Rotary Test Method, Equipment and Excavator

Abstract

The present application relates to the field of construction machinery, and particularly to a slewing test method, device and excavator for an excavator. The method includes: obtaining a pulse signal generated by a screw sensed during the slewing of a slewing device, determining the angular velocity of the slewing device according to the pulse width of the pulse signal, determining the number of pulse signals between a starting braking time point and an ending braking time point as a first pulse number, where the starting braking time point is the time point when the angular velocity of the slewing device starts to be less than a first preset angular velocity, determining whether there is a pulse signal within a preset waiting time after the ending braking time point to determine the number of braking pulses, and determining a maximum braking angle according to the determined number of braking pulses and the number of screws.

Description

Technical Field

[0001] This application relates to the field of construction machinery, and particularly to a slewing test method, device and excavator for an excavator. Background Art

[0002] In today's construction machinery industry, competition has intensified, and production efficiency urgently needs to be improved. In the production and manufacturing of excavators, the working efficiency of the test stations equipped on the production line is insufficient, and the test and factory efficiency has become a bottleneck for improving production efficiency. Therefore, automating and digitizing traditional manual testing has become the only way to improve efficiency, reduce costs and improve quality in excavator production.

[0003] Slewing test is a key process in the quality test of excavators, aiming to screen defective vehicles, discover debugging errors, and perform secondary debugging on vehicles that need to be re-debugged to ensure that the slewing performance of the excavators leaving the factory meets the technical standards. The slewing test of an excavator includes two test contents: the time taken for slewing a fixed angle and the slewing braking angle. There are two common methods for completing the slewing test of excavators leaving the factory: the manual test method and the automated test method using in-vehicle sensors. Both of these methods have their own limitations. The manual test method relies on manual measurement, with large measurement errors, long test time, and relies on manual judgment. There is no clear prompt for abnormal test results, and it is difficult to completely prevent omissions. In the automated test method using in-vehicle sensors, the test sensors and components are assembled simultaneously, which requires a complete re-design of the excavator. For models that have been designed and produced stably, it is very difficult to assemble the sensors into the original structure, and the slewing detection sensors are only useful in the factory test. If the sensors are assembled together with the vehicle components, a set of test sensors cannot be reused among different factory-produced machines, which will increase additional costs. Summary of the Invention

[0004] The purpose of this application is to overcome the problems of low efficiency and high cost in existing excavation and slewing tests, and provide a slewing test method, device and excavator for an excavator.

[0005] To achieve the above purpose, in the first aspect of this application, a slewing test method for an excavator is provided, which is applied to an excavator. The excavator includes an upper frame and a lower frame, and the upper frame and the lower frame are connected by a slewing device. The slewing device includes a slewing flange, and a plurality of screws are arranged at equal intervals along the circumference of the slewing flange. The method includes:

[0006] Obtain the pulse signals generated by the screws sensed during the slewing of the slewing device;

[0007] Determine the angular velocity of the slewing device according to the pulse width of the pulse signal;

[0008] Determine the number of pulse signals from the starting braking time point to the ending braking time point as the first pulse number, where the starting braking time point is the time point when the angular velocity of the slewing device starts to be less than the first preset angular velocity.

[0009] Judge whether there is a pulse signal within a preset waiting time after the ending braking time point;

[0010] If there is no pulse signal, determine the braking pulse number as the first pulse number;

[0011] If there is a pulse signal, determine the braking pulse number as the sum of the first pulse number and the value 1;

[0012] Determine the maximum braking angle according to the determined braking pulse number and the number of screws.

[0013] In an embodiment of the present application, the method further includes:

[0014] Determine the starting detection time point;

[0015] Determine the slewing completion time point when the number of pulse signals reaches the number of screws starting from the starting detection time point;

[0016] Determine the slewing time according to the difference between the slewing completion time point and the starting detection time point.

