Excavator working device stroke stability evaluation method and system

Abstract

The application discloses a kind of excavator operation control stability evaluation method and system, system is installed on excavator system, include: handle data acquisition device, for collecting the force and angle of handle;Shovel data acquisition device, for collecting the pose information of shovel;Luffing arm data acquisition device, for collecting the pose information of luffing arm;Rotation data acquisition device, for collecting the rotation angle of upper car body;Data acquisition instrument and host computer.When excavator is in single-action working condition, the force, angle signal of control handle and the stroke (displacement, angle) signal of working device are collected, and the evaluation method of overall relative standard deviation is used to evaluate the stroke stability of excavator working device.By the above-mentioned mode, the stability of working device stroke when excavator is operated can be systematically and scientifically evaluated, and then the weak link of improving the operation performance of excavator is provided with basis.

Description

Technical Field

[0001] This invention relates to the field of heavy machinery, and in particular to a method and system for evaluating the stroke stability of an excavator's working device. Background Technology

[0002] Currently, with the continuous development of the hydraulic excavator industry, users' requirements for excavators have gone beyond simply meeting functional needs. Users are increasingly focusing on higher-level requirements such as overall machine operability and comfort. How to evaluate the operability of an excavator is one of the important issues in excavator technology development. In the industry, the evaluation of excavator operability is mainly conducted by experienced commissioning personnel within the excavator company, relying on subjective experience to qualitatively evaluate the quality of operability. This evaluation method currently lacks consistency in results and cannot provide reliable data for subsequent analysis by R&D personnel.

[0003] Currently, subjective evaluations of excavator operability are primarily conducted by experienced commissioning personnel and operators. The repeatability and reproducibility of these subjective evaluations are significantly influenced by the evaluators, and the large granularity of the scores makes it difficult to precisely pinpoint product performance, thus failing to effectively support product improvement efforts by R&D personnel. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and system for evaluating the stroke stability of an excavator working device, which can quantitatively and objectively evaluate the working stroke stability of the excavator working device.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides a stroke stability evaluation system for an excavator working device, installed on the excavator system, comprising:

[0007] Handle data acquisition device, used to collect the force and angle of the handle;

[0008] Bucket data acquisition device, used to collect bucket position and orientation information;

[0009] Boom data acquisition device, used to collect boom position and posture information;

[0010] A slewing data acquisition device is used to collect the slewing angle of the upper body;

[0011] The data acquisition device has its input terminals connected to the output terminals of the handle data acquisition device, bucket data acquisition device, boom data acquisition device, and swing data acquisition device to acquire and process the acquired signals.

[0012] The host computer, whose input terminal is connected to the output terminal of the data acquisition instrument, is used to perform a control stability evaluation method based on the received data and obtain the driving stability evaluation result of the working device.

[0013] Furthermore, the handle data acquisition device includes a left operating handle force sensor, a right operating handle force sensor, a left operating handle angle sensor, and a right operating handle angle sensor;

[0014] The left operating handle force sensor and the left operating handle angle sensor are installed on the left operating lever and are used to collect the handle force and angle during the boom unloading, boom digging, left rotation, and right rotation actions.

[0015] The right operating handle force sensor and the right operating handle angle sensor are installed on the right operating lever and are used to collect the handle force and angle during the boom lowering, boom lifting, bucket digging, and bucket unloading actions.

[0016] Both the left and right operating handle force sensors can measure the force along the X and Y axes, representing the handle force during the operation of different working devices.

[0017] Both the left and right operating handle angle sensors can measure the angles around the X and Y axes, representing the handle angles during different working processes.

[0018] Furthermore, the bucket data acquisition device includes a bucket cylinder displacement sensor installed on the bucket, wherein the displacement wire of the bucket cylinder displacement sensor is parallel to the bucket cylinder and is used to collect the cylinder displacement during the bucket's movement.

[0019] The boom data acquisition device includes a boom cylinder displacement sensor and a boom cylinder displacement sensor respectively installed on the boom. The displacement wire of the boom cylinder displacement sensor is parallel to the boom cylinder, and the displacement wire of the boom cylinder displacement sensor is parallel to the boom cylinder. It is used to collect the cylinder displacement during the boom and boom movement.

[0020] The slewing data acquisition device includes a slewing angle sensor installed near the upper vehicle or slewing bearing, used to acquire the slewing angle of the upper vehicle body.

