A pile extractor and method of pile extraction

Abstract

The application discloses a pile pulling machine and a pile pulling method, which comprise hoisting equipment and a pile pulling accessory pivotally connected to a mechanical arm, wherein the pile pulling accessory is provided with an accessory shell, a sliding frame sliding up and down in the accessory shell, two clamping blocks pivotally connected to the lower end of the sliding frame and a hydraulic oil cylinder; one end of the hydraulic oil cylinder is pivotally connected to the sliding frame, and the other end is pivotally connected to the accessory shell; the driving hydraulic oil cylinder drives the sliding frame to move upward, drives the two clamping blocks to rotate and clamp the pile, and pulls up the pile; the pile pulling machine utilizes one hydraulic oil cylinder to clamp and pull the pile, and always provides the clamping blocks with a clamping force during the pile pulling process, so that the clamping structure of the clamping blocks and the pile is more stable, the clamping structure can be prevented from loosening or slipping off during the pile pulling process, the pile pulling clamping force is strong, the pile is more easily and quickly pulled out, the pile pulling effect and efficiency are high, the use quantity of the hydraulic oil cylinder is saved, the equipment cost of the pile pulling machine is reduced, and the pile pulling method is simpler and safer.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a pile extractor and a pile extraction method. Background Technology

[0002] During construction, it is necessary to remove temporary piles that need to be set up within the construction plane according to the plan, temporary piles set up in lakes and rivers for environmental protection, and piles in the soil after the demolition of old buildings to effectively utilize land resources in the process of urbanization. Currently, manual pile extraction is mostly used, which is labor-intensive, time-consuming and labor-intensive. Hydraulic pile extractors are also used for mechanical pile extraction. Existing hydraulic pile extractors are equipped with pile clamps for holding the pile and a crane for lifting and moving the pile clamps. The pile clamps are equipped with a clamping mechanism for holding the pile, a hydraulic cylinder for driving the clamping mechanism to hold the pile, and a hydraulic cylinder for lifting the clamping mechanism to pull the pile out of the soil section by section. During pile extraction, the pile clamps are first driven by the hydraulic cylinders to hold the pile, and then the hydraulic cylinders are used to lift the clamping structure to pull the pile out of the soil section by section. Because the piles are relatively firmly buried underground, a large amount of force is needed at the beginning of extraction to loosen the pile, and then only a small amount of force is needed to loosen it. The pile extraction process is complex; therefore, when greater pressure is not needed in the latter half of the extraction, the pressure of the hydraulic cylinder for pulling the pile is wasted, resulting in energy consumption. Furthermore, since the hydraulic cylinder for clamping the pile and the hydraulic cylinder for pulling the pile are two separate components operating independently, the clamping structure of the hydraulic cylinder may loosen or slip due to the pile loosening during the upward movement. This makes it difficult to apply force effectively to loosen the pile at the beginning of extraction, resulting in laborious and slow extraction, poor extraction effect, and low efficiency. Moreover, existing pile extraction machines require at least two hydraulic cylinders—one for clamping and one for pulling—and the high price of these cylinders contributes to the high equipment cost of the machine. Additionally, there is the issue of pile placement after extraction. When the mechanical arm lifts the pile vertically onto the ground, if the clamping device releases the pile directly, it may tip over and fall, potentially injuring workers—a very dangerous situation. Furthermore, it generates significant noise, affecting the lives of nearby residents.

[0003] In view of this, the inventors, in order to address the numerous deficiencies and inconveniences caused by the imperfections in the structure and method of the aforementioned pile extraction machine, have conducted in-depth conceiving, active research and development, and trial production to develop and design this invention. Summary of the Invention

[0004] The purpose of this invention is to provide a pile extraction machine and a pile extraction method. The pile extraction machine uses a hydraulic cylinder to clamp and extract the pile. While the hydraulic cylinder pushes the sliding frame upward to extract the pile, it continuously provides a clamping force to the clamping block. The clamping structure is more stable, which can prevent the clamping block and the pile from loosening or slipping during the pile extraction process. The pile extraction clamping force is strong, making it easier and faster to extract the pile. The pile extraction effect and efficiency are high. Moreover, it saves on the number of hydraulic cylinders used, reduces the equipment cost of the pile extraction machine, and the pile extraction method is simpler and safer.

[0005] To achieve the above objectives, the solution of the present invention is:

[0006] A pile extraction machine includes a hoisting device and a pile extraction attachment pivotally connected to the mechanical arm of the hoisting device. The pile extraction attachment has an attachment housing, a sliding frame that slides up and down inside the attachment housing, two clamping blocks pivotally connected to the lower end of the sliding frame, and a hydraulic cylinder. One end of the hydraulic cylinder is pivotally connected to the sliding frame, and the other end is pivotally connected to the attachment housing. Driving the hydraulic cylinder pushes the sliding frame upward, causing the two clamping blocks to rotate, clamp the pile, and extract the pile.

