Pile driver control system and method

Abstract

The invention discloses a pile driver control system and method.The pile driver control system comprises a main controller and an auxiliary controller, the main controller is in communication connection with the auxiliary controller, the main controller is used for controlling rotation, walking and a hydraulic pump of a pile driver, and the auxiliary controller is used for controlling accessories. Compared with a pile driver modified by an excavator in the prior art, the pile driver does not need to be switched to a pile driving mode and then operated, the operation steps are further simplified, the operation habit of a driver is met, and the construction efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pile driver control, and in particular to a pile driver control system and method. Background Art

[0002] With the rapid development of construction and infrastructure, pile drivers, as important construction equipment, play an irreplaceable role in civil engineering. Traditional pile drivers are usually specially designed and manufactured special equipment, which are expensive and complex to maintain. In order to reduce costs and improve flexibility, many pile driver designers and manufacturers choose to modify the excavators with mature technology and transform them into pile drivers. This modification method not only saves the cost of purchasing new equipment, but also makes full use of existing excavator resources and improves equipment utilization.

[0003] Most modified pile drivers require pressing a specific button on the central control or other control handle to switch the excavator to the piling mode. Only after entering the piling mode can the modified pile driver perform the operation of the pile driver. This mode switching process increases the operating burden of the driver and does not conform to the driver's operating habits. In an emergency, the driver may delay the operation due to unfamiliarity with the operating process, affecting construction efficiency and safety. If a comprehensive modification design is to be carried out, in terms of electronic control, it is necessary to redesign the integrated circuit and the central control program to a large extent, which involves complex hardware design, and requires the writing and debugging of a large number of software programs. Accordingly, the redesign and debugging of the integrated circuit and the central control program requires professional technicians, and the labor cost is very high. In addition, the design and testing cycle of the comprehensive modification is long, which will take up a lot of time and resources, affecting the progress and cost control of the project. In addition, the complexity of the comprehensive modification makes the modification process very cumbersome, increasing the risk and uncertainty of the project. Summary of the invention

[0004] In order to overcome at least one of the defects of the above-mentioned prior art, the present invention provides a pile driver control system and method, which can solve the problem that conventional modification requires switching the piling mode, which does not conform to the driver's operating habits, and the problem of high manpower and time costs required for comprehensive redesign of integrated circuits and central control programs.

[0005] The technical solution adopted by the present invention to solve the problem is:

[0006] A pile driver control system, used for a pile driver, comprising:

[0007] A main controller, wherein the main controller is electrically connected to a rotation pilot signal module, a basic pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor, and a basic and auxiliary pump proportional solenoid valve, so as to control the rotation of the pile driver, the operation of the travel basic pump and the auxiliary pump;

[0008] An auxiliary controller, wherein the auxiliary controller is connected with a hammer head control button, an automatic clamping cancellation button, a clamping nozzle control button, a hammer head left turn solenoid valve, a hammer head right turn solenoid valve, an automatic clamping cancellation solenoid valve, a clamping nozzle clamping solenoid valve, a clamping nozzle releasing solenoid valve, and a hammer head rotation and clamping nozzle solenoid valve;

[0009] Wherein, the main controller is in communication connection with the auxiliary controller, and the pile driver has a vehicle motion state and a hammer working state;

[0010] The hammer control button controls the power supply of the hammer left turn solenoid valve and the power supply of the hammer right turn solenoid valve respectively through the auxiliary controller;

[0011] The automatic clamping cancel button controls the de-energization of the automatic clamping cancel solenoid valve through the auxiliary controller;

[0012] The clamping nozzle control button controls the energization of the clamping nozzle clamping solenoid valve and the energization of the clamping nozzle releasing solenoid valve respectively through the auxiliary controller;

[0013] The hammer head rotation and clamping nozzle electromagnetic valve is the activation pre-position of the hammer head left rotation electromagnetic valve, the hammer head right rotation electromagnetic valve, the clamping nozzle clamping electromagnetic valve and the clamping nozzle releasing electromagnetic valve.

[0014] By adopting the above scheme, the main controller is responsible for conventional walking, rotation and pressure regulation of the basic pump and the auxiliary pump, which is the basis of the excavator. An auxiliary controller is arranged to communicate with the main controller. The auxiliary controller is used to control the accessories, and the auxiliary controller can directly send control signals to each solenoid valve of the accessories, such as the hammer head turning left and right, clamping and releasing the clamping jaws, etc. There is no need to switch to the piling mode before operating as in the prior art, which further simplifies the operating steps, conforms to the driver's operating habits, and improves construction efficiency and safety.

[0015] By setting up the auxiliary controller, only the communication part of the main controller needs to be modified, avoiding the high cost of redesigning the integrated circuit and the central control program. It does not require professional technicians to carry out large-scale hardware design and software debugging, greatly reducing the manpower and time costs and speeding up the project progress. In addition, the separation design of the main controller and the auxiliary controller allows the system to be flexibly adapted to different models of excavators, reducing the difficulty and cost of modification and improving the standardization of modification.