[0021] Furthermore, the data acquisition device is equipped with a storage module, which enables data acquisition and storage without connecting to a host computer.

[0022] Furthermore, the host computer performs a stability evaluation based on the received data, and the methods for obtaining the stability evaluation results include:

[0023] The force and angle signals of the control handle are acquired, and the stroke signals of the working device are acquired. The stroke signals include displacement signals and angle signals. The relative standard deviations of the strokes of the bucket, stick, boom, and swing are calculated for the same control handle angle and the same control time. The overall relative standard deviation of the stroke of the working device is calculated by combining the weight of the working device in the working condition.

[0024] Furthermore, the control handle angle measurement sensor includes any of the following devices: angle sensor and angular velocity sensor, gyroscope.

[0025] The hydraulic cylinder displacement sensor includes any one of the following devices: wire displacement sensor and laser displacement sensor.

[0026] The rotation angle sensor includes any of the following devices: angle sensor, angular velocity sensor, and gyroscope.

[0027] Secondly, the present invention also provides a method for evaluating the operational stability of an excavator's working device, based on the system described in the first aspect, comprising the following steps:

[0028] Step A: Conduct a single-action test of the excavator. The initial position of the bucket, stick, and boom cylinders is the minimum stroke of the cylinders, and the initial position of the swing is when the upper body is in a forward posture. The ending position of the bucket, stick, and boom cylinders is the maximum stroke of the cylinders, and the ending position of the swing is when the machine turns 90° to the left.

[0029] The control handles were rapidly changed from their initial positions to their working positions; the timestamps t (when the bucket, stick, and boom cylinders reached their maximum stroke, and when the upper body rotated 90° to the left) were recorded. 单动作 Calculate the single-action time Δt 单动作 =t 单动作 -t2.

[0030] The initial position is θ 死区 -1°, working position is θ 死区 +Δθ 可控区 / 2;

[0031] Step B: Repeat the actions in Step B multiple times, capturing the single action of the bucket, stick, boom, and slewing device from t2+0.2Δt. 单动作 At time t2+0.8Δt 单动作 The travel information of the working device at any time, including displacement information x and angle information θ, is used to obtain the displacement dataset of the bucket, stick, and boom, as well as the slewing angle dataset of the slewing working device;

[0032] Calculate the relative standard deviations of the displacement datasets for the bucket, stick, and boom, as well as the slewing angle dataset for the slewing device, to obtain the relative standard deviation (RSD) of the bucket. 铲斗Relative Standard Deviation (RSD) of the Boom 斗杆 The relative standard deviation of the boom (RSD) 动臂 and relative standard deviation of rotation (RSD) 回转 ;

[0033] Furthermore, methods for calculating the relative standard deviations of the displacement datasets of the bucket, stick, and boom, and the slewing angle dataset of the slewing device, respectively, include:

[0034] Calculate the standard deviation S of the displacement or angle datasets for each working device. 位移 S 角度 .

[0035] The calculation involves the average displacement of the working device's travel distance during multiple repetitive actions with the same control handle travel and the same control time. Average angle

[0036] Calculate the relative standard deviation of the stroke of the bucket, stick, boom, and slewing device.

[0037] Obtain the weights w of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 and w 回转 ;

[0038] Calculate the overall relative standard deviation of the excavator's working device stroke:

[0039] RSD 总 =w 铲斗 RSD 铲斗 +w 斗杆 RSD 斗杆 +w 动臂 RSD 动臂 +w 回转 RSD 回转 .

[0040] The overall relative standard deviation of the excavator's working device stroke is used as the stability evaluation result. The smaller the overall relative standard deviation of the excavator's working device stroke, the better the stability of the machine's working device operation.

[0041] Furthermore, θ 死区 and Δθ 可控区 The methods for determining this include:

[0042] The excavator performs a digging work cycle, which includes four actions: digging, full bucket lifting and rotation, unloading, and empty bucket return. The stroke signal curves of each working device are obtained, including the displacement curves of the bucket cylinder, stick cylinder, boom cylinder, and the swing angle curve of the chassis.

[0043] When the control handle moves from the dead zone to the controllable zone, the handle force will undergo a step change. The moment of the sudden change in handle force is defined as t1, and the moment when the displacement and angle of the working device begin to change is defined as t2.

