Automatic calibration method for hydraulic pile driving control and hydraulic pile driving hammer

Abstract

The present invention discloses an automatic verification method for hydraulic pile driving control and a hydraulic pile hammer. The method comprises the following steps: S1, setting a hydraulic pile hammer; S2, starting the hydraulic pile hammer; S3, an integrated controller determining whether an error value is within a set range. If so, the pile driving operation is continued; S4, if the error value exceeds the range, verifying and determining reliable data, and continuing the pile driving operation. The present invention simultaneously improves the equipment composition, structure, and control algorithm, and uses the hammer shell vibration frequency or sonic wave volume to adjust the striking energy mode. The output hammer striking energy can be adjusted at any time according to different working conditions, achieving adaptive matching of pile driving under different geological conditions, improving pile driving efficiency, avoiding waste of striking energy, and realizing intelligent automatic control. The two sets of data are mutually verified to detect and process data distortion or failure, thereby ensuring stable, accurate, and safe operation of hydraulic pile driving construction.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic pile driving hammer control, and in particular to an automatic verification method for hydraulic pile driving control and a hydraulic pile driving hammer. Background Art

[0002] Hydraulic pile hammers are used in piling construction. They offer high efficiency and are capable of high-energy, high-frequency piling operations. As construction projects grow larger, hydraulic hammers, with their high impact energy, are increasingly becoming the preferred equipment for large-scale pile foundation construction. Hydraulic pile hammers utilize the hammer core's impact energy to sink piles to a predetermined depth or the bearing layer. Impact energy, a key parameter of a pile hammer, measures its driving performance. During the piling process, the hammer's output must be adjusted continuously based on varying working conditions. To achieve high-energy hammer lifts in a short period of time, the hammer must utilize energy efficiently and minimize energy waste. Traditional hydraulic pile hammer methods require the operator to determine the working conditions and autonomously control the pile. This manual operation is labor-intensive, requiring significant energy and physical effort, and requiring a high level of operator expertise. Furthermore, this reliance on manual control hinders intelligent automated control, automated data collection, and optimized analysis of control strategies.

[0003] Prior art, application number CN202210060682.X, discloses an energy control method for a hydraulic pile hammer. This method establishes a simulation model based on the hydraulic pile hammer structure and hydraulic system, simulates and obtains the switching timing of the oil inlet valve (P) and the oil return valve (R) when the pile hammer core is raised to the required height, analyzes the energy loss of the hydraulic system circuit, optimizes the energy consumption of the hydraulic system circuit, and adjusts and optimizes the switching timing of the P and R valves to obtain the striking energy under actual working conditions. Due to the relatively harsh natural conditions during hydraulic pile hammer construction and the large impact and alternating loads generated during pile driving, this method has poor compatibility with the natural conditions of various actual construction projects and is difficult to simultaneously adapt to different geological structures and the large changes in required output power. Controlling the hammering energy solely through a simulation model rather than collecting the working conditions of the equipment itself is actually based on uncontrollable factors such as changes in various geological conditions and changes in the pile hammer equipment itself. The control effect is difficult to meet actual needs, especially the poor compatibility with the equipment's own operating conditions and natural conditions such as soil. This method is difficult to achieve intelligent and automated control according to various construction conditions. Furthermore, in existing automatic control technology for pile hammer equipment, due to the harsh operating environment, the contact sensors installed on the pile hammer often experience distortion and false alarms, causing the automatic control to fail or even malfunction. However, no solution has yet been found in the prior art that can effectively address these numerous issues. Summary of the Invention

[0004] The purpose of the present invention is to address the above-mentioned deficiencies and provide an automatic verification method for hydraulic pile driving control and a hydraulic pile hammer, which are equipped with two groups of independently working sensors. By synchronously improving the equipment composition, structure and control algorithm, the hammer shell vibration frequency is used to adjust the striking energy mode or the sonic volume is used to adjust the striking energy mode. The output hammer striking energy can be adjusted at any time according to different working conditions, so as to achieve adaptive matching when piling under different geological conditions and different equipment working conditions, improve the efficiency of piling work, avoid the waste of striking energy, and realize active and adaptable intelligent automatic control; by performing mutual verification calculations on the two groups of data, monitor and detect whether there is data distortion or sensor failure in any group, and dynamically eliminate erroneous data when deviations are dynamically found, so as to avoid system misoperation due to data distortion, and ensure stable, accurate and safe operation of the striking energy, as well as the safety of construction equipment and personnel.

[0005] The technical solution is as follows:

[0006] An automatic verification method for hydraulic piling control comprises the following steps:

[0007] S1. A hydraulic pile hammer is provided, the hydraulic pile hammer comprising an integrated controller, a hydraulic control unit, a hammer height sensor, a hammer shell vibration sensor, an acoustic wave sensor, a hammer shell, a hammer core, and an anvil; the hammer shell comprises an inner tube, an outer tube, and a plurality of reinforcing long ribs; the inner tube is provided in the outer tube; an interlayer air cavity is formed between the outer side surface of the inner tube and the inner side surface of the outer tube; the outer side wall of the inner tube is connected to the inner side wall of the outer tube through a plurality of the reinforcing long ribs; the plurality of the reinforcing long ribs divide the interlayer air cavity into a plurality of air passages; a plurality of air holes are circumferentially provided on the side walls at both ends of the inner tube, the air holes are connected to the air passages; the hammer height sensor, the hammer shell vibration sensor, and the acoustic wave sensor are respectively installed in the interlayer air cavity and are respectively electrically connected to the integrated controller; the integrated controller has a built-in real-time control program shown in Formula 1:

[0008]

[0009] ΔE—allowable error, 0.95≤ΔE≤1.05;

[0010] E (dBi)—The real-time acoustic amplitude value when the hammer core of the hydraulic pile hammer hits the anvil;

[0011] E(MMi)—real-time hammer shell vibration frequency value when the hammer core of the hydraulic pile hammer hits the anvil;

[0012] S2. Start the hydraulic pile hammer. The integrated controller controls the lifting height h1 of the hammer core of the hydraulic mining hammer through the hydraulic control unit and according to the initial hammer lifting height h1 to perform hydraulic piling operation. At the same time, the hammer lifting height sensor detects the lifting height of the hammer core in real time, transmits the lifting height data to the integrated controller and records the data. After the hammer core drops, the hammer shell vibration sensor and the acoustic wave sensor respectively collect the initial data of the hammer shell vibration frequency and acoustic wave volume when the hammer core hits the anvil, and substitute them into Formula 1 to obtain the initial value of ΔE. If the initial value of ΔE is not within the set range, the hammer shell vibration sensor and the acoustic wave sensor are automatically calibrated.

[0013] S3. The integrated controller sets the required hammer lifting height hi according to the required striking energy, and controls the lifting height hi of the hammer core of the hydraulic mining hammer through the hydraulic control unit to start the hydraulic piling operation. After the hammer core drops, the hammer shell vibration sensor collects the real-time hammer shell vibration frequency value E(MMi) when the hammer core hits the anvil. At the same time, the acoustic wave sensor collects the real-time acoustic wave magnitude value E(dBi) when the hammer core hits the anvil. The obtained data E(MMi) and E(dBi) are respectively substituted into Formula 1 to calculate the ratio of their functions. The error value ΔE is obtained and it is judged whether ΔE is within the set range. If the error value ΔE is within the set range, the hydraulic piling operation is continued, and the collected hammer shell vibration frequency value E (MMi) or the real-time acoustic wave magnitude value E (dBi) is automatically fed back to the integrated controller to calculate the real-time striking energy of the hammer core hitting the anvil, and the hammer lifting height is adaptively adjusted according to the real-time striking energy to achieve adaptive matching of piling under different geological conditions, improve the piling work efficiency, and avoid the waste of striking energy; until the piling of the current pile foundation is completed;

[0014] S4. If the error value ΔE exceeds the set range, the hammer lifting height is changed to the initial hammer lifting height h1 for hydraulic piling operation, and the two sets of sensor data of the hammer shell vibration frequency value and the sonic wave magnitude value are cross-checked to determine the reliable data, and the data with the smaller deviation of the two values ​​is taken as the reliable data, and the hydraulic piling operation is continued until the piling of the current pile foundation is completed; the corresponding sensor with the larger deviation is calibrated or repaired, and steps S2-S4 are repeated to carry out the piling operation of the next pile foundation.

