System and method for testing single action time of full-electric control excavator and pressure build-up of working device

Abstract

The invention discloses a system and a method for testing single action time of a full-electric control excavator and pressure building of a working device, and belongs to the technical field of excavators. A system for testing single action time of a full-electric control excavator and pressure building of working devices comprises an instrument controller, a whole vehicle controller, a main pump pressure sensor used for detecting pressure of a main pump of the excavator, and a single action time testing controller used for calculating single action time of all the working devices of the excavator. The vehicle control unit continuously adjusts the posture of the whole vehicle according to the main pump pressure fed back by the main pump pressure sensor, completes single-action time testing and pressure building testing of all working devices of the excavator in sequence, and sends testing data and testing results of the single-action time testing and the pressure building testing to the instrument controller to be displayed. The problem of inaccurate test results can be solved, the whole test process can completely get rid of a driver, unmanned test is realized, and continuous and uninterrupted automatic test of a plurality of test items can be realized by one key.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a system and method for testing the single action time and working device pressure holding of a fully electric-controlled excavator. Background Art

[0002] The single action time test and working device pressure holding test of the fully electronically controlled hydraulic excavator are one of the essential test items for the offline commissioning of the fully electronically controlled hydraulic excavator. The single action time test of the excavator includes 6 test items, namely, the boom lifting single action time test, the boom lowering single action time test, the bucket excavation single action time test, the bucket unloading single action time test, the arm excavation single action time test and the arm unloading single action time test; the working device pressure holding test of the excavator includes 5 test items, namely, the boom lifting pressure holding test, the bucket excavation pressure holding test, the bucket unloading pressure holding test, the arm excavation pressure holding test and the arm unloading pressure holding test.

[0003] At present, the single action time test and working device pressure holding test of the fully electronically controlled hydraulic excavator require the driver to operate the hydraulic handle to control the working device to complete, which has the following problems:

[0004] 1. The results of the single action time test and the working device pressure holding test are completely dependent on the driver's subjective evaluation. Since the driver's reaction time is slower than the response time of the fully electronically controlled hydraulic excavator, there is a certain degree of error in the test results. In addition, different drivers will produce different test results due to different operating proficiency and operating habits. Even if the same operator is repeatedly tested under the same test conditions, there will be a certain degree of error in the results.

[0005] 2. At present, the single action time and working device pressure holding test of the fully electronically controlled hydraulic excavator first selects the item to be tested (select 1 from 11 test items), and then the driver adjusts the body posture according to the selected test item, starts the project test, and continues to select another test item for testing after the test is completed and the test results are recorded, and so on, until all 11 test items are completed. The entire test cycle is long, and the driver is easily confused about whether the tested items have been completed. If the test is carried out for a long time, it cannot be ensured that the test results correspond to the test items one by one;

[0006] 3. Currently, the single action time and working device pressure holding test of the fully electronically controlled hydraulic excavator require the driver to operate the excavator. Once the driver has something to do or goes out, the test will be terminated;

[0007] 4. At present, whether the single action time and working device pressure holding test results of the fully electronically controlled hydraulic excavator are qualified or not requires comparing the manually recorded test data with the design target value. If the test data is recorded incorrectly, misjudgment will occur. Summary of the invention

[0008] The purpose of the present invention is to solve the problems existing in the prior art, and the proposed system and method for testing the single action time and working device pressure holding of a fully electric-controlled excavator can not only solve the problem of inaccurate test results, but also completely get rid of the driver in the entire test process, realize unmanned testing, and at the same time realize continuous and uninterrupted automatic testing of multiple test items with one click.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A single action time and working device pressure holding test system for a fully electronically controlled excavator, including an instrument controller, a vehicle controller, a main pump pressure sensor for detecting the main pump pressure of the excavator, a single action time test controller for calculating the single action time of each working device of the excavator, and a solenoid valve group corresponding to each working device of the excavator;

[0011] Among them, the instrument controller sends an automatic test start command to the vehicle controller. After receiving the command, the vehicle controller outputs a current signal to the main pump and the corresponding solenoid valve group. The vehicle controller continuously adjusts the vehicle posture according to the main pump pressure feedback from the main pump pressure sensor, and completes the single action time test and pressure holding test of each working device of the excavator in turn, and sends the test data and test results of the single action time test and pressure holding test to the instrument controller for display.

[0012] Preferably, the solenoid valve group includes a boom lifting solenoid valve, a boom lowering solenoid valve, a boom merging solenoid valve, an arm excavation solenoid valve one, an arm excavation solenoid valve two, an arm unloading solenoid valve one, an arm unloading solenoid valve two, a bucket excavation solenoid valve, a bucket unloading solenoid valve, a bucket merging solenoid valve and a pilot solenoid valve.

[0013] Preferably, the single action time test includes a boom raising single action time test, a boom lowering single action time test, a bucket digging single action time test, a bucket unloading single action time test, an arm digging single action time test and an arm unloading single action time test.

[0014] Preferably, the pressure holding test includes a boom lifting pressure holding test, a bucket digging pressure holding test, a bucket unloading pressure holding test, an arm digging pressure holding test and an arm unloading pressure holding test.