[0044] Record the maximum dead zone angle θ of the corresponding control handle for each working device. 死区 Define the angle of the control handle corresponding to the abrupt change t1 during the step change of the control handle force as the maximum dead zone angle θ of the control handle. 死区 .

[0045] Calculate the controllable angle range Δθ of the corresponding control handle for each working device. 可控区 Differentiating the displacement and angle curves of the working device separately yields the velocity and angular velocity curves. The moment when the velocity and angular velocity of the working device stop changing is defined as t3, and the angle of the control handle at t3 is defined as the maximum angle θ of the controllable range. 可控区 The controllable angle range Δθ of the control handle 可控区 =θ 可控区 -θ 死区 .

[0046] Furthermore, obtain the weights of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 and w 回转 The methods include:

[0047] Install offline vehicle-mounted monitoring equipment, including bucket cylinder displacement sensors, stick cylinder displacement sensors, boom cylinder sensors, swing angle sensors, and data acquisition devices, on no fewer than 20 similar excavators on the market. Record the percentage (P) of bucket, stick, boom, and swing operation time in the total operation time during actual excavator operation. 铲斗 P 斗杆 P 动臂 P 回转 .

[0048] Using the formula w = P i / ∑P calculates the weights of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 w 回转 In the formula, i represents a single working device.

[0049] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0050] 1. The working device stroke stability evaluation system of the present invention can realize synchronous measurement of the control end and working end of the excavator operation.

[0051] 2. The working device stroke stability evaluation system in this invention can realize offline monitoring of the excavator's control end and working end.

[0052] 3. The working device stroke stability evaluation method in this invention can achieve an objective and quantitative evaluation of the working stroke stability of the excavator.

[0053] 4. The working device stroke stability evaluation method in this invention can extract the working stroke under the same test conditions for repeated actions.

[0054] 5. The working device stroke stability evaluation method in this invention can realize the weight calculation of various working devices, including bucket, stick, boom, and slewing, in actual operation.

[0055] 6. The working device stroke stability evaluation method in this invention can achieve a comprehensive, objective, and quantitative evaluation of the working stroke stability of excavators, including various working devices such as bucket, stick, boom, and swing. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the system used by the present invention to evaluate the stroke stability of the excavator working device;

[0057] Figure 2 This is a schematic diagram of the evaluation method of the present invention for evaluating the stroke stability of the working device of an excavator. Detailed Implementation

[0058] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0059] The operability of construction machinery can be evaluated from aspects such as precision, micro-motion, and smoothness. Precision is a very important evaluation indicator for the operation and control of construction machinery. Precision mainly refers to the stable and accurate response of the action after the control command is issued during the operation of the product. For excavators, the operational precision can be evaluated by the stability of the working device's stroke after the same control command is issued during the product's operation, thus achieving an evaluation of the product's operational precision.

[0060] Example 1:

[0061] In the existing technology, the repeatability and reproducibility of subjective evaluation results are greatly affected by the evaluators, the scoring granularity is too large to accurately locate product performance, and it cannot effectively support the product improvement work of R&D personnel.

[0062] This embodiment provides a stroke stability evaluation system for excavator working devices, including collecting force and angle signals from the control handle, collecting stroke (displacement and angle) signals of the working device, calculating the relative standard deviation of the stroke of four single actions (bucket, stick, boom, and swing) under the same control handle angle and the same control time, and further combining the weights of the four working devices in the working conditions to calculate the overall relative standard deviation of the working device stroke, thereby realizing a quantitative and objective evaluation of the working device's operational stroke stability.

[0063] This invention provides a system for evaluating the stroke stability of an excavator's working device, mainly comprising a left operating handle force sensor 1, a right operating handle force sensor 2, a left operating handle angle sensor 3, a right operating handle angle sensor 4, a bucket cylinder displacement sensor 5, a boom cylinder displacement sensor 6, a boom cylinder sensor 7, a swing angle sensor 8, a data acquisition instrument 9, and a host computer 10.

[0064] Force sensor 1 and angle sensor 3 on the left control handle are installed on the left control lever to collect the handle force and angle during the unloading, digging, left slewing, and right slewing actions of the stick.

[0065] The force sensor 2 and angle sensor 4 on the right operating handle are installed on the right operating lever to collect the handle force and angle during the boom lowering, boom lifting, bucket digging, and bucket unloading operations.

