CN111395306B

CN111395306B - System and method for judging and processing fault of flashboard of board plugging machine in obstacle stratum

Info

Publication number: CN111395306B
Application number: CN202010301818.2A
Authority: CN
Inventors: 冯波; 孙文博; 宋伟浩; 袁超哲; 陶润礼; 王晓光; 郝宇驰; 罗章; 朱平; 施绍刚
Original assignee: CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
Current assignee: CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2021-06-15
Anticipated expiration: 2040-04-16
Also published as: CN111395306A

Abstract

A system and a method for judging and processing faults of a flashboard machine in a fault stratum include a control device and a system of the flashboard machine and a method and a program for judging and processing faults of the flashboard machine in the fault stratum. Picture peg trigger controlgear and system, its characterized in that: the device comprises a flat control platform, a PLC, a key platform, other equipment, a steel wire rope encoder, a current sensor and an encoder bracket. The construction setting parameters are input into the flat control platform, the parameter data are transmitted to the PLC, the sensor transmits the measured data to the PLC in the construction process of the board inserting machine, the PLC performs fault judgment according to the setting program and gives a processing program, and an operator completes the work of pulling up the plug board and the plug pipe according to the PLC fault processing program.

Description

System and method for judging and processing fault of flashboard of board plugging machine in obstacle stratum

Technical Field

The invention relates to a foundation treatment technology, in particular to a judgment, judgment and treatment method for faults of a flashboard plugging machine in obstacle strata.

Background

The consolidation drainage method is a common foundation treatment method, and utilizes the effective stress principle of soil, reduces the pore water pressure in the soil body by drainage, increases the effective stress of the soil body, and further improves the bearing capacity of the soil body. The method for treating the consolidation drainage foundation by arranging the drainage plate is a common consolidation drainage foundation treatment method, and is usually applied to soft soil foundations and hydraulic fill foundations. The principle of the method is that the drain board is arranged in the soft soil layer of the foundation by using the vibration force of the vibrating hammer of the board inserting machine and through the insertion pipe and the insertion pipe plug, so that a good drain channel is formed in the soil body, the drainage efficiency of soft soil is improved, and the solidification of the soft soil is accelerated.

Traditional picture peg machine is beaten at the drain bar and is established the work progress, beats the control accuracy who establishes the degree of depth and hang down, generally controls according to the requirement of investigation design file, and in actual operation, because the complicated variety of topography and soil layer, probably has the obstacle soil layer, has hard soil intermediate layer in the soft soil layer promptly, or contains bold rock, building rubbish etc. in the soft soil layer. The drainage board can not be arranged to the required depth or can not be arranged to the soft soil layer, construction is carried out basically by the experience of an operator when the situation occurs, the accurate control of arranging termination can not be carried out according to the arranging termination condition of the drainage board, the operator can handle the site condition according to the construction experience after the arranging termination, and a unified processing method is not available. Therefore, with the continuous improvement of the automation degree of the board inserting equipment, an effective board inserting machine board fault judgment and processing method for the obstacle meeting stratum is very necessary for guiding the construction of the drainage board.

Disclosure of Invention

The invention aims to solve the technical problem of fault judgment of the obstacle stratum when the drainage plate is arranged by a plate inserting machine in a hitting mode, and provides a processing method for the fault problem so as to realize automatic judgment of the boundary of the insertion pipe contacting the obstacle stratum and fault processing.

The technical scheme is as follows:

a system for judging and processing faults of a flashboard of a board inserting machine in an obstacle stratum is characterized by comprising a flat control platform, a PLC, a key platform, other equipment, a steel wire rope encoder, a current sensor and an encoder bracket; other devices comprise a winch and a vibration hammer, wherein the winch and the vibration hammer are conventional devices of the board inserting machine;

the panel control platform is arranged in the cab, is connected with the PLC and carries out data communication in real time, and stores PLC transmission data into a panel control platform memory card; the flat panel control platform displays the PLC calculation result and the fault alarm display, namely when bottom-touching reaction occurs, a bottom-touching reaction fault lamp turns red, and when an upward-pulling fault occurs, an upward-pulling fault lamp turns red; inputting construction setting parameters in the flat control platform, and transmitting parameter data to the PLC;

