A pile driving and drilling control system, a control method and a lead-hole type pile driving machine

Abstract

The present invention discloses a pile driving and drilling control system, a control method and a lead-hole type pile driver, and relates to the technical field of pile driving and lead-hole automatic control. The pile driving and drilling control system includes a pile driving module, a drilling module and a switching module; the pile driving module includes a pile driving controller, a first pile driving component and a second pile driving component; the drilling module includes a drilling controller, a first drilling component and a second drilling component, and the switching module includes a first pressure sensor and a pile driving efficiency detection component; the pile driving and drilling control system provided by the present invention can realize the automation of the pile driving operation process and the drilling operation process, and in the actual operation process, continuous pile driving or continuous drilling can be realized, which effectively simplifies the operation steps of pile driving and drilling, and improves the efficiency of pile driving and drilling operations; in addition, the automated operation process avoids the operation of multiple people cooperating and reduces the technical requirements for operators.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology for pile driving and drilling, and more specifically, to a pile driving and drilling control system. Furthermore, the present invention relates to a control method for implementing the aforementioned pile driving and drilling control system, and a drilling pile driver including the aforementioned pile driving and drilling control system. Background Art

[0002] When using precast piles in complex strata such as hard barriers, thick sand layers, and quicksand, their poor penetration and the tendency for the piles to crack under impact have hindered their development. The innovative hole-guided static pile driving technology innovatively inserts the drill rod through the inner hole of the pile, drilling and extracting soil in front of the precast pile penetration surface to reduce the soil squeezing effect. Combining this drilling and static pile driving allows for easy insertion of piles, broadening the application scope of static pile drivers, reducing project costs, and achieving energy conservation and consumption reduction.

[0003] However, current jackhammer static pile drivers have three operating stations: one located in the jackhammer cab, responsible for slewing the cab, moving the power head, and hoisting; one in the static pile driver's cab, responsible for machine travel and pile driving; and one in the crane driver's cab, responsible for construction and lifting. Conventional operation requires three operators to coordinate manual operations, which is complex and requires high levels of coordination and concentration, resulting in low construction efficiency.

[0004] In summary, how to provide a pile driving and drilling control system that can effectively improve the efficiency of pile driving and drilling operations is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a pile driving and drilling control system that can realize the automation of the pile driving process and the drilling process, simplify the operating steps, and effectively improve the efficiency of the pile driving and drilling operations.

[0006] Another object of the present invention is to provide a control method applied to the above-mentioned pile driving and drilling control system and a lead-hole type pile driver including the above-mentioned pile driving and drilling control system.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A pile driving and drilling control system for controlling the action of a lead-hole pile driver, comprising a pile driving module, a drilling module and a switching module;

[0009] The pile pressing module comprises:

[0010] Pile driving controller;

[0011] A first pile driving assembly is used to obtain the depth of the pile being pressed in or the height of the pile being lifted, and to control the pressing in or lifting of the pile by the hole-driving pile driver;

[0012] A second pile-pressing assembly is used to control the pile clamping box to clamp or release the pipe pile;

[0013] The first pile driving component and the second pile driving component are both connected to the pile driving controller;

[0014] The drilling module comprises:

[0015] Drilling controller;

[0016] A first drilling assembly is used to obtain the rotation angle position of the upper vehicle device equipped with the drill rod and control the rotation of the upper vehicle device equipped with the drill rod;

[0017] The second drilling assembly is used to obtain the lowering depth or raising height of the drill rod and control the lifting and rotation of the drill rod;

[0018] The first drilling assembly and the second drilling assembly are both connected to the drilling controller.

[0019] Optionally, the first pile driving assembly includes:

[0020] The lifting mechanism is provided with a main pile-pressing oil cylinder for driving the pipe pile to be pressed in or lifted, and a first control valve for controlling the extension and retraction of the main pile-pressing oil cylinder;

[0021] A telescopic detection member, used to detect the telescopic distance of the main pile-pressing cylinder;

[0022] The lifting mechanism and the telescopic detection member are both connected to the pile driving controller;

[0023] The switching module includes:

[0024] A first pressure sensor is used to obtain the pressure exerted on the pile during the pile driving process;

[0025] A pile driving efficiency detection component is used to obtain the descending speed of the pipe pile during the pile driving process;

[0026] When the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, the pile driving and drilling control system is controlled to switch from the pile driving state to the drilling state.

[0027] Optionally, the second pile driving assembly includes:

[0028] The clamping mechanism is provided with a pile clamping cylinder for driving the pile clamping box to clamp or release the pipe pile, and a second control valve for controlling the extension and retraction of the pile clamping cylinder;

[0029] An in-place detection member is used to detect whether the pipe pile is located in the pile clamp box;

[0030] A clamping pressure detection member, used for detecting the clamping force of the pile clamp box on the pipe pile;

[0031] The clamping mechanism, the in-position detection component and the clamping pressure detection component are all connected to the pile driving controller.

[0032] Optionally, the first drilling assembly includes:

[0033] A rotary power member, used for driving the upper vehicle device equipped with the drill rod to rotate between a first angular position and a second angular position;

[0034] A rotation angle detection member, used to detect the rotation angle of the boarding device;

[0035] A third control valve is used to control the movement of the rotary power member;

[0036] When the vehicle device rotates to a first angular position, the central axis of the drill rod coincides with the central axial direction of the pipe pile; when the vehicle device rotates to a second angular position, the drill rod avoids the pipe pile;

[0037] The rotary power component, the third control valve and the rotary angle detection component are all connected to the drilling controller.

