Excavator excavation resistance testing device and testing method

Abstract

The present invention discloses an excavation resistance test device and a test method for an excavator, which belongs to the field of engineering machinery. The test device includes: an excavator mobile test device, an excavator body, a fixing device, two sets of tensioning components, a pressure sensor, and a tension sensor. The excavator body is fixedly mounted on the excavator mobile test device, the fixing device is fixedly mounted on the foundation and corresponds to the front and rear ends of the excavator body respectively, the two sets of tensioning components are respectively connected to the fixing device and the two ends of the excavator body, a plurality of pressure sensors are arranged at the bottom of the excavator mobile test device, and the tension sensor is fixedly mounted on the tensioning component for detecting tension changes; the tension sensor and the plurality of pressure sensors are respectively electrically connected to a data acquisition device for obtaining input data for calculating the excavation resistance. The present invention can accurately measure the excavation resistance of the excavator under different excavation postures during operation in real time, and provide a visual data reference for the operator.

Description

Technical Field

[0001] The invention belongs to the field of engineering machinery, and in particular relates to an excavation resistance testing device and a testing method for an excavator. Background Art

[0002] Excavators are the main mechanical equipment used in earthwork construction. They are widely used in various engineering constructions due to their high operating efficiency, flexible operating methods, and good adaptability to the working environment. The magnitude of the excavation resistance encountered by the excavator during operation is the main basis for the design and calculation of the excavator. It provides basic reference data for the forward design of the working device design and the energy consumption matching of the whole machine, and is of great significance to the related research and development of the excavator. Due to the complex working conditions of the excavator and the constantly changing force on the bucket, the excavation resistance cannot be directly measured by installing sensors on the bucket, and the acquisition of the excavation resistance has become a technical problem.

[0003] In the existing technology, the theoretical calculation of excavation resistance is based on some assumptions and approximations, the calculated value error is large, and the derivation of the mechanical model is complex and error-prone. The boundary conditions and motion postures imposed by the simulated excavation resistance are difficult to be consistent with the actual situation. They are only for ideal conditions, while the real excavation process is highly complex and random. Therefore, the simulation method cannot solve the problem of accurately solving the excavation resistance in the actual excavation process.

[0004] The shortcomings of the methods for experimentally testing digging resistance in existing patents include: the technology proposed in CN202110827999.7, because it is difficult to extract the actual digging trajectory of the excavator, it is impossible to decompose the bucket digging trajectory into the vertical moving device, the horizontal moving device and the bucket rotating device, and therefore it is impossible to accurately test the actual digging resistance of the excavator; the technologies proposed in CN201721471712.7 and CN201510438599.1 are similar, both of which use strain gauges to indirectly test the digging resistance. The test device has a complex structure, high processing accuracy requirements, high processing costs, and troublesome installation. Each pin shaft sensor needs to be calibrated before testing, and the testing process is complicated. Testing different models of excavators requires reprocessing and manufacturing of matching test devices, which has poor adaptability. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an excavation resistance testing device and method for an excavator. Through the device and method of the present invention, the excavation resistance of the excavator in different excavation postures during operation can be accurately measured in real time, including size and direction, and a visual data reference can be provided for the operator.

[0006] Technical solution: In the first aspect, the present invention provides an excavation resistance testing device for an excavator, comprising:

[0007] An excavator mobile test device, an excavator body fixedly mounted on the excavator mobile test device, a fixing device fixedly mounted on the foundation and corresponding to the front and rear ends of the excavator body respectively, two sets of tensioning assemblies respectively connecting the fixing device and the two ends of the excavator body, a plurality of pressure sensors arranged at the bottom of the excavator mobile test device, and a tension sensor arranged on the tensioning assembly;

[0008] The tension sensor and the plurality of pressure sensors are electrically connected to a data acquisition device respectively to obtain input data for calculating the digging resistance.