the PLC is installed in a cab, the PLC is connected with a steel wire rope encoder, a current sensor, a winch and a vibration hammer through a circuit, the measured data of the sensor is transmitted to the PLC in real time, the calculated data are calculated and analyzed through a program set inside the PLC, the PLC transmits the calculated result to the flat panel control platform in real time, whether bottom-touching reaction or pipe-up-pulling failure occurs is judged according to the calculated result of the PLC and the program set inside the PLC, and the winch and the vibration hammer are further controlled to start and stop according to the program set inside the PLC;

the key platform is arranged in a cab, each key of the cab operation platform is connected with the PLC, an operator clicks the relevant key, the key platform transmits a key signal to the PLC, and the PLC is combined with a set program to output the relevant signal according to the key input signal;

the encoder bracket comprises a first rolling shaft, a second rolling shaft and a steel wire rope; the steel wire rope penetrates through a gap between the two rolling shafts to be connected with the winch, and the steel wire rope encoder is coaxial with the first rolling shaft; in the process of releasing or collecting the steel wire rope by the winch, the steel wire rope drives the two rollers to rotate by means of friction force between the steel wire rope and the two rollers, the steel wire rope encoder measures the number n of rotating turns of the first roller, the perimeter of the first roller is s, and the length of the steel wire rope passing between the two rollers can be obtained by calculating n x s through a PLC calculation program;

a method for judging and processing faults of a flashboard plugging machine in obstacle strata mainly comprises the following steps:

(1) setting parameters;

(2) judging the bottom contact of the cannula;

(3) abnormal treatment of cannula bottoming;

(4) judging the pulling-up fault of the cannula;

(5) abnormal treatment of the upward pulling of the cannula.

The method comprises the following specific steps:

(1) parameter setting

According to the drain boardDesigning a drawing, setting a bottoming rate threshold value V1 and a driving depth upper and lower limit value h in a flat control platform by combining peripheral geological drilling data, field tests and the equipment performance of a plate inserting machine₁And h₂The vibration retention time t, the upper and lower limit values h of the upper drawing height₂And h₃The pull-up fault rate threshold V2, the pull-up current fault threshold I1 and the like. The vibration retention time t is set according to the field soil property condition and the equipment performance. If the site is soft soil such as silt or silt, the set time can be 2-4 s, and if the site is hard soil such as silt or a dense sand layer, the set time can be 3-6 s.

(2) Cannula bottoming response determination

And judging the cannula bottoming reaction. The PLC2 calculates the real-time intubation descent rate V from the released length L1 (L1 is equal to H1 in the present invention) of the wireline encoder 6. And when V is less than V1 and h1 is less than or equal to L1 is less than or equal to h2 in the time t, the PLC judges that the intubation bottoming reaction occurs. Wherein the parameters are defined as follows: h1 is the lower limit value of the driving depth, H2 is the upper limit value of the driving depth, the real-time intubation driving depth H1 and the vibration remaining time t. And displaying a bottom reaction fault in the flat panel control platform 1 (a bottom reaction fault lamp in the flat panel control platform 1 turns red). The PLC feeds back information to the key platform 3, automatic and manual board inserting buttons in the key platform 3 are red, the PLC closes each device (such as a vibration hammer) of the board inserting machine, and the board inserting machine pauses the board inserting.

(3) Cannula bottoming exception handling

And judging whether to continue board plugging by an operator of the board plugging machine. And if the board is continuously plugged, the operator selects automatic board plugging or manual board plugging. If the inserting pipe is not continuously inserted, an operator needs to mark the pile point, and notes information such as the punched depth, the pile point number and the like, then the operator selects whether to pull up the inserting pipe, and the operator selects automatic pulling up or manual pulling up of the inserting pipe.

