CN116242517A - Excavator rotary friction resistance torque, rotary torque test device and test method - Google Patents

Excavator rotary friction resistance torque, rotary torque test device and test method Download PDF

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CN116242517A
CN116242517A CN202310157097.6A CN202310157097A CN116242517A CN 116242517 A CN116242517 A CN 116242517A CN 202310157097 A CN202310157097 A CN 202310157097A CN 116242517 A CN116242517 A CN 116242517A
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excavator
force
slewing
rotation
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CN116242517B (en
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冯涛
王飞
张孝天
彭振
张文远
居世昊
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Xuzhou XCMG Excavator Machinery Co Ltd
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Xuzhou XCMG Excavator Machinery Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

本发明公开了一种挖掘机回转摩擦阻力矩、回转力矩测试装置，包括位于定滑轮可升降支撑柱上方的定滑轮、位于加力装置可升降支撑柱上方的加力装置；加力装置包括电机、控制器、蜗轮蜗杆减速机与卷绳机；卷绳机通过钢丝绳与拉力计连接。并公开了该装置的使用方法，回转摩擦阻力矩的测试方法与回转力矩测试方法。本发明可对回转力矩、回转摩擦阻力矩进行一体化测试，拉力计与铲斗回转方向不共线时也能测试，提高测试精度，也提高装置的利用率。

Figure 202310157097

The invention discloses an excavator rotary frictional resistance torque and rotary torque testing device, which comprises a fixed pulley located above a liftable supporting column of the fixed pulley, and a force applying device located above the liftable support column of a force applying device; the force applying device includes a motor , controller, worm gear reducer and rope winding machine; the rope winding machine is connected to the tension gauge through a wire rope. It also discloses the use method of the device, the test method of the rotary frictional resistance torque and the test method of the rotary torque. The invention can carry out integrated test on the rotary torque and rotary frictional resistance torque, and can also test when the tension meter and the rotary direction of the bucket are not collinear, thereby improving the test accuracy and the utilization rate of the device.

Figure 202310157097

Description

Device and method for testing rotation friction resistance moment and rotation moment of excavator
Technical Field
The invention relates to a technology for testing an excavator rotation system, in particular to a device and a method for testing rotation friction resistance moment and rotation moment of an excavator.
Background
In the process of the rotation operation of the excavator, the rotation moment and the rotation friction resistance moment are important factors influencing the working performance, the efficiency and the service life of the excavator, and have important significance for the selection of the rotation motor. At present, the rotary motor is selected based on circumferential force, axial force and radial force obtained by testing, friction resistance moment and overturning moment between the rotary motor and a slewing bearing before the excavator is assembled. However, due to positioning errors and installation errors, the difference between the rotation moment and the rotation friction resistance moment before and after assembly is larger, so that the rotation moment and the rotation friction resistance moment of the whole excavator are calculated and calibrated by adopting a proper method, and the rotation performance of the excavator is improved.
The prior art GB/T7586-2018 test method for the hydraulic excavator of the earthmoving machinery provides a test method for the rotation friction resistance moment of the excavator. However, the friction resistance moment when the rotary system just starts to rotate is collected, and the fluctuation is large; the calculation method recognizes the tangential force as a fixed value, resulting in a larger test error.
The prior art CN212621214U provides a rotation moment testing device for an excavator, which can ensure that a tension meter and a tested machine type rotation circle are on the same plane before testing, but still does not solve the problem that the tension meter and the bucket rotation direction are not collinear in the testing process.
Disclosure of Invention
The invention aims to: aiming at the defects and shortcomings of the prior art, the invention provides the device and the method for testing the rotation friction resistance moment of the excavator, which can be used for integrally testing the rotation moment and the rotation friction resistance moment of the excavator, and can be used for testing when a tension meter and the rotation direction of a bucket are not collinear, so that the testing precision is improved, and the utilization rate of the device is also improved.
The technical scheme is as follows: the invention relates to a testing device, which is characterized in that: comprises a fixed pulley positioned above a fixed pulley liftable support column and a force application device positioned above the force application device liftable support column; the stress application device comprises a motor, a controller, a worm gear reducer and a rope winding machine; the rope winding machine is connected with the tension meter through a steel wire rope.
The rope winding machine is connected with the worm gear reducer through a bearing, and a locker (9) is arranged at the end part of the bearing.
The fixed pulley lifting support column and the stressing device lifting support column are positioned on the base, and the base is connected with an external mechanism through a plurality of bolts penetrating through the foundation bolt holes.
