Pump diagnostic device and construction machinery

Abstract

The purpose of the present invention is to provide a pump diagnostic device capable of performing an accurate diagnosis and a construction machine. A diagnostic device 40 of a hydraulic pump 1 comprises: an action instruction unit 42 that outputs an action instruction for causing a hydraulic actuator 29 of a hydraulic excavator 200 to perform a specific action; a measurement condition setting unit 44 that sets a sampling condition for the measurement of the pressure in the hydraulic pump 1 during the specific action; a calculation unit 46 that acquires a measured value of the pressure sampled during the specific action in accordance with the set sampling condition and calculates the amplitude of the pressure pulsation of the hydraulic pump 1; an abnormality determination unit 47 that determines on the basis of the calculated amplitude of the pressure pulsation whether or not there is an abnormality in the hydraulic pump 1; and an output unit 48 that outputs a determination result obtained by the abnormality determination unit 47.

Description

[Technical field]

[0001] The present invention relates to a pump diagnostic device and a construction machine including the diagnostic device. [Background technology]

[0002] In hydraulic pumps mounted on construction machines such as hydraulic excavators, there is a device that diagnoses the hydraulic pump without disassembling the hydraulic pump by analyzing the hydraulic pump pressure, such as the discharge pressure and drain pressure (for example, Patent Document 1).

[0003] Patent Document 1 discloses a technique for diagnosing a hydraulic pump from the frequency component of the pressure that coincides with the rotation frequency of the hydraulic pump. According to Patent Document 1, when wear occurs in the piston shoes of the hydraulic pump, the frequency component of the pressure that coincides with the rotation frequency of the hydraulic pump increases, and by analyzing this frequency component of the pressure, the hydraulic pump can be diagnosed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2013-170509 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in an operating construction machine performing operations such as excavation and turning, the load on the hydraulic pump changes from moment to moment, and therefore the rotation speed of the hydraulic pump also changes from moment to moment, so there is a possibility that the frequency components of the pressure of the hydraulic pump cannot be stably acquired. Therefore, the technology disclosed in Patent Document 1 has room for improvement in terms of performing accurate diagnosis.

[0006] In view of the above circumstances, an object of the present invention is to provide a pump diagnostic device and a construction machine capable of performing accurate diagnosis. [Means for solving the problem]

[0007] In order to solve the above problems, the pump diagnostic device of the present invention is a pump diagnostic device that is mounted on a construction machine and is driven by the prime mover of the construction machine to supply pressurized oil to a hydraulic actuator of the construction machine, and is characterized in having an operation instruction unit that outputs an operation instruction to cause the hydraulic actuator to perform a specific operation, a measurement condition setting unit that sets sampling conditions for measuring the pressure of the pump during the specific operation, a calculation unit that acquires measurement values ​​of the pressure sampled during the specific operation according to the set sampling conditions and calculates the amplitude of pressure pulsation of the pump, an abnormality judgment unit that judges whether or not there is an abnormality in the pump based on the calculated amplitude of the pressure pulsation, and an output unit that outputs the judgment result of the abnormality judgment unit to a display device.

[0008] Further, a construction machine according to the present invention includes a self-propelled lower traveling body, an upper rotating body rotatably supported relative to the lower traveling body, a front working mechanism provided on the upper rotating body, a hydraulic actuator for driving the front working mechanism, a pump for supplying pressure oil to the hydraulic actuator, a pressure sensor for measuring the pressure of the pump, and a display device for displaying various information to an operator, and is further provided with a control device that causes the display device to display operation instructions for operating the front working mechanism and diagnoses the pump, and the control device causes the display device to display a screen that shows the operator a difference between an actual posture of the construction machine and a posture for diagnosis, and instructs the operator to operate the construction machine to perform a diagnostic operation, sets sampling conditions for measuring the pressure during the diagnostic operation, calculates the amplitude of pressure pulsation of the pump based on measured values ​​of the pressure sampled during the diagnostic operation according to the set sampling conditions, determines the presence or absence of an abnormality in the pump based on the calculated amplitude of the pressure pulsation, and displays the determination result of the presence or absence of the abnormality on the display device. Effect of the Invention

[0009] According to the present invention, it is possible to provide a pump diagnosis device and a construction machine capable of performing accurate diagnosis. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a diagram showing a configuration of a hydraulic pump. [Diagram 2] FIG. 2 is a diagram for explaining the configuration of a hydraulic excavator including the hydraulic pump shown in FIG. 1. [Diagram 3] 4 is a diagram for explaining a change in pressure over time when an abnormality occurs in the hydraulic pump shown in FIG. 1. [Figure 4] 2 is a block diagram illustrating a functional configuration of a hydraulic excavator including the hydraulic pump diagnosis device shown in FIG. 1. [Diagram 5] 5 is a diagram showing an example of a display of an operation instruction output by an operation instruction unit shown in FIG. 4. [Figure 6] 5 is a diagram for explaining a sampling rate set by a measurement condition setting unit shown in FIG. 4. [Figure 7] FIG. 7 is a diagram showing the probability density distribution of the measurement values ​​shown in FIG. 6. [Figure 8] 5 is a diagram showing an example of a display of a determination result of the abnormality determination unit shown in FIG. 4. [Figure 9] 5 is a flowchart of a diagnostic process performed by the diagnostic device shown in FIG. 4. [Figure 10] 10 is a diagram showing an example of displaying the degree of abnormality of a hydraulic pump identified by the diagnostic process shown in FIG. 9 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Components with the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise specified, and description thereof will be omitted.

[0012] In this embodiment, a diagnosis device 40 for a hydraulic pump 1 that discharges hydraulic oil for transmitting power to components of a construction machine will be described as an example of a pump diagnosis device. In this embodiment, a hydraulic excavator 200 as shown in Fig. 5 will be described as an example of a construction machine, and a case will be described in which the diagnosis device 40 is mounted on the hydraulic excavator 200. However, the diagnosis device according to the present invention can also be applied to hydraulic pumps mounted on construction machines other than the hydraulic excavator 200, such as wheel loaders, dump trucks, or road machinery.

[0013] Furthermore, the diagnostic device according to the present invention may be provided outside the construction machine. In this case, for example, the diagnostic device may have a configuration capable of communicating with the construction machine or the hydraulic pump. The diagnostic device may be configured to receive information necessary for diagnosis from the construction machine or the hydraulic pump, execute diagnostic processing, and transmit instructions necessary for diagnosis and diagnostic results to the construction machine.

[0014] Fig. 1 is a diagram showing the configuration of a hydraulic pump 1. Fig. 1 is a schematic cross-sectional view of the hydraulic pump 1 taken along its axial direction.

