Fatigue test bench parameter determination method, device and fatigue test bench

Abstract

The embodiment of the present invention provides a method and device for determining parameters of a fatigue test bench, and a fatigue test bench, which belong to the field of hydraulic excavator testing. The method includes: determining the angle between the line between the first connection point and the second connection point and the boom cylinder as the first angle; determining the angle between the rocker and the bucket cylinder as the second angle; performing a force balance analysis on the working device based on the locking force of the boom cylinder and the locking force of the boom cylinder to determine the digging force of the bucket, and the angle between the boom cylinder and the line between the third connection point and the fourth connection point as the third angle; determining the working size parameters of the fatigue test bench's restraint device based on the first angle, the second angle, and the third angle; and determining the boosting force of the fatigue test bench's booster on the bucket based on the digging force. Through the above method, the purpose of synchronous fatigue assessment of the boom and boom of the working device is achieved.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic excavator testing, and in particular to a method and device for determining parameters of a fatigue test bench, and the fatigue test bench. Background Art

[0002] In order to improve the quality of hydraulic excavator products and effectively ensure the performance and safety of each component of the hydraulic excavator during operation, as well as the operating condition of the entire machine, fatigue strength testing of hydraulic excavators is required. Currently, when testing the fatigue strength of hydraulic excavator tooling, fatigue testing equipment is used to limit the maximum posture of the excavator's working device, and fatigue assessment and testing of the working device is performed under conditions of maximum excavator digging force. However, when the working device is fatigue assessed and tested in this posture, the load on the boom is much greater than the load on the arm. When fatigue cracking occurs in the boom, the boom is actually far from achieving the assessment or test results. Therefore, the fatigue test method of limiting the maximum posture of the working device cannot simultaneously assess or test the boom and the boom. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to overcome the problem in the prior art that fatigue assessment or testing of the boom and arm of an excavator cannot be performed simultaneously, and to provide a method and device for determining parameters of a fatigue test bench.

[0004] In a first aspect, the present application provides a design method for a fatigue test bench for an excavator working device, the excavator including a turntable 1, a working device boom cylinder 2, a boom 3, a dipper cylinder 4, a dipper arm 5, a rocker 6, a bucket cylinder 7, and a bucket 8, the turntable 1 is connected to the boom 3, the boom 3 is connected to the dipper arm 5, the dipper arm 5 is connected to the bucket 8, the boom cylinder 2 is connected to the turntable 1 and the boom 3, the dipper cylinder 4 is connected to the boom 3 and the dipper arm 5, the bucket cylinder 7 is connected to the dipper arm 5, the rocker arm 6, and the bucket 8, and the rocker arm 6 is connected to the dipper arm 5. The method includes:

[0005] Determine the angle between the connecting line between the first connection point C and the second connection point D and the boom cylinder 2 as the first angle δ, where the first connection point C is the connection point between the boom cylinder 2 and the turntable 1, and the second connection point D is the connection point between the boom 3 and the turntable 1;

[0006] Determine the angle between the rocker arm 6 and the bucket cylinder 7 as the second angle γ;

[0007] A force balance analysis is performed on the working device based on the arm cylinder locking force and the boom cylinder locking force to determine the digging force of the bucket 8 and the angle between the arm cylinder 4 and the lines connecting the third connection point O and the fourth connection point A, which is used as the third angle θ. The third connection point O is the connection point between the boom 3 and the arm 5, and the fourth connection point A is the connection point between the arm cylinder 4 and the arm 5.

[0008] Determine the working size parameters of the restraint device of the fatigue test bench according to the first angle δ, the second angle γ and the third angle θ;

[0009] The boosting force of the booster 9 of the fatigue test bench on the bucket 8 is determined according to the excavation force.

[0010] In one embodiment of the present application, a force balance analysis is performed on the working device based on the arm cylinder locking force and the boom cylinder locking force to determine the digging force of the bucket 8 and the angle between the arm cylinder 4 and the line connecting the third connection point O and the fourth connection point A, as the third angle θ, including:

[0011] Determine the direction of the excavation force based on the third connection point O and the excavation force application point B of the bucket 8;

[0012] Determine the lever arm of the reaction force of the excavation force on the third connection point O according to the direction as the first lever arm L1;

[0013] Determine the force arm of the reaction force on the second connection point D according to the direction as the second force arm L2;

[0014] According to the first angle δ and the distance between the first connection point C and the second connection point D, the lever arm of the boom cylinder locking force on the second connection point D is determined as the third lever arm L3;

[0015] Determine the distance between the third connection point O and the fourth connection point A, which is recorded as the required distance;

[0016] Based on the locking force of the boom cylinder, the second lever arm L2 and the third lever arm L3, a static balance analysis is performed on the second connection point D to determine the digging force;

[0017] According to the digging force, the first lever arm L1, the locking force of the bucket cylinder, and the required distance, a force balance analysis is performed on the third connection point O to determine the third angle θ.