The using method of the testing device is characterized in that: one end of the tension meter is connected with the working device through a steel wire rope which bypasses the fixed pulley, and the other end of the tension meter is connected with the stress application device through the steel wire rope, and the tension meter is kept horizontal, so that tension is measured; the controller controls the motor to run, and transmits power to the rope winding machine through the worm gear reducer, and the rope winding machine receives the steel wire rope and drives the stopped excavator revolving system to move.
The method for testing the rotation friction resistance moment of the excavator is characterized by comprising the following steps of: comprising the following steps:
1) Adjusting the posture of the excavator, fully shrinking the bucket rod hydraulic cylinder, fully extending the bucket hydraulic cylinder, and adjusting the movable arm hydraulic cylinder to enable the bucket bottom to be positioned at the hinged shaft height of the movable arm hydraulic cylinder;
2) Installing an acceleration sensor and a gyroscope to the excavator rotating system, wherein the acceleration sensor tests the acceleration a of the rotating system, and the gyroscope tests the rotated angle theta;
3) Before testing, measuring the distance r from the working device to the rotation center of the excavator, measuring the distance l from the working device to the fixed pulley, and calculating an angle t according to a formula 1:
Figure BDA0004092895760000021
wherein r is the distance from the working device to the rotation center of the excavator, l is the distance from the working device to the fixed pulley, and θ is the angle through which the gyroscope test is performed;
tangential force F of working device t The calculation formula 2 of (2) is: f (F) t Fsin (t- θ), where F is the output tension, F t Tangential forces to which the working device is subjected;
according to the moment balance, the tangential force F born by the working device t Is converted into a circumferential force F applied by the center of gravity of rotation c The calculation formula 3 of (2) is: f (F) t r＝F c r c Wherein r is c Is a rotary systemDesign value of distance from center of gravity to rotation center of excavator, F c Circumferential force applied to the center of gravity of the rotary system;
establishing a motion equation of a rotary system, wherein the motion equation is calculated as formula 4: f (F) c ＝Ma+Jα/r c +M r /r c Wherein M is the mass of the gyratory system, a is the acceleration of the gyratory system, α is the angular acceleration of the gyratory system, α=a/r, J is the moment of inertia constant of the gyratory system;
4) The method comprises the steps that a test is started, an engine of the excavator is stopped, a motor of a force application device is started, the motor drives a rope winding machine to collect a steel wire rope, the steel wire rope drives a rotary system to move, when the rotary system moves stably, rotary friction resistance moment tends to be stable, three groups of data are respectively taken in the test process, and each group of data is acceleration a and a rotation angle theta of the corresponding rotary system;
5) Simultaneous equations 1, 2 and measured rotation angle θ to obtain F t The method comprises the steps of carrying out a first treatment on the surface of the Using equation 3 and F t Obtaining F c The method comprises the steps of carrying out a first treatment on the surface of the The acceleration a and the obtained F of the three groups of rotary systems are obtained by testing c Carrying out formula 4, and solving in parallel to obtain rotary friction resistance moment M r 。
The method for testing the rotation moment of the excavator is characterized by comprising the following steps of: comprising the following steps:
1) Adjusting the posture of the excavator, fully shrinking the bucket rod hydraulic cylinder, fully extending the bucket hydraulic cylinder, and adjusting the movable arm hydraulic cylinder to enable the bucket bottom to be positioned at the hinged shaft height of the movable arm hydraulic cylinder;
2) Closing the force application device, and locking the rope winding machine by the locker to keep the steel wire rope motionless; opening the maximum throttle of the excavator, and rotating in the opposite direction of the force application device, wherein when the rotation system is not moving, the rotation force tends to be stable;
3) The calculation formula 5 of the tangential force angle t' is:
Figure BDA0004092895760000031
wherein r is the distance from the working device to the rotation center of the excavator, l is the distance from the working device to the fixed pulley,/and a few degrees>
Figure BDA0004092895760000032
The angle of rotation for the gyroscope test;
4) Tangential force F 'of the working device' t The calculation formula 6 of (2) is:
Figure BDA0004092895760000033
wherein F is the output tension;
5) The calculation formula 7 of the turning moment M is: m=f' t r。
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages: the invention designs the testing device, which can integrally test the rotation moment and the rotation friction resistance moment, and improves the utilization rate of the device. The invention establishes the relationship between the tangential force and the rotation angle, and solves the problem that the tension meter can be tested when the rotation direction of the tension meter and the rotation direction of the bucket are not collinear. In addition, when the rotary friction resistance moment is tested, the problem that the rotary friction resistance moment is large in fluctuation when the rotary system just starts to rotate is avoided, the moment of inertia is taken into consideration, the rotary friction resistance moment is tested when the speed is stable, the fluctuation of test data is reduced, and the test precision is greatly improved.