[0015] The hydraulic pump 1 shown in Fig. 1 is a variable displacement swash plate type axial piston pump. The hydraulic pump 1 may be a bent axis type piston pump, a vane pump or a gear pump. The hydraulic pump 1 is used in a construction machine such as a hydraulic excavator 200, and is rotationally driven by a prime mover 30 such as an engine or a motor. The hydraulic pump 1 includes a casing 2, a shaft 3, a cylinder block 4, a piston 5, a swash plate 6, and a valve plate 7.

[0016] The casing 2 includes a cylindrical casing body 8 with a bottom, and a lid 9 that closes an opening of the casing body 8. The lid 9 forms a drain oil chamber 10 between the casing body 8 and the casing body 8. The casing body 8 is provided with a drain port 11. The drain port 11 is connected via a drain pipe 12 to an oil tank 13 that stores hydraulic oil. The shaft 3 is rotatably supported by the casing 2, and rotates with the rotation of the prime mover 30.

[0017] The cylinder block 4 is fixed to the outer periphery of the shaft 3 via splines provided on the outer periphery of the shaft 3. The cylinder block 4 rotates inside the casing body 8 as the shaft 3 rotates. The cylinder block 4 is disposed so that one end face faces the swash plate 6 and the other end face slides on the valve plate 7.

[0018] The cylinder block 4 is provided with a plurality of cylinder holes 14. The cylinder holes 14 are arranged at equal intervals in the circumferential direction of the cylinder block 4 around the shaft 3. The cylinder holes 14 are arranged to extend parallel to the axial direction of the cylinder block 4. Each cylinder hole 14 opens to the valve plate 7 side and communicates with a discharge port 15 and a suction port 16.

[0019] The pistons 5 are arranged slidably inside each cylinder bore 14. A shoe 18 is provided on the swash plate 6 side of the piston 5 so as to be swingable relative to the piston 5. Each piston 5 reciprocates axially within the cylinder bore 14 as the cylinder block 4 rotates. As a result, each piston 5 draws hydraulic oil from the suction port 16 into the cylinder bore 14, compresses the drawn hydraulic oil, and discharges the pressurized oil from the discharge port 15. The shoe 18 slidably contacts the smooth surface of the swash plate 6. The shoe 18 slides along a circular orbit against the smooth surface of the swash plate 6 as the cylinder block 4 rotates.

[0020] The swash plate 6 is supported so as to be tiltable by a swash plate support member 19 provided on the cover 9 of the casing 2. The surface of the swash plate 6 opposite the cover 9 is a smooth surface on which the shoes 18 slide. As the cylinder block 4 rotates, the shoes 18 slide on the smooth surface of the swash plate 6, allowing the pistons 5 to reciprocate within the cylinder bores 14. The surface of the swash plate 6 facing the cover 9 is provided with a pair of legs (only one of which is shown) consisting of a convex curved surface. The pair of legs provided on the swash plate 6 fit into a pair of concave curved surfaces (only one of which is shown) provided on the surface of the swash plate support member 19 opposite the cover 9.

[0021] Here, a small gap (not shown) is formed between the cylinder bore 14 and the piston 5 in order to improve the sliding characteristics of the piston 5. This gap is connected to the drain oil chamber 10 of the casing 2. A part of the pressure oil in the cylinder bore 14 leaks through this gap into the drain oil chamber 10 of the casing 2. Also, a small gap (not shown) is formed between the shoe 18 and the swash plate 6 in order to improve the sliding characteristics of the shoe 18. This gap is connected to the inside of the cylinder bore 14 through a passage provided inside the shoe 18 and the piston 5. A part of the pressure oil in the cylinder bore 14 leaks through this gap into the drain oil chamber 10 of the casing 2.

[0022] FIG. 2 is a diagram illustrating the configuration of a hydraulic excavator 200 including the hydraulic pump 1 shown in FIG.

[0023] A drain port 11 of the hydraulic pump 1 is connected to an oil tank 13 via a drain pipe 12. A suction port 16 of the hydraulic pump 1 is connected to the oil tank 13 via a suction pipe 20. The hydraulic pump 1 sucks in hydraulic oil supplied from the oil tank 13 via the suction pipe 20. A discharge port 15 of the hydraulic pump 1 is connected to a control valve 22 via a discharge pipe 21. The hydraulic pump 1 pumps out pressurized oil to the control valve 22 via the discharge pipe 21. The control valve 22 distributes the pressurized oil to each hydraulic actuator 29 of the hydraulic excavator 200.

[0024] The hydraulic excavator 200 includes a self-propelled lower traveling body 201, an upper rotating body 202 rotatably supported on the lower traveling body 201, and a front working mechanism 203 provided on the upper rotating body 202 (see FIG. 5). The front working mechanism 203 has a boom 204 driven by a boom cylinder, an arm 205 driven by an arm cylinder, and a bucket 206 driven by a bucket cylinder. The hydraulic actuator 29 of the hydraulic excavator 200 is, for example, a boom cylinder, an arm cylinder, a bucket cylinder, a swing motor, or a traveling motor. Return oil from the hydraulic actuator 29 is returned to the oil tank 13 via the control valve 22 and the return pipe 23.

[0025] The discharge pipe 21, the drain pipe 12, and the suction pipe 20 are provided with pressure sensors 24a to 24c, respectively, for measuring various pressures of the hydraulic pump 1. The pressure sensor 24a measures the discharge pressure of the hydraulic pump 1. The pressure sensor 24b measures the drain pressure of the hydraulic pump 1. The pressure sensor 24c measures the suction pressure of the hydraulic pump 1. The output signals of the pressure sensors 24a to 24c are input to a control device 25 that controls various operations of the hydraulic excavator 200 (for example, controls the operations of the hydraulic pump 1, the control valve 22, and the prime mover 30). In this embodiment, the pressure sensors 24a to 24c are collectively referred to as "pressure sensor 24."

[0026] The control device 25 calculates a measured value of the pressure of the hydraulic pump 1 from the output signal of the pressure sensor 24. The control device 25 also has a calculation unit that calculates the amplitude of the pressure waveform of the hydraulic pump 1 from time-series data of this measurement value, and a storage unit that stores a threshold value for determining the presence or absence of an abnormality in the hydraulic pump 1. The control device 25 diagnoses the hydraulic pump 1 by comparing the amplitude of the pressure waveform with the threshold value, and outputs the diagnosis result to the notification device 26. The control device 25 also outputs an operation instruction to the notification device 26 to cause the hydraulic excavator 200 to perform a specific operation as a diagnostic condition for diagnosing the hydraulic pump 1.