[0018] In one embodiment of the present application, determining the force arm of the reaction force on the second connection point D according to the direction as the second force arm L2 includes:

[0019] Establish a rectangular coordinate system with the third connection point O as the origin;

[0020] Determine the expression of the straight line on which the direction lies relative to the rectangular coordinate system;

[0021] Determine the coordinates of the second connection point D in the rectangular coordinate system;

[0022] Determine the second lever arm L2 based on the expression and coordinates.

[0023] In one embodiment of the present application, a static balance analysis is performed on the second connection point D based on the boom cylinder locking force, the second lever arm L2, and the third lever arm L3 to determine the digging force, including:

[0024] The digging force is determined based on the fact that the product of the digging force and the second lever arm L2 is equal to the product of the boom cylinder locking force and the third lever arm L3.

[0025] In one embodiment of the present application, a force balance analysis is performed on the third connection point O based on the digging force, the first lever arm L1, the arm cylinder locking force, and the required distance to determine the third angle θ, including:

[0026] The third angle θ is determined based on the fact that the product of the excavation force and the first lever arm L1 is equal to the product of the boom cylinder locking force and the fourth lever arm L4, where the fourth lever arm L4 is the lever arm of the boom cylinder locking force on the third connection point O determined based on the third angle θ and the required distance.

[0027] In one embodiment of the present application, the first angle δ and the second angle γ are determined according to a conventional posture of a tooling device fatigue test.

[0028] In one embodiment of the present application, the restraint device includes a bucket rod 10, an arm rod 11, and a boom rod 12. The working dimension parameters of the restraint device of the fatigue test bench are determined according to the first angle δ, the second angle γ, and the third angle θ, including:

[0029] The lengths of the bucket link 10 , the arm link 11 and the boom link 12 are determined according to the first angle δ, the second angle γ and the third angle θ.

[0030] A second aspect of the present application provides a device for determining parameters of a fatigue test bench, which is used for an excavator working device. The excavator includes a turntable 1, a working device boom cylinder 2, a boom 3, a dipper cylinder 4, a dipper arm 5, a rocker arm 6, a bucket cylinder 7, and a bucket 8. The turntable 1 is connected to the boom 3, the boom 3 is connected to the dipper arm 5, the dipper arm 5 is connected to the bucket 8, the boom cylinder 2 is connected to the turntable 1 and the boom 3, the dipper cylinder 4 is connected to the boom 3 and the dipper arm 5, the bucket cylinder 7 is connected to the dipper arm 5, the rocker arm 6, and the bucket 8, and the rocker arm 6 is connected to the dipper arm 5. The method includes:

[0031] a first angle determination module, configured to determine an angle between a line connecting a first connection point C and a second connection point D and the boom cylinder 2, as a first angle δ, wherein the first connection point C is the connection point between the boom cylinder 2 and the turntable 1, and the second connection point D is the connection point between the boom 3 and the turntable 1;

[0032] A second angle determination module is used to determine the angle between the rocker arm 6 and the bucket cylinder 7 as a second angle γ;

[0033] a third angle determination module for performing a force balance analysis on the working device based on the arm cylinder locking force and the boom cylinder locking force to determine the digging force of the bucket 8 and the angle between the arm cylinder 4 and the line connecting the third connection point O and the fourth connection point A, as the third angle θ, where the third connection point O is the connection point between the boom 3 and the arm 5, and the fourth connection point A is the connection point between the arm cylinder 4 and the arm 5;

[0034] A working parameter determination module, configured to determine working dimension parameters of a restraint device of a fatigue test bench according to the first angle δ, the second angle γ, and the third angle θ;

[0035] The boost force determination module is used to determine the boost force of the booster 9 of the fatigue test bench on the bucket 8 according to the excavation force.

[0036] A third aspect of the present application provides a fatigue test bench for an excavator working device, the working device including a boom 3, a bucket arm 5, a rocker arm 6, and a bucket 8, the boom 3 being connected to the bucket arm 5, the bucket arm 5 being connected to the bucket 8, and the rocker arm 6 being connected to the bucket arm 5, the fatigue test bench including:

[0037] A booster 9, used to apply a boosting force to the bucket 8;

[0038] Restraint device, used to determine the fatigue test posture of the working device;

[0039] A first fixing seat 13, used for fixing the working device;

[0040] A second fixing seat 14 is used to fix the booster 9;

[0041] The working size parameters of the thrust and restraint device are determined by the parameter determination method of the fatigue test bench provided in the first aspect of the present application.

[0042] In one embodiment of the present application, the restraining device includes a bucket tie rod 10, an arm tie rod 11, and a boom tie rod 12;

[0043] The boom pull rod 12 is connected to the boom 3 and the first fixing seat 13, and is used to determine the fatigue test posture of the boom 3;

[0044] The arm pull rod 11 is connected to both the boom 3 and the arm 5 and is used to determine the fatigue test posture of the arm 5;

[0045] The bucket pull rod 10 is connected to the bucket arm 5 , the rocker arm 6 and the bucket 8 and is used to determine the fatigue test posture of the bucket 8 .