[0038] Optionally, the second drilling assembly includes:

[0039] A main winch assembly, used for driving the drill rod to rise and fall;

[0040] A rotational power mechanism, used for driving the drill rod to rotate;

[0041] a fourth control valve connected to the main hoist assembly and controlling the operation of the main hoist assembly;

[0042] a fifth control valve connected to the rotational power mechanism and controlling the operation of the rotational power mechanism;

[0043] A depth detection member, used to detect the drilling depth or rising height of the drill rod;

[0044] The main hoisting assembly, the rotating power mechanism, the fourth control valve, the fifth control valve, and the depth detection member are all connected to the drilling controller.

[0045] Optionally, the main winch assembly is provided with a pull rope connected to the drill rod, a tension sensor for detecting the tension applied to the pull rope, a second pressure sensor for detecting the pressure of the drill bit in the drill rod, and a speed sensor for detecting the rotational speed of the drill rod; the tension sensor, the second pressure sensor and the rotational speed sensor are all connected to the drilling controller.

[0046] Optionally, the pile pressing module further includes a pile pressing display screen and a pile pressing command switch, both of which are connected to the pile pressing controller, the pile pressing display screen is used to display pile pressing information; the pile pressing command switch is used to control the start or stop of the pile pressing module;

[0047] The drilling module also includes a drilling display screen and a drilling command switch, both of which are connected to the drilling controller. The drilling display screen is used to display drilling information, and the drilling command switch is used to control the start or stop of the drilling module.

[0048] Optionally, a switching module is further included, which is provided with a first pressure sensor for obtaining the pressure exerted on the pipe pile during the pile driving process and a pile driving efficiency detection component for obtaining the descending speed of the pipe pile during the pile driving process; when the second pressure information detected by the first pressure sensor is greater than a preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than a preset minimum speed value, the pile driving and drilling control system is controlled to switch from the pile driving state to the drilling state.

[0049] A control method, applied to any of the above-mentioned pile driving and drilling control systems, comprising:

[0050] Control the pile to lift up to the preset height;

[0051] Controlling the pile clamping box to clamp the pipe pile;

[0052] Controlling the pipe pile to be pressed downward, and obtaining a single pressing depth of the pipe pile;

[0053] Determine whether the single pressing depth is greater than or equal to the single preset pressing depth. If so, proceed to the next step. If not, control the pile to continue pressing downward until the single pressing depth is greater than or equal to the single preset pressing depth.

[0054] Obtaining the total pressing depth of the pipe pile and determining whether the total pressing depth is greater than or equal to a preset total pressing depth, if so, ending the process; if not, returning to the step of controlling the pipe pile to be lifted upward to a preset height;

[0055] Return to the step of controlling the pile to be lifted upward to a preset height.

[0056] Optionally, after the pile driving operation stops, the control method further includes:

[0057] Obtaining an angular position of a vehicle mounted with a drill rod, and obtaining a preset angle for the vehicle to rotate according to the angular position;

[0058] Controlling the upper vehicle device to rotate by a preset angle until the central axis of the drill rod coincides with the central axis of the pipe pile;

[0059] Controlling the drill rod to be lowered to a preset lowering depth;

[0060] Controlling the drill rod to rotate and drill;

[0061] Determine whether the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth. If so, control the drill rod to stop drilling and proceed to the next step; if not, control the drill rod to continue drilling until the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth;

[0062] Controlling the drill rod to rise until the height of its bottom is higher than the height of the top of the pipe pile;

[0063] Controlling the vehicle device to rotate to a soil unloading angle position, so that the drill rod at the soil unloading angle position deviates from the pipe pile;

[0064] Controlling the forward and reverse rotation of the drill rod to throw soil and maintain the rotation for a preset time;

[0065] Determine whether the total drilling depth of the drill rod is greater than or equal to the preset total drilling depth. If so, end the drilling. If not, enter the step of obtaining the angular position of the vehicle device equipped with the drill rod, and obtain the preset angle required for the vehicle device to rotate based on the angular position.

[0066] A drilling pile driver comprises any one of the above-mentioned pile driving and drilling control systems.

[0067] In the process of using the pile driving and drilling control system provided by the present invention, during the pile driving operation, it is first necessary to turn on the machine and control the relevant structures to reset, then control the pipe pile to be lifted upward to a preset height, then control the pipe pile to be lowered to a position corresponding to the pile clamping box, and control the pile clamping box to clamp the pipe pile; then control the pipe pile to be pressed downward, and obtain the single pressing depth of the pipe pile. After the single pressing depth reaches the single preset pressing depth, control the pipe pile to be lifted to a preset height, and repeat the above pressing steps until the total pile driving depth meets the preset total pressing depth, and stop pressing.

[0068] During actual operation, when the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, the drilling operation can be started. First, it is necessary to control the upper vehicle device to rotate to the position where the central axis of the drill rod coincides with the central axis of the pipe pile, so that the drill rod and the pipe pile are axially aligned, and then control the drill rod to be lowered to the preset lowering depth so that the bottom surface of the drill rod contacts the bottom surface of the pile driving hole; control the drill rod to rotate for rotary drilling. When the depth of a single rotary drilling reaches a single preset drilling depth, control the drill rod to stop drilling and control the drill rod to rise until the height of the bottom of the drill rod is higher than the height of the top of the pipe pile. Then, control the upper vehicle device to rotate to the unloading angle position. At this time, the drill rod deviates from the pipe pile to prevent the soil unloaded during the unloading process from entering the pile driving hole; control the drill rod to reverse and throw soil, and maintain the preset time to complete the single drilling process, and then repeat the above drilling steps until the total drilling depth of the drill rod reaches the preset total drilling depth, and end drilling.

[0069] Compared with the existing technology, the pile driving and drilling control system provided by the present invention can realize the automation of the pile driving operation process and the drilling operation process, and when the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, it can automatically switch to the drilling state. In the actual operation process, continuous pile driving or continuous drilling and automatic switching from pile driving to drilling can be realized, which effectively simplifies the operation steps of pile driving and drilling and improves the efficiency of pile driving and drilling operations; in addition, the automated operation process avoids the operation of multiple people collaborating and reduces the technical requirements for operators.

