Decelerator evaluation system, and hydraulic shovel having evaluation system loaded

Abstract

To provide an evaluation system that can evaluate a damage state of a decelerator highly accurately in the variable speed operating decelerator in which a load or revolution speed varies.SOLUTION: In an evaluation system comprising: oscillation measurement means of measuring oscillation of a decelerator; and a control device evaluating a damage sate of the variable speed operating decelerator on the basis of the oscillation measurement means, the control device is configured to: determine that a prescribed operation instruction is given to both the decelerator and a mechanism affecting a load of the decelerator, and an operation including a section where a revolution speed of the decelerator stays constant is implemented; determine, by a detection result of a sensor, that the mechanism is in an operation state by the prescribed operation instruction; calculate a damage state index on the basis of oscillation data on the section extracted from the oscillation data measured by (i) the oscillation measurement means; and evaluate a damage state of the decelerator on the basis of (ii) the calculated damage state index.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a reducer evaluation system that evaluates the state of damage to a reducer that operates at a variable speed, and to a hydraulic excavator equipped with the evaluation system. [Background technology]

[0002] Patent Document 1 discloses an abnormality diagnosis device for a planetary gear reducer connected to the output shaft of a hydraulic motor as a damage condition evaluation system for a variable speed reducer. Patent Document 1 describes that vibration sensors are installed on the housings of the motor and gear reducer, and that the amplitude of the characteristic frequencies of the gears that make up the reducer is evaluated from the obtained vibration data, and gear abnormalities are diagnosed by monitoring changes in this amplitude value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-68263 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the rotational speed of a variable-speed reducer changes during operation, and the attitude of the mechanism connected to the reducer also changes, which causes the load on the reducer to change. This makes it difficult to measure vibrations under conditions suitable for damage assessment, which can result in a low accuracy in assessing the damage state.

[0005] An object of the present invention is to provide a reducer evaluation system that can accurately evaluate the state of damage to a reducer, even in a variable speed reducer where the load and rotational speed change. [Means for solving the problem]

[0006] The speed reducer evaluation system according to the present invention includes, as an example, a vibration measuring means for measuring vibration of the reducer; a control device that evaluates a damage state of a variable speed reducer based on the vibration measurement means, The control device a predetermined operation instruction is given to both the reducer and a mechanism that affects the load of the reducer, and it is determined that an operation including a section in which the rotation speed of the reducer is constant has been executed; When it is determined based on the detection result of the sensor that the mechanism is in an operating state according to the predetermined operation instruction, - calculating a damage state index based on the vibration data of the section extracted from the vibration data measured by the vibration measuring means; - Evaluating the damage state of the reducer based on the calculated damage state index.

[0007] An example of a hydraulic excavator according to the present invention is In a hydraulic excavator equipped with the above-mentioned evaluation system, a self-propelled lower traveling body; an upper rotating body that can rotate on the lower traveling body via a rotating ring; a working device provided on the upper rotating body so as to be capable of being raised and lowered; Equipped with The upper rotating body includes a rotating device on which the reducer is mounted, The mechanism that affects the load of the reducer is the working device. [Effects of the Invention]

[0008] According to the present invention, it is possible to suppress variations in the damage state index due to the influence of the load and rotation speed, and to accurately evaluate the damage state of a reducer that operates at a variable speed.

[0009] Problems, configurations, and effects other than those described above will become apparent from the following description of the preferred embodiments of the invention. [Brief explanation of the drawings]

[0010] [Figure 1]1 is an external view showing a hydraulic excavator according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a vertical cross-sectional view showing a swing device of the hydraulic excavator of FIG. 1. [Figure 3] FIG. 2 is a flowchart showing a damage state evaluation of the damage state evaluation system according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a diagram showing a damage state index evaluated by the damage state evaluation system according to Example 1 of the present invention and a damage state index evaluated by a reference damage state evaluation system. [Figure 5] FIG. 6 is a vertical cross-sectional view showing a swing device for a hydraulic excavator according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments are illustrative for explaining the present invention, and some omissions and simplifications have been made as appropriate for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural.

[0012] In order to facilitate understanding of the invention, the position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings.

[0013] In the embodiments, there may be cases where processing performed by executing a program is described. Here, a computer executes the program using a processor (e.g., a CPU or a GPU), and performs processing defined by the program while using storage resources (e.g., memory) and interface devices (e.g., communication ports). Therefore, the processor may be the entity that executes the program and performs the processing.

