Pile driver control system and method

Abstract

This invention discloses a pile driver control system and method, comprising: a main controller and an auxiliary controller, wherein the main controller and the auxiliary controller are communicatively connected, the main controller is used to control the rotation, travel and hydraulic pump of the pile driver, and the auxiliary controller is used to control the attachments. Unlike existing pile drivers converted from excavators, which require switching to pile driving mode before operation, this invention simplifies the operation steps, conforms to the driver's operating habits, and improves construction efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of pile driver control technology, and in particular to a pile driver control system and method. Background Technology

[0002] With the rapid development of construction and infrastructure development, pile drivers, as crucial construction equipment, play an irreplaceable role in civil engineering. Traditional pile drivers are typically specialized equipment designed and manufactured specifically for this purpose, resulting in high costs and complex maintenance. To reduce costs and improve flexibility, many pile driver designers and manufacturers choose to modify existing excavators into pile drivers, leveraging mature technology. This modification method not only saves on the cost of purchasing new equipment but also makes full use of existing excavator resources, improving equipment utilization.

[0003] Most modified pile drivers require pressing a specific button on the central control panel or other control handles to switch the excavator to pile driving mode. Only after entering pile driving mode can the modified pile driver perform pile driving operations. This mode switching process increases the operator's workload and is not in line with their operating habits. In emergency situations, the operator may delay operations due to unfamiliarity with the procedures, affecting construction efficiency and safety. A comprehensive modification design requires extensive redesign of integrated circuits and central control programs in terms of electrical control, involving complex hardware design and the writing and debugging of a large amount of software. Correspondingly, redesigning and debugging integrated circuits and central control programs requires specialized technicians, resulting in very high labor costs. Furthermore, the design and testing cycle for a comprehensive modification is lengthy, consuming significant time and resources, impacting project progress and cost control. In addition, the complexity of a comprehensive modification makes the process extremely cumbersome, increasing project risk and uncertainty. Summary of the Invention

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

[0005] The technical solution adopted by this invention to solve its problem is:

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

[0007] The main controller is electrically connected to a slewing pilot signal module, a foundation pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor, and a proportional solenoid valve for the foundation and auxiliary pumps, for controlling the slewing and travel of the pile driver, as well as the operation of the foundation pump and auxiliary pump.

[0008] An auxiliary controller is connected to 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 releasing solenoid valve, and a hammer rotation and clamping nozzle solenoid valve.

[0009] The main controller is communicatively connected to the auxiliary controller, and the pile driver has a vehicle movement state and a hammer working state.

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

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

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

[0013] The hammer rotation and clamping solenoid valves are pre-activated for the hammer left rotation solenoid valve, the hammer right rotation solenoid valve, the clamping solenoid valve, and the clamping solenoid valve.

[0014] By adopting the above scheme, the main controller is responsible for the regular walking, turning, and pressure regulation of the foundation pump and auxiliary pump, which is the foundation of the excavator. An auxiliary controller is set up 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 the various solenoid valves of the attachments, such as turning the hammer left and right, and clamping and releasing the jaws. Unlike the existing technology, it is not necessary to switch to the piling mode before operation, which further simplifies the operation steps, conforms to the driver's operating habits, and improves construction efficiency and safety.

[0015] By setting up an auxiliary controller, only a simple modification to the communication section of the main controller is required, avoiding the high cost of completely redesigning integrated circuits and central control programs. It also eliminates the need for large-scale hardware design and software debugging by specialized technicians, significantly reducing manpower and time costs and accelerating project progress. Furthermore, the separate design of the main and auxiliary controllers allows the system to flexibly adapt to different excavator models, reducing the difficulty and cost of modification and improving the standardization of the modification process.

[0016] Furthermore, the main controller is also electrically connected to a vibration foot 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 foot pedal and button vibration interlock solenoid valve, and a vibration and walking interlock solenoid valve.

[0017] The vibration control button controls the energization of the vibration solenoid valve and 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 the first vibration mode. When the vibration control button activates both the vibration solenoid valve and the vibration confluence solenoid valve at the same time, the pile driver enters the second vibration mode.

[0019] The vibration foot pressure sensor controls the energization of the vibration solenoid valve and / or the vibration confluence solenoid valve respectively through the communication connection between the main controller and the auxiliary controller.

