CN114264400A - Dynamic testing device and testing method for excavating resistance of excavator - Google Patents
Dynamic testing device and testing method for excavating resistance of excavator Download PDFInfo
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Abstract
The invention discloses a dynamic testing device and a testing method for excavating resistance of an excavator, which comprises an earth groove seat arranged in a foundation pit, wherein one side of the bottom of the earth groove seat is movably hinged with the bottom surface of the foundation pit and is provided with an angle sensor, an inclination angle adjusting component is arranged between the other side of the bottom of the earth groove seat and the bottom surface of the foundation pit, an earth groove is arranged in the earth groove seat, a plurality of movable horizontal force sensors are arranged between the outer peripheral wall of the earth groove and the inner peripheral wall of the earth groove seat, and a plurality of movable vertical force sensors are arranged between the outer bottom wall of the earth groove and the inner bottom wall of the earth groove seat; the soil tank is filled with an operation medium for a dynamic excavation resistance test; the test device has a simple structure, is easy to install and use, can conveniently and accurately measure the dynamic excavating resistance in the excavating operation process, is not limited by excavating operation materials in the measuring process, and is not limited by the structural form and the excavating mode of the excavator.
Description
Technical Field
The invention relates to the technical field of excavating machinery test, in particular to an excavating resistance dynamic test device and a test method of an excavator.
Background
The excavator is an engineering machine which is applied and plays an important role in numerous fields such as national defense industry, civil buildings, road and bridge construction and the like. The test and verification of the excavating resistance are necessary input when the excavator is researched and designed, the excavating resistance is equal to the excavating force in magnitude and opposite in direction, and the test and verification of the excavating resistance are important performance parameters of the excavator.
At present, a ground anchor is mostly used for testing the excavating resistance of an excavator, one end of a steel wire rope is fixed on a bucket tooth, and the other end of the steel wire rope is wound on a roller and is connected with the ground; at present, another scheme exists, the equivalent excavating resistance at the bucket tooth tip can be solved by measuring the pressure and displacement of an oil cylinder in the actual excavating process of the excavator and combining a basic kinetic equation, and the method belongs to dynamic tests. The static measurement method can only obtain the excavating force or excavating resistance in a certain posture, and cannot obtain resistance dynamic data in the operation process; the dynamic measurement uses the related data of the measurement executing mechanism, and the dynamic measurement method for obtaining the equivalent resistance of the bucket tooth tip through calculation according to the established mechanical model, although the dynamic resistance data can be obtained, the method establishes the mechanical model according to the mechanism form, has no universality, and has complex calculation process and is easy to make mistakes.
For example, the Chinese patent application (publication number: CN109653287A) discloses an excavator detection platform in 2019, which comprises a ground anchor pile embedded in reinforced concrete and a damping steel plate fixed on the ground anchor pile, wherein the damping steel plate is provided with a plurality of ribs arranged in parallel, the ground anchor pile is provided with a plurality of bolting holes, and the axial directions of the bolting holes are parallel to the ribs on the damping plate. The detection platform can be used for detecting the traction force and the excavating force of the excavator, but is obviously limited by the platform structure, has deviation from the actual excavating condition, and can only obtain the excavating force under certain fixed postures.
For another example, in the year 2020, the chinese patent (publication No. CN107239624B) discloses a three-dimensional map method for studying the stress characteristics of an excavator working device, and the excavating resistance coefficient and the resisting moment coefficient are obtained through testing and statistics, and the motion and mechanical analysis is performed on the excavator complete machine, and a theoretical excavating force solving model is established. According to the method, integrated finite element analysis is carried out on a working device based on the working device area planning, the maximum stress values and corresponding area numbers of a movable arm, a bucket rod, a bucket and the whole working device are obtained, and the maximum stress values and the spatial distribution of the areas are presented.
Disclosure of Invention
The invention aims to provide a device and a method for dynamically testing the excavating resistance of an excavator, aiming at the problems in the prior art, which are not influenced by the forms of excavating materials and excavator mechanisms, do not need complex mathematical calculation processes, and can directly measure the dynamic excavating resistance of the excavator in the excavating process.