Drawings
FIG. 1 is a test attitude diagram of an excavator according to the present invention;
FIG. 2 is a schematic diagram of a rotational friction drag torque test of the present invention;
FIG. 3 is a schematic diagram of a swing torque test of the present invention;
fig. 4 is a schematic structural diagram of the testing device of the present invention.
In the figure, 1 is a controller; 2 is a worm gear reducer; 3 is a fixed pulley; 4 is a tension meter; 5 is a steel wire rope; 6 is a fixed pulley liftable support column; 7 is a foundation bolt hole; 8 is a lifting support column of the stress application device; 9 is a locker; 10 is a rope winder; 11 is a bearing; 12 is an electric motor.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and the specific embodiments.
The testing device of the invention, as shown in figure 4, comprises a fixed pulley 3 positioned above a fixed pulley liftable support column 6 and a force application device positioned above a force application device liftable support column 8; the force application device comprises a motor 12, a controller 1, a worm gear reducer 2 and a rope winding machine 10; the rope winder 10 is connected with the tension meter 4 through a wire rope 5. The rope winding machine 10 is connected with the worm gear reducer 2 through a bearing 11, and a locker 9 is arranged at the end part of the bearing 11. The fixed pulley liftable support column 6 and the stressing device liftable support column 8 are positioned on a base, and the base is connected with an external mechanism through a plurality of bolts penetrating through the foundation bolt holes 7.
According to the application method of the testing device, one end of the tension meter 4 is connected with the working device through the steel wire rope 5 which bypasses the fixed pulley 3, the other end of the tension meter 4 is connected with the stress application device through the steel wire rope 5, and the tension meter 4 is kept horizontal, so that tension is measured; the controller 1 controls the motor 12 to operate, and transmits power to the rope winding machine 10 through the worm gear reducer 2, and the rope winding machine receives the steel wire rope 5 and drives the stopped excavator revolving system to move. The fixed pulley 3 adjusts the stress direction of the steel wire rope, and the support columns 6 and 8 of the fixed pulley and the stress application device can be lifted along with the posture of the excavator, so that the test tonnage range of the excavator is improved.
The invention relates to a method for testing the rotation friction resistance moment of an excavator, which comprises the following steps:
1) Adjusting the posture of the excavator, fully shrinking the bucket rod hydraulic cylinder, fully extending the bucket hydraulic cylinder, and adjusting the movable arm hydraulic cylinder to enable the bucket bottom to be positioned at the hinged shaft height of the movable arm hydraulic cylinder;
2) Installing an acceleration sensor and a gyroscope to the excavator rotating system, wherein the acceleration sensor tests the acceleration a of the rotating system, and the gyroscope tests the rotated angle theta;
3) As shown in fig. 2, before testing, the distance r from the working device to the rotation center of the excavator is measured, the distance l from the working device to the fixed pulley is measured, and the calculation formula 1 of the angle t is as follows:
Figure BDA0004092895760000041
wherein r is the distance from the working device to the rotation center of the excavator, l is the distance from the working device to the fixed pulley, and θ is the angle through which the gyroscope test is performed; tangential force F of working device t The calculation formula 2 of (2) is: f (F) t =fsin (t- θ), where F is the output tension,F t tangential forces to which the working device is subjected; according to the moment balance, the tangential force F born by the working device t Is converted into a circumferential force F applied by the center of gravity of rotation c The calculation formula 3 of (2) is: f (F) t r＝F c r c Wherein r is c F is a design value of the distance from the center of gravity of the swing system to the swing center of the excavator c Circumferential force applied to the center of gravity of the rotary system; establishing a motion equation of a rotary system, wherein the motion equation is calculated as formula 4: f (F) c ＝Ma+Jα/r c +M r /r c Wherein M is the mass of the gyratory system; a is acceleration of the rotary system, alpha is angular acceleration of the rotary system, alpha=a/r, and J is a fixed value of rotational inertia of the rotary system;