[0066] Both handle force sensors 1 and 2 can measure the force along the X and Y axes, representing the handle force during the operation of different working devices. For example, the X and Y axes of the left-hand handle force sensor can measure the handle force during the boom and slewing movements, respectively.

[0067] Both handle angle sensors 3 and 4 can measure angles around the X and Y axes, representing the handle angles during different working device movements. For example, the X and Y axes of the left-hand handle angle sensor can measure the handle angles during the boom and slewing movements, respectively.

[0068] Displacement sensors 5-7 are installed near the cylinder pins of the bucket, stick, and boom, respectively. The displacement wires are parallel to the cylinders and are used to collect the cylinder displacements during the movement of the bucket, stick, and boom.

[0069] The slewing angle sensor is installed near the upper vehicle or slewing bearing to collect the slewing angle of the upper vehicle body.

[0070] The input terminal of data acquisition unit 9 is connected to the output terminals of sensors 1-8 for processing the acquired signals. Data acquisition unit 9 has a built-in storage module, enabling data acquisition and storage without connection to a host computer.

[0071] The input terminal of the host computer 10 is connected to the output terminal of the data acquisition instrument 9, and is used to analyze the received force, angle and displacement data, and to analyze and judge them according to the operation stability evaluation method of the excavator working device in this invention.

[0072] The data received by the host computer includes: time-domain signal data such as force and angle of the control handle, and time-domain signal data of the stroke (displacement and angle) of the working device;

[0073] Data processing performed by the host computer:

[0074] ①The moment of sudden change when extracting the handle force step

[0075] ② Extract the starting moment of the change in the stroke (displacement, angle) of the working device and the corresponding handle angle at that moment.

[0076] ③ Differentiate the time-domain signals of the working device's stroke (displacement, velocity) to obtain the time-domain signals of the working device's movement (velocity, angular velocity).

[0077] ④ The moment when the working device stops moving (speed, angular velocity) and the corresponding handle angle at that moment.

[0078] ⑤ The moment when the working device reaches its maximum stroke when the control handle is in the working position.

[0079] ⑥ Calculation of single-action time of the working device

[0080] ⑦ Intercept the single movement of the bucket, stick, boom, and slewing device within a specified time range.

[0081] ⑧ Calculate the average value, standard deviation, and relative standard deviation of the repeated single motions of the bucket, boom, slewing arm, and slewing arm.

[0082] Example 2:

[0083] This invention also provides a method for evaluating the operational stability of an excavator's working device, based on the system described in Embodiment 1, comprising the following steps:

[0084] Step 1: Perform the excavator's digging work cycle, which includes four actions: digging, full bucket lifting and slewing, unloading, and empty bucket return. The operating range of the control handle includes the dead zone, controllable zone, and saturation zone. When the control handle is in the dead zone, the working device does not move; when the control handle is in the controllable zone, the working device's operating speed increases with the increase of the handle's travel; when the control handle is in the saturation zone, the working device's operating speed does not change. When the control handle moves from the dead zone to the controllable zone, the handle force will undergo a step change. Define the abrupt change in handle force as t1, and define the initial change in the displacement and angle of the working device as t2. Obtain the travel signal curves of each working device (displacement curves of the bucket cylinder, stick cylinder, boom cylinder, and the swing angle curve of the chassis).

[0085] Step 2: Record the maximum dead zone angle θ of the corresponding control handle for each working device. 死区 Define the angle of the control handle corresponding to the abrupt change t1 during the step change of the control handle force as the maximum dead zone angle θ of the control handle. 死区 .

[0086] Step 3: Calculate the controllable angle range Δθ of the corresponding control handle for each working device. 可控区 As the control handle moves from the controllable zone to the saturation zone, the velocity curves (velocity and angular velocity) of the working device change from rising curves to stable values. Differentiating the displacement and angle curves of the working device respectively yields the velocity and angular velocity curves. The moment when the velocity and angular velocity of the working device stop changing is defined as t3, and the angle of the control handle at t3 is defined as the maximum angle θ in the controllable zone. 可控区 The controllable angle range Δθ of the control handle 可控区 =θ 可控区 - θ 死区 .

