CN106368674A - Engineering machine and pore-forming load monitoring system and method thereof - Google Patents
Engineering machine and pore-forming load monitoring system and method thereof Download PDFInfo
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- CN106368674A CN106368674A CN201610801285.8A CN201610801285A CN106368674A CN 106368674 A CN106368674 A CN 106368674A CN 201610801285 A CN201610801285 A CN 201610801285A CN 106368674 A CN106368674 A CN 106368674A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000009412 basement excavation Methods 0.000 claims abstract description 58
- 230000003993 interaction Effects 0.000 claims abstract description 25
- 238000004804 winding Methods 0.000 claims description 11
- 238000005065 mining Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract 2
- 238000005553 drilling Methods 0.000 description 33
- 230000008859 change Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000284 resting effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 239000010959 steel Substances 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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Abstract
The invention relates to an engineering machine and a pore-forming load monitoring system and method thereof. The pore-forming load monitoring system comprises a controller, a depth measurer, a weight measuring sensor and a man-machine interaction module. The controller is used for obtaining the weight G of a drill stem drill tool assembly according to a stay wire load measured by the weight measuring sensor, obtaining the maximum lifting force F provided by a current winch according to stay wire winding-on-winding-drum information input by the man-machine interaction module, obtaining the excavation depth specific gravity pn of the present time according to the stay wire lowering depth measured by the depth measurer and the lifting-up load measured by the weight measuring sensor, monitoring the current excavation depth Dn in real time according to information measured by the depth measurer, judging whether the current excavation depth Dn reaches a limit value or not according to the maximum lifting force F provided by the current winch, the weight G of the drill stem drill tool assembly, and the excavation depth specific gravity pn-1 of the prior time, and controlling the engineering machine to stop excavating when the current excavation depth Dn reaches the limit value.
Description
Technical field
The present invention relates to engineering machinery field, especially with regard to a kind of engineering machinery and its pore-forming load monitoring system and side
Method.
Background technology
The construction purpose of rotary drilling rig is exactly to get the vertical deep hole of major diameter in earth's surface.Equipment is all located in general
In heavy duty operating mode.
During the use of rotary drilling rig, client often occurs and changes equipment because of self-demand private, for example, pass through to increase mast
Bar height or the drilling tool using the big depth of major diameter, are sounded the night watches deep or bigger hole with the equipment of ting model, this is more to rotary drilling rig
Dynamical system cause very big loss, also have very serious construction safety hidden danger simultaneously because with the propulsion of headwork,
The density excavating thing would generally increase with the increase of depth of pore forming, therefore can cause to excavate being continuously increased of thing weight, when
Increase to the pulling force being then likely to result on steel wire rope during certain degree to be not enough to lift drill rod boring tool assembly, thus leading to drilling rod
Drilling tool is stranded in the hole or falls to situation about cannot take out in hole.
For above-mentioned situation, there is presently no a set of effective monitor in real time construction load in industry, to ensure that equipment exists
The monitoring system of construction in normal tolerance band.
Content of the invention
In view of this, present invention aim at providing a kind of engineering machinery and its pore-forming load monitoring system and method.
For reaching above-mentioned advantage, the present invention provides a kind of pore-forming load monitoring system of engineering machinery, described engineering machinery
Including elevator, drawstring, drill rod boring tool assembly, described drill rod boring tool assembly is connected with elevator by drawstring, described pore-forming load prison
Control system includes controller, depth measurer, load cell and human-computer interaction module, described depth measurer, check weighing sensing
Device and human-computer interaction module are connected with described controller signals, and described depth measurer is used for measuring the decentralization depth of drawstring, institute
State load cell for the load measuring on drawstring, described human-computer interaction module is used for accepting winding letter on reel for the drawstring
Breath input；Described controller is for according to drawstring, the winding information on reel obtains the maximum lift that current elevator can provide
Power f, obtains as secondary excavation object depth degree proportion p according to the information that depth measurer and load cell recordn, surveyed according to depth
Current excavating depth d of information real-time monitoring that measuring device recordsn, and can provide with reference to current elevator maximum hoist capacity f, brill
Bar drill tool weight g of assembly and the excavation object depth degree proportion p of last timen-1Judge current excavating depth dnWhether reach pole
Limit value, and in current excavating depth dnEngineering machinery is controlled to stop excavating when reaching the limit values.
