Working machine, endurance test method and device thereof and machine readable storage medium

Abstract

The invention discloses an operation machine, an endurance test method and device thereof and a machine readable storage medium. The endurance test method comprises the following steps: controlling the operation machine to run in a target working posture; under the condition that the work machine operates in the target working posture, a rotary motor of the work machine is controlled to drive and execute a rotary action; the corresponding rotation frequency and rotation duration in the process that the operation machine executes the rotation action are obtained; under the condition that the operation machine meets the first preset condition, driving of the rotary motor is stopped, and a test result is generated according to the obtained number of rotation times corresponding to the operation machine and / or the obtained rotation duration corresponding to the operation machine; wherein the first preset condition comprises at least one of the following items: the rotation frequency reaches the target frequency, and the rotation duration reaches the target duration. By adopting the durability test method, the reliability of the rotary motor can be ensured, and compared with the direct actual durability test in the prior art, the development period is shortened, and the cost is saved.

Description

Technical Field

[0001] The present application belongs to the technical field of operating machinery, and specifically relates to an operating machinery and a durability test method, device, and machine-readable storage medium thereof. Background Art

[0002] The reliability of the swing motor in an excavator, for example, is crucial to the overall performance of the excavator. Evaluating the durability of a swing motor typically involves attaching the motor to the complete machine and conducting actual excavation durability tests. However, due to the significant differences in operating conditions between different excavator models, existing testing methods cannot cover all operating conditions. Furthermore, actual excavation durability testing takes a long time and incurs significant machine depreciation, labor costs, and fuel expenses. This results in lengthy development and evaluation cycles, hindering rapid response to market demands and cost reductions. Summary of the Invention

[0003] The purpose of this application is to provide a working machine and its durability test method, device and machine-readable storage medium, so as to shorten the durability reliability evaluation cycle and cost of the working machine.

[0004] To achieve the above objectives, the present application provides, on one hand, a durability test method for a working machine, the method comprising:

[0005] Controlling the working machine to operate in a target working posture;

[0006] When the working machine is operating in a target working posture, controlling the driving of a rotary motor of the working machine so that the working machine performs a rotary motion;

[0007] Obtaining the corresponding number of rotations and rotation duration during the rotation action of the working machine;

[0008] When the working machine satisfies a first preset condition, stopping driving the rotary motor and generating a test result according to the obtained number of rotations of the working machine and / or the rotation duration of the working machine;

[0009] The first preset condition includes at least one of the following:

[0010] The number of rotations corresponding to the operating machine reaches the target number;

[0011] The corresponding rotation time of the operating machine reaches the target time.

[0012] In some embodiments, before controlling the working machine to operate in the target working posture, the method further includes:

[0013] Performing simulated stress analysis on the operating machine in different static working postures to determine a first stress state corresponding to the operating machine in each static working posture;

[0014] determining a first stress state corresponding to the working machine when the rotary structure of the working machine is under maximum stress as a first target stress state;

[0015] Performing simulated stress analysis on the operating machine in different dynamic working postures to determine a second stress state corresponding to the operating machine in each dynamic working posture;

[0016] determining a second stress state corresponding to the working machine when the rotary structure of the working machine is at the maximum stress as a second target stress state;

[0017] A target working posture is determined according to the first target force state and the second target force state.

[0018] In some embodiments, controlling the rotary motor drive of the working machine includes:

[0019] Controlling the rotary motor of the working machine to drive to a first position;

[0020] When the rotary motor is driven to the first position, controlling the rotary motor to stop for a preset time;

[0021] When the swing motor is stopped for a preset time, the swing motor of the working machine is controlled to be driven to a second position;

[0022] When the swing motor is driven to the second position, the swing motor is controlled to stop for a preset time period, and the process returns to the step of: controlling the swing motor of the working machine to drive to the first position;

[0023] When the rotary motor is driven to the first position, the working machine performs a left rotation action; when the rotary motor is driven to the second position, the working machine performs a right rotation action.

