Method and system for testing gradeability of excavator

Abstract

The invention relates to the technical field of engineering machinery, and provides an excavator climbing ability test method and system, and the method comprises the steps: obtaining the state parameters of a walking motor of an excavator, determining a climbing traction calculation equation of the excavator, and determining influence parameters influencing the climbing ability according to the climbing traction calculation equation; acquiring real-time state parameters of the excavator, constructing a maximum evaluation climbing ability calculation equation of the excavator by utilizing the influence parameters, and determining a maximum climbing angle; and judging whether the maximum climbing angle accords with a climbing angle design value or not according to the maximum climbing angle so as to finish a dynamic climbing ability test.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to a method and system for testing the climbing ability of excavators. Background Technology

[0002] This invention relates to the field of engineering machinery technology, and in particular to a test device and method for testing the climbing ability of excavators. It is applicable to different excavators measuring and verifying the overall climbing ability of the machine at different angles, and analyzes the maximum adaptable climbing angle or climbing ability of the machine based on the test data results.

[0003] In the field of construction machinery, excavators are increasingly widely used. The climbing ability of excavators varies under different working conditions (dry hard soil, loose sand and gravel, wet and slippery mud).

[0004] Conventional measurement methods measure the excavator's maximum climbing ability by correcting or adjusting the climbing angle scheme. However, existing technology cannot comprehensively assess the maximum actual climbing ability and it is difficult to test the maximum climbing ability. Summary of the Invention

[0005] To achieve the above objectives, this invention proposes a method for testing the climbing ability of excavators. Obtain the excavator travel motor status parameters, determine the excavator climbing traction force calculation equation, and determine the influencing parameters affecting climbing ability based on the climbing traction force algorithm equation. Obtain the real-time status parameters of the excavator, use the influencing parameters to construct the calculation equation for the excavator's maximum assessed climbing ability, and determine the maximum climbing angle; Determine whether the maximum climbing angle meets the design value for climbing angle based on the maximum climbing angle.

[0006] Furthermore, the status parameters of the travel motor include the left motor pressure, the right motor pressure, and the motor displacement, wherein the excavator's climbing traction force calculation equation is as follows:

[0007] Where F is the actual traction force at this slope angle, P is the larger of the excavator travel motor P_left and P_right pressure; q is the displacement of the excavator travel motor; η is the total efficiency of the excavator travel motor (0.85) consisting of volumetric efficiency and mechanical efficiency. is the reduction ratio of the excavator's travel motor; r is the radius of the excavator's travel motor drive wheel.

[0008] Furthermore, according to the excavator climbing traction algorithm equation, the influencing parameter is motor pressure. In calculating the excavator's actual climbing ability, only the travel motor pressure is related to the active variable, while other quantities are constants. Therefore, the evaluation and testing of the excavator's maximum climbing ability is related to the travel motor pressure during the climbing process.

[0009] Furthermore, the real-time status parameters of the excavator include the actual real-time climbing angle of the excavator, wherein the maximum climbing angle reflects the maximum climbing ability of the excavator, and the calculation equation for the maximum assessed climbing ability of the excavator is: For the maximum climbing angle, Set the rated pressure for the excavator's hydraulic system The actual real-time climbing angle of the excavator; P is the larger value taken from the left or right travel motor of the excavator; Rt is the friction coefficient for different road conditions.

[0010] According to a second aspect of the present disclosure, a system for testing the climbing ability of an excavator is provided, comprising: The pressure sensing module acquires the status parameters of the excavator's travel motor; The vehicle control module determines the calculation equation for the excavator's climbing traction force and, based on the climbing traction force algorithm equation, determines the parameters that affect climbing ability. The gyroscope detection module acquires the status parameters of the walking motor; The vehicle control module uses influencing parameters to construct a calculation equation for the excavator's maximum assessed climbing ability and determine the maximum climbing angle. The data analysis module determines whether the maximum climbing angle meets the design value.

[0011] Furthermore, it also includes a signal processing system, which consists of a signal amplification unit, a signal conversion unit, a signal synchronization unit, and a signal analysis module. The travel motor status parameters collected by the pressure sensing module are simultaneously transmitted to the signal synchronization unit through the signal conversion unit via the signal amplifier and the travel motor status parameters collected by the gyroscope detection module. The vehicle control module is connected to the signal analysis module, and the signal analysis module is connected to the signal synchronization unit.