[0087] Step 4: Conduct a single-action test of the excavator. The initial position of the bucket, stick, and boom cylinders is the minimum stroke of the cylinders. The initial position of the swing is when the upper body is in a forward posture. The ending position of the bucket, stick, and boom cylinders is the maximum stroke of the cylinders. The ending position of the swing is when the machine turns 90° to the left.

[0088] The control handles are respectively in the initial position (θ) 死区 -1°, with an error of ±0.5°), rapidly changing to the working position (θ). 死区 +Δθ 可控区 / 2, with an error of ±1°). Record the times t when the bucket, stick, and boom cylinders reach their maximum stroke and the upper body rotates 90° to the left. 单动作 Calculate the single-action time Δt 单动作 = t 单动作 -t2.

[0089] Step 5, repeat the actions of Step 4 n times (n≥3), and extract the single actions of bucket, stick, boom, and swing from t2+0.2Δt respectively. 单动作 At time t2+0.8Δt 单动作 Calculate the standard deviation S of the working device stroke (displacement x, angle θ) for three repeated actions with the same control handle stroke and the same control time. 位移 S 角度 .

[0090] Step 6: Calculate the average displacement of the working device travel for the same control handle stroke and the same control time in the n (n≥3) repeated actions in Step 4. Average angle

[0091] Step 7: Calculate the relative standard deviation of the travel of the bucket, stick, boom, and slewing device.

[0092] Step 8: Install offline vehicle-mounted monitoring equipment, including bucket cylinder displacement sensor 5, stick cylinder displacement sensor 6, boom cylinder sensor 7, swing angle sensor 8, and data acquisition unit 9, on no fewer than 20 excavators of the same type on the market. Record the percentage P of bucket, stick, boom, and swing operation time in the total operation time during actual excavator operation. 铲斗 P 斗杆 P 动臂 P 回转 Since excavator operations actually include both single and compound actions, it is necessary to use the formula w = P i / ∑P (where i represents a single working device such as bucket, stick, boom, and swing), further calculating the weight w of the bucket, stick, boom, and swing working devices in the operation. 铲斗 w 斗杆 w 动臂 w 回转 .

[0093] Step 9: Calculate the comprehensive relative standard deviation of the excavator's working device stroke.

[0094] RSD 总 =w 铲斗 RSD 铲斗 +w 斗杆 RSD 斗杆 +w 动臂 RSD 动臂 +w 回转 RSD 回转The dead zone refers to the idle travel of the control handle; the controllable zone refers to the range of control handle travel where the speed of the working device increases with the increase of the handle angle; and the saturation zone refers to the range of control handle travel where the speed of the working device no longer increases with the increase of the handle angle. By repeatedly measuring the travel of the working devices, the relative standard deviation of each working device's movement is calculated. Combined with the weights of each working device, the overall relative standard deviation of the working device travel is obtained. The smaller the deviation, the better the stability of the overall machine's working device operation.

[0095] Compared with existing subjective evaluation techniques, the present invention has the following advantages:

[0096] (1) The working device stroke stability evaluation system in this invention can realize the synchronous measurement of the control end and working end of the excavator operation.

[0097] (2) The working device stroke stability evaluation system in this invention can realize offline monitoring of the control end and working end of the excavator operation.

[0098] (3) The working device stroke stability evaluation method in this invention can realize the objective and quantitative evaluation of the working stroke stability of the excavator.

[0099] (4) The working device stroke stability evaluation method in this invention can realize the extraction of working stroke under the same test conditions for repeated actions.

[0100] (5) The working device stroke stability evaluation method in this invention can realize the weight calculation of various working devices including bucket, stick, boom and slewing in actual operation.

[0101] (6) The working device stroke stability evaluation method in this invention can realize a comprehensive, objective, and quantitative evaluation of the working stroke stability of excavators, including bucket, stick, boom, and slewing devices.

[0102] The apparatus and method of this embodiment can be replaced by the following alternatives:

[0103] (1) The angle measuring sensor of the control handle can be an angle sensor, or an angular velocity sensor, gyroscope or other instruments and equipment that can measure angles.

[0104] (2) The cylinder displacement sensor can be a wire displacement sensor, a laser displacement sensor, or other instruments and equipment that can measure the cylinder stroke.

[0105] (3) The rotation angle sensor can be an angle sensor, or an angular velocity sensor, gyroscope or other instruments and equipment that can measure angles.