[0046] The fourth aspect of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the parameter determination method of the fatigue test bench provided in the first aspect of the present application.

[0047] In a fifth aspect, the present application provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the parameter determination method for the fatigue test bench provided in the first aspect of the present application.

[0048] Through the above technical solution, the fatigue test posture of the excavator working device is determined by the first angle δ formed by the line connecting the first and second connection points C and D and the boom cylinder 2; the second angle γ formed by the rocker arm 6 and the bucket cylinder 7; and the third angle θ formed by the line connecting the arm cylinder 4 and the third and fourth connection points O and A. Simultaneously, the digging force of the bucket 8 during the fatigue test of the excavator working device is also determined by the interrelationships between the working device parameters, thereby determining various parameters of the fatigue test bench, including the working dimensions of the restraint device and the booster force. Furthermore, the process of determining the three angles and the digging force incorporates the locking force of the boom cylinder and the arm cylinder as a basis, thereby achieving the goal of synchronous fatigue testing of the boom and arm of the excavator working device.

[0049] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0051] Figure 1 A flow chart schematically illustrates a method for determining parameters of a fatigue test bench according to an embodiment of the present application;

[0052] Figure 2 The following schematically shows a structural diagram of a working device of an excavator according to an embodiment of the present application;

[0053] Figure 3The structure of a fatigue test bench according to an embodiment of the present application is schematically shown;

[0054] Figure 4 The following schematically shows a structural block diagram of a parameter determination device for a fatigue test bench according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0056] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, reversal, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0057] 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 number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0058] The hydraulic excavator includes a chassis and an upper part, and the part of the upper part used for excavation operations is the working device of the hydraulic excavator. In order to verify the performance and safety of each component of the hydraulic excavator and the working condition of the entire machine in a working state, it is necessary to perform a fatigue strength test on the working device. When the working device is fatigue assessed and tested in this posture, the load on the boom is much greater than the load on the arm. When fatigue cracking occurs in the boom, the arm is actually far from achieving the effect of the assessment or test. Therefore, the posture of the working device during the fatigue test is a decisive factor in the effect and accuracy of the fatigue test. Therefore, how to determine the posture of a working device fatigue test, that is, the parameters of the fatigue test bench, so that the arm and the boom in the working device can be fatigue assessed synchronously is the problem that the embodiments of the present application aim to solve.

[0059] Figure 1 The following schematically shows a flow chart of a method for determining parameters of a fatigue test bench according to an embodiment of the present application. Figure 2A schematic diagram of the working device structure of an excavator according to an embodiment of the present application is shown. Figure 1 and Figure 2 In one embodiment of the present application, a method for determining parameters of a fatigue test bench is provided, which is used for an excavator working device. The excavator includes a turntable 1, and the working device includes a boom cylinder 2, a boom 3, a dipper cylinder 4, a dipper arm 5, a rocker arm 6, a bucket cylinder 7, and a bucket 8. The turntable 1 is connected to the boom 3, the boom 3 is connected to the dipper arm 5, the dipper arm 5 is connected to the bucket 8, the boom cylinder 2 is connected to the turntable 1 and the boom 3, the dipper cylinder 4 is connected to the boom 3 and the dipper arm 5, the bucket cylinder 7 is connected to the dipper arm 5, the rocker arm 6, and the bucket 8, and the rocker arm 6 is connected to the dipper arm 5. The method includes steps S100 to S500.

[0060] Step S100: Determine the angle between the connecting line between the first connection point C and the second connection point D and the boom cylinder 2 as the first angle δ, wherein the first connection point C is the connection point between the boom cylinder 2 and the turntable 1, and the second connection point D is the connection point between the boom 3 and the turntable 1;

[0061] Step S200: determining the angle between the rocker arm 6 and the bucket cylinder 7 as the second angle γ;

[0062] Step S300: performing a force balance analysis on the working device based on the arm cylinder locking force and the boom cylinder locking force to determine the digging force of the bucket 8 and the angle between the arm cylinder 4 and the line connecting the third connection point O and the fourth connection point A, which is used as the third angle θ;

[0063] Among them, the third connection point O is the connection point between the boom 3 and the bucket arm 5, and the fourth connection point A is the connection point between the bucket arm cylinder 4 and the bucket arm 5.

[0064] The overall posture of the working device can be determined by the key angles between its components. These include the first angle δ (the angle between the line connecting the first and second connection points C and D) and the boom cylinder 2; the second angle γ (the angle between the rocker arm 6 and the bucket cylinder 7); and the third angle θ (the angle between the arm cylinder 4 and the line connecting the third and fourth connection points O and A).