(4) Cannula pull-up fault determination

The PLC2 calculates the real-time intubation pull-up rate V3 based on the length L2 received by the wireline encoder 6 (in the present invention L2 is equal to H2). When V3< V2, I > I1 and h2 is not less than L2 is not less than h3, the PLC judges that the cannula is pulled up. H2 is the upper limit value of the driving depth, H3 is the upper limit value of the pulling-up height, and the real-time pulling-up height H2 of the insertion tube, the working current value I of the real-time winch and the failure threshold value I1 of the pulling-up current are adopted. The inserting tube pull-up button in the key platform 3 is red (the pull-up fault lamp in the panel control platform 1 is red), the PLC turns off all the devices of the inserting and triggering machine (such as a winch and the like), and the inserting and triggering machine stops pulling up the inserting tube.

(5) Intubation pull-up exception handling

The operator of the board inserting machine judges whether to continue pulling up the inserting pipe. If the intubation tube needs to be continuously pulled up, the intubation tube pulling-up button in the key platform is clicked, the intubation tube pulling-up button is changed into green, and an operator selects automatic or manual intubation tube pulling-up.

Compared with the prior art, the invention has the following beneficial technical effects:

according to the invention, by means of equipment such as an encoder, a flat control platform, a PLC, a current sensor, a winch and a vibration hammer which are arranged on a board inserting machine, construction setting parameters are input into the flat control platform, parameter data are transmitted to the PLC, the sensor transmits measurement data to the PLC in the construction process of the board inserting machine, the PLC performs fault judgment according to a setting program and gives a processing program, and an operator finishes the pulling-up work of a board inserting plate and an insertion pipe according to the PLC program.

Drawings

FIG. 1 is a schematic diagram of a control apparatus and system for a board plugging machine

FIG. 2 schematic diagram of measuring the length of the steel wire rope

FIG. 3 is a flow chart of a method for judging and processing faults of a flashboard of the flashboard plugging machine when encountering barriers.

The drawing comprises a flat control platform 1, a PLC2, a key platform 3, a winch 4, a vibrating hammer 5, a steel wire rope encoder 6, a current sensor 7, a first roller 8, a second roller 9 and a steel wire rope 10.

Detailed Description

As shown in fig. 1, the control device and system of the board inserting machine comprises a flat control platform 1, a PLC2, a key platform 3, a sensor, other devices (a winch 4 and a vibrating hammer 5), an encoder bracket and the like. The sensor comprises a wire rope encoder 6 and a current sensor 7. The encoder bracket comprises a steel wire rope encoder 6, a first roller 8, a second roller 9, a steel wire rope 10 and the like.

Dull and stereotyped control platform 1 sets up in the driver's cabin, and dull and stereotyped control platform 1 links to each other with PLC2 to carry out data communication in real time, dull and stereotyped control platform 1 with sensor measurement data storage to dull and stereotyped control platform 1 memory card. The panel control platform 1 displays the calculation result of the PLC2 and a fault alarm display, namely, when a bottom-touching reaction occurs, a bottom-touching reaction fault lamp turns red, and similarly, when a top-pulling fault occurs, a top-pulling fault lamp turns red. Parameters such as a bottoming rate threshold value V1, upper and lower limits of a driving depth h1 and h2, a residual vibration time t, upper and lower limits of an uplifting height h2 and h3, an uplifting fault rate threshold value V2, an uplifting current fault threshold value I1 and the like can be set in the flat control platform 1, the parameters are all construction set parameters, the construction set parameters are obtained according to design requirements and field tests, and a sensor does not carry out measurement. The sensor is connected with PLC, and the sensor includes encoder 6 and current sensor 7, and encoder 6 is real-time with wire rope receive and releases length measurement data transmission to PLC, and current sensor 7 transmits hoist engine real time work current value I to PLC. And the PLC calculates and analyzes the measurement data according to an internal set program, judges the cannula bottoming reaction or pull-up fault according to the calculation result, and finally carries out fault processing according to the set program. H1 is the lower limit value of the driving depth, h2 is the upper limit value of the driving depth, the upper limit value of the driving depth and the lower limit value of the upper drawing height are the same value h2, and h3 is the upper limit value of the upper drawing height.

