Clamping oil cylinder execution method for pile gripper

Abstract

The invention discloses a clamping oil cylinder execution method for a pile gripper, belongs to the technical field of oil cylinder execution, and adopts a novel limit switch with high precision and high reliability to improve the accuracy and stability of position detection. The novel limit switch can detect the position of the oil cylinder more accurately, errors and misoperation are reduced, and the working efficiency and reliability of the platform are improved. A perfect execution mode and a signal processing mechanism are designed, and automatic and intelligent control over the action of the oil cylinder is achieved. The uncertainty and errors of manual judgment are avoided, the response speed and the control precision of the platform are improved, and the working intensity and the operation risk of operators are reduced. And in combination with debugging and optimization processes, the performance of the platform is continuously improved, so that the platform can adapt to different working conditions and requirements. The flexibility and adaptability of the platform in practical application are ensured, the service life of equipment is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil cylinder execution, and in particular relates to an execution method of a clamping oil cylinder for a pile gripper. Background Art

[0002] The clamping cylinder structure design of the pile gripper usually adopts hydraulic drive combined with mechanical linkage device. Its core functions must meet the requirements of high-pressure output, precise positioning and stable locking.

[0003] In the prior art solution, patent publication number "CN216199356U," the pile gripper's clamping cylinder is a key component of the gripper's hydraulic system. In practice, after the pile is hoisted into position, the gripper's arm cylinders drive the left and right gripping arms to close. Once the arms are fully encircled, the vertical locking cylinders lock the arms. The clamping cylinders activate, securing the pile in the center. To open the gripper, the vertical locking cylinders are first raised and opened, while the clamping cylinders are retracted and released, allowing the gripper arms to open.

[0004] However, the current clamping cylinder of the pile gripper is not efficient enough during execution. In addition, the clamping cylinder is not equipped with a limit switch. The start and stop of each cylinder requires the operator to make his own judgment based on the actual situation on site, which has poor accuracy. Summary of the Invention

[0005] In order to solve the defects in the prior art, the present invention proposes a method for executing the clamping cylinder of the pile gripper, which effectively avoids the defects of insufficient efficiency of the clamping cylinder of the pile gripper during execution in the prior art, and the lack of a limit switch on the clamping cylinder, which requires the operator to judge the start and stop of each cylinder according to the actual situation on site, resulting in poor accuracy.

[0006] The present invention utilizes the following technical solutions.

[0007] A method for executing a clamping cylinder of a pile gripper, comprising:

[0008] The clamping cylinder and limit switch of the pile gripper are connected to the PLC;

[0009] Step 1: Select the clamping cylinder of the pile clamp and install the limit switch;

[0010] Step 2: Construct the execution mode of the clamping cylinder of the pile gripper;

[0011] Step 3: Perform signal processing and feedback on the clamping cylinder of the pile gripper.

[0012] Furthermore, step 1 includes:

[0013] Step 1-1: Select inductive or photoelectric limit switch;

[0014] Step 1-2: Determine the installation position of the limit switch according to the stroke of the clamping cylinder;

[0015] Steps 1-3: Ensure that the limit switch is securely installed and can withstand vibration and shock during operation.

[0016] Furthermore, in step 1-2, it is installed at both ends of the clamping cylinder stroke, namely the fully extended and fully retracted positions, and the fully extended and fully retracted positions are the extended end and the retracted end respectively.

[0017] Furthermore, the execution mode of the clamping cylinder of the pile gripper in step 2 includes:

[0018] Step 2-1: When the clamping cylinder extends, once it touches the limit switch at the extension end, the PLC stops the extension of the clamping cylinder in real time after receiving the touch signal;

[0019] Step 2-2: When the clamping cylinder retracts and touches the limit switch at the retraction end, the PLC stops the retraction action immediately after receiving the touch signal;

[0020] Step 2-3: Design a logic interlock to prevent the clamping cylinder from receiving both extend and retract commands simultaneously during operation, thus preventing cylinder failure.