[0027] The notification device 26 notifies the operator of the hydraulic excavator 200, i.e., the person riding on the hydraulic excavator 200, of the diagnosis result or the operation instruction. The notification device 26 may notify users other than the operator, such as the manager of the hydraulic excavator 200. The operator operates the operation lever 27 and the engine control dial 28 (hereinafter also referred to as the "engine control dial 28") in accordance with the operation instruction notified by the notification device 26, and operates the hydraulic excavator 200 so that the hydraulic pump 1 is in a state where it can be diagnosed. The engine control dial 28 is an operation device for operating the rotation speed of the engine, which is the prime mover 30. The operation lever 27 is an operation device for operating each device constituting the hydraulic excavator 200, such as the lower traveling body 201, the upper rotating body 202, and the front working mechanism 203.

[0028] Furthermore, the control device 25 controls the operation of the hydraulic excavator 200 in response to operation of the control lever 27 and the encoder dial 28 by the operator. Specifically, operation signals output from the control lever 27 and the encoder dial 28 are input to the control device 25. The control device 25 controls the operations of the control valve 22, the prime mover 30, and the hydraulic pump 1 in accordance with the input operation signals. At this time, the control device 25 monitors whether the attitude of the hydraulic excavator 200 (attitude for diagnosis) and the pressure of the hydraulic pump 1 (pressure for diagnosis) are as expected when an operation in accordance with an operation instruction (operation corresponding to an operation for diagnosis) is being performed, and diagnoses the hydraulic pump 1 when the diagnosis conditions are met.

[0029] Fig. 3 is a diagram for explaining the change in pressure over time when an abnormality occurs in the hydraulic pump 1 shown in Fig. 1. The horizontal axis of Fig. 3 represents time, and the vertical axis of Fig. 3 represents the pressure of the hydraulic pump 1. Fig. 3 shows the change in pressure over time in the hydraulic pump 1 when some of the multiple pistons 5 are damaged.

[0030] As described above, when the hydraulic pump 1 is driven by the prime mover 30, the cylinder block 4 rotates and the piston 5 reciprocates in the cylinder bore 14. At this time, part of the pressure oil in the cylinder bore 14 leaks into the drain oil chamber 10 of the casing 2 through the gap between the cylinder bore 14 and the piston 5 and the gap between the shoe 18 and the swash plate 6. If the piston 5, the cylinder bore 14, or the shoe 18 is damaged in any way, these gaps become larger. When these gaps become larger, the amount of movement of the hydraulic oil between the discharge port 15, the suction port 16, or the drain port 11 and the drain oil chamber 10 increases. In this case, the pressure (discharge pressure, suction pressure, or drain pressure) at the discharge port 15, the suction port 16, or the drain port 11 changes.

[0031] Specifically, when a damaged piston 5, cylinder bore 14, or shoe 18 passes through the discharge port 15, the pressure in the drain oil chamber 10 increases. As shown in Fig. 3, it is assumed that pressure pulsations (dashed lines in Fig. 3) having a period that coincides with an integer multiple of the rotation period of the hydraulic pump 1 are generated in the piping connected to each port of the hydraulic pump 1. It is possible to diagnose the hydraulic pump 1 by comparing the amplitude of the assumed pressure pulsations with a threshold value.

[0032] However, typically, for example, the range of change in pressure over time caused by the tilting of the swash plate 6 and the range of change in pressure over time caused by the operation of the hydraulic excavator 200 are greater than the range of the amplitude of this pressure pulsation (i.e., the range of change in pressure over time caused by an abnormality in the hydraulic pump 1). Therefore, in order to accurately diagnose the hydraulic pump 1, it is important to distinguish whether the change in pressure over time in the hydraulic pump 1 is a change caused by an abnormality in the hydraulic pump 1 or not.

[0033] Fig. 4 is a block diagram for explaining a functional configuration of a hydraulic excavator 200 including a diagnosis device 40 for the hydraulic pump 1 shown in Fig. 1. Fig. 5 is a diagram showing a display example of an operation instruction output by the operation instruction unit 42 shown in Fig. 4. Fig. 6 is a diagram for explaining a sampling rate set by the measurement condition setting unit 44 shown in Fig. 4. Fig. 7 is a diagram showing a probability density distribution of the measurement values ​​shown in Fig. 6. Fig. 8 is a diagram showing a display example of a determination result by the abnormality determination unit 47 shown in Fig. 4.

[0034] The diagnostic device 40 for the hydraulic pump 1 includes a processor and a storage device, and the processor executes a program stored in the storage device to realize various functions of the diagnostic device 40. In this embodiment, the diagnostic device 40 for the hydraulic pump 1 is implemented in the control device 25 of the hydraulic excavator 200.

[0035] As shown in Fig. 4, a temperature sensor 31, a posture sensor 32, a rotation speed sensor 33, an operation amount sensor 34, and a pressure sensor 24 mounted on the hydraulic excavator 200 are connected to the input side of the diagnosis device 40. The temperature sensor 31 is a sensor that measures the temperature of the hydraulic oil. The posture sensor 32 is a sensor that measures the posture of the hydraulic excavator 200. The posture sensor 32 includes a boom angle sensor that measures the rotation angle of the boom 204, an arm angle sensor that measures the rotation angle of the arm 205, a bucket angle sensor that measures the rotation angle of the bucket 206, and a swing angle sensor that measures the swing angle of the upper swing body 202. The rotation speed sensor 33 is a sensor that measures the rotation speed of the prime mover 30. The operation amount sensor 34 is a sensor that measures the respective operation amounts of the operation lever 27 and the en-con dial 28.

[0036] A display device 35 is connected to the output side of the diagnostic device 40. The display device 35 is part of the notification device 26, and in this embodiment, is a display provided in the driver's cab of the hydraulic excavator 200. When the diagnostic device 40 is provided outside the hydraulic excavator 200, the display device 35 may include, for example, a display provided in an information terminal of a user other than the operator of the hydraulic excavator 200, such as an administrator who generally manages construction machines other than the hydraulic excavator 200 located away from the hydraulic excavator 200.

[0037] In this embodiment, the diagnostic device 40 includes a diagnostic condition setting section 41, a measurement execution section 45, a calculation section 46, an abnormality determination section 47, and an output section .

[0038] The diagnostic condition setting unit 41 sets diagnostic conditions for the hydraulic pump 1. For example, the diagnostic conditions include conditions related to the state or operation of the hydraulic excavator 200 and conditions related to measurement of the pressure of the hydraulic pump 1. Specifically, the diagnostic condition setting unit 41 has an operation instructing unit 42, a monitoring unit 43, and a measurement condition setting unit 44.

[0039] The operation instructing unit 42 outputs to the output unit 48 an operation instruction for causing the hydraulic excavator 200 to perform a specific operation so that the hydraulic pump 1 is in a state where it can be diagnosed. The output unit 48 displays the operation instruction output by the operation instructing unit 42 on the display device 35. In this embodiment, the operation instruction is information for instructing the operator to cause the hydraulic excavator 200 to perform a specific operation so that the rotation speed of the hydraulic pump 1, the temperature of the hydraulic oil, and the state of the hydraulic excavator 200, such as its attitude and load, are shifted to a state suitable for diagnosing the hydraulic pump 1.