According to one embodiment of present invention, the letter that weight g of described drill rod boring tool assembly records according to load cell
Cease and/or obtained by the information that described human-computer interaction module inputs.
According to one embodiment of present invention, the formula that the maximum hoist capacity f that calculating current elevator can provide adopts is m
=f* (r+ (2m-1) * r), the moment of torsion that in formula, m can provide for hoist motor, r is reel radius, and r is drawstring radius, and m is to draw
The number of plies that rope is wound around on reel.
According to one embodiment of present invention, excavate object depth degree proportion pnIt is when secondary excavation thing weight wnDig with when secondary
Pick depth dnRatio, calculate when time excavation object depth degree proportion pnThe formula of Shi Caiyong is pn=(t-g)/(hn-hn-1), formula
Middle t is the tension force on drawstring, and it is calculated by the information that load cell records, hnExcavate at this for depth measurer
During the depth recording in real time, hn-1For the last depth capacity excavated.
According to one embodiment of present invention, judge current excavating depth dnThe judgement whether reaching the limit values employing is patrolled
Collecting is f > (g+pn-1*dn) * i, in formula, i is the previously given safety coefficient of system.
According to one embodiment of present invention, the operation that described engineering machinery stops adopting when excavating is: stops volume simultaneously
Raise decentralization valve, oil cylinder pressurizing valve and float trap.
For reaching above-mentioned advantage, the present invention provides a kind of engineering machinery, and it includes elevator, drawstring, drill rod boring tool assembly, institute
State drill rod boring tool assembly to be connected with elevator by drawstring, the also above-mentioned pore-forming load monitoring system of described engineering machinery.
For reaching above-mentioned advantage, the present invention provides a kind of pore-forming load monitoring method of engineering machinery, comprising: obtain boring
Bar drill has weight g of assembly；Obtain the maximum hoist capacity that current elevator can provide using winding information on reel for the drawstring
f；The information that the information being recorded using depth measurer and load cell are recorded obtain when time excavation object depth degree proportion pn；Real
When monitor current excavating depth dn, and can provide with reference to current elevator maximum hoist capacity f, the weight of drill rod boring tool assembly
The excavation object depth degree proportion p of g and last timen-1Judge current excavating depth dnWhether reach the limit values, if current excavation
Depth dnReach the limit values and then at once stop excavation action.
According to one embodiment of present invention, weight g of drill rod boring tool assembly is recorded using load cell information and/
Or the information being inputted by human-computer interaction module obtains.
According to one embodiment of present invention, using drawstring, the winding information on reel obtains current elevator and can provide
The step of maximum hoist capacity include: the number of stories m that input drawstring is wound around on reel；The hoist motor that coupling system prestores can
The moment of torsion m, reel radius r and the drawstring radius r that there is provided calculate the maximum hoist capacity f that current elevator can provide.
According to one embodiment of present invention, the information that the information being recorded using depth measurer and load cell are recorded
Obtain including when the step of secondary excavation object depth degree proportion: the real-time decentralization of the information monitoring drawstring recording using depth measurer
Depth hn, and combine last excavating depth hn-1Obtain when secondary excavating depth dn；The information being recorded using load cell
Obtain when secondary excavation thing weight wn；
In conjunction with when secondary excavation thing weight wnWith excavating depth d that ought be secondarynObtain as secondary excavation object depth degree proportion pn, when
Secondary excavation object depth degree proportion pnIt is when secondary excavation thing weight wnWith excavating depth d that ought be secondarynRatio.
According to one embodiment of present invention, judge current excavating depth dnWhether reach the limit values the judgement being to adopt
Logic is: f > (g+pn-1*dn) * i, wherein i is safety coefficient.