[0017] In an embodiment of the present application, the starting detection time point is the time point when the rising edge of the first pulse signal occurs after the angular velocity of the slewing device reaches the second preset angular velocity.

[0018] In an embodiment of the present application, determining the angular velocity of the slewing device according to the pulse width of the pulse signal includes:

[0019] Determine the time difference between two adjacent pulse signals as the pulse width;

[0020] Determine the angular velocity of the slewing device according to the pulse width and the angular distance between adjacent screws.

[0021] A second aspect of the present application provides a slewing test device for an excavator. The excavator includes an upper frame and a lower frame, and the upper frame and the lower frame are connected by a slewing device. The slewing device includes a slewing flange, and a plurality of screws are arranged at equal intervals along the circumference of the slewing flange. The device includes:

[0022] A proximity switch sensor configured to sense the screws and output pulse signals;

[0023] A wireless transmission data acquisition unit configured to execute the above-mentioned slewing test method for an excavator.

[0024] In an embodiment of the present application, the device further includes:

[0025] A data and instruction management module, communicatively connected to the wireless transmission data acquisition unit, is configured to obtain test data of the wireless transmission data acquisition unit and issue test instructions to the wireless transmission data acquisition unit;

[0026] An interaction module, communicatively connected to the data and instruction management module, is configured to receive test data from the data and instruction management module, issue test instructions to the data and instruction management module, and provide test step guidance according to the obtained test content;

[0027] A digital debugging module, communicatively connected to the interaction module, is configured to receive test data and exception instructions from the interaction module, issue test content to the interaction module, and generate and output a test report.

[0028] In an embodiment of the present application, the proximity switch sensor is an inductive proximity switch sensor.

[0029] In an embodiment of the present application, the proximity switch includes an oscillator and an amplification output circuit.

[0030] The third aspect of the present application provides an excavator, including the above-mentioned swing test device for the excavator.

[0031] The fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor implements the above-mentioned swing test method for the excavator.

[0032] Through the above technical solutions, the swing test of the excavator is completed by processing the pulse signal output by the proximity switch sensor, with high efficiency and higher accuracy. Moreover, the cooperation of each module among the swing test devices avoids problems such as long test time, large error, low information transfer rate, and high communication cost in manual measurement. The test process is standard, the test step prompts are clear, the passing criteria are clear, and the test results can directly generate a report, avoiding mistakes, omissions, and errors caused by manual operations. At the same time, compared with installing a sensor measurement device in a vehicle, this solution has the advantages of reusable sensors and low cost. Without changing the vehicle design and without installing sensors for each factory-produced device, it is also possible to realize the digitalization and automation of the swing test of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematically shows a flow logic block diagram of a swing test method for an excavator according to an embodiment of the present application;

[0034] Figure 2 Schematically shows a flow diagram of measuring the time taken for the test swing to a fixed angle according to an embodiment of the present application;

[0035] Figure 3Schematically shows a pulse signal waveform diagram obtained by a wireless transmission data acquisition unit;

[0036] Figure 4 Schematically shows a pulse signal waveform diagram for angular velocity detection of a slewing device according to an embodiment of the present application;

[0037] Figure 5 Schematically shows a pulse signal waveform diagram for detecting the maximum braking angle of a slewing device according to an embodiment of the present application; and

[0038] Figure 6 Schematically shows a structural block diagram of a slewing test device for an excavator according to an embodiment of the present application. Detailed Description of the Embodiment

[0039] The following will describe in detail the specific embodiments of the present application with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not used to limit the present application.