[0065] In the actual fatigue test posture determination process, the force arm of the boom cylinder 2 on the second connection point D is L3 ( Figure 2 All the lever arms are expressed in dotted form). Compared with adjusting the size of the third angle θ, adjusting only the size of the second angle γ has a much smaller effect on L3, and the size of the second angle γ has little effect on the reaction force of the digging force on the lever arms of each point. At the same time, in the actual excavation process, the boom cylinder 2 does not provide excavation force, so the first angle δ has little effect on the fatigue assessment effect of the working device.

[0066] Therefore, in one embodiment of the present application, the first angle δ and the second angle γ are determined according to the normal posture of the working device fatigue test.

[0067] Because the first angle δ and the second angle γ have little impact on the fatigue assessment of the working device, the first angle δ and the second angle γ can be directly determined based on the normal posture of the working device fatigue test. For example, the first angle δ can be set between 80° and 90°, and the second angle γ can be set between 70° and 85°.

[0068] The determination of the third angle θ requires a force balance analysis of the working device using the locking force of the boom cylinder and the locking force of the arm cylinder.

[0069] In one embodiment of the present application, step S300 includes steps S310 to S370:

[0070] Step S310: Determine the direction of the digging force according to the force (B) applied by the third connection point (O) and the digging point of the bucket (8).

[0071] In the actual process of determining the working device fatigue assessment posture, the direction of the excavation force generated by the bucket 8 can be determined by the line between the third connection point O and the excavation force application point B of the bucket 8. For example, the third connection point O and the excavation force application point B can be connected on the design drawing first, and a perpendicular line OB is drawn through the excavation force application point B (that is, a tangent line of a circle with O as the center and OB as the radius passing through point B). The direction of the perpendicular line is the straight line where the direction of the excavation force is located, which determines the direction of the excavation force of the bucket 8 ( Figure 2 The above directions are expressed in the form of dot-dash lines).

[0072] Step S320: Determine the lever arm of the reaction force of the excavation force on the third connection point O according to the direction, as the first lever arm L1.

[0073] The direction of the excavation force and the direction of the reaction force of the excavation force are on the same straight line. The lever arm of the reaction force of the excavation force on the third connection point O can be drawn and measured in the design drawing, recorded as the first lever arm L1. According to the above direction determination process, it can be determined that the first lever arm L1 is the line OB between the third connection point O and the excavation force application point B.

[0074] Step S330: Determine the lever arm of the reaction force on the second connection point D according to the direction as the second lever arm L2.

[0075] The reaction force of the excavation force acting on the second connection point D is recorded as L2. Since the third angle θ is not determined, L2 cannot be directly measured in the drawing. It is necessary to establish a plane geometric coordinate system to obtain L2.

[0076] In one embodiment of the present application, step S330 includes:

[0077] Step S331: establishing a rectangular coordinate system with the third connection point O as the origin;

[0078] Step S332: determining the expression of the straight line where the direction lies relative to the rectangular coordinate system;

[0079] Step S333: determining the coordinates of the second connection point D in the rectangular coordinate system;

[0080] Step S334: Determine the second lever arm L2 according to the expression and coordinates.

[0081] First, establish a rectangular coordinate system with the third connection point O as the origin. Assume that the linear expression of the above direction in the rectangular coordinate system is y=kx+b. Through the intercept of the straight line on the coordinate axis of the rectangular coordinate system, k and b can be determined. Since the first angle δ has been determined, the coordinates of the second connection point D can also be determined, that is, (X D ,Y D ).

[0082] After the linear expression of the direction and the coordinates of the second connection point D are determined, the second lever arm L2 can be calculated by converting the geometric relationship between the direction and the second connection point D in the rectangular coordinate system into a mathematical problem. Therefore, the second lever arm L2 can be expressed as:

[0083]

[0084] In this way, the second lever arm L2 is determined.

[0085] Step S340: Determine the lever arm of the boom cylinder locking force on the second connection point D according to the first angle δ and the distance between the first connection point C and the second connection point D, as the third lever arm L3.

[0086] The cylinder locking force refers to the external force a hydraulic cylinder can withstand when both outlets are closed. Without a relief valve, the cylinder locking force represents the maximum operating pressure of the hydraulic cylinder. If the external force applied to the hydraulic cylinder exceeds the locking force, the cylinder may be damaged. The boom cylinder locking force is directed along the boom cylinder, and the lever arm at the second connection point D is also L3, as described above. This is referred to as the third lever arm, L3.

[0087] Depend on Figure 2 It can be seen that the third lever arm L3 can be determined by the distance CD between the first connection point C and the second connection point D, and the first angle. The specific determination method can be expressed as the following formula:

[0088] L3=CD×sinδ (2)

[0089] Step S350: Determine the distance between the third connection point O and the fourth connection point A, which is recorded as the required distance.

[0090] The distance between the third connection point O and the fourth connection point A is recorded as the required distance AO, which is used for the subsequent calculation of the third included angle θ.