PLC2 installs in the driver's cabin, and PLC2 links to each other with encoder and current sensor, and wire rope encoder 6 and current sensor 7 measured data transmit to PLC in real time, through PLC2 calculation analysis, PLC2 transmits the calculated result to dull and stereotyped control platform 1 in real time again. The PLC2 is connected with the power supply of each device (such as the conventional device of a plate inserting machine such as a winch 4, a vibration hammer 5 and the like). After an operator clicks a related key of the platform 3, a corresponding operation key signal is transmitted to the PLC2, the PLC2 outputs a signal according to an internal set program, and an output end signal is communicated with a power supply of corresponding equipment to realize the control of starting and stopping of the corresponding equipment. In the present embodiment, provision is made for: when the insertion pipe is inserted downwards, the steel wire rope encoder 6 measures the length L1 of the steel wire rope 10 released by the winch 4 and is equal to the insertion pipe driving depth H1; when the insertion pipe is pulled up, the absolute value of the length L2 of the steel wire rope collected by the winch 4 measured by the steel wire rope encoder 6 is equal to the value of the pull-up height H2 of the insertion pipe. Setting a PLC program: h1 is not less than L1 is not less than h2, and when the value of L1 is equal to h1 or h2, the PLC automatically controls the vibration hammer to stop working, so that the insertion under the insertion pipe is ensured to be inserted into the PLC set range for construction; l2 is more than or equal to h2 and less than or equal to h 3; when the L2 value is equal to h2 or h3, the PLC automatically controls the winch to stop working, and the insertion pipe is guaranteed to be pulled up and constructed within the set range of the PLC; and ② judging the bottom-touching reaction of the intubation tube. The PLC2 calculates the real-time intubation descent rate V from the released length L1 of the wireline encoder 6. And when V is less than V1 and h1 is less than or equal to L1 is less than or equal to h2 in the time t, the PLC judges that the intubation bottoming reaction occurs. And thirdly, judging the pull-up fault. The PLC2 calculates the real-time intubation pull-up rate V3 based on the length L2 received by the wireline encoder 6. When V3< V2, I > I1 and h2 is not less than L2 is not less than h3, the PLC judges that the cannula is pulled up. H1 is a driving depth lower limit value, H2 is a driving depth upper limit value, the driving depth upper limit value and the upper drawing height lower limit value are the same value H2, H3 is an upper drawing height upper limit value, the real-time intubation driving depth H1 and the real-time intubation upper drawing height H2. The real-time insertion pipe driving depth H1 and the real-time insertion pipe pulling-up height H2 are measured by the steel wire rope encoder 6, and the current sensor 7 is used for measuring the real-time current value I of the winch in the insertion pipe pulling-up process. The bottoming rate threshold V1, the residual vibration time t, the pull-up fault rate threshold V2 and the pull-up current fault threshold I1 are set values (non-variables) in the board control platform 1.

The key platform 3 is installed in the cab, each key of the cab operation platform 3 is connected with the PLC2, an operator clicks the relevant key, the key platform 3 transmits the key signal to the PLC2, and the PLC2 outputs the command signal by combining the set program according to the key input signal.

As shown in fig. 2, the encoder bracket includes a first roller 8, a second roller 9, and a wire rope 10. Two rollers (a first roller 8 and a first roller 9) are arranged on the encoder bracket, a steel wire rope 10 passes through a gap between the two rollers to be connected with the winch, and the steel wire rope encoder 6 is coaxial with the first roller 8. In the process of releasing or collecting the steel wire rope by the winch, the steel wire rope drives the two rollers to rotate by means of friction force between the steel wire rope and the two rollers, the steel wire rope encoder 10 measures the number n of rotating turns of the first roller 8, the circumference of the first roller 8 is s, and the length of the steel wire rope 10 passing between the two rollers can be obtained by calculating n s through the PLC calculation program. Stipulating: the length L1 of the steel wire rope released by the winch is a positive value, and the length L2 of the steel wire rope collected by the winch is a negative value. In this embodiment, it is specified that the measured value L1 of the steel wire rope 10 released by the winch is equal to the drilling depth H1 of the insertion tube, and the absolute value of the measured value L2 of the steel wire rope 10 collected by the winch is equal to the pulling height H2 of the insertion tube.

Other devices include a hoist 4, a hammer 5, and the like. The winch is a conventional device of the plate inserting machine and provides power for upward pulling of the insertion pipe. The vibration hammer is conventional equipment of the plate inserting machine and provides vibration force for descending of the insertion pipe. The cannula is the basic functional component of the plate inserter.