In order to achieve the purpose, the invention adopts the technical scheme that:
a dynamic testing device for excavating resistance of an excavator comprises an earth groove seat arranged in a foundation pit, wherein one side of the bottom of the earth groove seat is movably hinged with the bottom surface of the foundation pit and is provided with an angle sensor, an inclination angle adjusting component is arranged between the other side of the bottom of the earth groove seat and the bottom surface of the foundation pit, an earth groove is arranged inside the earth groove seat, a plurality of movable horizontal force sensors are arranged between the outer peripheral wall of the earth groove and the inner peripheral wall of the earth groove seat, and a plurality of movable vertical force sensors are arranged between the outer bottom wall of the earth groove and the inner bottom wall of the earth groove seat; the soil box is filled with the operation medium that is used for dynamic excavation resistance test, the periphery wall of soil box groove seat with be equipped with the interval of stepping down between the internal perisporium of foundation ditch.
The test device has a simple structure, is easy to install and use, can conveniently and accurately measure the dynamic excavating resistance in the excavating operation process, is not limited by excavating operation materials in the measuring process, and is not limited by the structural form and the excavating mode of the excavator.
The foundation pit and the obliquely adjustable soil tank can simulate an excavation environment closer to the reality, so that the difference between an excavator above the foundation pit and the actual excavation is almost the same when the excavator excavates, excavation resistance is tested and analyzed under the condition, the real condition can be fed back, and the measurement accuracy and the effectiveness are better.
The setting of soil box groove seat provides a mobilizable year thing space, can realize through the adjustment the inclination of soil box groove seat the regulation of inclination of soil box and inside operation medium both conveniently regulate and control also be favorable to measurement accuracy. Specifically, the activity hinge joint with the cooperation setting of inclination adjusting part can adjust soil box inclination wantonly, guarantees measuring range, and the angular transducer who sets up in activity hinge joint department can accurately obtain the ascending inclination size in demand direction.
A plurality of horizontal force sensors and vertical force sensors are arranged between the soil tank and the soil tank seat, so that the soil tank is not in direct contact with the soil tank seat, and various external forces applied to the soil tank can be directly detected by the sensors, so that the acting force and the reacting force of the excavator during excavation are reflected, and the excavation resistance can be measured in real time; and horizontal force transducer and vertical force transducer have played the supporting role, also can grasp these sensors between soil box and the soil box groove seat inner wall simultaneously, and these sensors need not fix on soil box groove seat, and these sensors are movable, are convenient for the slope adjustment.
Furthermore, the foundation pit is a rectangular pit with an opening at the upper part, the peripheral wall and the bottom surface of the foundation pit are formed by pouring concrete, and the depth of the foundation pit is greater than the height of the soil groove seat.
Such foundation ditch and can bear great pressure all around, the excavator can remove by oneself and berth and excavate the test by the foundation ditch, stability and security are higher, do not need extra fixing device.
Furthermore, the soil tank and the soil tank seat are respectively of an open box type structure formed by splicing and welding steel plates, the peripheral wall of the soil tank and the peripheral wall of the soil tank seat are respectively arranged in parallel, and the bottom wall of the soil tank is also arranged in parallel with the bottom wall of the soil tank seat.
Adopt fashioned soil box of high strength steel sheet tailor-welding and soil box groove seat, have simple structure, easily preparation, advantage with low costs has higher intensity moreover, can satisfy the demand of loading operation medium and excavation test. The parallel arrangement can ensure that the soil tank and the soil tank seat synchronously incline and move, and the measured inclination angle can be used by the soil tank and the soil tank seat.
Furthermore, the bottom surface of foundation ditch is equipped with a plurality of articulated seats, and a plurality of articulated seats are arranged in a line and respectively through rotatory hinge with the lower part edge of soil box groove seat is articulated, rotatory hinge department sets up angle sensor.