[0091] Step S360: Perform a static balance analysis on the second connection point D based on the boom cylinder locking force, the second lever arm L2, and the third lever arm L3 to determine the digging force.

[0092] The booster of the fatigue test bench is used to provide a boosting force for bucket 8. This boosting force simulates the reaction force of bucket 8's digging force, that is, the forces acting on bucket 8 during digging. Determining the magnitude of the digging force is equivalent to determining the magnitude of the reaction force to the digging force. The two forces are equal and oriented in the same straight line. For ease of description, the two forces are considered equivalent in the calculations of this embodiment.

[0093] The above-mentioned digging force can be determined by performing a static balance analysis on the second connection point D based on the locking force of the boom cylinder, the second lever arm L2 and the third lever arm L3.

[0094] In one embodiment of the present application, step S360 includes:

[0095] The digging force is determined based on the fact that the product of the digging force and the second lever arm L2 is equal to the product of the boom cylinder locking force and the third lever arm L3.

[0096] The excavation force, the second lever arm L2, the boom cylinder locking force, and the third lever arm L3 satisfy the following expression:

[0097] F digging × L2 = F moving × L3 (3)

[0098] Among them, Fdig is the digging force and Fmov is the locking force of the boom cylinder.

[0099] According to formula (3), the digging force can be determined by substituting the second lever arm L2, the third lever arm L3 and the known boom cylinder locking force obtained through the above steps.

[0100] Step S370: performing a force balance analysis on the third connection point O according to the excavation force, the first lever arm L1, the arm cylinder locking force, and the required distance to determine the third angle θ.

[0101] After the excavation force is determined, the third angle θ can be calculated based on the geometric relationship and the force balance relationship of the third connection point O.

[0102] In one embodiment of the present application, step S370 includes:

[0103] The third angle θ is determined based on the fact that the product of the excavation force and the first lever arm L1 is equal to the product of the boom cylinder locking force and the fourth lever arm L4, where the fourth lever arm L4 is the lever arm of the boom cylinder locking force on the third connection point O determined based on the third angle θ and the required distance AO.

[0104] Depend on Figure 2 It can be seen that, similarly, the direction of the boom cylinder locking force is along the direction of the boom cylinder 4. The lever arm of the boom cylinder locking force on the third connection point O can be determined by the sine value of the required distance AO and the third angle θ, which is recorded as the fourth lever arm L4.

[0105] Therefore, according to the force balance relationship at the third connection point O, the digging force, the first lever arm L1, the arm cylinder locking force, the required distance AO, and the third angle θ satisfy the following expression:

[0106] Fdig × L1 = Fdump × AO × sinθ (4)

[0107] Among them, Fdig is the digging force and Fbucket is the locking force of the bucket cylinder.

[0108] According to formula (4), the third angle θ can be determined by substituting the first lever L1, the digging force, the required distance AO and the known arm cylinder locking force obtained through the above steps.

[0109] After steps S100 to S300 in the above embodiment, the three key angles and the boosting force that the booster needs to provide have been determined, so that the working size parameters of the restraint device of the fatigue test bench can be determined.

[0110] Step S400: determining the working dimension parameters of the restraint device of the fatigue test bench according to the first angle δ, the second angle γ and the third angle θ.

[0111] Firstly, the working dimension parameters of the restraint device used to determine the posture of the working device in the fatigue test bench are determined through three key angles.

[0112] Figure 3 The structure diagram of a fatigue test bench according to an embodiment of the present application is schematically shown. Please refer to Figure 2 and Figure 3 In one embodiment of the present application, the restraint device includes a bucket rod 10, an arm rod 11, and a boom rod 12. The working dimension parameters of the restraint device of the fatigue test bench are determined according to the first angle δ, the second angle γ, and the third angle θ, including:

[0113] The lengths of the bucket link 10 , the arm link 11 and the boom link 12 are determined according to the first angle δ, the second angle γ and the third angle θ.

[0114] When conducting fatigue testing on the working device, fatigue testing is mainly performed on the boom and the dipper arm. In order to better determine the posture of the working device, the bucket rod 10, the dipper arm rod 11 and the boom rod 12 are used to replace the bucket cylinder 7, the dipper arm cylinder 4 and the boom cylinder 2 to constrain and fix the bucket 8, the dipper arm 5 and the boom 3. The lengths of the bucket rod 10, the dipper arm rod 11 and the boom rod 12 can be determined by the first angle δ, the second angle γ and the third angle θ obtained through steps S100-S300.

[0115] Step S500: Determine the boosting force of the booster 9 of the fatigue test bench on the bucket 8 according to the excavation force.

[0116] Using the method of the above embodiment, the excavator's bucket 8's digging force, determined when both the boom cylinder 2 and the arm cylinder 4 simultaneously reach a locked state during excavation, can be simulated by applying an equal and oppositely directed boosting force to the bucket 8 by the booster 9. This boosting force simulates the stresses on the working device when the bucket 8's digging force reaches this digging force. When the boosting force provided by the booster 9 reaches this digging force, the goal of synchronous fatigue assessment of the boom 3 and arm 5 is achieved.