In sum, the present invention passes through the current excavating depth of implementing monitoring, and judges current digging with reference to correlation values
Whether pick depth reaches the limit values, and controls engineering machinery to stop excavating when current excavating depth reaches the limit values, thus can
To fully ensure that equipment construction in the safe bearing load that design allows, reduce the experience to manipulator and observational ability requires.
Brief description
Fig. 1 is the schematic diagram of engineering machinery in one embodiment of the invention.
Fig. 2 is the schematic diagram of pore-forming load monitoring system in one embodiment of the invention.
Fig. 3 is the control logic schematic diagram of pore-forming load monitoring method in one embodiment of the invention.
Specific embodiment
For further illustrating that the present invention is to reach technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to the specific embodiment of the present invention, structure, feature and its effect, after describing in detail such as.
Firstly the need of explanation, the engineering machinery of the present invention can be rotary drilling rig, subterranean continuous wall hydraulic grab etc.
There is the periodic feeding depending on work head and withdraw the engineering mechanical device carrying out driving and deslagging.The present embodiment is to revolve
Dig and the engineering machinery of the present invention is illustrated as a example rig.As shown in Figures 1 and 2, the engineering machinery of the present invention includes elevator
1st, drawstring 2, frame 3, drill rod boring tool assembly 4 and operation control portion 5.Wherein, drill rod boring tool assembly 4 is installed in frame 3, its bottom
Portion is connected with unit head 6, can carry out pore-forming operation by the driving of unit head 6.Drawstring 2 is steel wire rope in the present embodiment,
It is wound on the reel of elevator 1, and its end bypass set by frame 3 top pulley after top with drill rod boring tool assembly 4
It is connected, can be lifted or lowering drill pipes drilling tool assembly 4 by above carrying or transferring drawstring 2.Operation control portion 5 is indoor located at driving,
It is easy to operator the oil cylinder of elevator 1, unit head 6 pressurization etc. to be controlled, thus being controlled to pore-forming operation.
The pore-forming load monitoring system of the present invention includes controller 7, load cell 8, depth measurer 9 and man-machine interaction
Module 10.Controller 7 is connected with operation control portion 5, load cell 8, depth measurer 9 and human-computer interaction module 10 signal,
It is easy to controller 7 Real-time Collection operation control portion 5, the information of load cell 8, depth measurer 9 and human-computer interaction module 10.
Load cell 8 is the bearing pin pressure transducer in frame 3 top pulley in the present embodiment, and it is used for measuring pulley pin
Pressure on axle is simultaneously passed along controller 7, is obtained negative on drawstring 2 according to the conversion pressure on pulley pin shaft by controller 7
Carry.Depth measurer 9 is the encoder on elevator 1 in the present embodiment, and it is used for measuring the decentralization depth of drawstring 2 (i.e.
The decentralization depth of drilling tool) and it is passed along controller 7.Operation control portion 5 and human-computer interaction module 10 are indoor located at driving, operation
Control unit 5 be provided with elevator above carry, elevator decentralization, oil cylinder pressurization etc. operation button and/or action bars, for controlling drawstring 2
Above carry or transfer and the pressurization of unit head 6 oil cylinder or pressure release etc., and corresponding signal is passed to controller 7.Man-machine interaction
Module 10 includes display screen and information input keyboard etc., and it is used for accepting information input, the information of display input or engineering machinery
Operational factor etc..
Controller 7 is used for the information recording according to load cell 8 or the information of human-computer interaction module 10 input is bored
Bar drill has weight g of assembly 4, obtains, according to winding information on reel for the drawstring 2, the maximum lift that current elevator 1 can provide
Power f, obtains as secondary excavation object depth degree proportion p according to the information that depth measurer 9 and load cell 8 recordn, according to depth
Current excavating depth d of information real-time monitoring that measuring device 9 recordsn, and the maximum hoist capacity that can provide with reference to current elevator 1
The excavation object depth degree proportion p of f, weight g of drill rod boring tool assembly 4 and last timen-1Judge current excavating depth dnWhether reach
To ultimate value, and in current excavating depth dnEngineering machinery is controlled to stop excavating when reaching the limit values.