Furthermore, the inclination angle adjusting assembly comprises a hydraulic oil cylinder arranged on the bottom surface of the foundation pit, and a piston rod of the hydraulic oil cylinder extends upwards and abuts against the bottom of the soil groove seat; the inclination angle adjusting assemblies are arranged in a row, and hydraulic oil cylinders of the inclination angle adjusting assemblies are synchronously jacked.
When the inclination angle is adjusted, a piston rod of the hydraulic oil cylinder jacks upwards to lift one side of the soil tank seat, and the soil tank seat rotates around the side plate to form the inclination angle with the horizontal plane due to the fact that the other side of the soil tank seat is hinged, and at the moment, the angle sensor can acquire the adjusted actual angle in real time; the soil tank is inclined synchronously along with the soil tank seat. A plurality of articulated seats and a plurality of hydraulic cylinder's parallel are arranged, can guarantee the stability of support.
Furthermore, a plurality of guide grooves are formed in the outer bottom wall of the soil groove seat, the guide grooves are arranged in one-to-one correspondence with the piston rods, and the guide grooves are elongated grooves in the inclined direction; the end of the piston rod is also provided with a rolling ball which is abutted to the guide groove.
Further, the horizontal force sensor and the vertical force sensor are respectively arranged on a low-friction kinematic pair, and the low-friction kinematic pair is respectively abutted against the inner side wall and the inner bottom wall of the soil tank seat; the low-friction kinematic pair is a sliding block or a sensor mounting seat with a roller, and the inner side wall and the inner bottom wall of the soil groove seat are both smooth flat surfaces.
The base for installing the sensors is set to be a low-friction kinematic pair, such as a roller, so that the influence of friction can be reduced, errors caused by overlarge friction resistance and incorrect measurement can be reduced, and meanwhile, friction compensation correction can be performed according to tonnage so as to reduce the influence of external friction.
Furthermore, the working medium is an excavation medium occurring in actual excavation of grade soil, broken stone blocks, soil and stone mixtures and the like, and different substances can be selected as fillers according to actual working conditions so as to be closer to actual conditions; the excavator stops at one side above the foundation pit, and the horizontal force sensor is arranged on the outer wall of the soil tank close to one side of the movable hinge joint.
Further, the excavator excavation resistance dynamic testing method comprises the following steps:
(1) preparing, namely installing n vertical force sensors at the bottom of the soil tank, installing n horizontal force sensors on the side wall of the soil tank, and filling the working medium, wherein the filling height is not lower than the installation height of the horizontal force sensors;
(2) the sensor adjustment, after the filling is finished, initially adjusting the n vertical force sensors at the bottom of the soil tank, then adjusting the inclination angle adjusting assembly to lift one side of the soil tank, and then initially adjusting the n horizontal force sensors on the side wall, wherein the inclination angle is recorded to be beta after the adjustment is finished;
(3) data measurement and collection are carried out, an excavator to be tested is located on one side of the foundation pit, data recording is carried out when excavation begins, and readings of the n vertical force sensors are respectively recorded as Fv1(t),Fv2(t),Fv3(t),……，Fvn(t) reading of four horizontal force sensors is respectively recorded as Fh1(t),Fh2(t),Fh3(t),……，Fhn(t)；
(4) Constructing an excavation resistance calculation model, wherein the resistance calculation model in the vertical direction in the excavation operation process is as follows:
the resistance calculation model in the horizontal direction in the excavation operation process is as follows:
wherein u (F)hi(t)) is a friction pair friction coefficient correction function, is obtained by fitting according to test data in a test field, measures a friction pair friction coefficient and a corresponding data table of different positive pressures in the test field, and then gives a functional relation of two variables in a data fitting mode; f'hi(t) is a horizontal force sensor correction model, F'hi(t)＝Fvi(t)(sin(β)-cos(β)u(Fhi(t)))；
(5) And (4) substituting the data recorded in the step (3) into the calculation model in the step (4) respectively to calculate the excavation resistance during the excavation operation.
The excavator test is carried out by the test method, the excavation resistance can be conveniently calculated, a complex calculation model is not needed, a large number of parameters are not needed, only the measured inclination angle value and the real-time pressure value of each sensor are needed, and the external influence factors are few, so that the test method is high in accuracy and precision.