[0009] In a further embodiment, the mobile testing device for an excavator comprises: a first slide rail and a second slide rail respectively fixedly mounted on a plurality of pressure sensors, a first slider and a second slider movably mounted on the first slide rail, a third slider and a fourth slider movably mounted on the second slide rail, and a support plate fixedly mounted on the first slider, the second slider, the third slider, and the fourth slider;

[0010] One side of the plurality of pressure sensors is placed directly below the first slide rail and the second slide rail, and the other side is fixed on the foundation to measure the pressure value of the upper part;

[0011] The foundation has been processed and is solid as a whole and can bear an excavator and maintain a level surface.

[0012] In a further embodiment, a plurality of balls are provided at the connection between the first slider and the second slider and the first slide rail, and a plurality of balls are provided at the connection between the third slider and the fourth slider and the second slide rail, thereby reducing the friction resistance of the first slider, the second slider, the third slider and the fourth slider when sliding, and the friction resistance value can be ignored in experimental tests.

[0013] In a further embodiment, the fixing device includes: a first ground anchor and a second ground anchor fixedly installed on the foundation and located at both ends of the first slide rail and the second slide rail, and the connecting line between the first ground anchor and the second ground anchor coincides with the center line of the crawler devices on both sides of the excavator body and the center line of the interval between the first slide rail and the second slide rail.

[0014] In a further embodiment, the two sets of tensioning assemblies include: a first steel wire rope segment fixedly connected to a first ground anchor at one end of the excavator, and a second steel wire rope segment fixedly connected to a second ground anchor at the other end of the excavator;

[0015] The first steel wire rope segment and the second steel wire rope segment are always kept at the same level during installation;

[0016] The number of the tension sensors is two groups, and the tension sensors are fixedly connected to the first steel wire rope segment and the second steel wire rope segment respectively, and are used to measure the tension values ​​between the first anchor and the second anchor and the front and rear ends of the excavator body.

[0017] In a further embodiment, the first steel rope segment and the second steel rope segment are further provided with a tensioning device for tensioning the first steel rope segment and the second steel rope segment.

[0018] In a further embodiment, the excavator body is fixedly mounted on the support plate through crawler devices on both sides of the excavator body. When the excavator is excavating, the reaction force of the material on the excavator will provide forward or backward power for the support plate, thereby driving the slider fixed to the support plate to move on the first slide rail and the second slide rail respectively.

[0019] In a second aspect, the present invention provides a testing method, comprising:

[0020] Collect real-time data from pressure sensors and tension sensors, and obtain the working direction of the excavator bucket;

[0021] Calculate the real-time data according to the working direction of the excavator bucket to obtain the digging resistance in the horizontal and vertical directions;

[0022] The excavation resistance in the horizontal direction and the vertical direction are synthesized to obtain the value and direction of the actual excavation resistance when the excavator is working;

[0023] The value of the actual excavation resistance and the direction of the actual excavation resistance are sent to a display device for visual output.

[0024] In a further embodiment, calculating the real-time data according to the working direction of the excavator bucket to obtain the excavation resistance in the horizontal direction and the vertical direction includes:

[0025] When the horizontal excavation resistance of the excavator bucket is directed to the right, the tension sensor on the left is pulled, and the tension sensor on the right is in a free state, that is, T2 = 0, then the force balance equations in the horizontal and vertical directions are:

[0026]

[0027] The calculation formula for the excavation resistance in the horizontal and vertical directions is:

[0028]

[0029] When the horizontal excavation resistance of the excavator bucket is directed to the left, the tension sensor on the right is pulled, and the tension sensor on the left is in a free state, that is, T1 = 0, then the force balance equations in the horizontal and vertical directions are:

[0030]

[0031] The calculation formula for the excavation resistance in the horizontal and vertical directions is:

[0032]

[0033] Where, T1 represents the real-time value of the tension sensor on the left side when the resistance is to the right, T2 represents the real-time value of the tension sensor on the right side when the resistance is to the left, N1, N2, N3, and N4 represent the real-time values ​​of each pressure sensor, G represents the weight of the excavator, and ∑F x represents the horizontal force, ∑F y The vertical force, F wx Indicates the horizontal excavation resistance, F wy Indicates the digging resistance in the vertical direction.