Specifically, controller 7 is when installing drill rod boring tool assembly 4 and drill rod boring tool assembly 4 is in hanging resting state
It is calculated weight g of drill rod boring tool assembly 4 according to the information that load cell 8 records.Weight g of drill rod boring tool assembly 4 can
To be obtained using the following two kinds mode: the first is after first time assembles drill rod boring tool assembly 4, so that elevator 1 drawstring 2 is in
Vacant state, after waiting system stability, calculates drill rod boring tool assembly 4 using the information that load cell 8 records according to setting formula
Weight g, and be saved to system.Another kind be using human-computer interaction module 10 input each section drilling rod weight and/or
Drilling rod model, obtains gross weight g of whole drilling rod according to input informationgIf (drilling rod is standard drill pipe, is prestored using system
Information can immediately know weight g of whole drilling rodgIf drilling rod is not standard drill pipe, need to input the weight of each section drilling rod
Amount, obtains weight g of whole drilling rod further according to each weight sum saving drilling rodg)；Then assemble drill rod boring tool in first time
Assembly 4 and drill rod boring tool assembly 4 is in the information recording during hanging resting state according to load cell 8, is calculated drawstring 2
On tension force t0, and according to gj=t0-ggIt is calculated weight g of drilling toolj；Finally again by gross weight g of whole drilling rodgAnd drilling tool
Weight gjIt is added, obtain weight g of drill rod boring tool assembly 4.
According to drawstring 2, the winding information on reel obtains the maximum hoist capacity f that current elevator 1 can provide to controller 7
The formula of Shi Caiyong is m=f*l=f* (r+ (2m-1) * r), the moment of torsion that in formula, m can provide for main winch motor, and l is master file
Raise the arm of force of motor, r is reel radius, r is drawstring 2 radius, and m, r and r are for system prestored information or by man-machine interaction mould
Block 10 pre-enters, the number of plies that m is wound around on reel for drawstring 2, and it passes through human-computer interaction module 10 according to on-site actual situations
Select suitable opportunity input.The number of plies that drawstring 2 is wound around on reel can change the torque arm length of main winch motor, thus affecting
To the maximum hoist capacity that can provide.When drawstring 2 is wound around one layer on reel, the arm of force l=r+r of main winch motor, when drawing
When rope 2 is wound around two-layer on reel, l=r+3r, in the case that the moment of torsion m that hoist motor can provide is certain, if drawstring 2 exists
The number of plies being wound around on reel is fewer, then the maximum hoist capacity f that elevator 1 can provide is bigger.
Controller 7 excavates object depth degree proportion according to what the information that depth measurer 9 and load cell 8 record obtained when secondary
pnIt is when secondary excavation thing weight wnWith excavating depth d that ought be secondarynRatio wn/dn, calculate as secondary excavation object depth degree proportion pn
The formula of Shi Caiyong is pn=wn/dn=(t-g)/(hn-hn-1) or (t- (gj+gg))/(hn-hn-1), in formula, t is current drawstring 2
On tension force, it is calculated by the information that load cell 8 records, hnFor depth measurer 9 in this mining process
The depth recording in real time, this depth is continually changing in mining process, when this depth stops change, then shows that this excavates knot
Bundle, terminates the maximum d obtaining during this excavationnValue is this final depth excavated, hn-1Deep for the last maximum excavated
Degree.Thing weight change w is excavated in controller 7 moment monitoring in mining processn=t-g or t- (gj+gg), and combine surveyed by depth
The feeding depth d of each excavation that the information conversion that measuring device 9 records obtainsn, convert and excavated object depth degree proportion p in real timen=
wn/dn(pnUnit is ton/rice), terminate the p obtaining during this excavationnValue is the p of this excavationnValue.
Controller 7 is judged current excavating depth d when excavating every timenThe judgement adopting when whether reaching the limit values
Logic is f > (g+pn-1*dn) * i or (gj+gg+pn-1*dn) * i, in formula, i is the previously given safety coefficient of system, g, gj、ggFor
Definite value, pn-1This excavation is also definite value, therefore, only need to judge d in each excavationnWhether value meets the requirements.If
Current excavating depth dnUndesirable, i.e. current excavating depth dnReach the limit values, then engineering machine is controlled by controller 7
Tool stops excavating at once.The operation that controller 7 adopts when at once stopping excavation action is: stops elevator decentralization valve 11 simultaneously, floats
Dynamic valve 12 and oil cylinder pressurizing valve 13.
