CN106368674B - Engineering machinery and its pore-forming load monitoring system and method - Google Patents
Engineering machinery and its pore-forming load monitoring system and method Download PDFInfo
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- CN106368674B CN106368674B CN201610801285.8A CN201610801285A CN106368674B CN 106368674 B CN106368674 B CN 106368674B CN 201610801285 A CN201610801285 A CN 201610801285A CN 106368674 B CN106368674 B CN 106368674B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000009412 basement excavation Methods 0.000 claims abstract description 53
- 230000005484 gravity Effects 0.000 claims abstract description 32
- 230000003993 interaction Effects 0.000 claims abstract description 25
- 238000004804 winding Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000005065 mining Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 description 34
- 230000008859 change Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram 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
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000011148 porous material Substances 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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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention relates to engineering machinery and its pore-forming load monitoring system and method.Pore-forming load monitoring system includes controller, depth measurer, load cell and human-computer interaction module, controller according to the drawstring that load cell measures for loading to obtain the weight G of drill rod boring tool assembly, the maximum hoist capacity F that current elevator is capable of providing is obtained according to winding information of the drawstring of human-computer interaction module input on reel, the load that draws high that the drawstring decentralization depth and load cell measured according to depth measurer measures is obtained as secondary excavation object depth degree specific gravity pn, the current excavating depth D of the information real-time monitoring measured according to depth measurern, and the weight G and the excavation object depth degree specific gravity p of last time for the maximum hoist capacity F, drill rod boring tool assembly for combining current elevator to be capable of providingn‑1Judge current excavating depth DnWhether reach the limit values, and in current excavating depth DnEngineering machinery is controlled when reaching the limit values to stop excavating.
Description
Technical field
The present invention relates to engineering machinery fields, especially with regard to a kind of engineering machinery and its pore-forming load monitoring system and side
Method.
Background technique
The purpose of construction of rotary drilling rig is exactly to get the vertical deep hole of major diameter in earth's surface.Equipment is all located under normal circumstances
In heavy duty operating condition.
In the use process of rotary drilling rig, often there is client because self-demand private changes equipment, such as by increasing mast
Bar height or the drilling tool for using the big depth of major diameter, deep or bigger hole of being sounded the night watches with the equipment of ting model, this is more to rotary drilling rig
Dynamical system cause very big loss, while also having very serious construction safety hidden danger because with the propulsion of headwork,
The density for excavating object would generally increase with the increase of depth of pore forming, therefore will cause and excavate being continuously increased for object weight, when
The pulling force that then may cause on wirerope when increasing to certain degree is not enough to lift drill rod boring tool assembly, so as to cause drilling rod
Drilling tool is stranded in hole or falls to the case where can not taking out in hole.
For above situation, there is presently no a set of effective real time monitoring construction load, to guarantee that equipment exists in industry
The monitoring system constructed in normal tolerance band.
Summary of the invention
In view of this, it is an object of that present invention to provide a kind of engineering machinery and its pore-forming load monitoring system and method.
To reach above-mentioned advantage, the present invention provides a kind of pore-forming load monitoring system of engineering machinery, the engineering machinery
Including elevator, drawstring, drill rod boring tool assembly, the drill rod boring tool assembly is connected by drawstring with elevator, the pore-forming load prison
Control system includes controller, depth measurer, load cell and human-computer interaction module, the depth measurer, check weighing sensing
Device and human-computer interaction module are connected with the controller in a signal way., and the depth measurer is used to measure the decentralization depth of drawstring, institute
It states load cell and is used to receive winding letter of the drawstring on reel for measuring the load on drawstring, the human-computer interaction module
Breath input；The controller is used to obtain the maximum lift that current elevator is capable of providing according to winding information of the drawstring on reel
Power F is obtained according to the information that depth measurer and load cell measure as secondary excavation object depth degree specific gravity pn, surveyed according to depth
The current excavating depth D of the information real-time monitoring that measuring device measuresn, and maximum hoist capacity F, the brill being capable of providing in conjunction with current elevator
Bar drill has the weight G and the excavation object depth degree specific gravity p of last time of assemblyn-1Judge current excavating depth DnWhether pole is reached
Limit value, and in current excavating depth DnEngineering machinery is controlled when reaching the limit values to stop excavating.