The method for determining and processing the fault of the plugging plate obstacle stratum of the board plugging machine according to the present invention is further described with reference to the following embodiments and fig. 3.

Example 1:

the method for judging and processing the fault of the obstacle stratum of the flashboard inserting machine comprises the following flows:

(1) and starting construction. The operator enters the cab, turns on the power supply of the equipment, and checks the equipment.

(2) Setting a bottoming rate threshold value V1 and a driving depth upper and lower limit value h on the flat control platform 1₁And h₂The vibration retention time t, the upper and lower limit values h of the upper drawing height₂And h₃The pull-up fault rate threshold V2, the pull-up current fault threshold I1 and the like.

(3) And judging whether the board is automatically plugged. If the operator selects automatic board inserting, entering a program automatic board inserting program (4); and if the operator selects the manual board inserting, entering a manual board inserting program (5).

(4) And (5) automatic board inserting program. And the operator clicks an automatic board inserting button in the key platform 3 to enter a program (4-1). In the program (4-1), the PLC controls the insertion tube to automatically descend according to the program set by the PLC, and the PLC automatically judges whether the bottoming reaction occurs or not in real time in the process of descending the insertion tube and enters a bottoming reaction judging program (6).

(5) Manual board insertion procedure. And (5) clicking a manual board inserting button in the key platform 3 by an operator to enter a program (5-1). In the program (5-1), an operator clicks an intubation tube descending button on the key platform 3 to control the intubation tube to descend, and the PLC automatically judges whether a bottoming reaction occurs or not in real time in the intubation tube descending process and enters a bottoming reaction judging program (6).

(6) And judging whether bottoming reaction occurs. And the PLC automatically judges whether the bottoming reaction occurs in real time. If the bottoming reaction occurs, entering a judging program (7) for judging whether the lower limit value of the setting depth is reached; if the bottoming reaction does not occur, the method enters a continuous board inserting program (6-1), continues board inserting according to the original board inserting program, and then enters a judging program (7) for judging whether the lower limit value of the drilling depth is reached.

(7) And judging whether the lower limit value of the drilling depth is reached. The PLC automatically judges whether the pipe inserting driving depth H1 reaches the lower limit value H1 of the pipe inserting driving depth in real time, and if so, enters a judgment program (9) of automatically pulling up the pipe inserting; if not, entering into the intubation continuing judging program (8).

(8) And (5) judging whether to continue intubation. If the operator selects to continue inserting the board, entering into a program (3) for judging whether to automatically insert the board; and if the operator chooses not to continue inserting the pipe, entering a judging program (9) for automatically pulling up the inserting pipe or not.

(9) And judging whether the cannula is automatically pulled up. If the operator selects automatic tube pulling-up, entering a procedure (10) of automatic tube pulling-up; if the operator selects to manually pull up the cannula, the process enters a manual cannula pulling-up procedure (11).

(10) And (4) automatically pulling up the cannula. An operator clicks an automatic tube-pulling-up button in the key platform 3 to enter an automatic tube-pulling-up program (10-1). In the program (10-1), according to a PLC set program, the PLC controls the insertion tube to be automatically pulled up, and the PLC automatically judges whether a pulling-up fault occurs or not in real time in the process of pulling up the insertion tube, and then the program enters a pulling-up fault judging program (12).

(11) Manual pull-up cannula procedure. An operator clicks a manual tube-pulling-up button in the key platform 3 to enter a manual tube-pulling-up program (11-1). In the program (11-1), an operator clicks an insertion tube pulling-up button in the key platform 3 to control the insertion tube to be pulled up, and the PLC automatically judges whether a pulling-up fault occurs in real time in the insertion tube pulling-up process, and then the program (12) for judging whether the pulling-up fault occurs is entered.

(12) And judging whether the pull-up fault occurs. And the PLC automatically judges whether the pull-up fault occurs in real time. If the pulling-up fault occurs, entering a judgment procedure (13) for judging whether the lower limit value of the pulling-up height of the insertion pipe is reached; if the pulling-up fault does not occur, the process enters a cannula pulling-up procedure (12-1), the cannula is pulled up continuously according to the original cannula pulling-up procedure, and then a judgment procedure (13) is entered to judge whether the cannula pulling-up height reaches the lower limit value.