As shown in figure 3, the pore-forming load monitoring method of the present invention includes:
Step s1: obtain weight g of drill rod boring tool assembly 4；
Wherein, weight g of drill rod boring tool assembly 4 be assemble drill rod boring tool assembly 4 and drill rod boring tool assembly 4 be in outstanding
The information of the information being recorded according to load cell 8 during empty resting state and/or human-computer interaction module 10 input obtains.Drilling rod bores
Weight g of tool assembly 4 can be obtained by the following two kinds mode: the first is after first time assembles drill rod boring tool assembly 4,
Elevator 1 drawstring 2 is made to be in vacant state, after waiting system stability, the information that records using load cell 8 is according to setting formula meter
Calculate weight g of drill rod boring tool assembly 4, and be saved to system.Another kind is to input each section using human-computer interaction module 10
The weight of drilling rod and/or drilling rod model, obtain gross weight g of whole drilling rod according to input informationg(if drilling rod is standard drill pipe,
Weight g of whole drilling rod is then can immediately know using the information that system prestoresgIf drilling rod is not standard drill pipe, need defeated
Enter the weight of each section drilling rod, obtain weight g of whole drilling rod further according to each weight sum saving drilling rodg)；Then
Once assemble drill rod boring tool assembly 4 and drill rod boring tool assembly 4 is in and is recorded according to load cell 8 during hanging resting state
Information, is calculated the tension force t on drawstring 20, and according to gj=t0-ggIt is calculated weight g of drilling toolj；Finally will entirely bore again
Gross weight g of bargWeight g with drilling tooljIt is added, obtain weight g of drill rod boring tool assembly 4.
Step s2: obtain the maximum hoist capacity f that current elevator 1 can provide using winding information on reel for the drawstring 2；
This step specifically includes: the number of stories m that input drawstring 2 is wound around on reel；The elevator 1 motor energy that coupling system prestores
Enough moment of torsion m providing, reel radius r and drawstring 2 radius r calculate the maximum hoist capacity f that current elevator 1 can provide.Calculate
The formula adopting during the maximum hoist capacity f that current elevator 1 can provide is m=f*l=f* (r+ (2m-1) * r), based on l in formula
The arm of force of elevator 1 motor, r is reel radius, and r is drawstring 2 radius, the number of plies that m is wound around on reel for drawstring 2, and m, r and r are
System prestored information or pre-entered by human-computer interaction module 10, the number of plies that m is wound around on reel for drawstring 2, it passes through
Human-computer interaction module 10 selects suitable opportunity input according to on-site actual situations.The moment of torsion m mono- that can provide in elevator 1 motor
In the case of fixed, if the number of plies that drawstring 2 is wound around on reel is fewer, the maximum hoist capacity f that elevator 1 can provide is bigger.
Step s3: the information that the information being recorded using depth measurer 9 and load cell 8 are recorded obtain when time excavation
Object depth degree proportion pn；
This step specifically includes: real-time decentralization depth h of the information monitoring drawstring 2 being recorded using depth measurer 9n, and
In conjunction with last excavating depth hn-1Obtain when secondary excavating depth dn(dn=hn-hn-1)；Recorded using load cell 8
Information obtains when secondary excavation thing weight wn(wn=t-g or t- (gj+gg))；In conjunction with when secondary excavation thing weight wnDig with when secondary
Pick depth dnObtain as secondary excavation object depth degree proportion pn(pn=wn/dn).
