Debugging method of solenoid valve for arm-type mechanical products

Abstract

The embodiment of the present application provides a solenoid valve debugging method for arm-type mechanical products, comprising: obtaining a solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes an initial input current parameter of the solenoid valve to be debugged; loading the initial input current to the solenoid valve to be debugged according to the initial input current parameter; obtaining the action amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by a detection device; determining whether the difference between the action amplitude and the preset amplitude is within an allowable range; if it is determined that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range; storing the current input current and the action amplitude corresponding to the current input current. Through the above technical solution, it is possible to assist debugging workers in debugging the solenoid valves of arm-type mechanical products, reduce the requirements for personnel professionalism, ensure the accuracy of data judgment, and prevent the occurrence of misadjustment and missed adjustment, thereby ensuring the standardization of product debugging.

Description

Technical Field

[0001] The present application relates to the technical field of product debugging, and in particular to a solenoid valve debugging method for arm-type mechanical products. Background Art

[0002] The solenoid valves in the hydraulic control systems of boom-type mechanical products are proportional solenoid valves. Proportional solenoid valves have the characteristic that the drive current is proportional to the flow rate of the hydraulic oil channel. A larger ratio results in a larger opening, which increases the speed of oil flowing into the cylinder and pushes the piston faster. Before leaving the factory, boom-type mechanical products require the optimal drive current for the solenoid valve to be adjusted. This allows the valve to be driven with the adjusted optimal drive current during actual use, achieving precise control.

[0003] At present, the current debugging of the solenoid valves of arm-type mechanical products generally adopts manual debugging methods, which judges the action of the working mechanism controlled by the solenoid valve based on the naked eye. The qualification standard is the continuity of the action. There is a lack of key data proof records, and the consistency of the product and the qualification of the debugging cannot be guaranteed. In addition, due to human subjective reasons, it is easy to cause inconsistent parameter standards, resulting in differences in product performance when leaving the factory and quality risks. Summary of the Invention

[0004] In order to at least partially solve the above-mentioned problems existing in the prior art, an object of an embodiment of the present application is to provide a solenoid valve debugging method for an arm-type mechanical product.

[0005] To achieve the above objectives, the present application provides a solenoid valve debugging method for an arm-type mechanical product, comprising:

[0006] Obtaining a solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes an initial input current parameter of the solenoid valve to be debugged;

[0007] Load the initial input current to the solenoid valve to be debugged according to the initial input current parameters;

[0008] Obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment;

[0009] Determine whether the difference between the movement amplitude and the preset amplitude is within the allowable range;

[0010] If it is determined that the difference is not within the allowable range, adjust the input current of the solenoid valve to be debugged until the difference is within the allowable range;

[0011] The current input current and the corresponding action amplitude of the current input current are stored.

[0012] In the embodiment of the present application, obtaining the solenoid valve debugging instruction includes:

[0013] Scan the QR code of the arm-type mechanical product to obtain the product information of the arm-type mechanical product;

[0014] Get the solenoid valve debugging instructions based on the product information.

[0015] In an embodiment of the present application, the solenoid valve to be debugged includes a first solenoid valve, which is used to control the tilting movement of the mobile platform of the arm-type mechanical product. The detection device includes a tilt sensor, which is provided on the mobile platform.

[0016] Obtain the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment, including:

[0017] Obtain the tilt angle signal of the mobile platform detected by the tilt sensor.

[0018] In an embodiment of the present application, the solenoid valve to be debugged includes a second solenoid valve, which is used to control the rotation of the arm of the arm-type mechanical product. The detection equipment includes a rotation angle sensor, a first vibration sensor, and a first pressure transmitter, and the rotation angle sensor, the first vibration sensor, and the first pressure transmitter are all arranged on the arm;

[0019] Obtain the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment, including:

[0020] A rotation angle signal of the boom detected by the rotation angle sensor is obtained, a vibration signal of the boom detected by the first vibration sensor is obtained, and a pressure signal of the boom detected by the first pressure transmitter is obtained.

[0021] In the embodiment of the present application, the solenoid valve to be debugged includes a third solenoid valve, which is used to control the telescopic action of the arm of the arm-type mechanical product. The detection equipment includes a length sensor, a second vibration sensor, and a second pressure transmitter. The length sensor, the second vibration sensor, and the second pressure transmitter are all provided on the telescopic cylinder of the arm;

[0022] Obtain the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment, including:

[0023] A telescopic length signal of the telescopic cylinder detected by the length sensor, a vibration signal of the telescopic cylinder detected by the second vibration sensor, and a pressure signal of the telescopic cylinder detected by the second pressure transmitter are obtained.