[0034] In a further embodiment, the excavation resistance in the horizontal direction and the vertical direction are synthesized to obtain the actual excavation resistance F during the excavator operation. w The calculation formula is:

[0035]

[0036] The actual excavation resistance angle α is calculated as:

[0037]

[0038] Where α represents the angle of the actual excavation resistance relative to the horizontal line.

[0039] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0040] (1) Compared with the existing excavation test platform, by parking the excavator body and fixing the crawler devices on both sides on the support plate that slides with the slide rail, the excavator can actually excavate the material, and then accurately measure its excavation resistance under different postures, and filter out the factors that interfere with the test;

[0041] (2) The excavator testing device designed by the present invention can test the excavation resistance of the excavation process in real time. The actual excavation resistance of the excavator under different postures can be obtained by calculating the real-time test data, and the excavation resistance can be visualized and output quickly, accurately and efficiently, providing a reference value of the excavation resistance data for the excavation operation scene.

[0042] (3) The test device has a simple structure and low processing and manufacturing cost. It can test the digging resistance of different types of excavators without the need to process other devices. It has good versatility and can test and analyze the digging resistance under various digging postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural diagram of the excavator body and the excavator testing device of the present invention;

[0044] Figure 2 This is a diagram showing an embodiment of the excavator testing device of the present invention.

[0045] Figure markings: 1-excavator body, 11-excavator bucket, 2-excavator mobile testing device, 20-first ground anchor, 21-second ground anchor, 22-tensioning device, 23-tension sensor, 240-first steel wire rope segment, 241-second steel wire rope segment, 25-pressure sensor, 260-first slider, 261-second slider, 262-third slider, 263-fourth slider, 270-first slide rail, 271-second slide rail, 280-support plate. DETAILED DESCRIPTION

[0046] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with specific embodiments below, but is not limited thereto.

[0047] Digging resistance: refers to the sum of various resistances generated by materials on the bucket when the excavator is working, such as the friction resistance of materials on the bucket, the pressure resistance of materials on the bucket, etc., the resistance encountered during excavation;

[0048] The applicant believes that the existing testing device fails to obtain the actual excavation resistance of the excavator under different excavation postures, and thus fails to provide true, effective and accurate test data to the testers, and thus fails to accurately guide the design of the excavator.

[0049] Embodiment 1:

[0050] like Figure 1 to Figure 2 The figure further illustrates an excavation resistance test device for an excavator in this embodiment, which in practical application includes: an excavator mobile test device 2, an excavator body 1, a fixing device, two sets of tensioning components, a pressure sensor 25, and a tension sensor 23;

[0051] Among them, the excavator body 1 is fixedly installed on the excavator mobile test device 2, the fixing device is fixedly installed on the foundation and corresponds to the front and rear ends of the excavator body 1 respectively, two sets of tensioning components are respectively connected to the fixing device and the two ends of the excavator body 1, a plurality of pressure sensors 25 are arranged at the bottom of the excavator mobile test device 2, and are used to test the change value of the pressure at the upper end of the excavator mobile test device 2, and the tension sensor 23 is fixedly installed on the tensioning component to detect the change value of the tension applied by the excavator body 1 to the tensioning component and the fixing device during the excavation operation;

[0052] The tension sensor 23 and the plurality of pressure sensors 25 are respectively electrically connected to a data acquisition device to obtain input data for calculating the excavation resistance, thereby providing accurate data support for the calculation of the excavation resistance under different excavation postures of the excavator body 1 .

[0053] The excavator mobile testing device 2 includes: a first slider 260 , a second slider 261 , a third slider 262 , a fourth slider 263 , a first slide rail 270 , a second slide rail 271 , and a support plate 280 .

[0054] The first slide rail 270 and the second slide rail 271 are respectively fixedly installed on the foundation, the first slider 260 and the second slider 261 are movably installed on the first slide rail 270, the third slider 262 and the fourth slider 263 are movably installed on the second slide rail 271, and the support plate 280 is fixedly installed on the first slider 260, the second slider 261, the third slider 262 and the fourth slider 263.