[0016] Furthermore, the main controller is also electrically connected to a vibration pedal pressure sensor, and the auxiliary controller is also electrically connected to a vibration control button, a vibration solenoid valve, a vibration confluence solenoid valve, a pedal and button vibration interlocking solenoid valve, and a vibration and walking interlocking solenoid valve;

[0017] The vibration control button controls the power-on of the vibration solenoid valve and the power-on of the vibration confluence solenoid valve respectively through the auxiliary controller;

[0018] When the vibration control button activates the vibration solenoid valve, the pile driver enters a first-gear vibration mode; when the vibration control button activates the vibration solenoid valve and the vibration confluence solenoid valve at the same time, the pile driver enters a second-gear vibration mode;

[0019] The vibration pedal pressure sensor controls the power-on of the vibration solenoid valve and / or the power-on of the vibration confluence solenoid valve respectively through the communication connection between the main controller and the auxiliary controller;

[0020] The pedal and button vibration interlocking solenoid valve is used for when both the vibration control button and the vibration pedal pressure sensor control the power-on of the vibration solenoid valve and the power-on of the vibration confluence solenoid valve, only one of the vibration control button and the vibration pedal pressure sensor is effective;

[0021] The vibration and travel interlocking solenoid valve is used to limit the vibration solenoid valve and the vibration merging solenoid valve from being energized when the travel system of the pile driver is energized;

[0022] And when the vibration solenoid valve and / or the vibration merging solenoid valve are energized, the walking system of the pile driver is restricted from being energized.

[0023] The present invention also provides a pile driver control method, which adopts the above-mentioned pile driver control system, wherein the pile driver includes a pile driving attachment, and the pile driving attachment includes a hammer head and a clamping nozzle, including:

[0024] The main controller receives and processes signal data from the swing pilot signal module, the basic pump pressure sensor, the auxiliary pump pressure sensor, the throttle control module, the left travel pressure sensor, the right travel pressure sensor, and the basic and auxiliary pump proportional solenoid valve;

[0025] The auxiliary controller receives and processes the signal data of the hammer head control button, the automatic clamping cancellation button, the clamping nozzle control button, the hammer head left turn solenoid valve, the hammer head right turn solenoid valve, the automatic clamping cancellation solenoid valve, the clamping nozzle clamping solenoid valve, the clamping nozzle releasing solenoid valve and the hammer head rotation and clamping nozzle solenoid valve;

[0026] The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller.

[0027] Further, the auxiliary controller monitors the operating state of the hammer control button, inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate left, or inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate right;

[0028] The auxiliary controller monitors the operation state of the clamping nozzle control button, inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle clamping solenoid valve, and controls the clamping nozzle to perform a clamping action, or inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle releasing solenoid valve, and controls the clamping nozzle to perform a releasing action;

[0029] The auxiliary controller monitors the operating state of the automatic clamping cancel button, the automatic clamping cancel solenoid valve loses power, and the clamping nozzle is released.

[0030] Furthermore, when the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancellation solenoid valve is automatically energized, and the clamping nozzle enters a clamping state;

[0031] When the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancel button is turned on, the automatic clamping cancel solenoid valve loses power, and the clamping nozzle enters a relaxed state.

[0032] Further, the main controller receives and processes the signal data of the vibration pedal pressure sensor, and the auxiliary controller receives and processes the signal data of the vibration control button, the vibration solenoid valve, the vibration confluence solenoid valve, the pedal and button vibration interlock solenoid valve and the vibration and walking interlock solenoid valve;

[0033] The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller;

[0034] When the main controller receives the signal data of the vibration pedal pressure sensor, and the main controller receives the information message of the vibration control button being turned on sent by the auxiliary controller, the pedal and button vibration interlocking solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data of the vibration pedal pressure sensor takes precedence over the signal data of the vibration control button for execution;

[0035] The vibration and travel interlocking solenoid valve is used for energizing only one of the left travel pressure sensor, the right travel pressure sensor and the vibration solenoid valve when one of the left travel pressure sensor and the right travel pressure sensor is energized and the vibration solenoid valve is energized.

