JPH0438394A - Depth measuring method - Google Patents

Abstract

PURPOSE:To determine the length of rope wound around a drum and calculate the turn layer number and the row number by measuring the position from the reference plane of working tool or hook and inputting the position into a calculating means. CONSTITUTION:The position X of a working tool 7 from the reference plane (ground level, etc.) is measured. The overall length of a hoisting rope 4, the length of a boom 2, the setting number of loop of hoisting rope 4, together with the detecting signals from a rotation detector 8 of drum 3 and a boom angle detector 9, are inputted into a microcomputer. The turn layer number and the row number at the fed out position of hoisting rope from the drum 3 are calculated. Then, the travel amount of hoisting rope 4 per rotation of drum 3 is determined, and the displacement of hoisting rope 4 and the travel amount of working tool 7, DELTAL, are determined from the rotation amount and travel amount of drum 3. The depth DELTAH is determined from DELTAL and the actual value X and outputted on a output display 13. This constitution enables accurate calculation of depth by preventing erroneous input of turn layer number and row number.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention is based on j1! Equipped with a hoisting winch on the main body of heavy machinery,
The present invention relates to a method for measuring the depth of a working tool or a hook in a construction machine that performs work by attaching a working tool such as a hook to a hanging rope wound around the drum of an Iv hoisting winch.

(Prior Art) Fig. 5 shows the configuration of a device for carrying out a conventional depth measurement method used in a conventional construction machine. A hanging rope 4 wound around a hoisting winch tram 3 mounted above is hung on a guide sheave 5 attached to the top of the boom 2, and the hook is rotated between a point sheave 6 and a working tool 7 such as a packet.
By rotating the tram 3 and winding up and letting out the hanging rope 4, the working tool 7 is moved up and down, and the main body 1 is rotated to perform excavation and earth removal.

8 is a rotation detector of the tram 3, and the rotation detector 8 is
It is provided close to the radiation fins or slit plate provided on the tram 3, and converts the amount of rotation of the tram 3 into an electrical signal and outputs it.

9 is a boom angle detector that converts the inclination angle of the boom 2 into an electrical signal. IO is a calculation means consisting of a microcomputer installed in the reversal room 11.

12.13 are attached to the calculation means, respectively, 1
2 is a setting device such as a keyboard, and 13 is an output means consisting of a depth display. Conventionally, the setting device 12 is used to control the boom 2.
The operator sets the length of the hoisting rope 4, the number of hooks between the sheave 6 and the work tool 7, and the operator sets the winding layer number i of the tram 3 (as shown in FIG. The row number (the number that indicates the number of layers from the layer touching the outer circumference of the tram 3), and the row number (the number that indicates the number of the row from the end of the drum that is letting out the hanging rope 4). are visually detected, these numbers are set in the setting device 12 and input into the calculation means 10, and these setting signals, the tram rotation amount signal from the rotation detector 8, and the boom angle signal from the boom angle detector 9 are detected. Based on the angle detection signal,
The calculation means IO calculates the amount of movement of the hanging rope 4 per one rotation of the tram 3, calculates the amount of movement of the hanging rope 4 from the reference plane to the present, and calculates the amount of movement of the hanging rope 4 from the reference plane to the reference plane according to the angle of the boom 2. The depth ΔH of the work tool 7 from the reference plane is calculated by referring to the height up to (-ground for boat fishing).

Here, the winding layer number l of the hanging rope 4 wound around the tram 3 is
The reason why the amount of movement of the hanging rope 4 is calculated taking into consideration is that the movement of the hanging rope 4 per one rotation of the tram 3 due to the winding layer is This is because the amount changes in a stepwise manner, and the reason why the row numbers are set is to detect changes in the winding layer numbers by calculation.

(Problem to be Solved by the Invention) According to such a conventional depth measuring method, as shown by the chain line in FIG. This has the advantage that the error is smaller than when it is approximated by a linear equation. However, the winding layer number i
Visually detecting and setting the row number j requires skill, and if done by an unskilled person, the winding layer number may not be known unless it is calculated by applying a scale, and two setups are time-consuming. Furthermore, there is a possibility that the winding layer number i or the row number j may be input incorrectly, increasing the error in the calculated depth.

