A semi-walking cement mixing pile driver and gait control method thereof

Abstract

The present invention discloses a semi-walking cement mixing pile driver and a gait control method thereof, comprising a pile driver bottom frame, a walking power system arranged on the bottom surfaces on the left and right sides of the pile driver bottom frame in the direction of travel, and the walking power system comprising a Z-direction hydraulic cylinder, an X-direction hydraulic cylinder, a torsion hydraulic cylinder, an X-direction slide plate and a steering tray. The X-direction slide plate is lifted and suspended below the two sides of the pile driver bottom frame and provided with lifting power by the Z-direction hydraulic cylinder; the X-direction hydraulic cylinder is embedded and fixed on the top surface of the X-direction slide plate and provides power for the X-direction relative translation movement of the Z-direction hydraulic cylinder and the X-direction slide plate; the steering tray is twisted and slid on the bottom surface of the XY plane to adaptively hang the steering tray, and a plurality of torsion hydraulic cylinders are hingedly connected on the X-direction slide plate to provide torsion power for the steering tray. The pile driver uses the walking power system as the advance and retreat and steering power of the pile driver in a soft geological construction environment, overcomes the limitations of structural self-locking and construction environment, and has a simple structure and is easy to implement.

Description

Technical Field

[0001] The invention relates to the technical field of pile driver construction, and in particular to a semi-walking cement mixing pile driver and a gait control method thereof. Background Art

[0002] In the prior art, the pipe-type cement mixing pile driver is a common equipment for the construction of cement mixing piles on new highways. The forward and backward movement and angle twisting of the equipment are achieved through the interaction between the wire rope and the pipe. Since the main force points of the equipment are the front and rear steel pipes, it is difficult to move the equipment forward and backward and twist the angle when constructing in areas with relatively soft geology, resulting in low construction efficiency and great safety risks.

[0003] In order to facilitate steering, existing walking type cement mixing pile drivers are usually provided with walking travel mechanisms on both sides of the bottom, and a steering base is provided at the center of the pile driver on the ground. When the walking travel mechanisms on both sides are lifted, the steering base serves as the bottom support of the pile driver, and the steering base rotates in situ to drive the pile driver to steer. However, under the conditions of poor ground construction environment, different hardness and a large number of granular rocks, it is difficult to ensure the posture of the pile driver when the steering base located at the center of the bottom of the pile driver supports the pile driver, and it is very easy to cause problems such as rollover and overturning, which also has an adverse effect on the pile driver's pile driving accuracy.

[0004] Based on the above situation, it is urgent to develop a new pile driver. On the premise of making full use of the advantages of the existing tubular pile driver power system, the walking power system is used to control the advance, retreat and turn of the pile driver to overcome the limitations of the construction environment. It is applied to our company's Dongxing Expressway DX-XH1 project. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a semi-walking cement mixing pile driver and a gait control method thereof. The pile driver uses a walking power system as the advance, retreat and steering power of the pile driver in a soft geological construction environment, overcomes the limitations of structural self-locking and construction environment, and has a simple structure and is easy to implement.

[0006] A semi-walking cement mixing pile driver comprises a pile driver bottom frame, and a pipe-walking power system is arranged on the bottom surfaces of the front and rear ends of the pile driver bottom frame in the travel direction; the travel direction of the pile driver is defined as the X direction, the translation directions of the left and right sides of the pile driver are defined as the Y direction, and the gravity direction is defined as the Z direction. The walking power system is arranged on the bottom surfaces of the left and right sides of the pile driver bottom frame in the travel direction, and the walking power system comprises a Z-direction hydraulic cylinder, an X-direction hydraulic cylinder, a torsion hydraulic cylinder, an X-direction slide plate and a steering tray, wherein:

[0007] The X-axis slide plate lifting crane is installed under both sides of the bottom frame of the pile driver and is powered by the Z-axis hydraulic cylinder.

[0008] The X-direction hydraulic cylinder is embedded and fixed on the top surface of the X-direction slide plate and provides power for the X-direction relative translation movement between the Z-direction hydraulic cylinder and the X-direction slide plate;

[0009] The bottom surface of the X-direction slide plate is twisted and slid on the XY plane to adaptively hook up the steering tray, and a plurality of twisting hydraulic cylinders for providing twisting power for the steering tray are hingedly connected on the X-direction slide plate.