[0015] Preferably, the instrument controller is connected to the vehicle controller via a CAN-Bus bus; the vehicle controller is connected to the solenoid valve group via a current signal.

[0016] A testing method for a single action time and working device pressure holding test system for a fully electric excavator, the testing method comprising the following steps: S0: Start; S1: Determine whether the vehicle controller receives the automatic test start command from the instrument controller. If yes, enter S2; if not, enter S0; S2: bucket automatically digs; S3: Determine whether the bucket has completed automatic excavation. If so, proceed to S4; if not, proceed to S2; S4: Bucket automatic excavation pressure test; S5: Determine whether the bucket automatic excavation pressure holding test is completed, if so, enter S6; if not, enter S4; S6: Bucket unloads automatically; S7: Determine whether the bucket is automatically unloaded. If so, proceed to S8; if not, proceed to S6; S8: Bucket automatic unloading pressure holding test; S9: Determine whether the bucket automatic unloading pressure holding test is completed. If so, proceed to S10; if not, proceed to S8; S10: The arm automatically digs; S11: Determine whether the automatic digging of the bucket arm is completed, if so, enter S12; if not, enter S10; S12: Automatic digging and holding pressure test of the bucket arm; S13: Determine whether the automatic digging and holding pressure test of the bucket arm is completed. If so, enter S14; if not, enter S12; S14: The arm automatically unloads; S15: Determine whether the automatic unloading of the bucket arm is completed, if so, enter S16; if not, enter S14; S16: Automatic unloading and pressure holding test of the bucket arm; S17: Determine whether the automatic unloading pressure holding test of the bucket arm is completed. If so, enter S18; if not, enter S16; S18: The boom automatically descends; S19: Determine whether the automatic lowering of the boom is completed. If so, proceed to S20; if not, proceed to S18; S20: The boom is automatically raised; S21: Determine whether the automatic lifting of the boom is completed, if so, enter S22; if not, enter S20; S22: Automatic lifting pressure test of boom; S23: Determine whether the boom automatic lifting pressure holding test is completed, if so, enter S24; if not, enter S22; S24: The vehicle controller sends all test data and test results to the instrument controller; S25: End.

[0017] Preferably, the automatic digging of the bucket S2 includes calculating the digging single action time T of the bucket 铲斗挖掘 The steps include: S1-1: The vehicle controller outputs the control current I through the signal output port 先导 Give the pilot solenoid valve, and at the same time, the vehicle controller starts the timer TON1, and sets the timing to △T1. If the timing is up, enter S1-2; S1-2: The vehicle controller outputs the control current I through the signal output port 主泵1 To the main pump solenoid valve, output control current I through the signal output port 动臂提升1 To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流1 Feed the boom confluence solenoid valve and monitor the main pump pressure P in real time 主泵 , if the main pump pressure P 主泵 If it is greater than P1 and lasts no less than T1, then enter S1-3; S1-3: The vehicle controller outputs the control current I through the signal output port 主泵2 To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载1 Unload the bucket solenoid valve, start the timer TON2, set the timing to △T2, if the timing is up, enter S1-4; S1-4: Get the current system time T of the vehicle controller BKI1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗挖掘_MAX Give the bucket excavation solenoid valve an output control current I through the signal output port 铲斗合流_MAX To the bucket merging solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗挖掘_停止 , and the duration is not less than T2, obtain the current system time T of the vehicle controller BKI2 , calculate the bucket excavation single action time T 铲斗挖掘 =T BKI2 -T BKI1 , and stored in the vehicle controller; The S4 bucket automatic excavation pressure test includes calculating the bucket excavation pressure P 铲斗挖掘 The steps include: S1-5: Start timer TON3, set the timing to △T3, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket excavation pressure P 铲斗挖掘 =AVERG[P 主泵1, P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

[0018] Preferably, the automatic unloading of the bucket in S6 includes calculating the single action time T of the bucket unloading. 铲斗卸载 The steps include: S1-6: Get the current system time T of the vehicle controller BKO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载_MAX To unload the bucket solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗卸载_停止 , and the duration is not less than T3, obtain the current system time T of the vehicle controller BKO2 , calculate the bucket excavation single action time T 铲斗卸载 =T BKO2 -T BKO1 , and stored in the vehicle controller; The S8 bucket automatic unloading pressure test includes calculating the bucket unloading pressure P 铲斗卸载 The steps include: S1-7: Start timer TON4, set the timing to △T4, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket unloading pressure P 铲斗卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