[0040] In this embodiment, the operation instructing unit 42 outputs an operation instruction to cause the display device 35 to display a screen instructing the operator to operate the hydraulic excavator 200 to perform a diagnostic operation while showing the operator the difference between the actual posture of the hydraulic excavator 200 and the diagnostic posture so that the hydraulic excavator 200 performs a specified diagnostic operation after the front working implement 203 (e.g., the boom 204, the boom 204 and the arm 205) of the hydraulic excavator 200 has reached a specified diagnostic posture.

[0041] More specifically, the operation instruction output by the operation instructing unit 42 may include a first operation instruction 53 and a second operation instruction 54, as shown in Fig. 5. The first operation instruction 53 is an operation instruction for transitioning the hydraulic excavator 200 to a predetermined state. The second operation instruction 54 is an operation instruction for causing the hydraulic excavator 200, which has transitioned to the predetermined state by the first operation instruction 53, to perform a predetermined operation.

[0042] FIG. 5 shows an example in which a screen 51 including a first operation instruction 53 and a second operation instruction 54 is displayed on the display device 35. In the example of FIG. 5, the first operation instruction 53 instructs the operator to make the bucket 206 of the hydraulic excavator 200 empty and to adjust the actual measurement value (Value) of each item 55 so that it falls within a target range (Target). That is, the actual measurement value (Value) shown in FIG. 5 is an example of information corresponding to the actual attitude of the hydraulic excavator 200, and the target range (Target) shown in FIG. 5 is an example of information corresponding to the attitude for diagnosis. The operation instruction unit 42 shows the difference between the actual attitude of the hydraulic excavator 200 and the attitude for diagnosis to the operator by causing the display device 35 to display the screen 51 showing both the actual measurement value (Value) and the target range (Target).

[0043] In the example of Figure 5, the second operation instruction 54 instructs the operator to, after performing an operation in accordance with the first operation instruction 53, operate the encoder dial 28 to minimize the rotation speed of the prime mover 30, and to operate the boom-raising operation lever of the operation lever 27 to a full stroke to relieve the load for 30 seconds.

[0044] Other methods for showing the operator the difference between the actual posture of the hydraulic excavator 200 and the posture for diagnosis include, for example, displaying two side views or parts thereof of the hydraulic excavator 200 corresponding to the actual posture and the posture for diagnosis in the image display area 52 of the screen 51, or displaying the difference between the above-mentioned actual measurement value (Value) and the target range (Target) on the screen 51.

[0045] When the operator operates the hydraulic excavator 200 in response to the first operation instruction 53 and the second operation instruction 54, the rotation speed of the hydraulic pump 1, the temperature of the hydraulic oil, and the state of the hydraulic excavator 200, such as its attitude and load, become steady states suitable for diagnosing the hydraulic pump 1. The diagnostic device 40 measures the pressure of the hydraulic pump 1 during this steady state and diagnoses the hydraulic pump 1. In particular, the diagnostic device 40 measures the pressure of the hydraulic pump 1 while the boom-raising operation lever of the operation lever 27 is operated to a full stroke in response to the second operation instruction 54 to relieve the hydraulic pump 1 for 30 seconds.

[0046] This allows the diagnostic device 40 to stably measure the pressure of the hydraulic pump 1 while always maintaining the same conditions related to the state or operation of the hydraulic excavator 200. Therefore, the diagnostic device 40 can clearly distinguish whether or not a change in the pressure over time is a change caused by an abnormality in the hydraulic pump 1. Therefore, the diagnostic device 40 can accurately and stably diagnose the hydraulic pump 1.

[0047] The monitoring unit 43 acquires measurement values ​​from the temperature sensor 31, attitude sensor 32, rotation speed sensor 33, operation amount sensor 34, and pressure sensor 24, and monitors whether the operator is operating the hydraulic excavator 200 in accordance with operation instructions from the operation instruction unit 42. The monitoring unit 43 outputs these sensor measurement values ​​and monitoring results to the output unit 48. The output unit 48 causes the display device 35 to display the monitoring results, etc. output by the monitoring unit 43.

[0048] This allows the diagnostic device 40 to notify the operator whether or not the operator is operating the hydraulic excavator 200 in accordance with the operation instructions from the operation instruction unit 42. The operator can quickly adjust the amount of operation of the control lever 27 or the encoder dial 28. Therefore, the diagnostic device 40 can measure the pressure of the hydraulic oil while reliably setting the conditions related to the state or operation of the hydraulic excavator 200 to the same conditions, thereby making it possible to diagnose the hydraulic pump 1 more accurately and stably.

[0049] In the present embodiment, the diagnostic device 40 stores, as the monitoring criteria, the monitoring parameters of the monitoring unit 43 corresponding to the diagnostic posture and the change state of the monitoring parameters of the monitoring unit 43 corresponding to the diagnostic action, as described above. The diagnostic device 40 determines whether the diagnostic posture instructed by the action instruction unit 42 has been achieved, or whether the diagnostic action has been performed, based on the deviation state between the parameters serving as the monitoring criteria and the actual monitoring result. If the diagnostic posture is not achieved, or if the diagnostic action is not performed, the diagnostic device 40 causes the display device 35 to display information indicating that the diagnosis was not performed under appropriate conditions (recommended posture and recommended action) (e.g., text information indicating that "diagnosis failed"). In these cases, the diagnostic device 40 causes the action instruction unit 42 to again instruct the diagnostic posture and then perform the diagnostic action. Note that even if the diagnosis is performed under appropriate conditions, the diagnostic device 40 can display information indicating that the diagnosis has been performed (e.g., text information indicating that "diagnosis was successful") on the display device 35.

[0050] The measurement condition setting unit 44 sets conditions related to the measurement of the pressure of the hydraulic pump 1 in the measurement execution unit 45. Specifically, the measurement condition setting unit 44 sets sampling conditions for measuring the pressure during a specific operation of the hydraulic excavator 200 (i.e., during an operation for diagnosis) in the measurement execution unit 45. In more detail, the measurement condition setting unit 44 sets a sampling rate for measuring the pressure of the hydraulic pump 1. Details of the sampling rate set by the measurement condition setting unit 44 will be described later with reference to Figs. 6 and 7.

[0051] The measurement execution unit 45 measures the pressure of the hydraulic pump 1 during a specific operation of the hydraulic excavator 200 in accordance with the conditions set by the measurement condition setting unit 44. Specifically, the measurement execution unit 45 samples the pressure of the hydraulic pump 1 at a sampling rate set by the measurement condition setting unit 44. The measurement execution unit 45 samples the pressure of the hydraulic pump 1 over a predetermined sampling time using at least one pressure sensor 24 out of the pressure sensors 24a to 24c. Through this sampling, the measurement execution unit 45 discretely acquires the measurement values ​​of the pressure. The measurement values ​​of the pressure acquired by the measurement execution unit 45 are time-series data of the pressure acquired discretely. The measurement execution unit 45 outputs the acquired measurement values ​​to the calculation unit 46.