[0040] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0042] The embodiment of the present application provides a slewing test method for an excavator, which can be applied to an excavator. The excavator includes an upper frame and a lower frame. When the excavator is working normally, the upper frame rotates with the lower frame as a support. The upper frame and the lower frame are connected by a slewing device. The slewing device includes a slewing flange, and a plurality of screws are arranged at equal intervals along the circumference of the slewing flange. The slewing test method provided by the embodiment of the present application is realized by using the screws on the above-mentioned slewing flange as the sensing targets of the proximity switch sensors. Figure 1 Schematically shows a flow logic block diagram of a slewing test method for an excavator according to an embodiment of the present application. AsFigure 1 As shown, in the embodiment of the present application, the slewing test method for an excavator includes:

[0043] Step S101: Obtain the pulse signal generated by the screw sensed during the slewing of the slewing device;

[0044] Step S102: Determine the angular velocity of the slewing device according to the pulse width of the pulse signal.

[0045] When the upper frame of the excavator rotates, it drives the screw on the slewing flange to rotate synchronously. The rotation process of the screw characterizes the rotation process of the slewing flange. Therefore, a proximity switch sensor can be used to sense the screw.

[0046] In an embodiment of the present application, the screw can be made of metal. Correspondingly, an inductive proximity switch sensor can be used, which can be installed at a position below the slewing flange and does not rotate with the rotation of the slewing flange. Its probe points to the installation circumference of the screw and has a certain installation distance from the screw.

[0047] The inductive proximity switch sensor generally includes an oscillator and an amplifier circuit. After being powered on, the oscillator generates an alternating magnetic field. When a metal target approaches this magnetic field and reaches the induction distance, eddy currents are generated inside the metal, resulting in the attenuation of the oscillation until it stops. The analog signal generated by the change of the oscillator's oscillation and stop is subjected to A / D conversion and amplification by the amplifier circuit, and then processed into various types of digital signals by the subsequent circuit and output.

[0048] In an embodiment of the present application, when there is a flange screw above the probe of the proximity switch sensor, the proximity switch outputs a digital level d1. When there is no flange screw above the probe of the proximity switch, the proximity switch outputs a digital level d2. d1 can be a high level (the high level can be expressed as 1), and d2 can be a low level (the low level can be expressed as 0). That is, the proximity switch sensor will perform a level flip due to the change in the sensed target characteristics. Therefore, there is:

[0049]

[0050] Based on the characteristic that the proximity switch sensor will perform a level flip due to the change in the sensed target characteristics, Figure 3 Schematically shows a waveform diagram of the pulse signal obtained by a wireless transmission data acquisition unit. As Figure 3 shown, in an embodiment of the present application, the wireless transmission data acquisition unit communicatively connected to the proximity switch sensor can obtain the pulse signal generated by the proximity switch sensor sensing the screw during the slewing of the slewing device. The number of pulses of the pulse signal corresponds to the number of screws sensed by the proximity switch sensor.

[0051] In one embodiment of the present application, the swing test requires the real-time angular velocity of the swing device as the basis and parameter for determination. Determining the angular velocity of the swing device according to the pulse width of the obtained pulse signal includes:

[0052] Step S201: Determine the time difference between two adjacent pulse signals as the pulse width;

[0053] Step S202: Determine the angular velocity of the swing device according to the pulse width and the angular distance between adjacent screws.

[0054] Figure 4 Schematically shows a pulse signal waveform diagram for angular velocity detection of a swing device according to an embodiment of the present application. As Figure 4 shown, the time difference Δt2 between two adjacent pulse signals is the time difference for the proximity switch sensor to sense two adjacent screws, and the angular displacement rotated between two proximity switches is a fixed value obtained according to the swing flange design parameters. Therefore, the real-time angular velocity ω1 of the swing device can be calculated by the following formula:

[0055]

[0056] As Figure 1 shown, in one embodiment of the present application, determining the maximum value of the swing braking angle of the excavator according to the number of pulse signals and the real-time angular velocity of the swing device includes:

[0057] Step S103: Determine the number of pulse signals from the start braking time point to the end braking time point as the first pulse number;

[0058] Step S104: Determine whether there is the pulse signal within a preset waiting time after the end braking time point;

[0059] Step S105a: If there is no pulse signal, determine the braking pulse number as the first pulse number;

[0060] Step S105b: If there is the pulse signal, determine the braking pulse number as the sum of the first pulse number and the value 1;

[0061] Step S106: Determine the maximum braking angle according to the determined braking pulse number and the number of screws.