[0010] Preferably, a plurality of Z-direction hydraulic cylinders are provided and vertically fixed on the top surfaces of both sides of the bottom frame of the pile driver, and the power output end of the Z-direction hydraulic cylinder is lifted and slid to penetrate the bottom frame of the pile driver and is hingedly connected to the first T-shaped slider; the first T-shaped slider slides in the X-direction and is limitedly connected to the top surface of the X-direction slide plate in the Z-direction and Y-direction, and a fixed top support is connected to the power output end of the X-direction hydraulic cylinder on one X-direction side wall of the first T-shaped slider.

[0011] Preferably, a first slideway which is concave downward in Z direction and extends in X direction is provided on both sides of the top surface of the X-direction slide plate, and a hydraulic steering unit is provided in the middle of the X-direction slide plate, which provides torsional power and translational adaptation on the XY plane for the steering tray.

[0012] Preferably, the hydraulic steering unit comprises a Z-axis rotating shaft and a torsion hydraulic cylinder, wherein:

[0013] The Z-axis rotating shaft vertically penetrates the middle of the X-axis slide plate, and the bottom end of the Z-axis rotating shaft is fixed with a second T-shaped slider which slides in the X direction and is limited in the Y direction and the Z direction and is connected to the top surface of the steering tray;

[0014] The torsion hydraulic cylinder is centrally symmetrically arranged on the middle top surface of the X-direction slide plate, the cylinder body end of the torsion hydraulic cylinder is hingedly connected to the circumferential outer wall of the Z-direction rotating shaft, and the piston end of the torsion hydraulic cylinder is hingedly connected to the middle top surface of the X-direction slide plate.

[0015] Preferably, a second slideway is provided on the top surface of the steering tray, which is concave in the Z direction and extends in the X direction. The interior of the second slideway is slidably connected to the second T-shaped slider of the hydraulic steering unit in the X direction, and the two X-direction end surfaces of the second slideway are elastically supported and connected with a return spring; the other ends of the return springs are elastically supported on the two X-direction end surfaces of the second T-shaped slider, and the return spring provides return power for the adaptive alignment of the steering tray and the Z-direction rotating shaft, and the second T-shaped slider adaptively slides in the second slideway to avoid self-locking of the steering structure caused by different steering radii on both sides of the pile driver bottom frame.

[0016] A gait control method for a semi-walking cement mixing pile driver:

[0017] When the ground hardness condition meets the requirements for the operation of the pipe-running power system, the X-direction advance and retreat and Y-direction translation of the pile driver are both carried out using the pipe-running power system;

[0018] When the ground hardness does not meet the requirements for the pipe-walking power system, the X-direction advance, retreat and steering of the pile driver adopts the walking power system, which includes the following steps:

[0019] S1. The Z-direction hydraulic cylinder drives the X-direction slide plate and the steering tray to lift. After lifting, the steel pipe of the pipe-running power system contacts the soft ground as a temporary pile driver support;

[0020] S2. The twisting hydraulic cylinder drives the Z-axis to rotate with the top surface of the X-axis slide plate as a fixed point to drive the steering tray to twist at the bottom of the X-axis slide plate; and the X-axis hydraulic cylinder is reset and drives the first T-shaped slider in the X-axis slide plate to move to the initial position;

[0021] S3. The Z-axis hydraulic cylinder drives the X-axis slide plate and the steering tray to descend until the lowest position of the steering tray is lower than the lowest position of the steel pipe and bears the overall gravity of the pile driver;

[0022] S4. The X-axis hydraulic cylinder pushes the first T-shaped slider to the travel limit position in the X-axis slide plate. During this process, the X-axis slide plate and the steering tray are stationary relative to the ground, and the pile driver is driven by this reaction force. In addition, the torsion hydraulic cylinder pushes the X-axis slide plate to rotate with the circumferential outer wall of the Z-axis shaft as a fixed point. During this process, the steering tray is stationary relative to the ground, and the pile driver is driven by this reaction force to turn. During the steering process, the second T-shaped slider slides adaptively in the second slide.

[0023] Repeat S1 to S4 to realize the forward, backward and turning of the pile driver by means of the walking power system.