[0024] In some embodiments, after controlling the drive of the rotary motor of the working machine so that the working machine performs a rotary motion when the working machine is operating in the target working posture, the method further includes:

[0025] Obtaining the corresponding oil temperature during the rotation of the working machine; the oil temperature includes the gear oil temperature, the hydraulic oil temperature and the antifreeze temperature;

[0026] When the oil temperature meets a second preset condition, stopping driving the rotary motor;

[0027] When the oil temperature satisfies a third preset condition, controlling the rotary motor to drive;

[0028] The second preset condition includes at least one of the following:

[0029] The gear oil temperature is greater than or equal to a first preset temperature;

[0030] The hydraulic oil temperature is greater than or equal to a second preset temperature;

[0031] The antifreeze liquid temperature is greater than or equal to a third preset temperature;

[0032] The third preset condition includes:

[0033] The gear oil temperature is lower than a first preset temperature;

[0034] The hydraulic oil temperature is lower than a second preset temperature;

[0035] The antifreeze liquid temperature is lower than a third preset temperature.

[0036] In some embodiments, before controlling the working machine to operate in the target working posture, the method further includes:

[0037] Determining the design service life of the rotary motor of the operating machine and the ratio of the rotary time of the operating machine to the total working time;

[0038] The target operating time of the rotary motor during the test is calculated based on the designed service life and the proportion coefficient.

[0039] In some embodiments, before controlling the working machine to operate in the target working posture, the method further includes:

[0040] Obtaining the working time required for the operating machine to perform a rotation operation at the maximum speed;

[0041] The target number of times the rotary motor can operate during the test is determined according to the working time and the target duration.

[0042] In addition, a second aspect of the present application provides a durability test device for a working machine, the device comprising:

[0043] a first control unit, configured to control the working machine to operate in a target working posture;

[0044] a second control unit, configured to control the driving of a rotary motor of the working machine so that the working machine performs a rotary motion when the working machine is operating in a target working posture;

[0045] A statistics module is used to obtain the corresponding number of rotations and rotation duration during the rotation action of the working machine;

[0046] a generating module, configured to stop driving the rotary motor when the working machine satisfies a first preset condition, and generate a test result according to the acquired number of revolutions of the working machine and / or the obtained revolution duration of the working machine;

[0047] The first preset condition includes any one of the following:

[0048] The number of rotations corresponding to the operating machine reaches the target number;

[0049] The corresponding rotation time of the operating machine reaches the target time.

[0050] Furthermore, a third aspect of the present application provides a working machine, the working machine comprising: a processor and a memory storing computer program instructions;

[0051] When the processor executes the computer program instructions, the durability test method described above is implemented.

[0052] In some embodiments, the working machine further includes a first photoelectric sensing element and a second photoelectric sensing element;

[0053] The first photoelectric sensing element and the second photoelectric sensing element are configured to continuously send sensing signals when both receive light signals, so as to enable the working machine to perform a rotation action;

[0054] When at least one of the sensors does not receive the light signal, the sensing signal is sent at intervals of a preset time.

[0055] Finally, the fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the durability test method as described above.

[0056] Through the above technical solution, the operating machine is controlled to operate in the target working posture; when the operating machine operates in the target working posture, the rotary motor of the operating machine is controlled to drive so that the operating machine performs a rotary action; the corresponding number of rotations and the rotation duration of the operating machine during the rotary action are obtained; when the operating machine meets the first preset condition, the rotary motor is stopped from driving, and the test results are generated based on the obtained number of rotations of the operating machine and / or the corresponding rotation duration of the operating machine. This application adopts the durability test method of this application, which belongs to automatic control and can achieve unmanned operation, saving related costs, improving test efficiency, shortening the development cycle, and improving the reliability of the rotary motor.

[0057] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0059] Figure 1 A schematic flow chart of a durability test method for a rotary motor according to the present application;

[0060] Figure 2 This is a force analysis diagram of the rotary motor of the working device of the excavator of the present application in the first action posture;

[0061] Figure 3 This is a force analysis diagram of the rotary motor of the working device of the excavator of the present application in the second action posture;

[0062] Figure 4 This is a schematic diagram of the control principle of the durability test control device of this application;

[0063] Figure 5 This is a schematic diagram of the module structure of the durability test control device of this application;

[0064] Figure 6 A diagram illustrating the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0065] 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.