[0062] Figure 5 Schematically shows a pulse signal waveform diagram for detecting the maximum value of the swing braking angle of a swing device according to an embodiment of the present application. As Figure 5As shown, in an embodiment of the present application, before the test starts, the driver is prompted to accelerate. When it is detected that the angular velocity ω1 of the slewing device is greater than the preset starting deceleration speed for the first time, the driver is prompted to start decelerating. After starting to decelerate, when the detected angular velocity ω1 is less than the first preset angular velocity (i.e., the preset starting detection speed) for the first time, the time point at this moment is calibrated as the starting braking time point t3. When the detected angular velocity ω1 is equal to the preset ending detection speed, the time point at this moment is calibrated as the ending braking time point t4. Count the number of pulse signals that appear during the time period from t3 to t4, and use the number of pulse signals during this time period as the first pulse number N2.

[0063] In an embodiment of the present application, after the ending braking time point t4, there is a preset waiting time Δt3 left. The wireless transmission data acquisition unit determines whether new pulse signals will appear within the preset waiting time. If new pulse signals appear, the braking pulse number N3 used to calculate the maximum braking angle is the first pulse number plus 1, that is, N3 = N2 + 1;

[0064] If no new pulse signals appear, the braking pulse number used to calculate the maximum braking angle, that is, N3, is the first pulse number N2, that is, N3 = N2.

[0065] The maximum braking angle Δθ max can be calculated using the following formula:

[0066] Δθ max = 360°×(N3 + 1) / N0

[0067] where N0 is the total number of known screws of the slewing flange, and the obtained maximum braking angle Δθ max is the upper limit value of the braking angle of the slewing device of the excavator.

[0068] By retaining a certain preset waiting time and determining whether new pulse signals will be generated during this period, all the angular displacements generated during the braking process of the slewing device can be included in the calculation, and the obtained maximum braking angle is more accurate.

[0069] In an embodiment of the present application, the slewing test of the excavator further includes measuring the time taken for the slewing fixed angle, Figure 2 Schematically shows a flow diagram of measuring the time taken for the slewing fixed angle according to an embodiment of the present application, as Figure 2 shown, measuring the time taken for the slewing fixed angle includes:

[0070] Step S107: Determine the starting detection time point;

[0071] Step S108: Determine the rotation completion time point when the number of pulse signals reaches the number of screws starting from the starting detection time point;

[0072] Step S109: Determine the rotation time used according to the difference between the rotation completion time point and the starting detection time point.

[0073] As Figure 3 shown, in an embodiment of the present application, after the test starts, the angular velocity ω1 of the slewing device is detected. When the rising edge of the first pulse signal appears after ω1 reaches the second preset angular velocity, the time point at this time is calibrated as the starting detection time point t1. It is known that the total number of screws of the slewing flange is N0, and the rotation of the slewing device by a fixed angle can be converted into a fixed number of turns n of the slewing device. When the slewing device rotates through the fixed number of turns n, the number of screws N1 sensed by the proximity switch sensor should be n×N0.

[0074] Start counting from the starting time point t1. When the number of pulse signals reaches the number of screws N1, the time point at this time is calibrated as the rotation completion time point t2. Specifically, the time point when the rising edge of the N1th pulse signal appears is calibrated as the rotation completion time point t2. The rotation time used Δt can be calculated by the following formula:

[0075] Δt = t2 - t1

[0076] The embodiment of the present application provides a slewing test device for an excavator. Figure 6 Schematically shows a structural block diagram of a slewing test device for an excavator according to an embodiment of the present application, as Figure 6 shown. The device includes:

[0077] A proximity switch sensor 1, configured to sense screws and output pulse signals;

