A method for executing a clamping oil cylinder of a pile grab

Abstract

The utility model relates to a kind of clamping cylinder execution method for pile grab, belong to cylinder execution technical field, it uses high-precision and high-reliability new type limit switch, improves the accuracy and stability of position detection.New type limit switch can more accurately detect cylinder position, reduce error and misoperation, improve the work efficiency and reliability of platform.Perfect execution mode and signal processing mechanism are designed, the automation and intelligent control of cylinder action are realized.The uncertainty and error of artificial judgment are avoided, the response speed and control precision of platform are improved, and the working strength and operation risk of operator are reduced.Combined with debugging and optimization process, platform performance is continuously improved, so that it can adapt to different working conditions and requirements.The flexibility and adaptability of platform in practical application are guaranteed, the service life of equipment is prolonged, and maintenance cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic cylinder actuation technology, specifically relating to a clamping hydraulic cylinder actuation method for a pile gripper. Background Technology

[0002] The clamping cylinder structure of the pile gripper is usually designed with hydraulic drive and mechanical linkage device. Its core functions need to meet the requirements of high pressure output, accurate positioning and stable locking.

[0003] As mentioned in the prior art solution with patent publication number "CN216199356U", the clamping cylinder of the pile gripper is an important component of the pile gripper's hydraulic system. In specific applications, after the pipe pile is hoisted into place, the gripping arm cylinder of the pile gripper drives the left and right gripping arms to close. After the gripping arms are in place, the vertical locking cylinder locks the left and right gripping arms. The clamping cylinder then actuates, fixing the pipe pile in the center position. When it is necessary to open the pile gripper, the vertical locking cylinder first lifts to open, the clamping cylinder retracts to release, and the gripping arms open.

[0004] However, the clamping cylinders of the current pile gripper are not efficient enough during operation. In addition, the clamping cylinders are not equipped with limit switches, and the start and stop of each cylinder need to be judged by the operator according to the actual situation on site, which is inaccurate. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes a method for executing the clamping cylinder of a pile gripper. This method effectively avoids the shortcomings of existing technologies, such as insufficient efficiency of the clamping cylinder during execution, and the lack of limit switches on the clamping cylinder, which requires operators to judge the start and stop of each cylinder based on the actual site conditions, resulting in poor accuracy.

[0006] The present invention employs the following technical solution.

[0007] A method for actuating a clamping cylinder of a pile gripper includes:

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

[0009] Step 1: Select and install limit switches for the clamping cylinder of the pile driver;

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

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

[0012] Further, step 1 includes:

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

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

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

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

[0017] Furthermore, the clamping cylinder execution mode 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 will receive the touch signal and immediately stop the extension action of the clamping cylinder.

[0019] Step 2-2: When the clamping cylinder retracts, if it touches the limit switch at the retracted end, the PLC will stop the retraction action immediately after receiving the touch signal.

[0020] Steps 2-3: Design a logic interlock to prevent the cylinder from receiving both extension and retraction commands simultaneously during the clamping cylinder's operation, thus preventing cylinder malfunction.

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

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

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

[0024] Step 2-3-3: Anomaly 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 state and retracted state of the hydraulic cylinder, respectively. Initially, both are false.

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

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

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

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

[0031] Step 2-3-2-2: If the device is currently in the extended state and a retraction command is received, then the retraction command is rejected and an error message is displayed on the PLC screen.

[0032] Step 2-3-2-3: If the device is currently in a retracted state and an extension command is received, then refuse to execute the extension command and issue an error message.

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

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

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

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

[0037] Step 2-3-3 ensures that measures can be taken in a timely manner 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 hydraulic cylinder in real time on the PLC to provide intuitive feedback information to the operator;

[0041] Step 3-3: Based on the feedback information, monitor and diagnose the movement of the hydraulic cylinder, promptly detect abnormalities 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 as follows:

[0044] Define the original signal detected by the limit switch as The magnification 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 acquisition;

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

[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 hydraulic cylinder to detect changes in the cylinder's position 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 ports and data formats in the PLC to receive and interpret the sensor signals.