[0066] The following describes a working machine and a durability test method, apparatus, and machine-readable storage medium thereof according to the present application with reference to the accompanying drawings.

[0067] In the prior art, when conducting a durability test on the rotary motor of an excavator, for example, 2000 hours, it takes about one year and consumes a lot of manpower and material resources. Figure 1 As shown, the present application proposes a durability test method for a working machine, the method comprising:

[0068] S10: Control the operating machine to operate in the target working posture;

[0069] S20: When the working machine is operating in the target working posture, controlling the rotary motor of the working machine to drive the working machine so that the working machine performs a rotary action;

[0070] S30: Obtaining the corresponding number of rotations and rotation duration during the rotation of the working machine;

[0071] S40: If the working machine satisfies the first preset condition, stop driving the rotary motor, and generate a test result based on the acquired number of rotations of the working machine and / or the rotation duration of the working machine;

[0072] The first preset condition includes at least one of the following:

[0073] The corresponding number of rotations of the operating machinery reaches the target number;

[0074] The corresponding rotation time of the operating machinery reaches the target time.

[0075] In this embodiment, when performing a durability test on a rotary motor, the operating machine is first controlled to operate in a target working posture. When the operating machine operates in the target working posture, the rotary motor drive of the operating machine is controlled to make the operating machine perform a rotary action. During the rotation process, the corresponding number of rotations and rotation duration of the operating machine performing the rotary action are obtained. When the rotation duration reaches the target duration or the number of rotations reaches the target number, or when the rotation duration reaches the target duration and the number of rotations reaches the target number, it indicates that the durability test is completed. Then, the rotary motor is controlled to stop the rotary action and the corresponding test results are output. This method is automatic control and can be operated unmanned, saving related costs, improving test efficiency, and shortening the development cycle. In addition, according to the durability test method of the present application, the basic working conditions of the customer site can be covered to ensure the reliability of the rotary motor within the design life cycle.

[0076] In some embodiments, when the working machine is operating in the target working posture, after controlling the swing motor of the working machine to drive so that the working machine performs a swing action, the method further includes:

[0077] Obtain the corresponding oil temperature during the rotation of the operating machine; the oil temperature includes the gear oil temperature, hydraulic oil temperature and antifreeze temperature;

[0078] When the oil temperature meets the second preset condition, the driving of the rotary motor is stopped;

[0079] When the oil temperature meets the third preset condition, controlling the rotary motor to drive;

[0080] The second preset condition includes at least one of the following: the gear oil temperature is greater than or equal to the first preset temperature, the hydraulic oil temperature is greater than or equal to the second preset temperature, and the antifreeze temperature is greater than or equal to the third preset temperature. The third preset condition includes: the gear oil temperature is less than the first preset temperature, the hydraulic oil temperature is less than the second preset temperature, and the antifreeze temperature is less than the third preset temperature.

[0081] In this embodiment, since the excavator requires gear oil, hydraulic oil, and antifreeze, to prevent excessive oil temperatures from affecting test results, the current temperatures of the gear oil, hydraulic oil, and antifreeze are monitored in real time during the swing motor's rotation. Specifically, the corresponding oil temperatures are acquired in real time during the excavator's swing. When at least one of the gear oil, hydraulic oil, and antifreeze temperatures is greater than or equal to a corresponding preset temperature, the swing motor is controlled to stop, causing the excavator to delay for a certain period of time to cool the hot oil, thereby ensuring that the excavator's oil temperature remains within the normal range. When the gear oil, hydraulic oil, and antifreeze temperatures are all below the corresponding preset temperatures, indicating that the oil temperatures are within the normal range, the swing motor can be started to continue testing.