[0019] Preferably, the automatic digging of the dipper arm in S10 includes calculating the digging single action time T of the dipper arm 斗杆挖掘 The steps include: S1-8: The vehicle controller outputs the control current I through the signal output port 主泵3 To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_1 Unload a solenoid valve to the boom and output the control current I through the signal output port 斗杆卸载2_1 Unload the second solenoid valve of the bucket arm, start the timer TON5, set the timing to △T5, if the timing is up, enter S1-9; S1-9: Get the current system time T of the vehicle controller AI1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port斗杆挖掘1_MAX Give the digging solenoid valve of the digging stick a control current I through the signal output port 斗杆挖掘2_MAX Give the arm excavation solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆挖掘_停止 , and the duration is not less than T4, obtain the current system time T of the vehicle controller AI2 , calculate the arm excavation single action time T 斗杆挖掘 =T AI2 -T AI1 , and stored in the vehicle controller; The S12 bucket arm automatic excavation pressure test includes calculating the bucket arm excavation pressure P 斗杆挖掘 The steps include: S1-10: Start timer TON6, set the timing to △T6, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the digging pressure P of the bucket arm 斗杆挖掘 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller; The automatic unloading of the bucket arm in S14 includes calculating the bucket arm unloading single action time T 斗杆卸载 The steps include: S1-11: Get the current system time T of the vehicle controller AO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_MAX To the boom unloading solenoid valve 1, output the control current I through the signal output port 斗杆卸载2_MAX To the boom unloading solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆卸载_停止 , and the duration is not less than T5, obtain the current system time T of the vehicle controller AO2 , calculate the arm unloading single action time T 斗杆卸载 =T AO2 -T AO1 , and stored in the vehicle controller; The S16 arm automatic unloading pressure test includes calculating the arm unloading pressure P 斗杆卸载 The steps include: S1-12: Start timer TON7, set the timing to △T7, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵NIf the timing time is up, calculate the arm unloading pressure P 斗杆卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller; The automatic lowering of the boom in S18 includes calculating the single action time T of the lowering of the boom 动臂下降 The steps include: S1-13: Get the current system time T of the vehicle controller BD1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂下降_MAX To the boom lowering solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂下降_停止 , and the duration is not less than T6, obtain the current system time T of the vehicle controller BD2 , calculate the boom lowering single action time T 动臂下降 =T BD2 -T BD1 , and stored in the vehicle controller; The automatic boom lifting in S20 includes calculating the boom lifting single action time T 动臂提升 The steps include: S1-14: Get the current system time T of the vehicle controller BU1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂提升_MAX To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流_MAX To the boom confluence solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂提升_停止 , and the duration is not less than T7, obtain the current system time T of the vehicle controller BU2 , calculate the boom lifting single action time T 动臂提升 =T BU2 -T BU1 , and stored in the vehicle controller; The S22 boom automatic lifting pressure holding test includes calculating the boom lifting pressure holding pressure P 动臂提升 The steps include: S1-15: Start timer TON8, set the timing to △T8, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the boom lifting pressure P 动臂提升=AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

[0020] Preferably, the S24 vehicle controller sends all test data and test results to the instrument controller, including: S1-16: All signal output ports of the vehicle controller stop current output, read all test data from the vehicle controller, and compare with the design target value. If the single action time is higher than the design target value, it is judged as unqualified; if the holding pressure of the working device is within the design range, it is judged as unqualified; after all test data are compared with the design target value one by one, enter S1-17; S1-17: The vehicle controller sends all test data and test results to the instrument controller via the CAN-Bus.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In the present invention, the instrument controller sends an automatic test start instruction to the vehicle controller. After receiving the instruction, the vehicle controller outputs a current signal to the main pump and the corresponding solenoid valve group. The vehicle controller continuously adjusts the posture of the vehicle according to the main pump pressure fed back by the main pump pressure sensor, and completes the single action time test and the pressure holding test of each working device of the excavator in turn, and sends the test data and test results of the single action time test and the pressure holding test to the instrument controller for display, which can not only solve the problem of inaccurate test results, but also completely get rid of the driver in the entire test process and realize unmanned testing. At the same time, multiple test items can be continuously and automatically tested with one click, and there is no need to manually record data during the test, nor is there any need to manually judge whether the test results are appropriate. After the test is completed, the whole machine uniformly outputs all test data and test results.

[0023] 2. In the present invention, there is no need for an operator to operate the machine. The operator only needs to click the start button, and the rest is completed by the vehicle controller. All actions are automatically completed by the vehicle controller according to the pre-written operating logic, including bucket automatic excavation single action time test → bucket automatic excavation pressure holding test → bucket automatic unloading single action time test → bucket automatic unloading pressure holding test → arm automatic excavation single action time test → arm automatic excavation pressure holding test → arm automatic unloading single action time test → arm automatic unloading pressure holding test → boom automatic lowering single action time test → boom automatic lifting single action time test → boom automatic lifting pressure holding test, including eleven groups of test items. No driver operation is required during the entire test process, which is completely unmanned. At the same time, the interface can display the single action time of all test items. In addition, the patent of the present invention can not only output all test data at once, but also output items that do not meet the test data. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the present invention;

[0025] Figure 2 A flow chart of the present invention for automatically and continuously completing eleven test items;

[0026] Figure 3 It is a flow chart of automatic program control of the present invention.