[0015] It also includes the following steps:

[0016] In step S1, the integrated controller also has two synchronously running, mutually independent working data interaction verification programs built in, which are executed in step S3;

[0017] During the hydraulic piling operation of step S3, when the hammer housing vibration frequency is used to adjust the striking energy mode, the verification method is as follows:

[0018] Substitute the collected real-time acoustic wave magnitude value E(dBi) into Formula 1 to calculate the theoretical E(MMi) value, which is then compared with the actual sensor-collected E(MMi) value. If the error is within the set range, both the hammer shell vibration sensor and the acoustic wave sensor are in normal working condition; otherwise, one of the sensors is in an abnormal state and needs to be calibrated before continuing the hydraulic piling operation.

[0019] During the hydraulic piling operation of step S3, when the sonic wave volume is used to adjust the striking energy mode, the verification method is as follows:

[0020] Substitute the collected real-time hammer case vibration frequency value E(MMi) into Formula 1 to calculate the theoretical E(dBi) value, which is then compared with the E(dBi) value collected by actual sensing. If the error is within the set range, both the hammer case vibration sensor and the acoustic wave sensor are in normal working condition; otherwise, one of the sensors is in an abnormal condition and needs to be calibrated before continuing the hydraulic piling operation.

[0021] The hydraulic control unit includes a hydraulic power module, a relief valve, a first electromagnetic reversing valve, a first cartridge valve, a high-pressure accumulator, a second cartridge valve, and a second electromagnetic reversing valve. The hydraulic pile hammer also includes a gas-liquid composite cylinder, and the hammer core includes a piston rod. Step S2 includes the following steps:

[0022] S21, pressure start: the integrated controller controls the hydraulic power module to start pressure, the hydraulic power module outputs pressure oil, and the overflow valve controls the hydraulic control unit to the maximum pressure. The first solenoid reversing valve and the second solenoid reversing valve are in the de-energized state. At this time, the first solenoid reversing valve and the second solenoid reversing valve are in the left position, and the first cartridge valve and the second cartridge valve are in the open state. At this time, the pressure oil charges the high-pressure accumulator and stores energy. At the same time, the pressure oil returns to the oil tank through the first cartridge valve, the rod chamber of the gas-liquid composite cylinder, and the second cartridge valve;

[0023] S22, lifting the hammer. The integrated controller controls the first electromagnetic reversing valve to be in a de-energized state and the second electromagnetic reversing valve to be in an energized state. At this time, the first electromagnetic reversing valve is in the left position and the second electromagnetic reversing valve is switched to the right position. Then, the first cartridge valve is in an open state and the second cartridge valve is in a closed state. The pressure oil output by the hydraulic power module and the high-pressure accumulator jointly supply pressure oil to the rod chamber of the gas-liquid composite cylinder. The piston rod drives the hammer core to accelerate upward. The gas in the top chamber of the gas-liquid composite cylinder is compressed by the piston and stores energy. At the same time, the hammer lifting height sensor detects the lifting height of the hammer core in real time, transmits the data to the integrated controller, and records the data.

[0024] S23, hammer lifting is completed. When the hammer core rises to the specified standard hammer lifting height h1, the integrated controller controls the first solenoid reversing valve and the second solenoid reversing valve to be energized. At this time, the first solenoid reversing valve switches to the right position, the second solenoid reversing valve is in the right position, and the first cartridge valve and the second cartridge valve are closed.

[0025] S24, drop hammer piling, when the real-time lifting height of the hammer core detected by the hammer lifting height sensor is the specified initial hammer lifting height h1, the hammer lifting is completed, and the integrated controller controls the first electromagnetic reversing valve to be energized and the second electromagnetic reversing valve to be de-energized. At this time, the first electromagnetic reversing valve is in the right position, the second electromagnetic reversing valve is switched to the left position, the first cartridge valve is in the closed state, and the second cartridge valve is in the open state. At this time, the hammer core is accelerated to fall under the dual effects of gravity and the expansion of the gas in the top cavity of the gas-liquid composite cylinder, which is greater than the gravity acceleration. The hammer core accelerates to fall and hits the anvil. At this time, the hammer shell vibration sensor and the acoustic wave sensor respectively collect the initial data of the hammer shell vibration frequency and the acoustic wave volume when the hammer core hits the anvil, and substitute them into Formula 1 to obtain the initial value of ΔE; if the initial value of ΔE is not within the set range, the hammer shell vibration sensor and the acoustic wave sensor are automatically calibrated.

[0026] A hydraulic pile hammer for implementing the above-mentioned automatic verification method includes an integrated controller, a hydraulic control unit, a hammer height sensor, a hammer shell vibration sensor, an acoustic wave sensor, a gas-liquid composite cylinder, a hammer shell, a hammer core, and an anvil. The gas-liquid composite cylinder is installed above the hammer shell, and the anvil is installed below the hammer shell. The hammer core includes a piston rod and a hammer body. The hammer core is installed in the hammer shell through the hammer body. The piston rod of the hammer core extends from bottom to top into the gas-liquid composite cylinder. The hammer shell includes an inner cylinder, an outer cylinder, and a plurality of reinforcing long ribs. The inner cylinder is arranged in the outer cylinder. The inner cylinder An interlayer air cavity is formed between the outer side surface of the cylinder and the inner side surface of the outer cylinder. The outer side wall of the inner cylinder is connected to the inner side wall of the outer cylinder through multiple reinforcing long ribs. Multiple reinforcing long ribs divide the interlayer air cavity into multiple air passages. Multiple air holes are circumferentially provided on the side walls at both ends of the inner cylinder. The air holes are connected to the air passages. The hammer height sensor, hammer shell vibration sensor, and acoustic wave sensor are respectively installed in the interlayer air cavity. The hydraulic control unit, hammer height sensor, hammer shell vibration sensor, and acoustic wave sensor are respectively electrically connected to the integrated controller.

[0027] The multiple air holes include multiple upper air holes and multiple lower air holes. The upper air holes are located on the circumferential side wall of the upper end of the inner cylinder, and the lower air holes are located on the circumferential side wall of the lower end of the inner cylinder. The upper air holes and the lower air holes are respectively connected to the two ends of the air passage.

[0028] The air holes are circular or polygonal.

[0029] The hammer housing further comprises two guide block mounting seats which are mounted in cooperation with the pile frame. The two guide block mounting seats are respectively mounted on the upper end and the lower end of the outer side surface of the outer cylinder.

[0030] The hammer case also includes an upper flange and a lower flange, the circumferential outer side of the bottom surface of the upper flange is connected to the upper end of the outer tube, the circumferential inner side of the bottom surface of the upper flange is connected to the upper end of the inner tube, the circumferential outer side of the top surface of the lower flange is connected to the lower end of the outer tube, and the circumferential inner side of the top surface of the lower flange is connected to the lower end of the inner tube.