[0024] The advantages and technical effects of the present invention are:

[0025] A semi-walking cement mixing pile driver and a gait control method thereof of the present invention provide lifting power for an X-direction slide plate and a steering tray through a Z-direction hydraulic cylinder to realize the switching of the motion power (pipe-walking power system and walking power system) of the pile driver; the horizontal relative position of the Z-direction hydraulic cylinder and the X-direction slide plate is adjusted through the X-direction hydraulic cylinder and the first T-shaped slider in the X-direction slide plate, so that the reaction force when the X-direction slide plate is fixed relative to the ground drives the pile driver to move; the relative rotation angle between the X-direction slide plate and the steering tray is adjusted through the torsion hydraulic cylinder, so that the reaction force when the steering tray is fixed relative to the ground drives the X-direction slide plate to rotate, that is, drives the pile driver to turn slightly, and completes the final turning of the pile driver by repeating steps S1 to S4 for many times; finally, the second T-shaped slider slides adaptively in the second slideway to solve the problem of steering self-locking caused by different rotation radii of the walking power systems on both sides of the pile driver, and the reset spring in the second slideway drives the X-direction slide plate and the steering tray to automatically reset to the center when the Z-direction hydraulic cylinder is lifted. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1It is a schematic diagram of the three-dimensional structure of the bottom frame of the pile driver of the present invention;

[0027] Figure 2 It is a side sectional view of the present invention (Z-direction hydraulic cylinder is lifted, X-direction hydraulic cylinder is reset);

[0028] Figure 3 It is a side sectional view of the present invention (Z direction hydraulic cylinder descends, X direction hydraulic cylinder resets);

[0029] Figure 4 It is a side sectional view of the present invention (Z-direction hydraulic cylinder descending, X-direction hydraulic cylinder supporting posture);

[0030] Figure 5 It is a top view of the present invention (straight line advance and retreat posture);

[0031] Figure 6 It is a top view of the present invention (turning to the initial posture, the Z-direction hydraulic cylinder is lifted);

[0032] Figure 7 It is a top view of the present invention (steering end posture, Z direction hydraulic cylinder descends);

[0033] Figure 8 A top view of the X-axis slide plate and the steering tray in the present invention (X-axis hydraulic cylinder reset posture);

[0034] Fig. 9 It is a top view of the X-direction slide plate and the steering tray in the present invention (X-direction hydraulic cylinder supporting posture);

[0035] Fig.10 A top view of the X-axis slide plate and the steering tray in the present invention (the steering posture of the steering tray driven by the twisting hydraulic cylinder);

[0036] Fig.11 is a flow chart of the method of the present invention;

[0037] In the figure: 1- bottom frame of pile driver; 2- hydraulic cylinder in Z direction; 3- steel pipe; 4- slideway plate in X direction; 5- steering tray; 6- rotating shaft in Z direction; 7- torsion hydraulic cylinder; 8- first T-shaped slider; 9- hydraulic cylinder in X direction; 10- first slideway; 11- second slideway; 12- second T-shaped slider; 13- reset spring. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] A semi-walking cement mixing pile driver comprises a pile driver bottom frame 1, on the bottom surfaces of the front and rear ends of the pile driver bottom frame in the direction of travel, a pipe-walking power system is arranged; the direction of travel of the pile driver is defined as the X direction, the translation direction of the left and right sides of the pile driver is defined as the Y direction, and the gravity direction is defined as the Z direction. A walking power system is arranged on the bottom surfaces of the left and right sides of the pile driver bottom frame in the direction of travel, and the walking power system comprises a Z-direction hydraulic cylinder 2, an X-direction hydraulic cylinder 9, a torsion hydraulic cylinder 7, an X-direction slide plate 4 and a steering tray 5, wherein:

[0040] The X-axis slide plate lifting crane is installed under both sides of the bottom frame of the pile driver and is powered by the Z-axis hydraulic cylinder.

[0041] The X-direction hydraulic cylinder is embedded and fixed on the top surface of the X-direction slide plate and provides power for the X-direction relative translation movement between the Z-direction hydraulic cylinder and the X-direction slide plate;

[0042] The bottom surface of the X-direction slide plate is twisted and slid on the XY plane to adaptively hook up the steering tray, and a plurality of twisting hydraulic cylinders for providing twisting power for the steering tray are hingedly connected on the X-direction slide plate.