The present invention was made in view of these problems, and
It does not take much time to set up the depth measurement of work tools, etc.
It is an object of the present invention to provide a method for measuring the depth of working tools, etc. in construction machinery, which can accurately measure the depth without erroneous input.

(Means for Solving the Problems) In order to achieve this object, the present invention mounts a hoisting winch on the main body of a construction machine, and suspends a hanging rope wound around the drum of the hoisting winch from a front attachment. ,
In the method of supporting a working tool with the hanging rope and calculating the position, that is, the depth, of the working tool or hook from a reference plane, the working tool or hook position l from the reference plane is actually measured, and the actual measurement i is calculated. and the calculation means calculates the length of the hanging rope wound around the drum from at least the total length of the hanging rope, the length of the hanging rope from the drum to the working tool or the hook, and the actual measurement value. A winding layer number that indicates which layer the hoisting rope is fed out from the layer that is in contact with the outer periphery of the drum by calculation from the length of the hanging rope wound around the drum.
Find and initialize the row number that indicates the number from the end of the drum that the row in which the hanging rope is being unwound hits, and while the hanging rope is moving, the number of rows per rotation of the drum corresponding to the calculated winding layer number is calculated. The amount of movement of the hanging rope is calculated by the calculation means, the amount of movement of the hanging rope per one rotation of the drum is multiplied by the amount of rotation detected by the drum rotation detector, and the amount of movement of the hanging rope is calculated. The change in the winding layer number is detected from the number and the amount of drum rotation, and while changing the amount of lifting rope movement per drum rotation, the amount of lifting rope movement is calculated in the same way as above, and the amount of movement of the hanging rope is calculated from the amount of movement of the hanging rope. It is characterized by finding the depth of.

Further, as an example of carrying out the present invention suitably, the position of the work implement or hook is inputted to the calculation means while the work implement or hook is positioned on the reference plane, so that the winding layer number and the row number can be calculated. There is a way to calculate it.

(Function) As mentioned above, the method for measuring the depth of unoccupied IJI is to actually measure the position of the work tool or hook from the reference plane, and then calculate the actual value from the total length of the hanging rope and the length of the hanging rope from the drum to the work tool or hook. (The height of the work equipment may be subtracted if necessary) to find the length of the hanging rope wrapped around the tram, and then use that length to calculate the winding layer number and row number. There is no need to actually measure the winding layer number and row number of the hanging rope payout position on the drum, which was required in the past.

Furthermore, in the present invention, by setting the winding layer number and row number of the tram when the working implement or hook is on the reference plane, there is no need to actually measure the position of the working implement or hook from the reference plane.

(Embodiment) FIG. 1 is a block diagram showing an embodiment of the depth measuring method according to the present invention, and FIG. 2 is a dimensional diagram of each part for explaining the embodiment.

In this embodiment, the depth of the work implement 7 is determined by the following procedure.

(1) Position Nx (second
(see figure), and calculate the depth from the measured value The height of the bottom of the work implement 7 from the reference plane may be actually measured.In addition to the actual measurement value X, the height of the hanging rope 4
The total length is BL, the length of the boom 2 is BL, and the number of hanging ropes for the work tool 7 is 4 m. Such a setting f(i) is inputted together with the detection signals of the rotation detector 8 and the boom angle detector 9 of the tram 3 to the calculation means 20 consisting of a microcomputer.

(2) From the set value, detected value, etc., calculate the winding layer number i1 row number J at the position where the hanging rope 4 is let out from the tram 3.

(3) Find the winding layer number l and the amount of movement of the hanging rope 4 per rotation of the drum 3 at that time.

(4) Multiply the amount of rotation determined from the detection signal from the rotation detector 8 by the amount of feed out to obtain the amount of displacement of the hanging rope.
The amount of movement ΔL of the work tool 7 shown in the figure is calculated.