[0027] In the figure: 1. Instrument controller; 2. Vehicle controller; 3. Main pump pressure sensor; 41. Boom lifting solenoid valve; 42. Boom lowering solenoid valve; 43. Boom merging solenoid valve; 44. Arm excavation solenoid valve one; 45. Arm excavation solenoid valve two; 46. Arm unloading solenoid valve one; 47. Arm unloading solenoid valve two; 48. Bucket excavation solenoid valve; 49. Bucket unloading solenoid valve; 410. Bucket merging solenoid valve; 411. Pilot solenoid valve; 412. Main pump solenoid valve. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] Embodiment 1:

[0031] Reference Figure 1 , a system and method for testing the single action time and working device pressure holding of a fully electronically controlled excavator, comprising an instrument controller 1, a vehicle controller 2, a main pump pressure sensor 3, a single action time test controller and a solenoid valve group, wherein the vehicle controller has a plurality of PWM signal output ports. In order to facilitate the distinction between the plurality of signal output ports, the plurality of signal output ports may be named PWM1, PWM2, PWM3, PWM4, PWM5, PWM6, PWM7, PWM8, PWM9, PWM10, PWM11 and PWM12, respectively, the main pump pressure sensor 3 is used to detect the pressure of the main pump of the excavator, the single action time test controller is used to calculate the single action time of each working device of the excavator, and the solenoid valve group is connected to each working device of the excavator accordingly;

[0032] In order to realize the unmanned test of single action time and working device pressure holding of fully electric-controlled hydraulic excavator, the core part is that the fully electric-controlled excavator vehicle controller controls the main pump solenoid valve and the corresponding solenoid valve group through the PWM port output control current, thereby automatically controlling the whole vehicle action, replacing the traditional driver operating the hydraulic handle to control the whole vehicle action; at the same time, to realize unmanned operation, the excavator must be a fully electric-controlled hydraulic excavator;

[0033] When in use, the instrument controller sends an "automatic test start" command to the vehicle controller. After receiving the "automatic test start" command from the instrument controller, the vehicle controller outputs a current signal to the main pump and the corresponding solenoid valve group through the PWM output port. The vehicle controller continuously adjusts the vehicle posture according to the main pump pressure feedback from the main pump pressure sensor, and completes the single action time test and pressure holding test of each working device of the excavator in turn, and sends the test data and test results of the single action time test and pressure holding test to the instrument controller, and the instrument controller displays the test data and test results.

[0034] Furthermore, the instrument controller is connected to the vehicle controller via a CAN-Bus bus; the vehicle controller is connected to the solenoid valve group via a current signal.

[0035] As a preferred technical solution of the present invention, the solenoid valve group includes a boom lifting solenoid valve 41, a boom lowering solenoid valve 42, a boom merging solenoid valve 43, an arm excavation solenoid valve 1 44, an arm excavation solenoid valve 2 45, an arm unloading solenoid valve 1 46, an arm unloading solenoid valve 2 47, a bucket excavation solenoid valve 48, a bucket unloading solenoid valve 49, a bucket merging solenoid valve 410 and a pilot solenoid valve 411. In addition, the solenoid valve group also includes a main pump solenoid valve 412.

[0036] Furthermore, the single action time test includes a boom raising single action time test, a boom lowering single action time test, a bucket digging single action time test, a bucket unloading single action time test, an arm digging single action time test and an arm unloading single action time test.

[0037] Furthermore, the pressure holding test includes a boom lifting pressure holding test, a bucket digging pressure holding test, a bucket unloading pressure holding test, an arm digging pressure holding test and an arm unloading pressure holding test.

[0038] Embodiment 2:

[0039] Reference Figure 2 , a test method for a single action time and working device pressure holding test system for a fully electric controlled excavator, comprising the following steps:

[0040] S0: Start.

[0041] S1: Determine whether the vehicle controller receives the automatic test start command from the instrument controller. If so, enter S2; if not, enter S0.

[0042] Specifically, the instrument controller sends an "automatic test start" command to the vehicle controller. If the vehicle controller receives the "automatic test start" command, it enters S2; if the vehicle controller does not receive the "automatic test start" command, the instrument controller sends the "automatic test start" command to the vehicle controller again until the vehicle controller receives the "automatic test start" command.

[0043] S2: The bucket digs automatically.

[0044] Specifically, after the vehicle controller receives the "automatic test start" instruction, it performs an automatic digging test of the bucket.

[0045] S3: Determine whether the automatic excavation of the bucket is completed. If so, enter S4; if not, enter S2.

[0046] Specifically, the vehicle controller determines whether the automatic digging of the bucket is completed by calculating the single action time of the automatic digging of the bucket. If completed, it enters S4; if not, it enters the automatic digging of the bucket in S2 until it is completed.

[0047] S4: Bucket automatic excavation pressure holding test.

[0048] Specifically, after the bucket completes automatic digging, the bucket enters the automatic digging pressure holding test.

[0049] S5: Determine whether the bucket automatic excavation pressure holding test is completed. If so, enter S6; if not, enter S4.

[0050] Specifically, the vehicle controller determines whether the bucket automatic excavation pressure holding test is completed by calculating the bucket excavation pressure holding pressure value. If completed, it enters S6; if not completed, it enters S4 of the bucket automatic excavation pressure holding test until the test is completed.

[0051] S6: The bucket unloads automatically.

[0052] Specifically, after the bucket automatic excavation and pressure holding test is completed, the bucket automatic unloading test is entered.

[0053] S7: Determine whether the automatic unloading of the bucket is completed. If so, proceed to S8; if not, proceed to S6.

[0054] Specifically, the vehicle controller determines whether the automatic unloading of the bucket is completed by calculating the single action time of the automatic unloading of the bucket. If completed, it enters S8; if not, it enters S6 for automatic unloading of the bucket until the automatic unloading test of the bucket is completed.

