Vibration hammer pile lifting system of construction machinery and pile lifting and clamping control method thereof

Abstract

The present application belongs to the field of automatic control technology of engineering machinery, and discloses a pile lifting system of a vibrating hammer of engineering machinery and a pile lifting and clamping control method thereof. The pile lifting system of the vibrating hammer comprises a control unit, an execution unit and a signal sensing unit arranged on the engineering machinery. The control unit comprises a digital integrated controller. The execution unit comprises a crane, a hydraulic control device, a vibrating hammer and two pile lifters. The pile lifting system of the vibrating hammer vertically lifts the pipe pile horizontally stored on the ground by using the pile lifting rope of the pile lifter, and can also align and lift the pile clamping device of the vibrating hammer and the pipe pile and clamp them. The control method adopts data driving and digital intelligent control, uses a proximity sensor to obtain the alignment proximity signal of the pipe pile and the pile clamping device, uses a pressure sensor to obtain the clamping signal of the pile body by the pile clamping device, and uses an electromagnetic reversing valve to execute the clamping of the pile body by the pile clamping oil cylinder, so as to realize intelligent control and simultaneously improve the construction safety and construction efficiency of the pile lifting and clamping of the vibrating hammer.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for construction machinery, and in particular to a vibratory hammer pile lifting system for construction machinery and its pile lifting and clamping control method. Background Technology

[0002] Currently, most construction machinery used for pile driving employs vibratory hammers. However, during construction, steel pipe piles or sheet piles are stored horizontally on the ground. The vibratory hammer's clamping device struggles to grip the pile from the side and erect it vertically. Furthermore, the height of the erected piles makes it difficult for construction workers on the ground to observe and operate the vibratory hammer's clamping device to align and secure the pile. Additionally, during the clamping process, unforeseen misoperations or slippage between the clamping device and the pile can cause the pile to detach and fall, leading to construction safety accidents.

[0003] The applicant's prior patent document CN112987624A discloses an automatic pile driving control system and method for engineering machinery. The system includes a control unit, an execution unit, and a signal sensing unit mounted on the main body of the engineering machinery. The method includes: a digital integrated controller using a first pressure sensor to obtain a clamping signal of the pile clamp on the pile body; using a first electromagnetic directional valve to execute the clamping and releasing of the pile body by the pile clamping cylinder; using a first proximity switch and a second proximity switch to obtain the stroke position of the pile clamp; and using a second electromagnetic directional valve to execute the raising and lowering of the pile clamping cylinder, thereby achieving automated pile driving control. This invention employs digital and automated control, achieving the clamping, releasing, and driving actions of the pile body through the cooperation of the digital integrated controller, hydraulic control device, and signal sensing unit. This makes the pile driving operation intelligent, improves pile driving efficiency and construction quality, reduces construction costs, and lays the foundation for the intelligentization of engineering machinery. However, this automatic pile driving control system and control method cannot be directly applied to the control of vibratory hammer pile lifting system and pile lifting clamping system. Due to the different working processes and software and hardware, new software and hardware improvements are required to develop a vibratory hammer pile lifting system and its pile lifting clamping control method that can clamp horizontally stored pipe piles on the ground from the side to stand them upright, and can also align, lift and clamp the pipe piles, so as to simultaneously improve construction safety and construction efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned shortcomings by providing a vibratory hammer pile lifting system for engineering machinery and its pile lifting and clamping control method. Based on the applicant's prior research and development achievements, this invention further employs a combination of hardware and software, along with collaborative improvements, to enable the control method to adopt data-driven, digital intelligent control. It utilizes proximity sensors to obtain alignment and proximity signals between the pipe pile and the pile clamping device, pressure sensors to obtain clamping signals from the pile clamping device on the pile body, and an electromagnetic directional valve to execute the clamping of the pile body by the hydraulic cylinder. This achieves intelligent control and simultaneously improves the construction safety and efficiency of the vibratory hammer pile lifting and clamping system.

[0005] This invention provides the following technical solution: A vibratory hammer pile lifting system for engineering machinery includes a control unit, an execution unit, and a signal sensing unit mounted on the main platform of the engineering machinery. The control unit includes a digital integrated controller. The execution unit includes a crane, a hydraulic control device, a vibratory hammer, and two pile lifting devices. The crane includes a boom and a lifting rope. The boom and the digital integrated controller are respectively mounted on the main platform. The upper end of the vibratory hammer is connected to the boom via the lifting rope. The vibratory hammer includes an external vibration damping frame, a vibration gearbox, and a pile clamp. The pile clamp includes two pile clamping cylinders and two clamps. The vibration gearbox is mounted below the external vibration damping frame. The two clamps are respectively connected via two... The pile clamping cylinder is installed below the vibration gearbox. The pile lifting device includes a pile lifting frame, a pile lifting cylinder, a double-row pile lifting pulley, and two pile lifting ropes. The two pile lifting cylinders are installed on both sides of the outer vibration damping frame through the two pile lifting frames. The double-row pile lifting pulley is installed on the upper end of the piston rod of the pile lifting cylinder and is vertically slidably connected to the pile lifting frame. The pile lifting rope includes a fixed end and a lifting end. The fixed ends of the two pile lifting ropes are respectively fixedly connected to the pile lifting frame and are located on opposite sides of the pile lifting cylinder. The lifting ends of the two pile lifting ropes pass around the double-row pile lifting pulley, and the two pile lifting ropes are wound in opposite directions on the double-row pile lifting pulley.

[0006] The hydraulic control device includes a motor, a hydraulic pump, an oil tank, two first hydraulic check valves, two second hydraulic check valves, a first solenoid directional valve, and a second solenoid directional valve. The motor is driven and connected to the hydraulic pump. The pile lifting cylinder is connected to the first solenoid directional valve through the first hydraulic check valve. The pile clamping cylinder is connected to the second solenoid directional valve through the second hydraulic check valve. The first solenoid directional valve and the second solenoid directional valve are connected to the oil tank through the hydraulic pump. The signal sensing unit includes a proximity sensor and a pressure sensor, which are respectively mounted on the pile clamp. The proximity sensor, pressure sensor, and hydraulic control device are electrically connected to the digital integrated controller.

[0007] The first electromagnetic directional valve and the second electromagnetic directional valve are both three-position four-way electromagnetic directional valves.

[0008] The double-row pulley for lifting the pile includes a first pulley and a second pulley, and the two lifting ropes are respectively wound around the first pulley and the second pulley.

[0009] The pile lifting device also includes a guide rail, and the double-row pile lifting pulleys are vertically slidably connected to the pile lifting frame through the guide rail.

[0010] The pile lifting device also includes two spiral buckles and two shackles. The fixed end of the pile lifting rope is fixedly connected to the pile lifting frame through the spiral buckles. The lower end of the pile lifting frame is provided with two guide holes. The lifting ends of the two pile lifting ropes pass through the two guide holes and are connected to the two shackles respectively.