[0007] The sliding frame has two vertical rods and a horizontal rod connected to the top of the two vertical rods. The bottom ends of the two vertical rods are pivotally connected to one end of two connecting rods, and the other ends of the two connecting rods are pivotally connected to the outer ends of two clamping blocks. The bottom surface of a movable seat is provided with two inverted U-shaped pivot parts. The middle parts of the two clamping blocks are pivotally connected to the two inverted U-shaped pivot parts through pivot shafts. When the hydraulic cylinder pushes the sliding frame to move upward, it drives the clamping blocks to rotate around the pivot shaft to clamp the pile through the connecting rods.

[0008] The sliding frame has a vertical fixing plate at the lower part of the two vertical rods, which connects the two vertical rods. The vertical fixing plate has two bolt holes. The movable seat has a vertical side plate that abuts against the side of the vertical fixing plate. The vertical side plate has two vertical elongated holes corresponding to the two bolt holes. The two bolts pass through the two vertical elongated holes and are locked in the two bolt holes. During the upward movement of the sliding frame, the sliding frame also drives the vertical fixing plate to move upward. The bolts move from the bottom end of the vertical elongated holes to the top end of the vertical elongated holes. When the vertical fixing plate moves upward, it drives the movable seat to move upward together and restricts the downward movement of the movable seat, thereby restricting the outward rotation of the clamping block.

[0009] The movable seat has a transverse side plate extending outward from the bottom end of the vertical side plate. The vertical fixed plate is provided with two winglets arranged parallel to the transverse side plate. A spring is provided between each winglet and the transverse side plate. The winglet is locked with a spring positioning bolt extending out of the bottom surface of the winglet. The upper end of the spring is sleeved on the spring positioning bolt and fixed to the bottom surface of the winglet. The lower end of the spring is abutted and fixed to the top surface of the transverse side plate.

[0010] The attachment housing has a base plate that rests against the ground, and the base plate has a first slot for the top or side of the pile to be inserted; the transverse side plate has a second slot corresponding to the first slot; the piston seat of the hydraulic cylinder is pivotally connected to the base plate, and the end of the piston rod of the hydraulic cylinder is pivotally connected to the side of the transverse rod.

[0011] The bottom surface of the transverse side plate is provided with a downwardly extending lower limit plate that can abut against the bottom plate.

[0012] The attachment housing also has a front side plate, a rear side plate, and two side plates. The front side plate is connected to the upper front side of the two side plates on both sides, and the rear side plate is connected to the rear side of the two side plates on both sides. An L-shaped vertical plate is provided on the inner side of each side plate. One side of the L-shaped vertical plate is connected to the side plate, the other side is connected to the rear side plate, and the bottom end is connected to the bottom plate. The two L-shaped vertical plates and the front side plate form two sliding grooves on the side plates for the vertical rod to move up and down.

[0013] The attachment housing has a pivot seat on its side wall for pivotal connection with the robotic arm. The rear side plate is locked with a flat plate extending out of one of the side plates. The pivot seat is locked onto the flat plate and closely abuts against one side of the side plate. The pivot seat has a first vertical plate abutting against and locked onto the side of the flat plate, two parallel and spaced second vertical plates perpendicular to the first vertical plate, and a connecting plate perpendicularly connecting the two second vertical plates and extending to the first vertical plate on one side. The second vertical plate is triangular, and pivot parts for pivotal connection with the robotic arm are respectively provided at both ends of the upper side of the second vertical plate. The opening of the first slot faces the cab of the hoisting equipment.

[0014] The clamping block has an assembly groove on its side facing the pile, and the top clamping block of the pile is assembled and tightened by locking bolts in the assembly groove.

[0015] A method for removing piles includes the following steps:

[0016] S1. The hoisting equipment controls the robotic arm to drive the pile extraction attachment to align with the pile, so that the pile clamp is placed between the two clamping blocks;

[0017] S2, Pile extraction:

[0018] (1) Drive the hydraulic cylinder to push the sliding frame upward, causing the clamping block to rotate inward around the pivot shaft to clamp the pile;

[0019] (2) During the upward movement of the sliding frame, the sliding frame also drives the vertical fixing plate to move upward. The bolt moves from the bottom of the vertical elongated hole to the top of the vertical elongated hole. When the vertical fixing plate moves upward, it drives the movable seat to move upward. The clamping block clamps the pile and pulls the pile out to a certain depth.

[0020] S3. Control the robotic arm to lift the pile-pulling attachment and completely pull out the pile;

[0021] S4. Control the robotic arm to extend forward and level the pile-pulling attachment, thereby leveling the pile.