[0031] The hydraulic control unit includes a hydraulic power module, a relief valve, a first solenoid reversing valve, a first cartridge valve, a high-pressure accumulator, a second cartridge valve, and a second solenoid reversing valve. The hydraulic power module includes a power oil output port and an oil tank. The oil inlet of the first cartridge valve is connected to the high-pressure accumulator, the relief valve, and the power oil output port. The control oil port of the first cartridge valve is connected to the power oil output port through the first solenoid reversing valve. The oil outlet of the first cartridge valve is connected to the rod chamber of the gas-liquid composite cylinder; the oil inlet of the second cartridge valve is connected to the rod chamber of the gas-liquid composite cylinder. The control oil port of the second cartridge valve is connected to the power oil output port through the second solenoid reversing valve. The oil outlet of the second cartridge valve is connected to the oil tank. The first solenoid reversing valve and the second solenoid reversing valve are electrically connected to the integrated controller respectively.

[0032] The hydraulic control unit further includes a one-way valve and a low-pressure accumulator, and the rod chamber of the gas-liquid composite cylinder is connected to the low-pressure accumulator through the one-way valve.

[0033] It should be noted that:

[0034] The aforementioned “first, second…” do not represent specific quantities and orders, but are only used to distinguish names.

[0035] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of the present invention are conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are merely for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] The direction indicated by the aforementioned “inward” refers to the direction toward the vertical center axis of the hydraulic pile hammer.

[0037] The direction indicated by the aforementioned “outward” refers to the direction away from the vertical center axis of the hydraulic pile hammer.

[0038] The advantages or principles of the present invention are described below:

[0039] 1. The automatic verification method for hydraulic pile driving control and the hydraulic pile hammer provided by the present invention, by setting two sets of independently working sensors and synchronous verification, and then by synchronously improving the equipment composition, structure and control algorithm, adopting the hammer shell vibration frequency to adjust the striking energy mode or adopting the sonic volume to adjust the striking energy mode, can adjust the output hammer striking energy at any time according to different working conditions, realize adaptive matching when piling under different geological conditions and different equipment working conditions, improve the efficiency of piling work, avoid the waste of striking energy, and realize intelligent automatic control with active adaptability; by performing mutual verification calculation on the two sets of data, monitor and detect whether there is data distortion or sensor failure in any group, dynamically detect deviations and dynamically eliminate erroneous data, avoid system maloperation due to data distortion, and ensure stable, accurate and safe operation of striking energy, as well as the safety of construction equipment and personnel.

[0040] 2. The automatic verification method for hydraulic piling control and the hydraulic pile hammer provided by the present invention improve the fault tolerance and design redundancy of the equipment through the simultaneous improvement of sensor data, control method and equipment structure, so that the equipment can automatically adapt to pile foundation construction with different geological structures, improve the construction efficiency and construction quality of the equipment, and match energy saving and environmental protection, realize self-adaptation of different striking energies, and can adjust the output hammer striking energy at any time according to different working conditions during the piling process, realize adaptive matching of piling under different geological conditions, improve piling work efficiency, and avoid waste of striking energy; and can realize active adaptive intelligent automatic control, automatic data acquisition and optimization analysis of control strategies.

[0041] 3. The automatic calibration method for hydraulic pile driving control and the hydraulic pile hammer provided by the present invention are as follows: before use, a hammer height sensor, a hammer shell vibration sensor and an acoustic wave sensor are pre-installed on the hydraulic pile hammer; and in advance, according to the acoustic wave volume and hammer shell vibration frequency generated when the hammer core hits the anvil and the used striking energy, and the used striking energy and the corresponding hammer lifting height are respectively tested and recorded; the data are fitted using a function fitting method to obtain the functional relationship E(dBi) between the acoustic wave volume and the striking energy, the functional relationship E(MMi) between the hammer shell vibration frequency and the striking energy, and the functional relationship E(h) between the hammer lifting height and the striking energy, and write them into the control program built into the integrated controller; during hydraulic pile driving, the hammer shell vibration is used to detect the acoustic wave volume and the striking energy, and the hammer shell vibration frequency is used to detect the striking energy, and the hammer lifting height is used to detect the striking energy. The dynamic sensor and the acoustic wave sensor respectively collect the real-time hammer case vibration frequency value E(MMi) and the real-time acoustic wave magnitude value E(dBi) when the hammer core hits the anvil. The integrated controller calculates the real-time striking energy of the hammer core hitting the anvil according to the real-time hammer case vibration frequency value E(MMi) or the real-time acoustic wave magnitude value E(dBi), and adaptively adjusts the hammer lifting height according to the real-time striking energy to achieve adaptive matching of pile driving under different geological conditions. The striking energy can be calculated using the hammer case vibration frequency or acoustic wave magnitude modes respectively, and one mode can be used as the main mode and the other mode can be used as the verification mode. The hammer case vibration frequency data and the acoustic wave magnitude data are interactively verified to dynamically discover deviations, eliminate erroneous data, avoid system false alarms, and ensure stable and accurate operation of the striking energy.

[0042] 4. The automatic verification method for hydraulic pile driving control and the hydraulic pile hammer provided by the present invention, through simultaneous improvements to the equipment composition, structure, and control algorithm, set two sets of automatic control sensors, a hammer shell vibration sensor and an acoustic wave sensor, in the interlayer air cavity of the hammer shell. One set senses the vibration changes of the hammer shell, and the other senses the changes in the acoustic wave intensity in the interlayer air cavity. The sensed data are cross-verified to monitor and detect whether any set has data distortion or sensor failure. The method focuses on solving the problem of error tolerance caused by multiple factors, as well as the problem of the inability to timely detect and dynamically adjust sensor data offset errors when using only the hammer shell vibration frequency to adjust the striking energy mode or the acoustic wave intensity to adjust the striking energy mode. The present invention can achieve dynamic adjustment and interactive verification, and supports two working modes: adjusting the striking energy by the hammer shell vibration frequency or the acoustic wave intensity.

[0043] 5. The present invention provides an automatic calibration method for hydraulic pile driving control and a hydraulic pile hammer. The hammer shell of the hydraulic pile hammer adopts a double-layer structure, forming a sandwich air cavity between the inner cylinder and the outer cylinder, and multiple reinforcing long ribs divide the sandwich air cavity into multiple air passages. Multiple air holes are circumferentially provided on the side walls at both ends of the inner cylinder, so that the upper air cavity above the hammer core and the lower air cavity below the hammer core can circumferentially communicate with each other. When in use, when the hammer core of the hydraulic hammer is lifted, the air in the upper air cavity above the hammer core will flow into the air passage through the multiple upper air holes, and flow into the lower air cavity below the hammer core from the multiple lower air holes below the air passage, thereby replenishing the air in the upper air cavity above the hammer core into the lower air cavity below the hammer core, avoiding the air above the hammer core The air in the upper air chamber is pressurized, which hinders the lifting of the hammer core and also prevents the air in the lower air chamber below the hammer core from forming a negative pressure. When the hammer core of the hydraulic hammer falls, the air in the lower air chamber below the hammer core will flow into the air passage through multiple lower air holes and flow into the upper air chamber above the hammer core from multiple upper air holes above the air passage, thereby replenishing the air in the lower air chamber below the hammer core into the upper air chamber above the hammer core, avoiding the air in the lower air chamber below the hammer core from being pressurized, reducing air resistance, avoiding air hindering the falling of the hammer core, improving the striking energy conversion efficiency, avoiding the damage to the striking energy when the hammer core falls, and also avoiding the formation of negative pressure in the upper air chamber above the hammer core, thereby improving the striking efficiency of the hammer core.

[0044] 6. In addition to controlling the noise source, the noise control of the hydraulic pile hammer of the present invention also includes controlling the propagation path and preventing the receiving point. The present invention adopts a sound-conducting method. When the hammer core hits the anvil of the hydraulic hammer, the noise emitted by the sound source is introduced into the interlayer air cavity of the double-layer hydraulic hammer shell, and its shock wave and energy are absorbed and dissipated in the air cavity, causing it to be greatly attenuated, thereby reducing the noise, performing noise reduction, reducing noise pollution to the surrounding environment, and improving the sound insulation and noise reduction performance of the hammer shell.