[0012] Furthermore, the signal synchronization unit transmits the processed data to the signal storage module, the signal storage module transmits the signal to the data analysis module, and the data analysis module transmits the signal to the remote terminal display module through the data transmission module.

[0013] Furthermore, the power supply module is electrically connected to the signal acquisition and processing system, the pressure sensing module, and the gyroscope detection module. The independent power supply module provides a stable and independent power supply for the entire testing system and each sensor.

[0014] Furthermore, the pressure sensing module is installed at the inlet and outlet of the excavator's travel motor. By directly installing the pressure sensing module at the inlet and outlet of the travel motor, the real pressure changes of the hydraulic system during the climbing process can be captured most directly and accurately.

[0015] Furthermore, the gyroscope detection module is installed under the excavator chassis frame. This position can minimize the interference caused by the movement of the upper slewing platform on the measurement, and more accurately reflect the relative angle between the chassis and the slope, that is, the actual climbing angle.

[0016] The beneficial effects of one or more of the above technical solutions: This invention enables dynamic testing and evaluation: To ensure the safety of the test experiment, the maximum climbing angle of the excavator is evaluated within a relatively small climbing angle range by combining the actual climbing angle of the excavator under actual working conditions and the real-time pressure of the travel motor. This provides effective data support for the evaluation and improvement of the excavator's climbing ability. A simple excavator travel and climbing test system is composed of gyroscopes, pressure sensors, data acquisition modules, and data analysis modules. The system collects the excavator's operating status in real time and monitors the actual climbing angle and the magnitude of the traction force during the actual climbing process throughout the entire process. This generates time history data of the entire climbing process of the excavator, which is convenient for subsequent evaluation and analysis. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0018] Figure 1 This is a schematic diagram of the system of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the present invention.

[0020] In the diagram: 1. Pressure sensing module; 2. Vehicle control module; 3. Gyroscope detection module; 4. Data analysis module; 5. Signal processing system; 51. Signal amplification unit; 52. Signal conversion unit; 53. Signal synchronization unit; 54. Signal parsing module; 6. Power supply module; 7. Signal storage module; 8. Data transmission module; 9. Remote terminal display module. Detailed Implementation

[0021] The specific implementation of this embodiment will now be described with reference to the accompanying drawings.

[0022] Reference Figure 1 and Figure 2 A method for testing the climbing ability of an excavator involves obtaining the state parameters of the excavator's travel motor, determining the calculation equation for the climbing traction force of the excavator, and determining the influencing parameters affecting the climbing ability based on the climbing traction force algorithm equation. Obtain the real-time status parameters of the excavator, use the influencing parameters to construct the calculation equation for the excavator's maximum assessed climbing ability, and determine the maximum climbing angle; The method determines whether the maximum climbing angle meets the design value by acquiring the real-time status parameters of the excavator's travel motor and determining the climbing traction calculation equation accordingly. This directly links the theoretical mechanical model with the actual working state of the hydraulic system. The core of this method lies in selecting the "influence parameters" that play a decisive role in climbing ability from numerous system variables, thus simplifying the complex problem of overall machine dynamics evaluation into a problem of monitoring and analyzing key variables. This not only makes the testing process more targeted but also lays the theoretical foundation for subsequently constructing the maximum climbing ability evaluation equation, achieving a leap from "state monitoring" to "capacity prediction," and significantly improving the scientific nature and evaluation efficiency of the testing method.

[0023] The status parameters of the travel motor include the pressure of the left motor, the pressure of the right motor, and the motor displacement. The equation for calculating the excavator's climbing traction force is as follows:

[0024] Where F is the actual traction force at this slope angle, P is the larger of the excavator travel motor P_left and P_right pressure; q is the displacement of the excavator travel motor; η is the total efficiency of the excavator travel motor (0.85) consisting of volumetric efficiency and mechanical efficiency. The reduction ratio of the excavator's travel motor is r; the radius of the excavator's travel motor drive wheel is r. The core performance parameters of the hydraulic system, such as pressure (P) and displacement (q), are directly converted into tangential traction force (F) on the drive wheels using mechanical constants such as efficiency η, reduction ratio i, and drive wheel radius r. The pressure P is taken as the larger value between the left and right motors. This design fully considers the actual situation where the excavator may experience unilateral slippage or uneven load during climbing, ensuring that the traction force calculation is based on the worst-case load conditions, thus making the evaluation results more conservative and safer. According to the excavator's climbing traction algorithm equation, the influencing parameter is motor pressure. Under specific machine models (i.e., constant q, η, i, r) and test conditions, motor pressure (P) is the only active variable in calculating the actual climbing traction. This finding has significant engineering practical implications: it directly transforms the complex goal of "evaluating the excavator's maximum climbing ability" into "monitoring and analyzing the pressure changes of the travel motor during the climbing process." Testers no longer need to repeatedly measure or calibrate multiple mechanical parameters in each test; they can focus solely on high-precision pressure data acquisition, greatly simplifying the testing process, reducing system complexity and cost, while ensuring the consistency and accuracy of the core evaluation. Since the only active variable related to calculating the excavator's actual climbing ability is the travel motor pressure during the climbing process, all other quantities are constant. Therefore, evaluating the excavator's maximum climbing ability is related to the travel motor pressure during the climbing process.

[0025] The real-time status parameters of the excavator include the actual real-time climbing angle of the excavator, where the maximum climbing angle reflects the maximum climbing ability of the excavator. The calculation equation for the maximum assessed climbing ability of the excavator is as follows: For the maximum climbing angle, Set the rated pressure for the excavator's hydraulic system The actual climbing angle of the excavator is θ_test; P is the larger value taken from either the left or right travel motor of the excavator; Rt is the friction coefficient for different road conditions. Using the real-time pressure (P) measured in a single small-angle (θ_test) actual climbing test, combined with the system rated pressure (P_nom) and the road friction coefficient (Rt), the maximum climbing angle (θ_max) that the excavator can overcome when reaching the system rated pressure can be extrapolated. This method achieves "testing the large with the small," meaning that it eliminates the need for the excavator to actually attempt extreme angle climbing; its theoretical limit capability can be scientifically predicted simply through testing within a safe range. This fundamentally solves the industry problem of poor safety and difficulty in implementing extreme tests. Furthermore, the introduction of parameter Rt allows the evaluation results to be adapted to different typical working conditions such as dry hard soil and loose gravel.

[0026] The specific steps are as follows: Step 1: The excavator should be placed on a flat surface that meets the safety slope requirements, ensuring a safe parking environment for the excavator.

[0027] Step 2: Confirm that the overall machine status (system pressure, engine speed, etc.) meets the requirements for the excavator's climbing ability test.

[0028] Step 3: Install pressure sensors at the oil inlet and outlet of the travel motor to analyze the traction force of the travel motor. Install gyroscopes on the X-frame of the excavator chassis to collect and analyze data on the excavator's travel angle or slope.

[0029] Step 4: In front of a certain repaired slope, with the slope controlled between 10° and 20° (ensuring safety), leave a 5-meter running distance for the excavator, start the excavator operation, and the data acquisition system collects the signal data of each sensor, the slope of the road conditions on which the excavator travels, and other information in real time. The working condition identification module monitors and records the current operating status of the excavator (mode, gear, speed, etc.) in real time.

[0030] Step 5: The data processing module obtains the current slope gradient and current travel traction level of the excavator based on data such as the excavator's operating conditions, travel pressure, and gyroscope readings. Step Six: The data processing module further combines the current road surface friction coefficient (gravel, asphalt, cement, etc.) and the rated pressure of the excavator's travel motor to calculate, analyze, and evaluate the excavator's maximum climbing angle.

[0031] Step 7: The control terminal displays information about the excavator's current operating conditions, climbing angle, travel motor pressure, current traction force, and estimated maximum climbing angle through a local area network connection with the data processing module. This information is used by testing personnel for real-time remote evaluation and measurement.

