, an image 531 indicating the weakest part of the boom 4 at the current time and an image 532 indicating the weakest part of the boom 4 predicted when the recommended work content is changed are displayed on the weakest part display part 530. The weakest part of the boom 4 is displayed based on the distribution of the fatigue (for example, the cumulative damage degree and the remaining life) calculated by the fatigue calculation process. For example, the weakest portion in the boom 4 is the portion where the cumulative damage degree is the largest in the distribution of the cumulative damage degree calculated by the fatigue degree calculation process. For example, the weakest part of the boom 4 is the part having the shortest remaining life in the distribution of remaining lives calculated by the fatigue degree calculation process. In the example of fig. 5, the image 531 indicating the weakest part of the boom 4 at the current time and the image 532 indicating the weakest part of the boom 4 predicted when the recommended work content is changed are displayed in a left-right arrangement.

As described above, according to the management system 300 of one embodiment, as shown in fig. 5, the remaining life of the accessory device and the repair cost can be displayed in association with each other. Thus, the manager can set the repair cost corresponding to the use state of the shovel 100 based on the information displayed on the display screen 500 of the display device 230. For example, the administrator can set a repair fee in which a proportional increase is added to the reference amount based on the remaining life of the accessory and the repair time displayed on the display screen 500 of the display device 230. Further, the job content may be associated with the repair cost. Further, the job content may be associated with the remaining life. Also, the job content may be associated with the guarantee period.

In the example of fig. 5, the display device 230 of the management device 200 displays information including the remaining life of the accessory and the repair cost, but the present invention is not limited to this, and may be displayed on the display device 40 of the shovel 100, for example. Further, the display may be performed on another device that can communicate with the management device 200 through the communication network NW.

Further, the date and time, the device number, the user, and the time of use up to now (not shown) may be displayed on the display screen 500.

Still another example of the display screen generated by the management system 300 of the excavator will be described with reference to fig. 6. Fig. 6 is a diagram showing still another example of the display screen according to the embodiment. In the following description, the display screen 600 is displayed on the display device 230 of the management device 200, and displays information including the cumulative damage degree calculated by the fatigue degree calculation process and the usage charge associated with the cumulative damage degree.

The display screen 600 includes a use charge display unit 610, a weakest part display unit 620, and an accumulated damage degree display unit 630. In the example of fig. 6, a use charge display unit 610, a weakest part display unit 620, and an accumulated damage degree display unit 630 are arranged in this order from above. However, the arrangement of the use charge display unit 610, the weakest part display unit 620, and the cumulative damage degree display unit 630 is not limited to the arrangement shown in fig. 6.

The charge display unit 610 displays information related to the charge for using the shovel 100. In the example of fig. 6, a bar scale 611 indicating the fee paid to the rental company by the rental shovel 100 and a bar scale 612 indicating the refund amount refunded from the rental company to the rental shovel 100 are displayed on the use fee display unit 610. The bar scale 612 indicating the refund gold is displayed based on the fatigue degree (for example, the cumulative damage degree and the remaining life) calculated by the fatigue degree calculation process. For example, the bar scale 612 indicating the refund amount is displayed as a longer bar scale as the cumulative damage degree of the attachment calculated by the fatigue degree calculation process is smaller than the reference cumulative damage degree.

The weakest part display 620 displays information for identifying the weakest part of the accessory device. In the example of fig. 6, an image 621 of arm 5, an image 622 of specifying the weakest part of arm 5, an image 623 of boom 4, and an image 624 of specifying the weakest part of boom 4 are displayed on weakest part display unit 620. The weakest portion of the arm 5 and the weakest portion of the boom 4 are displayed based on the distribution of the fatigue degrees (for example, the cumulative damage degree and the remaining life) calculated by the fatigue degree calculation process. For example, the weakest point in the arm 5 and the weakest point in the boom 4 are points at which the cumulative damage degree is the greatest in the distribution of the cumulative damage degree calculated by the fatigue degree calculation process. For example, the weakest point in the arm 5 and the weakest point in the boom 4 are the points at which the remaining life is the shortest in the distribution of the remaining life calculated by the fatigue degree calculation process. In the example of fig. 6, the image 621 of the arm 5 and the image 622 of the boom 4 are displayed in a left-right arrangement, but the present invention is not limited to this, and may be displayed in an upper-lower arrangement, for example. Further, only one of the image 621 of the arm 5 and the image 622 of the boom 4 may be displayed.