[0020] The foot pedal and button vibration interlocking solenoid valve is used so that when both the vibration control button and the vibration foot pedal pressure sensor control the energization of the vibration solenoid valve and the vibration confluence solenoid valve, only one of the vibration control button and the vibration foot pedal pressure sensor is activated.

[0021] The vibration and travel interlock solenoid valve is used to restrict the energization of the vibration solenoid valve and the vibration confluence solenoid valve when the travel system of the pile driver is energized.

[0022] And when the vibration solenoid valve and / or the vibration confluence solenoid valve are energized, the energization of the piling machine's walking system is restricted.

[0023] The present invention also provides a piling machine control method, employing the above-mentioned piling machine control system, wherein the piling machine includes piling attachments, the piling attachments include a hammer and a clamp, comprising:

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

[0025] The auxiliary controller receives and processes the signal data of the hammer control button, the automatic clamping cancel button, the clamping mouth control button, the hammer left rotation solenoid valve, the hammer right rotation solenoid valve, the automatic clamping cancel solenoid valve, the clamping mouth clamping solenoid valve, the clamping mouth releasing solenoid valve, and the hammer rotation and clamping mouth solenoid valve.

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

[0027] Furthermore, the auxiliary controller monitors the operating status of the hammer control button, inputs working current to the hammer rotation and clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate to the left, or inputs working current to the hammer rotation and clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate to the right.

[0028] The auxiliary controller monitors the operation status of the clamp control button, inputs working current to the hammer rotation and clamp solenoid valve and the clamp clamping solenoid valve to control the clamp to perform a clamping action, or inputs working current to the hammer rotation and clamp solenoid valve and the clamp release solenoid valve to control the clamp to perform a release action.

[0029] The auxiliary controller monitors the operation status of the automatic clamping cancel button. When the automatic clamping cancel solenoid valve is de-energized, the clamping jaws are released.

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

[0031] When the pile driver is in vibration mode 1 and vibration mode 2, the automatic clamping cancellation button is activated, the automatic clamping cancellation solenoid valve is de-energized, and the clamping nozzle enters the relaxed state.

[0032] Furthermore, the main controller receives and processes the signal data from the vibration foot pedal pressure sensor, and the auxiliary controller receives and processes the signal data from the vibration control button, the vibration solenoid valve, the vibration confluence solenoid valve, the foot 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, generates a signal message, and sends it to the main controller.

[0034] When the main controller receives the signal data from the vibration foot pedal pressure sensor and receives the information message from the auxiliary controller indicating that the vibration control button is turned on, the foot pedal and button vibration interlock solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data from the vibration foot pedal pressure sensor takes precedence over the signal data from the vibration control button.

[0035] The vibration and walking interlock solenoid valve is used to ensure that only one of the left walking pressure sensor, the right walking pressure sensor, and the vibration solenoid valve is energized when one of the left walking pressure sensor and the right walking pressure sensor is energized, and when the vibration solenoid valve is energized.

[0036] Furthermore, the main controller receives gear position information from the throttle control module, wherein the gear position information is in a high gear:

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

[0038] When the auxiliary controller receives a signal message from the clamping solenoid valve or the clamping solenoid valve, the controller adjusts the flow rate of the base pump and the auxiliary pump to supply according to the preset flow rate values ​​of the clamping and clamping states by receiving the pressure data from the base pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the clamping action.

[0039] When the auxiliary controller simultaneously receives signal messages from the hammer head left-turning solenoid valve or the hammer head right-turning solenoid valve, as well as signal messages from the clamping solenoid valve or the clamping solenoid valve, it adjusts the base pump and auxiliary pump to supply according to preset flow values ​​for the preset clamping and clamping states. The pile driver simultaneously performs hammer head rotation and clamping action.

[0040] When the main controller receives a signal message from the vibration foot pressure sensor, or when the auxiliary controller receives a signal message from the vibration control button, the pile driver enters a first-level vibration mode and adjusts the foundation pump and auxiliary pump to output at maximum displacement.

[0041] When the main controller receives a signal message from the vibration foot pressure sensor, or when the auxiliary controller receives a signal message from the vibration control button, and simultaneously when the auxiliary controller receives a signal message from the vibration confluence solenoid valve, the pile driver enters the second-level vibration mode, and adjusts the foundation pump and auxiliary pump to supply according to the preset flow rate value of the preset second-level vibration mode.