[0024] In an embodiment of the present application, when it is determined that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range includes:

[0025] If it is determined that the difference is not within the allowable range, determining whether the difference is greater than zero;

[0026] When it is determined that the difference is greater than zero, the input current of the solenoid valve to be debugged is reduced by a first preset step size until the difference is within an allowable range.

[0027] In an embodiment of the present application, the solenoid valve debugging method further includes:

[0028] When it is determined that the difference is less than zero, the input current of the solenoid valve to be debugged is increased by a second preset step size until the difference is within an allowable range.

[0029] In the embodiment of the present application, the first preset step length is equal to the second preset step length.

[0030] In an embodiment of the present application, the solenoid valve debugging method further includes:

[0031] Determine whether the current input current reaches the preset termination current;

[0032] When it is determined that the current input current reaches the preset termination current, the debugging of the solenoid valve to be debugged is terminated and an alarm message is output.

[0033] In an embodiment of the present application, the solenoid valve debugging method further includes:

[0034] Generate a solenoid valve debugging report based on the current input current and the action amplitude corresponding to the current input current.

[0035] Through the above technical solution, that is, by obtaining the solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes the initial input current parameters of the solenoid valve to be debugged, the initial input current is loaded to the solenoid valve to be debugged according to the initial input current parameters, the action amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment is obtained, and it is determined whether the difference between the action amplitude and the preset amplitude is within the allowable range. When it is determined that the difference is not within the allowable range, the input current of the solenoid valve to be debugged is adjusted until the difference is within the allowable range, and the current input current and the action amplitude corresponding to the current input current are stored. In this way, debugging workers can be assisted in debugging the solenoid valves of arm-type mechanical products, reducing the requirements for personnel professionalism, ensuring the accuracy of data judgment, and preventing the occurrence of misadjustment and missed adjustment, thereby ensuring the standardization of product debugging.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0038] Figure 1 1 is a flow chart of a solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application;

[0039] Figure 2 1 is a flow chart of step S11 in the solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application;

[0040] Figure 3 1 is a flow chart of step S15 in the solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application;

[0041] Figure 4 This is another flow chart of the solenoid valve debugging method for arm-type mechanical products provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] Figure 1 1 is a flow chart of a solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application. Figure 1 As shown, in one embodiment of the present application, a solenoid valve debugging method for an arm-type mechanical product is provided, comprising the following steps:

[0044] Step S11: obtaining a solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes an initial input current parameter of the solenoid valve to be debugged;

[0045] Step S12: loading the initial input current to the solenoid valve to be debugged according to the initial input current parameter;

[0046] Step S13: obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment;

[0047] Step S14: determining whether the difference between the movement amplitude and the preset amplitude is within an allowable range;

[0048] Step S15: If it is determined that the difference is not within the allowable range, adjust the input current of the solenoid valve to be debugged until the difference is within the allowable range;

[0049] Step S16: storing the current input current and the action amplitude corresponding to the current input current.

[0050] Specifically, in step S11, the solenoid valve debugging instructions can be actively obtained, or received from a debugging personnel via a terminal device such as a handheld terminal. In step S12, the initial input current can be any current value, or it can be an initial current value determined based on the design parameters of the solenoid valve to be debugged. For example, it can be an initial current value slightly lower than the lower limit of the designed operating current of the solenoid valve to be debugged. In step S13, the detection equipment can be installed on the arm-type mechanical product, and specifically can include a posture sensor, an angle sensor, a pressure transmitter, a vibration sensor, etc. When the initial input current is applied to the solenoid valve to be debugged, the detection equipment detects the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged and transmits it to the vehicle controller and handheld terminal via a digital acquisition and communication unit. The digital acquisition and communication unit has multiple communication interfaces such as CAN, 485, IO, WiFi, and Bluetooth. It obtains the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment and forwards it to the vehicle controller and handheld terminal via wireless routing. In step S14, the preset amplitude is the standard movement amplitude of the working mechanism controlled by the solenoid valve to be debugged, which is pre-set in the handheld terminal. After obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged, it is compared with the preset amplitude to determine whether the difference between the two is within the allowable range. It is understandable that the allowable range can be determined based on the control accuracy required for the solenoid valve to be debugged. In step S15, if the difference is not within the allowable range, it indicates that the current input current does not meet the debugging requirements of the solenoid valve to be debugged. At this time, it is necessary to adjust the input current of the solenoid valve to be debugged (increase or decrease), and repeat the above steps until the difference is within the allowable range. In step S16, if the current input current meets the debugging requirements of the solenoid valve to be debugged, the corresponding relationship between the current input current and the movement amplitude corresponding to the current input current is stored for subsequent reading and recall. In this way, it can assist debugging workers in debugging the solenoid valves of arm-type mechanical products, reduce the professional requirements of personnel, ensure the accuracy of data judgment, and prevent the occurrence of misadjustments and omissions, thereby ensuring the standardization of product debugging.