According to one embodiment of present invention, the letter that the weight G of the drill rod boring tool assembly is measured according to load cell
It ceases and/or is obtained by the information that the human-computer interaction module inputs.
According to one embodiment of present invention, formula that the maximum hoist capacity F that current elevator is capable of providing is used is calculated as M
=F* (R+ (2m-1) * r), M is the torque that hoist motor is capable of providing in formula, and R is reel radius, and r is drawstring radius, and m is to draw
The number of plies that rope is wound on reel.
According to one embodiment of present invention, object depth degree specific gravity p is excavatednFor as secondary excavation object weight WnWith digging that ought be secondary
Dig depth DnRatio, calculate when time excavation object depth degree specific gravity pnThe formula of Shi Caiyong is pn=(T-G)/(Hn-Hn-1), formula
Middle T is the tension on drawstring, is calculated by the information that load cell measures, HnIt is depth measurer in this excavation
The depth measured in real time in the process, Hn-1The depth capacity excavated for the last time.
According to one embodiment of present invention, judge current excavating depth DnThe judgement for whether reaching the limit values use is patrolled
Collecting is F > (G+pn-1*Dn) * i, i is the previously given safety coefficient of system in formula.
According to one embodiment of present invention, the engineering machinery stops the operation using when excavating are as follows: is simultaneously stopped volume
Raise decentralization valve, oil cylinder pressurizing valve and float trap.
To reach above-mentioned advantage, the present invention provides a kind of engineering machinery comprising elevator, drawstring, drill rod boring tool assembly, institute
It states drill rod boring tool assembly to be connected by drawstring with elevator, the also above-mentioned pore-forming load monitoring system of the engineering machinery.
To reach above-mentioned advantage, the present invention provides a kind of pore-forming load monitoring method of engineering machinery comprising: it obtains and bores
The weight G of bar drill tool assembly；The maximum hoist capacity that current elevator is capable of providing is obtained using winding information of the drawstring on reel
F；The information that the information and load cell measured using depth measurer is measured is obtained as secondary excavation object depth degree specific gravity pn；It is real
When monitor current excavating depth Dn, and the weight for the maximum hoist capacity F, drill rod boring tool assembly for combining current elevator to be capable of providing
The G and excavation object depth degree specific gravity p of last timen-1Judge current excavating depth DnWhether reach the limit values, if current excavation
Depth DnIt reaches the limit values and then stops excavation movement at once.
According to one embodiment of present invention, the weight G of drill rod boring tool assembly is measured using load cell information and/
Or it is obtained by the information that human-computer interaction module inputs.
According to one embodiment of present invention, the winding information using drawstring on reel obtains current elevator and is capable of providing
Maximum hoist capacity the step of include: to input the number of stories m that winds on reel of drawstring；It can in conjunction with the hoist motor that system prestores
Torque M, the reel radius R and drawstring radius r of offer calculate the maximum hoist capacity F that current elevator is capable of providing.
According to one embodiment of present invention, the information that the information and load cell measured using depth measurer is measured
It obtains when the step of secondary excavation object depth degree specific gravity including: the real-time decentralization of the information monitoring drawstring measured using depth measurer
Depth Hn, and combine last excavating depth Hn-1It obtains as secondary excavating depth Dn；The information measured using load cell
It obtains as secondary excavation object weight Wn；
In conjunction with as secondary excavation object weight WnWith excavating depth D that ought be secondarynIt obtains as secondary excavation object depth degree specific gravity pn, when
Secondary excavation object depth degree specific gravity pnFor as secondary excavation object 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 is the judgement used
Logic are as follows: F > (G+pn-1*Dn) * i, wherein i is safety coefficient.