[0045] 7. The automatic verification method for hydraulic pile driving control provided by the present invention can be operated through two synchronous and independent working adjustment modes respectively, supporting the use of hammer shell vibration frequency to adjust the striking energy mode or the use of sonic wave volume to adjust the striking energy mode. The two modes can be primary and secondary to each other and verify each other. The sonic wave volume value can be collected to verify whether the hammer shell vibration sensor is in a normal working state, or the hammer shell vibration frequency value can be collected to verify whether the sonic wave sensor is in a normal working state, so as to monitor and detect whether there is data distortion or failure in any group of sensors.

[0046] 8. The present invention provides a gas-liquid composite cylinder on the hydraulic pile hammer. The gas-liquid composite cylinder is an improved design combining the advantages of the air cylinder and the oil cylinder. The hydraulic oil is strictly isolated from the compressed air. While the hammer core is lifted by the hydraulic oil, the pressure of the compressed air in the cylinder is increased. When the hammer core falls, the compressed gas releases the pressure and acts on the hammer core, accelerating the fall of the hammer core and increasing the striking energy of the hammer core. The hydraulic pile hammer adopts a gas-liquid dual-action mode and a high-pressure accumulator is provided on the hydraulic control unit to charge and store energy in the oil cylinder. Different striking energies can be achieved by adjusting the inflation pressure of the top cavity of the gas-liquid composite cylinder, and the striking energy is more stable; it meets the use of different working conditions, and also improves the utilization rate of the equipment and expands the scope of application of the product.

[0047] 9. The hydraulic control unit of the present invention is also provided with a one-way valve and a low-pressure accumulator. When the hammer core rises to a specified height, the integrated controller controls the closing of the first cartridge valve to continue supplying hydraulic oil to the rod chamber of the gas-liquid composite cylinder. Since the hammer core will continue to rise for a certain stroke under the action of inertia, the low-pressure accumulator can be used in combination with the one-way valve to supplement the pressure oil to the rod chamber of the gas-liquid composite cylinder to prevent the rod chamber from vacuum overpressure and damage to the seal.

[0048] 10. The hammer housing of the hydraulic pile hammer of the present invention further comprises two guide block mounting seats mounted in cooperation with the pile frame. When in use, the hammer guide block on the pile frame can be connected to the guide block mounting seats provided on the outer cylinder by bolts or pins, thereby facilitating the installation of the hydraulic pile hammer on the pile frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 1 is a schematic diagram of a control flow of an automatic verification method for hydraulic piling control according to an embodiment of the present invention;

[0050] Figure 2 1 is a schematic cross-sectional view of a hydraulic pile hammer according to an embodiment of the present invention;

[0051] Figure 3 yes Figure 2 Schematic diagram of the AA section structure;

[0052] Figure 4 It is a structural schematic diagram of the hammer core in the rising state according to an embodiment of the present invention.

[0053] Figure 5 It is a structural schematic diagram of the hammer core in the falling state according to an embodiment of the present invention.

[0054] Figure 6 It is a schematic diagram of the working principles of each unit in an embodiment of the present invention.

[0055] Description of reference numerals:

[0056] 10. Hydraulic control unit, 11. Hydraulic power module, 111. Power oil output port, 112. Fuel tank, 12. Overflow valve, 13. First solenoid reversing valve, 14. First cartridge valve, 15. High-pressure accumulator, 16. Second cartridge valve, 17. Second solenoid reversing valve, 18. Check valve, 19. Low-pressure accumulator, 21. Hammer height sensor, 22. Hammer shell vibration sensor, 23. Acoustic wave sensor, 30. Gas-liquid composite cylinder, 40. Hammer shell, 41. Inner cylinder, 42. Outer cylinder, 43. Reinforced long rib plate, 44. Air passage, 45. Air hole, 451. Upper air hole, 452. Lower air hole, 46. Upper flange, 47. Lower flange, 50. Hammer core, 51. Piston rod, 52. Hammer body, 60. Anvil, 70. Guide block mounting seat, 81. Upper air cavity, 82. Lower air cavity. DETAILED DESCRIPTION

[0057] The following is combined with Figure 1-6 The technical solutions of the present invention are described in detail with reference to the following examples.

[0058] Example 1:

[0059] See also Figures 1 to 5 The automatic verification method of hydraulic piling control provided by the present invention comprises the following steps:

[0060] S1. A hydraulic pile hammer is provided, which includes an integrated controller, a hydraulic control unit 10, a hammer height sensor 21, a hammer shell vibration sensor 22, an acoustic wave sensor 23, a hammer shell 40, a hammer core 50, and an anvil 60. The hammer shell 40 includes an inner tube 41, an outer tube 42, and a plurality of reinforcing long ribs 43. The inner tube 41 is provided in the outer tube 42, and a sandwich air cavity is formed between the outer side surface of the inner tube 41 and the inner side surface of the outer tube 42. The outer side wall of the inner tube 41 is connected to the inner side wall of the outer tube 42 through a plurality of reinforcing long ribs 43. The plurality of reinforcing long ribs 43 divide the sandwich air cavity into a plurality of air passages 44. A plurality of air holes 45 are circumferentially provided on the side walls at both ends of the inner tube 41, and the air holes 45 are connected to the air passages 44. The hammer height sensor 21, the hammer shell vibration sensor 22, and the acoustic wave sensor 23 are respectively installed in the sandwich air cavity and are respectively electrically connected to the integrated controller. The integrated controller has a built-in real-time control program shown in Formula 1:

[0061] ΔE=EE( ( dMBMii) ) Formula 1

[0062] ΔE—allowable error, 0.95≤ΔE≤1.05;

[0063] E (dBi)—real-time acoustic wave magnitude when the hammer core 50 of the hydraulic pile hammer strikes the anvil 60;

[0064] E(MMi)—real-time hammer shell vibration frequency value when the hammer core 50 of the hydraulic pile hammer hits the anvil 60;

[0065] S2. Start the hydraulic pile hammer. The integrated controller controls the lifting height h1 of the hammer core 50 of the hydraulic mining hammer through the hydraulic control unit 10 according to the initial hammer lifting height h1 to perform hydraulic piling operation. At the same time, the hammer lifting height sensor 21 detects the lifting height of the hammer core 50 in real time, transmits the lifting height data to the integrated controller and records the data. After the hammer core 50 drops, the hammer case vibration sensor 22 and the acoustic wave sensor 23 respectively collect the initial data of the hammer case vibration frequency and acoustic wave volume when the hammer core 50 hits the anvil 60, and substitute them into Formula 1 to obtain the initial value of ΔE. If the initial value of ΔE is not within the set range, the hammer case vibration sensor 22 and the acoustic wave sensor 23 are automatically calibrated.

[0066] S3. The integrated controller sets the required hammer lifting height hi according to the required striking energy, and controls the lifting height hi of the hydraulic mining hammer core 50 through the hydraulic control unit 10 to start the hydraulic piling operation. After the hammer core 50 drops, the hammer shell vibration sensor 22 collects the real-time hammer shell vibration frequency value E(MMi) when the hammer core 50 hits the anvil 60. At the same time, the acoustic wave sensor 23 collects the real-time acoustic wave magnitude value E(dBi) when the hammer core 50 hits the anvil 60. The obtained data E(MMi) and E(dBi) are respectively substituted into Formula 1 to calculate their values. The error value ΔE is obtained by the ratio of the function, and it is determined whether ΔE is within the set range. If the error value ΔE is within the set range, the hydraulic piling operation is continued, and the collected hammer shell vibration frequency value E (MMi) or the real-time acoustic wave magnitude value E (dBi) is automatically fed back to the integrated controller to calculate the real-time striking energy of the hammer core 50 striking the anvil 60, and the hammer lifting height is adaptively adjusted according to the real-time striking energy to achieve adaptive matching of piling under different geological conditions, improve the piling work efficiency, and avoid wasting striking energy; until the piling of the current pile foundation is completed;

[0067] S4. If the error value ΔE exceeds the set range, the hammer lifting height is changed to the initial hammer lifting height h1 for hydraulic piling operation, and the two sets of sensor data of the hammer shell vibration frequency value and the sonic wave magnitude value are cross-checked to determine the reliable data, and the data with the smaller deviation of the two values ​​is taken as the reliable data, and the hydraulic piling operation is continued until the piling of the current pile foundation is completed; the corresponding sensor with the larger deviation is calibrated or repaired, and steps S2-S4 are repeated to carry out the piling operation of the next pile foundation.