Compared with the prior art, the invention has the beneficial effects that: 1. the test device has simple structure, is easy to install and use, can conveniently and accurately measure the dynamic excavating resistance in the excavating operation process, is not limited by excavating operation materials in the measuring process, and is not limited by the structural form and the excavating mode of the excavator; 2. according to the test method, the soil tank with the adjustable inclination angle, the kinematic pair with the low friction coefficient and the active compensation and correction of the friction coefficient are used for improving the measurement precision, and the excavation resistance in the horizontal and vertical directions are directly read and dynamically recorded by using the force sensors arranged in multiple points; 3. the testing method is simplified, the excavating resistance can be known only by acquiring the measured inclination angle value and the real-time pressure value of each sensor, and external influence factors are few, so that the accuracy and precision of the testing method are high; 4. the foundation pit and the obliquely adjustable soil tank can simulate an excavation environment closer to the reality, so that the excavation resistance can be tested and analyzed under the condition, the real condition can be fed back, and the measurement accuracy and effectiveness are better; 5. the movable hinge joint and the inclination angle adjusting assembly are matched to be arranged, the inclination angle of the soil tank can be flexibly adjusted, the measuring range is guaranteed, and the inclination angle in the required direction can be directly and accurately obtained through the angle sensor arranged at the movable hinge joint.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a dynamic testing device for excavating resistance of an excavator according to the present invention;
FIG. 2 is a schematic view of an inclination angle adjustment assembly of the dynamic testing apparatus for excavating resistance of an excavator according to the present invention;
in the figure: 1. a foundation pit; 2. a soil tank base; 3. a soil tank; 4. a working medium; 5. a bucket; 6. a hinged seat; 7. rotating the hinge; 8. a tilt angle adjustment assembly; 801. a hydraulic cylinder; 802. a piston rod; 9. a horizontal force sensor; 10. a vertical force sensor; 11. a sensor mount; 12. and a roller.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The first embodiment is as follows:
as shown in fig. 1 and 2, the dynamic testing device for the excavating resistance of the excavator comprises an earth groove seat 2 arranged in a foundation pit 1, wherein one side of the bottom of the earth groove seat 2 is movably hinged with the bottom surface of the foundation pit 1 and is provided with an angle sensor, an inclination angle adjusting component 8 is arranged between the other side of the bottom and the bottom surface of the foundation pit 1, an earth groove 3 is arranged inside the earth groove seat 2, a plurality of movable horizontal force sensors 9 are arranged between the outer peripheral wall of the earth groove 3 and the inner peripheral wall of the earth groove seat 2, and a plurality of movable vertical force sensors 10 are arranged between the outer bottom wall of the earth groove 3 and the inner bottom wall of the earth groove seat 2; the soil box 3 is filled with an operation medium 4 for dynamic excavation resistance testing, and the outer peripheral wall of the soil box seat 2 and the inner peripheral wall of the foundation pit 1 are provided with abdicating intervals.
The test device has a simple structure, is easy to install and use, can conveniently and accurately measure the dynamic excavating resistance in the excavating operation process, is not limited by excavating operation materials in the measuring process, and is not limited by the structural form and the excavating mode of the excavator.
The foundation pit 1 and the obliquely adjustable soil tank 3 can simulate an excavation environment closer to the reality, so that the difference between an excavator above the foundation pit 1 and the actual excavation is almost the same when the excavator excavates, excavation resistance testing and analysis are carried out under the condition, the real condition can be fed back, and the measurement accuracy and the effectiveness are better.
The setting of soil box groove seat 2 provides a mobilizable year thing space, through the adjustment soil box groove seat 2's inclination can realize the regulation of the inclination of soil box 3 and its inside operation medium, both convenient regulation and control also are favorable to measurement accuracy's the accuse. Specifically, the activity hinge joint with the cooperation setting of inclination adjusting part can adjust soil box inclination wantonly, guarantees measuring range, and the angular transducer who sets up in activity hinge joint department can accurately obtain the ascending inclination size in demand direction. The arrangement of the abdicating space provides the inclined moving space of the soil groove seat 2, and the soil groove seat 2 is prevented from touching the foundation pit 1 in the process of inclination adjustment so as to prevent the device from being subjected to extra resistance to cause test errors.