[0014] Similarly, the entity that executes the program and performs the processing may be a controller, device, system, computer, or node having a processor. The entity that executes the program and performs the processing may be any computing unit, and may include a dedicated circuit that performs specific processing. Here, the dedicated circuit is, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).

[0015] A program may be installed on a computer from a program source. The program source may be, for example, a program distribution server or a computer-readable storage medium. When the program source is a program distribution server, the program distribution server may include a processor and a storage resource for storing the program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers. In addition, in an embodiment, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0016] [Example 1] A first embodiment of the present invention will be described below with reference to FIGS.

[0017] 1 is an external view showing a hydraulic excavator according to Example 1. The hydraulic excavator 1 includes a self-propelled lower traveling body 2, an upper rotating body 4 that can rotate on the lower traveling body 2 via a rotating wheel 3, and a working device 5 that is provided on the upper rotating body 4 (for example, on the front side of the upper rotating body 4) so ​​as to be able to move up and down.

[0018] Crawler-type traveling devices 6 are disposed on the left and right sides of the lower traveling body 2. The upper rotating body 4 is composed of a rotating device 7, a rotating frame 8 as a support structure, a cab 9 installed on the front left side of the rotating frame 8 and in which the operator sits, a machine room 10 formed on the rear side of the rotating frame 8, and a counterweight 11 attached to the rear end of the rotating frame 8.

[0019] The cab 9 is provided with various operating devices (not shown) for operating the hydraulic excavator 1. The machinery room 10 houses, for example, various hydraulic devices that constitute a hydraulic system for driving the hydraulic excavator 1. The counterweight 11 is used to balance the working device 5.

[0020] The working implement 5 is made up of a boom 12, an arm 13, and a bucket 14, which are hydraulically driven. The hydraulic excavator 1 is configured to perform excavation and loading work by combining the rotational movement of the upper rotating body 4 and the movement of the working implement 5.

[0021] The hydraulic excavator 1 is equipped with a controller 15 as a control device that constitutes a damage state evaluation system for a reducer that operates at a variable speed. Note that Fig. 1 does not accurately show the shape, size, position, etc. of the damage state evaluation system. As a modified example, the controller 15 that constitutes the damage state evaluation system may be provided outside the hydraulic excavator 1 and be capable of communicating with a controller provided in the hydraulic excavator 1.

[0022] The structure and swing mechanism of the swing device 7 will be described with reference to Fig. 2. Fig. 2 is a vertical cross-sectional view showing the swing device of the hydraulic excavator according to the first embodiment.

[0023] The swivel device 7 is equipped with a motor 16 that can rotate at a variable speed, and a reducer 17 is mounted on the swivel device 7. The reducer 17 is coupled to the motor 16. The reducer 17 is a gear mechanism, and is configured by, for example, a planetary gear mechanism.

[0024] The planetary gear mechanism includes a sun gear 18 coupled to the motor shaft 16a of the motor 16, multiple (e.g., three) planetary gears 21 (only one is shown in FIG. 2 ) that mesh with the sun gear 18 and internal teeth 20 of the casing 19, and a carrier 23 that rotatably supports the planetary gears 21 via support pins 22. The sun gear 18 rotates integrally with the motor shaft 16a of the motor 16, and is coupled to the motor shaft 16a of the motor 16 by, for example, a spline connection. Each planetary gear 21 revolves around the sun gear 18 between the sun gear 18 and the internal teeth 20 of the casing 19 while rotating on its own axis as the sun gear 18 rotates.

[0025] The support pin 22 is fixed to the carrier 23 while being inserted into the rotation center of the planetary gear 21. The carrier 23 is configured to rotate at the orbital speed of the planetary gear 21 as the planetary gear 21, which it supports via the support pin 22, revolves. The carrier 23 has a boss portion 25 at its lower end that is coupled to one axial end (upper end) of the output shaft 24, and is configured to rotate integrally with the output shaft 24. The boss portion 25 of the carrier 23 has, for example, internal teeth or a hole spline on its inner peripheral surface.

[0026] The output shaft 24 is configured so that one axial end (upper end) is coupled to the boss portion 25 of the carrier 23. The upper end of the output shaft 24 is configured to have external teeth on its outer circumferential surface that mesh with the internal teeth of the boss portion 25 of the carrier 23, or to have an axial spline 24a that is coupled to the hole spline of the boss portion 25 of the carrier 23. A pinion 24b is integrally provided on the other axial end (lower end) of the output shaft 24. The pinion 24b protrudes downward from the lower end of the casing 19 and meshes with internal teeth 3d provided on the inner ring 3a of the slewing ring 3.