[0117] Through steps S100-S500, the fatigue test posture of the excavator working device is determined by the first angle δ formed by the line connecting the first and second connection points C and D and the boom cylinder 2; the second angle γ formed by the rocker arm 6 and the bucket cylinder 7; and the third angle θ formed by the line connecting the arm cylinder 4 and the third and fourth connection points O and A. Simultaneously, the digging force of the bucket 8 during the fatigue test of the excavator working device is also determined by the interrelationships between the working device parameters, thereby determining various parameters of the fatigue test bench, including the operating dimensions of the restraint device and the boosting force of the booster. Furthermore, the process of determining the three angles and the digging force incorporates the locking force of the boom cylinder and the arm cylinder as a basis, thereby achieving the purpose of synchronous fatigue testing of the boom 3 and arm 5 of the excavator working device.

[0118] In one embodiment of the present application, a fatigue test bench is provided for an excavator working device. The working device includes a boom 3, a bucket arm 5, a rocker arm 6, and a bucket 8. The boom 3 is connected to the bucket arm 5, the bucket arm 5 is connected to the bucket 8, and the rocker arm 6 is connected to the bucket arm 5. The fatigue test bench includes:

[0119] A booster 9, used to apply a boosting force to the bucket 8;

[0120] Restraint device, used to determine the fatigue test posture of the working device;

[0121] A first fixing seat 13 is used to fix the working device;

[0122] A second fixing seat 14 is used to fix the booster 9;

[0123] The working size parameters of the thrust and restraint device are determined by the parameter determination method of the fatigue test bench in the above method embodiment.

[0124] The fatigue test bench provided in the embodiment of the present application can determine the working size parameters of the restraint device and the magnitude of the boosting force applied by the booster 9 to the bucket 8 through the parameter determination method of the fatigue test bench in the above embodiment. When performing a fatigue test, the restraint device is first used to determine the fatigue test posture of the working device, and then the booster 9 is used to apply the boosting force to the bucket 8. When the boosting force provided by the booster 9 reaches the magnitude of the boosting force determined by the above method, the purpose of synchronous fatigue assessment of the boom 3 and the dipper arm 5 can be achieved. The fatigue test bench also includes two fixing seats for fixing the working device and the booster 9, wherein the first fixing seat 13 is used to fix the working device, and the second fixing seat 14 is used to fix the booster 9.

[0125] In one embodiment of the present application, the restraining device includes a bucket tie rod 10, an arm tie rod 11, and a boom tie rod 12;

[0126] The boom pull rod 12 is connected to the boom 3 and the first fixing seat 13, and is used to determine the fatigue test posture of the boom 3;

[0127] The arm pull rod 11 is connected to both the boom 3 and the arm 5 and is used to determine the fatigue test posture of the arm 5;

[0128] The bucket pull rod 10 is connected to the bucket arm 5 , the rocker arm 6 and the bucket 8 and is used to determine the fatigue test posture of the bucket 8 .

[0129] The restraint device includes a boom tie rod 12 , an arm tie rod 11 and a bucket tie rod 10 for respectively determining the fatigue test postures of the boom 3 , the arm 5 and the bucket 8 .

[0130] When conducting fatigue testing on the working device, fatigue testing is mainly performed on the boom and the dipper arm. In order to better determine the posture of the working device, the first fixed seat 13, bucket rod 10, dipper arm rod 11 and boom rod 12 are used to replace the turntable 1, bucket cylinder 7, dipper arm cylinder 4 and boom cylinder 2 to constrain and fix the bucket 8, dipper arm 5 and boom 3. The lengths of the bucket rod 10, dipper arm rod 11 and boom rod 12 can be determined by the first angle δ, the second angle γ and the third angle θ obtained through steps S100-S300.

[0131] Figure 4 Schematically shows a structural block diagram of a parameter determination device for a fatigue test bench according to an embodiment of the present application. Please refer to Figure 2 and Figure 4 In one embodiment of the present application, a fatigue test bench parameter determination device 1000 is provided, which is used for an excavator working device. The excavator includes a turntable 1, and the working device includes a boom cylinder 2, a boom 3, a dipper cylinder 4, a dipper arm 5, a rocker arm 6, a bucket cylinder 7, and a bucket 8. The turntable 1 is connected to the boom 3, the boom 3 is connected to the dipper arm 5, the dipper arm 5 is connected to the bucket 8, the boom cylinder 2 is connected to the turntable 1 and the boom 3, the dipper cylinder 4 is connected to the boom 3 and the dipper arm 5, the bucket cylinder 7 is connected to the dipper arm 5, the rocker arm 6, and the bucket 8, and the rocker arm 6 is connected to the dipper arm 5. The method includes:

[0132] A first angle determination module 1001 is configured to determine an angle between a line connecting a first connection point C and a second connection point D and the boom cylinder 2 as a first angle δ, wherein the first connection point C is the connection point between the boom cylinder 2 and the turntable 1, and the second connection point D is the connection point between the boom 3 and the turntable 1;

[0133] A second angle determination module 1002 is configured to determine an angle between the rocker arm 6 and the bucket cylinder 7 as a second angle γ;

[0134] A third angle determination module 1003 is configured to perform a force balance analysis on the working device based on the arm cylinder locking force and the boom cylinder locking force to determine the digging force of the bucket 8 and the angle between the arm cylinder 4 and the line connecting the third connection point O and the fourth connection point A, as the third angle θ, where the third connection point O is the connection point between the boom 3 and the arm 5, and the fourth connection point A is the connection point between the arm cylinder 4 and the arm 5;

[0135] A working parameter determination module 1004 is configured to determine working dimension parameters of a restraint device of a fatigue test bench according to the first angle δ, the second angle γ, and the third angle θ;

[0136] The boosting force determining module 1005 is used to determine the boosting force of the booster 9 of the fatigue test bench on the bucket 8 according to the excavation force.

[0137] In one embodiment of the present application, an electronic device is provided, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the parameter determination method of the fatigue test bench in the above method embodiment.

[0138] In one embodiment of the present application, a machine-readable storage medium is provided. The machine-readable storage medium stores instructions. When the instructions are executed by a processor, the processor implements the fatigue test bench parameter determination method in the above method embodiment.

[0139] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD ROM, optical storage, etc.) that contain computer-usable program code.

[0140] 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including the instruction device, which implements the function specified in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 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 produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0141] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0142] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0143] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 technology, compact disc read-only memory (CD ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, 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 (transitory media), such as modulated data signals and carrier waves.

[0144] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0145] 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 method for determining parameters of a fatigue test bench, characterized in that: For an excavator working device, the excavator includes a turntable (1), the working device includes a boom cylinder (2), a boom (3), a dipper cylinder (4), a dipper (5), a rocker (6), a bucket cylinder (7) and a bucket (8), the turntable (1) is connected to the boom (3), the boom (3) is connected to the dipper (5), the dipper (5) is connected to the bucket (8), the boom cylinder (2) is connected to the turntable (1) and the boom (3), the dipper cylinder (4) is connected to the boom (3) and the dipper (5), the bucket cylinder (7) is connected to the dipper (5), the rocker (6) and the bucket (8), and the rocker (6) is connected to the dipper (5), and the method includes: Determine the angle between the connecting line between the first connection point C and the second connection point D and the boom cylinder (2) as the first angle δ, wherein the first connection point C is the connection point between the boom cylinder (2) and the turntable (1), and the second connection point D is the connection point between the boom (3) and the turntable (1); Determine the angle between the rocker (6) and the bucket cylinder (7) as a second angle γ; A force balance analysis is performed on the working device based on the locking force of the boom cylinder and the locking force of the arm cylinder to determine the digging force of the bucket (8) and the angle between the boom cylinder (4) and the line connecting the third connection point O and the fourth connection point A, as the third angle θ, wherein the third connection point O is the connection point between the boom (3) and the boom (5), and the fourth connection point A is the connection point between the boom cylinder (4) and the boom (5); Determine working dimension parameters of a restraint device of a fatigue test bench according to the first angle δ, the second angle γ, and the third angle θ; The boosting force of the booster (9) of the fatigue test bench on the bucket (8) is determined according to the excavation force.

2. The method according to claim 1, characterized in that The force balance analysis of the working device is performed based on the locking force of the boom cylinder and the locking force of the arm cylinder to determine the digging force of the bucket (8), and the angle between the connecting line between the boom cylinder (4) and the third connection point O and the fourth connection point A, as the third angle θ, including: Determining the direction of the excavation force according to the third connection point O and the excavation force application point B of the bucket (8); Determine, according to the direction, a lever arm of the reaction force of the excavation force on the third connection point O as a first lever arm L1; Determine the force arm of the reaction force on the second connection point D according to the direction as the second force arm L2; Determine, based on the first angle δ and the distance between the first connection point C and the second connection point D, a lever arm of the boom cylinder locking force on the second connection point D as a third lever arm L3; Determine the distance between the third connection point O and the fourth connection point A, which is recorded as the required distance; Performing a static balance analysis on the second connection point D based on the boom cylinder locking force, the second lever arm L2, and the third lever arm L3 to determine the digging force; A force balance analysis is performed on the third connection point O according to the excavation force, the first lever arm L1 , the arm cylinder locking force, and the required distance to determine the third angle θ.