[0022] S5. When the hydraulic cylinder stops pushing the sliding frame upward, the vertical fixed plate is stationary. The restoring force of the spring pushes the movable seat downward relative to the vertical fixed plate. The bolt moves from the top of the vertical elongated hole to the bottom of the vertical elongated hole. The movable seat pushes the clamping block to rotate outward around the pivot shaft to loosen the pile.

[0023] S6. When the hydraulic cylinder pulls the sliding frame downwards, the pile pulling tool pushes the pile out of the tool housing, and the pile falls horizontally to the ground.

[0024] With the above structure, the pile extraction machine and method of the present invention, during pile extraction, involve the hoisting equipment controlling the mechanical arm to align the pile extraction attachment with the pile, placing the pile clamp between the two clamping blocks; driving the hydraulic cylinder to push the sliding frame upward, the upward movement of the sliding frame first causes the clamping blocks to rotate and clamp the pile; then, when the clamping blocks can no longer rotate and remain clamped, the upward movement of the sliding frame causes the clamping blocks to clamp the pile and pull it out; finally, the mechanical arm completely pulls out the pile and lays it flat. This pile extraction machine uses a single hydraulic cylinder for clamping and pulling the pile. During the extraction process, the upward movement of the sliding frame continuously provides a clamping force to the clamping blocks, making the clamping structure more stable; it can prevent the clamping blocks and pile from colliding during the extraction process. The pile clamping structure is designed to prevent loosening or slippage, and the strong clamping force makes it easier and faster to pull out the pile, resulting in high pile extraction effect and efficiency. Furthermore, it reduces the number of hydraulic cylinders required, lowering the equipment cost of the pile extraction machine, and making the extraction method simpler and safer. During the pile extraction process, because the pile is firmly buried underground, a large force is needed initially to loosen it, followed by the use of less force to pull it out completely. Therefore, the pile extraction attachment first uses hydraulic cylinders to loosen the pile and pull it out to a certain depth, then uses a robotic arm to completely extract the pile. The short stroke of the hydraulic cylinder driving the pile extraction mechanism allows for rapid pile extraction, improving efficiency and avoiding energy consumption. It also reduces the size of the pile extraction attachment, resulting in a simpler structure. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of the pile extractor and the pile in the alignment and ready-to-extract state of the present invention.

[0026] Figure 2 This is a schematic diagram of the pile extraction attachment of the pile extraction machine of the present invention aligning with the pile;

[0027] Figure 3 This is a front view schematic diagram of the pile extraction attachment of the pile extraction machine of the present invention aligning with the pile;

[0028] Figure 4 This is a side view schematic diagram of the pile extraction attachment of the pile extraction machine of the present invention aligning with the pile;

[0029] Figure 5 This is a front view schematic diagram of the pile extraction attachment of the pile extraction machine of the present invention clamping the pile;

[0030] Figure 6 for Figure 3 Enlarged view of point A in the middle;

[0031] Figure 7 for Figure 5 Enlarged view of point B in the middle;

[0032] Figure 8 This is a schematic diagram of the pile extraction attachment of the pile extraction machine of the present invention;

[0033] Figure 9 This is a schematic diagram of the pile-pulling attachment of the pile-pulling machine of the present invention from another direction;

[0034] Figure 10 This is an exploded view of the pile extraction attachments of the pile extraction machine of the present invention;

[0035] Figure 11 This is a schematic diagram of the structure of the attachment housing of the pile extractor of the present invention;

[0036] Figure 12 This is a schematic diagram of the attachment housing of the pile extractor of the present invention from another direction;

[0037] Figure 13 This is a top view of the housing of the attachments of the pile extractor of the present invention;

[0038] Figure 14 This is a bottom view of the housing of the attachments of the pile extractor of the present invention;

[0039] Figure 15 This is a schematic diagram of the structure of the pile extractor of the present invention in the state of extracting a pile to a certain depth;

[0040] Figure 16 This is a schematic diagram of the pile extraction machine of the present invention in the state of completely pulling out the pile;

[0041] Figure 17 This is a schematic diagram of the pile extraction machine of the present invention in the state of laying the pile flat;

[0042] Figure 18 This is a schematic diagram of the structure of the pile extractor of the present invention in the state where the clamping block is reset and not clamping the pile;

[0043] Figure 19 This is a schematic diagram of the pile extraction machine of the present invention lowering the pile.