[0021] Furthermore, steps 2-3 specifically include:

[0022] Step 2-3-1: Condition monitoring and identification;

[0023] Step 2-3-2: Interlock judgment and instruction processing;

[0024] Step 2-3-3: Exception handling and recovery.

[0025] Furthermore, step 2-3-1 specifically includes:

[0026] Step 2-3-1-1: Set two Boolean variables Extendedstate and Retractedstate in the PLC to represent the extended and retracted states of the cylinder respectively. Initially, both are false;

[0027] Step 2-3-1-2: When the extend command is received and the cylinder starts to extend, set Extendedstate to true and Retractedstate to false;

[0028] Step 2-3-1-3: When the retract command is received and the cylinder starts to retract, set Retractedstate to true and Extendedstate to false.

[0029] Furthermore, step 2-3-2 specifically includes:

[0030] Step 2-3-2-1: When receiving a new instruction, first check the current status flag;

[0031] Step 2-3-2-2: If the machine is currently in the extended state and receives a retract command, the retract command will be rejected and an error message will be displayed on the PLC screen.

[0032] Step 2-3-2-3: If the machine is currently in the retracted state and receives an extend command, the extend command will be rejected and an error message will be issued.

[0033] Furthermore, step 2-3-3 specifically includes:

[0034] Step 2-3-3-1: When an error occurs due to command conflict, stop the current cylinder action and put the PLC into a safe standby state;

[0035] Step 2-3-3-2: Record the error information for subsequent troubleshooting and cause analysis;

[0036] Step 2-3-3-3: After the error is resolved, restore the PLC to normal working state through manual reset or automatic recovery mechanism;

[0037] Step 2-3-3 ensures that timely measures can be taken in abnormal situations to ensure the safety and stability of the PLC and to quickly restore normal operation.

[0038] Furthermore, step 3 specifically includes:

[0039] Step 3-1: Process and amplify the signal detected by the limit switch to ensure that it can be accurately transmitted to the PLC;

[0040] Step 3-2: Display the position status of the cylinder in real time in the PLC to provide intuitive feedback information to the operator;

[0041] Step 3-3: Based on the feedback information, monitor and diagnose the action of the cylinder, detect abnormal conditions in time and issue an alarm.

[0042] Furthermore, step 3-1 specifically includes:

[0043] The algorithm for processing and amplifying the signal detected by the limit switch and transmitting it to the PLC is:

[0044] Define the original signal detected by the limit switch as , the amplification factor is , the offset is , the processed and amplified signal is ;

[0045] but: .

[0046] Furthermore, step 3-2 specifically includes:

[0047] Step 3-2-1: Location data collection;

[0048] Step 3-2-2: Data processing and conversion;

[0049] Step 3-2-3: Display interface design.

[0050] Furthermore, step 3-2-1 specifically includes:

[0051] Step 3-2-1-1: Install a high-precision position sensor on the cylinder to detect the position change of the cylinder in real time;

[0052] Step 3-2-1-2: Connect the analog or digital signal output by the displacement sensor to the input module of the PLC;

[0053] Step 3-2-1-3: Configure the corresponding input port and data format in the PLC to receive and parse the sensor signal.

[0054] Furthermore, step 3-2-2 specifically includes:

[0055] Step 3-2-2-1: In the PLC program, filter and calibrate the collected raw position data to remove noise and errors;

[0056] Step 3-2-2-2: Convert and scale the processed data according to the actual physical unit;

[0057] Step 3-2-2-3: Store the converted position data in the internal register of the PLC for subsequent display and use.

[0058] Furthermore, step 3-2-3 specifically includes:

[0059] Step 3-2-3-1: Create a display area on the human-machine interface of the PLC display to display the position status of the cylinder;

[0060] Step 3-2-3-2: Use graphics, numbers, or text to visually display location data to users;

[0061] Step 3-2-3-3: Set up a real-time update mechanism to ensure that the displayed location status is synchronized with the actual situation.