[0055] In the present embodiment, the number of the plurality of pressure sensors 25 is 4, and each group of 2 pressure sensors are fixedly installed at the bottom of the first slide rail 270 and the second slide rail 271 respectively, and are used to detect the pressure values ​​of different sections of the first slide rail 270 and the second slide rail 271 to obtain the real-time pressure data of the excavator when the first slide rail 270 and the second slide rail 271 move, and the gravity of the excavator and the value of the pressure on the upper end of the excavator mobile test device 2 during operation can be calculated. After the foundation in contact with the pressure sensor 25 is processed, the foundation as a whole is solid enough to support the excavator and keep the surface level, so that the excavator body 1 and the excavator mobile test device 2 are both in a horizontal position.

[0056] A plurality of balls are provided at the connection between the first slider 260 and the second slider 261 and the first slide rail 270, and a plurality of balls are provided at the connection between the third slider 262 and the fourth slider 263 and the second slide rail 271, thereby reducing the friction resistance of the first slider 260, the second slider 261, the third slider 262 and the fourth slider 263 when sliding, and the friction resistance value can be ignored in the experimental test.

[0057] The fixing device comprises: a first ground anchor 20 and a second ground anchor 21 .

[0058] The first ground anchor 20 and the second ground anchor 21 are fixedly installed on the foundation and are located at the two ends of the first slide rail 270 and the second slide rail 271. The connecting line between the first ground anchor 20 and the second ground anchor 21 is respectively located on the same straight line with the center line of the crawler devices on both sides of the excavator body 1 and the center line between the first slide rail 270 and the second slide rail 271. The first ground anchor 20 and the second ground anchor 21 are connected to the tensioning assembly for tensioning and fixing the excavator body 1.

[0059] The two sets of tensioning components include: a tension sensor 23 , a first steel wire rope segment 240 , and a second steel wire rope segment 241 .

[0060] The first steel wire rope segment 240 is fixedly connected from one end of the excavator to the first ground anchor 20, and the second steel wire rope segment 241 is fixedly connected from the other end of the excavator to the second ground anchor 21;

[0061] The first steel rope segment 240 and the second steel rope segment 241 are always kept at the same level during installation;

[0062] There are two groups of tension sensors 23 , which are respectively fixedly connected to the first steel wire rope segment 240 and the second steel wire rope segment 241 , and are used to measure the tension values ​​between the first anchor 20 and the second anchor 21 and the front and rear ends of the excavator body 1 .

[0063] The first steel wire rope segment 240 and the second steel wire rope segment 241 are also provided with a tensioning device 22. In this embodiment, a steel wire rope tensioner is used. By adjusting the tensioner, the tensioning effect of the first steel wire rope segment 240 and the second steel wire rope segment 241 is achieved, so that the tension sensor 23 obtains an accurate tension value.

[0064] The excavator body 1 is fixedly mounted on the support plate 280 through the crawler devices on both sides of the excavator body 1. When the excavator is excavating, the reaction force of the material on the excavator will provide the support plate 280 with forward or backward power, thereby driving the support plate 280 to drive the fixed slider to move on the first slide rail 270 and the second slide rail 271 respectively, so that the excavator body 1 can move linearly in the horizontal direction along the first slide rail 270 and the second slide rail 271, thereby obtaining test data during excavation in real time.

[0065] Embodiment 2:

[0066] This embodiment further illustrates the testing method of the testing device, and the test value acquisition steps are as follows:

[0067] Collecting real-time data from the pressure sensor 25 and the tension sensor 23 and obtaining the working direction of the excavator bucket 11;

[0068] The real-time data is calculated according to the working direction of the excavator bucket 11 to obtain the excavation resistance in the horizontal direction and the vertical direction;

[0069] The excavation resistance in the horizontal direction and the vertical direction are synthesized to obtain the value and direction of the actual excavation resistance when the excavator is working;

[0070] The value of the actual excavation resistance and the direction of the actual excavation resistance are sent to a display device for visual output.