[0011] The vibration gearbox includes a gearbox body and two hydraulic motors. The two hydraulic motors are respectively installed on both sides of the gearbox body. The hydraulic control device also includes a first check valve and two solenoid valves. Each hydraulic motor is connected to each solenoid valve. The first solenoid directional valve, the second solenoid directional valve, and the solenoid valves are connected to the hydraulic pump through the first check valve.

[0012] The hydraulic control device also includes a relief valve, which is connected to the input end of the first check valve.

[0013] The hydraulic control device also includes an oil suction filter, and the hydraulic pump is connected to the oil tank through the oil suction filter.

[0014] The engineering machinery mentioned is any one of the following: vibratory pile driver, vibratory pipe pile driver, boom-type pipe pile driver, or vibratory sheet pile driver.

[0015] A method for controlling the pile clamping of a vibratory hammer in an engineering machinery employing the above-mentioned vibratory hammer pile lifting system includes the following steps: (1) Position the construction machinery and move the construction machinery equipped with the vibratory hammer pile lifting system to the construction area; (2) Power on the vibratory hammer pile lifting system, initialize the parameters of the vibratory hammer pile lifting system, turn the pile lifting control knob and the pile clamping control knob to the stop position respectively; the digital integrated controller controls the first electromagnetic reversing valve and the second electromagnetic reversing valve to de-energize, the first electromagnetic reversing valve and the second electromagnetic reversing valve are in the neutral position, the motor drives the hydraulic pump to suck oil back to the oil tank to unload; input the pile clamping pressure threshold. (3) Connect the lifting rope of the pile lifting device to the lifting lug on the pile head to be clamped, and use a crane to lift the vibratory hammer and the pipe pile; (4) Turn the pile lifting control knob to the pile lifting position. The digital integrated controller controls the first solenoid DT1 of the first solenoid directional valve to be energized and the second solenoid DT2 to be de-energized. The first solenoid directional valve switches to the left position. The motor drives the hydraulic pump to draw oil through the left position of the first solenoid directional valve and the first hydraulic control check valve into the rodless chamber of the pile lifting cylinder. The hydraulic oil in the rod chamber of the pile lifting cylinder returns to the oil tank through the first solenoid directional valve. The piston rod of the pile lifting cylinder extends upward, thereby driving the pile lifting double-row pulleys to rise, so that the double-row pulleys on the pile lifting cylinder... The lifting rope drives the pipe pile upward and lifts the pile head into the pile clamp. When the proximity sensor detects the proximity signal of the pile head in real time, the proximity sensor sends the proximity signal to the digital integrated controller. When the digital integrated controller receives the proximity signal, it controls the first solenoid DT1 of the first solenoid directional valve to de-energize, the first solenoid directional valve resets to the neutral position, the hydraulic pump stops supplying oil to the lifting cylinder, and the lifting cylinder is locked under the action of the first hydraulic check valve to ensure that the pile does not fall. (5) The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic directional valve to be energized and the fourth electromagnet DT4 to be de-energized. The second electromagnetic directional valve switches to the left position. The motor drives the hydraulic pump to draw oil through the left position of the second electromagnetic directional valve, and then through two second hydraulic control check valves to enter the rodless chambers of the two pile clamping cylinders. The hydraulic oil in the rod chambers of the two pile clamping cylinders returns to the oil tank through the second electromagnetic directional valve. The piston rods of the two pile clamping cylinders extend to clamp the pile head of the pipe pile. At the same time, the pressure sensor detects the pile clamping pressure signal of the pile clamping cylinder in real time and sends the pile clamping pressure signal to the digital integrated controller in real time. When the value of the pile clamping pressure signal is greater than the pile clamping pressure threshold, the pressure sensor sends the pipe pile clamping signal to the digital integrated controller. The control of lifting and clamping the pipe pile to be clamped is completed. (6) When the digital integrated controller receives the pile clamping signal, it turns the pile driving control knob to the rotary position. The digital integrated controller controls the two solenoid valves to be energized. The motor drives the hydraulic pump to draw oil. The high-pressure oil enters the hydraulic motor through the solenoid valve. The two hydraulic motors start working and drive the vibratory hammer to perform pile driving. (7) After the pile driving work is completed, turn the pile clamping control knob to the loose pile position. The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic reversing valve to be de-energized and the fourth electromagnet DT4 to be energized. The second electromagnetic reversing valve switches to the right position. The motor drives the hydraulic pump to draw oil through the right position of the second electromagnetic reversing valve and then into the rod chambers of the two pile clamping cylinders. The hydraulic oil in the rodless chamber of the pile clamping cylinder returns to the oil tank through the second hydraulic control check valve and the right position of the second electromagnetic reversing valve. The piston rod of the pile clamping cylinder retracts and releases the pile head of the pipe pile. Turn the pile clamping control knob to the stop position. The third electromagnet DT3 and the fourth electromagnet DT4 are de-energized. The second electromagnetic reversing valve is reset to the middle position. The pile clamping cylinder stops working. (8) Loosen the lifting rope from the lifting lug on the pile head to be clamped; use the crane to lift the vibratory hammer; (9) Turn the pile lifting control knob to the pile lowering position. The first electromagnet DT1 is de-energized and the second electromagnet DT2 is energized. The first electromagnetic reversing valve switches to the right position. The motor drives the hydraulic pump to draw oil through the right position of the first electromagnetic reversing valve into the rod chamber of the pile lifting cylinder. The hydraulic oil in the rodless chamber of the pile lifting cylinder returns to the oil tank through the right position of the first hydraulic control check valve and the first electromagnetic reversing valve. The piston rod of the pile lifting cylinder retracts, driving the pile lifting double-row pulleys to descend to the initial lower position. Turn the pile lifting control knob to the stop position. The first electromagnet DT1 and the second electromagnet DT2 are both de-energized. The first electromagnetic reversing valve resets to the middle position. The pile lifting cylinder stops working and completes the loosening and untying of the pipe pile.

[0016] It should be noted that: The aforementioned "first, second..." does not represent a specific quantity or order, but is merely used to distinguish the names.

[0017] In the description of this invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use, or the orientation or positional relationship in which those skilled in the art would usually understand. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] The aforementioned "input end of the first check valve" refers to the end that faces the hydraulic pump.

[0019] The aforementioned "pile to be clamped" can be a steel pipe pile, a sheet pile, or other precast piles. The present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0020] The advantages or principles of the present invention are explained below: 1. The vibratory hammer pile lifting system and its pile lifting and clamping control method for engineering machinery provided by this invention, based on the needs of intelligent construction in modern engineering projects and the applicant's prior research and development achievements, further adopts a combination of hardware and software and collaborative improvement methods to make its control method adopt data-driven, digital intelligent control. It uses proximity sensors to obtain the alignment proximity signal between the pipe pile and the pile clamper, uses pressure sensors to obtain the clamping signal of the pile clamper on the pile body, and uses electromagnetic reversing valves to execute the clamping cylinder to clamp the pile body, thereby realizing intelligent control and simultaneously improving the construction safety and construction efficiency of vibratory hammer pile lifting and clamping.