[0051] See also Figure 2 , Figure 2 This is a flow chart of step S11 in the solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application. The steps of obtaining the solenoid valve debugging instruction in step S11 may include:

[0052] Step S111: Scan the QR code of the arm-type mechanical product to obtain product information of the arm-type mechanical product;

[0053] Step S112: Obtaining solenoid valve debugging instructions according to product information.

[0054] Specifically, in step S111, a QR code containing product information is provided on the arm-type mechanical product. By scanning the QR code, the product information of the arm-type mechanical product can be obtained. The product information may include the model information of the arm-type mechanical product. Different models of arm-type mechanical products require different solenoid valves to be debugged, and the initial input current required to be loaded on the solenoid valves to be debugged also varies. It is understandable that the QR code on each arm-type mechanical product is uniquely identified and corresponds one-to-one with the arm-type mechanical product. In step S112, all solenoid valve debugging instructions can be pre-compiled, and then the corresponding solenoid valve debugging instructions can be automatically obtained based on the product information of the arm-type mechanical product.

[0055] In actual application, the solenoid valves to be debugged of the arm-type mechanical product may include, but are not limited to, a solenoid valve for controlling the tilting movement of the mobile platform of the arm-type mechanical product (controlling the tilting movement of the mobile platform by controlling the telescopic movement of the tilting cylinder), a solenoid valve for controlling the rotational movement of the arm of the arm-type mechanical product (controlling the rotational movement of the arm by controlling the rotational movement of the rotary motor or controlling the telescopic movement of the transverse cylinder), and a solenoid valve for controlling the telescopic movement of the arm of the arm-type mechanical product (controlling the telescopic movement of the arm by controlling the telescopic movement of the telescopic cylinder). According to the product information of the arm-type mechanical product, one or more of the above solenoid valves to be debugged can be selected for debugging. The process of executing step S13 will also be different depending on the selected solenoid valve to be debugged, which will be explained in conjunction with the embodiments below.

[0056] In one embodiment, the solenoid valve to be debugged includes a first solenoid valve, which is used to control the tilt of a mobile platform of an arm-type mechanical product. The detection device includes a tilt sensor, which is disposed on the mobile platform. Acquiring the amplitude of movement of the working mechanism controlled by the solenoid valve to be debugged, as detected by the detection device in step S13, may include the following steps: obtaining a tilt angle signal of the mobile platform detected by the tilt sensor.

[0057] Specifically, when the corresponding initial input current is applied to the first solenoid valve, the first solenoid valve controls the tilt of the mobile platform by controlling the extension and retraction of the tilt cylinder. The tilt sensor detects the tilt angle signal of the mobile platform and transmits it to the vehicle controller and handheld terminal via the data acquisition and communication unit. After receiving the signal, the handheld terminal compares it with the preset tilt angle to determine whether the difference between the two is within the allowable range of tilt angles. If the difference is not within the allowable range of tilt angles, it indicates that the current input current does not meet the debugging requirements of the first solenoid valve and the input current of the first solenoid valve needs to be adjusted (increased or decreased). The above steps are repeated until the difference is within the allowable range of tilt angles. At this point, the current input current is determined to be the optimal driving current for the first solenoid valve.