[0082] In some embodiments, controlling a swing motor drive of a work machine includes:

[0083] Controlling a rotary motor of the working machine to drive to a first position;

[0084] When the rotary motor is driven to the first position, controlling the rotary motor to stop for a preset time;

[0085] When the swing motor is stopped for a preset time, the swing motor of the working machine is controlled to be driven to a second position;

[0086] When the swing motor is driven to the second position, the swing motor is controlled to stop for a preset time period, and the process returns to the step of controlling the swing motor of the working machine to drive to the first position;

[0087] When the slewing motor is driven to the first position, the operating machine performs a left slewing action; when the slewing motor is driven to the second position, the operating machine performs a right slewing action.

[0088] Furthermore, the working machine further comprises a first photoelectric sensing element and a second photoelectric sensing element; the first photoelectric sensing element and the second photoelectric sensing element are configured to continuously send sensing signals when both receive the light signal, so as to cause the working machine to perform a rotation action;

[0089] When at least one of the sensors does not receive the light signal, the sensor sends a sensing signal at intervals of a preset time.

[0090] The first photoelectric sensing element and the second photoelectric sensing element are respectively a left photoelectric sensing element and a right photoelectric sensing element spaced apart from each other. The left photoelectric sensing element and the right photoelectric sensing element can both be preferably photoelectric switches. The installation position of the photoelectric switch should be such that when the excavator rotates left from the starting position, the left rotation stops when the left rotation reaches the sensing position of the photoelectric switch. Since the excavator has a rotation drift when it stops, the rotation end position is the 180° position required by the test, which is the stop position. The installation position of the right rotation photoelectric switch is the same as that of the left rotation photoelectric switch, except that the left rotation is counterclockwise and the right rotation is clockwise.

[0091] During rotation, the rotary motor is controlled to perform a first left rotation, and stops rotating when it reaches the left-turn photoelectric switch position, which is the first rotation. Then, the rotary motor is controlled to perform a first right rotation, and stops rotating when it reaches the right-turn photoelectric switch position, which is the second rotation. The rotary motor is then controlled to perform a second left rotation, and stops rotating when it reaches the left-turn photoelectric switch position, which is the third rotation. Subsequent rotations simply repeat the second and third rotations, and the last number of rotations is recorded as the number of rotations for the entire test process. In this embodiment, by setting the preset positions for the left and right rotations of the rotary motor, the left and right rotations of the rotary motor can be precisely controlled, thereby achieving precise control of the starting and ending positions of the left and right rotations and reducing test errors.

[0092] In some embodiments, the working machine further includes a travel device, the slewing motor is provided on the travel device, and before controlling the working machine to operate in the target working posture, the method further includes:

[0093] Performing simulated stress analysis on the operating machine in different static working postures to determine the first stress state corresponding to the operating machine in each static working posture;

[0094] determining a first stress state corresponding to the operating machine when the rotary structure of the operating machine is under maximum stress as a first target stress state;

[0095] Performing simulated stress analysis on the operating machinery in different dynamic working postures to determine the second stress state corresponding to each dynamic working posture of the operating machinery;

[0096] determining a second stress state corresponding to the working machine when the rotary structure of the working machine is at the maximum stress as a second target stress state;

[0097] A target working posture is determined according to the first target force state and the second target force state.

[0098] Among them, for an excavator, the working device includes a boom mounted on a slewing support and a bucket arm connected to one end of the boom. The static working posture refers to the posture of the excavator in a fixed position with the boom and bucket arm working together; the dynamic working posture refers to the working posture of the traveling device during driving. The working posture of the boom includes rising and falling, and the working posture of the bucket arm includes inward and outward swing. Therefore, when considering the different working postures of the working device, it is necessary to consider the working postures of the boom and bucket arm at the same time (such as Figure 2 and Figure 3 The figure shows different working postures of the working device, with the horizontal axis representing working time and the vertical axis representing torque. Since the excavator's slewing motor is mounted on the slewing support, simulation software was used to simulate the stress analysis of the slewing motor and slewing support on the excavator model to be tested. During this acquisition process, the slewing motor and slewing support were compared in different static positions by adjusting the boom's raising and lowering movements and the dipper arm's inward and outward swinging movements. The current working posture of the boom and dipper arm, corresponding to the maximum stress on the slewing motor and slewing support, was determined as the target working posture of the working device during the test.