[0042] Furthermore, the main controller is electrically connected to a walking or turning alarm buzzer, which sounds an alarm during the walking or turning of the pile driver.

[0043] The present invention also provides a computer storage medium storing computer instructions, which, when invoked, are used to execute the piling machine control method described above.

[0044] In summary, the piling machine control system and method provided by this invention have the following technical effects:

[0045] 1. The main controller is responsible for the regular travel, rotation, and pressure regulation of the foundation pump and auxiliary pump. It is the foundation of the excavator. An auxiliary controller is set up to communicate with the main controller. The auxiliary controller is used to control the attachments. The auxiliary controller can directly send control signals to the various solenoid valves of the attachments, such as the hammer turning left and right, and the clamping and releasing of the jaws. Unlike the existing technology, it is not necessary to switch to the piling mode before operation. This 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 a simple modification to the communication part of the main controller is required, avoiding the high cost of completely redesigning the integrated circuit and central control program. It also eliminates the need for professional technicians to conduct large-scale hardware design and software debugging, greatly reducing manpower and time costs and accelerating the project progress.

[0047] 3. The separate 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. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the connection relationship of the pile driver control system of the present invention. Detailed Implementation

[0049] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described and discussed below with reference to the accompanying drawings. Obviously, what is described here is only a part of the examples of this invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the protection scope of this invention.

[0050] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments, and these embodiments do not constitute a limitation on the embodiments of the present invention.

[0051] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0053] See Figure 1 This invention discloses a piling machine control system and method, including a main controller and an auxiliary controller. The main controller is electrically connected to a rotation pilot signal module, a foundation pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor, and a proportional solenoid valve for the foundation and auxiliary pumps, for controlling the rotation, travel, and operation of the foundation and auxiliary pumps of the piling machine.

[0054] The main controller receives signals from the slewing pilot signal module and controls the rotation speed and direction of the slewing motor based on the signal strength and direction, achieving precise slewing of the pile driver. The main controller also receives signals from the foundation pump pressure sensor and adjusts the output flow of the foundation pump based on the pressure value, ensuring the stability and reliability of the hydraulic system. Additionally, the main controller receives signals from the auxiliary pump pressure sensor and adjusts the output flow of the auxiliary pump based on the pressure value, ensuring the stability and reliability of the auxiliary hydraulic system. Optionally, the foundation pump can be used for the pile driver's travel and slewing, while the auxiliary pump is used for the attachment's hydraulic system. The main controller receives signals from the throttle control module and adjusts the engine speed based on the current working mode and load, ensuring the hydraulic system's output power matches current requirements. Furthermore, the main controller receives signals from the left travel pressure sensor and adjusts the output torque of the left travel motor based on the pressure value, enabling the pile driver's left track to travel. Finally, the main controller receives signals from the right travel pressure sensor and adjusts the output torque of the right travel motor based on the pressure value, enabling the pile driver's right track to travel. The main controller adjusts the output flow of the base pump and auxiliary pump by controlling the energization status of the proportional solenoid valves of the base and auxiliary pumps according to the current working mode and load conditions, thereby ensuring the stability and reliability of the hydraulic system.

[0055] The auxiliary controller is equipped with hammer control buttons, an automatic clamping cancel button, a jaw control button, a hammer left-turn solenoid valve, a hammer right-turn solenoid valve, an automatic clamping cancel solenoid valve, a jaw clamping solenoid valve, a jaw releasing solenoid valve, and a hammer rotation and jaw solenoid valve. The main controller communicates with the auxiliary controller, enabling the pile driver to display vehicle movement and hammer working states.

[0056] The hammer control button controls the energization of the left-turn solenoid valve and the right-turn solenoid valve of the hammer head via an auxiliary controller.

[0057] In this embodiment, the hammer control buttons include a hammer left turn button and a hammer right turn button. The hammer left turn button corresponds to the hammer left turn solenoid valve. By controlling the hammer left turn button, the hammer left turn solenoid valve is energized, thereby controlling the hammer to turn left. The hammer right turn button corresponds to the hammer right turn solenoid valve. By controlling the hammer right turn button, the hammer right turn solenoid valve is energized, thereby controlling the hammer to turn right.