[0027] The output shaft 24 is rotatably supported by the casing 19 via a lower bearing 26 and an upper bearing 27. The lower bearing 26 is attached to the upper side of the output shaft 24 at a distance from the pinion 24b. The upper bearing 27 is attached to the lower side of the upper end of the output shaft 24 (the portion where the carrier 23 is joined to the boss portion 25) and at a distance from the lower bearing 26. A sleeve 28 is press-fitted into the output shaft 24 at a position between the pinion 24b and the lower bearing 26.

[0028] The casing 19 has a lower case 29 attached to the revolving frame 8, an upper case 30 attached to the upper end of the lower case 29, and a cover 31 attached to cover the upper opening of the upper case 30. The cover 31 is configured as a part of the housing of the motor 16, for example.

[0029] The lower case 29 has a cylindrical peripheral wall 32 extending in the vertical direction, and an annular mounting flange 33 provided at the lower end of the peripheral wall 32. The lower case 29 accommodates the output shaft 24 within the peripheral wall 32 with the pinion 24b of the output shaft 24 protruding outward from the lower side of the peripheral wall 32. A lower bearing 26 and an upper bearing 27 are fixed to the lower end and upper portion, respectively, of an inner wall surface 32a of the peripheral wall 32 of the lower case 29. The lower case 29 is fixed by fastening the mounting flange 33 to the revolving frame 8 with bolts (not shown).

[0030] The upper case 30 has a cylindrical peripheral wall 34 extending in the vertical direction and is configured to house most of the planetary gear mechanism. Internal teeth 20 that mesh with planetary gears 21 of the planetary gear mechanism are provided around the entire inner circumferential surface of the peripheral wall 34 of the upper case 30. In other words, the upper case 30 functions as a ring gear of the planetary gear mechanism. A cover 31 fixed to the peripheral wall 34 of the upper case 30 and the upper end of the upper case 30 is provided with a plurality of bolt holes (not shown) that penetrate in the vertical direction. The upper case 30 and the cover 31 are fastened to the upper end of the lower case 29 with bolts 35 (only one is shown in FIG. 2 ) inserted through each bolt hole.

[0031] The casing 19 also serves to store lubricating oil for lubricating the components of the planetary gear mechanism. At the lower end of the lower case 29, a ring 36 is fixed with bolts (not shown) to the outer periphery of a sleeve 28 press-fit onto the output shaft 24. An oil seal 37 is disposed between the ring 36 at the lower end of the lower case 29 and the sleeve 28, sealing in the lubricating oil stored within the casing 19. The lubricating oil level F is located at a position that reaches, for example, the height of the sun gear 18 and the planetary gears 21. A wall portion 38 of the lower case 29, located between the lower bearing 26 and the upper bearing 27, is provided with a drain hole 39 extending from the inner wall surface 32a to the outer wall surface 32b of the peripheral wall 32 of the lower case 29, for discharging the lubricating oil contained within the casing 19 to the outside. The external opening of the drain hole 39 is closed by a drain plug 40.

[0032] The damage state assessment system includes a vibration measurement means. The vibration measurement means includes at least one vibration sensor 41. The vibration sensor 41 is installed on the motor 16 or installed in the vicinity of the motor 16. In particular, in this embodiment, the vibration sensor 41 is attached to the upper case 30. The output of the vibration sensor 41 is transmitted to a data logger (not shown) via wired or wireless communication.

[0033] The procedure for evaluating the damage state of the reducer 17 will be described with reference to Fig. 3. Fig. 3 is a damage state evaluation flowchart of the damage state evaluation system for a variable speed reducer according to Example 1. The processing of this flowchart can be said to be executed by the damage state evaluation system, or can also be said to be executed by the hydraulic excavator 1.

[0034] For this purpose, the damage state assessment system has a hardware configuration as a known computer, and includes, for example, a calculation means and a storage means. The calculation means includes, for example, a processor, and the storage means includes, for example, a storage medium such as a semiconductor memory device or a magnetic disk device. Part or all of the storage medium may be a non-transitory storage medium.

[0035] The storage means may store a program. The processor may execute the program, causing the computer to perform the functions described in this embodiment, thereby realizing a damage state evaluation system. In the following, the controller 15 will be described as the entity that performs each step.