[0055] S8: Bucket automatic unloading pressure holding test.

[0056] Specifically, after the bucket is automatically unloaded, the bucket automatically unloads and enters the pressure holding test.

[0057] S9: Determine whether the bucket automatic unloading pressure holding test is completed. If so, enter S10; if not, enter S8.

[0058] Specifically, the vehicle controller determines whether the bucket automatic unloading pressure holding test is completed by calculating the bucket unloading pressure holding pressure value. If completed, it enters S10; if not, it enters S8 of the bucket automatic unloading pressure holding test until the test is completed.

[0059] S10: The arm automatically digs.

[0060] Specifically, after the bucket automatic unloading and pressure holding test is completed, the boom automatic digging test is performed.

[0061] S11: Determine whether the automatic digging of the dipper arm is completed. If so, enter S12; if not, enter S10.

[0062] Specifically, the vehicle controller determines whether the automatic digging of the boom is completed by calculating the single action time of the automatic digging of the boom. If completed, it enters S12; if completed, it enters the automatic digging test of the boom in S10 until the test is completed.

[0063] S12: Automatic digging and holding pressure test of the bucket arm.

[0064] Specifically, after the automatic digging test of the boom is completed, the automatic digging pressure holding test of the boom is performed.

[0065] S13: Determine whether the automatic digging and holding pressure test of the boom is completed. If so, enter S14; if not, enter S12.

[0066] Specifically, the vehicle controller determines whether the boom automatic digging pressure holding test is completed by calculating the boom digging pressure holding pressure value. If completed, it enters S14; if completed, it enters the boom automatic digging pressure holding test of S12 until the test is completed.

[0067] S14: The boom is automatically unloaded.

[0068] Specifically, after the automatic digging and holding pressure test of the boom is completed, the automatic unloading test of the boom is performed.

[0069] S15: Determine whether the automatic unloading of the boom is completed, if so, enter S16; if not, enter S14.

[0070] Specifically, the vehicle controller determines whether the automatic unloading of the boom is completed by calculating the single action time of the automatic unloading of the boom. If completed, it enters S16; if not completed, it enters the automatic unloading test of the boom in S14 until the test is completed.

[0071] S16: Automatic unloading and pressure holding test of the boom.

[0072] Specifically, after the automatic unloading of the boom is completed, an automatic unloading pressure holding test of the boom is performed.

[0073] S17: Determine whether the boom automatic unloading pressure holding test is completed, if so, go to S18; if not, go to S16.

[0074] Specifically, the vehicle controller determines whether the boom automatic unloading pressure holding test is completed by calculating the boom unloading pressure holding pressure value. If completed, it enters S18; if not completed, it enters the boom automatic unloading pressure holding test of S16 until the test is completed.

[0075] S18: The boom automatically descends.

[0076] Specifically, after the automatic unloading and pressure holding test of the boom is completed, the automatic lowering test of the boom is carried out.

[0077] S19: Determine whether the automatic lowering of the boom is completed, if so, enter S20; if not, enter S18.

[0078] Specifically, the vehicle controller determines whether the automatic lowering of the boom is completed by calculating the single action time of the automatic lowering of the boom. If completed, it enters S20; if not completed, it enters S18 of the automatic lowering of the boom until the test is completed.

[0079] S20: The boom is automatically raised.

[0080] Specifically, after the boom automatic lowering test is completed, the boom automatic raising test is performed.

[0081] S21: Determine whether the automatic lifting of the boom is completed, if so, enter S22; if not, enter S20.

[0082] Specifically, the vehicle controller determines whether the automatic lifting of the boom is completed by calculating the single action time of the automatic lifting of the boom. If completed, it enters S22; if not completed, it enters the automatic lifting test of the boom in S20 until the test is completed.

[0083] S22: Automatic boom lifting pressure holding test.

[0084] Specifically, after the boom automatic lifting test is completed, the boom automatic lifting pressure holding test is performed.

[0085] S23: Determine whether the boom automatic lifting pressure holding test is completed, if so, enter S24; if not, enter S22.

[0086] Specifically, the vehicle controller determines whether the boom automatic lifting pressure holding test is completed by calculating the boom lifting pressure holding pressure value. If completed, it enters S24; if not completed, it enters the boom automatic lifting pressure holding test of S22 until the test is completed.

[0087] S24: The vehicle controller sends all test data and test results to the instrument controller.

[0088] Specifically, all PWM ports of the vehicle controller stop controlling current output, and all test data are read from the vehicle controller and compared with the design target value. If the single action time is higher than the design target value, it is judged as unqualified; if the holding pressure of the working device is within the design range, it is judged as unqualified;

[0089] S25: End.