[0078] A wireless transmission data acquisition unit 2, communicatively connected to the proximity switch sensor 1, configured to execute the above-mentioned slewing test method for an excavator;

[0079] In an embodiment of the present application, the device further includes:

[0080] A data and instruction management module 3, communicatively connected to the wireless transmission data acquisition unit 2, configured to obtain the test data of the wireless transmission data acquisition unit 2 and send test instructions to the wireless transmission data acquisition unit 2;

[0081] An interaction module 4, communicatively connected to the data and instruction management module 3, configured to receive test data from the data and instruction management module 3, send test instructions to the data and instruction management module 3, and provide test step guidance according to the obtained test content;

[0082] The digital debugging module 5, which is communicatively connected to the interaction module 4, is configured to receive test data and exception instructions from the interaction module 4, send test content to the interaction module 4, and generate and output a test report.

[0083] As Figure 6 shown, in an embodiment of the present application, the proximity switch sensor 1 and the wireless transmission data acquisition unit 2 are jointly installed under the slewing flange, and the two can be communicatively connected by wire. The wireless transmission data acquisition unit 2, the data and instruction management module 3, the interaction module 4, and the digital debugging module 5 can be communicatively connected wirelessly.

[0084] In an embodiment of the present application, at the start of the test, the operator inputs the excavator model to the interaction module 4, that is, issues a test start instruction to the interaction module 4. The interaction module 4 notifies the digital debugging module 5 that the test has started. The digital debugging module 5 sends test content to the interaction module 4 according to the excavator model. The test content is presented in text form on the display device of the interaction module 4 as a test step guide. The operator performs test operations according to the test step guide and issues test instructions to the data and instruction management module 3.

[0085] Taking the clockwise slewing test as an example, the interaction module 4 sends a clockwise slewing test instruction to the wireless transmission data acquisition unit 2 via the data and instruction management module 3. The interaction module 4 prompts the operator to perform clockwise slewing, and the operator starts to operate the excavator to perform a clockwise slewing action.

[0086] After receiving the clockwise slewing detection instruction, the wireless transmission data acquisition unit 2 obtains the electrical signal of the proximity switch sensor 1 to calculate the slewing angular velocity. When the rising edge of the first pulse signal after the slewing angular velocity reaches the second preset angular velocity occurs, a message is reported to the interaction module 4 to prompt the driver, and the calculation of the time taken for the slewing fixed angle starts. After the calculation is completed, the wireless transmission data acquisition unit 2 uploads test data to the interaction module 4 through the data and instruction management module 3, and starts to continuously upload the excavator slewing angular velocity. The interaction module 4 records the data and prompts the operator that the slewing time test is completed and accelerates to the preset start deceleration speed.

[0087] When the slewing speed of the upper carriage of the excavator reaches the preset start deceleration speed, the interaction module 4 prompts the driver to start braking. The driver starts the braking action. The wireless transmission data acquisition unit 2 records the braking data and uploads the test result to the interaction module 4 through the data and instruction management module 3. The interaction module 4 records the test data, prompts the operator that the test is completed, and uploads the test data to the digital debugging module 5.

[0088] After completing the four tests of the clockwise rotation time test, the maximum clockwise braking distance test, the counterclockwise rotation time test, and the maximum counterclockwise braking distance test, the digital debugging module 5 generates and outputs a report, and the test is completed.

[0089] An embodiment of the present application provides an excavator, including the rotary test device for an excavator in the above embodiment.

[0090] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor implements the rotary test method for an excavator in the above embodiment.

[0091] An embodiment of the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the rotary test method for an excavator according to the above embodiment.