[0032] Example 2 The purpose of this embodiment is to provide a system for testing the climbing ability of an excavator, characterized by including: Pressure sensing module 1 acquires the status parameters of the excavator's travel motor; Vehicle control module 2 determines the calculation equation for the excavator's climbing traction force and determines the parameters affecting climbing ability based on the climbing traction force algorithm equation. Gyroscope detection module 3 acquires the status parameters of the walking motor; Vehicle control module 2 uses influencing parameters to construct a calculation equation for the excavator's maximum assessed climbing ability and determine the maximum climbing angle; Data analysis module 4 determines whether the maximum climbing angle meets the design value. The system accurately collects the two most critical physical quantities, "force" and "angle," through pressure sensing module 1 and gyroscope detection module 3, respectively. Vehicle control module 2, as the core of the calculation, undertakes the entire calculation process, from establishing the traction force equation and determining influencing parameters to constructing and solving the maximum climbing angle model. Data analysis module 4 is responsible for the final judgment and output. This modular design makes the system clearly structured and functionally defined: the sensing layer is responsible for data acquisition, the control layer for core algorithms and real-time calculations, and the analysis layer for result verification and output. The collaborative work of these modules transforms abstract calculation methods into an automatically running, real-time output physical testing system, realizing the engineering application of dynamic testing and evaluation.

[0033] The testing system also includes a signal processing system 5, which consists of a signal amplification unit 51, a signal conversion unit 52, a signal synchronization unit 53, and a signal analysis module 54. The travel motor status parameters collected by the pressure sensing module 1 are simultaneously transmitted to the signal synchronization unit 53 via the signal amplification unit 51 and the travel motor status parameters collected by the gyroscope detection module 3 via the signal conversion unit 52. The vehicle control module 2 is connected to the signal analysis module 54, which in turn is connected to the signal synchronization unit 53. The signal amplification unit 51 ensures that the weak sensor signals have sufficient strength and anti-interference capability. The signal conversion unit 52 (such as an A / D converter) converts the analog signals into digital signals for subsequent digital system processing. The crucial signal synchronization unit 53 ensures that the data from the pressure sensor 1 and the gyroscope 3—two different physical quantities that may have acquisition timing differences—are strictly aligned on the time axis. This is essential for analyzing the "precise angle corresponding to the pressure at a certain moment," ensuring the accuracy of the time history data. Finally, the signal analysis module 54 performs preliminary processing and packaging of the synchronized data before submitting it to the vehicle control module 2 for calculation. This processing workflow significantly improves the quality and usability of the raw data, providing reliable data assurance for the accurate operation of subsequent high-order algorithms.

[0034] Furthermore, the signal synchronization unit 53 transmits the processed data to the signal storage module 7, which in turn transmits the signal to the data analysis module 4. The data analysis module 4 then transmits the data to the remote terminal display module 9 via the data transmission module 8. The signal storage module 7 persistently stores the complete time history data after processing and synchronization, forming a valuable test database for in-depth retrospective analysis and data mining. The data analysis module 4 not only performs real-time judgments but also retrieves historical data for comparative analysis and trend research. The introduction of the data transmission module 8 and the remote terminal display module 9 enables wireless remote transmission and visual monitoring of test data. This means that engineers can view key information such as the ramp angle, motor pressure curve, and the assessed maximum ramp angle in real time from a control center far from the test site, improving the convenience, safety, and collaborative efficiency of testing, and laying the foundation for establishing a centralized test data management platform.

[0035] Considering that the excavator testing site may be far from a fixed power source, and that the testing equipment needs to be mobile with the vehicle, the power module 6 is typically designed as a portable solution that can draw power from the excavator's own battery or has its own high-capacity battery. A stable power supply design is a prerequisite for ensuring the continuous and reliable operation of all electronic modules, especially high-precision sensors and data acquisition equipment, under harsh engineering environments such as vehicle vibration and electromagnetic interference. This design reflects the integrity and engineering practicality of system integration, ensuring the robustness of the entire testing equipment under real-world working conditions. Power module 6 is electrically connected to signal acquisition and processing system 5, pressure sensing module 1, and gyroscope detection module 3.

[0036] The pressure sensing module 1 is installed at the inlet and outlet of the excavator's travel motor. This location is the most direct and effective point for monitoring the travel motor's operating pressure, accurately reflecting the hydraulic system's pressure response to changes in drive load. Installed at the inlet, the sensor senses the high-pressure side's operating pressure, and its measured value directly corresponds to the variable P in the traction force calculation formula. This installation method avoids pressure loss or signal distortion that might occur from measurements taken from other indirect locations, ensuring that the acquired pressure parameters are the core, first-hand data required for calculating traction force, thus guaranteeing testing accuracy from the outset.