[0090] Embodiment 3:

[0091] Reference Figure 3 , a test method for a single action time and working device pressure holding test system for a fully electric controlled excavator, comprising the following steps:

[0092] Step 1-1: The vehicle controller outputs the control current I through the signal output port 先导 Give the pilot solenoid valve, and at the same time, the vehicle controller starts the timer TON1, and sets the timing to △T1. If the timing is up, enter S1-2;

[0093] Step 1-2: The vehicle controller outputs the control current I through the signal output port 主泵1 To the main pump solenoid valve, output control current I through the signal output port 动臂提升1 To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流1 Feed the boom confluence solenoid valve and monitor the main pump pressure P in real time 主泵 , if the main pump pressure P 主泵 If it is greater than P1 and lasts no less than T1, then enter S1-3;

[0094] Step 1-3: The vehicle controller outputs the control current I through the signal output port 主泵2 To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载1 Unload the bucket solenoid valve, start the timer TON2, set the timing to △T2, if the timing is up, enter S1-4;

[0095] Step 1-4: Get the current system time T of the vehicle controller BKI1At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗挖掘_MAX Give the bucket excavation solenoid valve an output control current I through the signal output port 铲斗合流_MAX To the bucket merging solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗挖掘_停止 , and the duration is not less than T2, obtain the current system time T of the vehicle controller BKI2 , calculate the bucket excavation single action time T 铲斗挖掘 =T BKI2 -T BKI1 , and stored in the vehicle controller, enter S1-5;

[0096] Step 1-5: Start timer TON3 and set the timing to △T3. During this period, continuously obtain N main pump pressures P 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket excavation pressure P 铲斗挖掘 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller, and enter S1-6;

[0097] Step 1-6: Get the current system time T of the vehicle controller BKO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载_MAX To unload the bucket solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗卸载_停止 , and the duration is not less than T3, obtain the current system time T of the vehicle controller BKO2 , calculate the bucket excavation single action time T 铲斗卸载 =T BKO2 -T BKO1 , and stored in the vehicle controller, enter S1-7;

[0098] Step 1-7: Start timer TON4 and set the timer to △T4. During this period, continuously obtain N main pump pressures P 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket unloading pressure P 铲斗卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller, and enter S1-8;

[0099] Step 1-8: The vehicle controller outputs the control current I through the signal output port 主泵3 To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_1 Unload a solenoid valve to the boom and output the control current I through the signal output port 斗杆卸载2_1 Unload the second solenoid valve of the bucket arm, start the timer TON5, set the timing to △T5, if the timing is up, enter S1-9;

[0100] Step 1-9: Get the current system time T of the vehicle controller AI1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 斗杆挖掘1_MAX Give the digging solenoid valve of the digging stick a control current I through the signal output port 斗杆挖掘2_MAX Give the arm excavation solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆挖掘_停止 , and the duration is not less than T4, obtain the current system time T of the vehicle controller AI2 , calculate the arm excavation single action time T 斗杆挖掘 =T AI2 -T AI1 , and stored in the vehicle controller, enter S1-10;

[0101] Step 1-10: Start timer TON6 and set the timer to △T6. During this period, continuously obtain N main pump pressures P 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the digging pressure P of the bucket arm 斗杆挖掘 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller, and enter S1-11;

[0102] Step 1-11: Get the current system time T of the vehicle controller AO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_MAX To the boom unloading solenoid valve 1, output the control current I through the signal output port 斗杆卸载2_MAX To the boom unloading solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆卸载_停止 , and the duration is not less than T5, obtain the current system time T of the vehicle controller AO2, calculate the arm unloading single action time T 斗杆卸载 =T AO2 -T AO1 , and stored in the vehicle controller; enter S1-12;

[0103] Step S1-12: Start the timer TON7 and set the timer to △T7. During this time, continuously obtain N main pump pressures P 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the arm unloading pressure P 斗杆卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller, and enter S1-13;

[0104] Step S1-13: Obtain the current system time T of the vehicle controller BD1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂下降_MAX To the boom lowering solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂下降_停止 , and the duration is not less than T6, obtain the current system time T of the vehicle controller BD2 , calculate the boom lowering single action time T 动臂下降 =T BD2 -T BD1 , and stored in the vehicle controller, enter S1-14;

[0105] Step S1-14: Obtain the current system time T of the vehicle controller BU1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂提升_MAX To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流_MAX To the boom confluence solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂提升_停止 , and the duration is not less than T7, obtain the current system time T of the vehicle controller BU2 , calculate the boom lifting single action time T 动臂提升 =T BU2 -T BU1 , and stored in the vehicle controller, enter S1-15;

[0106] Step S1-15: Start the timer TON8 and set the timer to △T8. During this time, continuously obtain N main pump pressures P主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the boom lifting pressure P 动臂提升 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller, and enter S1-16;

[0107] Step S1-16: All signal output ports of the vehicle controller stop current output, read all test data from the vehicle controller, and compare with the design target value. If the single action time is higher than the design target value, it is judged as unqualified; if the holding pressure of the working device is within the design range, it is judged as unqualified; after all test data are compared with the design target value one by one, enter S1-17;

[0108] Step S1-17: The vehicle controller sends all test data and test results to the instrument controller via the CAN-Bus.