In conclusion the excavating depth that the present invention is current by implementing monitoring, and current digging is judged in conjunction with correlation values
Whether pick depth reaches the limit values, and controls engineering machinery when current excavating depth reaches the limit values and stop excavating, so as to
To fully ensure that equipment is constructed in the safe bearing load that design allows, the experience and observation force request to manipulator are reduced.
Detailed description of the invention
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
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to a specific embodiment of the invention, structure, feature and its effect, detailed description is as follows.
Firstly the need of explanation, engineering machinery of the invention can be rotary drilling rig, subterranean continuous wall hydraulic grab etc.
The engineering mechanical device of driving and deslagging is carried out with the periodic feeding and withdrawing dependent on work head.The present embodiment is to revolve
Engineering machinery of the invention is illustrated for digging drilling machine.As shown in Figures 1 and 2, engineering machinery of the invention includes elevator
1, drawstring 2, rack 3, drill rod boring tool assembly 4 and operation control portion 5.Wherein, drill rod boring tool assembly 4 is installed in rack 3, bottom
Portion is connected with power head 6, can carry out pore-forming operation by the driving of power head 6.Drawstring 2 is wirerope in the present embodiment,
On its reel for being wound in elevator 1, and its end is around the top after pulley set by 3 top of rack with drill rod boring tool assembly 4
It is connected, can be lifted by above mentioning or transfer drawstring 2 or lowering drill pipes drilling tool assembly 4.Operation control portion 5 is set in driver's cabin,
The oil cylinder pressurization etc. of elevator 1, power head 6 is controlled convenient for operator, to control pore-forming operation.
Pore-forming load monitoring system of the invention includes controller 7, load cell 8, depth measurer 9 and human-computer interaction
Module 10.Controller 7 is connect with operation control portion 5, load cell 8, depth measurer 9 and 10 signal of human-computer interaction module,
Operation control portion 5, the information of load cell 8, depth measurer 9 and human-computer interaction module 10 are acquired in real time convenient for controller 7.
Load cell 8 is in the present embodiment the pin shaft pressure sensor in 3 top pulley of rack, is used to measure pulley pin
Pressure on axis is simultaneously passed along controller 7, is obtained by controller 7 according to the conversion pressure on pulley pin shaft negative on drawstring 2
It carries.Depth measurer 9 is in the present embodiment the encoder on elevator 1, is used to measure 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 set in driver's cabin, operation
Control unit 5 be equipped with elevator above mention, elevator decentralization, oil cylinder pressurization etc. operation button and/or operating stick, for controlling drawstring 2
Above mention or transfer and the pressurization of 6 oil cylinder of power head or pressure release etc., and corresponding signal is transmitted to controller 7.Human-computer interaction
Module 10 includes display screen and information input keyboard etc., is used to receive the information or engineering machinery of information input, display input
Operating parameter etc..
The information that the information or human-computer interaction module 10 that controller 7 is used to be measured according to load cell 8 input is bored
Bar drill has the weight G of assembly 4, obtains the maximum lift that current elevator 1 is capable of providing according to winding information of the drawstring 2 on reel
Power F is obtained according to the information that depth measurer 9 and load cell 8 measure as secondary excavation object depth degree specific gravity pn, according to depth
The current excavating depth D of the information real-time monitoring that measuring appliance 9 measuresn, and the maximum hoist capacity being capable of providing in conjunction with current elevator 1
F, the weight G of the drill rod boring tool assembly 4 and excavation object depth degree specific gravity p of last timen-1Judge current excavating depth DnWhether reach
To limiting value, and in current excavating depth DnEngineering machinery is controlled when reaching the limit values to stop excavating.