[0043] Preferably, a plurality of Z-direction hydraulic cylinders are provided and vertically fixed on the top surfaces of both sides of the bottom frame of the pile driver, and the power output end of the Z-direction hydraulic cylinder is lifted and slid to penetrate the bottom frame of the pile driver and is hingedly connected to the first T-shaped slider 8; the first T-shaped slider slides in the X-direction and is limitedly connected in the Z-direction and Y-direction to the top surface of the X-direction slide plate, and a fixed top support is connected to the power output end of the X-direction hydraulic cylinder on one X-direction side wall of the first T-shaped slider.

[0044] Preferably, a first slide 10 which is concave downward in Z direction and extends in X direction is provided on both sides of the top surface of the X-direction slide plate, and a hydraulic steering unit is provided in the middle of the X-direction slide plate, which provides torsional power and translational adaptation on the XY plane for the steering pallet.

[0045] Preferably, the hydraulic steering unit comprises a Z-axis rotating shaft 6 and a torsion hydraulic cylinder, wherein:

[0046] The Z-axis rotation axis vertically penetrates the middle of the X-axis slide plate, and the bottom end of the Z-axis rotation axis is fixed with a second T-shaped slider 12 which slides in the X direction and is limited in the Y direction and the Z direction and is connected to the top surface of the steering tray;

[0047] The torsion hydraulic cylinder is centrally symmetrically arranged on the middle top surface of the X-direction slide plate, the cylinder body end of the torsion hydraulic cylinder is hingedly connected to the circumferential outer wall of the Z-direction rotating shaft, and the piston end of the torsion hydraulic cylinder is hingedly connected to the middle top surface of the X-direction slide plate.

[0048] Preferably, a second slide 11 is provided on the top surface of the steering tray, which is concave in the Z direction and extends in the X direction. The interior of the second slide is slidably connected to the second T-shaped slider of the hydraulic steering unit in the X direction, and the two X-direction end surfaces of the second slide are elastically supported and connected with a return spring 13; the other ends of the return springs are elastically supported on the two X-direction end surfaces of the second T-shaped slider, and the return spring provides return power for the adaptive alignment of the steering tray and the Z-direction rotating shaft, and the second T-shaped slider adaptively slides in the second slide to avoid self-locking of the steering structure caused by different steering radii on both sides of the pile driver bottom frame.

[0049] A gait control method for a semi-walking cement mixing pile driver:

[0050] When the ground hardness condition meets the requirements for the operation of the pipe-running power system, the X-direction advance and retreat and Y-direction translation of the pile driver are both carried out using the pipe-running power system;

[0051] When the ground hardness does not meet the requirements for the pipe-walking power system, the X-direction advance, retreat and steering of the pile driver adopts the walking power system, which includes the following steps:

[0052] S1. The Z-direction hydraulic cylinder drives the X-direction slide plate and the steering tray to lift. After lifting, the steel pipe 3 of the pipe-running power system contacts the soft ground as a temporary pile driver support;

[0053] S2. The twisting hydraulic cylinder drives the Z-axis to rotate with the top surface of the X-axis slide plate as a fixed point to drive the steering tray to twist at the bottom of the X-axis slide plate; and the X-axis hydraulic cylinder is reset and drives the first T-shaped slider in the X-axis slide plate to move to the initial position;

[0054] S3. The Z-axis hydraulic cylinder drives the X-axis slide plate and the steering tray to descend until the lowest position of the steering tray is lower than the lowest position of the steel pipe and bears the overall gravity of the pile driver;

[0055] S4. The X-axis hydraulic cylinder pushes the first T-shaped slider to the travel limit position in the X-axis slide plate. During this process, the X-axis slide plate and the steering tray are stationary relative to the ground, and the pile driver is driven by this reaction force. In addition, the torsion hydraulic cylinder pushes the X-axis slide plate to rotate with the circumferential outer wall of the Z-axis shaft as a fixed point. During this process, the steering tray is stationary relative to the ground, and the pile driver is driven by this reaction force to turn. During the steering process, the second T-shaped slider slides adaptively in the second slide.