[0109] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A single action time and working device pressure test system for fully electronically controlled excavators, characterized in that: It includes an instrument controller, a vehicle controller, a main pump pressure sensor for detecting the pressure of the main pump of the excavator, a single action time test controller for calculating the single action time of each working device of the excavator, and a solenoid valve group corresponding to each working device of the excavator; Among them, the instrument controller sends an automatic test start command to the vehicle controller. After receiving the command, the vehicle controller outputs a current signal to the main pump and the corresponding solenoid valve group. The vehicle controller continuously adjusts the vehicle posture according to the main pump pressure feedback from the main pump pressure sensor, and completes the single action time test and pressure holding test of each working device of the excavator in turn, and sends the test data and test results of the single action time test and pressure holding test to the instrument controller for display.

2. The single action time and working device pressure holding test system for a fully electric excavator according to claim 1 is characterized in that: The solenoid valve group includes a boom lifting solenoid valve, a boom lowering solenoid valve, a boom merging solenoid valve, a bucket excavation solenoid valve 1, a bucket excavation solenoid valve 2, a bucket unloading solenoid valve 1, a bucket unloading solenoid valve 2, a bucket excavation solenoid valve, a bucket unloading solenoid valve, a bucket merging solenoid valve and a pilot solenoid valve.

3. The single action time and working device pressure holding test system for a fully electric excavator according to claim 1 is characterized in that: The single action time test includes a boom raising single action time test, a boom lowering single action time test, a bucket digging single action time test, a bucket unloading single action time test, an arm digging single action time test and an arm unloading single action time test.

4. The single action time and working device pressure holding test system for a fully electric excavator according to claim 1 is characterized in that: The pressure holding test includes a boom lifting pressure holding test, a bucket digging pressure holding test, a bucket unloading pressure holding test, an arm digging pressure holding test and an arm unloading pressure holding test.

5. The single action time and working device pressure holding test system for a fully electric excavator according to claim 1 is characterized in that: The instrument controller is connected to the vehicle controller via a CAN-Bus bus; the vehicle controller is connected to the solenoid valve group via a current signal.

6. The test method for the single action time and working device pressure holding test system of a fully electric excavator according to claim 5 is characterized in that: The test method comprises the following steps: S0: Start; S1: Determine whether the vehicle controller receives the automatic test start command from the instrument controller. If yes, enter S2; if not, enter S0; S2: bucket automatically digs; S3: Determine whether the bucket has completed automatic excavation. If so, proceed to S4; if not, proceed to S2; S4: Bucket automatic excavation pressure test; S5: Determine whether the bucket automatic excavation pressure holding test is completed, if so, enter S6; if not, enter S4; S6: Bucket unloads automatically; S7: Determine whether the bucket is automatically unloaded. If so, proceed to S8; if not, proceed to S6; S8: Bucket automatic unloading pressure holding test; S9: Determine whether the bucket automatic unloading pressure holding test is completed. If so, proceed to S10; if not, proceed to S8; S10: The arm automatically digs; S11: Determine whether the automatic digging of the bucket arm is completed, if so, enter S12; if not, enter S10; S12: Automatic digging and holding pressure test of the bucket arm; S13: Determine whether the automatic digging and holding pressure test of the bucket arm is completed. If so, enter S14; if not, enter S12; S14: The arm automatically unloads; S15: Determine whether the automatic unloading of the bucket arm is completed, if so, enter S16; if not, enter S14; S16: Automatic unloading and pressure holding test of the bucket arm; S17: Determine whether the automatic unloading pressure holding test of the bucket arm is completed. If so, enter S18; if not, enter S16; S18: The boom automatically descends; S19: Determine whether the automatic lowering of the boom is completed. If so, proceed to S20; if not, proceed to S18; S20: The boom is automatically raised; S21: Determine whether the automatic lifting of the boom is completed, if so, enter S22; if not, enter S20; S22: Automatic lifting pressure test of boom; S23: Determine whether the boom automatic lifting pressure holding test is completed, if so, enter S24; if not, enter S22; S24: The vehicle controller sends all test data and test results to the instrument controller; S25: End.

7. The testing method according to claim 6, characterized in that: The S2 bucket automatic excavation includes calculating the bucket excavation single action time T 铲斗挖掘 The steps include: S1-1: The vehicle controller outputs the control current I through the signal output port 先导 Give the pilot solenoid valve, and at the same time, the vehicle controller starts the timer TON1, sets the timing to △T1, and if the timing is up, enter S1-2; S1-2: The vehicle controller outputs the control current I through the signal output port 主泵1 To the main pump solenoid valve, output control current I through the signal output port 动臂提升1 To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流1 Feed the boom confluence solenoid valve and monitor the main pump pressure P in real time 主泵 , if the main pump pressure P 主泵 If it is greater than P1 and the duration is not less than T1, then enter S1-3; S1-3: The vehicle controller outputs the control current I through the signal output port 主泵2 To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载1 Unload the bucket solenoid valve, start the timer TON2, set the timing to △T2, if the timing is up, enter S1-4; S1-4: Get the current system time T of the vehicle controller BKI1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗挖掘_MAX Give the bucket excavation solenoid valve an output control current I through the signal output port 铲斗合流_MAX To the bucket merging solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗挖掘_停止 , and the duration is not less than T2, obtain the current system time T of the vehicle controller BKI2 , calculate the bucket excavation single action time T 铲斗挖掘 =T BKI2 -T BKI1 , and stored in the vehicle controller; The S4 bucket automatic excavation pressure test includes calculating the bucket excavation pressure P 铲斗挖掘 The steps include: S1-5: Start timer TON3, set the timing to △T3, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket excavation pressure P 铲斗挖掘 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