As secondary excavation object depth degree proportion pnIt is when secondary excavation thing weight wnWith excavating depth d that ought be secondarynRatio, meter
Calculate as secondary excavation object depth degree proportion pnThe formula of Shi Caiyong is pn=wn/dn=(t-g)/(hn-hn-1) or (t- (gj+gg))/
(hn-hn-1), in formula, t is the tension force on current drawstring 2, and it is calculated by the information that load cell 8 records, hnFor depth
The depth recording in real time in this mining process for the measuring device 9, this depth is continually changing in mining process, when this depth is stopped
Only change, then show that this excavation terminates, terminate the maximum d obtaining during this excavationnValue is this final depth excavated,
hn-1For the last depth capacity excavated.Thing weight change w is excavated in controller 7 moment monitoring in mining processn=t-g or
t-(gj+gg), and combine the feeding depth d of each excavation that the information conversion being recorded by depth measurer 9 obtainsn, conversion obtains
Excavate object depth degree proportion p in real timen=wn/dn、(pnUnit is ton/rice), terminate the p obtaining during this excavationnValue is this
The p excavatingnValue.
Step s4: current excavating depth d of real-time monitoringn, and can provide with reference to current elevator 1 maximum hoist capacity f,
The excavation object depth degree proportion p of weight g of drill rod boring tool assembly 4 and last timen-1Judge current excavating depth dnWhether reach
Ultimate value, if current excavating depth dnReach the limit values and then at once stop excavation action.
Judge current excavating depth dnThe decision logic whether reach the limit values is to adopt is: f > (g+pn-1*dn) * i, its
Middle i is the previously given safety coefficient of system, g, gj、ggFor definite value, pn-1This excavation is also definite value, therefore, each
D only need to be judged during excavationnWhether value meets the requirements.If current excavating depth dnUndesirable, that is, current excavation is deep
Degree dnReach the limit values, then control engineering machinery at once to stop excavating by controller 7.When controller 7 stops excavation action at once
Using operation be: stop elevator decentralization valve 11, float trap 12 and oil cylinder pressurizing valve 13 simultaneously.
In sum, the invention provides a set of pore-forming load monitoring system gearing to actual circumstances and pore-forming load monitoring side
Method, it passes through the current excavating depth of implementing monitoring, and judges whether current excavating depth reaches capacity with reference to correlation values
Value, and control engineering machinery to stop excavating, such that it is able to fully ensure that equipment setting when current excavating depth reaches the limit values
Construction in the safe bearing load that meter allows, reduces the experience to manipulator and observational ability requires；And, the present invention will be last
Excavate object depth degree proportion as the judgement bar judging whether the excavating depth recording in real time in this mining process reaches the limit values
Part, enters row iteration in the way of closest to practical situation, makes judged result more accurate.
The above, be only presently preferred embodiments of the present invention, not the present invention is made with any pro forma restriction, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any is familiar with this professional technology people
Member, in the range of without departing from technical solution of the present invention, when the technology contents of available the disclosure above make a little change or modification
For the Equivalent embodiments of equivalent variations, as long as being without departing from technical solution of the present invention content, according to the technical spirit pair of the present invention
Any simple modification, equivalent variations and modification that above example is made, all still fall within the range of technical solution of the present invention.
Claims (12)
1. the pore-forming load monitoring system of a kind of engineering machinery, described engineering machinery includes elevator, drawstring, drill rod boring tool assembly,
Described drill rod boring tool assembly be connected with elevator by drawstring it is characterised in that: described pore-forming load monitoring system include controller,
Depth measurer, load cell and human-computer interaction module, described depth measurer, load cell and human-computer interaction module with
Described controller signals connect, and described depth measurer is used for measuring the decentralization depth of drawstring, and described load cell is used for surveying
Load on amount drawstring, described human-computer interaction module is used for accepting winding information input on reel for the drawstring；Described controller
Obtain the maximum hoist capacity f that current elevator can provide for the winding information on reel according to drawstring, according to depth survey
The information that device and load cell record obtain when time excavation object depth degree proportion pn, real according to the information that depth measurer records
When monitor current excavating depth dn, and can provide with reference to current elevator maximum hoist capacity f, the weight of drill rod boring tool assembly
The excavation object depth degree proportion p of g and last timen-1Judge current excavating depth dnWhether reach the limit values, and dig in current
Pick depth dnEngineering machinery is controlled to stop excavating when reaching the limit values.