[0036] An operation including a turning operation is performed to evaluate the damage state of the reducer 17. At that time, the operator executes an operation instruction for evaluation operation (a predetermined operation instruction) (step 101).

[0037] In this embodiment, the operator is notified in advance of the contents of the operational instructions for evaluation operation, and executes these instructions by operating the hydraulic excavator 1. As a modified example, the damage condition evaluation system or the hydraulic excavator 1 may automatically execute the operational instructions for evaluation operation. In this case, the operator may, for example, perform an operation (such as pressing a specific button) to start the execution of the operational instructions for evaluation operation. Furthermore, the working device may be equipped with a sensor that detects whether or not the working device is in a predetermined posture, and the controller 15 may start recording data in response to the detection result of the predetermined posture.

[0038] The operational instructions for evaluation operation include an operational instruction to place the working device 5 in a default posture. The working device 5 is an example of a mechanism that affects the load on the reducer 17. The operational instructions for evaluation operation also include an operational instruction to perform an operation including a section in which the rotation speed of the reducer 17 is constant while the working device 5 is in a default posture. The operational instructions for evaluation operation also desirably include an operational instruction to rotate the upper rotating body 4 one or more times (i.e., rotate 360 ​​degrees or more in one direction). As described above, the working device may be equipped with a sensor that detects whether the working device is in the default posture, and the controller 15 may start recording data depending on the detection result of the default posture.

[0039] In this way, as a result of the evaluation operation instruction being given to both the reducer 17 and the working device 5, the controller 15 executes an operation including a section in which the rotation speed of the reducer 17 is constant.

[0040] In the damage state evaluation system, the controller 15 (hereinafter, sometimes simply referred to as "controller 15") measures vibrations using the vibration sensor 41 and stores the measured vibration data in a data logger (step 102).

[0041] The controller 15 analyzes the stored vibration data and automatically extracts, from the vibration data, vibration data in a section where the rotation speed of the reducer 17 is constant (step 103).

[0042] The controller 15 performs frequency component analysis (step 104) on the vibration data of the extracted section, and obtains the amplitude of each frequency component.

[0043] Based on the amplitude of each frequency component, controller 15 acquires the rotational frequency of motor 16 coupled to reducer 17 (if the motor is a piston motor, the piston frequency) (step 105). For example, a default rotational frequency of motor 16 may be stored in advance, and the frequency at which the amplitude is maximum within a predetermined frequency range based on this default rotational frequency may be acquired as the rotational frequency of motor 16.

[0044] Using the acquired rotational frequency of motor 16, controller 15 calculates characteristic frequencies (for example, gear rotation speed, gear meshing frequency, gear abnormality frequency, etc.) of multiple gears constituting speed reducer 17 (step 106). A specific method for calculating the characteristic frequencies can be designed arbitrarily, but for example, the ratio of each of one or more characteristic frequencies to the rotational frequency of motor 16 can be measured or calculated in advance, and each characteristic frequency can be calculated by multiplying the rotational frequency acquired in step 105 by the corresponding ratio.

[0045] The controller 15 obtains the vibration amplitude of the characteristic frequency and acquires it as a vibration parameter (step 107). The damage state evaluation system collects the obtained vibration amplitude together with the evaluation date and time in the vibration parameter database 111.

[0046] The controller 15 compares the vibration amplitude acquired when the reducer 17 was in a normal state (e.g., a new vehicle) with the vibration amplitude calculated in step 107 to calculate a damage state index (step 108). A specific method for calculating the damage state index based on the vibration amplitude can be designed appropriately by a person skilled in the art, and may use, for example, known technology. In this way, the controller 15 of the damage state evaluation system calculates the damage state index based on the vibration data extracted from the vibration data measured by the vibration sensor 41 for a section in which the rotational speed of the reducer 17 is constant.

[0047] The controller 15 compares the calculated damage state index with a preset threshold value (step 109). If the damage state index is equal to or greater than the threshold value, the controller 15 issues an alert (step 110) and ends the processing in Fig. 3. This processing corresponds to an evaluation that the damage state of the reducer 17 is significant and that an abnormality exists.

[0048] If the difference with the damage state index is less than the threshold, the controller 15 does not issue an alert and ends the processing in Fig. 3. This processing corresponds to evaluating that the damage state of the reducer 17 is small and there is no abnormality.