[0036] Further, the main controller receives the gear information of the throttle control module, and when the gear information is in a high gear:

[0037] When the auxiliary controller receives the signal message of the hammer head left turn solenoid valve or the hammer head right turn solenoid valve, the main controller adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the preset hammer head left turn state and the hammer head right turn state by receiving the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the action of hammer head rotation;

[0038] When the auxiliary controller receives the signal message of the clamping solenoid valve or the clamping solenoid valve, the controller adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the clamping state and the clamping state by receiving the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the action of clamping movement;

[0039] When the auxiliary controller simultaneously receives the signal message of the hammer head left-turn solenoid valve or the hammer head right-turn solenoid valve, and the signal message of the clamping nozzle clamping solenoid valve or the clamping nozzle releasing solenoid valve, the basic pump and the auxiliary pump are adjusted to supply according to the preset flow values ​​of the clamping nozzle clamping state and the clamping nozzle releasing state, and the pile driver simultaneously performs the actions of hammer head rotation and clamping nozzle movement;

[0040] When the main controller receives the signal message from the vibration pedal pressure sensor, or the auxiliary controller receives the signal message from the vibration control button, the pile driver enters the first gear vibration mode, and adjusts the basic pump and the auxiliary pump to output at the maximum displacement;

[0041] When the main controller receives a signal message from the vibration foot pressure sensor, or the auxiliary controller receives a signal message from the vibration control button, and at the same time the auxiliary controller receives a signal message from the vibration merging solenoid valve, the pile driver enters the second-speed vibration mode and adjusts the basic pump and the auxiliary pump to supply according to the preset flow value of the preset second-speed vibration mode.

[0042] Furthermore, the main controller is electrically connected to a walking or rotating alarm buzzer, and the walking or rotating alarm buzzer emits a buzzer alarm when the pile driver is walking or rotating.

[0043] The present invention also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the pile driver control method as described above.

[0044] In summary, the pile driver control system and method provided by the present invention have the following technical effects:

[0045] 1. The main controller is responsible for conventional walking, rotation, and pressure regulation of the basic pump and auxiliary pump. It is the foundation of the excavator. The auxiliary controller is set to communicate with the main controller. The auxiliary controller is used to control the attachments, and the auxiliary controller can directly send control signals to various solenoid valves of the attachments, such as the hammer head turning left and right, clamping and loosening the clamping mouth, etc. There is no need to switch to the piling mode before operation as in the prior art, which further simplifies the operation steps, conforms to the driver's operating habits, and improves construction efficiency and safety;

[0046] 2. By setting up an auxiliary controller, only the communication part of the main controller needs to be modified, avoiding the high cost of redesigning the integrated circuit and the central control program. It does not require professional technicians to carry out large-scale hardware design and software debugging, greatly reducing the manpower and time costs and speeding up the progress of the project.

[0047] 3. The separate design of the main controller and the auxiliary controller allows the system to be flexibly adapted to different types of excavators, reducing the difficulty and cost of modification and improving the standardization of modification. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the connection relationship of the pile driver control system of the present invention. DETAILED DESCRIPTION

[0049] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described and discussed below in conjunction with the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all the examples. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] In order to facilitate the understanding of the embodiments of the present invention, the following will be further explained by taking specific embodiments as examples in conjunction with the drawings, and each embodiment does not constitute a limitation on the embodiments of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0053] See also Figure 1 The present invention discloses a pile driver control system and method, including a main controller and an auxiliary controller. The main controller is electrically connected with a rotation pilot signal module, a basic pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor and a basic and auxiliary pump proportional solenoid valve to control the rotation of the pile driver, the travel basic pump and the auxiliary pump.

[0054] The main controller receives the signal from the slewing pilot signal module, and controls the rotation speed and direction of the slewing motor according to the strength and direction of the signal to achieve precise slewing of the pile driver. The main controller receives the signal from the basic pump pressure sensor, and adjusts the output flow of the basic pump according to the pressure value to ensure the stability and reliability of the hydraulic system. The main controller receives the signal from the auxiliary pump pressure sensor, and adjusts the output flow of the auxiliary pump according to the pressure value to ensure the stability and reliability of the auxiliary hydraulic system. Optionally, the basic pump can be selected for the travel and rotation of the pile driver, and the auxiliary pump can be used for the hydraulic system of the attachment. The main controller receives the signal from the throttle control module, and adjusts the engine speed according to the current working mode and load conditions to ensure that the output power of the hydraulic system matches the current demand. The main controller receives the signal from the left travel pressure sensor, and adjusts the output torque of the left travel motor according to the pressure value to achieve the left crawler travel of the pile driver. The main controller receives the signal from the right travel pressure sensor, and adjusts the output torque of the right travel motor according to the pressure value to achieve the right crawler travel of the pile driver. The main controller adjusts the output flow of the basic pump and the auxiliary pump by controlling the energized state of the proportional solenoid valves of the basic and auxiliary pumps according to the current working mode and load conditions to ensure the stability and reliability of the hydraulic system.

[0055] The auxiliary controller is connected with a hammer control button, an automatic clamping cancel button, a clamping nozzle control button, a hammer left turn solenoid valve, a hammer right turn solenoid valve, an automatic clamping cancel solenoid valve, a clamping nozzle clamping solenoid valve, a clamping nozzle release solenoid valve, and a hammer rotation and clamping nozzle solenoid valve. The main controller is connected to the auxiliary controller in communication, and the pile driver has a vehicle motion state and a hammer working state.