[0058] The automatic clamping cancellation button controls the de-energization of the automatic clamping cancellation solenoid valve via an auxiliary controller.

[0059] The clamp control button controls the energization of the clamp clamping solenoid valve and the clamp releasing solenoid valve via an auxiliary controller.

[0060] In this embodiment, the clamp control buttons include a clamping button and a clamping release button. The clamping button corresponds to the clamping solenoid valve, and controls the clamping solenoid valve to perform the clamping command, thereby clamping the pile body. The clamping release button corresponds to the clamping release solenoid valve, and controls the clamping release solenoid valve to perform the releasing command.

[0061] The hammer rotation and clamp solenoid valves are pre-activated for the hammer left rotation solenoid valve, hammer right rotation solenoid valve, clamp clamping solenoid valve, and clamp releasing solenoid valve.

[0062] When the hammer head left-turn solenoid valve, hammer head right-turn solenoid valve, clamping solenoid valve, and clamping solenoid valve are activated, the synchronous activation of the hammer head rotation and clamping solenoid valves can achieve an interlock function, ensuring that other critical components are in a safe state when the hammer head rotation or clamping action is performed.

[0063] In some embodiments, the main controller is also electrically connected to a vibration foot 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 foot pedal 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 vibration confluence solenoid valve respectively via an auxiliary controller.

[0065] In this embodiment, the vibration control button includes a vibration button and a vibration merging button. The vibration button corresponds to the vibration current method. When the vibration control button activates the vibration solenoid valve, the pile driver enters the first vibration mode. The vibration merging button corresponds to the vibration merging solenoid valve. When the vibration control button activates both the vibration solenoid valve and the vibration merging solenoid valve simultaneously, the pile driver enters the second vibration mode.

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

[0067] Specifically, both the vibration foot pedal pressure sensor and the vibration button energize the vibration solenoid valve, and the vibration merging button also energizes the vibration solenoid valve. When both the vibration foot pedal pressure sensor and the vibration button are activated simultaneously, they are interlocked. Designers can configure the sensor to prioritize the first activation, the second activation, or one of them to have a fixed priority, depending on requirements. In this embodiment, the vibration foot pedal pressure sensor takes precedence over the vibration button.

[0068] The vibration and travel interlock solenoid valve is used to restrict the energization of the vibration solenoid valve and the vibration confluence solenoid valve 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 energization of the piling machine's travel system is restricted.

[0070] Specifically, the piling machine's walking system is a hydraulic system used for movement. The piling machine can only move when the walking system is energized. The vibration and walking interlock solenoid valve is used to prevent the vibration solenoid valve and the vibration confluence solenoid valve from being energized when the walking system is energized. This means that the piling machine cannot enter the first or second vibration mode during movement. Conversely, when the piling machine's vibration solenoid valve and / or vibration confluence solenoid valve are energized, the piling machine's walking system is de-energized. This means that the piling machine cannot move in the first or second vibration mode, thus ensuring installation and production.

[0071] This invention also provides a piling machine control method, employing the above-mentioned piling machine control system. The piling machine includes piling attachments, which include a hammer and a clamp, comprising:

[0072] The main controller receives and processes signal data from the slewing pilot signal module, the base pump pressure sensor, the auxiliary pump pressure sensor, the throttle control module, the left travel pressure sensor, the right travel pressure sensor, and the proportional solenoid valves of the base and auxiliary pumps. This signal data may include:

[0073] The slewing pilot signal module provides the slewing handle operation signals, including the slewing direction (left or right) and slewing speed. The main controller uses these signals to control the rotation speed and direction of the slewing motor, achieving precise slewing of the pile driver. The foundation pump pressure sensor provides the working pressure value of the foundation pump. The main controller adjusts the output flow of the foundation pump based on these pressure values ​​to ensure the stability and reliability of the hydraulic system. The auxiliary pump pressure sensor provides the working pressure value of the auxiliary pump. The main controller adjusts the output flow of the auxiliary pump based on these pressure values ​​to ensure the stability and reliability of the auxiliary hydraulic system. The throttle control module provides the engine speed signal. Based on the current operating mode and load, the main controller controls the engine speed by adjusting the output of the throttle control module, ensuring that the output power of the hydraulic system matches the current requirements. The left travel pressure sensor provides the working pressure value of the left travel motor. The main controller adjusts the output torque of the left travel motor based on these pressure values ​​to achieve left-side travel of the pile driver. The right travel pressure sensor provides the working pressure value of the right travel motor. The main controller adjusts the output torque of the right travel motor based on these pressure values ​​to achieve right-side travel of the pile driver. The proportional solenoid valves for the basic and auxiliary pumps provide proportional control signals for the basic and auxiliary pumps. Based on the current operating mode and load conditions, the main controller adjusts the output flow of the basic and auxiliary pumps by controlling the energization status of these proportional solenoid valves, ensuring the stability and reliability of the hydraulic system.