[0044] Symbol Explanation

[0045] 10 hoisting equipment; 20 robotic arms; 100 piles; 2 pile extraction attachments; 1 attachment housing; 21 sliding frame; 22 clamping block; 23 hydraulic cylinder; 211 vertical rod; 212 horizontal rod; 213 connecting rod; 24 movable seat; 244 inverted U-shaped pivot; 245 pivot shaft; 214 vertical fixing plate; 2141 bolt holes; 241 vertical side plate; 2411 vertical elongated hole; 2412 bolt; 242 horizontal side plate; 2413 wing; 25 spring; 2414 spring positioning bolt; 11 base plate; 111 first slot; 12 second slot. 2421 slot; lower limit plate 243; extension rod 2111; front side plate 12; rear side plate 13; side plate 14; L-shaped vertical plate 15; sliding groove 16; reinforcing plate 151; pivot groove 152; square slot 153; notch 146; heat dissipation hole 154; window 131; cover plate 132; through hole 133; inclined plate 112; trumpet-shaped slot 113; cracked stone block 114; pivot seat 3; flat plate 134; first vertical plate 31; second vertical plate 32; connecting plate 33; pivot part 321; assembly groove 221; top stop block 222. Detailed Implementation

[0046] To further explain the technical solution of the present invention, the present invention will be described in detail below through specific embodiments.

[0047] Please see Figures 1 to 19 This invention discloses a pile extraction machine, which includes a hoisting device 10 and a pile extraction attachment pivotally connected to a mechanical arm 20 of the hoisting device 10. The pile extraction attachment has an attachment housing 1, a sliding frame 21 that slides up and down inside the attachment housing 1, two clamping blocks 22 pivotally connected to the lower end of the sliding frame 21, and a hydraulic cylinder 23. One end of the hydraulic cylinder 23 is pivotally connected to the sliding frame 21, and the other end is pivotally connected to the attachment housing 1. Driving the hydraulic cylinder 23 pushes the sliding frame 21 to move upward, causing the two clamping blocks 22 to rotate, clamp the pile 100, and pull out the pile 100.

[0048] In this invention, during pile extraction, the hoisting equipment 10 controls the mechanical arm 20 to align the pile extraction attachment 2 with the pile 100, so that the pile 100 is clamped between two clamping blocks 22. The hydraulic cylinder 23 is driven to push the sliding frame 21 upward. First, the upward movement of the sliding frame 21 causes the clamping blocks 22 to rotate and clamp the pile 100. Then, when the clamping blocks 22 can no longer rotate and remain clamped to the pile 100, the upward movement of the sliding frame 21 causes the clamping blocks 22 to clamp the pile 100 and pull it out. Finally, the mechanical arm 20 completely pulls out the pile 100 and lays it flat. This pile extraction machine uses a hydraulic cylinder 23 for both clamping and extraction. During the extraction process, while the hydraulic cylinder 23 pushes the sliding frame 21 upward to extract the pile, it continuously provides a clamping force to the clamping blocks 22, thus clamping the pile 100. More stable, it can prevent the clamping structure of the clamping block 22 and the pile 100 from loosening or slipping during the pile extraction process. The strong clamping force makes the pile easier and faster to pull out, resulting in high pile extraction effect and efficiency. Moreover, it saves on the number of hydraulic cylinders 23 used, reducing the equipment cost of the pile extraction machine, and the pile extraction method is simpler and safer. During the pile extraction process, since the pile is relatively firmly buried in the ground, a large force is needed to loosen the pile at the beginning of the extraction, and then only a small force is needed to pull out the loosened pile. Therefore, the pile extraction attachment first uses the hydraulic cylinder 23 to loosen the pile 100 and pull it out to a certain depth, and then uses the mechanical arm 20 to completely pull out the pile 100. The short stroke of the hydraulic cylinder 23 pushing the pile extraction mechanism allows for rapid pile extraction, improves pile extraction efficiency, and avoids energy consumption. It can also reduce the size of the pile extraction attachment and simplify the structure.

[0049] The sliding frame 21 of the present invention has two vertical rods 211 and a horizontal rod 212 connected to the top of the two vertical rods 211. The bottom ends of the two vertical rods 211 are respectively pivotally connected to one end of two connecting rods 213, and the other ends of the two connecting rods 213 are respectively pivotally connected to the outer ends of two clamping blocks 22. The bottom surface of a movable seat 24 is provided with two inverted U-shaped pivot parts 244. The middle parts of the two clamping blocks 22 are respectively pivotally connected to the two inverted U-shaped pivot parts 244 through pivot shafts 245. When the hydraulic cylinder 23 pushes the sliding frame 21 to move upward, it drives the clamping blocks 22 to rotate around the pivot shafts 245 to clamp the pile 100 through the connecting rods 213. The pile clamping structure is more stable, and the pile can be pulled out quickly with high efficiency.

[0050] In the vertical direction, the pivot position of the clamping block 22 and the connecting rod 213 is higher than the pivot position of the clamping block 22 and the inverted U-shaped pivot 244. The upward movement of the connecting rod causes the upper part of the clamping block 22 to rotate from the outside to the inside to clamp the pile 100. The clamping force of the clamping block 22 is downward, which can firmly clamp the pile 100 and prevent the clamping block 22 and the pile 100 from separating.