(5) From the displacement amount ΔL and the previous calculated value, calculate the current depth ΔH by the calculation ΔH-ΔL-(X-B)・-(1), where the height of the work tool 7 is B. 1 Display The output means 13 consists of: The calculation of the displacement amount ΔL and the output by the output means may be performed, for example, every output pulse of the rotation detector 8 or every specific force pulse, and may be carried out every time the value of the lowest unit of one display degree changes. In addition, there are 7!1 other ways to display the information.

The winding layer number i and row number j in (2) above are calculated as follows.As mentioned above, the total length of the hanging rope 4 is taken as the length of the hanging rope 4 wound around the tram 3. W
D. If the length extended from the tram 3 is WR, then WD=L-WR...(2).

Here, the length WR of the hanging rope 4 let out from the tram 3 is as understood from the dimensional drawing in FIG. 2.

WR=WR, -m+WR2+WR, +WR4+WR,・
...(3) It is expressed as. In formula (3), each symbol means the following dimensions, which may be stored in advance in the calculation means 10 or
Alternatively, input it from the setting device 12 and store it as a fixed value so that it is not necessary to input it again.

WR+: Distance WR2 between work tool 7 and point sheet 6
: Winding length WR of hanging rope 4 at point sheave 6 = Distance WR between point sheave 5 and point sheave 6
, The winding length of the hoisting rope 4 in the double sheave 5 WRs is the tangential length of the hoisting rope 4 from the double drum 3 to the guide sheave 5, and WR2 to WR5 are the lengths of the hanging rope 4 from the tram 3 to the working tool 7. (WRS changes slightly depending on the boom angle θ or can be approximated as being substantially constant, WR, is constant, and WR, +WR.

is substantially constant regardless of the angle θ of the boom 2. ) Also, if the height from the point sheave 6 to the reference plane is H, then WR□=H-X ·-(4) holds true. The value of H in equation (4) is determined from equation (5) from the set value of boom length BL and detection angle θ. Find the length WR of this WR
The length WD of the hanging rope 4 wound around the tram 3 can be determined from the value of (2).

H==BL-sinθ+H1-(5) In equation (5), Hl is the height of the foot portion of the boom 2 from the reference plane.

From the thus determined length WD of the hanging rope 4 wound around the tram 3, the calculation means 1O performs the calculation shown in the flowchart of FIG. 3 to determine the first winding layer number i and the row number j.

To explain the process in Figure 3, first, clear the winding layer number i (Sl), add 1 to i (S2), first, calculate the diameter of the hanging rope wound in the first layer, (X is the winding layer number). , from the predetermined total row numbers N per layer, the winding layer number i
Hanging rope length WD, assuming it is twisted, = π ・Dl・N+π ・D2・N...+π
・D, ・N... (6) Calculate (S3) Next, assuming the length WD of the suspension rope 4 actually wound around the tram 3 and that it is wound up to the 1st layer. Compare the hanging rope length WD, S4, S5), WD (actual value) > WDi (calculated value)
If so, add 1 to 1 and repeat the same process from step S2.

When WD (actual value)<WDi (calculated fi'I), the current winding layer number is i.

After determining the winding layer number i in this manner, the row number j is determined. This is the hanging rope length WD of the layers from the first layer to the i-1 layer that are in contact with the outer circumference of the drum, -1=π ・D, −N+π ・D2・N...+
π ・D ,, -N ...(7) is calculated, and subtracted from the actual length WD wound around the tram 3 to find the length of the hanging rope wound in one layer, and this is divided into one layer. The length of the hanging rope per turn when it is wound π ・D
, divided by (S6), and the number obtained by rounding up the quotient after the decimal point is stored as column number J (S7).

From the value of the winding layer number i of the hanging rope 4 payout position on the tram 3 obtained in this way, the step-like shape shown by the solid line a in FIG. From the characteristic function, the above (3)
The amount of payout of the hanging rope 4 per revolution of the tram 3, which is the process of , is determined.

Furthermore, the amount of payout until the winding layer number l changes is also calculated from the value of the 1st row number j by 2π・Di(N-j), and the drum 1
The amount of rope movement per revolution, K, is 1. , or +-1
Therefore, during unwinding or winding, the amount of movement per one revolution of the drum is changed every time the calendar number changes, and the amount of rotation determined by the output of the rotation detector 8 is multiplied to change the amount of rotation of the hanging rope 4. Find the amount of movement of the working tool 7 by dividing the amount of movement by the multiplier m, and calculate the amount of movement of the working tool 7 by dividing the amount of movement by the depth calculated from the first actual measurement value X - (X-B). By adding or subtracting, the current depth is determined.