[0099] Furthermore, because the speed of the travel device also affects the stress on the swing motor, multiple second stress states of the swing motor can be obtained under different accelerations and decelerations. The maximum value of the second stress values of the swing motor under different accelerations and decelerations is selected, and the corresponding maximum acceleration is the preset operating acceleration. The state in which the working device operates in the target operating posture at the preset operating acceleration is the target operating posture during the test.

[0100] In this embodiment, a simulated stress analysis is performed on the operating machinery in different static working postures, and the static action posture under the maximum stress condition is used as the target action posture; and a simulated stress analysis is performed on the operating machinery in different dynamic working postures, and the dynamic working posture under the maximum stress condition is used as the target dynamic; the target action posture under the target dynamic is used as the final target working posture. In this way, during the test, it means that the rotary motor is tested under the most extreme stress state. By judging the durability of the rotary motor under extreme working conditions, the test action posture is clear, which can save test time and shorten the test cycle.

[0101] In some embodiments, before controlling the working machine to operate in the target working posture, the method further includes:

[0102] Obtain the working time required for the operating machine to perform a rotation operation at the maximum speed;

[0103] The target number of times the swing motor can operate during the test is determined based on the operating time and the target duration.

[0104] In this embodiment, it is first necessary to record the time T required for the excavator to perform a 180° excavation and swing operation at maximum throttle and maximum speed. For example, the time required for different excavator operators to operate the test excavator model at maximum throttle and maximum speed can be randomly obtained, and the average value of the operations of multiple excavator operators can be selected. The total target number of times P = H / T, where H is the target duration of the rotary motor.

[0105] In some embodiments, before controlling the working machine to operate in the target working posture, the method further includes:

[0106] Determine the design service life of the swing motor of the operating machine and the ratio of the operating machine's swing time to the total working time;

[0107] The target operating time of the swing motor during the test is calculated based on the design service life and the duty factor.

[0108] In this embodiment, the swing motor to be tested corresponds to the hydraulic excavator model, the design service life S of the hydraulic excavator is obtained, and the proportion coefficient K of the hydraulic excavator's swing time in the total working time is determined through the parameter data stored in the background. For example, 10 hydraulic excavators of the test model can be randomly selected, and their average proportion is taken, K1 = the first excavator's swing time / the first excavator's total working time, K = (K1+K2...K10) / 10, then, the target operating time of the swing motor during the test is H = S*K.

[0109] The second aspect of the present application provides a durability test device for a working machine, such as Figure 5 As shown, the device includes a control module, a statistical module and a generation module, wherein the control module includes a first control unit and a second control unit, the first control unit is used to control the working machine to operate in a target working posture; the second control unit is used to control the rotary motor drive of the working machine when the working machine operates in the target working posture, so that the working machine performs a rotary action; the statistical module is used to obtain the corresponding number of rotations and rotation duration during the process of the working machine performing the rotary action; the generation module is used to stop driving the rotary motor when the working machine meets the first preset condition, and generate a test result based on the obtained number of rotations of the working machine and / or the corresponding rotation duration of the working machine; wherein the first preset condition includes any one of the following: the corresponding number of rotations of the working machine reaches the target number; the corresponding rotation duration of the working machine reaches the target duration.

[0110] Among them, such as Figure 4 As shown, the control module includes a PLC controller, a wireless transmitter and a wireless receiver, which are mainly used for signal input and output and storage and execution of control programs. The wireless transmitter is used for signal transmission, and the wireless receiver is used for signal transmission.

[0111] In this embodiment, by setting up a control module, precise control of the starting and ending positions of the left and right rotations can be achieved; by setting up a statistical module, the number of rotations and the duration of the rotation of the rotary motor during the rotation process can be accurately recorded. The entire durability test control device can be automatically controlled and counted, and can be operated unmanned, saving related costs, improving test efficiency, and shortening the development cycle.

[0112] In some embodiments, the statistical module includes a timer, a counter and a delay device; the timer is used to obtain the rotation duration of the rotary motor during the test; the counter is used to obtain the number of rotations of the rotary motor during the test; the delay device includes a left delay device and a right delay device, and the left delay device and the right delay device are used to send a delayed stop instruction to the control module when the rotary motor rotates to the position of the photoelectric sensing element, and the delay time can be adjusted according to the test requirements.