The cumulative damage degree display unit 630 displays the cumulative damage degree of the accessory device. In the example of fig. 6, a bar scale 631 indicating the current accumulated damage degree of the boom 5 and a bar scale 632 indicating the current accumulated damage degree of the boom 4 are displayed on the accumulated damage degree display unit 630. The remaining life of the arm 5 and the remaining life of the boom 4 are displayed based on the distribution of the cumulative damage degree calculated by the fatigue degree calculation process. For example, the current accumulated damage degree of the arm 5 and the current accumulated damage degree of the boom 4 may be the maximum accumulated damage degree in the distribution of the accumulated damage degrees calculated by the fatigue calculation process, or may be an average value or a median value. Further, in the accumulated damage degree display unit 630, an image indicating the reference accumulated damage degree may be displayed so as to overlap with the bar scale 631 indicating the current accumulated damage degree of the arm 5 and the bar scale 632 indicating the current accumulated damage degree of the boom 4. By displaying an image indicating the reference cumulative damage degree, the manager can easily grasp the current cumulative damage degree with respect to the reference cumulative damage degree.

As described above, according to the management system 300 of one embodiment, as shown in fig. 6, the accumulated damage degree of the accessory device and the usage charge are displayed in association with each other. Thus, the manager can set the use fee corresponding to the use state of the shovel 100 based on the information displayed on the display screen 400 of the display device 230. For example, when the accumulated damage degree of the accessory device during a predetermined period (for example, rental period) of the display screen 400 displayed on the display device 230 is larger than the reference accumulated damage degree, the manager can set a refund fee, which is a part of the use fee of the refund excavator 100, based on the difference between the accumulated damage degree of the accessory device during the predetermined period and the reference accumulated damage degree.

In the example of fig. 6, the predicted usage state (work content, cumulative damage degree, etc.) is compared with the actual results. In the example of fig. 6, for example, when the usage period ends and the reference cumulative damage degree (for example, 100%) is not reached (for example, 60%), the usage charge is returned to 20%. That is, if the cumulative damage degree assumed at the time of starting use is not reached, the use fee is returned according to the degree of the lack. By being able to correlate the remaining life (or cumulative damage) with the repair cost, it is also possible to correlate the remaining life (or cumulative damage) with the use cost. The job content and the usage charge may also be associated. The job content and the guarantee period may also be associated.

In the example of fig. 6, the case where the information including the cumulative damage degree and the use fee of the accessory is displayed on the display device 230 of the management device 200 is shown, but the present invention is not limited to this, and may be displayed on the display device 40 of the shovel 100, for example. Further, the display may be performed on another device that can communicate with the management device 200 through the communication network NW.

In the example of fig. 6, the display screen 400 of the display device 230 displays the cumulative damage degree of the accessory device and the usage charge in association with each other, but the present invention is not limited to this, and the remaining life of the accessory device and the usage charge may be displayed in association with each other, for example. At this time, when the remaining life of the attachment displayed on the display screen 400 of the display device 230 is longer than the reference remaining life, the manager can set a refund amount that is a part of the operating cost of the refund excavator 100, based on the difference between the remaining life of the attachment and the reference remaining life within a predetermined period.

Further, the date and time, the device number, the user, and the time of use up to now (not shown) may be displayed on the display screen 600.

While the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various changes and substitutions may be made to the above embodiments without departing from the scope of the present invention.

For example, a support device such as a mobile terminal can be used as the display device of the management system 300. Typically, the support device is a portable terminal device, such as a notebook PC, a tablet PC, or a smartphone, which is carried by a worker or the like at a construction site. The support device may be a computer carried by the operator of the shovel 100. The support device may be a fixed terminal device.

Claims

1. A management system for a shovel, comprising:

a state detection device for detecting the working state of the excavator to be evaluated;

a control device that calculates a fatigue degree of the shovel based on the detected operating state, and calculates guaranteed content information associated with the calculated fatigue degree; and

and a display device for displaying the calculated guaranteed content information.

2. A management system for a shovel, comprising:

a state detection device for detecting the operating state of the excavator to be evaluated within a predetermined period;

a control device that calculates a degree of fatigue of the shovel during the predetermined period based on the detected operating state, and calculates cost information associated with the calculated degree of fatigue; and

and a display device for displaying the calculated cost information.

3. The management system of an excavator according to claim 1 or 2,

the fatigue degree at least includes any one of a remaining life and a cumulative damage degree,

the display device displays the portion having the shortest remaining life or the portion having the greatest cumulative damage.

4. The management system of an excavator according to any one of claims 1 to 3,

displaying, on the display device, the calculated fatigue degree.

5. The management system of an excavator according to claim 1,

and the guarantee content information is calculated according to the busy hour information.