FIG. 4 is a diagram illustrating another embodiment of the present invention. In this embodiment, one work tool 7 is placed on the reference surface and the depth (X-B) is set to zero as the set value. , the winding layer number i and the row number j are calculated from the set values in the same manner as described above.

According to this embodiment, since the height B of the working tool 7 is known, there is no need to actually measure the value of X, which further facilitates setup. Note that the depth correction function for resetting the depth to zero and the machine for setting the winding layer number and row number may be provided separately, and pressing the reset button on the setting device 12 will reset the number i, j. Alternatively, both of these operations may be performed.

The present invention has been described above with reference to an example in which a bucket such as a panma crab packet is supported by a hanging rope to perform excavation, but the present invention can also be applied to a case where an earth drill bucket is supported by a hanging rope via a Kelly bar. In the case of this Earth Trill, the initial settings can be made with the landing gear on the ground and the expanding and contracting Kerry bar contracted.
It can also be applied to lift meters that measure the height of hooks.

(Effects of the Invention) According to the present invention, the winding layer number and row number of the rope payout position of the hoisting winch drum are calculated by actually measuring the position δ of the work tool or the hook from the reference plane. There is no need to visually measure layer numbers and row numbers, and no skill is required to set these numbers, making setup easier.

Also, erroneous input of the first roll layer number or row number is prevented, and accurate depth calculations are made.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the depth measuring method according to the present invention, Fig. 2 is a side view of an excavator using a crane showing the dimensions of each part used to explain the embodiment, and Fig. 3 is a side view of an excavator using a crane. FIG. 4 is a dimensional diagram of each part of an excavator explaining another embodiment of the present invention, and FIG. 5 is a crane explaining a conventional depth measurement method. A configuration diagram showing the excavator and processing block used, Figure 6 is a sectional view of the hoisting winch drum, @
FIG. 7 is a diagram showing the relationship between the winding layer number and the amount of movement of the hoisting rope per rotation of the drum. l: Construction machine body, 2: Boom, 3: Hoisting winch drum, 4: Hanging rope, 5 guide sheave, 6: Point sheave, 7: Work tool, B: Work tool height, ΔH: Depth, X
: Actual value 6° Point Thief 7 Working tool

Claims (1)

[Claims] 1. A hoisting winch is mounted on the main body of the construction machine, a hanging rope wound around the drum of the hoisting winch is suspended from the front attachment, a working tool is supported by the hanging rope, and the work In a method for calculating the position, that is, the depth, of a tool or hook from a reference plane, the position of the tool or hook from the reference plane is actually measured, and the measured value is input into a calculation means,
In the calculation means, at least the total length of the hanging rope,
Determine the length of the hanging rope wound around the drum from the length of the hanging rope leading from the drum to the work tool or hook and the actual measurement value, and calculate from the length of the hanging rope wound around the drum. Displays the winding layer number, which indicates the layer from which the hoisting rope is fed out from the layer that touches the outer circumference of the drum, and the number from the end of the drum that the row where the lifting rope is fed out corresponds to. The column number is determined and initialized, and while the suspension rope is moving, the amount of suspension rope movement per drum rotation corresponding to the calculated winding layer number is determined by the calculation means, and the suspension rope movement per drum rotation is calculated. The amount of movement of the hanging rope is determined by multiplying the rotation amount detected by the drum rotation detector, and the change in the winding layer number is detected from the calculated row number and drum rotation amount to determine the amount of movement per drum rotation. A method for measuring depth, comprising calculating the amount of movement of the hanging rope in the same manner as described above while changing the amount of movement of the hanging rope, and determining the depth of the working tool or the hook from the amount of movement of the hanging rope. 2. The winding layer number and the row number are calculated by inputting the position of the working tool or the hook to the calculation means while the working tool or the hook is positioned on the reference plane. Depth measurement method.