[0021] 2. The vibratory hammer pile lifting system for engineering machinery provided by this invention includes a control unit, an execution unit, and a signal sensing unit mounted on the main platform of the engineering machinery; the engineering machinery includes, but is not limited to, one of a vibratory pile driver, a vibratory pipe pile driver, a boom-type pipe pile driver, or a vibratory sheet pile driver; the control unit includes a digital integrated controller; the execution unit includes a crane, a hydraulic control device, a vibratory hammer, and two pile lifting devices; the hydraulic control device includes a motor, a hydraulic pump, an oil tank, two first hydraulically controlled check valves, two second hydraulically controlled check valves, a first electromagnetic directional valve, and a second electromagnetic directional valve; the signal sensing unit includes a proximity sensor and a pressure sensor. First, position the construction machinery, moving the machinery equipped with the vibratory hammer pile lifting system to the construction area. Then, power on the vibratory hammer pile lifting system, initialize system parameters, and turn the pile lifting control knob and the pile clamping control knob to the stop position, inputting the pile clamping pressure threshold. Next, connect the pile lifting rope of the pile lifting device to the lifting lug on the pile head to be clamped, and use a crane to lift the vibratory hammer and the pile, thus verticalizing the pile. This solves the problem of horizontally stored piles being difficult to clamp from the side and verticalize. Then, turn the pile lifting control knob to the lifting position, and the controller uses the first electromagnetic reversing valve to control the pile lifting cylinder of the pile lifting device. The piston rod extends upward, causing the double-row pulleys of the pile lifting mechanism to rise. This, in turn, causes the lifting rope wound around the double-row pulleys to lift the pipe pile, raising the pile head into the pile clamp. The vibratory hammer's pile clamp is then aligned with the pipe pile to be clamped, lifting and clamping it. This solves the problem that, due to the high height of the erected pipe pile, it is difficult for construction personnel to observe and operate from the ground to align and clamp the pile. When the proximity sensor detects the proximity signal of the pipe pile head in real time, the proximity sensor sends the proximity signal to the controller. When the controller receives the proximity signal, it uses the first electromagnetic reversing valve to control the hydraulic pump to stop supplying oil to the pile lifting cylinder. The hydraulic cylinder is locked under the action of the first hydraulic check valve to prevent the pile from falling. This allows the lifting ropes of the two lifting devices installed on both sides of the outer vibration damping frame to lift and stabilize the pile head within the clamp. Then, the controller uses the second electromagnetic reversing valve to control the clamping cylinder to push the piston rod out, and the clamping cylinder pushes the clamp to clamp the pile. At the same time, the pressure sensor detects the clamping pressure signal of the clamping cylinder in real time and obtains the clamping signal of the clamp on the pile. When the value of the clamping pressure signal is greater than the clamping pressure threshold, the pressure sensor sends a pile clamping signal to the digital integrated controller, thus completing the control of lifting and clamping the pile.This control method utilizes the lifting rope of the pile lifting device to vertically erect the pipe pile to be clamped. It can align and clamp the vibratory hammer's clamping device with the pipe pile. This vibratory hammer pile lifting system uses the lifting rope of the pile lifting device to vertically erect pipe piles stored horizontally on the ground. It can also align and clamp the vibratory hammer's clamping device with the pipe pile. A proximity sensor obtains the real-time alignment signal between the pipe pile and the clamping device, and a pressure sensor obtains the clamping signal of the clamping device on the pile body. An electromagnetic reversing valve executes the clamping cylinder to clamp the pile body. This facilitates operation for workers, reduces their workload, makes pile driving more intelligent, and improves the safety and efficiency of vibratory hammer pile lifting and clamping.

[0022] 3. The pile lifting device designed in this invention includes a pile lifting frame, a pile lifting cylinder, a guide rail, a double-row pile lifting pulley, and two pile lifting ropes. In use, the pile lifting ropes are connected to the lifting lugs on the pile head to be clamped, and a crane is used to lift the vibratory hammer and the pile, thus vertically erecting the pile. This solves the problem that it is difficult to clamp horizontally stored piles from the side and erect them vertically. Then, an electromagnetic reversing valve controls the piston rod of the pile lifting cylinder to extend upwards, thereby driving the double-row pile lifting pulleys to rise. This causes the pile lifting ropes wound around the double-row pulleys to lift the pile, raising the pile head into the clamp. The vibratory hammer's clamp is then aligned with the pile to be clamped and lifted and clamped. This solves the problem that, due to the high height of the erected pile, it is difficult for construction personnel to observe and operate from the ground to align and clamp the clamp.

[0023] 4. The pile lifting device of the present invention also includes two spiral buckles and two shackles. The shackles are provided at the lifting end of the pile lifting rope to facilitate connection with the lifting lug of the pipe pile to be clamped.

[0024] 5. The vibration gearbox of the present invention includes a gearbox body and two hydraulic motors, which are used to generate excitation force for pile driving and pulling.

[0025] 6. The hydraulic control device of the present invention also includes an overflow valve, which is used to control the overflow of high-pressure oil to ensure that the pile clamping device can clamp the pipe pile tightly without damaging it.

[0026] 7. The hydraulic control device of the present invention also includes an oil suction filter, which is used to filter impurities in the hydraulic oil entering the pile lifting cylinder, the pile clamping cylinder and the hydraulic motor from the oil tank, thereby improving the service life of the pile lifting cylinder, the pile clamping cylinder and the hydraulic motor.