[0058] In an alternative or additional embodiment, the solenoid valve to be debugged includes a second solenoid valve, which is used to control the rotation of the arm of the arm-type mechanical product. The detection equipment includes a rotation angle sensor, a first vibration sensor, and a first pressure transmitter, and the rotation angle sensor, the first vibration sensor, and the first pressure transmitter are all disposed on the arm. Acquiring the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged, as detected by the detection equipment in step S13, may include the following steps: acquiring a rotation angle signal of the arm detected by the rotation angle sensor, acquiring a vibration signal of the arm detected by the first vibration sensor, and acquiring a pressure signal of the arm detected by the first pressure transmitter.

[0059] Specifically, when the corresponding initial input current is applied to the second solenoid valve, the second solenoid valve controls the rotation of the boom by controlling the rotation of the rotary motor or the extension and retraction of the transverse oil cylinder. The rotation angle sensor, the first vibration sensor, and the first pressure transmitter can respectively detect the boom's rotation angle signal, vibration signal, and pressure signal, and transmit them to the vehicle controller and the handheld terminal via the data acquisition and communication unit. After receiving the signals, the handheld terminal compares the boom's rotation angle signal with the boom's preset rotation angle, the boom's vibration signal with the boom's preset vibration, and the boom's pressure signal with the boom's preset pressure, to determine whether the difference between the boom's rotation angle signal, vibration signal, and pressure signal and their preset values ​​is within their respective allowable ranges. If the difference between any of the boom's rotation angle signal, vibration signal, and pressure signal and its preset value is not within the corresponding allowable range, it indicates that the current input current does not meet the debugging requirements of the second solenoid valve and the input current of the second solenoid valve needs to be adjusted (increased or decreased). The above steps are repeated until the difference is within the corresponding allowable range. At this point, the current input current is determined to be the optimal driving current for the second solenoid valve.

[0060] In an alternative or additional embodiment, the solenoid valve to be debugged includes a third solenoid valve, which is used to control the telescopic movement of the arm of the arm-type mechanical product. The detection equipment includes a length sensor, a second vibration sensor, and a second pressure transmitter, all of which are installed on the telescopic cylinder of the arm. Acquiring the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged, as detected by the detection equipment in step S13, may include the following steps: acquiring a telescopic length signal of the telescopic cylinder detected by the length sensor, acquiring a vibration signal of the telescopic cylinder detected by the second vibration sensor, and acquiring a pressure signal of the telescopic cylinder detected by the second pressure transmitter.

[0061] Specifically, when a corresponding initial input current is applied to the third solenoid valve, the third solenoid valve controls the telescopic movement of the telescopic cylinder, thereby controlling the telescopic movement of the boom. The telescopic cylinder's telescopic length signal, vibration signal, and pressure signal are detected by the length sensor, the second vibration sensor, and the second pressure transmitter, respectively. These signals are then transmitted to the vehicle-mounted controller and the handheld terminal via the data acquisition and communication unit. Upon receiving these signals, the handheld terminal compares the telescopic cylinder's telescopic length signal with its preset telescopic length, the vibration signal with its preset vibration, and the pressure signal with its preset pressure, to determine whether the differences between the telescopic cylinder's telescopic length signal, vibration signal, and pressure signal and their preset values ​​are within their respective allowable ranges. If the difference between any of the telescopic cylinder's telescopic length signal, vibration signal, and pressure signal and its preset value is not within the corresponding allowable range, it indicates that the current input current does not meet the debugging requirements of the third solenoid valve and the input current of the third solenoid valve needs to be adjusted (increased or decreased). The above steps are repeated until the difference is within the corresponding allowable range. At this point, the current input current is determined to be the optimal driving current for the third solenoid valve.

[0062] See also Figure 3 , Figure 3 This is a flow chart of step S15 in the solenoid valve debugging method for an arm-type mechanical product provided in an embodiment of the present application. If it is determined in step S15 that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range may include the following steps:

[0063] Step S151: If it is determined that the difference is not within the allowable range, determine whether the difference is greater than zero;

[0064] Step S152: When it is determined that the difference is greater than zero, the input current of the solenoid valve to be debugged is reduced by a first preset step size until the difference is within an allowable range.