4) Starting a test, stopping an engine of the excavator, starting a motor 12 of a force application device, driving a rope winding machine 10 to collect a steel wire rope 5 by the motor 12, driving a rotary system to move by the steel wire rope 5, and respectively taking three groups of data in the test process when the rotary system moves stably and the rotary friction resistance moment tends to be stable, wherein each group of data is the acceleration a and the rotated angle theta of the corresponding rotary system;
5) Simultaneous equations 1, 2 and measured rotation angle θ to obtain F t The method comprises the steps of carrying out a first treatment on the surface of the Using equation 3 and F t Obtaining F c The method comprises the steps of carrying out a first treatment on the surface of the The acceleration a and the obtained F of the three groups of rotary systems are obtained by testing c Carrying out formula 4, and solving in parallel to obtain rotary friction resistance moment M r 。
The invention relates to a method for testing the rotation moment of an excavator, which comprises the following steps:
1) Adjusting the posture of the excavator, fully shrinking the bucket rod hydraulic cylinder, fully extending the bucket hydraulic cylinder, and adjusting the movable arm hydraulic cylinder to enable the bucket bottom to be positioned at the hinged shaft height of the movable arm hydraulic cylinder; as in fig. 2;
2) Closing the force application device, and locking the rope reel 10 by the locker 9 to keep the steel wire rope 5 motionless; opening the maximum throttle of the excavator, and rotating in the opposite direction of the force application device, wherein when the rotation system is not moving, the rotation force tends to be stable;
3) As shown in fig. 3, the calculation formula 5 of the tangential force angle t' is:
Figure BDA0004092895760000051
wherein r is the distance from the working device to the rotation center of the excavator, l is the distance from the working device to the fixed pulley,/and a few degrees>
Figure BDA0004092895760000052
The angle of rotation for the gyroscope test;
4) Tangential force F 'of the working device' t The calculation formula 6 of (2) is:
Figure BDA0004092895760000053
wherein F is the output tension;
5) The calculation formula 7 of the turning moment M is: m=f' t r。
The prior art GB/T7586-2018 test method for the hydraulic excavator of the earthmoving machinery provides a test method for the rotation friction resistance moment of the excavator. However, the friction resistance moment when the rotary system just starts to rotate is collected, and the fluctuation is large; the calculation method recognizes the tangential force as a fixed value, resulting in a larger test error.
According to the invention, the moment of inertia is taken into consideration when the moment of rotation friction resistance is tested, so that the problem that the moment of rotation friction resistance fluctuates greatly when the rotation system just starts to rotate is avoided, the moment of rotation friction resistance is tested when the speed is stable, the fluctuation of test data is reduced, and the test precision is greatly improved.
The prior art CN212621214U provides a rotation moment testing device for an excavator, which can ensure that a tension meter and a tested machine type rotation circle are on the same plane before testing, but still does not solve the problem that the tension meter and the bucket rotation direction are not collinear in the testing process.
Aiming at the problems in the prior art, the invention establishes the relationship between the tangential force and the rotation angle, and solves the problem that the tension meter and the bucket rotation direction can be tested when the tension meter and the bucket rotation direction are not collinear. Furthermore, the invention designs the testing device, which can integrally test the rotation moment and the rotation friction resistance moment, thereby improving the utilization rate of the device.