[0056] The hammer control button controls the power supply of the hammer left turn solenoid valve and the power supply of the hammer right turn solenoid valve respectively through the auxiliary controller.

[0057] In this embodiment, the hammer head control button includes a hammer head left turn button and a hammer head right turn button. The hammer head left turn button corresponds to the hammer head left turn solenoid valve. The hammer head left turn button controls the hammer head left turn solenoid valve to be energized, thereby controlling the hammer head to turn left; the hammer head right turn button corresponds to the hammer head right turn solenoid valve. The hammer head right turn button controls the hammer head right turn solenoid valve to be energized, thereby controlling the hammer head to turn right.

[0058] The automatic clamping cancel button controls the de-energization of the automatic clamping cancel solenoid valve through the auxiliary controller.

[0059] The clamping nozzle control button controls the energization of the clamping nozzle clamping solenoid valve and the energization of the clamping nozzle releasing solenoid valve respectively through the auxiliary controller.

[0060] In this embodiment, the clamping nozzle control button includes a clamping nozzle clamping button and a clamping nozzle releasing button. The clamping nozzle clamping button corresponds to the clamping nozzle clamping solenoid valve. The clamping nozzle clamping solenoid valve is controlled to work by the clamping nozzle clamping button to execute the clamping command for clamping the pile body. The clamping nozzle releasing button corresponds to the clamping nozzle releasing solenoid valve. The clamping nozzle releasing solenoid valve is controlled to work by the clamping nozzle releasing button to execute the releasing command.

[0061] The hammer head rotation and the clamping nozzle solenoid valve are the activation pre-positions of the hammer head left rotation solenoid valve, the hammer head right rotation solenoid valve, the clamping nozzle clamping solenoid valve and the clamping nozzle releasing solenoid valve.

[0062] When the hammer head left turn solenoid valve, hammer head right turn solenoid valve, jaw clamping solenoid valve and jaw clamping release solenoid valve are activated, the hammer head rotation and jaw clamping solenoid valves are activated synchronously to achieve an interlocking function, ensuring that other key components are in a safe state when the hammer head rotates or the jaw clamping action is performed.

[0063] In some embodiments, the main controller is also electrically connected to a vibration foot pressure sensor, and the auxiliary controller is also electrically connected to a vibration control button, a vibration solenoid valve, a vibration confluence solenoid valve, a foot and button vibration interlock solenoid valve, and a vibration and walking interlock solenoid valve.

[0064] The vibration control button controls the energization of the vibration solenoid valve and the energization of the vibration confluence solenoid valve respectively through the auxiliary controller.

[0065] In this embodiment, the vibration control button includes a vibration button and a vibration confluence button, wherein the vibration button corresponds to the vibration current method, and when the vibration control button activates the vibration solenoid valve, the pile driver enters the first gear vibration mode. The vibration confluence button corresponds to the vibration confluence solenoid valve, and when the vibration control button activates the vibration solenoid valve and the vibration confluence solenoid valve at the same time, the pile driver enters the second gear vibration mode.

[0066] The vibration pedal pressure sensor controls the energization of the vibration solenoid valve and / or the energization of the vibration confluence solenoid valve respectively through the communication connection between the main controller and the auxiliary controller.

[0067] Specifically, the vibration foot pressure sensor and the vibration button both control the vibration solenoid valve to be energized, and the vibration confluence button controls the vibration solenoid valve to be energized. When the vibration foot pressure sensor and the vibration button are turned on at the same time, the vibration foot pressure sensor and the vibration button are interlocked, and the designer can set the priority of the first opening, the priority of the later opening, or one of them as required. In this embodiment, the vibration foot pressure sensor takes precedence over the vibration button.

[0068] The vibration and travel interlocking solenoid valve is used to limit the vibration solenoid valve and the vibration confluence solenoid valve from being energized when the travel system of the pile driver is energized;

[0069] And when the vibration solenoid valve and / or the vibration confluence solenoid valve are energized, the traveling system of the pile driver is restricted from being energized.

[0070] Specifically, the walking system of the pile driver is a hydraulic system used by the pile driver for walking. The pile driver can only move when the walking system is powered on. The vibration and walking interlocking solenoid valve is used to prevent the vibration solenoid valve and the vibration confluence solenoid valve from being powered on when the walking system is powered on, that is, the pile driver cannot enter the first-gear vibration mode and the second-gear vibration mode during walking. Correspondingly, when the vibration solenoid valve and / or the vibration confluence solenoid valve of the pile driver are powered on, the walking system of the pile driver cannot be powered on, that is, when the pile driver is in the first-gear vibration mode or the second-gear vibration mode, the pile driver cannot walk, thereby ensuring installation production.