[0052] The calculation unit 46 calculates the amplitude of the pressure pulsation assumed as a time change of the pressure based on the acquired measurement value of the pressure. That is, the calculation unit 46 acquires the measurement value of the pressure of the hydraulic pump 1 sampled during a specific operation of the hydraulic excavator 200 according to the sampling condition (specifically, the sampling rate) set by the measurement condition setting unit 44, and calculates the amplitude of the pressure pulsation of the hydraulic pump 1 based on the acquired measurement value of the pressure. Specifically, the calculation unit 46 calculates the range of the measurement value of the pressure by performing statistical processing on the measurement value of the pressure discretely acquired according to the sampling rate set by the measurement condition setting unit 44, thereby calculating the range of the measurement value of the pressure. The calculation unit 46 may calculate the variance of the measurement value of the pressure discretely acquired, and calculate the amplitude of the pressure pulsation from the calculated variance. The calculation unit 46 outputs the calculated amplitude of the pressure pulsation to the abnormality determination unit 47.

[0053] The abnormality determination unit 47 determines whether or not there is an abnormality in the hydraulic pump 1 based on the amplitude of the pressure pulsation calculated by the calculation unit 46. Specifically, the abnormality determination unit 47 pre-stores a threshold value for determining whether or not there is an abnormality in the hydraulic pump 1. If the amplitude of the pressure pulsation calculated by the calculation unit 46 is equal to or greater than the pre-stored threshold value, the abnormality determination unit 47 determines that there is an abnormality in the hydraulic pump 1. If the amplitude of the pressure pulsation calculated by the calculation unit 46 is less than the pre-stored threshold value, the abnormality determination unit 47 determines that the hydraulic pump 1 is normal. The abnormality determination unit 47 outputs the abnormality determination result of the hydraulic pump 1 to the output unit 48.

[0054] Furthermore, the abnormality determination unit 47 may store a plurality of threshold values ​​of different magnitudes in advance. The plurality of threshold values ​​of different magnitudes are threshold values ​​for identifying the degree of abnormality of the hydraulic pump 1. The abnormality determination unit 47 identifies the degree of abnormality of the hydraulic pump 1 by comparing the amplitude of the pressure pulsation calculated by the calculation unit 46 with the plurality of threshold values ​​of different magnitudes. The abnormality determination unit 47 outputs the identified degree of abnormality of the hydraulic pump 1 to the output unit 48. The output unit 48 outputs the degree of abnormality of the hydraulic pump 1 identified by the abnormality determination unit 47 to the display device 35 for display.

[0055] As a result, the diagnostic device 40 can quantitatively indicate how serious the abnormality of the hydraulic pump 1 is, and can notify the user of signs that a serious abnormality will occur in the hydraulic pump 1. The user can plan the timing of repair or replacement of the hydraulic pump 1 before the hydraulic pump 1 breaks down. Therefore, the diagnostic device 40 can significantly shorten the downtime of the hydraulic excavator 200, and can improve the productivity of the hydraulic excavator 200.

[0056] Here, the sampling rate set by the measurement condition setting unit 44 will be described with reference to Figs. 6 and 7. As described above, if any damage occurs to the piston 5, the cylinder bore 14, or the shoe 18, it is expected that pressure pulsation will occur in the drain pressure, the discharge pressure, or the suction pressure of the hydraulic pump 1. In order to obtain an accurate pressure waveform of this pressure pulsation, it is generally necessary to sample the pressure of the hydraulic pump 1 with a high time resolution of 10 times or more the frequency of the pressure pulsation (hereinafter also referred to as the "pulsation frequency"). In addition, as a method for diagnosing the hydraulic pump 1 from the pressure waveform, there is a method of frequency analyzing the pressure waveform sampled with high time resolution.

[0057] However, when diagnosing the hydraulic pump 1 using the frequency analysis technique, the costs of the pressure measuring device and the arithmetic processing device become very high. Furthermore, the rotation speed of the hydraulic pump 1 is directly affected by the change in the rotation speed of the prime mover 30, and since the rotation speed of the prime mover 30 changes from moment to moment while the hydraulic excavator 200 is in operation, it may not be possible to stably acquire the frequency components of the pressure. Therefore, even if the hydraulic pump 1 is diagnosed using the frequency analysis technique, it is difficult to perform an accurate diagnosis.

[0058] Therefore, in the diagnostic device 40 of this embodiment, the pressure of the hydraulic pump 1 is sampled at a sampling rate lower than the frequency (pulsation frequency) of the pressure. The diagnostic device 40 performs statistical processing on the measured values ​​of the pressure discretely acquired at the set sampling rate to calculate the amplitude of pressure pulsation assumed as a time change of the pressure. The diagnostic device 40 determines whether or not there is an abnormality in the hydraulic pump 1 based on the calculated amplitude of the pressure pulsation. In this manner, the diagnostic device 40 diagnoses the hydraulic pump 1.

[0059] However, the diagnostic device 40 samples the pressure by avoiding a sampling rate near 0.5n times (n is an integer) the frequency (pulsation frequency) of the pressure of the hydraulic pump 1. For example, as shown in the upper graph 61 of FIG. 6, a case is considered in which pressure pulsation occurs in the hydraulic pump 1 and the pressure is sampled at a sampling rate 0.5 times the frequency (pulsation frequency) of the pressure. In this case, the diagnostic device 40 acquires a measurement value 64 of the pressure at a sampling rate 0.5 times the frequency of a waveform 63 of the pressure (i.e., the waveform of the pressure pulsation). The range of the acquired measurement value 64 (the range from the maximum value to the minimum value of the measurement value 64) is different from the amplitude range of the waveform 63 (the range from the peak value of the amplitude in the positive direction to the peak value of the amplitude in the negative direction). As is clear from a comparison between "reference symbol 64" and "reference symbol 63" in FIG. 7, the distribution of the probability density of the measurement value 64 is clearly different from the distribution of the probability density of the waveform 63. This phenomenon also occurs when the pressure is measured at a sampling rate of about 0.5n times the frequency of the pressure waveform 63. Therefore, when the diagnostic device 40 samples the pressure at a sampling rate of about 0.5n times the frequency (pulsation frequency) of the pressure of the hydraulic pump 1, it is difficult to perform calculations that cover the entire range of the amplitude of the pressure pulsation expected as a time change of the pressure.

