CN104677582B - A kind of walking method for testing vibration of excavator - Google Patents
A kind of walking method for testing vibration of excavator Download PDFInfo
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- CN104677582B CN104677582B CN201510070535.0A CN201510070535A CN104677582B CN 104677582 B CN104677582 B CN 104677582B CN 201510070535 A CN201510070535 A CN 201510070535A CN 104677582 B CN104677582 B CN 104677582B
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Abstract
The invention provides a kind of walking method for testing vibration of excavator, belong to excavator technical field.It solves the deficiency that existing excavator walk test needs excavator machine hand to operate.The walking method for testing vibration of the excavator, wherein walking vibration-testing apparatus includes excavator, shuttle belt, remote control, controller, display and radio receiver, controller is connected by bus with radio receiver, display, controller Electricity Federation proportion magnetic valve and vibration-detecting instrument, including following testing procedure：Step one：Control remote control sends command signal, and command signal is transferred to controller by the command signal that radio receiver receiving control device is sent by bus；Step 2：The command signal received is identified controller, according to command signal, carries out corresponding algorithm, needs to export the driving current signal to proportion magnetic valve to calculate.
Description
Technical field
The invention belongs to excavator technical field, it is related to a kind of excavator method of testing, particularly a kind of row of excavator
Walk method of testing.
Background technology
According to state compulsion examination requirements, it is necessary to test excavator, excavator is entered in excavator test
Every trade walks vibration-testing.When doing walking vibration-testing, excavator machine hand using maximum throttle and makes in bridge operation excavator
High speed walking mode is used, reciprocal walking is done on vibration runway, excavator produces very big vibration in the process, is come pair with this
Excavator carries out the test of walking anti-vibration.
The method of testing used at present is on vibration runway, excavator to be driven by the machine hand of test excavator, using most
Large throttle simultaneously uses high speed walking mode, and reciprocal walking is done on vibration runway.Runway is provided with many uneven, necessarily
The barrier of height, so that excavator produces larger, random vibration in the process of moving.
In test process, excavator machine hand first will vibration runway on forward travel, drive to vibration runway it is another
Behind end, stop, stirring revolution pilot handle, excavator upper body is horizontally rotated into 180 degree, reverse traveling is then carried out, run
To vibration runway initiating terminal when, then turned round, repeatedly above procedure, until excavator break down or reach test when
Between require.
In existing excavator walking vibration detection, the vibration-testing time is long, in test process, to the wound of human body
Evil is very big, and excavator produces the noise bigger than normal work, and the sense of hearing to excavator machine hand produces very major injury；Excavator
The frequency range of vibration is larger, and the intensity for excavating machine vibration is very big, during having resonant conditions with human body, to skeleton
And the injury that other physiological systems are produced is very big；Because excavator and operation machine hand are simultaneously in vibration, the aperture of pilot valve can be made
Change greatly, impact is produced to the hydraulic system of excavator.Oscillation intensity is not detected, the shock resistance test of excavator is only
It can be ensured by the extension time.
The content of the invention
The existing excavator walking vibration-testing of the purpose of the present invention, which exists, drastically influence the healthy of operation machine hand
Deficiency, it is proposed that it is a kind of in the form of remote control come the operation of the walking and the revolution that carry out excavator, it is to avoid excavator shakes
The injury to operating machine hand is vibrated during dynamic test, while the oscillation intensity to excavator is monitored, it is corresponding strong when completing
After the experiment of degree, point out to terminate experiment, improve a kind of walk test method of excavator of testing efficiency.
The purpose of the present invention can be realized by following technical proposal：
A kind of walking method for testing vibration of excavator, its vibration-testing apparatus of walking includes excavator, shuttle belt, remote control
Device, controller, display and radio receiver, controller are connected by bus with radio receiver, display, described
Controller Electricity Federation proportion magnetic valve and vibration-detecting instrument, including following testing procedure：
Step one：Control remote control sends command signal, and radio receiver receives the order letter that remote control is sent
Number, command signal is transferred to by controller by bus.