2. pore-forming load monitoring system as claimed in claim 1 it is characterised in that: the weight g root of described drill rod boring tool assembly
The information that records according to load cell and/or obtained by the information that described human-computer interaction module inputs.
3. pore-forming load monitoring system as claimed in claim 1 it is characterised in that: the maximum that can provide of current elevator is provided
The formula that lifting force f adopts is m=f* (r+ (2m-1) * r), the moment of torsion that in formula, m can provide for hoist motor, and r is reel half
Footpath, r is drawstring radius, the number of plies that m is wound around on reel for drawstring.
4. pore-forming load monitoring system as claimed in claim 1 it is characterised in that: excavate object depth degree proportion pnIt is when secondary digs
Pick thing weight wnWith excavating depth d that ought be secondarynRatio, calculate when time excavation object depth degree proportion pnThe formula of Shi Caiyong is pn
=(t-g)/(hn-hn-1), in formula, t is the tension force on drawstring, and it is calculated by the information that load cell records, hnFor depth
The degree depth recording in real time in this mining process for the measuring device, hn-1For the last depth capacity excavated.
5. pore-forming load monitoring system as claimed in claim 1 it is characterised in that: judge current excavating depth dnWhether reach
It is f > (g+p to the decision logic that ultimate value adoptsn-1*dn) * i, in formula, i is the previously given safety coefficient of system.
6. pore-forming load monitoring system as claimed in claim 1 it is characterised in that: described engineering machinery adopts when stopping excavating
Operation be: stop elevator decentralization valve, oil cylinder pressurizing valve and float trap simultaneously.
7. a kind of engineering machinery, including elevator, drawstring, drill rod boring tool assembly, described drill rod boring tool assembly passes through drawstring and elevator
Be connected it is characterised in that: described engineering machinery also includes the pore-forming load monitoring system as any one of right 1 to 6.
8. a kind of engineering machinery pore-forming load monitoring method it is characterised in that: comprising:
Obtain weight g of drill rod boring tool assembly；
Obtain the maximum hoist capacity f that current elevator can provide using winding information on reel for the drawstring；
The information that the information being recorded using depth measurer and load cell are recorded obtain when time excavation object depth degree proportion pn；
Current excavating depth d of real-time monitoringn, and can provide with reference to current elevator maximum hoist capacity f, drill rod boring tool assembly
Weight g and the excavation object depth degree proportion p of last timen-1Judge current excavating depth dnWhether reach the limit values, if currently
Excavating depth dnReach the limit values and then at once stop excavation action.
9. pore-forming load monitoring method as claimed in claim 8 it is characterised in that: weight g of drill rod boring tool assembly is using surveying
The information that re-transmission sensor records and/or the information being inputted by human-computer interaction module obtain.
10. pore-forming load monitoring method as claimed in claim 8 it is characterised in that: using drawstring on reel winding letter
The step that breath obtains the maximum hoist capacity that current elevator can provide includes:
The number of stories m that input drawstring is wound around on reel；
Moment of torsion m, reel radius r and drawstring radius r that the hoist motor that coupling system prestores can provide calculate current elevator
The maximum hoist capacity f that can provide.
11. pore-forming load monitoring methods as claimed in claim 8 it is characterised in that: the information being recorded using depth measurer
Obtain including when the step of secondary excavation object depth degree proportion with the information that load cell records:
Real-time decentralization depth h of the information monitoring drawstring being recorded using depth measurern, and combine last excavating depth hn-1
Obtain when secondary excavating depth dn；
Obtained when secondary excavation thing weight w using the information that load cell recordsn；
In conjunction with when secondary excavation thing weight wnWith excavating depth d that ought be secondarynObtain as secondary excavation object depth degree proportion pn, when secondary
Excavate object depth degree proportion pnIt is when secondary excavation thing weight wnWith excavating depth d that ought be secondarynRatio.
12. pore-forming load monitoring methods as claimed in claim 8 it is characterised in that:
Judge current excavating depth dnThe decision logic whether reach the limit values is to adopt is: f > (g+pn-1*dn) * i, wherein i
For safety coefficient.
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