[0068] The present invention improves the fault tolerance and design redundancy of the equipment through the simultaneous improvement of the control method and the equipment structure, so that the equipment can automatically adapt to the pile foundation construction of different geological structures, improve the construction efficiency and construction quality of the equipment, and improve the matching of energy saving and environmental protection, realize the self-adaptation of different impact energies, and can adjust the output hammer impact energy at any time according to different working conditions during the piling process, realize the self-adaptive matching of piling under different geological conditions, improve the efficiency of piling work, and avoid the waste of impact energy; and can realize intelligent automatic control, automatic data acquisition and optimization analysis of control strategy.

[0069] Before use, a hammer height sensor 21, a hammer shell vibration sensor 22 and an acoustic wave sensor 23 are pre-installed on the hydraulic pile hammer. In advance, according to the acoustic wave volume and hammer shell vibration frequency generated when the hammer core 50 hits the anvil 60 and the used striking energy, and the used striking energy and the corresponding hammer lifting height are respectively tested and recorded. The data are fitted using a function fitting method to obtain the functional relationship E (dBi) between the acoustic wave volume and the striking energy, the functional relationship E (MMi) between the hammer shell vibration frequency and the striking energy, and the functional relationship E (h) between the hammer lifting height and the striking energy, and are written into the control program built into the integrated controller. During hydraulic piling, the hammer shell vibration sensor 22 and the acoustic wave sensor 23 are used to analyze the acoustic wave volume and the striking energy. The real-time hammer shell vibration frequency value E (MMi) and the real-time sonic wave magnitude value E (dBi) are separately collected when the hammer core 50 hits the anvil 60. The integrated controller calculates the real-time striking energy of the hammer core 50 hitting the anvil 60 according to the real-time hammer shell vibration frequency value E (MMi) or the real-time sonic wave magnitude value E (dBi), and adaptively adjusts the hammer lifting height according to the real-time striking energy to achieve adaptive matching of pile driving under different geological conditions. The striking energy can be calculated using the hammer shell vibration frequency or sonic wave magnitude modes respectively, and one mode can be used as the main mode and the other mode can be used as the verification mode. The hammer shell vibration frequency data and the sonic wave magnitude data are interactively verified to dynamically discover deviations, eliminate erroneous data, avoid system false alarms, and ensure stable and accurate operation of the striking energy.

[0070] The present invention provides an automatic verification method for hydraulic pile driving control and a hydraulic pile hammer. By simultaneously improving the device's composition, structure, and control algorithm, two sets of automatic control sensors, a hammer housing vibration sensor 22 and an acoustic wave sensor 23, are installed in the interlayer air cavity of the hammer housing 40. One set senses vibration changes in the hammer housing 40, while the other senses changes in acoustic wave intensity in the interlayer air cavity. The sensed data are cross-verified to monitor and detect data distortion or sensor failure in either set. This method primarily addresses the problem of out-of-tolerance errors caused by multiple factors, as well as the inability to promptly detect and dynamically adjust sensor data offset errors when using either the hammer housing vibration frequency or acoustic wave intensity mode to adjust the striking energy. The present invention enables dynamic adjustment and interactive verification, supporting two operating modes: adjusting the striking energy by the hammer housing vibration frequency or by the acoustic wave intensity.

[0071] The present invention also provides a hydraulic pile hammer for implementing the above-mentioned automatic verification method, which includes an integrated controller, a hydraulic control unit 10, a hammer height sensor 21, a hammer shell vibration sensor 22, an acoustic wave sensor 23, a gas-liquid composite cylinder 30, a hammer shell 40, a hammer core 50, and an anvil 60. The gas-liquid composite cylinder 30 is installed above the hammer shell 40, and the anvil 60 is installed below the hammer shell 40. The hammer core 50 includes a piston rod 51 and a hammer body 52. ​​The hammer core 50 is installed in the hammer shell 40 through the hammer body 52. ​​The piston rod 51 of the hammer core 50 extends from bottom to top into the gas-liquid composite cylinder 30. The hammer shell 40 includes an inner cylinder 41, an outer cylinder 42, and a plurality of reinforcing long ribs 43. The cylinder 41 is arranged in the outer cylinder 42, and an interlayer air cavity is formed between the outer side surface of the inner cylinder 41 and the inner side surface of the outer cylinder 42. The outer side wall of the inner cylinder 41 is connected to the inner side wall of the outer cylinder 42 through a plurality of reinforcing long ribs 43. The plurality of reinforcing long ribs 43 divide the interlayer air cavity into a plurality of air passages 44. A plurality of air holes 45 are circumferentially provided on the side walls at both ends of the inner cylinder 41. The air holes 45 are connected to the air passages 44. The hammer height sensor 21, the hammer shell vibration sensor 22, and the acoustic wave sensor 23 are respectively installed in the interlayer air cavity. The hydraulic control unit 10, the hammer height sensor 21, the hammer shell vibration sensor 22, and the acoustic wave sensor 23 are respectively electrically connected to the integrated controller.

[0072] The plurality of air holes 45 include a plurality of upper air holes 451 and a plurality of lower air holes 452. The upper air holes 451 are located on the circumferential sidewall of the upper end of the inner cylinder 41, and the lower air holes 452 are located on the circumferential sidewall of the lower end of the inner cylinder 41. The upper air holes 451 and the lower air holes 452 are respectively connected to the two ends of the air passage 44. Preferably, the air holes 45 are circular or polygonal.

[0073] The hammer housing 40 also includes an upper flange 46, a lower flange 47, and two guide block mounting brackets 70 that are mounted in conjunction with the pile frame. The circumferential outer side of the bottom surface of the upper flange 46 is connected to the upper end of the outer tube 42, while the circumferential inner side of the bottom surface of the upper flange 46 is connected to the upper end of the inner tube 41. The circumferential outer side of the top surface of the lower flange 47 is connected to the lower end of the outer tube 42, while the circumferential inner side of the top surface of the lower flange 47 is connected to the lower end of the inner tube 41. The two guide block mounting brackets 70 are mounted on the upper and lower ends of the outer side surface of the outer tube 42, respectively. During use, the hammer guide blocks on the pile frame can be connected to the guide block mounting brackets 70 provided on the outer tube 42 via bolts or pins, facilitating the installation of the hydraulic pile hammer on the pile frame.