[0070] In addition, the present invention also provides a control method applied to the above-mentioned pile driving and drilling control system and a lead-hole type pile driver including the above-mentioned pile driving and drilling control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0072] Figure 1 A schematic structural diagram of a specific embodiment of the hole-drawing pile driver provided by the present invention;

[0073] Figure 2 This is a schematic diagram of the structure of the hydraulic system in the pile driving and drilling control system provided by the present invention;

[0074] Figure 3 This is a schematic diagram of the connection relationship between the pile driving and drilling control systems provided by the present invention;

[0075] Figure 4 A flow chart of a specific embodiment of the control method provided by the present invention;

[0076] Figure 5 This is a flow chart of another specific embodiment of the control method provided by the present invention.

[0077] Figure 1-Figure 5 middle:

[0078] 1- Main pile pressure cylinder, 2- Pile clamp box, 3- Pile clamp cylinder, 4- Main winch assembly, 5- Rotational power mechanism, 6- Goose head, 7- First control valve, 71- Main pile pressure rising control valve, 72- Main pile pressure lowering control valve, 8- Second control valve, 81- Clamping control valve, 82- Release control valve, 9- Third control valve, 91- First forward control valve, 92- First reverse control valve, 10- Fourth control valve, 101- Main winch rising control valve, 102- Main winch lowering control valve, 11- Fifth control valve, 111- Second forward control valve Valve, 112-second reverse control valve, 12-motor pump group, 13-hydraulic oil tank, 14-telescopic detection part, 15-arrival detection part, 16-clamping pressure detection part, 17-main pressure cylinder pressure sensor, 18-pile pressing command switch, 19-pile pressing display screen, 20-rotation angle detection part, 21-depth detection part, 22-tension sensor, 23-second pressure sensor, 24-drilling command switch, 25-drilling display screen, 26-drilling controller, 27-pile pressing controller, 28-rotation power part, 29-CAN bus. DETAILED DESCRIPTION

[0079] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0080] The core of the present invention is to provide a pile driving and drilling control system, which can realize the automation of the pile driving process and the drilling process, simplify the operation steps, and effectively improve the efficiency of the pile driving and drilling operations.

[0081] Another core of the present invention is to provide a control method applied to the above-mentioned pile driving and drilling control system and a lead-hole type pile driver including the above-mentioned pile driving and drilling control system.

[0082] The present embodiment discloses a pile driving and drilling control system for controlling the action of a lead-hole pile driver. The pile driving and drilling control system comprises a pile driving module, a drilling module and a switching module. The pile driving module comprises a pile driving controller 27, a first pile driving component and a second pile driving component. The first pile driving component is used to obtain the depth of the pile being driven in or the height of the pile being lifted, and to control the pile being driven in or lifted up by the lead-hole pile driver. The second pile driving component is used to control the pile clamping box 2 to clamp or release the pile. Both the first pile driving component and the second pile driving component are connected to the pile driving controller 27. The drilling module comprises a drilling controller 26, a first drilling component and a second drilling component. The first drilling component is used to obtain the depth of the pile being driven in or the height of the pile being lifted up, and to control the pile being driven in or lifted up by the lead-hole pile driver. The rotation angle position of the upper vehicle device and controls the rotation of the upper vehicle device equipped with the drill rod; the second drilling assembly is used to obtain the lowering depth or rising height of the drill rod and control the lifting and rotation of the drill rod; the first drilling assembly and the second drilling assembly are both connected to the drilling controller 26; the switching module is provided with a first pressure sensor for obtaining the pressure exerted on the pipe pile during the pile pressing process and a pile pressing efficiency detection component for obtaining the descending speed of the pipe pile during the pile pressing process; when the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value or the descending speed information detected by the pile pressing efficiency detection component is lower than the preset minimum speed value, the pile pressing and drilling control system is controlled to switch from the pile pressing state to the drilling state.

[0083] In the process of using the pile driving and drilling control system provided by this specific embodiment, during the pile driving operation, it is first necessary to turn on the machine and control the relevant structures to reset, then control the pipe pile to be lifted upward to a preset height, then control the pipe pile to be lowered to a position corresponding to the pile clamping box 2, and control the pile clamping box 2 to clamp the pipe pile; then control the pipe pile to be pressed downward, and obtain the single pressing depth of the pipe pile. After the single pressing depth reaches the single preset pressing depth, control the pipe pile to be lifted up to a preset height, and repeat the above pressing steps until the total pile driving depth meets the preset total pressing depth, and stop pressing.

[0084] During actual operation, when the total penetration depth does not meet the requirements but the geological conditions are relatively hard, the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, the drilling operation can be started. First, it is necessary to control the upper vehicle device to rotate to the position where the central axis of the drill rod coincides with the central axis of the pipe pile, so that the drill rod and the pipe pile are axially aligned, and then control the drill rod to be lowered to the preset lowering depth so that the bottom surface of the drill rod contacts the bottom surface of the pile driving hole; control The drill rod is controlled to rotate for rotary drilling. When the depth of a single rotary drilling reaches a single preset drilling depth, the drill rod is controlled to stop drilling and is controlled to rise until the height of the bottom of the drill rod is higher than the height of the top of the pipe pile. Then, the upper device is controlled to rotate to the unloading angle position. At this time, the drill rod deviates from the pipe pile to prevent the soil unloaded during the unloading process from entering the pile hole; the drill rod is controlled to rotate forward and reverse to throw soil and maintain the preset time to complete a single drilling process, and then the above drilling steps are repeated until the total drilling depth of the drill rod reaches the preset total drilling depth, and the drilling is ended.

[0085] In order to realize automatic switching from the pile driving state to the drilling state, a first pressure sensor and a pile driving efficiency detection component can be set up to judge whether the pipe pile encounters a hard formation by the reaction pressure exerted on the pipe pile and the descending speed of the pipe pile. When the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, it means that the pipe pile encounters a hard formation, and the control switches to the drilling operation.