[0060] On the other hand, for example, as shown in the graph 62 in the lower part of FIG. 6, a pressure pulsation occurs in the hydraulic pump 1, and the pressure is sampled while avoiding a sampling rate of about 0.5n times the frequency of the pressure (pulsation frequency) of the hydraulic pump 1. In this case, the diagnostic device 40 acquires a measurement value 65 of the pressure. The range of the acquired measurement value 65 (range from the maximum value to the minimum value of the measurement value 65) coincides with the amplitude range of the waveform 63 (range from the peak value of the amplitude in the positive direction to the peak value of the amplitude in the negative direction). As is clear from a comparison between "reference symbol 65" and "reference symbol 63" in FIG. 7, the distribution of the probability density of the measurement value 65 is approximately consistent with the distribution of the probability density of the waveform 63. Therefore, when the diagnostic device 40 samples the pressure while avoiding a sampling rate of about 0.5n times the frequency of the pressure (pulsation frequency) of the hydraulic pump 1, it becomes possible to perform calculations so as to cover the entire range of the amplitude of the pressure pulsation assumed as a time change of the pressure. A sampling rate that avoids sampling rates in the vicinity of 0.5n times the frequency (pulsation frequency) of the pressure of the hydraulic pump 1 is a sampling rate that allows calculation of the entire range of the amplitude of the pressure pulsation.

[0061] As shown in Patent Document 1, the pressure frequency of the hydraulic pump 1 can be calculated from the rotation speed of the hydraulic pump 1, i.e., the rotation speed of the prime mover 30, and the number of pistons 5 of the hydraulic pump 1. The sampling rate in the vicinity of 0.5n times the pressure frequency of the hydraulic pump 1 can be calculated from the reciprocal of the sampling time.

[0062] For this reason, the measurement condition setting unit 44 sets the sampling rate when measuring the pressure of the hydraulic pump 1 to a sampling rate that is lower than the frequency (pulsation frequency) of the pressure and that allows the entire range of the amplitude of the pressure pulsation to be calculated. The measurement execution unit 45 samples the pressure of the hydraulic pump 1 at the sampling rate set by the measurement condition setting unit 44. The calculation unit 46 calculates the range of the amplitude of the pressure pulsation by calculating the range of the measurement values ​​of the pressure discretely acquired at the sampling rate set by the measurement condition setting unit 44. The abnormality determination unit 47 determines the presence or absence of an abnormality in the hydraulic pump 1 based on the amplitude of the pressure pulsation calculated by the calculation unit 46.

[0063] As a result, even if the diagnostic device 40 samples the pressure of the hydraulic pump 1 at a sampling rate significantly lower than when a frequency analysis technique is used, it can acquire the amplitude of the pressure pulsation with sufficient accuracy and precision to determine the presence or absence of an abnormality in the hydraulic pump 1. Therefore, the diagnostic device 40 can easily perform accurate and stable diagnosis of the hydraulic pump 1.

[0064] The output unit 48 outputs the operation instructions output by the operation instructing unit 42, the monitoring results output by the monitoring unit 43, etc. to the display device 35 for display. Furthermore, the output unit 48 outputs the determination result of the abnormality determination unit 47 to the display device 35 for display. The output unit 48 displays the determination result of the abnormality determination unit 47 on the display device 35 using numerical values, characters, figures, colors, etc.

[0065] In this embodiment, the hydraulic excavator 200 is equipped with a plurality of hydraulic pumps 1. In this embodiment, the calculation unit 46 acquires the measured pressure value for each of the plurality of hydraulic pumps 1 and calculates the amplitude of pressure pulsation for each of the plurality of hydraulic pumps 1. The abnormality determination unit 47 determines the presence or absence of an abnormality for each of the plurality of hydraulic pumps 1. The output unit 48 displays the determination results of the abnormality determination unit 47 for each of the plurality of hydraulic pumps 1 together on one screen of the display device 35.

[0066] Fig. 8 shows an example in which a screen 81 including an area 82 displaying the determination result of the abnormality determination unit 47 is displayed on the display device 35. In the example of Fig. 8, abnormality determination results 87 for each of four hydraulic pumps 83 to 86 as the multiple hydraulic pumps 1 are also displayed on the screen 81. Furthermore, in this embodiment, as shown in Fig. 8, the display device 35 displays a schematic display of the mounting layout of the hydraulic pumps 83 to 86 in the hydraulic excavator 200, and then displays the diagnosis results of the hydraulic pumps 83 to 86 by the abnormality determination unit 47 superimposed on this.

[0067] This allows the diagnostic device 40 to display on the display device 35 the diagnostic results of a plurality of hydraulic pumps 1 mounted on the same hydraulic excavator 200 in a manner that allows the user to easily and intuitively compare the results.

[0068] FIG. 9 is a flowchart of the diagnostic process performed by the diagnostic device 40 shown in FIG.

[0069] The diagnostic device 40 performs the diagnostic process shown in Fig. 9 using a threshold value Pa(0) for determining the presence or absence of an abnormality in the hydraulic pump 1 and a threshold value Pa(i) (i = 1 to n) for identifying the degree of abnormality of the hydraulic pump 1. In the example of Fig. 9, the threshold value Pa(i) is set smaller as the argument i increases, and the degree of abnormality of the hydraulic pump 1 is lowered.

[0070] The threshold value Pa(0) and the threshold value Pa(i) may be predetermined values, or may be values ​​calculated when measuring the pressure of the hydraulic pump 1. The threshold value Pa(0) and the threshold value Pa(i) may be values ​​calculated from the time average value of the pressure measured in another hydraulic pump 1 of the same type mounted on the same hydraulic excavator 200, or may be values ​​calculated from the amplitude of the pressure pulsation calculated in the other hydraulic pump 1. The threshold value Pa(0) and the threshold value Pa(i) may be values ​​empirically determined from the operating conditions of the hydraulic pump 1, including the rotation speed of the hydraulic pump 1.

[0071] In step s1, the diagnosis device 40 measures the pressure of the hydraulic pump 1 and obtains the measured value of the pressure.

[0072] In step s2, the diagnostic device 40 calculates the amplitude Pa of the pressure pulsation based on the acquired measured values.

[0073] In step s3, the diagnostic device 40 judges whether the calculated amplitude Pa of the pressure pulsation is equal to or greater than the threshold value Pa(0). If the amplitude Pa of the pressure pulsation is less than the threshold value Pa(0), the diagnostic device 40 proceeds to step s4. If the amplitude Pa of the pressure pulsation is equal to or greater than the threshold value Pa(0), the diagnostic device 40 proceeds to step s5.

[0074] In step s4, the diagnostic device 40 determines that the hydraulic pump 1 is normal. After that, the diagnostic device 40 proceeds to step s10.

[0075] In step s5, the diagnosis device 40 determines that the hydraulic pump 1 has an abnormality.