[0074] The auxiliary controller receives and processes signal data from the hammer head control button, the automatic clamping cancel button, the jaw control button, the hammer head left rotation solenoid valve, the hammer head right rotation solenoid valve, the automatic clamping cancel solenoid valve, the jaw clamping solenoid valve, the jaw releasing solenoid valve, and the hammer head rotation and jaw solenoid valve. The above signal data may include:

[0075] The hammer control buttons provide left and right turn signals for the hammer. When the driver presses the left turn button, the auxiliary controller energizes the left turn solenoid valve; when the driver presses the right turn button, the auxiliary controller energizes the right turn solenoid valve.

[0076] The automatic clamping cancellation button provides an automatic clamping cancellation operation signal. When the driver presses the automatic clamping cancellation button, the auxiliary controller de-energizes the automatic clamping cancellation solenoid valve, causing the clamp to loosen.

[0077] The clamp control button provides clamping and releasing operation signals for the clamp. When the driver presses the clamp button, the auxiliary controller energizes the clamp clamping solenoid valve; when the driver presses the clamp release button, the auxiliary controller energizes the clamp release solenoid valve.

[0078] The hammer head left-turn solenoid valve receives an energizing signal. When the hammer head left-turn button is pressed, the auxiliary controller energizes the hammer head left-turn solenoid valve, causing the hammer head to turn to the left.

[0079] The hammer head right-turn solenoid valve receives an energizing signal. When the hammer head right-turn button is pressed, the auxiliary controller energizes the hammer head right-turn solenoid valve, causing the hammer head to turn to the right.

[0080] The automatic clamping cancellation solenoid valve receives energization and de-energization signals. When the automatic clamping cancellation button is pressed, the auxiliary controller de-energizes the automatic clamping cancellation solenoid valve, causing the clamp to release.

[0081] The clamping solenoid valve receives an energizing signal from the clamping button. When the clamping button is pressed, the auxiliary controller energizes the clamping solenoid valve, causing the clamp to clamp.

[0082] The clamp release solenoid valve receives an energizing signal. When the clamp release button is pressed, the auxiliary controller energizes the clamp release solenoid valve, causing the clamp to release.

[0083] The energizing signals provided by the hammer rotation and clamping solenoid valves serve as pre-activation parameters for the left-turning, right-turning, clamping, and releasing solenoid valves. When hammer rotation or clamping action is required, the auxiliary controller first energizes the hammer rotation and clamping solenoid valves, and then energizes the specific solenoid valves to ensure smooth operation.

[0084] The auxiliary controller receives and processes the signal data, generates signal messages, and sends them to the main controller. By setting the auxiliary controller to control the rotation of the hammer and the movement of the jaws of the attachment, the difficulty of modifying a pile driver based on an excavator is greatly reduced.

[0085] In a further optional embodiment of the present invention, 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 clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate to the left, or inputs working current to the hammer rotation and clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate to the right.

[0087] The auxiliary controller monitors the operation status of the clamp control button, inputs working current to the hammer head rotation and clamp solenoid valve and the clamp clamping solenoid valve to control the clamp to perform clamping action, or inputs working current to the hammer head rotation and clamp solenoid valve and the clamp release solenoid valve to control the clamp to perform release action.

[0088] The auxiliary controller monitors the operation status of the automatic clamping cancel button. When the automatic clamping cancel solenoid valve is de-energized, the clamping jaws are released.

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

[0090] When the pile driver is in the first and second vibration modes, the automatic clamping cancellation solenoid valve is automatically energized and the jaws enter the clamping state.

[0091] When the pile driver is in vibration mode 1 or 2, turn on the automatic clamping cancellation button. The automatic clamping cancellation solenoid valve will be de-energized, and the clamping nozzle will enter the relaxed state.