[0074] The hammer shell 40 of the hydraulic pile hammer adopts a double-layer structure, forming a sandwich air cavity between the inner cylinder 41 and the outer cylinder 42, and a plurality of reinforcing long ribs 43 divide the sandwich air cavity into a plurality of air passages 44, and a plurality of air holes 45 are circumferentially provided on the side walls at both ends of the inner cylinder 41, so as to circulate the upper air cavity 81 above the hammer core 50 and the lower air cavity 82 below the hammer core 50. During use, when the hammer core 50 of the hydraulic hammer is lifted, the air in the upper air cavity 81 above the hammer core 50 will flow into the air passage 44 through the plurality of upper air holes 451, and flow into the lower air cavity 82 below the hammer core 50 from the plurality of lower air holes 452 below the air passage 44, thereby replenishing the air in the upper air cavity 81 above the hammer core 50 into the lower air cavity 82 below the hammer core 50, thereby preventing the air in the upper air cavity 81 above the hammer core 50 from being pressurized. The air in the lower air chamber 82 below the hammer core 50 is prevented from being lifted, and negative pressure is also prevented from forming in the air in the lower air chamber 82 below the hammer core 50. When the hammer core 50 of the hydraulic hammer falls, the air in the lower air chamber 82 below the hammer core 50 will flow into the air passage 44 through the multiple lower air holes 452, and flow into the upper air chamber 81 above the hammer core 50 from the multiple upper air holes 451 above the air passage 44, thereby replenishing the air in the lower air chamber 82 below the hammer core 50 into the upper air chamber 81 above the hammer core 50, thereby preventing the air in the lower air chamber 82 below the hammer core 50 from being pressurized, reducing air resistance, preventing air from hindering the falling of the hammer core 50, improving the striking energy conversion efficiency, avoiding damage to the striking energy when the hammer core 50 falls, and preventing the air in the upper air chamber 81 above the hammer core 50 from forming negative pressure, thereby improving the striking efficiency of the hammer core 50.

[0075] In addition to controlling the noise source, the noise control of the hydraulic pile hammer also includes controlling the propagation path and preventing the receiving point. The present invention adopts a sound-conducting method. When the hammer core 50 hits the anvil 60 of the hydraulic hammer, the noise emitted by the sound source is introduced into the interlayer air cavity of the double-layer hydraulic hammer shell 40, and its shock wave and energy are absorbed and dissipated in the air cavity, causing it to be greatly attenuated, thereby reducing the noise, performing noise reduction, reducing noise pollution to the surrounding environment, and improving the sound insulation and noise reduction performance of the hammer shell 40.

[0076] Example 2:

[0077] The automatic verification method for hydraulic piling control and the hydraulic piling hammer provided in Example 2 of the present invention are based on Example 1, and add the steps of mutual verification between the modes of adjusting the striking energy by the vibration frequency of the hammer shell and the modes of adjusting the striking energy by the sonic volume, so as to actively detect data errors (or sensor failures) and automatically correct them.

[0078] The automatic verification method of the hydraulic piling control comprises the following steps:

[0079] In step S1, the integrated controller also has two synchronously running, mutually independent working data exchange verification programs built in, and they are executed in step S3;

[0080] During the hydraulic piling operation in step S3, when the hammer housing vibration frequency is used to adjust the striking energy mode, the verification method is as follows:

[0081] Substitute the collected real-time acoustic wave magnitude value E(dBi) into Formula 1 to calculate the theoretical E(MMi) value, and then compare it with the actual sensor-collected E(MMi) value. If the error is within the set range, both the hammer shell vibration sensor 22 and the acoustic wave sensor 23 are in normal working condition; otherwise, one of the sensors is in abnormal condition and needs to be calibrated before continuing the hydraulic piling operation.

[0082] During the hydraulic piling operation in step S3, when the sonic wave volume is used to adjust the striking energy mode, the verification method is as follows:

[0083] Substitute the collected real-time hammer case vibration frequency value E(MMi) into Formula 1 to calculate the theoretical E(dBi) value, and then compare it with the E(dBi) value collected by actual sensing. If the error is within the set range, both the hammer case vibration sensor 22 and the acoustic wave sensor 23 are in normal working condition; otherwise, one of the sensors is in abnormal condition and calibration is required before continuing the hydraulic piling operation.

[0084] The present invention provides an automatic verification method for hydraulic pile driving control, which can be operated through two synchronous and independent working adjustment modes, and supports a striking energy mode adjusted by using hammer shell vibration frequency or a striking energy mode adjusted by using sonic wave volume. The two modes can be primary and secondary to each other and verify each other. The sonic wave volume value can be collected to verify whether the hammer shell vibration sensor 22 is in a normal working state, or the sonic wave sensor 23 is in a normal working state by collecting the hammer shell vibration frequency value, so as to monitor and detect whether any group of sensors has data distortion or failure.

[0085] Example 3:

[0086] See also Figure 6As shown, an automatic calibration method for hydraulic pile driving control and a hydraulic pile hammer provided in Example 3 of the present invention are based on Examples 1 and 2, and a specific control method and structure of a hydraulic control unit 10 are added. The hydraulic control unit 10 includes a hydraulic power module 11, a relief valve 12, a first electromagnetic reversing valve 13, a first cartridge valve 14, a high-pressure accumulator 15, a second cartridge valve 16, and a second electromagnetic reversing valve 17. The hydraulic power module 11 includes a power oil output port 111 and an oil tank 112. The oil inlet of the first cartridge valve 14 is connected to the high-pressure accumulator 15 and the relief valve 112. 2. The power oil output port 111 is connected, the control oil port of the first cartridge valve 14 is connected to the power oil output port 111 through the first solenoid reversing valve 13, and the oil outlet of the first cartridge valve 14 is connected to the rod chamber of the gas-liquid composite cylinder 30; the oil inlet of the second cartridge valve 16 is connected to the rod chamber of the gas-liquid composite cylinder 30, the control oil port of the second cartridge valve 16 is connected to the power oil output port 111 through the second solenoid reversing valve 17, and the oil outlet of the second cartridge valve 16 is connected to the oil tank 112, and the first solenoid reversing valve 13 and the second solenoid reversing valve 17 are electrically connected to the integrated controller respectively.

[0087] Step S2 includes the following steps:

[0088] S21, pressure start. The integrated controller controls the hydraulic power module 11 to start pressure. The hydraulic power module 11 outputs pressure oil, and the relief valve 12 controls the hydraulic control unit 10 to the maximum pressure. The first solenoid reversing valve 13 and the second solenoid reversing valve 17 are in the de-energized state. At this time, the first solenoid reversing valve 13 and the second solenoid reversing valve 17 are in the left position, and the first cartridge valve 14 and the second cartridge valve 16 are in the open state. At this time, the pressure oil charges the high-pressure accumulator 15 and stores energy. At the same time, the pressure oil returns to the oil tank 112 through the first cartridge valve 14, the rod chamber of the gas-liquid composite cylinder 30, and the second cartridge valve 16;

[0089] S22, hammer lifting. The integrated controller controls the first electromagnetic reversing valve 13 to be de-energized and the second electromagnetic reversing valve 17 to be energized. At this time, the first electromagnetic reversing valve 13 is in the left position and the second electromagnetic reversing valve 17 is switched to the right position. Then the first cartridge valve 14 is in the open state and the second cartridge valve 16 is in the closed state. The pressure oil output by the hydraulic power module 11 and the high-pressure accumulator 15 jointly supply pressure oil to the rod chamber of the gas-liquid composite cylinder 30. The piston rod 51 drives the hammer core 50 to accelerate upward. The gas in the top chamber of the gas-liquid composite cylinder 30 is compressed by the piston and stores energy. At the same time, the hammer lifting height sensor 21 detects the lifting height of the hammer core 50 in real time, transmits the data to the integrated controller, and records the data.

[0090] S23, hammer lifting is completed. When the hammer core 50 rises to the specified standard hammer lifting height h1, the integrated controller controls the first electromagnetic reversing valve 13 and the second electromagnetic reversing valve 17 to be energized. At this time, the first electromagnetic reversing valve 13 switches to the right position, the second electromagnetic reversing valve 17 is in the right position, and the first cartridge valve 14 and the second cartridge valve 16 are closed.