[0071] The present invention also provides a pile driver control method, which adopts the above-mentioned pile driver control system, wherein the pile driver includes a pile driving attachment, and the pile driving attachment includes a hammer head and a clamping nozzle, including:

[0072] The main controller receives and processes the signal data of the swing pilot signal module, the basic pump pressure sensor, the auxiliary pump pressure sensor, the throttle control module, the left travel pressure sensor, the right travel pressure sensor and the basic and auxiliary pump proportional solenoid valve. The above signal data may include:

[0073] The slewing handle operation signal provided by the slewing pilot signal module includes the slewing direction (left or right) and slewing speed. The main controller controls the rotation speed and direction of the slewing motor according to these signals to achieve accurate slewing of the pile driver. The basic pump working pressure value provided by the basic pump pressure sensor. The main controller adjusts the output flow of the basic pump according to these pressure values ​​to ensure the stability and reliability of the hydraulic system. The auxiliary pump working pressure value provided by the auxiliary pump pressure sensor. The main controller adjusts the output flow of the auxiliary pump according to these pressure values ​​to ensure the stability and reliability of the auxiliary hydraulic system. The engine speed signal provided by the throttle control module. The main controller controls the engine speed by adjusting the output of the throttle control module according to the current working mode and load conditions to ensure that the output power of the hydraulic system matches the current demand. The left travel motor working pressure value provided by the left travel pressure sensor. The main controller adjusts the output torque of the left travel motor according to these pressure values ​​to achieve the left travel of the pile driver. The right travel pressure value provided by the right travel motor working pressure value. The main controller adjusts the output torque of the right travel motor according to these pressure values ​​to achieve the right travel of the pile driver. The proportional solenoid valve of the basic and auxiliary pumps provides the proportional control signal of the basic pump and the auxiliary pump. The main controller adjusts the output flow of the basic pump and the auxiliary pump by controlling the power-on state of the proportional solenoid valve of the basic and auxiliary pumps according to the current working mode and load conditions to ensure the stability and reliability of the hydraulic system.

[0074] The auxiliary controller receives and processes the signal data of the hammer control button, the automatic clamping cancellation button, the clamping nozzle control button, the hammer left turn solenoid valve, the hammer right turn solenoid valve, the automatic clamping cancellation solenoid valve, the clamping nozzle clamping solenoid valve, the clamping nozzle releasing solenoid valve and the hammer rotation and clamping nozzle solenoid valve. The above signal data may include:

[0075] The hammer control button provides the hammer head left and right turn operation signals. When the driver presses the hammer head left turn button, the auxiliary controller controls the hammer head left turn solenoid valve to be energized; when the driver presses the hammer head right turn button, the auxiliary controller controls the hammer head right turn solenoid valve to be energized.

[0076] The automatic clamping cancel button provides an automatic clamping cancel operation signal. When the driver presses the automatic clamping cancel button, the auxiliary controller controls the automatic clamping cancel solenoid valve to lose power, so that the clamping mouth is released.

[0077] The clamping and releasing operation signals provided by the clamping control button are: When the driver presses the clamping button, the auxiliary controller controls the clamping solenoid valve to be energized; when the driver presses the clamping release button, the auxiliary controller controls the clamping solenoid valve to be energized.

[0078] The hammer head left turn solenoid valve provides the hammer head left turn solenoid valve with an electrical signal. When the hammer head left turn button is pressed, the auxiliary controller controls the hammer head left turn solenoid valve to be energized, so that the hammer head rotates left.

[0079] The hammer head right turn solenoid valve provides the hammer head right turn solenoid valve with an electrical signal. When the hammer head right turn button is pressed, the auxiliary controller controls the hammer head right turn solenoid valve to be energized, so that the hammer head rotates right.

[0080] The automatic clamping cancel solenoid valve provides the automatic clamping cancel solenoid valve power-on and power-off signals. When the automatic clamping cancel button is pressed, the auxiliary controller controls the automatic clamping cancel solenoid valve to lose power, so that the clamping nozzle is released.

[0081] The nozzle clamping solenoid valve provides a nozzle clamping solenoid valve power-on signal. When the nozzle clamping button is pressed, the auxiliary controller controls the nozzle clamping solenoid valve to be powered, so that the nozzle is clamped.

[0082] The clamping nozzle release solenoid valve provides a clamping nozzle release solenoid valve power-on signal. When the clamping nozzle release button is pressed, the auxiliary controller controls the clamping nozzle release solenoid valve to be powered, so that the clamping nozzle is released.

[0083] The hammer rotation and nozzle clamping solenoid valves provide the hammer rotation and nozzle clamping solenoid valves with electrical signals, which are used as activation preconditions for the hammer left rotation solenoid valve, hammer right rotation solenoid valve, nozzle clamping solenoid valve, and nozzle clamping release solenoid valve. When the hammer rotation or nozzle clamping action is required, the auxiliary controller first controls the hammer rotation and nozzle clamping solenoid valves to be energized, and then controls the specific solenoid valves to be energized to ensure the smooth progress of the action.