[0051] The sliding frame 21 of the present invention has a vertical fixing plate 214 connected to the two vertical rods 211 at the lower part of the two vertical rods 211. The vertical fixing plate 214 has two bolt holes 2141. The movable seat 24 has a vertical side plate 241 that abuts against the side of the vertical fixing plate 214. The vertical side plate 241 has two vertical elongated holes 2411 corresponding to the two bolt holes 2141. Two bolts 2412 pass through the two vertical elongated holes 2411 and are locked in the two bolt holes 2141 respectively. During the upward movement of the sliding frame 21, the sliding frame 21 also drives the vertical fixing plate 214 to move upward. The bolts 2412 move from the bottom end of the vertical elongated holes 2411 to the top end of the vertical elongated holes 2411. When the vertical fixing plate 214 moves upward, it drives the movable seat 24 to move upward together, clamping the pile. The structure and the pile extraction structure are combined; when the vertical fixed plate 214 and the movable seat 24 move relative to each other, the bolt 2412 slides in the vertical elongated hole 2411; when the bolt 2412 abuts against the top of the vertical elongated hole 2411, the relative position between the vertical fixed plate 214 and the movable seat 24 is fixed, and the two are automatically locked together and move synchronously. The structure of the bolt 2412 and the vertical elongated hole 2411 can restrict the downward movement of the movable seat 24, thereby restricting the clamping block 22 from rotating outward to release the pile 100. The clamping block 22 can firmly clamp the pile 100 and quickly pull out the pile 100; when the bolt 2412 is away from the top of the vertical elongated hole 2411, the position between the movable seat 24 and the vertical fixed plate 214 is not fixed, and the movable seat 24 and the vertical fixed plate 214 can move independently, making it more flexible to use.

[0052] The movable seat 24 of the present invention has a transverse side plate 242 extending outward from the bottom end of the vertical side plate 241. The vertical fixed plate 241 is provided with two winglets 2413 arranged parallel to the transverse side plate 242. A spring 25 is provided between each winglet 2413 and the transverse side plate 242. The winglet 2413 is locked with a spring positioning bolt 2414 extending out of the bottom surface of the winglet 2413. The upper end of the spring 25 is sleeved on the spring positioning bolt 2414 and fixed to the bottom surface of the winglet 2413, and the lower end of the spring 25 is abutted and fixed to the top surface of the transverse side plate 242. When the hydraulic cylinder 23 pushes the sliding frame 21 to move upward to pull the pile, the sliding frame 21 drives the vertical fixed plate 214 to move upward. The bolt 2412 moves from the bottom end of the vertical elongated hole 2411 to the top end of the vertical elongated hole 2411. The distance between 413 and the transverse side plate 242 increases, and the vertical fixed plate moves upward with the force of the tension spring 25. When the vertical fixed plate 214 moves upward, it drives the movable seat 24 to move upward together to pull out the pile, resulting in a fast pile pulling speed. When the hydraulic cylinder 23 stops pushing the sliding frame 21 to move upward, the vertical fixed plate 214 is in a stationary state. The vertical fixed plate 214 does not have the force of the tension spring 25. The restoring force of the spring 25 pushes the movable seat 24 to move downward relative to the vertical fixed plate 214. The bolt 2412 moves from the top of the vertical elongated hole 2411 to the bottom of the vertical elongated hole 2411. The distance between the wing 2413 and the transverse side plate 242 decreases, and the movable seat 24 pushes the clamping block 22 to rotate outward around the pivot shaft 245 to release the pile 100. The pile is automatically released, making the operation more convenient.

[0053] When the bolt 2412 abuts against the bottom end of the vertical elongated hole 2411, there is a gap between the bottom end of the spring positioning bolt 2414 and the top surface of the transverse side plate 242; this prevents the spring positioning bolt 2414 from colliding with the transverse side plate 242 when the spring is reset.

[0054] The attachment housing 1 of the present invention has a base plate 11 that rests against the ground. The base plate 11 is provided with a first slot 111 for the top or side of the pile 100 to be inserted. The transverse side plate 242 is provided with a second slot 2421 corresponding to the first slot 111. Two clamping blocks 22 are located below the sides of the second slot. The piston seat of the hydraulic cylinder 23 is pivotally connected to the base plate 11, and the piston rod end of the hydraulic cylinder 23 is pivotally connected to the side of the transverse rod 212. When the pile is pulled out and aligned, the base plate 11 of the attachment housing 1 rests against the ground, and the pile 100 is inserted into the first slot 111 and the second slot 2421. Then, the hydraulic cylinder 23 is driven to push the sliding frame 21 to move upward, thereby driving the clamping blocks 22 to clamp the pile and pull out the pile, making the pile pulling operation simpler.