[0106] (4) In the single-action test, the initial and final positions of the cylinder can be the minimum and maximum strokes of the cylinder, or other measurable positions.

[0107] (5) In the single-action test, the initial and final positions of the rotation can be the upper body's travel posture and a 90° left turn, or other measurable positions;

[0108] (6) In the single-action test, the starting position angle of the control handle can be other angles in the dead zone, and the error range can be smaller.

[0109] (7) In the single-action test, the angle of the end position of the control handle can be other angles of the controllable area.

[0110] (8) The action time extracted from the stroke of the working device can be t2 + 0.2Δt. 单动作 At time t2+0.8Δt 单动作 A time can also be any other measurable time within the controllable area.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A stroke stability evaluation system for an excavator working device, installed on the excavator system, characterized in that, include: Handle data acquisition device, used to collect the force and angle of the handle; Bucket data acquisition device, used to collect bucket position and orientation information; Boom data acquisition device, used to collect boom position and posture information; A slewing data acquisition device is used to collect the slewing angle of the upper body; The data acquisition device has its input terminals connected to the output terminals of the handle data acquisition device, bucket data acquisition device, boom data acquisition device, and swing data acquisition device to acquire and process the acquired signals. The host computer, whose input terminal is connected to the output terminal of the data acquisition instrument, is used to evaluate the control stability based on the received data and obtain the evaluation result of the driving stability of the working device. The handle data acquisition device includes a left operating handle force sensor, a right operating handle force sensor, a left operating handle angle sensor, and a right operating handle angle sensor; The left operating handle force sensor and the left operating handle angle sensor are installed on the left operating lever and are used to collect the handle force and angle during the boom unloading, boom digging, left rotation, and right rotation actions. The right operating handle force sensor and the right operating handle angle sensor are installed on the right operating lever and are used to collect the handle force and angle during the boom lowering, boom lifting, bucket digging, and bucket unloading actions. Both the left and right operating handle force sensors can measure the force along the X and Y axes, representing the handle force during the operation of different working devices. Both the left and right operating handle angle sensors can measure the angles around the X and Y axes, representing the handle angles during different working processes.

2. The stroke stability evaluation system for excavator working device according to claim 1, characterized in that, The bucket data acquisition device includes a bucket cylinder displacement sensor installed on the bucket. The displacement wire of the bucket cylinder displacement sensor is parallel to the bucket cylinder and is used to collect the cylinder displacement during the bucket's movement. The boom data acquisition device includes a boom cylinder displacement sensor and a boom cylinder displacement sensor respectively installed on the boom. The displacement wire of the boom cylinder displacement sensor is parallel to the boom cylinder, and the displacement wire of the boom cylinder displacement sensor is parallel to the boom cylinder. It is used to collect the cylinder displacement during the boom and boom movement. The slewing data acquisition device includes a slewing angle sensor installed near the upper vehicle or slewing bearing, used to acquire the slewing angle of the upper vehicle body.

3. The stroke stability evaluation system for excavator working device according to claim 1, characterized in that, The data acquisition device is equipped with a storage module, which enables data acquisition and storage without connecting to a host computer.

4. The stroke stability evaluation system for excavator working device according to claim 2, characterized in that, The host computer performs a control stability evaluation based on the received data. Methods for obtaining the stability evaluation results include: The force and angle signals of the control handle are acquired, and the stroke signals of the working device are acquired. The stroke signals include displacement signals and angle signals. The relative standard deviations of the strokes of the bucket, stick, boom, and swing are calculated for the same control handle angle and the same control time. The overall relative standard deviation of the stroke of the working device is calculated by combining the weight of the working device in the working condition.

5. The stroke stability evaluation system for excavator working device according to claim 4, characterized in that, The handle data acquisition device includes any one of the following: an angle sensor and an angular velocity sensor, or a gyroscope; The hydraulic cylinder displacement sensor includes any one of the following devices: wire displacement sensor and laser displacement sensor; The rotation angle sensor includes any of the following devices: angle sensor, angular velocity sensor, and gyroscope.