[0084] The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller. By setting the auxiliary controller to control the hammer head rotation and jaw movement of the attachment, the difficulty of modifying the pile driver based on the excavator is greatly reduced.

[0085] In the embodiment of the present invention, further optionally, the above method may also include:

[0086] The auxiliary controller monitors the operation status of the hammer control button, inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate left, or inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate right;

[0087] The auxiliary controller monitors the operation state of the clamping nozzle control button, inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle clamping solenoid valve, and controls the clamping nozzle to perform a clamping action, or inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle releasing solenoid valve, and controls the clamping nozzle to perform a releasing action;

[0088] The auxiliary controller monitors the operating status of the automatic clamping cancel button, the automatic clamping cancel solenoid valve loses power, and the clamping nozzle is released.

[0089] In the embodiment of the present invention, further optionally, the above method may also include:

[0090] When the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancellation solenoid valve is automatically energized and the clamping nozzle enters the clamping state;

[0091] When the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancel button is turned on, the automatic clamping cancel solenoid valve loses power, and the clamping mouth enters a relaxed state.

[0092] Specifically, when the pile driver enters the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancellation solenoid valve is automatically energized, and the clamping nozzle enters the clamping state, that is, the automatic clamping function is automatically activated in the vibration mode without the need for additional operation by the driver, which simplifies the operating process, conforms to the driver's operating habits, improves construction efficiency, and also ensures the stability and safety of the pile body during the vibration process, prevents the pile body from loosening or falling off due to vibration, and reduces potential safety risks.

[0093] By manually opening the automatic clamping cancel button, the automatic clamping cancel solenoid valve loses power and the clamping mouth enters a relaxed state. This is because during the process of the clamping mouth taking the pile body, due to the weight of the pile body, the clamping mouth needs to remain in a vibrating state to clamp the pile body. The purpose is to soften the soil where the clamping mouth clamps the pile body, so that the clamping mouth can extend into the side and lower part of the pile body for grabbing. However, when grabbing during the vibration process, there may be a problem of incorrect grabbing position. By controlling the automatic clamping cancel solenoid valve to lose power through the automatic clamping cancel button, the clamping mouth is relaxed and disengaged from the pile body, and then the position of the clamping mouth is adjusted to re-clamp the pile body, which is convenient for the driver to adjust during movement and reduces the difficulty of clamping the pile body.

[0094] In the embodiment of the present invention, further optionally, the above method may also include:

[0095] The main controller receives and processes the signal data of the vibration pedal pressure sensor, and the auxiliary controller receives and processes the signal data of the vibration control button, the vibration solenoid valve, the vibration confluence solenoid valve, the pedal and button vibration interlock solenoid valve, and the vibration and walking interlock solenoid valve;

[0096] The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller;

[0097] When the main controller receives the signal data of the vibration pedal pressure sensor, and the main controller receives the information message of the vibration control button being turned on sent by the auxiliary controller, the pedal and button vibration interlocking solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data of the vibration pedal pressure sensor takes precedence over the signal data of the vibration control button for execution;

[0098] The vibration and travel interlocking solenoid valve is used to energize only one of the left travel pressure sensor, the right travel pressure sensor and the vibration solenoid valve when one of the left travel pressure sensor and the right travel pressure sensor is energized and the vibration solenoid valve is energized. That is, the vibration solenoid valve cannot be activated during the pile driver's travel, and travel cannot be carried out during the activation of the vibration solenoid valve.

[0099] The main controller receives the gear information from the throttle control module. The gear information is divided into low gear and high gear. The low gear refers to the gear suitable for light load or fine operation, which corresponds to 1-3 gears in a conventional 8-gear pile driver. The high gear refers to the gear suitable for heavy load or high-intensity operation, which corresponds to 4-8 gears in a conventional 8-gear pile driver. When the gear information is in the high gear:

[0100] When the auxiliary controller receives the signal message of the hammer head left turn solenoid valve or the hammer head right turn solenoid valve, the main controller adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the preset hammer head left turn state and the hammer head right turn state by receiving the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver executes the action of hammer head rotation;

[0101] When the auxiliary controller receives the signal message of the clamping solenoid valve or the clamping release solenoid valve, the main controller receives the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the clamping state and the clamping release state, and the pile driver executes the action of clamping movement;

[0102] When the auxiliary controller simultaneously receives the signal message of the hammer head left-turn solenoid valve or the hammer head right-turn solenoid valve, and the signal message of the clamping nozzle clamping solenoid valve or the clamping nozzle releasing solenoid valve, the basic pump and the auxiliary pump are adjusted to supply according to the preset flow values ​​of the clamping nozzle clamping state and the clamping nozzle releasing state, and the pile driver simultaneously executes the actions of hammer head rotation and clamping nozzle movement;