[0027] 8. This invention also provides a method for controlling the lifting and clamping of piles using a vibratory hammer in engineering machinery. The engineering machinery includes, but is not limited to, a vibratory pile driver, a vibratory pipe pile driver, a boom-type pipe pile driver, or a vibratory sheet pile driver. The control method first positions the engineering machinery, moving it to the construction area equipped with a crane and a vibratory hammer lifting system. Then, the vibratory hammer lifting system is powered on, system parameters are initialized, and the lifting control knob and clamping control knob are turned to the stop position, with the clamping pressure threshold input. Next, the lifting rope of the lifting device is connected to the lifting lug on the pile head to be clamped, and the crane is used to lift the vibratory hammer and the pipe pile, thus vertically erecting the pipe pile to be clamped. This solves the problem that it is difficult to clamp horizontally stored pipe piles from the side and erect them vertically. Finally, the lifting control knob is turned to the lifting position, and the digital integrated controller uses a first electromagnetic reversing valve to control the lifting. The piston rod of the lifting cylinder of the pile lifting device extends upward, thereby driving the double-row lifting pulleys to rise. This causes the lifting rope wrapped around the double-row lifting pulleys to lift the pipe pile, raising the pile head into the pile clamp. The vibratory hammer's pile clamp is then aligned with the pipe pile to be clamped, lifting and clamping it. This solves the problem that, due to the high height of the erected pipe pile, it is difficult for construction personnel to observe and operate from the ground to align and clamp the pile. When the proximity sensor detects the proximity signal of the pipe pile head in real time, the proximity sensor sends the proximity signal to the digital integrated controller. When the digital integrated controller receives the proximity signal, it uses the first electrical... The magnetic directional valve controls the hydraulic pump to stop supplying oil to the pile lifting cylinder. Under the action of the first hydraulically controlled check valve, the pile lifting cylinder is locked, ensuring the pile does not fall. This allows the lifting ropes of the two pile lifting devices installed on both sides of the outer vibration damping frame to lift and stabilize the pipe pile head within the clamp. Then, the digital integrated controller uses the second electromagnetic directional valve to control the clamping cylinder to push the piston rod out, causing the clamping cylinder to push the clamp to tighten the pipe pile. Simultaneously, the pressure sensor detects the clamping pressure signal of the clamping cylinder in real time and obtains the clamping signal of the clamp on the pile. When the value of the clamping pressure signal exceeds the clamping pressure threshold, the digital integrated controller controls the high-pressure oil overflow through the relief valve. This method ensures that the pile clamping device can clamp the pipe pile tightly without damaging it, thus controlling the lifting and clamping of the pipe pile to be clamped. The control method uses the lifting rope of the pile lifting device to vertically erect the pipe pile to be clamped, aligning the pile clamping device of the vibratory hammer with the pipe pile and lifting and clamping it. It employs data-driven, digital control, using proximity sensors to obtain the alignment signal between the pipe pile and the pile clamping device, and pressure sensors to obtain the clamping signal of the pile clamping device on the pile body. An electromagnetic reversing valve is used to execute the clamping cylinder's clamping of the pile body. This facilitates operation for workers, reduces their workload, makes pile driving operations more intelligent, and improves the construction safety and efficiency of vibratory hammer pile lifting and clamping.

[0028] 9. The hydraulic control device of the present invention also includes two solenoid valves, and the vibration gearbox includes two hydraulic motors. When the digital integrated controller receives the pile clamping signal, it turns the pile driving control knob to the rotary position. The digital integrated controller uses the solenoid valves to execute the hydraulic motors to generate excitation force for pile driving, thereby realizing automatic pile driving control, which is convenient for operators, reduces the workload of operators, and makes the pile driving operation more intelligent.

[0029] 10. Further, in the control method of the present invention, after the pile driving work is completed, the pile clamping control knob is turned to the loosening position. The digital integrated controller uses the second electromagnetic reversing valve to control the piston rod of the pile clamping cylinder to retract, releasing the pile head of the pipe pile and stopping the operation of the pile clamping cylinder. Then, the pile lifting rope of the pile lifting device is released from the lifting lug on the pile head of the pipe pile, and the vibratory hammer is lifted by the crane, so that the pile clamp of the vibratory hammer is released from the clamp of the pile head of the pipe pile. Then, the pile lifting control knob is turned to the lowering position. The digital integrated controller uses the first electromagnetic reversing valve to control the piston rod of the pile lifting cylinder to retract, driving the double-row pile lifting pulley to descend to the initial lower position, completing the loosening and unbinding work of the pipe pile. This makes the loosening operation more intelligent and improves the safety and construction efficiency of the vibratory hammer pile loosening construction. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of the vibratory hammer pile lifting system according to an embodiment of the present invention.

[0031] Figure 2 This is an exploded structural diagram of the vibratory hammer pile lifting system according to an embodiment of the present invention.

[0032] Figure 3 This is a side view of the vibratory hammer pile lifting system according to an embodiment of the present invention.

[0033] Figure 4 This is a side view of the pile lifting device according to an embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram illustrating the composition and principle of the hydraulic control device according to an embodiment of the present invention.

[0035] Figure 6 This is a flowchart illustrating the control method for lifting and clamping piles using a vibratory hammer in engineering machinery according to an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures: 10. Vibratory hammer; 11. External vibration damping frame; 12. Vibratory gearbox; 121. Gearbox body; 122. Hydraulic motor; 13. Pile clamp; 131. Pile clamping cylinder; 132. Clamp; 20. Pile lifting device; 21. Pile lifting cylinder; 22. Pile lifting frame body; 221. Guide hole; 23. Guide rail; 24. Double row of pile lifting pulleys; 25. Pile lifting rope; 26. Spiral buckle; 27. Shackle; 31. Motor; 32. Hydraulic pump; 33. Oil tank; 34. First hydraulic control check valve; 35. Second hydraulic control check valve; 36. First solenoid directional valve; 37. Second solenoid directional valve; 38. First check valve; 39. Solenoid valve; 40. Overflow valve; 41. Oil suction filter; 50. Pipe pile; 51. Lifting lug. Detailed Implementation

[0037] The embodiments of the present invention will be described in detail below.

[0038] See Figures 1 to 6 The vibratory hammer pile lifting system for construction machinery provided in this embodiment of the invention includes a control unit, an execution unit, and a signal sensing unit mounted on the main platform of the construction machinery. The control unit includes a digital integrated controller. The execution unit includes a crane, a hydraulic control device, a vibratory hammer 10, and two pile lifting devices 20. The crane includes a boom and a lifting rope. The boom and the digital integrated controller are respectively mounted on the main platform. The upper end of the vibratory hammer 10 is connected to the boom via the lifting rope. The vibratory hammer 10 includes an outer vibration damping frame 11, a vibration gearbox 12, and a pile clamp 13. The pile clamp 13 includes two pile clamping cylinders 131 and two clamps 132. The vibration gearbox 12 is mounted below the outer vibration damping frame 11. The two clamps 132 are respectively connected to the two pile clamps. The hydraulic cylinder 131 is installed below the vibration gearbox 12. The pile lifting device 20 includes a pile lifting frame 22, a pile lifting cylinder 21, a pile lifting double-row pulley 24, and two pile lifting ropes 25. The two pile lifting cylinders 21 are installed on both sides of the outer vibration damping frame 11 through the two pile lifting frames 22. The pile lifting double-row pulley 24 is installed on the upper end of the piston rod of the pile lifting cylinder 21 and is vertically slidably connected to the pile lifting frame 22. The pile lifting rope 25 includes a fixed end and a lifting end. The fixed ends of the two pile lifting ropes 25 are respectively fixedly connected to the pile lifting frame 22 and are respectively located on two opposite sides of the pile lifting cylinder 21. The lifting ends of the two pile lifting ropes 25 pass around the pile lifting double-row pulley 24, and the two pile lifting ropes 25 are wound in opposite directions on the pile lifting double-row pulley 24. The hydraulic control device includes a motor 31, a hydraulic pump 32, an oil tank 33, two first hydraulic check valves 34, two second hydraulic check valves 35, a first solenoid directional valve 36, and a second solenoid directional valve 37. The motor 31 is driven and connected to the hydraulic pump 32. The pile lifting cylinder 21 is connected to the first solenoid directional valve 36 through the first hydraulic check valve 34. The pile clamping cylinder 131 is connected to the second solenoid directional valve 37 through the second hydraulic check valve 35. The first solenoid directional valve 36 and the second solenoid directional valve 37 are connected to the oil tank 33 through the hydraulic pump 32. The signal sensing unit includes a proximity sensor and a pressure sensor, which are respectively mounted on the pile clamp 13. The proximity sensor, pressure sensor, and hydraulic control device are electrically connected to the digital integrated controller.