[0113] It should be noted that the control module of the present application also includes a solenoid valve and a main valve, wherein the control of the solenoid valve and the main valve for the rotary motor is a common method in the prior art and will not be described in detail here. During the rotary motor test, the wireless receiver and the wireless transmitter are first powered on to ensure that the wireless receiver and the wireless transmitter are connected. The wireless receiver sends a PLC controller start signal to the wireless transmitter, and the wireless transmitter controls the PLC controller to run the program. The control instructions are sent to the rotary motor according to the control program of PLC controller → timer → counter → solenoid valve → main valve → rotary motor, so that the rotary motor performs the first left rotation and stops rotating when it reaches the left turn photoelectric switch position, which is the beginning of the first rotation. Then, the control instructions are sent to the rotary motor according to the control sequence of left turn photoelectric switch → PLC controller → timer → left turn delay → counter → solenoid valve → main valve → rotary motor, so that the rotary motor performs the first right rotation and stops rotating when it reaches the right turn photoelectric switch position, which is the second rotation. Finally, a control instruction is sent to the rotary motor in the control order of left-turn photoelectric switch → PLC controller → timer → left-turn delay → counter → solenoid valve → main valve → rotary motor, so that the rotary motor makes a second left rotation, and stops rotating when it reaches the left-turn photoelectric switch position, which is the third rotation; subsequent rotations repeat the second and third rotations.

[0114] In some embodiments, the durability test device further includes a sensing module electrically connected to the control module, the sensing module includes a temperature sensor, the temperature sensor includes a temperature display and a thermocouple connected to the temperature display, the thermocouple is used to detect the oil temperature and send it to the temperature display for temperature display. The temperature display includes a gear oil temperature display, a hydraulic oil temperature display and an antifreeze temperature display. The oil inside the excavator includes gear oil, hydraulic oil and antifreeze. During the test, the temperature sensors corresponding to each oil respectively obtain the current oil temperature corresponding to each oil, and send the obtained multiple current oil temperature signals to the control module. The control module performs the next control action based on the current oil temperature information, and detects the temperatures of the gear oil, hydraulic oil and antifreeze to prevent excessive temperatures from affecting the test conclusions.

[0115] In some embodiments, the durability test control device further includes an alarm module electrically connected to the control module. The alarm module can be a buzzer. After the excavator has been operating normally for a period of time, the temperature of the gear oil, hydraulic oil, and antifreeze fluid inside the excavator will gradually increase. When the current oil temperature exceeds a preset temperature, a temperature display corresponding to one of the oils will sound a buzzer alarm. Simultaneously, a temperature sensor transmits the temperature signal to the PLC controller. After cooling the oil using methods such as spraying water, the test will resume when all oil temperatures are below the corresponding preset temperatures.

[0116] Furthermore, a third aspect of the present application provides a work machine comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the durability test method described above. The work machine may be a machine with a swing motor, such as an excavator, and all such machines are within the scope of protection of the present application.

[0117] Finally, the fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the durability test method as described above.

[0118] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a network interface, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program and a database (not shown in the figure). The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for the durability test of the operating machinery is realized.

[0119] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take 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.) containing computer-usable program code.

[0120] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing 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.

[0123] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0124] 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.

[0125] Computer-readable media includes 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 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 media such as modulated data signals and carrier waves.

[0126] 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.

[0127] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A durability test method for a working machine, characterized in that: The method comprises: Controlling the working machine to operate in a target working posture; When the working machine is operating in a target working posture, controlling the driving of a rotary motor of the working machine so that the working machine performs a rotary motion; Obtaining the corresponding number of rotations and rotation duration during the rotation action of the working machine; When the working machine satisfies a first preset condition, stopping driving the rotary motor and generating a test result according to the obtained number of rotations of the working machine and / or the rotation duration of the working machine; The first preset condition includes at least one of the following: The number of rotations corresponding to the operating machine reaches the target number; The corresponding rotation time of the operating machine reaches the target time.