[0062] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0063] The use of new, high-precision, and highly reliable limit switches improves the accuracy and stability of position detection. These new limit switches enable more precise detection of cylinder position, reducing errors and malfunctions, and enhancing the platform's operating efficiency and reliability. A comprehensive execution model and signal processing mechanism are designed to enable automated and intelligent control of cylinder movements. This eliminates the uncertainty and errors inherent in manual judgment, improves the platform's response speed and control accuracy, and reduces operator workload and operational risks. Through a combined debugging and optimization process, the platform's performance is continuously improved to adapt to varying operating conditions and requirements. This ensures the platform's flexibility and adaptability in practical applications, extends the equipment's service life, and reduces maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is an overall flow chart of the method for executing the clamping cylinder of the pile gripper described in the present invention. DETAILED DESCRIPTION

[0065] In actual use, after the pile is hoisted into position, the pile gripper's arm cylinders drive the left and right arms to close. Once the arms are fully encircled, the vertical locking cylinders lock the arms. The clamping cylinders then actuate, securing the pile in the center. To open the pile gripper, the vertical locking cylinders are first raised and opened, while the clamping cylinders are retracted and released, allowing the arms to open.

[0066] However, the current clamping cylinder of the pile gripper is not efficient enough during execution. In addition, the clamping cylinder is not equipped with a limit switch. The start and stop of each cylinder requires the operator to make his own judgment based on the actual situation on site, which has poor accuracy.

[0067] This invention incorporates a comprehensive execution model and signal processing mechanism to achieve automated and intelligent control of cylinder movements. This eliminates the uncertainty and errors inherent in manual judgment, improves the platform's response speed and control accuracy, and reduces operator workload and operational risks. Through a combined debugging and optimization process, the platform's performance is continuously improved to adapt to varying operating conditions and requirements.

[0068] To make the objectives, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely express the technical solutions of the present invention. The embodiments expressed in this application are only some embodiments of the present invention, not all embodiments. In accordance with the spirit of the present invention, other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0069] like Figure 1 As shown, the present invention provides a method for executing a clamping cylinder of a pile gripper, comprising:

[0070] The clamping cylinder and limit switch of the pile gripper are all connected to the PLC;

[0071] The present invention mainly solves the following problems:

[0072] How to accurately determine the start and stop positions of the clamping cylinder to achieve efficient and accurate pile fixation and release. Select the appropriate limit switch type and installation location to ensure stable and reliable operation in complex working environments. Design reasonable control logic to coordinate the limit switch and cylinder action to avoid misoperation and failure. The method of the present invention is as follows:

[0073] Step 1: Select the clamping cylinder of the pile clamp and install the limit switch;

[0074] In a preferred but non-limiting embodiment of the present invention, step 1 comprises:

[0075] Step 1-1: Select a contact or non-contact limit switch with high precision, high reliability and wear resistance, such as an inductive or photoelectric limit switch;

[0076] Step 1-2: Determine the installation position of the limit switch according to the stroke and working requirements of the clamping cylinder;

[0077] In a preferred but non-limiting embodiment of the present invention, in steps 1-2, it is usually installed at both ends of the clamping cylinder stroke, namely the fully extended and fully retracted positions, and the fully extended and fully retracted positions are the extended end and the retracted end respectively.

[0078] Steps 1-3: Ensure that the limit switch is securely installed and can withstand vibration and shock during operation, and take protective measures to prevent it from being damaged by external factors.

[0079] Appropriate limit switch selection and correct installation position are the basis for accurate detection of cylinder position and provide accurate signals for subsequent execution.