Step 2：The command signal received is identified controller, according to command signal, carries out corresponding algorithm,
Need to export the driving current signal to proportion magnetic valve to calculate, exported by driving current output end to proportion magnetic valve,
So as to control the break-make of guide's oil circuit, proportion magnetic valve is in parallel with pilot valve, and the conducting of guide's oil circuit is controlled with pilot valve, or
The conducting of guide's oil circuit is controlled by proportion magnetic valve, the corresponding action of excavator is finally controlled by proportion magnetic valve；Together
When vibration-detecting instrument the data monitored are handled, remove vibration interference signal data, by under effective data record
Come, and the data of the vibration test carried out are counted, when reaching the requirement of oscillation intensity and time, stop ratio electricity
The driving output of magnet valve, so as to stop vibration test, terminates vibration-testing by display prompts tester and tests.
In a kind of walk test method of above-mentioned excavator, in the removing vibration interference signal data, in saturation
Spend and frequency limitation high level and amplitude limits high level are set in module, when the excavator vibration signal detected is high beyond frequency limitation
When value or amplitude limits high level, it is filtered out as vibration interference signal.
In a kind of walk test method of above-mentioned excavator, the bus is CAN.
In a kind of walk test method of above-mentioned excavator, the proportion magnetic valve walks ratio electromagnetism comprising left lateral
Valve, right lateral walk proportion magnetic valve and revolution proportion magnetic valve, and left lateral walks proportion magnetic valve, right lateral and walks proportion magnetic valve and revolution ratio
The current signal that example magnetic valve is exported according to controller respectively carries out corresponding walking to the left, walks to the right or turn round.
In a kind of walk test method of above-mentioned excavator, communication module, input mould are provided with the controller
Block and driving current output module, the signal that communication module is carried out between radio receiver and controller are transmitted, input module
The signal carried out between vibration-detecting instrument and controller is transmitted, and driving current output module is controlled device and left lateral walks ratio electricity
The signal that magnet valve, right lateral are walked between proportion magnetic valve and revolution proportion magnetic valve is transmitted.
Compared with prior art, a kind of walk test method for excavator that the present invention is provided, effectively avoids excavation
The injury to operating machine hand is vibrated in machine vibration process of the test, while the oscillation intensity to excavator is monitored, when completion phase
After the experiment for answering intensity, point out to terminate experiment, improve testing efficiency.
Brief description of the drawings
Fig. 1 is the walk test control principle schematic diagram of excavator；
Fig. 2 is controller Controlling model schematic diagram；
Fig. 3 is hydraulic pressure handling principle figure；
Fig. 4 is vibration signal processing flow chart；
Fig. 5 is oscillation intensity decision flow chart.
Wherein, 1 is remote control, and 2 be radio receiver, and 3 be controller, and 4 be display, and 5 be vibration-detecting instrument, 6
Proportion magnetic valve is walked for left lateral, 7 be that right lateral walks proportion magnetic valve, and 8 be revolution proportion magnetic valve, and 9 be communication module, and 10 be input
Module, 11 be driving current output module.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
As Figure 1-3, a kind of walking method for testing vibration of excavator, its vibration-testing apparatus of walking includes excavating
Machine, shuttle belt, remote control 1 and radio receiver 2, controller 3 by bus respectively with radio receiver 2, display 4
It is connected, the Electricity Federation proportion magnetic valve of controller 3 and vibration-detecting instrument 5, including following testing procedure：
Step one：Control remote control 1 sends command signal, and radio receiver 2 receives the order that remote control 1 is sent
Signal, controller 3 is transferred to by bus by command signal.
Step 2：3 pairs of command signals received of controller are identified, according to command signal, carry out corresponding algorithm,
Need to export the driving current signal to proportion magnetic valve to calculate, exported by driving current output end to proportion magnetic valve,
So as to control the break-make of guide's oil circuit, proportion magnetic valve is in parallel with pilot valve, and the conducting of guide's oil circuit is controlled with pilot valve, or
The conducting of guide's oil circuit is controlled by proportion magnetic valve, the corresponding action of excavator is finally controlled by proportion magnetic valve；Together
When vibration-detecting instrument 5 data monitored are handled, remove vibration interference signal data, by under effective data record
Come, and the data of the vibration test carried out are counted, when reaching the requirement of oscillation intensity and time, stop ratio electricity
The driving output of magnet valve, so as to stop vibration test, points out tester to terminate vibration-testing and tests by display 4.