Claims (6)

1.一种测试装置，其特征在于：包括位于定滑轮可升降支撑柱(6)上方的定滑轮(3)、位于加力装置可升降支撑柱(8)上方的加力装置；所述加力装置包括电机(12)、控制器(1)、蜗轮蜗杆减速机(2)与卷绳机(10)；所述卷绳机(10)通过钢丝绳(5)与拉力计(4)连接。1. A testing device, characterized in that: it includes a fixed pulley (3) located above a fixed pulley liftable support column (6) and a force-applying device located above a force-applying device liftable support column (8); the force-applying device includes a motor (12), a controller (1), a worm gear reducer (2) and a rope winding machine (10); the rope winding machine (10) is connected to a tension gauge (4) via a wire rope (5). 2.根据权利要求1所述的测试装置，其特征在于：所述的卷绳机(10)通过轴承(11)与蜗轮蜗杆减速机(2)连接，轴承(11)端部设有锁紧器(9)。2. The testing device according to claim 1, characterized in that: the rope winding machine (10) is connected to the worm gear reducer (2) through a bearing (11), and a locking device (9) is provided at the end of the bearing (11). 3.根据权利要求1所述的测试装置，其特征在于：所述的定滑轮可升降支撑柱(6)与加力装置可升降支撑柱(8)位于底座上，底座通过若干个穿过地脚螺栓孔(7)的螺栓与外部机构连接。3. The testing device according to claim 1, characterized in that: the fixed pulley liftable support column (6) and the force-applying device liftable support column (8) are located on the base, and the base is connected to the external mechanism through a plurality of bolts passing through the anchor bolt holes (7). 4.根据权利要求1所述的测试装置的使用方法，其特征在于：将拉力计(4)一端通过绕过定滑轮(3)的钢丝绳(5)与工作装置连接，另一端通过钢丝绳(5)与加力装置连接，拉力计(4)保持水平，以此测得拉力；控制器(1)控制电机(12)运转，通过蜗轮蜗杆减速机(2)将动力传递到卷绳机(10)中，卷绳机将钢丝绳(5)收入，带动停机的挖掘机回转系统运动。4. The method of using the testing device according to claim 1, characterized in that: one end of the tension gauge (4) is connected to the working device through a wire rope (5) passing over the fixed pulley (3), and the other end is connected to the force-applying device through a wire rope (5). The tension gauge (4) is kept horizontal to measure the tension. The controller (1) controls the motor (12) to run and transmits the power to the rope winding machine (10) through the worm gear reducer (2). The rope winding machine retracts the wire rope (5) and drives the slewing system of the stopped excavator to move. 5.挖掘机回转摩擦阻力矩的测试方法，其特征在于：包括下述步骤：5. A method for testing the slewing frictional resistance torque of an excavator, characterized by comprising the following steps: 1)调整挖掘机姿态，斗杆液压缸全缩，铲斗液压缸全伸，调整动臂液压缸，使斗底处于动臂液压缸铰轴高度；1) Adjust the excavator's posture: fully retract the boom hydraulic cylinder, fully extend the bucket hydraulic cylinder, and adjust the boom hydraulic cylinder so that the bottom of the bucket is at the height of the boom hydraulic cylinder hinge. 2)安装加速度传感器与陀螺仪至挖掘机回转系统，加速度传感器测试回转系统的加速度a，陀螺仪测试转过的角度θ；2) Install an accelerometer and a gyroscope into the excavator's slewing system. The accelerometer measures the acceleration 'a' of the slewing system, and the gyroscope measures the angle 'θ' of the rotation. 3)测试之前，测量工作装置到挖掘机回转中心的距离r，测量工作装置到定滑轮的距离l，角度t的计算公式1为：
Figure FDA0004092895740000011
工作装置的切向力Ft的计算公式2为：Ft＝Fsin(t-θ)，其中F为输出拉力，Ft为工作装置所受的切向力；根据力矩平衡，将工作装置所受的切向力Ft转化为回转重心所受的圆周力Fc的计算公式3为：Ftr＝Fcrc，其中rc为回转系统重心到挖掘机回转中心的距离的设计值，Fc为回转系统重心所受到的圆周力；建立回转系统的运动方程，为计算公式4：Fc＝MA+Jα/rc+Mr/rc，其中M为回转系统的质量，a为回转系统的加速度，α为回转系统的角加速度，α＝a/r，J为回转系统的转动惯量定值；3) Before testing, measure the distance r from the working device to the excavator's slewing center, and measure the distance l from the working device to the fixed pulley. The formula for calculating angle t is:
Figure FDA0004092895740000011
Formula 2 for calculating the tangential force F<sub>t</sub> of the working device is: F <sub>t</sub> = Fsin(t-θ), where F is the output pulling force and F<sub>t</sub> is the tangential force on the working device. Based on torque balance, the tangential force F <sub>t</sub> on the working device is converted into the circumferential force F <sub>c </sub> on the center of gravity of the slewing system as Formula 3: F <sub>tr </sub> = F <sub> c</sub>r<sub>c</sub> , where r <sub>c </sub> is the design value of the distance from the center of gravity of the slewing system to the center of rotation of the excavator, and F <sub>c</sub> is the circumferential force on the center of gravity of the slewing system. The equation of motion of the slewing system is established as Formula 4: F <sub>c</sub> = MA + Jα/r<sub>c</sub> + M <sub>r</sub> /r <sub>c</sub> , where M is the mass of the slewing system, a is the acceleration of the slewing system, α is the angular acceleration of the slewing system, α = a/r, and J is the constant value of the moment of inertia of the slewing system. 