[0080] Step 2: Construct the execution mode of the clamping cylinder of the pile gripper;

[0081] In a preferred but non-limiting embodiment of the present invention, the execution mode of the clamping cylinder of the pile gripper in step 2 includes:

[0082] Step 2-1: When the clamping cylinder extends, once it touches the limit switch at the extension end, the PLC will stop the extension of the clamping cylinder in real time after receiving the touch signal to ensure that it will not be damaged due to excessive extension;

[0083] Step 2-2: When the clamping cylinder retracts and touches the limit switch at the retraction end, the PLC stops the retraction action immediately after receiving the touch signal, ensuring that the cylinder is fully retracted and ready for the next action;

[0084] Step 2-3: Design a logic interlock to prevent the clamping cylinder from receiving both extend and retract commands simultaneously during operation, thus preventing cylinder failure.

[0085] Based on this reasonable execution mode, it can ensure that the cylinder moves accurately according to the predetermined stroke, thereby improving work efficiency and safety.

[0086] In a preferred but non-limiting embodiment of the present invention, steps 2-3 specifically include:

[0087] Real-time and accurate monitoring of the cylinder's movement status, including the extension and retraction process.

[0088] Ensure that the interlock logic responds quickly enough to prevent the execution of conflicting instructions.

[0089] Handle possible exceptions, such as error handling and recovery mechanisms when instructions conflict. The details are as follows:

[0090] Step 2-3-1: Condition monitoring and identification;

[0091] In a preferred but non-limiting embodiment of the present invention, step 2-3-1 specifically includes:

[0092] Step 2-3-1-1: Set two Boolean variables Extendedstate and Retractedstate in the PLC to represent the extended and retracted states of the cylinder respectively. Initially, both are false;

[0093] Step 2-3-1-2: When the extend command is received and the cylinder starts to extend, set Extendedstate to true and Retractedstate to false;

[0094] Step 2-3-1-3: When the retract command is received and the cylinder starts to retract, set Retractedstate to true and Extendedstate to false.

[0095] Step 2-3-1 provides a basis for subsequent interlocking judgment through clear status identification.

[0096] Step 2-3-2: Interlock judgment and instruction processing;

[0097] In a preferred but non-limiting embodiment of the present invention, step 2-3-2 specifically includes:

[0098] Step 2-3-2-1: When receiving a new instruction, first check the current status flag;

[0099] Step 2-3-2-2: If the current state is extended (Extendedstate is true) and a retract command is received, the retract command is rejected and an error message is issued on the PLC display;

[0100] Step 2-3-2-3: If the current state is retracted (Retractedstate is true) and an extend command is received, the extend command is rejected and an error message is issued.

[0101] Step 2-3-2 prevents the execution of conflicting instructions in time to protect the cylinder from damage.

[0102] Step 2-3-3: Exception handling and recovery.

[0103] In a preferred but non-limiting embodiment of the present invention, step 2-3-3 specifically includes:

[0104] Step 2-3-3-1: When an error occurs due to command conflict, stop the current cylinder action and put the PLC into a safe standby state;

[0105] Step 2-3-3-2: Record the error information for subsequent troubleshooting and cause analysis;

[0106] Step 2-3-3-3: After the error is resolved, restore the PLC to normal working state through manual reset or automatic recovery mechanism;

[0107] Step 2-3-3 ensures that timely measures can be taken in abnormal situations to ensure the safety and stability of the PLC and to quickly restore normal operation.

[0108] Steps 2-3 use Boolean variables for precise status identification, improving the accuracy and efficiency of interlock judgment. Compared to traditional fuzzy judgment methods, Boolean variables can more clearly and accurately reflect the cylinder's operating status. Real-time command conflict detection and rapid response mechanisms effectively avoid potential cylinder failures. They can prevent command conflicts the moment they occur, minimizing damage to the cylinder. Comprehensive exception handling and recovery mechanisms enhance the PLC's fault tolerance and maintainability. This allows the PLC to quickly resume normal operation in the face of complex operating conditions and unexpected situations, reducing downtime and repair costs caused by failures.