[0076] In step s6, the diagnostic device 40 sets the argument i of the threshold value Pa(i) to its lower limit value 1.

[0077] In step s7, diagnostic device 40 determines whether argument i of threshold Pa(i) is greater than its upper limit n. If argument i is greater than its upper limit n, diagnostic device 40 proceeds to step s10. If argument i is equal to or less than its upper limit n, diagnostic device 40 proceeds to step s8.

[0078] In step s8, the diagnostic device 40 determines whether the calculated amplitude Pa of the pressure pulsation is equal to or greater than the threshold value Pa(i). If the amplitude Pa of the pressure pulsation is equal to or greater than the threshold value Pa(i), the diagnostic device 40 identifies the degree of abnormality of the hydraulic pump 1 corresponding to the threshold value Pa(i). The diagnostic device 40 then proceeds to step s10. The degree of abnormality of the hydraulic pump 1 corresponding to the threshold value Pa(i) is determined in advance. On the other hand, if the amplitude Pa of the pressure pulsation is less than the threshold value Pa(i), the diagnostic device 40 proceeds to step s9.

[0079] In step s9, the diagnostic device 40 increments the argument i of the threshold Pa(i) After that, the diagnostic device 40 proceeds to step s7.

[0080] In step s10, the diagnostic device 40 outputs and displays the determination result of the presence or absence of an abnormality in the hydraulic pump 1 and the identified degree of abnormality of the hydraulic pump 1 on the display device 35. Thereafter, the diagnostic device 40 ends the diagnostic processing shown in FIG.

[0081] FIG. 10 is a diagram showing an example of a display of the degree of abnormality of the hydraulic pump 1 identified by the diagnosis process shown in FIG.

[0082] FIG. 10 shows an example in which a screen 101 including an area 102 displaying the transition of the abnormality degree of each of two hydraulic pumps 103, 104 as the multiple hydraulic pumps 1 is displayed on the display device 35. In the example of FIG. 10, the transition of the abnormality degree of the hydraulic pumps 103, 104 in a predetermined period from the past to the present is also displayed on the screen 101. In the example of FIG. 10, the user can change the display content of the area 102, for example, by tapping an icon 105 on the screen 101, to change the period for displaying the transition of the abnormality degree. In the example of FIG. 10, it is shown that the abnormality degree of the hydraulic pump 104 is generally stable. In the example of FIG. 10, it is shown that the abnormality degree of the hydraulic pump 103 has risen sharply from a certain point in time, and a serious abnormality has occurred in the hydraulic pump 103. The diagnostic device 40 can notify the user of a sign of a serious abnormality occurring, such as the hydraulic pump 103 shown in FIG. 10, and can therefore encourage the user to repair or replace the hydraulic pump 1.

[0083] As described above, the diagnostic device 40 is a diagnostic device for the hydraulic pump 1 that is mounted on the hydraulic excavator 200 and is driven by the prime mover 30 of the hydraulic excavator 200 to supply pressure oil to the hydraulic actuator 29 of the hydraulic excavator 200. The diagnostic device 40 has an operation instruction unit 42 that outputs an operation instruction to cause the hydraulic actuator 29 to perform a specific operation, a measurement condition setting unit 44 that sets sampling conditions for measuring the pressure of the hydraulic pump 1 during the specific operation, a calculation unit 46 that acquires measured values ​​of pressure sampled during the specific operation according to the set sampling conditions and calculates the amplitude of pressure pulsation of the hydraulic pump 1, an abnormality determination unit 47 that determines the presence or absence of an abnormality in the hydraulic pump 1 based on the calculated amplitude of the pressure pulsation, and an output unit 48 that outputs the determination result of the abnormality determination unit 47 to the display device 35.

[0084] As a result, the diagnostic device 40 can stably measure the pressure of the hydraulic pump 1 while always maintaining the same conditions related to the state or operation of the hydraulic excavator 200. Therefore, the diagnostic device 40 can clearly distinguish whether or not a change over time in the pressure of the hydraulic pump 1 is a change caused by an abnormality in the hydraulic pump 1. Therefore, the diagnostic device 40 can accurately and stably diagnose the hydraulic pump 1. Therefore, according to the present embodiment, it is possible to provide a diagnostic device 40 for a hydraulic pump 1 that is capable of performing an accurate diagnosis.

[0085] In the above embodiment, the measurement condition setting unit 44 set the sampling rate for measuring the pressure of the hydraulic pump 1 to be lower than the frequency of the pressure (pulsation frequency) so that the entire range of the amplitude of the pressure pulsation can be calculated.

[0086] However, the measurement condition setting unit 44 may set the rotation speed of the prime mover 30 that drives the hydraulic pump 1, instead of the sampling rate at which the pressure of the hydraulic pump 1 is measured, so that the entire range of the amplitude of the pressure pulsation can be calculated. Specifically, the measurement condition setting unit 44 may set the rotation speed of the prime mover 30 so that the set sampling rate is smaller than the frequency (pulsation frequency) of the pressure of the hydraulic pump 1. Then, the operation instruction unit 42 may output an operation instruction to rotate the prime mover 30 at the set rotation speed.

[0087] As a result, even when it is difficult to appropriately set the sampling rate, the diagnostic device 40 can acquire the amplitude of the pressure pulsation with sufficient accuracy and precision to determine the presence or absence of an abnormality in the hydraulic pump 1. Therefore, the diagnostic device 40 can easily perform accurate and stable diagnosis of the hydraulic pump 1 compared to the case where a frequency analysis technique is used. The diagnostic device 40 can be applied to the hydraulic excavator 200.

[0088] The hydraulic excavator 200 is a construction machine including a self-propelled lower traveling body 201, an upper rotating body 202 rotatably supported on the lower traveling body 201, a front working mechanism 203 provided on the upper rotating body 202, a hydraulic actuator 29 for driving the front working mechanism 203, a hydraulic pump 1 for supplying pressure oil to the hydraulic actuator 29, a pressure sensor 24 for measuring the pressure of the hydraulic pump 1, and a display device 35 for displaying various information to an operator. The hydraulic excavator 200 includes a control device 25 for displaying operation instructions for operating the front working mechanism 203 on the display device 35 and for diagnosing the hydraulic pump 1. The control device 25 displays on the display device 35 a screen 51 for instructing the operator to operate the hydraulic excavator 200 for performing a diagnostic operation while showing the operator the difference between the actual posture of the hydraulic excavator 200 and the posture for diagnostics. The control device 25 sets sampling conditions for measuring the pressure during the diagnostic operation. The control device 25 calculates the amplitude of the pressure pulsation of the hydraulic pump 1 based on the measured value of the pressure sampled during diagnostic operation according to the set sampling conditions. The control device 25 determines the presence or absence of an abnormality in the hydraulic pump 1 based on the calculated amplitude of the pressure pulsation. The control device 25 causes the display device 35 to display the determination result of the presence or absence of an abnormality.