Specifically, controller 7 is when installing drill rod boring tool assembly 4 and drill rod boring tool assembly 4 is in hanging stationary state
The weight G of drill rod boring tool assembly 4 is calculated according to the information that load cell 8 measures.The weight G of drill rod boring tool assembly 4 can
Obtain in a manner of using the following two kinds: the first is to be in 1 drawstring 2 of elevator after assembling drill rod boring tool assembly 4 for the first time
Vacant state, etc. after systems stablize, the information measured using load cell 8 calculates drill rod boring tool assembly 4 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 the total weight G of entire drilling rod according to input informationgIf (drilling rod is standard drill pipe, is prestored using system
Information is the weight G that can immediately know entire drilling rodgIf drilling rod is not standard drill pipe, need to input the weight of each section drilling rod
Amount, obtains the weight G of entire drilling rod further according to the sum of the weight of each section drilling rodg)；Then drill rod boring tool is being assembled for the first time
Assembly 4 and drill rod boring tool assembly 4 is in the information measured when hanging stationary state according to load cell 8, is calculated drawstring 2
On tension T0, and according to Gj=T0-GgThe weight G of drilling tool is calculatedj；Finally again by the total weight G of entire drilling rodgAnd drilling tool
Weight GjIt is added, obtains the weight G of drill rod boring tool assembly 4.
Controller 7 obtains the maximum hoist capacity F that current elevator 1 is capable of providing according to winding information of the drawstring 2 on reel
The formula of Shi Caiyong is M=F*L=F* (R+ (2m-1) * r), and M is the torque that main winch motor is capable of providing in formula, and L is master file
The arm of force of motor is raised, R is reel radius, and r is 2 radius of drawstring, and M, R and r are system prestored information either by human-computer interaction mould
Block 10 pre-enters, and m is the number of plies that drawstring 2 is wound on reel, by human-computer interaction module 10 according to on-site actual situations
Suitable opportunity is selected to input.The number of plies that drawstring 2 is wound on reel can change the torque arm length of main winch motor, to influence
To the maximum hoist capacity being capable of providing.When drawstring 2 winds one layer on reel, the arm of force L=R+r of main winch motor works as drawing
Rope 2 on reel when winding two layers, L=R+3r, in the case where the torque M that hoist motor is capable of providing is certain, if drawstring 2 exists
The number of plies wound on reel is fewer, then the maximum hoist capacity F that elevator 1 is capable of providing is bigger.
Controller 7 excavates object depth degree specific gravity when secondary according to what the information that depth measurer 9 and load cell 8 measure obtained
pnFor as secondary excavation object weight WnWith excavating depth D that ought be secondarynRatio Wn/Dn, calculate as secondary excavation object depth degree specific gravity pn
The formula of Shi Caiyong is pn=Wn/Dn=(T-G)/(Hn-Hn-1) or (T- (Gj+Gg))/(Hn-Hn-1), T is current drawstring 2 in formula
On tension, the information measured by load cell 8 is calculated, HnIt is depth measurer 9 in this mining process
The depth measured in real time, which constantly changes in mining process, when the depth stops changing, then shows that this excavates knot
Beam terminates the maximum D obtained when this excavationnValue is the depth that this is finally excavated, Hn-1The maximum excavated for the last time is deep
Degree.Object weight change W is excavated in the moment monitoring in mining process of controller 7n=T-G or T- (Gj+Gg), and combine and surveyed by depth
The feeding depth D that the information that measuring device 9 measures converted excavate every timen, convert and obtain excavating object depth degree specific gravity p in real timen=
Wn/Dn(pnUnit is ton/rice), terminate the p obtained when this excavationnValue is the p that this is excavatednValue.
Controller 7 judges current excavating depth D when being excavated every timenThe judgement used when whether reaching the limit values
Logic is F > (G+pn-1*Dn) * i or (Gj+Gg+pn-1*Dn) * i, i is the previously given safety coefficient of system, G, G in formulaj、GgFor
Definite value, pn-1Also it is definite value in this excavation, therefore, need to only judges D in each excavatenWhether value meets the requirements.If
Current excavating depth DnUndesirable, i.e., current excavating depth DnIt reaches the limit values, then engineering machine is controlled by controller 7
Tool stops excavating at once.Controller 7 stops the operation using when excavation movement at once are as follows: is simultaneously stopped elevator decentralization valve 11, floats
Dynamic valve 12 and oil cylinder pressurizing valve 13.