6. A method for evaluating the operational stability of an excavator's working device, characterized in that, The system according to any one of claims 1-5 includes the following steps: Step A: Conduct a single-action test of the excavator. The initial position of the bucket, stick, and boom cylinders is the minimum stroke of the cylinders, and the initial position of the swing is when the upper body is in a forward posture. The ending position of the bucket, stick, and boom cylinders is the maximum stroke of the cylinders, and the ending position of the swing is when the machine turns 90° to the left. The control handles were rapidly changed from their initial positions to their working positions; the timestamps t (when the bucket, stick, and boom cylinders reached their maximum stroke, and when the upper body rotated 90° to the left) were recorded. 单动作 Calculate the single-action time Δt 单动作 =t 单动作 -t2; The initial position is θ 死区 -1°, working position is θ 死区 +Δθ 可控区 / 2; Step B: Repeat the actions in Step B multiple times, capturing the single action of the bucket, stick, boom, and slewing device from t2+0.2Δt. 单动作 At time t2+0.8Δt 单动作 The travel information of the working device at any time, including displacement information x and angle information θ, is used to obtain the displacement dataset of the bucket, stick, and boom, as well as the slewing angle dataset of the slewing working device; Calculate the relative standard deviations of the displacement datasets for the bucket, stick, and boom, as well as the slewing angle dataset for the slewing device, to obtain the relative standard deviation (RSD) of the bucket. 铲斗 Relative Standard Deviation (RSD) of the Boom 斗杆 The relative standard deviation of the boom (RSD) 动臂 and relative standard deviation of rotation (RSD) 回转 .

7. The method for evaluating the operational stability of an excavator's working device according to claim 6, characterized in that, Methods for calculating the relative standard deviation of the displacement datasets of the bucket, stick, and boom, and the slewing angle dataset of the slewing device, respectively, include: Calculate the standard deviation S of the displacement or angle datasets for each working device. 位移 S 角度 ; Calculate the average displacement of the working device's travel for multiple repetitive actions with the same control handle travel and the same control time. Average angle Calculate the relative standard deviation of the stroke of the bucket, stick, boom, and slewing device. Obtain the weights w of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 and W 回转 ; Calculate the overall relative standard deviation of the excavator's working device stroke: RSD 总 =w 铲斗 RSD 铲斗 +w 斗杆 RSD 斗杆 +w 动臂 RSD 动臂 +w 回转 RSD 回转 ; The overall relative standard deviation of the excavator's working device stroke is used as the stability evaluation result. The smaller the overall relative standard deviation of the excavator's working device stroke, the better the stability of the machine's working device operation.

8. The method for evaluating the operational stability of an excavator's working device according to claim 7, characterized in that, θ 死区 and Δθ 可控区 The methods for determining this include: The excavator's digging work cycle includes four actions: digging, full bucket lifting and rotation, unloading, and empty bucket return; the stroke signal curves of each working device are obtained, including the displacement curves of the bucket cylinder, stick cylinder, boom cylinder, and the rotation angle curve of the chassis. When the control handle moves from the dead zone to the controllable zone, the handle force will undergo a step change. The moment of the sudden change in handle force is defined as t1, and the moment when the displacement and angle of the working device begin to change is defined as t2. Record the maximum dead zone angle θ of the corresponding control handle for each working device. 死区 Define the angle of the control handle corresponding to the abrupt change t1 during the step change of the control handle force as the maximum dead zone angle θ of the control handle. 死区 ; Calculate the controllable angle range Δθ of the corresponding control handle for each working device. 可控区 Differentiate the displacement and angle curves of the working device to obtain the velocity and angular velocity curves; define the moment when the velocity and angular velocity of the working device stop changing as t3, and define the angle of the control handle at t3 as the maximum angle θ of the controllable area. 可控区 The controllable angle range Δθ of the control handle 可控区 =θ 可控区 -θ 死区 .

9. The method for evaluating the operational stability of an excavator's working device according to claim 7, characterized in that, Obtain the weights w of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 and w 回转 The methods include: Install offline vehicle-mounted monitoring equipment, including bucket cylinder displacement sensors, stick cylinder displacement sensors, boom cylinder sensors, swing angle sensors, and data acquisition devices, on no fewer than 20 excavators of the same type on the market. Record the percentage (P) of bucket, stick, boom, and swing operation time in the total operation time during actual excavator operation. 铲斗 P 斗杆 P 动臂 P 回转 ; Using the formula w = P i / ∑P calculates the weights of the bucket, stick, boom, and slewing device during operation. 铲斗 w 斗杆 w 动臂 w 回转 In the formula, i represents a single working device.

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