[0086] Compared with the existing technology, the pile driving and drilling control system provided in this specific embodiment can realize the automation of the pile driving operation process and the drilling operation process, and when the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, it can automatically switch to the drilling state. In the actual operation process, continuous pile driving or continuous drilling and automatic switching from pile driving to drilling can be realized; the operation steps of pile driving and drilling are effectively simplified, and the efficiency of pile driving and drilling operations is improved; in addition, the automated operation process avoids the operation of multiple people collaborating and reduces the technical requirements for operators.

[0087] In a specific embodiment, the first pile driving assembly includes a lifting mechanism and a telescopic detection member 14; wherein the lifting mechanism is provided with a main pile driving cylinder 1 for driving the pile to be pressed in or lifted, and a first control valve 7 for controlling the telescopic movement of the main pile driving cylinder 1; the telescopic detection member 14 is used to detect the telescopic distance of the main pile driving cylinder 1; the lifting mechanism and the telescopic detection member 14 are both connected to the pile driving controller 27.

[0088] The first control valve 7 includes a main pile pressure raising control valve 71 and a main pile pressure lowering control valve 72. In actual use, by controlling the main pile pressure raising control valve 71 to be energized, the main pile pressure cylinder 1 can be controlled to drive the pipe pile to rise, and by controlling the main pile pressure lowering control valve 72 to be energized, the main pile pressure cylinder 1 can be controlled to drive the pipe pile to fall.

[0089] Specifically, the telescopic detection member 14 can be a length sensor with a pull wire box, the pull wire box is installed on the top of the cylinder sleeve of the main pile-pressing cylinder 1, and the wire hook is installed on the pile clamp box 2. The retraction or extension of the main pile-pressing cylinder 1 will cause the pull wire of the length sensor to retract or extend, thereby detecting the length of the extension or retraction of the main pile-pressing cylinder 1.

[0090] Of course, the telescopic detection member 14 can also be set as a cylinder magnetostrictive sensor, or other sensors that meet the requirements. The specific details are determined according to actual conditions and will not be elaborated here.

[0091] The second pile driving assembly includes a clamping mechanism, an in-position detection member 15 and a clamping pressure detection member 16; wherein the clamping mechanism is provided with a pile clamping cylinder 3 for driving the pile clamping box 2 to clamp or release the pipe pile, and a second control valve 8 for controlling the extension and retraction of the pile clamping cylinder 3; the in-position detection member 15 is used to detect whether the pipe pile is located in the pile clamping box 2; the clamping pressure detection member 16 is used to detect the clamping force of the pile clamping box 2 on the pipe pile; the clamping mechanism, the in-position detection member 15 and the clamping pressure detection member 16 are all connected to the pile driving controller 27.

[0092] The second control valve 8 includes a clamping control valve 81 and a release control valve 82. In actual use, by controlling the clamping control valve 81 to be energized, the pile clamping cylinder 3 can be controlled to drive the pile clamping box 2 to clamp the pipe pile; by controlling the release control valve 82 to be energized, the pile clamping cylinder 3 can be controlled to drive the pile clamping box 2 to release the pipe pile.

[0093] Specifically, the position detection member 15 can be a laser sensor, which is arranged inside the pile clamp box 2. When the laser sensor detects the pipe pile, it means that the pipe pile has extended into the pile clamp box 2 and is located at a position where it can be clamped by the pile clamp box 2.

[0094] The in-place detection member 15 can also be set as a proximity switch, or set as other detection members that can be used to detect whether the pipe pile is in place. The specific determination depends on actual conditions and will not be elaborated here.

[0095] The clamping pressure detection member 16 can be set as a first pressure sensor. During the process of the pile clamping box 2 clamping the pipe pile, the first pressure sensor can be used to detect the clamping force of the pile clamping box 2 on the pipe pile. When the first pressure sensor detects that the clamping force reaches the preset pressure, it means that the clamping force meets the requirement. At this time, the pile clamping cylinder 3 can be controlled to stop moving and maintain this clamping state.

[0096] The pile driving and drilling control system is equipped with a hydraulic system. The specific structure of the hydraulic system is as follows: Figure 2 As shown, the hydraulic system includes a motor pump group 12 and a hydraulic oil tank 13. The motor pump group 12 draws hydraulic oil to different oil circuits, among which the oil circuit connected to the main pile-pressing cylinder 1 is provided with a first control valve 7. By controlling the on-off of the first control valve 7, the extension or retraction of the main pile-pressing cylinder 1 can be controlled. The main pile-pressing cylinder 1 will drive the pipe pile to rise and fall during the extension or retraction process; the oil circuit connected to the pile clamping cylinder 3 is provided with a second control valve 8. By controlling the on-off of the second control valve 8, the extension or retraction of the pile clamping cylinder 3 can be controlled. The extension or retraction of the pile clamping cylinder 3 can control the clamping box 2 to clamp or release.

[0097] In actual use, the steps of pile pressing operation are as follows:

[0098] In the first step, after the system is powered on, the pile driving controller 27 executes a self-test program, sets all output ports of the pile driving controller 27, and performs self-test on all input ports. After the self-test and reset operations are completed, the automatic pile driving instruction switch 18 is closed and the next step is executed;

[0099] In the second step, the pile driving controller 27 controls the main pile driving lifting control valve 71 in the first control valve 7 to be energized, and the main pile driving cylinder 1 is retracted. The telescopic detection member 14 detects the retraction distance of the main pile driving cylinder 1. When the retraction distance of the main pile driving cylinder 1 is greater than or equal to the preset retraction distance, the main pile driving cylinder 1 is retracted into place, and the pile driving controller 27 controls the main pile driving lifting control valve 71 to be de-energized, and the main pile driving cylinder 1 stops moving.