As shown in figure 3, pore-forming load monitoring method of the invention includes:
Step S1: the weight G of drill rod boring tool assembly 4 is obtained；
Wherein, the weight G of drill rod boring tool assembly 4 is to be in outstanding assembling drill rod boring tool assembly 4 and drill rod boring tool assembly 4
The information of information and/or human-computer interaction module 10 input measured when empty stationary state according to load cell 8 obtains.Drilling rod bores
Tool assembly 4 weight G can be obtained by the following two kinds mode: the first be after assembling drill rod boring tool assembly 4 for the first time,
So that 1 drawstring 2 of elevator is in vacant state, etc. after systems stablize, the information measured using load cell 8 is according to setting formula meter
The weight G of drill rod boring tool assembly 4 is calculated, and is saved to system.Another kind is to input each section using human-computer interaction module 10
The weight and/or drilling rod model of drilling rod obtain the total weight G of entire drilling rod according to input informationg(if drilling rod is standard drill pipe,
The information then prestored using system can immediately know the weight G of entire drilling rodgIf drilling rod is not standard drill pipe, need defeated
The weight for entering each section drilling rod obtains the weight G of entire drilling rod further according to the sum of the weight of each section drilling rodg)；Then
It once assembles drill rod boring tool assembly 4 and drill rod boring tool assembly 4 is in and is measured when hanging stationary state according to load cell 8
The tension T on drawstring 2 is calculated in information0, and according to Gj=T0-GgThe weight G of drilling tool is calculatedj；Finally will entirely it bore again
The total weight G of bargWith the weight G of drilling tooljIt is added, obtains the weight G of drill rod boring tool assembly 4.
Step S2: the maximum hoist capacity F that current elevator 1 is capable of providing is obtained using winding information of the drawstring 2 on reel；
The step specifically includes: the number of stories m that input drawstring 2 is wound on reel；The 1 motor energy of elevator prestored in conjunction with system
Torque M, the reel radius R and 2 radius r of drawstring enough provided calculates the maximum hoist capacity F that current elevator 1 is capable of providing.It calculates
The formula used when the maximum hoist capacity F that current elevator 1 is capable of providing is M=F*L=F* (R+ (2m-1) * r), in formula based on L
The arm of force of 1 motor of elevator, R are reel radius, and r is 2 radius of drawstring, and m is the number of plies that drawstring 2 is wound on reel, and M, R and r are
System prestored information is either pre-entered by human-computer interaction module 10, and m is the number of plies that drawstring 2 is wound on reel, is passed through
Human-computer interaction module 10 selects suitable opportunity to input according to on-site actual situations.In the torque M mono- that 1 motor of elevator is capable of providing
In the case where fixed, if the number of plies that drawstring 2 is wound on reel is fewer, the maximum hoist capacity F that elevator 1 is capable of providing is bigger.
Step S3: the information that the information and load cell 8 measured using depth measurer 9 is measured is obtained when secondary excavation
Object depth degree specific gravity pn；
The step specifically includes: utilizing the real-time decentralization depth H for the information monitoring drawstring 2 that depth measurer 9 measuresn, and
In conjunction with last excavating depth Hn-1It obtains as secondary excavating depth Dn(Dn=Hn-Hn-1)；It is measured using load cell 8
Information is obtained as secondary excavation object weight Wn(Wn=T-G or T- (Gj+Gg))；In conjunction with as secondary excavation object weight WnWith digging that ought be secondary
Dig depth DnIt obtains as secondary excavation object depth degree specific gravity pn(pn=Wn/Dn)。
As secondary excavation object depth degree specific gravity pnFor as secondary excavation object weight WnWith excavating depth D that ought be secondarynRatio, meter
It calculates as secondary excavation object depth degree specific gravity pnThe formula of Shi Caiyong is pn=Wn/Dn=(T-G)/(Hn-Hn-1) or (T- (Gj+Gg))/
(Hn-Hn-1), T is the tension on current drawstring 2 in formula, is calculated by the information that load cell 8 measures, HnFor depth
The depth that in real time measures of the measuring appliance 9 in this mining process, the depth constantly change in mining process, when the depth is stopped
Only change, then shows that this excavation terminates, terminate the maximum D obtained when this excavationnValue is the depth that this is finally excavated,
Hn-1The depth capacity excavated for the last time.Object weight change W is excavated in the moment monitoring in mining process of controller 7n=T-G or
T-(Gj+Gg), and combine the feeding depth D excavated every time to be converted by the information that depth measurer 9 measuresn, conversion obtains
Object depth degree specific gravity p is excavated in real timen=Wn/Dn、(pnUnit is ton/rice), terminate the p obtained when this excavationnValue is this
The p of excavationnValue.