[0092] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented 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.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the process in Figure 1 one process or multiple processes and / or blocks Figure 1the functions specified in one or more boxes. These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing in the process Figure 1 one process or more processes and / or boxes Figure 1 the steps of the functions specified in one box or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0095] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0096] Computer-readable media includes permanent and non-permanent, removable and non-removable media and can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0097] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

[0098] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A slewing test method for an excavator, the excavator comprising an upper frame and a lower frame, the upper frame and the lower frame being connected by a slewing device, the slewing device comprising a slewing flange, and a plurality of screws being arranged at equal intervals along the circumference of the slewing flange, characterized in that, The rotation test method includes: Obtaining a pulse signal generated by the screw sensed during the rotation of the rotating device; Determining the angular velocity of the rotating device according to the pulse width of the pulse signal; Determining the number of the pulse signals between the starting braking time point and the ending braking time point as the first pulse number, where the starting braking time point is the time point when the angular velocity of the rotating device starts to be less than a first preset angular velocity, and the ending braking time point is the time point when the angular velocity of the rotating device is equal to a preset ending detection speed; Judging whether there is the pulse signal within a preset waiting time after the ending braking time point; If there is no such pulse signal, determining the braking pulse number as the first pulse number; If there is such pulse signal, determining the braking pulse number as the sum of the first pulse number and the value 1; Determine the maximum braking angle according to the determined number of braking pulses and the number of the screws, wherein the calculation formula of the maximum braking angle is: Δθ max = 360°×(N3 + 1) / N0, where the Δθ max is the maximum braking angle, the N0 is the total number of screws of the rotary flange, the N3 is the number of braking pulses of the maximum braking angle, and the number of braking pulses of the maximum braking angle is equal to the first pulse number; The determining the angular velocity of the rotating device according to the pulse width of the pulse signal includes: Determining the time difference between two adjacent pulse signals as the pulse width; Determining the angular velocity of the rotating device according to the pulse width and the angular distance between adjacent screws.

2. The rotation test method according to claim 1, characterized in that It further includes: Determining a starting detection time point; Determining a rotation completion time point when the number of the pulse signals reaches the number of the screws starting from the starting detection time point; Determining the rotation time according to the difference between the rotation completion time point and the starting detection time point.

3. The rotation test method according to claim 2, wherein The starting detection time point is the time point when the rising edge of the first pulse signal is generated after the angular velocity of the rotating device reaches a second preset angular velocity.

4. A swing test device for an excavator, the excavator comprising an upper carriage and a lower carriage, the upper carriage and the lower carriage being connected by a swing device, the swing device comprising a swing flange, and a plurality of screws being arranged at equal intervals along the circumference of the swing flange, characterized in that, The rotation test device includes: A proximity switch sensor configured to sense the screw and output a pulse signal; A wireless transmission data acquisition unit communicatively connected to the proximity switch sensor and configured to execute the rotation test method for an excavator according to any one of claims 1 to 3.

5. The rotary test device according to claim 4, characterized in that, It further includes: A data and instruction management module communicatively connected to the wireless transmission data acquisition unit and configured to obtain the test data of the wireless transmission data acquisition unit and issue a test instruction to the wireless transmission data acquisition unit; An interaction module communicatively connected to the data and instruction management module and configured to receive the test data from the data and instruction management module, issue the test instruction to the data and instruction management module, and provide test step guidance according to the obtained test content; A digital debugging module communicatively connected to the interaction module and configured to receive the test data and an exception instruction from the interaction module, issue the test content to the interaction module, and generate and output a test report.

6. The rotary test device according to claim 4, characterized in that, The proximity switch sensor is an inductive proximity switch sensor.

7. The rotary test device according to claim 6, characterized in that The proximity switch sensor includes an oscillator and an amplification output circuit.

8. An excavator, characterized in that, It includes: An upper frame; A lower frame, and the upper frame is connected to the lower frame through a rotating device; The rotation test device for an excavator according to any one of claims 4 to 7.

9. A machine-readable storage medium having instructions stored thereon, characterized in that, When executed by a processor, the instructions cause the processor to implement the slewing test method for an excavator according to any one of claims 1 to 3.

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