[0049] In this way, the damage state evaluation system uses the controller 15 to evaluate the damage state of the reducer 17 based on the calculated damage state index.

[0050] Next, the effects of this embodiment will be described with reference to Fig. 4. Fig. 4 is a diagram showing damage state indices evaluated by the damage state evaluation system according to Example 1 and damage state indices evaluated by a reference damage state evaluation system.

[0051] In Fig. 4, a damage condition index 201 represented by a dashed line indicates the damage condition index evaluated by the reference damage condition evaluation system. In Fig. 4, a damage condition index 211 represented by a solid line indicates the damage condition index evaluated by the damage condition evaluation system according to Example 1.

[0052] In the method using the reference damage state evaluation system, evaluation is performed in a section in which the rotational speed of the reducer 17, the attitude of the work device 5, etc. are changing, so the load state on the reducer 17 changes each time evaluation is performed. Since the vibration amplitude value changes when the load changes, even if the reducer 17 is normal (undamaged), if the load on the reducer 17 is large, the damage state index 201 may be larger than when the reducer 17 is damaged. This makes it difficult to accurately evaluate the state of the reducer.

[0053] On the other hand, the damage state evaluation system of this embodiment evaluates the damage state of the reducer 17 based on a vibration waveform measured in accordance with an operation instruction for evaluation operation, at a predetermined rotation speed of the reducer, and with the working implement 5 in a predetermined posture. Therefore, the load on the reducer 17 does not change with each evaluation, and the damage state index 211 increases as the damage to the reducer 17 progresses. As described above, it is possible to accurately evaluate the damage state of the reducer 17.

[0054] In particular, the damage state index 211 obtained by the damage state evaluation system according to Example 1 is a stable small value during periods when there is no damage, and the value increases as the damage increases during periods when there is damage.

[0055] At a certain point in time, the value 201a of the damage state index 201 obtained by the reference damage state evaluation system is different from the value 211a of the damage state index 211 obtained by the damage state evaluation system according to Example 1. Furthermore, at another point in time, the value 201b of the damage state index 201 obtained by the reference damage state evaluation system is different from the value 211b of the damage state index 211 obtained by the damage state evaluation system according to Example 1.

[0056] Furthermore, in the damage state evaluation system of this embodiment, the vibration sensor 41 is installed on the motor 16, so that the vibration of the motor 16 can be detected with high precision.

[0057] Furthermore, in the damage state evaluation system of this embodiment, the section in which the rotational speed of the reducer 17 is constant is automatically extracted from the vibration data, so that data suitable for calculating the damage state index can be efficiently obtained.

[0058] Furthermore, in the hydraulic excavator of this embodiment, the working implement 5 is treated as a mechanism that affects the load on the reducer 17, so the load on the reducer 17 that occurs during actual work can be appropriately evaluated.

[0059] Furthermore, in the hydraulic excavator of this embodiment, the operational instructions for evaluation operation include operational instructions for placing the work implement 5 in a predetermined posture, so that the load on the reducer 17 becomes constant and the damage condition index can be evaluated based on a fixed standard.

[0060] [Example 2] A second embodiment of the present invention will be described below with reference to Fig. 5. Explanations of parts common to the first embodiment may be omitted.

[0061] FIG. 5 is a vertical cross-sectional view showing a swing mechanism of a hydraulic excavator according to a second embodiment. In this embodiment, the hydraulic excavator is provided with a temperature sensor 43 as a temperature measurement means for measuring the temperature of the lubricating oil in the swing mechanism 7. In the example of FIG. 5, the temperature sensor 43 is installed near the drain plug 40, but it does not necessarily have to be installed in that location. The temperature data acquired by the temperature sensor 43 is sent to a data logger via wired or wireless communication.

[0062] 5, in this embodiment, the section extracted from the vibration data (i.e., the section where the rotation speed of the reducer 17 is constant) is further limited to the section where the temperature of the lubricant satisfies a predetermined criterion. This predetermined criterion can be defined arbitrarily, and can be defined, for example, as the temperature of the lubricant being a predetermined value, the temperature of the lubricant being within a predetermined range, etc.