Step S4: the current excavating depth D of real-time monitoringn, and be capable of providing in conjunction with current elevator 1 maximum hoist capacity F,
The weight G and the excavation object depth degree specific gravity p of last time of drill rod boring tool assembly 4n-1Judge current excavating depth DnWhether reach
Limiting value, if current excavating depth DnIt reaches the limit values and then stops excavation movement at once.
Judge current excavating depth DnWhether be the decision logic that uses are as follows: F > (G+p if reaching the limit valuesn-1*Dn) * i,
Middle i is the previously given safety coefficient of system, G, Gj、GgFor definite value, pn-1It is also definite value in this excavation, therefore, each
D need to be only judged when excavationnWhether value meets the requirements.If current excavating depth DnUndesirable, i.e., current excavation is deep
Spend DnIt reaches the limit values, then engineering machinery is controlled by controller 7 and stop excavating at once.When controller 7 stops excavation movement at once
The operation of use are as follows: be simultaneously stopped elevator decentralization valve 11, float trap 12 and oil cylinder pressurizing valve 13.
In conclusion the present invention provides a set of realistic pore-forming load monitoring system and pore-forming load monitoring sides
Method judges whether current excavating depth reaches capacity by the current excavating depth of implementing monitoring, and in conjunction with correlation values
Value, and control engineering machinery when current excavating depth reaches the limit values and stop excavating, so as to fully ensure that equipment is being set
Construction in the safe bearing load allowed is counted, experience and observation force request to manipulator are reduced；Also, the present invention will be last
Object depth degree specific gravity is excavated as the judgement item for judging whether the excavating depth measured in real time in this mining process reaches the limit values
Part is iterated in a manner of closest to actual conditions, keep judging result more accurate.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
It is right according to the technical essence of the invention for the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention
Any simple modification, equivalent change and modification made by above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (12)
1. a kind of pore-forming load monitoring system of engineering machinery, the engineering machinery includes elevator, drawstring, drill rod boring tool assembly,
The drill rod boring tool assembly is connected by drawstring with elevator, it is characterised in that: the pore-forming load monitoring system include controller,
Depth measurer, load cell and human-computer interaction module, the depth measurer, load cell and human-computer interaction module with
The controller signals connection, the depth measurer are used to measure the decentralization depth of drawstring, and the load cell is for surveying
The load on drawstring is measured, the human-computer interaction module is for receiving winding information input of the drawstring on reel；The controller
For obtaining the maximum hoist capacity F that current elevator is capable of providing according to winding information of the drawstring on reel, according to depth measurement
The information that device and load cell measure is obtained as secondary excavation object depth degree specific gravity pn, the information measured according to depth measurer is real
When monitor current excavating depth Dn, and the weight for the maximum hoist capacity F, drill rod boring tool assembly for combining current elevator to be capable of providing
The G and excavation object depth degree specific gravity p of last timen-1Judge current excavating depth DnWhether reach the limit values, and in current digging
Dig depth DnEngineering machinery is controlled when reaching the limit values to stop excavating.
2. pore-forming load monitoring system as described in claim 1, it is characterised in that: the weight G root of the drill rod boring tool assembly
It the information that is measured according to load cell and/or is obtained by the information that the human-computer interaction module inputs.