8. The testing method according to claim 7, characterized in that: The automatic unloading of the bucket in S6 includes calculating the single action time T of the bucket unloading 铲斗卸载 The steps include: S1-6: Get the current system time T of the vehicle controller BKO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 铲斗卸载_MAX To unload the bucket solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 铲斗卸载_停止 , and the duration is not less than T3, obtain the current system time T of the vehicle controller BKO2 , calculate the bucket excavation single action time T 铲斗卸载 =T BKO2 -T BKO1 , and stored in the vehicle controller; The S8 bucket automatic unloading pressure test includes calculating the bucket unloading pressure P 铲斗卸载 The steps include: S1-7: Start timer TON4, set the timing to △T4, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N , if the timing time is up, calculate the bucket unloading pressure P 铲斗卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

9. The testing method according to claim 8, characterized in that: The S10 bucket arm automatic excavation includes calculating the bucket arm excavation single action time T 斗杆挖掘 The steps include: S1-8: The vehicle controller outputs the control current I through the signal output port 主泵3 To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_1 Unload a solenoid valve to the boom and output the control current I through the signal output port 斗杆卸载2_1 Unload the second solenoid valve of the bucket arm, start the timer TON5, set the timing to △T5, if the timing is up, enter S1-9; S1-9: Get the current system time T of the vehicle controller AI1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 斗杆挖掘1_MAX Give the digging solenoid valve of the digging stick a control current I through the signal output port 斗杆挖掘2_MAX Give the arm excavation solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆挖掘_停止 , and the duration is not less than T4, obtain the current system time T of the vehicle controller AI2 , calculate the arm excavation single action time T 斗杆挖掘 =T AI2 -T AI1 , and stored in the vehicle controller; The S12 bucket arm automatic excavation pressure test includes calculating the bucket arm excavation pressure P 斗杆挖掘 The steps include: S1-10: Start timer TON6, set the timing to △T6, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the digging pressure P of the bucket arm 斗杆挖掘 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller; The automatic unloading of the bucket arm in S14 includes calculating the bucket arm unloading single action time T 斗杆卸载 The steps include: S1-11: Get the current system time T of the vehicle controller AO1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 斗杆卸载1_MAX To the boom unloading solenoid valve 1, output the control current I through the signal output port 斗杆卸载2_MAX To the boom unloading solenoid valve 2, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 斗杆卸载_停止 , and the duration is not less than T5, obtain the current system time T of the vehicle controller AO2 , calculate the arm unloading single action time T 斗杆卸载 =T AO2 -T AO1 , and stored in the vehicle controller; The S16 arm automatic unloading pressure test includes calculating the arm unloading pressure P 斗杆卸载 The steps include: S1-12: Start timer TON7, set the timing to △T7, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the arm unloading pressure P 斗杆卸载 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller; The automatic lowering of the boom in S18 includes calculating the single action time T of the lowering of the boom 动臂下降 The steps include: S1-13: Get the current system time T of the vehicle controller BD1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂下降_MAX To the boom lowering solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂下降_停止 , and the duration is not less than T6, obtain the current system time T of the vehicle controller BD2 , calculate the boom lowering single action time T 动臂下降 =T BD2 -T BD1 , and stored in the vehicle controller; The automatic boom lifting in S20 includes calculating the boom lifting single action time T 动臂提升 The steps include: S1-14: Get the current system time T of the vehicle controller BU1 At the same time, the vehicle controller outputs the control current I through the signal output port 主泵_MAX To the main pump solenoid valve, output control current I through the signal output port 动臂提升_MAX To the boom lifting solenoid valve, output the control current I through the signal output port 动臂合流_MAX To the boom confluence solenoid valve, if the main pump pressure P is detected 主泵 Greater than the main pump stop pressure value P 动臂提升_停止 , and the duration is not less than T7, obtain the current system time T of the vehicle controller BU2 , calculate the boom lifting single action time T 动臂提升 =T BU2 -T BU1 , and stored in the vehicle controller; The S22 boom automatic lifting pressure holding test includes calculating the boom lifting pressure holding pressure P 动臂提升 The steps include: S1-15: Start timer TON8, set the timing to △T8, and continuously obtain N main pump pressures P during this period 主泵1 , P 主泵2 ,…,P 主泵N If the timing time is up, calculate the boom lifting pressure P 动臂提升 =AVERG[P 主泵1 , P 主泵2 ,…,P 主泵N ] and stored in the vehicle controller.

10. The testing method according to claim 9, characterized in that: The S24 vehicle controller sends all test data and test results to the instrument controller, including: S1-16: All signal output ports of the vehicle controller stop current output, read all test data from the vehicle controller, and compare with the design target value. If the single action time is higher than the design target value, it is judged as unqualified; if the holding pressure of the working device is within the design range, it is judged as unqualified; after all test data are compared with the design target value one by one, enter S1-17; S1-17: The vehicle controller sends all test data and test results to the instrument controller via the CAN-Bus.

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