[0100] The third step is that the in-place detection member 15 is installed on the inner side of the pile clamp box 2. When a pipe pile is hoisted into the pile clamp box 2, the in-place detection member 15 determines whether the pipe pile is in place. If the pipe pile is in place, the pile pressing controller 27 controls the clamping control valve 81 in the second control valve 8 to be energized, and the clamping cylinder extends; the clamping pressure detection member 16 is installed on the balance valve of the clamping cylinder. The pressure measured by the clamping pressure detection member 16 can be used to determine whether the clamping cylinder is clamping the pipe pile. When the pressure detected by the clamping pressure detection member 16 is greater than or equal to the safe clamping pressure, the pile is clamped. The pile pressing controller 27 controls the clamping control valve 81 to lose power, and the clamping cylinder stops moving.

[0101] In the fourth step, the pile driving controller 27 controls the main pile driving descending control valve 72 in the first control valve 7 to be energized, and the main pile driving cylinder 1 is extended, and the pile is pressed in. The extension distance of the main pile driving cylinder 1 is detected by the telescopic detection member 14. When the telescopic detection member 14 detects that the extension length of the main pile driving cylinder 1 is greater than or equal to the preset extension distance, the main pile driving cylinder 1 is fully extended, and the pile driving controller 27 controls the main pile driving descending control valve 72 to be de-energized, and the main pile driving cylinder 1 stops moving.

[0102] Step 5: The pile driving controller 27 controls the release control valve 82 in the second control valve 8 to be energized, and the clamping cylinder retracts. When the pressure detected by the clamping cylinder pressure sensor is less than or equal to the preset release pressure, and the retraction time of the clamping cylinder is not less than 5 seconds, the pile driving controller 27 controls the release control valve 82 to be de-energized, and the clamping cylinder stops moving.

[0103] The sixth step is to determine whether the current total pile driving depth is greater than or equal to the preset total pile driving depth. If so, stop pile driving; if not, enter the second step and repeat the operations of the second to sixth steps.

[0104] It should be noted that, in this specific embodiment, the current total pile driving depth is the sum of the pile driving depths each time, and the specific calculation method may be based on actual conditions.

[0105] In a specific embodiment, the first drilling assembly includes a rotary power component 28, a rotary angle detection component 20, and a third control valve 9; wherein the rotary power component 28 is used to drive the vehicle device equipped with the drill rod to rotate between a first angle position and a second angle position; the rotary angle detection component 20 is used to detect the rotary angle of the vehicle device; the third control valve 9 is used to control the action of the rotary power component 28; when the vehicle device rotates to the first angle position, the center axis of the drill rod coincides with the center axis of the pipe pile; when the vehicle device rotates to the second angle position, the drill rod avoids the pipe pile; the rotary power component 28, the third control valve 9 and the rotary angle detection component 20 are all connected to the drilling controller 26.

[0106] It should be noted that when the upper vehicle device rotates to the first angle position and the central axis of the drill rod coincides with the central axis of the pipe pile, the drill rod is controlled to descend and can be smoothly lowered into the pipe pile; when the upper vehicle device rotates to the second angle position, the drill rod avoids the pipe pile. At this time, the pipe pile can be controlled to perform pile pressing operation, or the drill rod can be controlled to perform soil unloading operation.

[0107] Specifically, the rotation angle detection member 20 may be an angle sensor, which is mounted on the boarding device and is used to detect the rotation angle of the boarding device.

[0108] The rotary power member 28 in this embodiment can be configured as a rotary motor, such as Figure 2 As shown, the oil circuit connected to the rotary motor is provided with a third control valve 9. By controlling the on and off of the third control valve 9, the rotation or stop of the rotary motor can be controlled. The third control valve 9 includes a first forward control valve 91 and a first reverse control valve 92. When the first forward control valve 91 is energized, the rotary motor can be controlled to rotate forward; when the first reverse control valve 92 is energized, the rotary motor can be controlled to rotate reversely.

[0109] In a specific embodiment, the second drilling assembly includes a main winch assembly 4, a rotating power mechanism 5, a fourth control valve 10, a fifth control valve 11 and a depth detection component 21; wherein, the main winch assembly 4 is used to drive the drill rod to rise and fall; the rotating power mechanism 5 is used to drive the drill rod to rotate; the fourth control valve 10 is connected to the main winch assembly 4 and controls the movement of the main winch assembly 4; the fifth control valve 11 is connected to the rotating power mechanism 5 and controls the movement of the rotating power mechanism 5; the depth detection component 21 is used to detect the drilling depth or rising height of the drill rod; the main winch assembly 4, the rotating power mechanism 5, the fourth control valve 10, the fifth control valve 11, and the depth detection component 21 are all connected to the drilling controller 26.

[0110] Specifically, the main hoist assembly 4 in this specific embodiment is as follows Figure 1 As shown, a pull rope is provided, which is wound around the goose head 6. The depth detection component 21 is a sensor provided on the main hoisting assembly 4. The sensor can calculate the rising or falling distance of the drill rod by detecting the number of turns of the pull rope wound or loosened.

[0111] The fourth control valve 10 includes a main winch raising control valve 101 and a main winch lowering control valve 102. During actual use, when the main winch raising control valve 101 is energized, the main winch assembly 4 drives the drill rod upward. When the main winch raising control valve 101 is de-energized, the drill rod stops rising. When the main winch lowering control valve 102 is energized, the main winch assembly 4 drives the drill rod downward. When the main winch lowering control valve 102 is de-energized, the drill rod stops descending.

[0112] The fifth control valve 11 includes a second forward control valve 111 and a second reverse control valve 112. During actual use, when the second forward control valve 111 is energized, the rotating power mechanism 5 drives the drill rod to rotate forward around the center axis. When the second forward control valve 111 is de-energized, the drill rod stops rotating; when the second reverse control valve 112 is energized, the rotating power mechanism 5 drives the drill rod to rotate reversely around the center axis. When the second reverse control valve 112 is de-energized, the drill rod stops rotating.