[0071] The real-time data is calculated according to the working direction of the excavator bucket 11 to obtain the excavation resistance in the horizontal direction and the vertical direction, including:

[0072] When the horizontal excavation resistance of the excavator bucket 11 is directed to the right, the tension sensor on the left is pulled, and the tension sensor on the right is in a free state, that is, T2 = 0, then the force balance equations in the horizontal direction and the vertical direction are respectively:

[0073]

[0074] The calculation formula for the excavation resistance in the horizontal and vertical directions is:

[0075]

[0076] When the horizontal excavation resistance of the excavator bucket 11 is directed to the left, the tension sensor on the right side is pulled, and the tension sensor on the left side is in a free state, that is, T1 = 0, then the force balance equations in the horizontal direction and the vertical direction are respectively:

[0077]

[0078] The calculation formula for the excavation resistance in the horizontal and vertical directions is:

[0079]

[0080] Wherein, T1 represents the real-time value of the tension sensor on the left side when the resistance is to the right, T2 represents the real-time value of the tension sensor on the right side when the resistance is to the left, N1, N2, N3, N4 represent the real-time values ​​of each pressure sensor respectively, G represents the weight of the excavator, and the G value can be obtained by adjusting the reading N of the pressure sensor 25 when the excavator body 1 is adjusted to be stationary before the test starts. 10 、N 20 、N 30 and N 40 So, G = N 10 +N 20 +N 30 +N 40 ,∑F x represents the horizontal force, ∑F y The vertical force, Fwx Indicates the horizontal excavation resistance, F wy Indicates the digging resistance in the vertical direction.

[0081] The excavation resistance in the horizontal and vertical directions is synthesized to obtain the actual excavation resistance F during excavation operation. w The calculation formula is:

[0082]

[0083] The actual excavation resistance angle α is calculated as:

[0084]

[0085] Where α represents the angle of the actual excavation resistance relative to the horizontal line.

[0086] In summary, compared with the existing excavation test platform, by parking and fixing the excavator body 1 on the support plate that slides with the slide rail, the excavator is fixedly installed with the support plate 280 through the crawler devices on both sides of the excavator body 1. When the excavator is excavating, the reaction force of the material on the excavator will provide the support plate with forward or backward power, thereby driving the slider fixed by the support plate to move on the first slide rail and the second slide rail respectively; the excavator can actually excavate the material, and then accurately measure its excavation resistance under different postures, and filter out the factors that interfere with the test; secondly, the excavation resistance test device for the excavator designed by the present invention can test the excavation resistance of the whole machine in real time during the excavation process, and the actual excavation resistance of the excavator under different postures can be obtained by calculating the real-time test data, and the excavation resistance can be quickly, accurately and efficiently visualized and output, providing a reference value of the excavation resistance data for the excavation operation scene; finally, the test device has a simple structure and a low processing and manufacturing cost, and can test the excavation resistance of excavators of different models without the need to process other devices, has good versatility, and can test and analyze the excavation resistance under various excavation postures.

[0087] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An excavation resistance testing device for an excavator, characterized in that: include: An excavator mobile test device, an excavator body fixedly mounted on the excavator mobile test device, a fixing device fixedly mounted on the foundation and corresponding to the front and rear ends of the excavator body respectively, two sets of tensioning assemblies respectively connecting the fixing device and the two ends of the excavator body, a plurality of pressure sensors arranged at the bottom of the excavator mobile test device, and a tension sensor arranged on the tensioning assembly; The tension sensor and the plurality of pressure sensors are electrically connected to a data acquisition device respectively to obtain input data for calculating the digging resistance.

2. The excavation resistance testing device for an excavator according to claim 1, characterized in that: The excavator mobile testing device comprises: a first slide rail and a second slide rail respectively fixedly mounted on a plurality of pressure sensors, a first slider and a second slider movably mounted on the first slide rail, a third slider and a fourth slider movably mounted on the second slide rail, and a support plate fixedly mounted on the first slider, the second slider, the third slider and the fourth slider; One side of the plurality of pressure sensors is placed directly below the first slide rail and the second slide rail, and the other side is fixed on the foundation for measuring the pressure value of the upper part.