[0055] The bottom surface of the transverse side plate 242 of the present invention is provided with a lower limiting plate 243 that extends downward and can abut against the bottom plate 11; when the sliding frame 21 moves downward, the lower limiting plate 243 can limit the minimum distance between the movable seat 24 and the bottom plate 11, so as to prevent the clamping block 22 below the movable seat 24 from colliding with or abutting against the bottom plate 11, affecting the rotation of the clamping block 22 to clamp or release the pile.

[0056] The two vertical rods 211 of the present invention are hollow rods, and the bottom ends of the two vertical rods 211 are respectively provided with extension rods 2111, and one end of the connecting rod 213 is pivotally connected to the extension rods 2111.

[0057] The attachment housing 1 of the present invention also has a front side plate 12, a rear side plate 13, and two side plates 14. The front side plate 12 is connected to the upper front side of the two side plates 14 on both sides, and the rear side plate 13 is connected to the rear side of the two side plates 14 on both sides. An L-shaped vertical plate 15 is respectively provided on the inner side of the two side plates 14. One side of the L-shaped vertical plate 15 is connected to the side plate 14, the other side is connected to the rear side plate 13, and the bottom end is connected to the bottom plate 11. The two L-shaped vertical plates 15 and the front side plate 12 form two sliding grooves 16 on the two side plates 14 for the vertical rod 211 to move up and down. The sliding grooves 16 can restrict the vertical movement direction of the sliding frame 21, which is more conducive to the vertical pulling of the pile by the pile-pulling attachment. The lower front side of the two side plates 14 has no obstruction structure, allowing the pile clamping structure to be exposed, making it convenient to check whether the pile is clamped and the pile-pulling effect.

[0058] A reinforcing plate 151 is connected between the lower parts of the two L-shaped vertical plates 15 of the present invention. The reinforcing plate 151 extends and abuts against the base plate 11. Both the L-shaped vertical plates 15 and the reinforcing plate 151 can enhance the structural strength of the accessory housing 1. The reinforcing plate 151 is provided with a pivot groove 152 for pivoting the piston seat. The pivot groove 152 facilitates the pivoting of the piston seat of the hydraulic cylinder 23.

[0059] The lower part of the side where the L-shaped vertical plate 15 and the side plate 14 are connected is provided with a square slot 153, and the side plate 14 is provided with a notch 146 corresponding to the square slot 153. The square slot 153 and the notch 146 provide clearance space for the operation of the pile clamping structure; and the side where the L-shaped vertical plate 15 and the rear side plate 14 are connected is provided with a plurality of heat dissipation holes 154.

[0060] The rear side plate 13 of the present invention has a window 131, which is covered by a cover plate 132. The cover plate 132 has a through hole 133 for the oil pipe of the hydraulic cylinder 23 to pass through.

[0061] The base plate 11 of the present invention has inclined plates 112 extending outward on both sides of the first slot 111, and the two inclined plates 112 are spaced apart by a funnel-shaped slot 113 that gradually expands outward from the first slot 111, so as to facilitate the alignment and insertion of the pile 100 into the first slot 111.

[0062] The bottom surface of the base plate 11 of the attachment housing 1 of the present invention is provided with three circumferentially circumferentially distributed cracked stone blocks 114 on the outer periphery of the first slot 111. The cross-section of the cracked stone blocks 114 is an inverted triangular structure. The cracked stone blocks 114 facilitate the application of force by the pile-pulling attachment to pull the pile.

[0063] The attachment housing 1 of the present invention is provided with a pivot seat 3 on its side wall, which is pivotally connected to the robotic arm 20. The rear side plate 13 is locked with a flat plate 134 extending out of one of the side plates 14. The pivot seat 3 is locked on the flat plate 134 and closely abuts against one side of the side plate 14. The pivot seat 4 has a first vertical plate 31 that abuts against and is locked on the side of the flat plate 134, two parallel and spaced second vertical plates 32 that are perpendicular to the first vertical plate 31, and a connecting plate 33 that is perpendicular to the two second vertical plates 32 and extends to the first vertical plate 31 on one side. The second vertical plate 32 is triangular, and pivot parts 321 that are pivotally connected to the robotic arm 20 are respectively provided at both ends of the upper side of the second vertical plate 32. The slot of the first slot 11 faces the cab of the hoisting equipment 10. When the operator operates the pile pulling attachment to pull the pile, the positional relationship between the pile pulling attachment and the pile can be observed from the cab, which facilitates the operation of the pile pulling work.