3. The method according to claim 2, characterized in that The step of determining the force arm of the reaction force on the second connection point D according to the direction as the second force arm L2 includes: Establishing a rectangular coordinate system with the third connection point O as the origin; Determine an expression of the straight line on which the direction lies relative to the rectangular coordinate system; Determine the coordinates of the second connection point D in the rectangular coordinate system; The second lever arm L2 is determined according to the expression and the coordinates.

4. The method according to claim 2, characterized in that The step of performing a static balance analysis on the second connection point D based on the boom cylinder locking force, the second lever arm L2, and the third lever arm L3 to determine the digging force includes: The digging force is determined based on the product of the digging force and the second lever arm L2 being equal to the product of the boom cylinder locking force and the third lever arm L3.

5. The method according to claim 2, characterized in that The performing of a force balance analysis on the third connection point O according to the digging force, the first lever arm L1, the arm cylinder locking force, and the required distance to determine the third angle θ includes: The third angle θ is determined based on the fact that the product of the excavation force and the first lever arm L1 is equal to the product of the boom cylinder locking force and the fourth lever arm L4, wherein the fourth lever arm L4 is the lever arm of the boom cylinder locking force relative to the third connection point O, which is determined based on the third angle θ and the required distance.

6. The method according to claim 1, characterized in that The first angle δ and the second angle γ are determined according to a normal posture of the working device fatigue test.

7. The method according to claim 1, characterized in that The restraint device comprises a bucket pull rod (10), a bucket arm pull rod (11) and a boom pull rod (12), and determining working dimension parameters of the restraint device of the fatigue test bench according to the first included angle δ, the second included angle γ and the third included angle θ comprises: The lengths of the bucket rod (10), the arm rod (11) and the boom rod (12) are determined according to the first included angle δ, the second included angle γ and the third included angle θ.

8. A device for determining parameters of a fatigue test bench, characterized in that: For an excavator working device, the excavator includes a turntable (1), the working device includes a boom cylinder (2), a boom (3), a dipper cylinder (4), a dipper (5), a rocker (6), a bucket cylinder (7) and a bucket (8), the turntable (1) is connected to the boom (3), the boom (3) is connected to the dipper (5), the dipper (5) is connected to the bucket (8), the boom cylinder (2) is connected to the turntable (1) and the boom (3), the dipper cylinder (4) is connected to the boom (3) and the dipper (5), the bucket cylinder (7) is connected to the dipper (5), the rocker (6) and the bucket (8), the rocker (6) is connected to the dipper (5), and the parameter determination device includes: a first angle determination module, for determining an angle between a line connecting a first connection point C and a second connection point D and the boom cylinder (2), as a first angle δ, wherein the first connection point C is a connection point between the boom cylinder (2) and the turntable (1), and the second connection point D is a connection point between the boom (3) and the turntable (1); a second angle determination module, used to determine the angle between the rocker (6) and the bucket cylinder (7) as a second angle γ; A third angle determination module is used to perform a force balance analysis on the working device according to the locking force of the boom cylinder and the locking force of the arm cylinder to determine the digging force of the bucket (8) and the angle between the connecting line between the boom cylinder (4) and the third connection point O and the fourth connection point A as a third angle θ, wherein the third connection point O is the connection point between the boom (3) and the boom (5), and the fourth connection point A is the connection point between the boom cylinder (4) and the boom (5); a working parameter determination module, configured to determine working dimension parameters of a restraint device of a fatigue test bench according to the first angle δ, the second angle γ, and the third angle θ; A boost force determination module is used to determine the boost force of the booster (9) of the fatigue test bench on the bucket (8) according to the excavation force.

9. A fatigue test bench, characterized in that: Used for an excavator working device, the working device comprises a boom (3), a bucket arm (5), a rocker arm (6) and a bucket (8), the boom (3) is connected to the bucket arm (5), the bucket arm (5) is connected to the bucket (8), the rocker arm (6) is connected to the bucket arm (5), and the fatigue test bench comprises: A booster (9) for applying a boosting force to the bucket (8); a restraint device for determining a fatigue test posture of the working device; A first fixing seat (13) for fixing the working device; A second fixing seat (14) for fixing the booster (9); The boost force and the working dimension parameters of the restraint device are determined by the parameter determination method of the fatigue test bench according to claim 1.

10. The fatigue test bench according to claim 9, characterized in that: The restraint device comprises a bucket pull rod (10), a bucket arm pull rod (11) and a boom pull rod (12); The movable arm pull rod (12) is connected to the movable arm (3) and the first fixing seat (13), and is used to determine the fatigue test posture of the movable arm (3); The arm pull rod (11) is connected to both the boom (3) and the arm (5) and is used to determine a fatigue test posture of the arm (5); The bucket pull rod (10) is connected to the bucket arm (5), the rocker arm (6) and the bucket (8) and is used to determine the fatigue test posture of the bucket (8).

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the parameter determination method of the fatigue test bench according to any one of claims 1 to 7.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, which, when executed by a processor, configure the processor to execute the fatigue test bench parameter determination method according to any one of claims 1 to 7.

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