[0103] When the main controller receives a signal message from the vibration pedal pressure sensor, or the auxiliary controller receives a signal message from the vibration control button, the pile driver enters the first gear vibration mode and adjusts the basic pump and the auxiliary pump to output at the maximum displacement;

[0104] When the main controller receives a signal message from the vibration foot pressure sensor, or the auxiliary controller receives a signal message from the vibration control button, and at the same time the auxiliary controller receives a signal message from the vibration merging solenoid valve, the pile driver enters the second-speed vibration mode and adjusts the basic pump and the auxiliary pump to supply according to the preset flow value of the preset second-speed vibration mode.

[0105] The main controller is electrically connected to a walking or rotating alarm buzzer, and the walking or rotating alarm buzzer sends out a buzzer alarm when the pile driver is in the walking or rotating process.

[0106] In this embodiment, the main controller and the auxiliary controller use the CAN protocol communication method for communication connection. The CAN protocol supports fast data transmission and multi-tasking, ensuring that the control system can respond to various operating instructions in real time and improve the operating efficiency and accuracy of the pile driver. Secondly, the CAN protocol has a powerful error detection and fault isolation mechanism to ensure the integrity of data transmission and the stability of the system. By adopting the CAN communication method, the present invention provides a pile driver control system with high real-time performance, strong reliability, strong anti-interference ability, high flexibility, high cost-effectiveness and strong compatibility, which significantly improves the performance and user experience of the pile driver based on the excavator modification.

[0107] The present invention also provides a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the pile driver control method as described above.

[0108] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0109] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0110] Finally, it should be noted that the pile driver control system and method disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pile driver control system, used for a pile driver, characterized in that: include: A main controller, wherein the main controller is electrically connected to a rotation pilot signal module, a basic pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor, and a basic and auxiliary pump proportional solenoid valve, so as to control the rotation of the pile driver, the operation of the travel basic pump and the auxiliary pump; An auxiliary controller, wherein the auxiliary controller is connected with a hammer head control button, an automatic clamping cancellation button, a clamping nozzle control button, a hammer head left turn solenoid valve, a hammer head right turn solenoid valve, an automatic clamping cancellation solenoid valve, a clamping nozzle clamping solenoid valve, a clamping nozzle releasing solenoid valve, and a hammer head rotation and clamping nozzle solenoid valve; Wherein, the main controller is in communication connection with the auxiliary controller, and the pile driver has a vehicle motion state and a hammer working state; The hammer control button controls the power supply of the hammer left turn solenoid valve and the power supply of the hammer right turn solenoid valve respectively through the auxiliary controller; The automatic clamping cancel button controls the de-energization of the automatic clamping cancel solenoid valve through the auxiliary controller; The clamping nozzle control button controls the power supply of the clamping nozzle clamping solenoid valve and the power supply of the clamping nozzle releasing solenoid valve respectively through the auxiliary controller; The hammer head rotation and clamping nozzle electromagnetic valve is the activation pre-position of the hammer head left rotation electromagnetic valve, the hammer head right rotation electromagnetic valve, the clamping nozzle clamping electromagnetic valve and the clamping nozzle releasing electromagnetic valve.

2. A pile driver control system according to claim 1, characterized in that: The main controller is also electrically connected to a vibration pedal pressure sensor, and the auxiliary controller is also electrically connected to a vibration control button, a vibration solenoid valve, a vibration confluence solenoid valve, a pedal and button vibration interlocking solenoid valve, and a vibration and walking interlocking solenoid valve; The vibration control button controls the power-on of the vibration solenoid valve and the power-on of the vibration confluence solenoid valve respectively through the auxiliary controller; When the vibration control button activates the vibration solenoid valve, the pile driver enters a first-gear vibration mode; when the vibration control button activates the vibration solenoid valve and the vibration confluence solenoid valve at the same time, the pile driver enters a second-gear vibration mode; The vibration pedal pressure sensor controls the power-on of the vibration solenoid valve and / or the power-on of the vibration confluence solenoid valve respectively through the communication connection between the main controller and the auxiliary controller; The pedal and button vibration interlocking solenoid valve is used for when both the vibration control button and the vibration pedal pressure sensor control the power-on of the vibration solenoid valve and the power-on of the vibration confluence solenoid valve, only one of the vibration control button and the vibration pedal pressure sensor is effective; The vibration and travel interlocking solenoid valve is used to limit the vibration solenoid valve and the vibration merging solenoid valve from being energized when the travel system of the pile driver is energized; And when the vibration solenoid valve and / or the vibration merging solenoid valve are energized, the walking system of the pile driver is restricted from being energized.