[0064] The clamping block 22 of the present invention has an assembly groove 221 on the side facing the pile. The assembly groove 221 is used to assemble the top clamping block 222 that clamps the pile by locking bolts. The top clamping block 222 is locked onto the clamping block 222 to clamp the pile. The top clamping block 222 and the clamping block 22 are separate structures. Different top clamping blocks can be selected according to the outer circumference of different piles, which can facilitate the extraction of different piles and has a wide range of applications.

[0065] Please see Figures 1 to 19 The present invention also discloses a method for removing piles, comprising the following steps:

[0066] S1. The hoisting equipment 10 controls the mechanical arm 20 to drive the pile extraction attachment to align with the pile 100, so that the pile 100 is clamped between the two clamping blocks 22.

[0067] S2, Pile extraction:

[0068] (1) The hydraulic cylinder 23 drives the sliding frame 21 to move upward, which in turn drives the clamping block 22 to rotate inward around the pivot shaft 245 to clamp the pile 100; and during the upward movement of the sliding frame 21, it continuously provides the clamping block 22 with the force to clamp the pile 100, making the pile clamping structure more stable.

[0069] (2) During the upward movement of the sliding frame 21, the sliding frame 21 also drives the vertical fixing plate 214 to move upward. The bolt 2412 moves from the bottom end of the vertical elongated hole 2411 to the top end of the vertical elongated hole 2411. When the vertical fixing plate 214 moves upward, it drives the movable seat 24 to move upward. The clamping block 22 clamps the pile 100 and pulls the pile 100 out to a certain depth.

[0070] S3. Control the robotic arm 20 to lift the pile-pulling attachment and completely pull out the pile 100. Since the pile-pulling attachment has already pulled the pile out to a certain depth, the pile is in a loose state. Now, we only need to use the force of the robotic arm 20 to completely pull out the pile.

[0071] S4. Control the robotic arm 20 to extend forward and flatten the pile-pulling attachment, thereby flattening the pile 100.

[0072] S5. When the hydraulic cylinder 23 stops pushing the sliding frame 21 upward, the vertical fixed plate 214 is stationary. The restoring force of the spring 25 pushes the movable seat 24 downward relative to the vertical fixed plate 214. The bolt 2412 moves from the top of the vertical elongated hole 2411 to the bottom of the vertical elongated hole 2411. The movable seat 24 pushes the clamping block 22 to rotate outward around the pivot shaft 245 to loosen the pile 100.

[0073] S6. When the hydraulic cylinder 23 pulls the sliding frame 21 downward, the pile pulling attachment pushes the pile 100 out of the attachment housing 1 (when the pile 100 is removed from the front side plate 12, it can fall off the pile pulling attachment), and the pile 100 falls horizontally to the ground.

[0074] The pile extraction method of this invention utilizes a hydraulic cylinder 23 for clamping and extracting the pile. The clamping structure is more stable, and the clamping force is stronger, making it easier and faster to extract the pile, resulting in high extraction efficiency and effectiveness. Furthermore, the extraction method is simpler and safer. During the extraction process, because the pile is firmly embedded in the ground, a relatively large force is needed initially to loosen it, followed by the use of less force to extract the loosened pile. Therefore, the extraction attachment first uses the hydraulic cylinder 23 to loosen the pile 100 and extract it to a certain depth, then uses the robotic arm 20 to completely extract the pile 100. The short stroke of the hydraulic cylinder 23 driving the extraction mechanism allows for rapid pile extraction, improving efficiency and avoiding energy consumption. It also reduces the size of the extraction attachment, simplifying the extraction structure. Moreover, the method involves laying the pile flat before lowering it, preventing injury to workers and making the extraction operation safer.

[0075] The above embodiments and accompanying drawings are not intended to limit the product form and style of the present invention. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of the present invention.

Claims

1. A pile extractor, characterized in that: The device includes a hoisting device and a pile-pulling attachment pivotally connected to the hoisting device's robotic arm. The pile-pulling attachment has an attachment housing, a sliding frame that slides vertically within the attachment housing, two clamping blocks pivotally connected to the lower end of the sliding frame, and a hydraulic cylinder. One end of the hydraulic cylinder is pivotally connected to the sliding frame, and the other end is pivotally connected to the attachment housing. Driving the hydraulic cylinder pushes the sliding frame upwards, causing the two clamping blocks to rotate, clamp the pile, and pull it out. The sliding frame has two vertical rods and a horizontal rod connected to the top of the two vertical rods. The bottom ends of the two vertical rods are pivotally connected to one end of two connecting rods, and the other ends of the two connecting rods are pivotally connected to the outer ends of the two clamping blocks. The bottom surface of a movable seat has two inverted U-shaped pivot joints, and the middle portions of the two clamping blocks are pivotally connected via pivot shafts. It is connected to two inverted U-shaped pivot joints; when the hydraulic cylinder pushes the sliding frame to move upward, it drives the clamping block to rotate around the pivot shaft to clamp the pile through the connecting rod; the sliding frame is provided with a vertical fixing plate connecting the two vertical rods at the lower part of the two vertical rods, and the vertical fixing plate is provided with two bolt holes; the movable seat is provided with a vertical side plate that abuts against the side of the vertical fixing plate, and the vertical side plate is provided with two vertical elongated holes corresponding to the two bolt holes, and the two bolts pass through the two vertical elongated holes and are locked in the two bolt holes respectively; during the upward movement of the sliding frame, the sliding frame also drives the vertical fixing plate to move upward, and the bolts move from the bottom end of the vertical elongated holes to the top end of the vertical elongated holes. When the vertical fixing plate moves upward, it drives the movable seat to move upward together.