4)测试开始，挖掘机发动机停机，加力装置电机(12)启动，电机(12)带动卷绳机(10)将钢丝绳(5)收入，钢丝绳(5)带动回转系统运动，当回转系统运动平稳时，回转摩擦阻力矩趋于稳定，测试过程中分别取三组数据，每组数据为各自对应的回转系统的加速度a、转过的角度θ；4) The test begins, the excavator engine stops, the booster motor (12) starts, the motor (12) drives the rope winding machine (10) to take in the wire rope (5), the wire rope (5) drives the slewing system to move, when the slewing system moves smoothly, the slewing friction torque tends to stabilize, three sets of data are taken during the test, each set of data is the acceleration a and the angle θ of the corresponding slewing system; 5)联立公式1、公式2以及测得的转角θ求得Ft；利用公式3和求得的Ft求得Fc；将测试得到三组回转系统的加速度a以及求得的Fc带入公式4，并联立求解求得回转摩擦阻力矩Mr。5) Solve equations 1 and 2 together with the measured rotation angle θ to obtain Ft ; use equation 3 and the obtained Ft to obtain Fc ; substitute the acceleration a of the three sets of rotating systems obtained by the test and the obtained Fc into equation 4, and solve them together to obtain the rotational friction torque Mr. 6.挖掘机回转力矩的测试方法，其特征在于：包括下述步骤：6. A method for testing the swing torque of an excavator, characterized by comprising the following steps: 1)调整挖掘机姿态，斗杆液压缸全缩，铲斗液压缸全伸，调整动臂液压缸，使斗底处于动臂液压缸铰轴高度；1) Adjust the excavator's posture: fully retract the boom hydraulic cylinder, fully extend the bucket hydraulic cylinder, and adjust the boom hydraulic cylinder so that the bottom of the bucket is at the height of the boom hydraulic cylinder hinge. 2)关闭加力装置，锁紧器(9)锁死卷绳机(10)使钢丝绳(5)保持不动；打开挖掘机最大油门，沿加力装置相反方向回转，当回转系统不动时，回转力趋于稳定；2) Close the booster device, lock the rope winding machine (10) with the locking device (9) to keep the wire rope (5) stationary; open the maximum throttle of the excavator and rotate it in the opposite direction of the booster device. When the rotation system is stationary, the rotation force tends to stabilize. 3)切向力角度t′的计算公式5为：
Figure FDA0004092895740000021
其中r为工作装置到挖掘机回转中心的距离，l为工作装置到定滑轮的距离，
Figure FDA0004092895740000022
为陀螺仪试验转过的角度；3) Formula 5 for calculating the tangential force angle t′ is:
Figure FDA0004092895740000021
Where r is the distance from the working device to the excavator's slewing center, and l is the distance from the working device to the fixed pulley.
Figure FDA0004092895740000022
The angle rotated during the gyroscope test; 4)工作装置的切向力F′t的计算公式6为：
Figure FDA0004092895740000023
其中F为输出拉力；4) The formula for calculating the tangential force F′t of the working device is as follows:
Figure FDA0004092895740000023
Where F is the output pulling force; 5)回转力矩M的计算公式7为：M＝F′tr。5) The formula for calculating the rotational torque M is: M＝F′ t r.
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Publication number Priority date Publication date Assignee Title
KR20110000233A (en) * 2009-06-26 2011-01-03 고려대학교 산학협력단 Excavator Bucket Force Estimation Method and System
US20190185298A1 (en) * 2017-06-19 2019-06-20 Liebherr-Werk Nenzing Gmbh Lifting device, in particular a mobile crane or a cable-operated excavator, having an apparatus for monitoring the raising and lowering procedures of a boom system and corresponding method
CN209690041U (en) * 2019-03-06 2019-11-26 江苏和网源电气有限公司 A kind of electric automobile charging pile mechanical performance tester
CN211292526U (en) * 2019-12-16 2020-08-18 江西瑞曼增材科技有限公司 Comprehensive tension measuring device for surface friction coefficient of metal material
CN212300684U (en) * 2020-06-22 2021-01-05 广东精衡检测科技有限公司 Dynamic rotation resistance moment measuring device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110000233A (en) * 2009-06-26 2011-01-03 고려대학교 산학협력단 Excavator Bucket Force Estimation Method and System
US20190185298A1 (en) * 2017-06-19 2019-06-20 Liebherr-Werk Nenzing Gmbh Lifting device, in particular a mobile crane or a cable-operated excavator, having an apparatus for monitoring the raising and lowering procedures of a boom system and corresponding method
CN209690041U (en) * 2019-03-06 2019-11-26 江苏和网源电气有限公司 A kind of electric automobile charging pile mechanical performance tester
CN211292526U (en) * 2019-12-16 2020-08-18 江西瑞曼增材科技有限公司 Comprehensive tension measuring device for surface friction coefficient of metal material
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