3. pore-forming load monitoring system as described in claim 1, it is characterised in that: calculate the maximum that current elevator is capable of providing
The formula that lifting force F is used is M=F* (R+ (2m-1) * r), and M is the torque that hoist motor is capable of providing in formula, and R is reel half
Diameter, r are drawstring radius, and m is the number of plies that drawstring is wound on reel.
4. pore-forming load monitoring system as described in claim 1, it is characterised in that: excavate object depth degree specific gravity pnFor when secondary digging
Dig object weight WnWith excavating depth D that ought be secondarynRatio, calculate when time excavation object depth degree specific gravity pnThe formula of Shi Caiyong is pn
=(T-G)/(Hn-Hn-1), T is the tension on drawstring in formula, is calculated by the information that load cell measures, HnFor depth
Spend the depth that in real time measures of the measuring appliance in this mining process, Hn-1The depth capacity excavated for the last time.
5. pore-forming load monitoring system as described in claim 1, it is characterised in that: judge current excavating depth DnWhether reach
The decision logic used to limiting value is F > (G+pn-1*Dn) * i, i is the previously given safety coefficient of system in formula.
6. pore-forming load monitoring system as described in claim 1, it is characterised in that: the engineering machinery stops using when excavating
Operation are as follows: be simultaneously stopped elevator decentralization valve, oil cylinder pressurizing valve and float trap.
7. a kind of engineering machinery, including elevator, drawstring, drill rod boring tool assembly, the drill rod boring tool assembly passes through drawstring and elevator
It is connected, it is characterised in that: the engineering machinery further includes such as pore-forming load monitoring described in any one of claims 1 to 6 system
System.
8. a kind of pore-forming load monitoring method of engineering machinery, it is characterised in that: comprising:
Obtain the weight G of drill rod boring tool assembly；
The maximum hoist capacity F that current elevator is capable of providing is obtained using winding information of the drawstring on reel；
The information that the information and load cell measured using depth measurer is measured is obtained as secondary excavation object depth degree specific gravity pn；
The current excavating depth D of real-time monitoringn, and maximum hoist capacity F, the drill rod boring tool assembly being capable of providing in conjunction with current elevator
Weight G and last time excavation object depth degree specific gravity pn-1Judge current excavating depth DnWhether reach the limit values, if currently
Excavating depth DnIt reaches the limit values and then stops excavation movement at once.
9. pore-forming load monitoring method as claimed in claim 8, it is characterised in that: the weight G of drill rod boring tool assembly utilizes survey
Retransmit the information and/or obtained by the information that human-computer interaction module inputs that sensor measures.
10. pore-forming load monitoring method as claimed in claim 8, it is characterised in that: believed using winding of the drawstring on reel
Ceasing the step of obtaining the maximum hoist capacity that current elevator is capable of providing includes:
The number of stories m that input drawstring is wound on reel；
Torque M, the reel radius R and drawstring radius r that the hoist motor prestored in conjunction with system is capable of providing calculate current elevator
The maximum hoist capacity F being capable of providing.
11. pore-forming load monitoring method as claimed in claim 8, it is characterised in that: the information measured using depth measurer
With the information that load cell measures obtain when time excavation object depth degree specific gravity the step of include:
Utilize the real-time decentralization depth H for the information monitoring drawstring that depth measurer measuresn, and combine last excavating depth Hn-1
It obtains as secondary excavating depth Dn；
It is obtained using the information that load cell measures as secondary excavation object weight Wn；
In conjunction with as secondary excavation object weight WnWith excavating depth D that ought be secondarynIt obtains as secondary excavation object depth degree specific gravity pn, when secondary
Excavate object depth degree specific gravity pnFor as secondary excavation object weight WnWith excavating depth D that ought be secondarynRatio.
12. pore-forming load monitoring method as claimed in claim 8, it is characterised in that:
Judge current excavating depth DnWhether be the decision logic that uses are as follows: F > (G+p if reaching the limit valuesn-1*Dn) * i, wherein i
For safety coefficient.
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