[0109] Step 3: Perform signal processing and feedback on the clamping cylinder of the pile gripper;

[0110] In a preferred but non-limiting embodiment of the present invention, step 3 specifically comprises:

[0111] Step 3-1: Process and amplify the signal detected by the limit switch to ensure that it can be accurately transmitted to the PLC;

[0112] In a preferred but non-limiting embodiment of the present invention, step 3-1 specifically comprises:

[0113] The algorithm for processing and amplifying the signal detected by the limit switch and ensuring accurate transmission to the PLC is as follows:

[0114] Define the original signal detected by the limit switch as , the amplification factor is , the offset is , the processed and amplified signal is ;

[0115] but: .

[0116] Among them, the amplification factor and offset The value needs to be adjusted and calibrated according to the actual signal characteristics and PLC input requirements.

[0117] For example, if the original signal range is V, and the input signal range required by PLC is V, then you can set , , in order to achieve signal amplification and matching.

[0118] Step 3-2: Display the position status of the cylinder in real time in the PLC to provide intuitive feedback information to the operator;

[0119] In a preferred but non-limiting embodiment of the present invention, step 3-2 specifically comprises:

[0120] Acquire the real-time position data of the cylinder with high precision.

[0121] The position data is transmitted to the PLC quickly and stably.

[0122] Display position status on the PLC interface in a clear and intuitive way.

[0123] Step 3-2-1: Location data collection;

[0124] In a preferred but non-limiting embodiment of the present invention, step 3-2-1 specifically includes:

[0125] Step 3-2-1-1: Use a high-precision position sensor (such as an encoder) installed on the cylinder to detect the position change of the cylinder in real time;

[0126] Step 3-2-1-2: Connect the analog or digital signal output by the displacement sensor to the input module of the PLC;

[0127] Step 3-2-1-3: Configure the corresponding input port and data format in the PLC to receive and parse the sensor signal.

[0128] Step 3-2-1 provides an accurate data source for subsequent position data processing and display.

[0129] Step 3-2-2: Data processing and conversion;

[0130] In a preferred but non-limiting embodiment of the present invention, step 3-2-2 specifically includes:

[0131] Step 3-2-2-1: In the PLC program, the collected raw position data is filtered and calibrated to remove noise and errors; the filtering and calibration algorithm may be a Kalman filter algorithm.

[0132] Step 3-2-2-2: Convert and scale the processed data according to the actual physical units (such as millimeters, centimeters, etc.);

[0133] Step 3-2-2-3: Store the converted position data in the internal register of the PLC for subsequent display and use.

[0134] Step 3-2-2 Ensure the accuracy and availability of location data.

[0135] Step 3-2-3: Display interface design.

[0136] In a preferred but non-limiting embodiment of the present invention, step 3-2-3 specifically includes:

[0137] Step 3-2-3-1: Create a display area on the human-machine interface (HMI) of the PLC display to display the position status of the cylinder;

[0138] Step 3-2-3-2: Use graphics, numbers, or text to visually display location data to users;

[0139] Step 3-2-3-3: Set up a real-time update mechanism to ensure that the displayed location status is synchronized with the actual situation.

[0140] Step 3-2-3 enables users to easily and promptly access cylinder position information. Advanced filtering algorithms are used to process position data, improving its stability and reliability. This effectively removes interference and noise, providing more accurate position information. High-speed communication protocols and hardware interfaces enable rapid transmission of position data, reducing data transmission delays and improving system real-time performance. The intelligent HMI design provides a personalized and user-friendly position display interface, meeting the needs of diverse users and improving operational convenience and efficiency.

[0141] Step 3-3: Based on the feedback information, monitor and diagnose the action of the cylinder, detect abnormal conditions in time and issue an alarm.

[0142] Step 3-3 specifically includes:

[0143] Accurately identify normal and abnormal cylinder movement patterns. Quickly detect abnormal situations and ensure timely alarms. Reduce false alarm rates and improve alarm accuracy.

[0144] Main steps:

[0145] 1. Data collection and preprocessing:

[0146] (1) Collect the position data of the oil cylinder at a high frequency to ensure the integrity and timeliness of the data.

[0147] (2) Smooth the collected data to remove spikes and noise.