2. The method according to claim 1, characterized in that Before controlling the working machine to operate in the target working posture, the method further includes: Performing simulated stress analysis on the operating machine in different static working postures to determine a first stress state corresponding to the operating machine in each static working posture; determining a first stress state corresponding to the working machine when the rotary structure of the working machine is under maximum stress as a first target stress state; Performing simulated stress analysis on the operating machine in different dynamic working postures to determine a second stress state corresponding to the operating machine in each dynamic working posture; determining a second stress state corresponding to the working machine when the rotary structure of the working machine is at the maximum stress as a second target stress state; A target working posture is determined according to the first target force state and the second target force state.

3. The method according to claim 1, characterized in that The control of the rotary motor drive of the working machine includes: Controlling the rotary motor of the working machine to drive to a first position; When the rotary motor is driven to the first position, controlling the rotary motor to stop for a preset time; When the swing motor is stopped for a preset time, the swing motor of the working machine is controlled to be driven to a second position; When the swing motor is driven to the second position, the swing motor is controlled to stop for a preset time period, and the process returns to the step of: controlling the swing motor of the working machine to drive to the first position; When the rotary motor is driven to the first position, the working machine performs a left rotation action; when the rotary motor is driven to the second position, the working machine performs a right rotation action.

4. The method according to claim 1, wherein After controlling the driving of the rotary motor of the working machine so that the working machine performs a rotary motion when the working machine is operating in the target working posture, the method further includes: Obtaining the corresponding oil temperature during the rotation of the working machine; the oil temperature includes the gear oil temperature, the hydraulic oil temperature and the antifreeze temperature; When the oil temperature meets a second preset condition, stopping driving the rotary motor; When the oil temperature satisfies a third preset condition, controlling the rotary motor to drive; The second preset condition includes at least one of the following: The gear oil temperature is greater than or equal to a first preset temperature; The hydraulic oil temperature is greater than or equal to a second preset temperature; The antifreeze liquid temperature is greater than or equal to a third preset temperature; The third preset condition includes: The gear oil temperature is lower than a first preset temperature; The hydraulic oil temperature is lower than a second preset temperature; The antifreeze liquid temperature is lower than a third preset temperature.

5. The method according to claim 1, wherein Before controlling the working machine to operate in the target working posture, the method further includes: Determining the design service life of the rotary motor of the operating machine and the ratio of the rotary time of the operating machine to the total working time; The target operating time of the rotary motor during the test is calculated based on the designed service life and the proportion coefficient.

6. The method according to claim 5, characterized in that Before controlling the working machine to operate in the target working posture, the method further includes: Obtaining the working time required for the operating machine to perform a rotation operation at the maximum speed; The target number of times the rotary motor can operate during the test is determined according to the working time and the target duration.

7. A durability test device for working machinery, characterized in that: The device comprises: a first control unit, configured to control the working machine to operate in a target working posture; a second control unit, configured to control the driving of a rotary motor of the working machine so that the working machine performs a rotary motion when the working machine is operating in a target working posture; A statistics module is used to obtain the corresponding number of rotations and rotation duration during the rotation action of the working machine; a generating module, configured to stop driving the rotary motor when the working machine satisfies a first preset condition, and generate a test result according to the acquired number of revolutions of the working machine and / or the obtained revolution duration of the working machine; The first preset condition includes any one of the following: The number of rotations corresponding to the operating machine reaches the target number; The corresponding rotation time of the operating machine reaches the target time.

8. A working machine, characterized in that: The working machine includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the durability test method according to any one of claims 1 to 6 is implemented.

9. The working machine according to claim 8, characterized in that: The operating machine further includes a first photoelectric sensing element and a second photoelectric sensing element; The first photoelectric sensing element and the second photoelectric sensing element are configured to continuously send sensing signals when both receive light signals, so as to enable the working machine to perform a rotation action; When at least one of the sensors does not receive the light signal, the sensing signal is sent at intervals of a preset time.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the durability test method according to any one of claims 1 to 6.

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