[0056] Repeat S1 to S4 to realize the forward, backward and turning of the pile driver by means of the walking power system.

[0057] In addition, in the present invention, preferably, the pipe-running power system adopts a mature product in the prior art.

[0058] In order to more clearly describe the specific implementation mode of the present invention, an embodiment is provided below:

[0059] A semi-walking cement mixing pile driver and a gait control method thereof of the present invention solve the problems of difficulty in moving the cement mixing pile driver in soft geology, low work efficiency and high safety risk by modifying the supporting system and walking system of the cement mixing pile driver.

[0060] In the transformation of the walking power system: two sets of steel-structured X-axis slide plates and steering trays supported by Z-axis hydraulic cylinders are added under the longitudinal beam of the pile driver. Each steering tray is 4.5 meters long and 0.7 meters wide.

[0061] A walking mechanism is installed on the steering tray. Each set of walking mechanisms consists of 2 100tZ-direction hydraulic cylinders, 2 60tX-direction hydraulic cylinders and 2 torsion hydraulic cylinders. The stroke of the X-direction hydraulic cylinder is 80cm, the stroke of the Z-direction hydraulic cylinder is 60cm, and the X-direction hydraulic cylinder is located in the first slideway.

[0062] The steel structure steering tray and the X-axis slide plate are connected by a Z-axis rotation axis, which can achieve horizontal angle rotation.

[0063] After the equipment reaches the designated position, the hydraulic system is used to accurately position the pile driver, and then normal mixing pile construction is carried out. After the designated pile position is constructed, the left and right movement is achieved through the pipe-walking power system, and the forward and backward shifting and steering are achieved through the walking power system.

[0064] When constructing in a geologically weak area, the pipe runner and the steering tray work together to ensure the stability of the pile driver. The construction method is as follows:

[0065] When the pile driver is shifted, the Z-direction hydraulic cylinder is used to lower the steel structure steering tray to the ground, and the pile driver is lifted up by the reaction force between the special tray and the ground, so that the front and rear pipes are off the ground;

[0066] b Then the pile driver is moved by the X-axis hydraulic cylinder, each time by 80cm. After that, the pile driver is lowered to the ground by the Z-axis hydraulic cylinder. The front and rear pipes are stressed, and the steering tray and the X-axis slide plate are raised.

[0067] c. The steering tray and the horizontal slide are moved forward by the X-axis hydraulic cylinder, and the pile driver is driven by the twisting hydraulic cylinder, thus realizing a shift cycle.

[0068] In areas with hard geology, the pipe can be supported and moved only by the steel pipes of the pipe-walking power system.

[0069] By modifying the support system and walking system of the cement mixing pile driver, the adaptability of the mixing pile driver to soft geology is enhanced. By increasing the contact area of ​​the support system, the stability of the pile driver during movement and construction is improved. By adding a hydraulic walking system, the movement efficiency of the pile driver is improved, the pile driver is more stable during shifting, and the safety risks during equipment operation are reduced.

[0070] Finally, all the parts not described in the present invention adopt mature products and mature technical means in the prior art.

[0071] In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiments or examples of the present invention.