As illustrated in figures 4-5, vibration-detecting instrument 5 is handled the data monitored, removes the data of vibration interference signal,
Effective data record is got off, the position sensor in data handling procedure vibration-detecting instrument 5 first receives signal, signal
Handled through degree of supersaturation module, carry out signal transacting by converter afterwards, last signal enters controller 3, counts simultaneously
Number device carries out counting operation.In the removing interference signal data, frequency limitation high level and amplitude are set in saturation degree module
Limit high level, it is dry as vibration when the excavator vibration signal detected exceeds frequency limitation high level or amplitude limits high level
Signal is disturbed to be filtered out.
In a kind of walk test method of above-mentioned excavator, the bus is CAN, the application ten of CAN
Divide extensive, with advantages below：(1) data communication does not have master-slave, any one node can to any other (one or
It is multiple) node initiation data communication, determine communication order, priority node by each nodal information priority sequencing
Information communicates in 134 μ s；(2) when multiple nodes initiate communication simultaneously, the low avoidance priority of priority is high, will not be to communication
Circuit causes congestion；(3) communication distance is farthest up to 10KM (speed is less than 5Kbps) speed can reach 1Mbps (communication distance is small
In 40M)；(4) CAN transmission medium can be twisted-pair feeder, coaxial cable.CAN is logical suitable for big data quantity short distance
Letter or long range small data quantity, requirement of real-time is higher, it is many it is main it is many from or the scene of each node equality in use.
The proportion magnetic valve walks proportion magnetic valve 6, right lateral comprising left lateral and walks proportion magnetic valve 7 and revolution proportion magnetic valve
8, left lateral walks proportion magnetic valve 6, right lateral and walks the electricity that proportion magnetic valve 7 and revolution proportion magnetic valve 8 are exported according to controller respectively
Signal is flowed to carry out corresponding walking to the left, walk to the right or turn round.
Communication module 9, input module 10 and driving current output module 11, input module 10 are provided with the controller
The signal carried out between vibration-detecting instrument 5 and controller 3 is transmitted, and driving current output module 11 is controlled device 3 and walked with left lateral
Proportion magnetic valve 6, right lateral walk the signal transmission 8 between proportion magnetic valve 7 and revolution proportion magnetic valve.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used remote control 1, radio receiver 2, controller 3, display 4, vibration detection herein
Instrument 5, left lateral walk proportion magnetic valve 6, right lateral walk proportion magnetic valve 7, revolution proportion magnetic valve 8, communication module 9, input module 10,
The grade term of driving current output module 11, but it is not precluded from the possibility using other terms.The use of these terms is only to be
More easily describe and explain the essence of the present invention；Being construed as any additional limitation is all and present invention essence
What god disagreed.
Claims (5)
1. a kind of walking method for testing vibration of excavator, its vibration-testing apparatus of walking includes excavator, shuttle belt, remote control dress
Put, controller, display and radio receiver, controller is connected by bus with radio receiver, display, the control
Device Electricity Federation processed proportion magnetic valve and vibration-detecting instrument, it is characterised in that including following testing procedure：
Step one：Control remote control sends command signal, and radio receiver receives the command signal that remote control is sent, and leads to
Cross bus and command signal is transferred to controller；
Step 2：The command signal received is identified controller, according to command signal, algorithm computing is carried out, to calculate
Need to export the driving current signal to proportion magnetic valve, exported by driving current output end to proportion magnetic valve, so as to control
The break-make of guide's oil circuit processed, proportion magnetic valve is in parallel with pilot valve, and the conducting of guide's oil circuit is controlled with pilot valve, or by ratio
Magnetic valve controls the conducting of guide's oil circuit, finally controls the corresponding action of excavator by proportion magnetic valve；Vibrate simultaneously
Detector is handled the data monitored, removes the data of vibration interference signal, effective data record is got off, and will
The data of the vibration test carried out are counted, when reaching the requirement of oscillation intensity and time, stop proportion magnetic valve
Driving output, so as to stop vibration test, terminates vibration-testing by display prompts tester and tests.