[0092] Specifically, when the pile driver enters the first and second vibration modes, 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 vibration mode without the need for additional operation by the driver, which simplifies the operation process, conforms to the driver's operating habits, improves construction efficiency, and also ensures the stability and safety of the pile during vibration, preventing the pile from loosening or falling off due to vibration and reducing potential safety risks.

[0093] By manually activating the automatic clamping cancel button, the automatic clamping cancel solenoid valve is de-energized, and the jaws enter a relaxed state. This is because, during the process of the jaws picking up the pile, due to the weight of the pile, the jaws need to remain vibrating to soften the soil at the point where the jaws are gripping the pile, allowing the jaws to reach under and to the side of the pile for gripping. However, during the vibration process, there may be issues with the gripping position not being correct. By controlling the automatic clamping cancel button to de-energize the automatic clamping cancel solenoid valve, the jaws relax and disengage from the pile. The position of the jaws can then be adjusted, and the pile can be gripped again. This allows the driver to adjust the position while in motion, reducing the difficulty of gripping the pile.

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

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

[0096] The auxiliary controller receives and processes the signal data, generates a signal message, and sends it to the main controller.

[0097] When the main controller receives the signal data from the vibration foot pedal pressure sensor and receives the information message from the auxiliary controller indicating that the vibration control button is turned on, the foot pedal and button vibration interlock solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data from the vibration foot pedal pressure sensor takes precedence over the signal data from the vibration control button.

[0098] The vibration and travel interlock solenoid valve ensures that only one of the left and right travel pressure sensors and the vibration solenoid valve is energized when either the left or right travel pressure sensor is energized. In other words, the vibration solenoid valve cannot be activated during the piling machine's travel, and travel is prohibited when the vibration solenoid valve is activated.

[0099] The main controller receives gear information from the throttle control module. This gear information is divided into low gear and high gear. Low gear refers to gears suitable for light loads or delicate operation, corresponding to gears 1-3 in a typical 8-speed piling machine. High gear refers to gears suitable for heavy loads or high-intensity operations, corresponding to gears 4-8 in a typical 8-speed piling machine. When the gear information is in the high gear position:

[0100] When the auxiliary controller receives a signal message from the hammer head left-turn solenoid valve or the hammer head right-turn solenoid valve, the main controller receives pressure data from the foundation pump pressure sensor and the auxiliary pump pressure sensor, and adjusts the foundation pump and the auxiliary pump to supply according to the preset flow values ​​of the preset hammer head left-turn state and the preset hammer head right-turn state, so that the pile driver can execute the hammer head rotation action.

[0101] When the auxiliary controller receives a signal message from the clamping solenoid valve or the clamping solenoid valve, the main controller receives pressure data from the foundation pump pressure sensor and the auxiliary pump pressure sensor, and adjusts the foundation pump and the auxiliary pump to supply according to the preset flow values ​​of the preset clamping state and the preset clamping state, so that the pile driver can perform the clamping action.

[0102] When the auxiliary controller receives signal messages from the hammer head left-turn solenoid valve or the hammer head right-turn solenoid valve, as well as signal messages from the clamping solenoid valve or the clamping solenoid valve, it adjusts the foundation pump and auxiliary pump to supply according to the preset flow values ​​of the preset clamping state and the preset clamping state. The pile driver simultaneously performs the hammer head rotation and clamping action.

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

[0104] When the main controller receives a signal message from the vibration foot pressure sensor, or when the auxiliary controller receives a signal message from the vibration control button, and simultaneously when the auxiliary controller receives a signal message from the vibration confluence solenoid valve, the pile driver enters the second-level vibration mode, and adjusts the foundation pump and auxiliary pump to supply according to the preset flow rate value of the preset second-level vibration mode.

[0105] The main controller is electrically connected to a walking or turning alarm buzzer, which sounds an alarm during the walking or turning of the pile driver.

[0106] In this embodiment, the main controller and the auxiliary controller communicate using the CAN protocol. The CAN protocol supports fast data transmission and multitasking, ensuring the control system can respond to various operational commands in real time, thus improving the operating efficiency and accuracy of the piling machine. Furthermore, the CAN protocol possesses robust error detection and fault isolation mechanisms, ensuring the integrity of data transmission and the stability of the system. By adopting CAN communication, this invention provides a piling machine control system with high real-time performance, strong reliability, strong anti-interference capability, high flexibility, high cost-effectiveness, and strong compatibility, significantly improving the performance and user experience of piling machines modified from excavators.