[0063] Next, the effects of this embodiment will be described. The load on the reducer 17 is affected by the viscosity of the lubricating oil. Since the viscosity of the lubricating oil is a function of the temperature of the lubricating oil, for example, by measuring the temperature of the lubricating oil and performing a warm-up operation or the like so that the temperature at the time of evaluation is a predetermined temperature, the load state of the reducer 17 at the time of damage state evaluation can be kept constant. Therefore, the load state of the reducer 17 does not change each time evaluation is performed, and variations in the damage state index can be suppressed, making it possible to accurately evaluate the damage state of the reducer 17.

[0064] In the second embodiment, it is preferable to perform a specific operation (such as a warm-up operation) so that the temperature of the lubricating oil satisfies the above-mentioned predetermined standard. For example, if the operator is notified of the standard in advance and the lubricating oil temperature is output during operation, the operator can perform a warm-up operation so that the temperature satisfies the standard. Alternatively, as shown in FIG. 5, the damage state evaluation system may automatically operate the hydraulic excavator (for example, automatically perform a warm-up operation) so that the temperature satisfies the above-mentioned predetermined standard.

[0065] In this embodiment, among the sections in which the rotational speed of the reducer 17 is constant, a section in which the temperature of the lubricating oil in the slewing device 7 meets a predetermined standard is extracted, thereby making it possible to make the load condition of the reducer 17 more constant.

[0066] In this embodiment, if the damage condition assessment system automatically operates the hydraulic excavator so that the temperature of the lubricating oil in the slewing device 7 meets a predetermined standard, operator work can be eliminated and operator operating errors can also be reduced. [Explanation of symbols]

[0067] 1... Hydraulic excavator 2...Undercarriage 3...Slewing ring 3a…Inner ring 3d…Internal teeth 4...Upper rotating body 5...Working device (mechanism that affects the load on the reducer) 6...Traveling gear 7...Swivel device 8... Swivel frame 9...Cab 10…Machine room 11...Counterweight 12...Boom 13...Arm 14...Bucket 15...Controller 16...Motor 16a...Motor shaft 17...Reducer 18...Sun gear 19...Casing 20...Inner teeth 21...Planetary gear 22...Support pin 23...Career 24...Output shaft 24a...Axial spline 24b...Pinion 25...Boss section 26...Lower bearing 27...Upper bearing 28...Sleeve 29...Lower case 30...Upper case 31...Cover 32...peripheral wall 32a...Inner wall surface 32b…Outer wall surface 33...Mounting flange 34...peripheral wall 35...volts 36...Ring 37...Oil seal 38…Wall part 39...Drain hole 40...Drain plug 41...Vibration sensor 43...Temperature sensor 111...Vibration parameter database 211...Damage status indicator 211a, 211b…Damage status index value F…Oil level

Claims

1. a vibration measuring means for measuring vibration of the reducer; a control device that evaluates a damage state of a variable speed reducer based on the vibration measurement means, The control device a predetermined operation instruction is given to both the reducer and a mechanism that affects the load of the reducer, and it is determined that an operation including a section in which the rotation speed of the reducer is constant has been executed; When it is determined based on the detection result of the sensor that the mechanism is in an operating state according to the predetermined operation instruction, - calculating a damage state index based on the vibration data of the section extracted from the vibration data measured by the vibration measuring means; - An evaluation system characterized by evaluating the damage state of the reducer based on the calculated damage state index.

2. 2. The evaluation system according to claim 1, The reducer is configured to be coupled to a motor, the vibration measuring means includes a vibration sensor; The evaluation system is characterized in that the vibration sensor is installed in the motor.

3. 2. The evaluation system according to claim 1, The evaluation system is characterized in that the control device automatically extracts the vibration data for the section from the vibration data measured by the vibration measuring means.

4. A hydraulic excavator equipped with the evaluation system according to claim 1, a self-propelled lower traveling body; an upper rotating body that can rotate on the lower traveling body via a rotating ring; a working device provided on the upper rotating body so as to be capable of being raised and lowered; Equipped with The upper rotating body includes a rotating device on which the reducer is mounted, The mechanism that affects the load of the reducer is the working device.

5. 5. The hydraulic excavator according to claim 4, wherein the predetermined operation instruction includes an operation instruction for putting the working implement into a predetermined posture.

6. The hydraulic excavator according to claim 4, the hydraulic excavator is equipped with a temperature measuring means for measuring the temperature of the lubricating oil in the swing device, The hydraulic excavator is characterized in that the section is a section in which the temperature satisfies a predetermined standard.

7. 7. The hydraulic excavator according to claim 6, wherein the evaluation system operates the hydraulic excavator so that the temperature satisfies the predetermined standard.

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