[0039] In use, first position the construction machinery and move the machinery equipped with the vibratory hammer pile lifting system to the construction area; then power on the vibratory hammer pile lifting system, initialize the system parameters, turn the pile lifting control knob and the pile clamping control knob to the stop position respectively, and input the pile clamping pressure threshold; next, connect the pile lifting rope 25 of the pile lifting device 20 to the lifting lug 51 on the pile head of the pipe pile 50 to be clamped, and use a crane to lift the vibratory hammer 10 and the pipe pile 50, so that the pipe pile 50 to be clamped is upright; this solves the problem that it is difficult to clamp the pipe pile 50 stored horizontally on the ground from the side and stand it upright; then turn the pile lifting control knob to the pile lifting position, and the controller uses the first electromagnetic reversing valve 36 to control the piston rod of the pile lifting cylinder 21 of the pile lifting device 20 to extend upward. This causes the double-row pulleys 24 to rise, which in turn causes the lifting rope 25 wound around the double-row pulleys 24 to lift the pipe pile 50, raising the pile head of the pipe pile 50 into the pile clamp 13. The pile clamp 13 of the vibratory hammer 10 is then aligned with the pipe pile 50 to be clamped and lifted and clamped. This solves the problem that, due to the high height of the erected pipe pile 50, it is difficult for construction personnel to observe and operate from the ground to align and clamp the pile clamp 13 with the pipe pile 50. When the proximity sensor detects the proximity signal of the pile head of the pipe pile 50 in real time, the proximity sensor sends the proximity signal to the controller. When the controller receives the proximity signal, it uses the first electromagnetic reversing valve 36 to control the hydraulic pump 32 to stop supplying oil to the lifting cylinder 21. Under the action of the hydraulic check valve 34, the pile body is locked, ensuring that it will not fall. This allows the lifting ropes 25 of the two pile lifters 20 installed on both sides of the outer vibration damping frame 11 to lift and stabilize the pile head of the pipe pile 50 within the pile clamp 13. Then, the controller uses the second electromagnetic reversing valve 37 to control the pile clamping cylinder 131 to push the piston rod out, and the pile clamping cylinder 131 pushes the clamp 132 to clamp the pipe pile 50. Simultaneously, the pressure sensor detects the clamping pressure signal of the pile clamping cylinder 131 in real time and obtains the clamping signal of the pile clamp 13 on the pile body. When the value of the clamping pressure signal is greater than the clamping pressure threshold, the pressure sensor sends a pipe pile clamping signal to the digital integrated controller, thus completing the control of lifting and clamping the pipe pile 50. This control method utilizes the pile lifter 20... The lifting rope 25 of the vibratory hammer 10 vertically elevates the pipe pile 50 to be clamped, aligning and clamping the pile clamp 13 of the vibratory hammer 10 with the pipe pile 50. This vibratory hammer lifting system uses the lifting rope 25 of the lifting device 20 to vertically elevate the pipe pile 50 stored horizontally on the ground, and can also align and clamp the pile clamp 13 of the vibratory hammer 10 with the pipe pile 50. The proximity sensor obtains the alignment proximity signal between the pipe pile 50 and the pile clamp 13 in real time, and the pressure sensor obtains the clamping signal of the pile clamp 13 on the pile body. The electromagnetic reversing valve executes the clamping cylinder 131 to clamp the pile body, which facilitates the operation of the staff, reduces the workload of the staff, makes the pile driving operation more intelligent, and improves the construction safety and efficiency of the vibratory hammer 10 in lifting and clamping the pile.

[0040] Among them, the first electromagnetic directional valve 36 and the second electromagnetic directional valve 37 are three-position four-way electromagnetic directional valves.

[0041] The double-row pulley system for lifting piles 24 includes a first pulley and a second pulley, with two lifting ropes 25 wound around the first pulley and the second pulley respectively.

[0042] The pile lifting device 20 also includes a guide rail 23, two spiral buckles 26, and two shackles 27. The double-row pile lifting pulleys 24 are vertically slidably connected to the pile lifting frame 22 through the guide rail 23. When using the pile lifting device 20, the lifting rope 25 is connected to the lifting lug 51 on the pile head of the pipe pile 50 to be clamped, and the vibratory hammer 10 and the pipe pile 50 are lifted by the crane, so that the pipe pile 50 to be clamped is erected vertically. This solves the problem that it is difficult to clamp the pipe pile 50, which is stored horizontally on the ground, from the side and erect it vertically. Then, the piston rod of the lifting cylinder 21 is controlled to extend upward by the electromagnetic reversing valve, which drives the double-row lifting pulley 24 to rise. This causes the lifting rope 25 wrapped around the double-row lifting pulley 24 to lift the pipe pile 50 and lift the pile head of the pipe pile 50 into the pile clamp 13. The pile clamp 13 of the vibratory hammer 10 is aligned with the pipe pile 50 to be clamped and lifted and clamped. This solves the problem that it is difficult for construction personnel to observe and operate the pile clamp 13 to align and clamp the pipe pile 50 from the ground because the erected pipe pile 50 is at a high height.

[0043] Furthermore, the fixed end of the lifting rope 25 is fixedly connected to the lifting frame 22 via a spiral buckle 26. The lower end of the lifting frame 22 is provided with two guide holes 221, and the lifting ends of the two lifting ropes 25 pass through the two guide holes 221 and are connected to two shackles 27 respectively. Shackles 27 are provided at the lifting ends of the lifting ropes 25 to facilitate connection with the lifting lugs 51 of the pipe pile 50 to be clamped.

[0044] The vibration gearbox 12 includes a gearbox body 121 and two hydraulic motors 122, which are respectively mounted on both sides of the gearbox body 121. The hydraulic control device also includes a first check valve 38 and two solenoid valves 39. Each hydraulic motor 122 is connected to each solenoid valve 39. The first solenoid directional valve 36, the second solenoid directional valve 37, and the solenoid valves 39 are connected to the hydraulic pump 32 through the first check valve 38. The two hydraulic motors 122 are used to generate excitation force for pile driving and extraction.

[0045] The hydraulic control device also includes a relief valve 40 and a suction filter 41. The relief valve 40 is connected to the input end of the first check valve 38. The relief valve 40 is used to control the overflow of high-pressure oil to ensure that the pile clamp 13 clamps the pipe pile 50 tightly without damaging it.

[0046] The hydraulic pump 32 is connected to the oil tank 33 through the suction filter 41. The suction filter 41 is used to filter impurities in the hydraulic oil entering the pile lifting cylinder 21, the pile clamping cylinder 131 and the hydraulic motor 122 from the oil tank 33, thereby improving the service life of the pile lifting cylinder 21, the pile clamping cylinder 131 and the hydraulic motor 122.