[0107] The present invention also provides a computer storage medium storing computer instructions, which, when invoked, are used to execute the pile driver control method described above.

[0108] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0109] Through the detailed 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 necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, 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 are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pile driver control system, used in a pile driver, characterized in that, include: The main controller is electrically connected to a slewing pilot signal module, a foundation pump pressure sensor, an auxiliary pump pressure sensor, a throttle control module, a left travel pressure sensor, a right travel pressure sensor, and a proportional solenoid valve for the foundation and auxiliary pumps, for controlling the slewing and travel of the pile driver, as well as the operation of the foundation pump and auxiliary pump. An auxiliary controller is connected to 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 releasing solenoid valve, and a hammer rotation and clamping nozzle solenoid valve. The main controller is communicatively connected to the auxiliary controller, and the pile driver has a vehicle movement state and a hammer working state. The hammer control button controls the energization of the left-turn solenoid valve and the right-turn solenoid valve of the hammer head respectively through the auxiliary controller; The automatic clamping cancellation button controls the de-energization of the automatic clamping cancellation solenoid valve via the auxiliary controller; The clamp control button controls the energization of the clamp clamping solenoid valve and the clamp releasing solenoid valve respectively through the auxiliary controller; The hammer rotation and clamping solenoid valves are pre-activated for the hammer left rotation solenoid valve, the hammer right rotation solenoid valve, the clamping solenoid valve, and the clamping solenoid valve.

2. The pile driver control system according to claim 1, characterized in that, The main controller is also electrically connected to a vibration foot 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 foot pedal and button vibration interlock solenoid valve, and a vibration and walking interlock solenoid valve. The vibration control button controls the energization of the vibration solenoid valve and the vibration confluence solenoid valve respectively through the auxiliary controller; When the vibration control button activates the vibration solenoid valve, the pile driver enters the first vibration mode. When the vibration control button activates both the vibration solenoid valve and the vibration confluence solenoid valve at the same time, the pile driver enters the second vibration mode. The vibration foot pressure sensor controls the energization of the vibration solenoid valve and / or the vibration confluence solenoid valve respectively through the communication connection between the main controller and the auxiliary controller. The foot pedal and button vibration interlocking solenoid valve is used so that when both the vibration control button and the vibration foot pedal pressure sensor control the energization of the vibration solenoid valve and the vibration confluence solenoid valve, only one of the vibration control button and the vibration foot pedal pressure sensor is activated. The vibration and travel interlock solenoid valve is used to restrict the energization of the vibration solenoid valve and the vibration confluence solenoid valve when the travel system of the pile driver is energized. And when the vibration solenoid valve and / or the vibration confluence solenoid valve are energized, the energization of the piling machine's walking system is restricted.

3. A piling machine control method, employing the piling machine control system according to any one of claims 1-2, wherein the piling machine includes a piling attachment, the piling attachment comprising a hammer and a clamp, characterized in that, include: The main controller receives and processes signal data from the slewing pilot signal module, the base pump pressure sensor, the auxiliary pump pressure sensor, the throttle control module, the left travel pressure sensor, the right travel pressure sensor, and the base and auxiliary pump proportional solenoid valve. The auxiliary controller receives and processes the signal data of the hammer control button, the automatic clamping cancel button, the clamping mouth control button, the hammer left rotation solenoid valve, the hammer right rotation solenoid valve, the automatic clamping cancel solenoid valve, the clamping mouth clamping solenoid valve, the clamping mouth releasing solenoid valve, and the hammer rotation and clamping mouth solenoid valve. The auxiliary controller receives and processes the signal data, generates a signal message, and sends it to the main controller.

4. The piling machine control method according to claim 3, characterized in that, The auxiliary controller monitors the operation status of the hammer control button, inputs working current to the hammer rotation and clamping solenoid valve and the hammer left rotation solenoid valve to control the hammer to rotate to the left, or inputs working current to the hammer rotation and clamping solenoid valve and the hammer right rotation solenoid valve to control the hammer to rotate to the right. The auxiliary controller monitors the operation status of the clamp control button, inputs working current to the hammer rotation and clamp solenoid valve and the clamp clamping solenoid valve to control the clamp to perform a clamping action, or inputs working current to the hammer rotation and clamp solenoid valve and the clamp release solenoid valve to control the clamp to perform a release action. The auxiliary controller monitors the operation status of the automatic clamping cancel button. When the automatic clamping cancel solenoid valve is de-energized, the clamping jaws are released.