[0091] S24, drop hammer piling. When the real-time lifting height of the hammer core 50 detected by the hammer lifting height sensor 21 reaches the specified initial hammer lifting height h1, the hammer lifting is completed. The integrated controller controls the first electromagnetic reversing valve 13 to be energized and the second electromagnetic reversing valve 17 to be de-energized. At this time, the first electromagnetic reversing valve 13 is in the right position, the second electromagnetic reversing valve 17 is switched to the left position, the first cartridge valve 14 is closed, and the second cartridge valve 16 is open. At this time, the hammer core 50 is accelerated to fall under the dual effects of gravity and the expansion of the gas in the top chamber of the gas-liquid composite cylinder 30, which is greater than the gravity acceleration. The hammer core 50 accelerates to fall and hits the anvil 60. At this time, the hammer shell vibration sensor 22 and the acoustic wave sensor 23 respectively collect initial data of the hammer shell vibration frequency and acoustic wave volume when the hammer core 50 hits the anvil 60, and substitute them into Formula 1 to obtain the initial value of ΔE. If the initial value of ΔE is not within the set range, the hammer shell vibration sensor 22 and the acoustic wave sensor 23 are automatically calibrated.

[0092] The present invention provides a gas-liquid composite cylinder 30 on the hydraulic pile hammer. The gas-liquid composite cylinder 30 is an improved design combining the advantages of an air cylinder and an oil cylinder. The hydraulic oil is strictly isolated from the compressed air. While the hydraulic oil is used to lift the hammer core 50, the pressure of the compressed air in the cylinder is increased. When the hammer core 50 falls, the compressed gas releases the pressure and acts on the hammer core 50, accelerating the fall of the hammer core 50 and increasing the striking energy of the hammer core 50. Since the hydraulic pile hammer adopts a gas-liquid dual-action mode, a high-pressure accumulator 15 is provided on the hydraulic control unit 10 to charge and store energy in the oil cylinder. By adjusting the inflation pressure of the top chamber of the gas-liquid composite cylinder 30, different striking energies can be achieved, and the striking energy is more stable; it meets the use of different working conditions, and also improves the utilization rate of the equipment and expands the scope of application of the product.

[0093] The hydraulic control unit 10 also includes a check valve 18 and a low-pressure accumulator 19. The rod chamber of the gas-liquid combination cylinder 30 is connected to the low-pressure accumulator 19 via the check valve 18. When the hammer core 50 rises to a specified height, the integrated controller closes the first cartridge valve 14 to continue supplying hydraulic oil to the rod chamber of the gas-liquid combination cylinder 30. However, due to the inertia of the hammer core 50, the rod chamber of the gas-liquid combination cylinder 30 will continue to rise for a certain distance. At this point, the low-pressure accumulator 19, in conjunction with the check valve 18, replenishes the pressurized oil in the rod chamber of the gas-liquid combination cylinder 30, preventing the rod chamber from developing a vacuum overpressure and potentially damaging the seal.

[0094] The key points of the above-mentioned embodiments of the present invention are that by synchronously improving the equipment composition, structure and control algorithm, the hammer shell vibration frequency is used to adjust the striking energy mode or the sonic volume is used to adjust the striking energy mode, so as to adjust the output hammer striking energy at any time according to different working conditions, realize adaptive matching of pile driving under different geological conditions, improve pile driving efficiency, avoid waste of striking energy, and realize intelligent automatic control; the two sets of data are mutually verified, and data distortion or failure is discovered and processed to ensure stable, accurate, efficient, safe and energy-saving operation of hydraulic pile driving construction.

[0095] The above are only specific embodiments of the present invention and do not limit the scope of protection of the present invention. Any replacement and improvement made without violating the concept of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An automatic verification method for hydraulic piling control, characterized in that: The steps include: S1. A hydraulic pile hammer is provided, the hydraulic pile hammer comprising an integrated controller, a hydraulic control unit, a hammer height sensor, a hammer shell vibration sensor, an acoustic wave sensor, a hammer shell, a hammer core, and an anvil; the hammer shell comprises an inner tube, an outer tube, and a plurality of reinforcing long ribs; the inner tube is provided in the outer tube; an interlayer air cavity is formed between the outer side surface of the inner tube and the inner side surface of the outer tube; the outer side wall of the inner tube is connected to the inner side wall of the outer tube through a plurality of the reinforcing long ribs; the plurality of the reinforcing long ribs divide the interlayer air cavity into a plurality of air passages; a plurality of air holes are circumferentially provided on the side walls at both ends of the inner tube, the air holes are connected to the air passages; the hammer height sensor, the hammer shell vibration sensor, and the acoustic wave sensor are respectively installed in the interlayer air cavity and are respectively electrically connected to the integrated controller; the integrated controller has a built-in real-time control program shown in Formula 1: ΔE—allowable error, 0.95≤ΔE≤1.05; E (dBi)—The real-time acoustic amplitude value when the hammer core of the hydraulic pile hammer hits the anvil; E(MMi)—real-time hammer shell vibration frequency value when the hammer core of the hydraulic pile hammer hits the anvil; S2. Start the hydraulic pile hammer. The integrated controller controls the lifting height h1 of the hammer core of the hydraulic mining hammer through the hydraulic control unit and according to the initial hammer lifting height h1 to perform hydraulic piling operation. At the same time, the hammer lifting height sensor detects the lifting height of the hammer core in real time, transmits the lifting height data to the integrated controller and records the data. After the hammer core drops, the hammer shell vibration sensor and the acoustic wave sensor respectively collect the initial data of the hammer shell vibration frequency and acoustic wave volume when the hammer core hits the anvil, and substitute them into Formula 1 to obtain the initial value of ΔE. If the initial value of ΔE is not within the set range, the hammer shell vibration sensor and the acoustic wave sensor are automatically calibrated. S3. The integrated controller sets the required hammer lifting height hi according to the required striking energy, and controls the lifting height hi of the hammer core of the hydraulic mining hammer through the hydraulic control unit to start the hydraulic piling operation. After the hammer core drops, the hammer shell vibration sensor collects the real-time hammer shell vibration frequency value E(MMi) when the hammer core hits the anvil. At the same time, the acoustic wave sensor collects the real-time acoustic wave magnitude value E(dBi) when the hammer core hits the anvil. The obtained data E(MMi) and E(dBi) are respectively substituted into Formula 1 to calculate the ratio of their functions. The error value ΔE is obtained and it is judged whether ΔE is within the set range. If the error value ΔE is within the set range, the hydraulic piling operation is continued, and the collected hammer shell vibration frequency value E (MMi) or the real-time acoustic wave magnitude value E (dBi) is automatically fed back to the integrated controller to calculate the real-time striking energy of the hammer core hitting the anvil, and the hammer lifting height is adaptively adjusted according to the real-time striking energy to achieve adaptive matching of piling under different geological conditions, improve the piling work efficiency, and avoid the waste of striking energy; until the piling of the current pile foundation is completed; S4. If the error value ΔE exceeds the set range, the hammer lifting height is changed to the initial hammer lifting height h1 to perform hydraulic piling operation, and the two sets of sensor data, the hammer shell vibration frequency value and the sonic wave magnitude value, are cross-checked to determine the reliable data. The data with the smaller deviation between the two values ​​is taken as the reliable data, and the hydraulic piling operation is continued until the pile foundation is completed; The corresponding sensor with a large deviation is calibrated or repaired, and steps S2-S4 are repeated to carry out the piling operation of the next pile foundation.