3. The excavation resistance testing device for an excavator according to claim 2, characterized in that: A plurality of balls are provided at the connection between the first slider and the second slider and the first slide rail, and a plurality of balls are provided at the connection between the third slider and the fourth slider and the second slide rail, thereby reducing the friction resistance of the first slider, the second slider, the third slider and the fourth slider when sliding.

4. The excavation resistance testing device for an excavator according to claim 1, characterized in that: The fixing device includes: a first ground anchor and a second ground anchor fixedly installed on the foundation and located at both ends of the first slide rail and the second slide rail, and the connection line between the first ground anchor and the second ground anchor coincides with the center line of the crawler devices on both sides of the excavator body and the center line of the interval between the first slide rail and the second slide rail.

5. The excavation resistance testing device for an excavator according to claim 1, characterized in that: The two sets of tensioning components include: a first steel wire rope segment fixedly connected to a first ground anchor at one end of the excavator, and a second steel wire rope segment fixedly connected to a second ground anchor at the other end of the excavator; The first steel wire rope segment and the second steel wire rope segment are always kept at the same level during installation; The number of the tension sensors is two groups, and the tension sensors are fixedly connected to the first steel wire rope segment and the second steel wire rope segment respectively, and are used to measure the tension values ​​between the first anchor and the second anchor and the front and rear ends of the excavator body.

6. The excavation resistance testing device for an excavator according to claim 5, characterized in that: The first steel rope segment and the second steel rope segment are also provided with a tensioning device for tensioning the first steel rope segment and the second steel rope segment.

7. The excavation resistance testing device for an excavator according to claim 2, characterized in that: The excavator body is fixedly mounted on the support plate through the crawler devices on both sides of the excavator body. When the excavator is digging, the reaction force of the material on the excavator will provide the support plate with forward or backward power, thereby driving the slider fixed to the support plate to move on the first slide rail and the second slide rail respectively.

8. A testing method, characterized in that: The testing device according to claim 1 comprises: Collect real-time data from pressure sensors and tension sensors, and obtain the working direction of the excavator bucket; Calculate the real-time data according to the working direction of the excavator bucket to obtain the digging resistance in the horizontal and vertical directions; The excavation resistance in the horizontal direction and the vertical direction are synthesized to obtain the value and direction of the actual excavation resistance when the excavator is working; The value of the actual excavation resistance and the direction of the actual excavation resistance are sent to a display device for visual output.

9. The testing method according to claim 8, characterized in that: The real-time data is calculated according to the working direction of the excavator bucket to obtain the digging resistance in the horizontal and vertical directions including: When the horizontal excavation resistance of the excavator bucket is directed to the right, the tension sensor on the left is pulled, and the tension sensor on the right is in a free state (T2 = 0), then the force balance equations in the horizontal and vertical directions are: The calculation formula for the excavation resistance in the horizontal and vertical directions is: When the horizontal excavation resistance of the excavator bucket is directed to the left, the tension sensor on the right is pulled, and the tension sensor on the left is in a free state (T1 = 0), then the force balance equations in the horizontal and vertical directions are: The calculation formula for the excavation resistance in the horizontal and vertical directions is: Where, T1 represents the real-time value of the tension sensor on the left side when the resistance is to the right, T2 represents the real-time value of the tension sensor on the right side when the resistance is to the left, N1, N2, N3, and N4 represent the real-time values ​​of each pressure sensor, G represents the weight of the excavator, and ∑F x represents the horizontal force, ∑F y The vertical force, F wx Indicates the horizontal excavation resistance, F wy Indicates the digging resistance in the vertical direction.

10. The testing method according to claim 8, characterized in that: The excavation resistance in the horizontal and vertical directions is synthesized to obtain the actual excavation resistance F during excavation operation. w The calculation formula is: The actual excavation resistance angle α is calculated as: Where α represents the angle of the actual excavation resistance relative to the horizontal line.

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