[0065] Specifically, in step S151, when the difference between the action amplitude and the preset amplitude is not within the allowable range, a further determination is made as to whether the difference is greater than zero. In step S152, when the difference is greater than zero, it indicates that the current input current is too large. In this case, the input current of the solenoid valve to be debugged can be reduced by a first preset step size, and the above steps are repeated until the difference is within the corresponding allowable range. It is understood that the first preset step size can be a fixed step size, such as 2 mA or 5 mA. The first preset step size can also be a variable step size, such as 5 mA at the beginning of the adjustment and then gradually reduced to 4 mA, 3 mA, and 2 mA during the adjustment process. In this way, when the initial input current is far from the optimal drive current of the solenoid valve to be debugged, a relatively large step size can be used to quickly bring the input current closer to the optimal drive current. As the input current gradually approaches the optimal drive current, a gradually smaller step size can be used to find an input current that meets the accuracy requirements, thereby balancing efficiency and accuracy during the debugging process.

[0066] Please continue reading Figure 3 Based on step S151 and step S152, if it is determined in step S15 that the difference is not within the allowable range, the input current of the solenoid valve to be debugged is adjusted until the difference is within the allowable range, and the following steps may also be included:

[0067] Step S153: When it is determined that the difference is less than zero, the input current of the solenoid valve to be debugged is increased by a second preset step size until the difference is within an allowable range.

[0068] In one embodiment, the first preset step length is equal to the second preset step length.

[0069] Specifically, when the difference is less than zero, it indicates that the current input current is too small. At this time, the input current of the solenoid valve to be debugged can be increased by a second preset step size, and the above steps can be repeated until the difference is within the corresponding allowable range. It is understandable that, similar to the first preset step size, the second preset step size can be a fixed step size, for example, set to 2mA or 5mA. The second preset step size can also be a variable step size, for example, set to 5mA at the beginning of the adjustment and then gradually reduced to 4mA, 3mA, and 2mA during the adjustment process. In this way, when the initial input current is far from the optimal drive current of the solenoid valve to be debugged, a relatively large step size can be used to quickly bring the input current close to the optimal drive current. As the input current gradually approaches the optimal drive current, a gradually smaller step size can be used to find an input current that meets the accuracy requirements, thereby balancing efficiency and accuracy during the debugging process.

[0070] See also Figure 4 , Figure 4 This is another flow chart of the solenoid valve debugging method for arm-type mechanical products provided in the embodiment of the present application. Figure 4As shown, the debugging method may further include the following steps:

[0071] Step S17: Determine whether the current input current reaches the preset termination current;

[0072] Step S18: When it is determined that the current input current reaches the preset termination current, the debugging of the solenoid valve to be debugged is terminated and an alarm message is output.

[0073] Specifically, the preset termination current is the current value at which, if a fault occurs during the process of applying input current to the solenoid valve to be debugged, no input current applied to the solenoid valve to be debugged can bring the difference between the operating amplitude of the controlled working mechanism and the preset amplitude within the allowable range. Therefore, when the current input current reaches the preset termination current, the current debugging of the solenoid valve to be debugged is determined to have failed, the debugging process is terminated, and an alarm message is output to remind the debugger to promptly handle the fault / anomaly. At the same time, a fault / anomaly handling log can also be generated for subsequent debugging personnel to review and minimize the recurrence of the same fault / anomaly.

[0074] In one embodiment, the solenoid valve debugging method further includes the following steps: generating a solenoid valve debugging report according to the current input current and the action amplitude corresponding to the current input current.

[0075] Specifically, after the current debugging of the solenoid valve to be debugged is completed, the handheld terminal can forward the current input current and the action amplitude corresponding to the current input current to the background management system through wireless routing. After receiving it, the background management system automatically generates a solenoid valve debugging report based on the current input current and the action amplitude corresponding to the current input current, which facilitates unified information and digital management, and is convenient for testers to query and trace at any time.

[0076] Through the above technical solution, that is, by obtaining the solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes the initial input current parameters of the solenoid valve to be debugged, the initial input current is loaded to the solenoid valve to be debugged according to the initial input current parameters, the action amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment is obtained, and it is determined whether the difference between the action amplitude and the preset amplitude is within the allowable range. When it is determined that the difference is not within the allowable range, the input current of the solenoid valve to be debugged is adjusted until the difference is within the allowable range, and the current input current and the action amplitude corresponding to the current input current are stored. In this way, debugging workers can be assisted in debugging the solenoid valves of arm-type mechanical products, reducing the requirements for personnel professionalism, ensuring the accuracy of data judgment, and preventing the occurrence of misadjustment and missed adjustment, thereby ensuring the standardization of product debugging.