3. A pile driver control method, using the pile driver control system according to any one of claims 1 to 2, wherein the pile driver comprises a pile driving attachment, the pile driving attachment comprises a hammer head and a clamping nozzle, and is characterized in that: include: The main controller receives and processes signal data from the swing pilot signal module, the basic pump pressure sensor, the auxiliary pump pressure sensor, the throttle control module, the left travel pressure sensor, the right travel pressure sensor, and the basic and auxiliary pump proportional solenoid valve; The auxiliary controller receives and processes the signal data of the hammer head control button, the automatic clamping cancellation button, the clamping nozzle control button, the hammer head left turn solenoid valve, the hammer head right turn solenoid valve, the automatic clamping cancellation solenoid valve, the clamping nozzle clamping solenoid valve, the clamping nozzle releasing solenoid valve and the hammer head rotation and clamping nozzle solenoid valve; The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller.

4. A pile driver control method according to claim 3, characterized in that: The auxiliary controller monitors the operation state of the hammer control button, inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate left, or inputs working current to the hammer rotation and jaw clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate right; The auxiliary controller monitors the operation state of the clamping nozzle control button, inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle clamping solenoid valve, and controls the clamping nozzle to perform a clamping action, or inputs working current to the hammer head rotation and clamping nozzle solenoid valve and the clamping nozzle releasing solenoid valve, and controls the clamping nozzle to perform a releasing action; The auxiliary controller monitors the operating state of the automatic clamping cancel button, the automatic clamping cancel solenoid valve loses power, and the clamping nozzle is released.

5. A pile driver control method according to claim 4, characterized in that: The main controller receives and processes the signal data of the vibration pedal pressure sensor, and the auxiliary controller receives and processes the signal data of the vibration control button, the vibration solenoid valve, the vibration confluence solenoid valve, the pedal and button vibration interlock solenoid valve, and the vibration and walking interlock solenoid valve; The auxiliary controller receives and processes the signal data to generate a signal message and sends it to the main controller; When the main controller receives the signal data of the vibration pedal pressure sensor, and the main controller receives the information message of the vibration control button being turned on sent by the auxiliary controller, the pedal and button vibration interlocking solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data of the vibration pedal pressure sensor takes precedence over the signal data of the vibration control button for execution; The vibration and travel interlocking solenoid valve is used for energizing only one of the left travel pressure sensor, the right travel pressure sensor and the vibration solenoid valve when one of the left travel pressure sensor and the right travel pressure sensor is energized and the vibration solenoid valve is energized.

6. A pile driver control method according to claim 5, characterized in that: When the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancellation solenoid valve is automatically energized, and the clamping nozzle enters a clamping state; When the pile driver is in the first-gear vibration mode and the second-gear vibration mode, the automatic clamping cancel button is turned on, the automatic clamping cancel solenoid valve loses power, and the clamping nozzle enters a relaxed state.

7. A pile driver control method according to claim 5, characterized in that: The main controller receives the gear information of the throttle control module, and when the gear information is in a high gear: When the auxiliary controller receives the signal message of the hammer head left turn solenoid valve or the hammer head right turn solenoid valve, the main controller adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the preset hammer head left turn state and the hammer head right turn state by receiving the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the action of hammer head rotation; When the auxiliary controller receives the signal message of the clamping solenoid valve or the clamping solenoid valve, the controller adjusts the basic pump and the auxiliary pump to supply according to the preset flow values ​​of the clamping state and the clamping state by receiving the pressure data of the basic pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the action of clamping movement; When the auxiliary controller simultaneously receives the signal message of the hammer head left-turn solenoid valve or the hammer head right-turn solenoid valve, and the signal message of the clamping nozzle clamping solenoid valve or the clamping nozzle releasing solenoid valve, the basic pump and the auxiliary pump are adjusted to supply according to the preset flow values ​​of the clamping nozzle clamping state and the clamping nozzle releasing state, and the pile driver simultaneously performs the actions of hammer head rotation and clamping nozzle movement; When the main controller receives the signal message from the vibration pedal pressure sensor, or the auxiliary controller receives the signal message from the vibration control button, the pile driver enters the first gear vibration mode, and adjusts the basic pump and the auxiliary pump to output at the maximum displacement; When the main controller receives a signal message from the vibration foot pressure sensor, or the auxiliary controller receives a signal message from the vibration control button, and at the same time the auxiliary controller receives a signal message from the vibration merging solenoid valve, the pile driver enters the second-speed vibration mode and adjusts the basic pump and the auxiliary pump to supply according to the preset flow value of the preset second-speed vibration mode.

8. A pile driver control method according to claim 3, characterized in that: The main controller is electrically connected to a walking or rotating alarm buzzer, and the walking or rotating alarm buzzer emits a buzzer alarm when the pile driver is walking or rotating.

9. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the pile driver control method according to any one of claims 3 to 8.

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