2. the walking method for testing vibration of a kind of excavator according to claim 1, it is characterised in that described to remove vibration removing
In interference signal data, frequency limitation high level and amplitude limits high level are set in saturation degree module, when the excavator detected
When vibration signal exceeds frequency limitation high level or amplitude limits high level, it is filtered out as vibration interference signal.
3. a kind of walking method for testing vibration of excavator according to claim 1, it is characterised in that the bus is
CAN.
4. a kind of walking method for testing vibration of excavator according to claim 1, it is characterised in that the ratio electromagnetism
Valve walks proportion magnetic valve, right lateral comprising left lateral and walks proportion magnetic valve and revolution proportion magnetic valve.
5. the walking method for testing vibration of a kind of excavator according to claim 1, it is characterised in that in the controller
It is provided with communication module, input module and driving current output module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510070535.0A CN104677582B (en) | 2015-02-11 | 2015-02-11 | A kind of walking method for testing vibration of excavator |
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| CN201510070535.0A CN104677582B (en) | 2015-02-11 | 2015-02-11 | A kind of walking method for testing vibration of excavator |
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| CN106369012A (en) * | 2016-11-04 | 2017-02-01 | 山东常林机械集团股份有限公司 | Wireless remote control on-plane test system and test method for rotary motor |
| CN108562445A (en) * | 2018-06-25 | 2018-09-21 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic traveling mechanism testing equipment and test method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080243344A1 (en) * | 2004-12-20 | 2008-10-02 | Caterpillar Inc. | Vibration management system |
| US8195344B2 (en) * | 2008-12-24 | 2012-06-05 | Doosan Infracore Co., Ltd. | Remote control system and method for construction equipment |
| CN202102584U (en) * | 2011-05-21 | 2012-01-04 | 山河智能装备股份有限公司 | Intelligent remote control device for engineering machinery |
| CN102433909B (en) * | 2011-12-07 | 2013-11-27 | 三一重机有限公司 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
| CN202644628U (en) * | 2012-05-24 | 2013-01-02 | 徐州徐工挖掘机械有限公司 | Device capable of improving operation intuitiveness of walk of excavator |
| CN102888875B (en) * | 2012-09-11 | 2015-10-28 | 三一重机有限公司 | Travelling control loop, hydraulic crawler excavator |
| CN102877501B (en) * | 2012-10-31 | 2015-01-14 | 三一重机有限公司 | Hydraulic control system with functions of automatic control and fine operation, and excavator |
| CN103122648B (en) * | 2012-12-28 | 2015-06-17 | 上海三一重机有限公司 | Multi-way valve hydraulic control system, rectilinear walking control valve and excavator |
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| CB02 | Change of applicant information |
Address after: 266500 No. 75 east the Yellow River Road, Qingdao economic and Technological Development Zone, Shandong Applicant after: QINGDAO LOVOL ENGINEERING MACHINERY Co.,Ltd. Address before: 266500 No. 75 east the Yellow River Road, Qingdao economic and Technological Development Zone, Shandong Applicant before: QINGDAO LOVOL EXCAVATOR Co.,Ltd. |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Bin Inventor after: Chen Hongjie Inventor after: Jin Ludong Inventor after: Chen Weixiong Inventor after: Cai Fei Inventor after: Chen Huijun Inventor after: Wang Jiugang Inventor after: Wang Zelong Inventor after: Su Zhi Inventor before: Jin Ludong Inventor before: Chen Weixiong Inventor before: Cai Fei Inventor before: Chen Huijun Inventor before: Lei Yang Inventor before: Wang Zelong Inventor before: Su Zhi |
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Address after: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee after: LOVOL Engineering Machinery Group Co.,Ltd. Address before: 266500 No. 75 east the Yellow River Road, Qingdao economic and Technological Development Zone, Shandong Patentee before: QINGDAO LOVOL ENGINEERING MACHINERY Co.,Ltd. |
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Address after: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee after: Lovol Heavy Industry Group Co.,Ltd. Address before: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee before: LOVOL Engineering Machinery Group Co.,Ltd. |
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