[0113] On the other hand, the main winch assembly 4 can also be provided with a pull rope connected to the drill rod, a tension sensor 22 for detecting the tension applied to the pull rope, a second pressure sensor 23 for detecting the drill bit pressure in the drill rod, and a speed sensor for detecting the rotational speed of the drill rod; the tension sensor 22, the second pressure sensor 23 and the rotational speed sensor are all connected to the drilling controller 26.

[0114] When drilling using the pile driving and drilling control system provided in this embodiment, the specific steps are as follows:

[0115] In the first step, the system is powered on, and the drilling controller 26 executes a self-test program, sets all output ports of the drilling controller 26, and performs self-test on all input ports. After the self-test and reset operations are completed, the automatic drilling instruction switch 24 is closed and the next step is executed.

[0116] In the second step, the drilling controller 26 controls the first forward control valve 91 or the first reverse control valve 92 in the third control valve 9 to be energized, the rotary motor of the vehicle device rotates, the output shaft of the vehicle rotation angle sensor is connected to the output shaft installed on the central rotary joint of the vehicle through a coupling, and the rotation angle detection component 20 detects the angular position of the vehicle device. When the vehicle device drives the drill rod to rotate until the central axis of the drill rod and the central axis of the pipe pile are collinear, the drill rod and the pipe pile are aligned, and the first forward control valve 91 or the first reverse control valve 92 in the third control valve 9 is controlled to lose power, and the rotary motor in the vehicle device stops moving.

[0117] In the third step, the drilling controller 26 controls the main winch lowering control valve 102 in the fourth control valve 10 to be energized, and the drill rod is lowered. The depth detection part 21 is installed on the motor of the main winch assembly 4. The number of turns of the main winch drum is determined by detecting the pulse value of the motor of the main winch assembly 4. The drilling depth or rising height of the drill rod is detected through the conversion relationship; the tension sensor 22 is installed at the pin shaft of the goose head 6 at the top of the mast. When the tension detected by the tension sensor 22 is less than or equal to the preset tension value, the drill rod has bottomed out, and the main winch lowering control valve 102 is controlled to lose power, and the lowering of the drill rod stops.

[0118] In the above steps, when judging whether the drill rod has touched the bottom, it can be judged by the tension value detected by the tension sensor 22, or by the drill rod lowering depth detected by the depth detection part 21. When the drill rod lowering depth is greater than or equal to the preset depth, the drill rod has touched the bottom; the preset depth in this specific embodiment is the lowering depth when the drill rod touches the bottom.

[0119] Of course, the judgment can also be made in combination with the tension value detected by the tension sensor 22 and the lowering depth of the drill rod. When the tension detected by the tension sensor 22 is less than or equal to the preset tension value, and the drill rod lowering depth detected by the depth detection component 21 is greater than or equal to the preset depth, the drill rod has bottomed out.

[0120] In the fourth step, the drilling controller 26 controls the second forward control valve 111 in the fifth control valve 11 to be energized, the main winch rising control valve 101 and the main winch lowering control valve 102 to be energized, and the rotating power mechanism 5 to drill forward. When the drilling depth is the current drilling depth minus the previous maximum hole depth, and when the footage depth is greater than the set maximum footage depth, it means that the drilling is completed, the second forward control valve 111 is controlled to be de-energized, the main winch rising control valve 101 and the main winch lowering control valve 102 are de-energized, and the rotating power mechanism 5 stops rotating forward.

[0121] In the fifth step, the drilling controller 26 controls the main hoisting and rising control valve 101 to be energized, the drill rod rises, and the depth detection component 21 detects that the current drilling depth of the drill rod is less than or equal to the preset minimum drilling depth. Specifically, when the current drilling depth is less than -2 meters, the drill rod has been pulled out of the pile, the main hoisting and rising control valve 101 loses power, and the drill rod stops rising.

[0122] In the sixth step, the drilling controller 26 controls the first forward control valve 91 or the first reverse control valve 92 of the vehicle to be energized, and the rotary motor of the vehicle device rotates. When the vehicle device rotates to the second angle position, the drill rod avoids the pipe pile, indicating that the unloading position has been reached, the first forward control valve 91 or the first reverse control valve 92 loses power, and the rotary motor of the vehicle device stops moving.

[0123] In the seventh step, the drilling controller 26 controls the second forward control valve 111 and the second reverse control valve 112 to flip at a preset frequency, driving the drill rod to unload the soil in the forward and reverse directions. After the soil is unloaded, the second forward control valve 111 and the second reverse control valve 112 lose power, and the rotating power mechanism 5 stops.

[0124] In the eighth step, it is determined whether the current total drilling depth is greater than or equal to the preset total drilling depth. If so, the drilling operation is stopped. If not, the operation returns to the second step and the operations from the second step to the eighth step are repeated.

[0125] It should be noted that all control valves in this embodiment can be configured as electric proportional valves or electromagnetic switch valves, which are determined according to actual conditions and will not be described in detail here. The pressure sensor can be replaced by a pressure switch, which is determined according to actual conditions.

[0126] In a specific embodiment, the pile pressing module also includes a pile pressing display screen 19 and a pile pressing command switch 18. The pile pressing display screen 19 and the pile pressing command switch 18 are both connected to the pile pressing controller 27. The pile pressing display screen 19 is used to display pile pressing information; the pile pressing command switch 18 is used to control the pile pressing module to start or stop; in actual use, the pile pressing display screen 19 can be used to display information such as the actual state of pile pressing, pile pressing depth, etc. Pressing the pile pressing command switch 18 can start the pile pressing program and automatically execute the pile pressing operation. Specifically, it can be pressing the pile pressing command switch 18 to automatically execute the contents of the first to sixth steps in the steps of the pile pressing operation; pressing the pile pressing command switch 18 again can control the pile pressing action to stop, and long pressing the pile pressing command switch 18 can control the pile pressing program to close. Of course, the pile pressing command switch 18 can also be other pressing control methods, which are specifically determined according to actual conditions and will not be described in detail here.