[0047] This invention also provides a method for controlling the lifting and clamping of piles using a vibratory hammer in engineering machinery, comprising the following steps: (1) Position the construction machinery and move the construction machinery equipped with the vibratory hammer pile lifting system to the construction area; (2) Power on the vibratory hammer pile lifting system and initialize the parameters of the vibratory hammer pile lifting system. Turn the pile lifting control knob and the pile clamping control knob to the stop position respectively. The digital integrated controller controls the first electromagnetic reversing valve 36 and the second electromagnetic reversing valve 37 to de-energize. The first electromagnetic reversing valve 36 and the second electromagnetic reversing valve 37 are in the neutral position. The motor 31 drives the hydraulic pump 32 to suck oil back to the oil tank 33 to unload. Input the pile clamping pressure threshold. (3) Connect the lifting rope 25 of the pile lifting device 20 to the lifting lug 51 on the pile head of the pipe pile 50 to be clamped, and use a crane to lift the vibratory hammer 10 and the pipe pile 50. (4) Turn the pile lifting control knob to the pile lifting position. The digital integrated controller controls the first solenoid DT1 of the first solenoid directional valve 36 to be energized and the second solenoid DT2 to be de-energized. The first solenoid directional valve 36 switches to the left position. The motor 31 drives the hydraulic pump 32 to draw oil through the left position of the first solenoid directional valve 36 and the first hydraulic control check valve 34 into the rodless chamber of the pile lifting cylinder 21. The hydraulic oil in the rod chamber of the pile lifting cylinder 21 returns to the oil tank 33 through the first solenoid directional valve 36. The piston rod of the pile lifting cylinder 21 extends upward, thereby driving the pile lifting double row pulley 24 to rise, so that the double row pulley 24 is wound around the pile lifting double row pulley. The lifting rope 25 on wheel 24 drives the pipe pile 50 to rise and lifts the pile head of the pipe pile 50 into the pile clamp 13. When the proximity sensor detects the proximity signal of the pile head of the pipe pile 50 in real time, the proximity sensor sends the proximity signal to the digital integrated controller. When the digital integrated controller receives the proximity signal, the digital integrated controller controls the first electromagnet DT1 of the first electromagnetic reversing valve 36 to de-energize. The first electromagnetic reversing valve 36 is reset to the neutral position, and the hydraulic pump 32 no longer supplies oil to the lifting cylinder 21. The lifting cylinder 21 is locked under the action of the first hydraulic control check valve 34 to ensure that the pile body will not fall. (5) The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic directional valve 37 to be energized and the fourth electromagnet DT4 to be de-energized. The second electromagnetic directional valve 37 switches to the left position. The motor 31 drives the hydraulic pump 32 to draw oil through the left position of the second electromagnetic directional valve 37, and then through the two second hydraulic control check valves 35 to enter the rodless chamber of the two pile clamping cylinders 131. The hydraulic oil in the rod chamber of the two pile clamping cylinders 131 returns to the oil tank 33 through the second electromagnetic directional valve 37. The piston rod of the two pile clamping cylinders 131 extends to clamp the pile head of the pipe pile 50. At the same time, the pressure sensor detects the pile clamping pressure signal of the pile clamping cylinder 131 in real time and sends the pile clamping pressure signal to the digital integrated controller in real time. When the value of the pile clamping pressure signal is greater than the pile clamping pressure threshold, the pressure sensor sends the pipe pile 50 clamping signal to the digital integrated controller. The control of lifting and clamping the pipe pile 50 to be clamped is completed.

[0048] The construction machinery includes, but is not limited to, one of the following: vibratory pile driver, vibratory tube pile driver, boom-type tube pile driver, or vibratory sheet pile driver.The control method first positions the construction machinery, moving it to the construction area equipped with a crane and vibratory hammer pile lifting system. Then, it powers on the vibratory hammer pile lifting system, initializes system parameters, and sets the pile lifting control knob and pile clamping control knob to the stop position, inputting the pile clamping pressure threshold. Next, it connects the pile lifting rope 25 of the pile lifting device 20 to the lifting lug 51 on the pile head of the pipe pile 50 to be clamped, and uses the crane to lift the vibratory hammer 10 and the pipe pile 50, thus vertically erecting the pipe pile 50. This solves the problem of horizontally stored pipe piles 50 being difficult to clamp from the side and erect vertically. Finally, the pile lifting control knob is turned to the pile lifting position, and the digital integrated controller uses the first electromagnetic reversing valve 36 to control the pile lifting cylinder 21 of the pile lifting device 20. The piston rod extends upward, thereby driving the double-row pulley 24 of the pile lifting mechanism to rise. This causes the pile lifting rope 25, which is wound around the double-row pulley 24, to lift the pipe pile 50 and raise the pile head of the pipe pile 50 into the pile clamp 13. The pile clamp 13 of the vibratory hammer 10 is aligned with the pipe pile 50 to be clamped and lifted and clamped. This solves the problem that it is difficult for construction personnel to observe and operate the pile clamp 13 to align and clamp the pipe pile 50 from the ground due to the high height of the erected pipe pile 50. When the proximity sensor detects the proximity signal of the pile head of the pipe pile 50 in real time, the proximity sensor sends the proximity signal to the digital integrated controller. When the digital integrated controller receives the proximity signal, it uses the first electromagnetic reversing valve 36 to control the hydraulic pump 3. 2. Oil supply to the lifting cylinder 21 is stopped. Under the action of the first hydraulic check valve 34, the lifting cylinder 21 is locked to ensure that the pile body will not fall. The lifting ropes 25 of the two lifting devices 20 installed on both sides of the outer vibration damping frame 11 pull the pile head of the pipe pile 50 and stabilize it in the clamping device 13. Then, the digital integrated controller uses the second electromagnetic reversing valve 37 to control the clamping cylinder 131 to push the piston rod to extend. The clamping cylinder 131 pushes the clamp 132 to clamp the pipe pile 50. At the same time, the pressure sensor detects the clamping pressure signal of the clamping cylinder 131 in real time and obtains the clamping signal of the clamping device 13 on the pile body. When the value of the clamping pressure signal is greater than the clamping pressure threshold, the digital integrated controller controls the high-pressure oil overflow through the overflow valve 40 to ensure that the pile body is not dropped. The pile clamping device 13 clamps the pipe pile 50 without damaging it, thus controlling the lifting and clamping of the pipe pile 50. This control method uses the lifting rope 25 of the pile lifter 20 to vertically erect the pipe pile 50, aligning the pile clamping device 13 of the vibratory hammer 10 with the pipe pile 50 and lifting and clamping it. It adopts data-driven and digital control, using a proximity sensor to obtain the alignment and proximity signal between the pipe pile 50 and the pile clamping device 13, and a pressure sensor to obtain the clamping signal of the pile clamping device 13 on the pile body. The electromagnetic reversing valve is used to execute the clamping cylinder 131 to clamp the pile body, which facilitates the operation of the staff, reduces the workload of the staff, realizes intelligent pile driving operation, and simultaneously improves the construction safety and construction efficiency of the vibratory hammer 10 in lifting and clamping the pile.