[0037] The gyroscope detection module 3 is installed below the excavator chassis frame. Firstly, the chassis frame is a crucial load-bearing structure between the excavator's upper body and the traveling mechanism; its posture most directly and stably reflects the machine's tilt angle relative to the horizontal plane, avoiding interference from the movement of the working device if installed on the upper body. Secondly, its lower position, closer to the ground, helps reduce minor errors in angle measurement caused by structural deformation. This installation method ensures that the actual real-time climbing angle (θ_test) measured by the gyroscope 3 accurately represents the machine's climbing posture, providing a reliable angle benchmark for calculating the maximum climbing angle.

[0038] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for testing the climbing ability of an excavator, characterized in that, Obtain the excavator travel motor status parameters, determine the excavator climbing traction force calculation equation, and determine the influencing parameters affecting climbing ability based on the climbing traction force algorithm equation. Obtain the real-time status parameters of the excavator, use the influencing parameters to construct the calculation equation for the excavator's maximum assessed climbing ability, and determine the maximum climbing angle; Determine whether the maximum climbing angle meets the design value for climbing angle based on the maximum climbing angle.

2. The method for testing the climbing ability of an excavator according to claim 1, characterized in that, The status parameters of the travel motor include the pressure of the left motor, the pressure of the right motor, and the motor displacement. The equation for calculating the excavator's climbing traction force is as follows: Where F is the actual traction force at this slope angle, P is the larger of the excavator travel motor P_left and P_right pressure; q is the displacement of the excavator travel motor; η is the total efficiency of the excavator travel motor (0.85) consisting of volumetric efficiency and mechanical efficiency. is the reduction ratio of the excavator's travel motor; r is the radius of the excavator's travel motor drive wheel.

3. The method for testing the climbing ability of an excavator according to claim 2, characterized in that, According to the excavator climbing traction algorithm equation, the influencing parameter is motor pressure. In calculating the excavator's actual climbing ability, only the travel motor pressure is related to the active variable, while other quantities are constants. Therefore, the evaluation and testing of the excavator's maximum climbing ability is related to the travel motor pressure during the climbing process.

4. The method for testing the climbing ability of an excavator according to claim 1, characterized in that, The real-time status parameters of the excavator include the actual real-time climbing angle of the excavator, where the maximum climbing angle reflects the maximum climbing ability of the excavator. The calculation equation for the maximum assessed climbing ability of the excavator is as follows: For the maximum climbing angle, Set the rated pressure for the excavator's hydraulic system The actual real-time climbing angle of the excavator; P is the larger value taken from the left or right motor of the excavator's travel; Rt is the friction coefficient for different road conditions.

5. A system for testing the climbing ability of an excavator, characterized in that, include: The pressure sensing module acquires the status parameters of the excavator's travel motor; The vehicle control module determines the calculation equation for the excavator's climbing traction force and, based on the climbing traction force algorithm equation, determines the parameters that affect climbing ability. The gyroscope detection module acquires the status parameters of the walking motor; The vehicle control module uses influencing parameters to construct a calculation equation for the excavator's maximum assessed climbing ability and determine the maximum climbing angle. The data analysis module determines whether the maximum climbing angle meets the design value.

6. The excavator climbing ability testing system according to claim 5, characterized in that, It also includes a signal processing system, which consists of a signal amplification unit, a signal conversion unit, a signal synchronization unit, and a signal analysis module. The travel motor status parameters collected by the pressure sensing module are simultaneously transmitted to the signal synchronization unit through the signal conversion unit via the signal amplifier and the travel motor status parameters collected by the gyroscope detection module. The vehicle control module is connected to the signal analysis module, and the signal analysis module is connected to the signal synchronization unit.

7. The excavator climbing ability testing system according to claim 6, characterized in that, The signal synchronization unit transmits the processed data to the signal storage module, the signal storage module transmits the signal to the data analysis module, and the data analysis module transmits the signal to the remote terminal display module through the data transmission module.

8. The excavator climbing ability testing system according to claim 6, characterized in that, The power module is electrically connected to the signal acquisition and processing system, the pressure sensing module, and the gyroscope detection module.

9. The excavator climbing ability testing system according to claim 5, characterized in that, The pressure sensing module is installed at the oil inlet and outlet of the excavator's travel motor.

10. The excavator climbing ability testing system according to claim 5, characterized in that, The gyroscope detection module is installed under the excavator chassis frame.

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