[0127] Specifically, the pile driving display screen 19 and the pile driving controller 27 are connected via a CAN bus 29 .

[0128] The drilling module also includes a drilling display screen 25 and a drilling command switch 24. Both the drilling display screen 25 and the drilling command switch 24 are connected to a drilling controller 26. The drilling display screen 25 is used to display drilling information, and the drilling command switch 24 is used to control the start or stop of the drilling module. In actual use, the drilling display screen 25 can be used to display drilling information such as drilling depth and drilling status. Pressing the drilling command switch 24 can start the drilling program and automatically perform the drilling operation. Specifically, pressing the drilling command switch 24 can automatically execute the contents of steps 1 to 8 of the drilling operation. Pressing the drilling command switch 24 again can stop the drilling action. Long pressing the drilling command switch 24 can control the drilling program to stop. Of course, the drilling command switch 24 can also be controlled by other pressing methods, which are determined according to actual conditions and will not be described in detail here.

[0129] Specifically, the drilling display screen 25 and the drilling controller 26 are connected via a CAN bus 29 .

[0130] The pile driving controller 27 and the drilling controller 26 may be connected via a CAN bus.

[0131] In addition to the above-mentioned pile driving and drilling control system, the present invention also provides a control method for the pile driving and drilling control system disclosed in the above-mentioned embodiment, the control method comprising:

[0132] Step S1, controlling the pile to be lifted up to a preset height;

[0133] Step S2, controlling the pile clamp box 2 to clamp the pipe pile;

[0134] Step S3, controlling the pile to be pressed downward, and obtaining the single pressing depth of the pile;

[0135] Step S4, judging whether the single pressing depth is greater than or equal to the single preset pressing depth, if so, proceeding to the next step; if not, controlling the pile to continue pressing downward until the single pressing depth is greater than or equal to the single preset pressing depth;

[0136] Step S5, obtaining the total pressing depth of the pile, and determining whether the total pressing depth is greater than or equal to a preset total pressing depth, if so, then ending, if not, then returning to step S1.

[0137] In addition, the above control method further includes:

[0138] Step S6, obtaining the angular position of the upper vehicle device on which the drill rod is mounted, and obtaining a preset rotation angle of the upper vehicle device according to the angular position;

[0139] Step S7, controlling the upper vehicle device to rotate by a preset angle until the central axis of the drill rod coincides with the central axis of the pile;

[0140] Step S8, controlling the drill pipe to be lowered to a preset lowering depth;

[0141] Step S9, controlling the drill rod to rotate and drill;

[0142] Step S10, determining whether the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth. If so, the drill rod is controlled to stop drilling and proceed to the next step; if not, the drill rod is controlled to continue drilling until the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth;

[0143] Step S11, controlling the drill pipe to rise until the height of its bottom is higher than the height of the top of the pile;

[0144] Step S12, controlling the upper vehicle device to rotate to a soil unloading angle position, wherein the drill rod at the soil unloading angle position deviates from the pipe pile;

[0145] Step S13, controlling the drill rod to rotate forward and reverse to dump soil, and maintaining the rotation for a preset time;

[0146] Step S14, determining whether the total drilling depth of the drill rod is greater than or equal to the preset total drilling depth, if so, the drilling is terminated, if not, proceeding to step S6.

[0147] In addition to the above-mentioned pile driving and drilling control system, the present invention also provides a hole-guiding pile driver including the above-mentioned pile driving and drilling control system. The other structures of the hole-guiding pile driver can refer to the existing technology.

[0148] like Figure 1As shown, the lead-hole pile driver includes a main pile driving cylinder 1, a pile clamping box 2, a pile clamping cylinder 3, a main hoisting assembly 4, a rotating power mechanism 5, and a goose head 6. A main pressure cylinder pressure sensor 17 can be provided on the main pile driving cylinder 1 to detect the real-time pressure of the main pile driving cylinder 1.

[0149] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by the present invention is within the scope of protection of this invention and will not be described in detail here.

[0150] The above is a detailed introduction to the pile driving and drilling control system, control method and lead-hole pile driver provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in several ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A pile driving and drilling control system for controlling the action of a drilling pile driver, characterized in that: The pile driving and drilling control system comprises a pile driving module, a drilling module and a switching module; The pile pressing module comprises: Pile pressing controller (27); A first pile driving assembly is used to obtain the depth of the pile being driven in or the height of the pile being lifted, and to control the driving in or lifting of the pile by the hole-driving pile driver; A second pile-pressing assembly, used for controlling the pile clamping box (2) to clamp or release the pipe pile; The first pile-pressing assembly and the second pile-pressing assembly are both connected to the pile-pressing controller (27); The drilling module comprises: Drilling controller (26); A first drilling assembly is used to obtain the rotation angle position of the upper vehicle device equipped with the drill rod and control the rotation of the upper vehicle device equipped with the drill rod; The second drilling assembly is used to obtain the lowering depth or rising height of the drill rod and control the lifting and rotation of the drill rod; The first drilling assembly and the second drilling assembly are both connected to the drilling controller (26); The switching module comprises: A first pressure sensor is used to obtain the pressure on the pipe pile during the pile pressing process; A pile driving efficiency detection component, used to obtain the descending speed of the pipe pile during the pile driving process; When the second pressure information detected by the first pressure sensor is greater than the preset maximum pressure value and the descending speed information detected by the pile driving efficiency detection component is lower than the preset minimum speed value, the pile driving and drilling control system is controlled to switch from the pile driving state to the drilling state.