[0049] Furthermore, the hydraulic control device also includes two solenoid valves 39, and the vibration gearbox 12 includes two hydraulic motors 122. The control method of the present invention also includes the following steps: (6) When the digital integrated controller receives the clamping signal of the pipe pile 50, it turns the pile driving control knob to the rotary position. The digital integrated controller controls the two solenoid valves 39 to be energized, the motor 31 drives the hydraulic pump 32 to draw oil, and the high pressure oil enters the hydraulic motor 122 through the solenoid valve 39. The two hydraulic motors 122 start to work and drive the vibratory hammer 10 to carry out the pile driving work.

[0050] The control method of the present invention, when the digital integrated controller receives the clamping signal of the pipe pile 50, turns the pile driving control knob to the rotary position, and the digital integrated controller uses the solenoid valve 39 to execute the hydraulic motor 122 to generate excitation force for pile driving, thereby realizing automatic pile driving control, which is convenient for operators, reduces the workload of operators, and makes the pile driving operation intelligent.

[0051] Furthermore, the control method of the present invention also includes the following steps: (7) After the pile driving work is completed, turn the pile clamping control knob to the loose pile position. The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic reversing valve 37 to be de-energized and the fourth electromagnet DT4 to be energized. The second electromagnetic reversing valve 37 switches to the right position. The motor 31 drives the hydraulic pump 32 to draw oil through the right position of the second electromagnetic reversing valve 37 and then enters the rod chamber of the two pile clamping cylinders 131 respectively. The hydraulic oil in the rodless chamber of the pile clamping cylinder 131 returns to the oil tank 33 through the second hydraulic control check valve 35 and the right position of the second electromagnetic reversing valve 37. The piston rod of the pile clamping cylinder 131 retracts and releases the pile head of the pipe pile 50. Turn the pile clamping control knob to the stop position. The third electromagnet DT3 and the fourth electromagnet DT4 are de-energized. The second electromagnetic reversing valve 37 is reset to the middle position and the pile clamping cylinder 131 stops working. (8) Loosen the lifting rope 25 from the lifting lug 51 on the pile head of the pipe pile 50 to be clamped; use a crane to lift the vibratory hammer 10; (9) Turn the pile lifting control knob to the pile lowering position. The first electromagnet DT1 is de-energized and the second electromagnet DT2 is energized. The first electromagnetic reversing valve 36 is switched to the right position. The motor 31 drives the hydraulic pump 32 to draw oil through the right position of the first electromagnetic reversing valve 36 into the rod chamber of the pile lifting cylinder 21. The hydraulic oil in the rodless chamber of the pile lifting cylinder 21 returns to the oil tank 33 through the first hydraulic control check valve 34 and the right position of the first electromagnetic reversing valve 36. The piston rod of the pile lifting cylinder 21 retracts, driving the pile lifting double-row pulley 24 to descend to the initial lower position. Turn the pile lifting control knob to the stop position. The first electromagnet DT1 and the second electromagnet DT2 are both de-energized. The first electromagnetic reversing valve 36 is reset to the middle position. The pile lifting cylinder 21 stops working and completes the loosening and untying of the pipe pile 50.

[0052] In this embodiment of the invention, after the pile driving work is completed, the pile clamping control knob is turned to the loosening position. The digital integrated controller uses the second electromagnetic reversing valve 37 to control the piston rod of the pile clamping cylinder 131 to retract, releasing the pile head of the pipe pile 50 and stopping the operation of the pile clamping cylinder 131. Then, the pile lifting rope 25 of the pile lifting device 20 is released from the lifting lug 51 clamping the pile head of the pipe pile 50, and the vibratory hammer 10 is lifted by the crane, so that the pile clamping device 13 of the vibratory hammer 10 is released from the clamping of the pile head of the pipe pile 50. Then, the pile lifting control knob is turned to the pile lowering position. The digital integrated controller uses the first electromagnetic reversing valve 36 to control the piston rod of the pile lifting cylinder 21 to retract, driving the double-row pile lifting pulley 24 to descend to the initial lower position, completing the loosening and unbinding work of the pipe pile 50. This makes the loosening operation intelligent and can simultaneously improve the safety and construction efficiency of the vibratory hammer 10 pile loosening construction.

[0053] The technical solution provided by the above embodiments of the present invention integrates and innovatively designs knowledge from multiple disciplines such as mechanical design, electronic engineering, software programming, and materials science. The prototype of this invention has undergone actual testing in a secure environment, continuously collecting on-site feedback data to iteratively upgrade the control system and optimize the structural design multiple times. This has improved equipment performance and user satisfaction, enabling it to better balance automation and intelligent control, precise control, structural strength, construction efficiency, and safety protection, thereby enhancing equipment performance and ease of operation and better meeting the needs of modern engineering construction.