[0077] It should be noted that, in the embodiments of the present application, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, commodity, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, commodity, or device comprising the element.

[0078] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A solenoid valve debugging method for arm-type mechanical products, characterized in that: include: Obtaining a solenoid valve debugging instruction, wherein the solenoid valve debugging instruction includes an initial input current parameter of the solenoid valve to be debugged; Loading an initial input current to the solenoid valve to be debugged according to the initial input current parameter; Obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by the detection equipment; Determining whether the difference between the movement amplitude and the preset amplitude is within an allowable range; If it is determined that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range; Store the current input current and the action amplitude corresponding to the current input current; The solenoid valve to be debugged includes a second solenoid valve, which is used to control the rotation of the arm of the arm-type mechanical product. The detection equipment includes a rotation angle sensor, a first vibration sensor and a first pressure transmitter, and the rotation angle sensor, the first vibration sensor and the first pressure transmitter are all provided on the arm. The step of obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by a detection device includes: Acquire a rotation angle signal of the boom detected by the rotation angle sensor, acquire a vibration signal of the boom detected by the first vibration sensor, and acquire a pressure signal of the boom detected by the first pressure transmitter; Determining whether the difference between the movement amplitude and the preset amplitude is within an allowable range includes: respectively determining whether the differences between the rotation angle signal, the vibration signal, and the pressure signal of the arm and their preset values ​​are within respective allowable ranges; When it is determined that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range includes: When the difference between any one of the rotation angle signal, the vibration signal, and the pressure signal of the arm and its preset value is not within the corresponding allowable range, adjusting the input current of the second solenoid valve, and repeating the above steps until the difference is within the corresponding allowable range; The second solenoid valve controls the rotation of the boom by controlling the rotation of the rotary motor or the extension and retraction of the transverse oil cylinder.

2. The solenoid valve debugging method according to claim 1, characterized in that: The obtaining of the solenoid valve debugging instruction includes: Scan the QR code of the arm-type mechanical product to obtain product information of the arm-type mechanical product; Obtain solenoid valve debugging instructions based on the product information.

3. The solenoid valve debugging method according to claim 1, characterized in that: The solenoid valve to be debugged includes a first solenoid valve, which is used to control the tilting action of the mobile platform of the arm-type mechanical product. The detection device includes a tilt sensor, which is arranged on the mobile platform. The step of obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by a detection device includes: Acquire a tilt angle signal of the mobile platform detected by the tilt sensor.

4. The solenoid valve debugging method according to claim 1, characterized in that: The solenoid valve to be debugged includes a third solenoid valve, which is used to control the telescopic action of the arm of the arm-type mechanical product. The detection equipment includes a length sensor, a second vibration sensor, and a second pressure transmitter. The length sensor, the second vibration sensor, and the second pressure transmitter are all provided on the telescopic cylinder of the arm; The step of obtaining the movement amplitude of the working mechanism controlled by the solenoid valve to be debugged detected by a detection device includes: The telescopic length signal of the telescopic cylinder detected by the length sensor, the vibration signal of the telescopic cylinder detected by the second vibration sensor, and the pressure signal of the telescopic cylinder detected by the second pressure transmitter are obtained.

5. The solenoid valve debugging method according to any one of claims 3 or 4, characterized in that: When it is determined that the difference is not within the allowable range, adjusting the input current of the solenoid valve to be debugged until the difference is within the allowable range includes: If it is determined that the difference is not within the allowable range, determining whether the difference is greater than zero; When it is determined that the difference is greater than zero, the input current of the solenoid valve to be debugged is reduced by a first preset step size until the difference is within the allowable range.

6. The solenoid valve debugging method according to claim 5, characterized in that: Also includes: When it is determined that the difference is less than zero, the input current of the solenoid valve to be debugged is increased by a second preset step size until the difference is within the allowable range.

7. The solenoid valve debugging method according to claim 6, characterized in that: The first preset step length is equal to the second preset step length.

8. The solenoid valve debugging method according to claim 1, characterized in that: Also includes: Determine whether the current input current reaches the preset termination current; When it is determined that the current input current reaches the preset termination current, the debugging of the solenoid valve to be debugged is terminated and an alarm message is output.

9. The solenoid valve debugging method according to claim 1, characterized in that: Also includes: Generate a solenoid valve debugging report based on the current input current and the action amplitude corresponding to the current input current.

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