A plurality of horizontal force sensors 9 and vertical force sensors 10 are arranged between the soil tank 3 and the soil tank seat 2, so that the soil tank 3 is not in direct contact with the soil tank seat 2, and all external forces applied to the soil tank 3 can be directly detected by the sensors, so that the acting force and the reacting force of the excavator during excavation are reflected, and the excavation resistance can be measured in real time; and horizontal force sensor 9 and vertical force sensor 10 have played the supporting role, also can grasp these sensors between soil box 3 and the soil box groove seat 2 inner wall simultaneously, and these sensors need not fix on soil box groove seat 2, and these sensors are movable, are convenient for the slope adjustment.
Further, the foundation pit 1 is a rectangular pit with an opening at the upper part, the peripheral wall and the bottom surface of the foundation pit 1 are both formed by pouring concrete, and the depth of the foundation pit 1 is greater than the height of the soil groove seat 2.
Such foundation ditch 1 and its all around can bear great pressure, and the excavator can move to and stop by oneself and excavate the test by the foundation ditch, and stability and security are higher, do not need extra fixing device.
Further, the soil tank 3 and the soil tank base 2 are respectively of an open box type structure formed by tailor welding high-strength steel plates, the peripheral wall of the soil tank 3 and the peripheral wall of the soil tank base 2 are respectively arranged in parallel, and the bottom wall of the soil tank 3 and the bottom wall of the soil tank base 2 are also arranged in parallel.
Adopt fashioned soil box 3 of high strength steel sheet tailor-welding and soil box groove seat 2, have simple structure, easily preparation, advantage with low costs has higher intensity moreover, can satisfy the demand of loading operation medium and excavation test. The parallel arrangement can ensure that the soil tank 3 and the soil tank seat 2 can keep synchronous inclination and movement, and the measured inclination angle can be used by the soil tank 3 and the soil tank seat.
Further, the bottom surface of foundation ditch 1 is equipped with a plurality of articulated seats 6, and is a plurality of articulated seats 6 are arranged in a line and respectively through rotatory hinge 7 with the lower part edge hinge of soil box seat 2, rotatory hinge 7 department sets up angle sensor.
Further, the inclination angle adjusting assembly 8 comprises a hydraulic oil cylinder 801 arranged on the bottom surface of the foundation pit 1, and a piston rod 802 of the hydraulic oil cylinder 801 extends upwards and abuts against the bottom of the soil tank base 2; the inclination angle adjusting assemblies 8 are arranged in a row, and a plurality of hydraulic oil cylinders 801 are synchronously lifted.
When the inclination angle is adjusted, a piston rod 802 of the hydraulic oil cylinder 801 is jacked upwards to lift one side of the soil tank base 2, and the soil tank base 2 rotates around the side edge to form the inclination angle with the horizontal plane due to the fact that the other side of the soil tank base 2 is hinged, and at the moment, the angle sensor can acquire the adjusted actual angle in real time; the soil box 3 is inclined synchronously along with the soil box seat 2. The stability of support can be guaranteed to a plurality of articulated seat 6 and a plurality of hydraulic cylinder 801's parallel arrangement.
Further, the horizontal force sensor 9 and the vertical force sensor 10 are respectively mounted on a low-friction kinematic pair, and the low-friction kinematic pair is respectively abutted against the inner side wall and the inner bottom wall of the soil tank base 2; the low-friction kinematic pair is a sensor mounting seat 11 with a roller 12, and the inner side wall and the inner bottom wall of the soil groove seat 2 are both smooth flat surfaces.
The base for mounting the sensors is set as a low-friction kinematic pair, such as the roller 12, so that the influence of friction can be reduced, errors and incorrect measurement caused by overlarge friction resistance can be reduced, and meanwhile, friction compensation correction can be performed according to tonnage so as to reduce the influence of external friction.