2. The pile extractor as described in claim 1, characterized in that: The movable seat has a transverse side plate extending outward from the bottom end of the vertical side plate. The vertical fixed plate is provided with two winglets arranged parallel to the transverse side plate. A spring is provided between each winglet and the transverse side plate. The winglet is locked with a spring positioning bolt extending out of the bottom surface of the winglet. The upper end of the spring is sleeved on the spring positioning bolt and fixed to the bottom surface of the winglet. The lower end of the spring is abutted and fixed to the top surface of the transverse side plate.

3. The pile extractor as described in claim 2, characterized in that: The attachment housing has a base plate that rests against the ground, and the base plate has a first slot for the top or side of the pile to be inserted; the transverse side plate has a second slot corresponding to the first slot; the piston seat of the hydraulic cylinder is pivotally connected to the base plate, and the end of the piston rod of the hydraulic cylinder is pivotally connected to the side of the transverse rod.

4. The pile extractor as described in claim 3, characterized in that: The bottom surface of the transverse side plate is provided with a downwardly extending lower limit plate that can abut against the bottom plate.

5. The pile extractor as described in claim 3, characterized in that: The attachment housing also has a front side plate, a rear side plate, and two side plates. The front side plate is connected to the upper front side of the two side plates on both sides, and the rear side plate is connected to the rear side of the two side plates on both sides. An L-shaped vertical plate is provided on the inner side of each side plate. One side of the L-shaped vertical plate is connected to the side plate, the other side is connected to the rear side plate, and the bottom end is connected to the bottom plate. The two L-shaped vertical plates and the front side plate form two sliding grooves on the side plates for the vertical rod to move up and down.

6. The pile extractor as described in claim 5, characterized in that: The attachment housing has a pivot seat on its side wall for pivotal connection with the robotic arm. The rear side plate is locked with a flat plate extending out of one of the side plates. The pivot seat is locked onto the flat plate and closely abuts against one side of the side plate. The pivot seat has a vertical plate perpendicular to the side wall of the attachment housing, two parallel and spaced triangular plates perpendicular to the vertical plate, and a horizontal plate perpendicular to the vertical plate and connecting the two triangular plates. The two ends of one side of the triangular plate are respectively provided with pivot parts for pivotal connection with the robotic arm. The slot of the first groove of the pile-pulling attachment faces the cab of the hoisting equipment.

7. The pile extractor as described in claim 1, characterized in that: The clamping block has an assembly groove on its side facing the pile, and the top clamping block of the pile is assembled and tightened by locking bolts in the assembly groove.

8. A pile extraction method using a pile extractor as described in any one of claims 1-7, characterized in that, It includes the following steps: S1. The hoisting equipment controls the robotic arm to drive the pile extraction attachment to align with the pile, so that the pile clamp is placed between the two clamping blocks; S2, Pile extraction: (1) Drive the hydraulic cylinder to push the sliding frame upward, causing the clamping block to rotate inward around the pivot shaft to clamp the pile; (2) During the upward movement of the sliding frame, the sliding frame also drives the vertical fixing plate to move upward. The bolt moves from the bottom of the vertical elongated hole to the top of the vertical elongated hole. When the vertical fixing plate moves upward, it drives the movable seat to move upward. The clamping block clamps the pile and pulls the pile out to a certain depth. S3. Control the robotic arm to lift the pile-pulling attachment and completely pull out the pile; S4. Control the robotic arm to extend forward and level the pile-pulling attachment, thereby leveling the pile. S5. When the hydraulic cylinder stops pushing the sliding frame upward, the vertical fixed plate is stationary. The restoring force of the spring pushes the movable seat downward relative to the vertical fixed plate. The bolt moves from the top of the vertical elongated hole to the bottom of the vertical elongated hole. The movable seat pushes the clamping block to rotate outward around the pivot shaft to loosen the pile. S6. When the hydraulic cylinder pulls the sliding frame downwards, the pile pulling tool pushes the pile out of the tool housing, and the pile falls horizontally to the ground.

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