[0148] (3) Convert the processed data into a format suitable for analysis.

[0149] The above provides a high-quality data foundation for subsequent action analysis.

[0150] 2. Action pattern analysis:

[0151] (1) Establish a model of the normal operation of the cylinder, which can be based on historical data or theoretical calculations.

[0152] (2) Use machine learning algorithms (such as support vector machines, decision trees, etc.) to compare real-time data with normal models.

[0153] (3) Update the normal action model in real time to adapt to changes in cylinder performance.

[0154] The above can accurately determine whether the action of the cylinder is normal.

[0155] 3. Abnormal detection and alarm:

[0156] (1) Set an abnormal threshold and judge it as abnormal when the real-time data exceeds the threshold range.

[0157] (2) Use multi-parameter comprehensive judgment to combine position, speed, acceleration and other parameters to improve the accuracy of anomaly detection.

[0158] (3) Once an abnormality is detected, the alarm mechanism is triggered immediately and the operator is notified through sound and light.

[0159] The above can detect abnormal situations in time and issue effective alarms.

[0160] Based on this, machine learning algorithms are applied to motion pattern analysis, enabling adaptive learning and recognition of complex motion patterns. Compared to traditional fixed threshold judgment methods, this approach offers greater accuracy and flexibility. It uses multiple parameters to comprehensively judge abnormalities, reducing the possibility of misjudgment based on a single parameter. This consideration of more factors improves the reliability of anomaly detection. By incorporating real-time data to update the normal motion model, the system achieves greater adaptability and robustness. It can cope with changes in cylinder performance over time, maintaining effective monitoring results.

[0161] Step 3-3 provides timely and accurate signal processing and feedback, which enables the operator to understand the working status of the cylinder and facilitate timely adjustment and maintenance.

[0162] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0163] The use of new, high-precision, and highly reliable limit switches improves the accuracy and stability of position detection. These new limit switches enable more precise detection of cylinder position, reducing errors and malfunctions, and enhancing the platform's operating efficiency and reliability. A comprehensive execution model and signal processing mechanism are designed to enable automated and intelligent control of cylinder movements. This eliminates the uncertainty and errors inherent in manual judgment, improves the platform's response speed and control accuracy, and reduces operator workload and operational risks. Through a combined debugging and optimization process, the platform's performance is continuously improved to adapt to varying operating conditions and requirements. This ensures the platform's flexibility and adaptability in practical applications, extends the equipment's service life, and reduces maintenance costs.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for executing the clamping cylinder of a pile gripper, characterized in that: include: The clamping cylinder and limit switch of the pile gripper are all connected to the PLC; Step 1: Select the clamping cylinder of the pile clamp and install the limit switch; Step 2: Construct the execution mode of the clamping cylinder of the pile gripper; Step 3: Perform signal processing and feedback on the clamping cylinder of the pile gripper.

2. The method for executing the clamping cylinder of a pile gripper according to claim 1, characterized in that: Step 1 includes: Step 1-1: Select inductive or photoelectric limit switch; Step 1-2: Determine the installation position of the limit switch according to the stroke of the clamping cylinder; Steps 1-3: Ensure that the limit switch is securely installed and can withstand vibration and shock during operation.

3. The method for executing the clamping cylinder of a pile gripper according to claim 2, characterized in that: In step 1-2, it is installed at both ends of the clamping cylinder stroke, that is, the fully extended and fully retracted positions, and the fully extended and fully retracted positions are the extended end and the retracted end respectively.

4. The method for executing the clamping cylinder of a pile gripper according to claim 3, characterized in that: The execution modes of the clamping cylinder of the pile gripper in step 2 include: Step 2-1: When the clamping cylinder extends, once it touches the limit switch at the extension end, the PLC stops the extension of the clamping cylinder in real time after receiving the touch signal; Step 2-2: When the clamping cylinder retracts and touches the limit switch at the retraction end, the PLC stops the retraction action immediately after receiving the touch signal; Step 2-3: Design a logic interlock to prevent the clamping cylinder from receiving both extend and retract commands simultaneously during operation, thus preventing cylinder failure.