(13) And judging whether the lower limit value of the upper drawing height of the cannula is reached. The PLC automatically judges whether the pipe inserting and pulling-up height H2 reaches a lower limit value H2 of the pipe pulling-up height, and if so, the PLC enters a next drainage plate pile point construction program 14; if not, entering into the automatic plug-in pipe judging program (9).

(14) And carrying out the pile point construction of the next drainage plate. And (5) judging whether the construction of the inner drainage plate pile points is planned or not after the construction is finished (15).

(15) And judging whether the construction of the inner drainage plate pile points is planned to be finished. If not, the construction process (15-1) of the next drainage plate pile point is carried out, namely, after the plate inserting machine or the insertion pipe is shifted, the plate inserting construction is carried out continuously. If the construction is completed, the process proceeds to the end construction process (16).

(16) And finishing the construction. And (5) the operator turns off the power supply of the equipment, picks up tools on the construction site and withdraws from the site.

Claims

1. A system for judging and processing faults of a flashboard of a board inserting machine in an obstacle stratum is characterized by comprising a flat control platform, a PLC, a key platform, other equipment, a steel wire rope encoder, a current sensor and an encoder bracket;

other devices comprise a winch and a vibration hammer, wherein the winch and the vibration hammer are conventional devices of the board inserting machine;

the method for judging and processing the fault of the obstacle stratum of the flashboard inserting machine comprises the following steps:

(1) parameter setting

Setting parameters of a bottoming rate threshold V1, upper and lower limits of a driving depth h1 and h2, a residual vibration time t, upper and lower limits of an upper pulling height h2 and h3, an upper pulling fault rate threshold V2 and an upper pulling current fault threshold I1 in a flat control platform, wherein the residual vibration time t is set according to site soil conditions and equipment performance;

(2) cannula bottoming response determination

Judging the bottom-touching reaction of the cannula; the PLC calculates the real-time intubation descending speed V according to the releasing length L1 of the steel wire rope encoder; when V is more than V1 and h1 is more than or equal to L1 is more than or equal to h2 within t time, the PLC judges that intubation bottoming reaction occurs; wherein the parameters are defined as follows: h1 is the lower limit value of the driving depth, H2 is the upper limit value of the driving depth, the real-time intubation driving depth H1 and the vibration remaining time t; displaying a bottoming reaction fault in the flat panel control platform; the PLC feeds back information to the key platform, automatic and manual board inserting buttons in the key platform are red, the PLC closes the board inserting machine, the winch and the vibration hammer, and the board inserting machine pauses board inserting;

(3) cannula bottoming exception handling

Judging whether to continue inserting the board by an operator of the board inserting machine; if the board is continuously plugged, an operator selects automatic board plugging or manual board plugging; if the inserting pipe is not continuously inserted, an operator needs to mark the pile point, the information of the punched depth and the pile point number is noted, then the operator selects whether to pull up the inserting pipe, and the operator selects automatic pulling-up or manual pulling-up operation of the inserting pipe;

(4) cannula pull-up fault determination

The PLC calculates the real-time intubation pulling-up speed V3 according to the receiving length L2 of the steel wire rope encoder; when V3 is V2 and I is I1 and h2 is not less than L2 is not less than h3, the PLC judges that the cannula is pulled up; h2 is the upper limit value of the driving depth, H3 is the upper limit value of the pull-up height, and the real-time pipe insertion pull-up height H2, the real-time winch working current value I and the pull-up current fault threshold value I1 are set; the inserting and pulling button in the key platform is red, the PLC turns off the inserting and pulling machine, the winch and the vibrating hammer, and the inserting and pulling machine temporarily pulls up the inserting pipe;

(5) intubation pull-up exception handling

Judging whether to pull up the cannula continuously by an operator of the plate inserting machine; if the intubation tube needs to be continuously pulled up, the intubation tube pulling-up button in the key platform is clicked, the intubation tube pulling-up button is changed into green, and an operator selects automatic or manual intubation tube pulling-up.