2. The pile driving and drilling control system according to claim 1, characterized in that: The first pile driving assembly comprises: The lifting mechanism is provided with a main pile-pressing oil cylinder (1) for driving the pipe pile to be pressed in or lifted, and a first control valve (7) for controlling the extension and retraction of the main pile-pressing oil cylinder (1); A telescopic detection member (14) for detecting the telescopic distance of the main pile-pressing oil cylinder (1); The lifting mechanism and the telescopic detection member (14) are both connected to the pile pressing controller (27).

3. The pile driving and drilling control system according to claim 2, characterized in that: The second pile driving assembly comprises: The clamping mechanism is provided with a pile clamping cylinder (3) for driving the pile clamping box (2) to clamp or release the pipe pile, and a second control valve (8) for controlling the extension and retraction of the pile clamping cylinder (3); An in-place detection member (15) for detecting whether the pipe pile is located in the pile clamp box (2); A clamping pressure detection member (16) for detecting the clamping force of the pile clamp box (2) on the pipe pile; The clamping mechanism, the in-position detection component (15) and the clamping pressure detection component (16) are all connected to the pile pressing controller (27).

4. The pile driving and drilling control system according to claim 1, characterized in that: The first drilling assembly comprises: A rotary power member (28) is used to drive the upper vehicle device equipped with the drill rod to rotate between a first angle position and a second angle position; A rotation angle detection member (20) for detecting the rotation angle of the boarding device; A third control valve (9) for controlling the movement of the rotary power member (28); When the vehicle device rotates to a first angle position, the central axis of the drill rod coincides with the central axis of the pipe pile; when the vehicle device rotates to a second angle position, the drill rod avoids the pipe pile; The rotary power component (28), the third control valve (9) and the rotary angle detection component (20) are all connected to the drilling controller (26).

5. The pile driving and drilling control system according to claim 4, characterized in that: The second drilling assembly comprises: A main winch assembly (4), used for driving the drill rod to rise and fall; A rotation power mechanism (5) for driving the drill rod to rotate; a fourth control valve (10) connected to the main hoisting assembly (4) and controlling the operation of the main hoisting assembly (4); a fifth control valve (11) connected to the rotation power mechanism (5) and controlling the movement of the rotation power mechanism (5); A depth detection member (21) for detecting the drilling depth or rising height of the drill rod; The main hoisting assembly (4), the rotating power mechanism (5), the fourth control valve (10), the fifth control valve (11), and the depth detection member (21) are all connected to the drilling controller (26).

6. The pile driving and drilling control system according to claim 5, characterized in that: The main hoisting assembly (4) is provided with a pull rope connected to the drill rod, a tension sensor (22) for detecting the tension applied to the pull rope, a second pressure sensor (23) for detecting the pressure of a drill bit in the drill rod, and a rotation speed sensor for detecting the rotation speed of the drill rod; the tension sensor (22), the second pressure sensor (23), and the rotation speed sensor are all connected to the drilling controller (26).

7. The pile driving and drilling control system according to any one of claims 1 to 6, characterized in that: The pile pressing module further comprises a pile pressing display screen (19) and a pile pressing command switch (18), wherein the pile pressing display screen (19) and the pile pressing command switch (18) are both connected to the pile pressing controller (27), the pile pressing display screen (19) is used to display pile pressing information; the pile pressing command switch (18) is used to control the start or stop of the pile pressing module; The drilling module further comprises a drilling display screen (25) and a drilling command switch (24), wherein the drilling display screen (25) and the drilling command switch (24) are both connected to the drilling controller (26), the drilling display screen (25) is used to display drilling information, and the drilling command switch (24) is used to control the start or stop of the drilling module.

8. A control method, characterized in that: Applied to the pile driving and drilling control system according to any one of claims 1 to 7 above, the control method comprises: Control the pipe pile to lift up to the preset height; Controlling the pile clamping box (2) to clamp the pipe pile; Controlling the pipe pile to be pressed downward, and obtaining a single pressing depth of the pipe pile; Determine whether the single pressing depth is greater than or equal to the single preset pressing depth, if so, proceed to the next step; if not, control the pipe pile to continue pressing downward until the single pressing depth is greater than or equal to the single preset pressing depth; Get the total penetration depth of the pile, and determine whether the total penetration depth is greater than or equal to the preset total penetration depth. If so, end. If not, Return to the step of controlling the pile to be lifted upward to a preset height.

9. The control method according to claim 8, characterized in that: After the pile driving operation stops, the control method further includes: Acquire the angular position of the vehicle-mounted device equipped with the drill rod, and obtain the preset angle required for the vehicle-mounted device to rotate according to the angular position; Controlling the vehicle device to rotate at a preset angle to a position where the central axis of the drill rod coincides with the central axis of the pipe pile; Controlling the drill pipe to be lowered to a preset lowering depth; Controlling the drill rod to rotate and drill; Determine whether the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth. If so, control the drill rod to stop drilling and proceed to the next step; if not, control the drill rod to continue drilling until the single drilling depth of the drill rod is greater than or equal to the single preset drilling depth; Control the drill pipe to rise until the height of its bottom is higher than the height of the top of the pipe pile; Controlling the vehicle device to rotate to a soil unloading angle position, so that the drill rod at the soil unloading angle position deviates from the pipe pile; Controlling the drill rod to dump soil in forward and reverse directions and maintaining the same for a preset time; Determine whether the total drilling depth of the drill rod is greater than or equal to the preset total drilling depth. If so, end the drilling. If not, enter the step of obtaining the angular position of the vehicle device equipped with the drill rod, and obtain the preset angle of rotation of the vehicle device according to the angular position.

10. A hole-drawing pile driver, characterized in that: The invention comprises the pile driving and drilling control system as claimed in any one of claims 1 to 7.

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