[0089] This allows the hydraulic excavator 200 to stably measure the pressure of the hydraulic pump 1 while always maintaining the same conditions related to the state or operation of the hydraulic excavator 200. Therefore, the hydraulic excavator 200 can clearly distinguish whether or not a change over time in the pressure of the hydraulic pump 1 is a change caused by an abnormality in the hydraulic pump 1. Therefore, the hydraulic excavator 200 can accurately and stably diagnose the hydraulic pump 1. Therefore, according to this embodiment, it is possible to provide a hydraulic excavator 200 that is capable of accurately diagnosing the hydraulic pump 1.

[0090] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-mentioned embodiments, and various modifications can be made without departing from the spirit of the present invention described in the claims. In the present invention, the configuration of one embodiment can be added to the configuration of another embodiment, the configuration of one embodiment can be replaced with the configuration of another embodiment, or a part of the configuration of one embodiment can be deleted. [Explanation of symbols]

[0091] 1...hydraulic pump (pump), 24...pressure sensor, 25...control device, 29...hydraulic actuator, 30...prime mover, 35...display device, 40...diagnosis device, 42...operation instruction unit, 44...measurement condition setting unit, 46...calculation unit, 47...abnormality determination unit, 48...output unit, 200...hydraulic excavator (construction machine), 201...lower traveling body, 202...upper rotating body, 203...front working device, 204...boom, 205...arm, 206...bucket

Claims

1. A diagnostic device for a pump that is mounted on a construction machine and is driven by a prime mover of the construction machine to supply pressurized oil to a hydraulic actuator of the construction machine, comprising: an operation instruction unit that outputs an operation instruction for causing the hydraulic actuator to perform a specific operation; a measurement condition setting unit that sets sampling conditions for measuring the pressure of the pump during the specific operation; a calculation unit that acquires the pressure measurement values ​​sampled during the specific operation according to the set sampling conditions and calculates the amplitude of pressure pulsation of the pump; an abnormality determination unit that determines whether or not there is an abnormality in the pump based on the calculated amplitude of the pressure pulsation; an output unit that outputs a determination result of the abnormality determination unit to a display device, the measurement condition setting unit sets a sampling rate for measuring the pressure to be smaller than a pulsation frequency of the pressure, The calculation unit calculates a range of the pressure pulsation amplitude by calculating a range of the pressure measurement values ​​sampled at the set sampling rate. A pump diagnostic device comprising:

2. A diagnostic device for a pump that is mounted on a construction machine and is driven by a prime mover of the construction machine to supply pressurized oil to a hydraulic actuator of the construction machine, comprising: an operation instruction unit that outputs an operation instruction for causing the hydraulic actuator to perform a specific operation; a measurement condition setting unit that sets sampling conditions for measuring the pressure of the pump during the specific operation; a calculation unit that acquires the pressure measurement values ​​sampled during the specific operation according to the set sampling conditions and calculates the amplitude of pressure pulsation of the pump; an abnormality determination unit that determines whether or not there is an abnormality in the pump based on the calculated amplitude of the pressure pulsation; an output unit that outputs a determination result of the abnormality determination unit to a display device, the measurement condition setting unit sets a rotation speed of the prime mover so that a sampling rate during measurement of the pressure is smaller than a pulsation frequency of the pressure; The operation instruction unit outputs an operation instruction to rotate the prime mover at the set rotation speed. A pump diagnostic device comprising:

3. A construction machine including a self-propelled lower running body, an upper rotating body rotatably supported on the lower running body, a front working device provided on the upper rotating body, a hydraulic actuator for driving the front working device, a pump for supplying pressurized oil to the hydraulic actuator, a pressure sensor for measuring the pressure of the pump, and a display device for displaying various information to an operator, a control device that displays an operation instruction for operating the front working device on the display device and diagnoses the pump, The control device includes: displaying on the display device a screen for instructing the operator to perform an operation for diagnosis of the construction machine while showing the operator a difference between the actual posture of the construction machine and the posture for diagnosis; setting a sampling rate for measuring the pressure during the diagnostic operation to be smaller than a pulsation frequency of the pressure of the pump; calculating a range of the pressure pulsation amplitudes of the pump by calculating a range of the pressure measurements sampled during the diagnostic operation at the set sampling rate; determining whether or not the pump is abnormal based on the calculated amplitude of the pressure pulsation; The result of the determination of the presence or absence of the abnormality is displayed on the display device. A construction machine characterized by:

4. A construction machine including a self-propelled lower running body, an upper rotating body rotatably supported on the lower running body, a front working device provided on the upper rotating body, a hydraulic actuator for driving the front working device, a pump for supplying pressurized oil to the hydraulic actuator, a prime mover for driving the pump, a pressure sensor for measuring the pressure of the pump, and a display device for displaying various information to an operator, a control device that displays an operation instruction for operating the front working device on the display device and diagnoses the pump, The control device includes: displaying on the display device a screen for instructing the operator to perform an operation for diagnosis of the construction machine while showing the operator a difference between the actual posture of the construction machine and the posture for diagnosis; setting a rotational speed of the prime mover so that a sampling rate for measuring the pressure during the diagnostic operation is smaller than a pulsation frequency of the pressure of the pump; calculating a range of the pressure pulsation amplitude of the pump by calculating a range of the pressure measurement values ​​sampled during the diagnostic operation in which the prime mover is rotated at the set rotation speed; determining whether or not the pump is abnormal based on the calculated amplitude of the pressure pulsation; The result of the determination of the presence or absence of the abnormality is displayed on the display device. A construction machine characterized by:

5. A plurality of the pumps are mounted on the construction machine, The calculation unit acquires the pressure measurement value for each of the plurality of pumps and calculates the amplitude of the pressure pulsation for each of the plurality of pumps; The abnormality determination unit determines the presence or absence of the abnormality for each of the plurality of pumps, The output unit displays the determination results for each of the plurality of pumps together on one screen of the display device.

3. The pump diagnostic device according to claim 1 or 2.

6. the abnormality determination unit identifies an abnormality level of the pump by comparing the calculated amplitude of the pressure pulsation with a plurality of threshold values ​​having different magnitudes; The output unit outputs the identified abnormality degree of the pump to the display device.

3. The pump diagnostic device according to claim 1 or 2.

7. The construction machine is a hydraulic excavator including a front working device having a boom, an arm, and a bucket, The operation instruction unit outputs an operation instruction to display, on the display device, a screen instructing the operator to perform an operation for causing the hydraulic excavator to perform a diagnostic operation while indicating to the operator a difference between an actual posture of the hydraulic excavator and a posture for diagnosis of the hydraulic excavator.

3. The pump diagnostic device according to claim 1 or 2.

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