Furthermore, the working medium 4 is one or more of grade soil, broken stone blocks and soil-stone mixtures, and different substances can be selected as fillers according to actual working conditions so as to be closer to the actual conditions; the excavator stops at one side above the foundation pit 1, and the horizontal force sensor 9 is arranged on the outer wall of the soil tank close to one side of the movable hinge joint.
Example two:
the difference between this embodiment and the first embodiment is that another bottom structure of the soil trough seat is provided.
A plurality of guide shallow grooves are formed in the outer bottom wall of the soil groove seat 2, the guide shallow grooves are arranged in one-to-one correspondence with the piston rods 802, and the guide shallow grooves are long-strip shallow grooves arranged along the length direction; the end of the piston rod 802 is also provided with a rolling ball which is abutted against the guide shallow groove.
The setting of direction shallow slot can play direction and spacing effect, with the spin cooperates, can guarantee the steady lifting of soil groove seat 2 or decline can not rock.
Example three:
based on the device for dynamically testing the excavating resistance of the excavator, the embodiment provides a method for dynamically testing the excavating resistance of the excavator, which comprises the following steps:
(1) preparing, namely installing four vertical force sensors 10 at four corners of the bottom of the soil tank 3 for measuring force in the vertical direction, installing four horizontal force sensors 9 at four corners of the side wall of the soil tank 3 for measuring force in the horizontal direction, and then loading the working medium 4, wherein the loading height is not lower than the installation height of the uppermost horizontal force sensor 9; the sensor mounting seat and the force sensors are fixed relative to the soil tank 3;
(2) performing sensor adjustment, namely performing initial adjustment on four vertical force sensors 10 at the bottom of the soil tank 3 after the filling is completed, then adjusting a hydraulic oil cylinder 801 of the inclination angle adjusting assembly 8, lifting one side of the soil tank 3, and then performing initial adjustment on four horizontal force sensors 9 on the side wall, wherein the inclination angle is recorded as beta after the adjustment is completed;
(3) data measurement and collection are carried out, an excavator to be tested is located on one side of the foundation pit, data recording is carried out when excavation begins, and the readings of the four vertical force sensors 10 are respectively recorded as Fv1(t),Fv2(t),Fv3(t),Fv4(t) the readings of the four horizontal force sensors 9 are respectively marked as Fh1(t),Fh2(t),Fh3(t),Fh4(t)；
(4) Constructing an excavation resistance calculation model, wherein the resistance calculation model in the vertical direction in the excavation operation process is as follows:
the resistance calculation model in the horizontal direction in the excavation operation process is as follows:
wherein u (F)hi(t)) is a friction pair friction coefficient correction function, F'hi(t) is a horizontal force sensor correction model, F'hi(t)＝Fvi(t)(sin(β)-cos(β)u(Fhi(t)))；
(5) And (4) substituting the data recorded in the step (3) into the calculation model in the step (4) respectively to calculate the excavation resistance during the excavation operation.
The excavator test is carried out by the test method, the excavation resistance can be conveniently calculated, a complex calculation model is not needed, a large number of parameters are not needed, only the measured inclination angle value and the real-time pressure value of each sensor are needed, and the external influence factors are few, so that the test method is high in accuracy and precision.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The dynamic testing device for the excavating resistance of the excavator is characterized by comprising a soil groove seat arranged in a foundation pit, wherein one side of the bottom of the soil groove seat is movably hinged with the bottom surface of the foundation pit and is provided with an angle sensor, an inclination angle adjusting assembly is arranged between the other side of the bottom of the soil groove seat and the bottom surface of the foundation pit, a soil groove is arranged inside the soil groove seat, a plurality of movable horizontal force sensors are arranged between the outer peripheral wall of the soil groove and the inner peripheral wall of the soil groove seat, and a plurality of movable vertical force sensors are arranged between the outer bottom wall of the soil groove and the inner bottom wall of the soil groove seat; the soil box is filled with the operation medium that is used for dynamic excavation resistance test, the periphery wall of soil box groove seat with be equipped with the interval of stepping down between the internal perisporium of foundation ditch.