5. The piling machine control method according to claim 4, characterized in that, The main controller is electrically connected to a vibration foot pedal pressure sensor, and the auxiliary controller is electrically connected to a vibration control button, a vibration solenoid valve, a vibration confluence solenoid valve, a foot pedal and button vibration interlock solenoid valve, and a vibration and walking interlock solenoid valve. The main controller receives and processes the signal data from the vibration foot pedal pressure sensor, and the auxiliary controller receives and processes the signal data from the vibration control button, the vibration solenoid valve, the vibration confluence solenoid valve, the foot pedal and button vibration interlock solenoid valve, and the vibration and walking interlock solenoid valve. The auxiliary controller receives and processes the signal data, generates a signal message, and sends it to the main controller. When the main controller receives the signal data from the vibration foot pedal pressure sensor and receives the information message from the auxiliary controller indicating that the vibration control button is turned on, the foot pedal and button vibration interlock solenoid valve is energized, the automatic clamping cancellation solenoid valve is energized, and the signal data from the vibration foot pedal pressure sensor takes precedence over the signal data from the vibration control button. The vibration and walking interlock solenoid valve is used to ensure that only one of the left walking pressure sensor, the right walking pressure sensor, and the vibration solenoid valve is energized when one of the left walking pressure sensor and the right walking pressure sensor is energized, and when the vibration solenoid valve is energized.

6. The piling machine control method according to claim 5, characterized in that, When the pile driver is in vibration mode 1 and vibration mode 2, the automatic clamping cancellation solenoid valve is automatically energized and the clamping jaws enter the clamping state. When the pile driver is in vibration mode 1 and vibration mode 2, the automatic clamping cancellation button is activated, the automatic clamping cancellation solenoid valve is de-energized, and the clamping nozzle enters the relaxed state.

7. The piling machine control method according to claim 5, characterized in that, The main controller receives gear position information from the throttle control module. When the gear position information is in a high position: When the auxiliary controller receives a signal message from the hammer head left-turning solenoid valve or the hammer head right-turning solenoid valve, the main controller receives pressure data from the foundation pump pressure sensor and the auxiliary pump pressure sensor, and adjusts the foundation pump and auxiliary pump to supply according to the preset flow values ​​of the preset hammer head left-turning state and the preset hammer head right-turning state, and the pile driver performs the hammer head rotation action; When the auxiliary controller receives a signal message from the clamping solenoid valve or the clamping solenoid valve, the controller adjusts the flow rate of the base pump and the auxiliary pump to supply according to the preset flow rate values ​​of the clamping and clamping states by receiving the pressure data from the base pump pressure sensor and the auxiliary pump pressure sensor, and the pile driver performs the clamping action. When the auxiliary controller simultaneously receives signal messages from the hammer head left-turning solenoid valve or the hammer head right-turning solenoid valve, as well as signal messages from the clamping solenoid valve or the clamping solenoid valve, it adjusts the base pump and auxiliary pump to supply according to preset flow values ​​for the preset clamping and clamping states. The pile driver simultaneously performs hammer head rotation and clamping action. When the main controller receives a signal message from the vibration foot pressure sensor, or when the auxiliary controller receives a signal message from the vibration control button, the pile driver enters a first-level vibration mode and adjusts the foundation pump and auxiliary pump to output at maximum displacement. When the main controller receives a signal message from the vibration foot pressure sensor, or when the auxiliary controller receives a signal message from the vibration control button, and simultaneously when the auxiliary controller receives a signal message from the vibration confluence solenoid valve, the pile driver enters the second-level vibration mode, and adjusts the foundation pump and auxiliary pump to supply according to the preset flow rate value of the preset second-level vibration mode.

8. The piling machine control method according to claim 3, characterized in that, The main controller is electrically connected to a walking or turning alarm buzzer, which sounds an alarm during the walking or turning of the pile driver.

9. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the pile driver control method as described in any one of claims 3-8.

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