5. The method for executing the clamping cylinder of a pile gripper according to claim 4, characterized in that: Steps 2-3 specifically include: Step 2-3-1: Condition monitoring and identification; Step 2-3-2: Interlock judgment and instruction processing; Step 2-3-3: Exception handling and recovery.

6. The method for executing the clamping cylinder of a pile gripper according to claim 5, characterized in that: Step 2-3-1 specifically includes: Step 2-3-1-1: Set two Boolean variables Extendedstate and Retractedstate in the PLC to represent the extended and retracted states of the cylinder respectively. Initially, both are false; Step 2-3-1-2: When the extend command is received and the cylinder starts to extend, set Extendedstate to true and Retractedstate to false; Step 2-3-1-3: When the retract command is received and the cylinder starts to retract, set Retractedstate to true and Extendedstate to false; Step 2-3-2 specifically includes: Step 2-3-2-1: When receiving a new instruction, first check the current status flag; Step 2-3-2-2: If the machine is currently in the extended state and receives a retract command, the retract command will be rejected and an error message will be displayed on the PLC screen. Step 2-3-2-3: If the machine is currently in the retracted state and receives an extend command, the extend command will be rejected and an error message will be issued; Step 2-3-3 specifically includes: Step 2-3-3-1: When an error occurs due to command conflict, stop the current cylinder action and put the PLC into a safe standby state; Step 2-3-3-2: Record the error information for subsequent troubleshooting and cause analysis; Step 2-3-3-3: After the error is resolved, restore the PLC to normal working state through manual reset or automatic recovery mechanism; Step 2-3-3 ensures that timely measures can be taken in abnormal situations to ensure the safety and stability of the PLC and to quickly restore normal operation.

7. The method for executing the clamping cylinder of a pile gripper according to claim 6, characterized in that: Step 3 specifically includes: Step 3-1: Process and amplify the signal detected by the limit switch to ensure that it can be accurately transmitted to the PLC; Step 3-2: Display the position status of the cylinder in real time in the PLC to provide intuitive feedback information to the operator; Step 3-3: Based on the feedback information, monitor and diagnose the action of the cylinder, detect abnormal conditions in time and issue an alarm.

8. The method for executing the clamping cylinder of a pile gripper according to claim 7, characterized in that: Step 3-1 specifically includes: The algorithm for processing and amplifying the signal detected by the limit switch and transmitting it to the PLC is: Define the original signal detected by the limit switch as , the amplification factor is , the offset is , the processed and amplified signal is ; but: .

9. The method for executing the clamping cylinder of a pile gripper according to claim 8, characterized in that: Step 3-2 specifically includes: Step 3-2-1: Location data collection; Step 3-2-2: Data processing and conversion; Step 3-2-3: Display interface design.

10. The method for executing the clamping cylinder of a pile gripper according to claim 9, characterized in that: Step 3-2-1 specifically includes: Step 3-2-1-1: Install a high-precision position sensor on the cylinder to detect the position change of the cylinder in real time; Step 3-2-1-2: Connect the analog or digital signal output by the displacement sensor to the input module of the PLC; Step 3-2-1-3: Configure the corresponding input port and data format in the PLC to receive and analyze the sensor signal; Step 3-2-2 specifically includes: Step 3-2-2-1: In the PLC program, filter and calibrate the collected raw position data to remove noise and errors; Step 3-2-2-2: Convert and scale the processed data according to the actual physical unit; Step 3-2-2-3: Store the converted position data in the internal register of the PLC for subsequent display and use; Step 3-2-3 specifically includes: Step 3-2-3-1: Create a display area on the human-machine interface of the PLC display to display the position status of the cylinder; Step 3-2-3-2: Use graphics, numbers, or text to visually display location data to users; Step 3-2-3-3: Set up a real-time update mechanism to ensure that the displayed location status is synchronized with the actual situation.

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