[0072] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A gait control method for a semi-walking cement mixing pile driver, characterized in that: The semi-walking cement mixing pile driver used in the method comprises a pile driver bottom frame, and a pipe-walking power system is arranged on the bottom surfaces of the front and rear ends of the pile driver bottom frame in the direction of travel; the pile driver travel direction is defined as the X direction, the translation directions of the left and right sides of the pile driver are the Y direction, and the gravity direction is the Z direction. The method is characterized in that: a walking power system is arranged on the bottom surfaces of the left and right sides of the pile driver bottom frame in the direction of travel, and the walking power system comprises a Z-direction hydraulic cylinder, an X-direction hydraulic cylinder, a torsion hydraulic cylinder, an X-direction slide plate and a steering tray, wherein: The X-direction slide plate lifting crane is arranged below both sides of the bottom frame of the pile driver and is powered by a Z-direction hydraulic cylinder. The X-direction hydraulic cylinder is embedded and fixed on the top surface of the X-direction slide plate and provides power for the X-direction relative translation movement between the Z-direction hydraulic cylinder and the X-direction slide plate; The bottom surface of the X-direction slide plate is twisted and slid on the XY plane to adaptively mount the steering tray, and a plurality of twisting hydraulic cylinders are hingedly connected on the X-direction slide plate to provide twisting power for the steering tray; The top surface of the X-direction slide plate is provided with first slideways that are concave downward in the Z direction and extend in the X direction, and a hydraulic steering unit is provided in the middle of the X-direction slide plate, which provides torsional power and translational adaptation on the XY plane for the steering tray; The hydraulic steering unit includes a Z-axis rotating shaft and a torsion hydraulic cylinder, wherein: The Z-axis rotating shaft vertically penetrates the middle of the X-axis slide plate, and the bottom end of the Z-axis rotating shaft is fixed with a second T-shaped slider which slides in the X direction and is limited in the Y direction and the Z direction and is connected to the top surface of the steering tray; The torsion hydraulic cylinder is centrally symmetrically arranged on the middle top surface of the X-direction slide plate, the cylinder end of the torsion hydraulic cylinder is hingedly connected to the circumferential outer wall of the Z-direction rotating shaft, and the piston end of the torsion hydraulic cylinder is hingedly connected to the middle top surface of the X-direction slide plate; A second slideway is provided on the top surface of the steering tray, which is concave in the Z direction and extends in the X direction. The second slideway is slidably connected to the second T-shaped slider of the hydraulic steering unit in the X direction, and the two X-direction end surfaces of the second slideway are elastically supported and connected with a return spring; the other end of the return spring is elastically supported on the two X-direction end surfaces of the second T-shaped slider, and the return spring provides a return force for the adaptive centering of the steering tray and the Z-direction rotating shaft, and the second T-shaped slider adaptively slides in the second slideway to avoid the self-locking of the steering structure caused by the different steering radii on both sides of the bottom frame of the pile driver; When the ground hardness condition meets the requirements for the operation of the pipe-running power system, the X-direction advance and retreat and Y-direction translation of the pile driver are both carried out using the pipe-running power system; When the ground hardness does not meet the requirements for the pipe-walking power system, the X-direction advance, retreat and steering of the pile driver adopts the walking power system, which includes the following steps: S1. The Z-direction hydraulic cylinder drives the X-direction slide plate and the steering tray to lift. After lifting, the steel pipe of the pipe-running power system contacts the soft ground as a temporary pile driver support; S2. The twisting hydraulic cylinder drives the Z-axis to rotate with the top surface of the X-axis slide plate as a fixed point to drive the steering tray to twist at the bottom of the X-axis slide plate; and the X-axis hydraulic cylinder is reset and drives the first T-shaped slider in the X-axis slide plate to move to the initial position; S3. The Z-axis hydraulic cylinder drives the X-axis slide plate and the steering tray to descend until the lowest position of the steering tray is lower than the lowest position of the steel pipe and bears the overall gravity of the pile driver; S4. The X-axis hydraulic cylinder pushes the first T-shaped slider to the travel limit position in the X-axis slide plate. During this process, the X-axis slide plate and the steering tray are stationary relative to the ground, and the pile driver is driven by this reaction force. In addition, the torsion hydraulic cylinder pushes the X-axis slide plate to rotate with the circumferential outer wall of the Z-axis shaft as a fixed point. During this process, the steering tray is stationary relative to the ground, and the pile driver is driven by this reaction force to turn. During the steering process, the second T-shaped slider slides adaptively in the second slide. Repeat S1 to S4 to realize the forward, backward and turning of the pile driver by means of the walking power system.

2. The gait control method of a semi-walking cement mixing pile driver according to claim 1 is characterized in that: The Z-direction hydraulic cylinder is provided with multiple ones and is vertically fixed on the top surfaces of both sides of the bottom frame of the pile driver. The power output end of the Z-direction hydraulic cylinder is lifted and slid through the bottom frame of the pile driver and is hingedly connected to the first T-shaped slider; the first T-shaped slider slides in the X direction and is limitedly connected in the Z direction and Y direction to the top surface of the X-direction slide plate, and a fixed top support is connected to the power output end of the X-direction hydraulic cylinder on one X-direction side wall of the first T-shaped slider.

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