[0054] The above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention; any substitutions and improvements made without departing from the concept of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for controlling the pile clamping of a vibratory hammer in engineering machinery employing a vibratory hammer pile lifting system, characterized in that, The vibratory hammer pile lifting system includes a control unit, an execution unit, and a signal sensing unit mounted on the main platform of the construction machinery. The control unit includes a digital integrated controller. The execution unit includes a crane, a hydraulic control device, a vibratory hammer, and two pile lifting devices. The crane includes a boom and a lifting rope. The boom and the digital integrated controller are respectively mounted on the main platform. The upper end of the vibratory hammer is connected to the boom via the lifting rope. The vibratory hammer includes an external vibration damping frame, a vibration gearbox, and a pile clamp. The pile clamp includes two pile clamping cylinders and two clamps. The vibration gearbox is mounted below the external vibration damping frame. The two clamps are connected via two pile clamping cylinders. The cylinder is installed below the vibration gearbox. The pile lifting device includes a pile lifting frame, a pile lifting cylinder, a pile lifting double-row pulley, and two pile lifting ropes. The two pile lifting cylinders are installed on both sides of the outer vibration damping frame through the two pile lifting frames. The pile lifting double-row pulleys are installed on the upper end of the piston rod of the pile lifting cylinder and are vertically slidably connected to the pile lifting frame. The pile lifting ropes include a fixed end and a lifting end. The fixed ends of the two pile lifting ropes are respectively fixedly connected to the pile lifting frame and are located on opposite sides of the pile lifting cylinder. The lifting ends of the two pile lifting ropes pass around the pile lifting double-row pulleys, and the two pile lifting ropes are wound in opposite directions on the pile lifting double-row pulleys. The hydraulic control device includes a motor, a hydraulic pump, an oil tank, two first hydraulic check valves, two second hydraulic check valves, a first solenoid directional valve, and a second solenoid directional valve. The motor is driven and connected to the hydraulic pump. The pile lifting cylinder is connected to the first solenoid directional valve through the first hydraulic check valve. The pile clamping cylinder is connected to the second solenoid directional valve through the second hydraulic check valve. The first solenoid directional valve and the second solenoid directional valve are connected to the oil tank through the hydraulic pump. The signal sensing unit includes a proximity sensor and a pressure sensor, which are respectively mounted on the pile clamp. The proximity sensor, pressure sensor, and hydraulic control device are electrically connected to the digital integrated controller. The pile lifting device also includes a guide rail, and the double-row pile lifting pulleys are vertically slidably connected to the pile lifting frame through the guide rail; The pile lifting device also includes two spiral buckles and two shackles. The fixed end of the pile lifting rope is fixedly connected to the pile lifting frame through the spiral buckles. The lower end of the pile lifting frame is provided with two guide holes. The lifting ends of the two pile lifting ropes pass through the two guide holes and are connected to the two shackles respectively. The vibration gearbox includes a gearbox body and two hydraulic motors. The two hydraulic motors are respectively installed on both sides of the gearbox body. The hydraulic control device also includes a first check valve and two solenoid valves. Each hydraulic motor is connected to each solenoid valve. The first solenoid directional valve, the second solenoid directional valve, and the solenoid valves are connected to the hydraulic pump through the first check valve. The hydraulic control device also includes a relief valve, which is connected to the input end of the first check valve; The hydraulic control device also includes an oil suction filter, and the hydraulic pump is connected to the oil tank through the oil suction filter; The aforementioned vibratory hammer pile lifting and clamping control method includes the following steps: (1) Position the construction machinery and move the construction machinery equipped with the vibratory hammer pile lifting system to the construction area; (2) Power on the vibratory hammer pile lifting system and initialize the parameters of the vibratory hammer pile lifting system. Turn the pile lifting control knob and the pile clamping control knob to the stop position respectively. The digital integrated controller controls the first electromagnetic reversing valve and the second electromagnetic reversing valve to de-energize. The first electromagnetic reversing valve and the second electromagnetic reversing valve are in the neutral position. The motor drives the hydraulic pump to suck oil back to the oil tank for unloading. Input the pile clamping pressure threshold. (3) Connect the lifting rope of the pile lifting device to the lifting lug on the pile head to be clamped, and use a crane to lift the vibratory hammer and the pipe pile; (4) Turn the pile lifting control knob to the pile lifting position. The digital integrated controller controls the first solenoid DT1 of the first solenoid directional valve to be energized and the second solenoid DT2 to be de-energized. The first solenoid directional valve switches to the left position. The motor drives the hydraulic pump to draw oil through the left position of the first solenoid directional valve and the first hydraulic control check valve into the rodless chamber of the pile lifting cylinder. The hydraulic oil in the rod chamber of the pile lifting cylinder returns to the oil tank through the first solenoid directional valve. The piston rod of the pile lifting cylinder extends upward, thereby driving the pile lifting double-row pulleys to rise, so that the double-row pulleys on the pile lifting cylinder... The lifting rope drives the pipe pile upward and lifts the pile head into the pile clamp. When the proximity sensor detects the proximity signal of the pile head in real time, the proximity sensor sends the proximity signal to the digital integrated controller. When the digital integrated controller receives the proximity signal, it controls the first solenoid DT1 of the first solenoid directional valve to de-energize, the first solenoid directional valve resets to the neutral position, the hydraulic pump stops supplying oil to the lifting cylinder, and the lifting cylinder is locked under the action of the first hydraulic check valve to ensure that the pile does not fall. (5) The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic directional valve to be energized and the fourth electromagnet DT4 to be de-energized. The second electromagnetic directional valve switches to the left position. The motor drives the hydraulic pump to draw oil through the left position of the second electromagnetic directional valve, and then through two second hydraulic control check valves to enter the rodless chambers of the two pile clamping cylinders. The hydraulic oil in the rod chambers of the two pile clamping cylinders returns to the oil tank through the second electromagnetic directional valve. The piston rods of the two pile clamping cylinders extend to clamp the pile head of the pipe pile. At the same time, the pressure sensor detects the pile clamping pressure signal of the pile clamping cylinder in real time and sends the pile clamping pressure signal to the digital integrated controller in real time. When the value of the pile clamping pressure signal is greater than the pile clamping pressure threshold, the pressure sensor sends the pipe pile clamping signal to the digital integrated controller. The control of lifting and clamping the pipe pile to be clamped is completed. (6) When the digital integrated controller receives the pile clamping signal, it turns the pile driving control knob to the rotary position. The digital integrated controller controls the two solenoid valves to be energized. The motor drives the hydraulic pump to draw oil. The high-pressure oil enters the hydraulic motor through the solenoid valve. The two hydraulic motors start working and drive the vibratory hammer to perform pile driving. (7) After the pile driving work is completed, turn the pile clamping control knob to the loose pile position. The digital integrated controller controls the third electromagnet DT3 of the second electromagnetic reversing valve to be de-energized and the fourth electromagnet DT4 to be energized. The second electromagnetic reversing valve switches to the right position. The motor drives the hydraulic pump to draw oil through the right position of the second electromagnetic reversing valve and then into the rod chambers of the two pile clamping cylinders. The hydraulic oil in the rodless chamber of the pile clamping cylinder returns to the oil tank through the second hydraulic control check valve and the right position of the second electromagnetic reversing valve. The piston rod of the pile clamping cylinder retracts and releases the pile head of the pipe pile. Turn the pile clamping control knob to the stop position. The third electromagnet DT3 and the fourth electromagnet DT4 are de-energized. The second electromagnetic reversing valve is reset to the middle position. The pile clamping cylinder stops working. (8) Loosen the lifting rope from the lifting lug on the pile head to be clamped; use the crane to lift the vibratory hammer; (9) Turn the pile lifting control knob to the pile lowering position. The first electromagnet DT1 is de-energized and the second electromagnet DT2 is energized. The first electromagnetic reversing valve switches to the right position. The motor drives the hydraulic pump to draw oil through the right position of the first electromagnetic reversing valve into the rod chamber of the pile lifting cylinder. The hydraulic oil in the rodless chamber of the pile lifting cylinder returns to the oil tank through the right position of the first hydraulic control check valve and the first electromagnetic reversing valve. The piston rod of the pile lifting cylinder retracts, driving the pile lifting double-row pulleys to descend to the initial lower position. Turn the pile lifting control knob to the stop position. The first electromagnet DT1 and the second electromagnet DT2 are both de-energized. The first electromagnetic reversing valve resets to the middle position. The pile lifting cylinder stops working and completes the loosening and untying of the pipe pile.

2. The pile lifting and placing control method of a vibratory hammer according to claim 1, characterized in that, The engineering machinery mentioned is any one of the following: vibratory pile driver, vibratory pipe pile driver, boom-type pipe pile driver, or vibratory sheet pile driver.

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