2. The excavator excavation resistance dynamic test device of claim 1, wherein the foundation pit is a rectangular pit with an upper opening, the peripheral wall and the bottom surface of the foundation pit are both formed by pouring concrete, and the depth of the foundation pit is greater than the height of the soil groove seat.
3. The excavator excavating resistance dynamic testing apparatus as claimed in claim 1, wherein the soil trough and the soil trough base are each an open box-type structure formed by tailor welding steel plates, a peripheral wall of the soil trough and a peripheral wall of the soil trough base are each disposed in parallel, and a bottom wall of the soil trough is also disposed in parallel with a bottom wall of the soil trough base.
4. The dynamic testing device for the excavating resistance of the excavator according to claim 1, wherein a plurality of hinge seats are arranged on the bottom surface of the foundation pit, the hinge seats are arranged in a row and are respectively hinged with the lower edge of the soil pit seat through a rotating hinge, and the angle sensor is arranged at the rotating hinge.
5. The dynamic testing device for the excavating resistance of the excavator according to claim 1, wherein the inclination angle adjusting assembly comprises a hydraulic cylinder arranged on the bottom surface of the foundation pit, and a piston rod of the hydraulic cylinder extends upwards and abuts against the bottom of the soil tank seat; the inclination angle adjusting assemblies are arranged in a row, and hydraulic oil cylinders of the inclination angle adjusting assemblies are synchronously jacked.
6. The dynamic testing device for the excavating resistance of the excavator according to claim 5, wherein a plurality of guide grooves are formed in the outer bottom wall of the soil groove seat, the guide grooves are arranged in one-to-one correspondence with the piston rods, and the guide grooves are elongated grooves in the direction of the inclined requirement; the end of the piston rod is also provided with a rolling ball which is abutted to the guide groove.
7. The dynamic testing device for excavating resistance of an excavator according to claim 1, wherein the horizontal force sensor and the vertical force sensor are respectively mounted on low-friction kinematic pairs which respectively abut against the inner side wall and the inner bottom wall of the earth groove seat; the low-friction kinematic pair is a sliding block or a sensor mounting seat with a roller, and the inner side wall and the inner bottom wall of the soil groove seat are both smooth flat surfaces.
8. The dynamic testing device for excavator excavation resistance of claim 1, wherein the horizontal force sensor is provided on an outer wall of the soil trough near a side of the movable hinge.
9. A test method using the excavator excavation resistance dynamic test apparatus of claim 1, wherein the test method comprises the steps of:
(1) preparing, namely installing n vertical force sensors at the bottom of the soil tank, installing n horizontal force sensors on the side wall of the soil tank, and filling the working medium, wherein the filling height is not lower than the installation height of the horizontal force sensors;
(2) the sensor adjustment, after the filling is finished, initially adjusting the n vertical force sensors at the bottom of the soil tank, then adjusting the inclination angle adjusting assembly to lift one side of the soil tank, and then initially adjusting the n horizontal force sensors on the side wall, wherein the inclination angle is recorded to be beta after the adjustment is finished;
(3) data measurement and collection are carried out, an excavator to be tested is located on one side of the foundation pit, data recording is carried out when excavation begins, and readings of the n vertical force sensors are respectively recorded as Fv1(t),Fv2(t),Fv3(t),……，Fvn(t) n readings of the horizontal force sensor are respectively recorded as Fh1(t),Fh2(t),Fh3(t),……，Fhn(t)；
(4) Constructing an excavation resistance calculation model, wherein the resistance calculation model in the vertical direction in the excavation operation process is as follows:
the resistance calculation model in the horizontal direction in the excavation operation process is as follows:
wherein u (F)hi(t)) is a friction pair friction coefficient correction function and is obtained by fitting according to test data in a test field;
model, F ', is corrected for horizontal force sensor'hi(t)＝Fvi(t)(sin(β)-cos(β)u(Fhi(t)))；
(5) And (4) substituting the data recorded in the step (3) into the calculation model in the step (4) respectively to calculate the excavation resistance during the excavation operation.
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