2. The automatic verification method for hydraulic piling control according to claim 1, characterized in that: It also includes the following steps: In step S1, the integrated controller also has two synchronously running, mutually independent working data interaction verification programs built in, which are executed in step S3; During the hydraulic piling operation of step S3, when the hammer housing vibration frequency is used to adjust the striking energy mode, the verification method is as follows: Substitute the collected real-time acoustic wave magnitude value E(dBi) into Formula 1 to calculate the theoretical E(MMi) value, which is then compared with the actual sensor-collected E(MMi) value. If the error is within the set range, both the hammer shell vibration sensor and the acoustic wave sensor are in normal working condition; otherwise, one of the sensors is in an abnormal state and needs to be calibrated before continuing the hydraulic piling operation. During the hydraulic piling operation of step S3, when the sonic wave volume is used to adjust the striking energy mode, the verification method is as follows: Substitute the collected real-time hammer case vibration frequency value E(MMi) into Formula 1 to calculate the theoretical E(dBi) value, which is then compared with the E(dBi) value collected by actual sensing. If the error is within the set range, both the hammer case vibration sensor and the acoustic wave sensor are in normal working condition; otherwise, one of the sensors is in an abnormal condition and needs to be calibrated before continuing the hydraulic piling operation.

3. The automatic verification method for hydraulic piling control according to any one of claims 1 to 2, characterized in that: The hydraulic control unit includes a hydraulic power module, a relief valve, a first electromagnetic reversing valve, a first cartridge valve, a high-pressure accumulator, a second cartridge valve, and a second electromagnetic reversing valve. The hydraulic pile hammer also includes a gas-liquid composite cylinder, and the hammer core includes a piston rod. Step S2 includes the following steps: S21, pressure start: the integrated controller controls the hydraulic power module to start pressure, the hydraulic power module outputs pressure oil, and the overflow valve controls the hydraulic control unit to the maximum pressure. The first solenoid reversing valve and the second solenoid reversing valve are in the de-energized state. At this time, the first solenoid reversing valve and the second solenoid reversing valve are in the left position, and the first cartridge valve and the second cartridge valve are in the open state. At this time, the pressure oil charges the high-pressure accumulator and stores energy. At the same time, the pressure oil returns to the oil tank through the first cartridge valve, the rod chamber of the gas-liquid composite cylinder, and the second cartridge valve; S22, lifting the hammer. The integrated controller controls the first electromagnetic reversing valve to be in a de-energized state and the second electromagnetic reversing valve to be in an energized state. At this time, the first electromagnetic reversing valve is in the left position and the second electromagnetic reversing valve is switched to the right position. Then, the first cartridge valve is in an open state and the second cartridge valve is in a closed state. The pressure oil output by the hydraulic power module and the high-pressure accumulator jointly supply pressure oil to the rod chamber of the gas-liquid composite cylinder. The piston rod drives the hammer core to accelerate upward. The gas in the top chamber of the gas-liquid composite cylinder is compressed by the piston and stores energy. At the same time, the hammer lifting height sensor detects the lifting height of the hammer core in real time, transmits the data to the integrated controller, and records the data. S23, hammer lifting is completed. When the hammer core rises to the specified standard hammer lifting height h1, the integrated controller controls the first solenoid reversing valve and the second solenoid reversing valve to be energized. At this time, the first solenoid reversing valve switches to the right position, the second solenoid reversing valve is in the right position, and the first cartridge valve and the second cartridge valve are closed. S24, drop hammer piling, when the real-time lifting height of the hammer core detected by the hammer lifting height sensor is the specified initial hammer lifting height h1, the hammer lifting is completed, and the integrated controller controls the first electromagnetic reversing valve to be energized and the second electromagnetic reversing valve to be de-energized. At this time, the first electromagnetic reversing valve is in the right position, the second electromagnetic reversing valve is switched to the left position, the first cartridge valve is in the closed state, and the second cartridge valve is in the open state. At this time, the hammer core is accelerated to fall under the dual effects of gravity and the expansion of the gas in the top cavity of the gas-liquid composite cylinder, which is greater than the gravity acceleration. The hammer core accelerates to fall and hits the anvil. At this time, the hammer shell vibration sensor and the acoustic wave sensor respectively collect the initial data of the hammer shell vibration frequency and the acoustic wave volume when the hammer core hits the anvil, and substitute them into Formula 1 to obtain the initial value of ΔE; if the initial value of ΔE is not within the set range, the hammer shell vibration sensor and the acoustic wave sensor are automatically calibrated.

4. A hydraulic pile hammer for implementing the automatic calibration method according to any one of claims 1 to 3, characterized in that: It includes an integrated controller, a hydraulic control unit, a hammer height sensor, a hammer shell vibration sensor, an acoustic wave sensor, a gas-liquid composite cylinder, a hammer shell, a hammer core, and an anvil. The gas-liquid composite cylinder is installed above the hammer shell, and the anvil is installed below the hammer shell. The hammer core includes a piston rod and a hammer body. The hammer core is installed in the hammer shell through the hammer body. The piston rod of the hammer core extends from bottom to top into the gas-liquid composite cylinder. The hammer shell includes an inner cylinder, an outer cylinder, and a plurality of reinforcing long ribs. The inner cylinder is arranged in the outer cylinder, and the outer side of the inner cylinder is aligned with the outer cylinder. A sandwich air cavity is formed between the inner sides of the inner tube, the outer side wall of the inner tube is connected to the inner side wall of the outer tube through multiple reinforcing long ribs, and multiple reinforcing long ribs divide the sandwich air cavity into multiple air passages. Multiple air holes are circumferentially provided on the side walls at both ends of the inner tube, and the air holes are connected to the air passages. The hammer height sensor, hammer shell vibration sensor, and acoustic wave sensor are respectively installed in the sandwich air cavity, and the hydraulic control unit, hammer height sensor, hammer shell vibration sensor, and acoustic wave sensor are respectively electrically connected to the integrated controller.

5. The hydraulic pile hammer according to claim 4, characterized in that: The multiple air holes include multiple upper air holes and multiple lower air holes. The upper air holes are located on the circumferential side wall of the upper end of the inner cylinder, and the lower air holes are located on the circumferential side wall of the lower end of the inner cylinder. The upper air holes and the lower air holes are respectively connected to the two ends of the air passage.

6. The hydraulic pile hammer according to claim 5, characterized in that: The air holes are circular or polygonal.

7. The hydraulic pile hammer according to claim 4, characterized in that: It also includes two guide block mounting seats which are installed in cooperation with the pile frame. The two guide block mounting seats are respectively installed on the upper end and the lower end of the outer side surface of the outer tube.

8. The hydraulic pile hammer according to claim 4, characterized in that: The hammer case also includes an upper flange and a lower flange, the circumferential outer side of the bottom surface of the upper flange is connected to the upper end of the outer tube, the circumferential inner side of the bottom surface of the upper flange is connected to the upper end of the inner tube, the circumferential outer side of the top surface of the lower flange is connected to the lower end of the outer tube, and the circumferential inner side of the top surface of the lower flange is connected to the lower end of the inner tube.

9. The hydraulic pile hammer according to any one of claims 4 to 8, characterized in that: The hydraulic control unit includes a hydraulic power module, a relief valve, a first solenoid reversing valve, a first cartridge valve, a high-pressure accumulator, a second cartridge valve, and a second solenoid reversing valve. The hydraulic power module includes a power oil output port and an oil tank. The oil inlet of the first cartridge valve is connected to the high-pressure accumulator, the relief valve, and the power oil output port. The control oil port of the first cartridge valve is connected to the power oil output port through the first solenoid reversing valve. The oil outlet of the first cartridge valve is connected to the rod chamber of the gas-liquid composite cylinder; the oil inlet of the second cartridge valve is connected to the rod chamber of the gas-liquid composite cylinder. The control oil port of the second cartridge valve is connected to the power oil output port through the second solenoid reversing valve. The oil outlet of the second cartridge valve is connected to the oil tank. The first solenoid reversing valve and the second solenoid reversing valve are electrically connected to the integrated controller respectively.

10. The hydraulic pile hammer according to claim 9, characterized in that: The hydraulic control unit further includes a one-way valve and a low-pressure accumulator, and the rod chamber of the gas-liquid composite cylinder is connected to the low-pressure accumulator through the one-way valve.

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