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

[0055] Step 3-2-2-1: In the PLC program, the acquired raw position data is filtered and calibrated to remove noise and errors;

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

[0057] Step 3-2-2-3: Store the converted position data in the PLC's internal registers 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 PLC's human-machine interface to display the position status of the hydraulic cylinder;

[0060] Step 3-2-3-2: Use graphics, numbers, or text to visually present the location data to the user;

[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 as follows: Compared with the prior art, the technical effects of the present invention include:

[0063] The adoption of a new type of high-precision and high-reliability limit switch improves the accuracy and stability of position detection. This new limit switch can more accurately detect the cylinder position, reducing errors and malfunctions, and improving the platform's efficiency and reliability. A comprehensive execution mode and signal processing mechanism have been designed, achieving automated and intelligent control of cylinder movements. This avoids the uncertainty and errors of manual judgment, improves the platform's response speed and control precision, and reduces the workload and operational risks for operators. Through debugging and optimization, the platform's performance is continuously improved to adapt to different working conditions and requirements. This ensures the platform's flexibility and adaptability in practical applications, extends the equipment's service life, and reduces maintenance costs. Attached Figure Description

[0064] Figure 1 This is an overall flowchart of the clamping cylinder execution method for the pile gripper described in this invention. Detailed Implementation

[0065] In practical applications, after the pipe pile is hoisted into place, the hydraulic cylinders of the pile gripper drive the left and right gripping arms to close. Once the gripping arms are fully engaged, the vertical locking cylinders lock the left and right gripping arms in place. The clamping cylinders then activate, fixing the pipe pile in the center position. When it is necessary to open the pile gripper, the vertical locking cylinders first lift to open, and the clamping cylinders retract to release, thus opening the gripping arms.

[0066] However, the clamping cylinders of the current pile gripper are not efficient enough during operation. In addition, the clamping cylinders are not equipped with limit switches, and the start and stop of each cylinder need to be judged by the operator according to the actual situation on site, which is inaccurate.

[0067] This invention designs a complete execution mode and signal processing mechanism, realizing automated and intelligent control of cylinder movements. It avoids the uncertainty and error of manual judgment, improves the platform's response speed and control accuracy, and reduces the workload and operational risks for operators. Through debugging and optimization processes, the platform's performance is continuously improved, enabling it to adapt to different working conditions and requirements.

[0068] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, any other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

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

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

[0071] The present invention mainly aims to solve the following problems:

[0072] How to accurately determine the start and stop positions of the clamping cylinder to achieve efficient and accurate pipe pile fixing and loosening? Selecting appropriate limit switch types and installation locations ensures stable and reliable operation in complex working environments. Designing reasonable control logic coordinates the limit switches and cylinder movements to avoid misoperation and malfunctions. The specific method of this invention is as follows:

[0073] Step 1: Select and install limit switches for the clamping cylinder of the pile driver;

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

[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 based on 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, the clamping cylinder is typically installed at both ends of its stroke, i.e., at the fully extended and fully retracted positions, which 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 impact during operation, and take protective measures to prevent damage from external factors.

[0079] The selection of appropriate limit switches and their correct installation positions are fundamental to accurately detecting the position of hydraulic cylinders, providing accurate signals for subsequent execution.

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

[0081] In a preferred but non-limiting embodiment of the present invention, the clamping cylinder execution mode 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 receive the touch signal and immediately stop the extension action of the clamping cylinder to ensure that it does not extend too much and cause damage.

[0083] Step 2-2: When the clamping cylinder retracts, if it touches the limit switch at the retracted end, the PLC will receive the touch signal and stop the retraction action in real time to ensure that the cylinder is fully retracted and ready for the next action.

[0084] Steps 2-3: Design a logic interlock to prevent the cylinder from receiving both extension and retraction commands simultaneously during the clamping cylinder's operation, thus preventing cylinder malfunction.

[0085] This reasonable execution mode can ensure that the hydraulic 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] It can monitor the movement status of the hydraulic cylinder in real time and accurately, including the process of extension and retraction.

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

[0089] The system includes mechanisms for handling and recovering from potential exceptions, such as error handling in case of instruction conflicts. Specifically:

[0090] Step 2-3-1: Status 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 state and retracted state of the hydraulic cylinder, respectively. Initially, both are false.

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

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

[0095] Step 2-3-1 provides a basis for subsequent interlock judgments by using clear status indicators.

[0096] Step 2-3-2: Interlock detection 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: Upon 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 retraction command is received, then the retraction command is rejected and an error message is displayed on the PLC screen.

[0100] Step 2-3-2-3: If the current state is retracted (Retractedstate is true) and an extend command is received, then refuse to execute the extend command and issue an error message.

[0101] Step 2-3-2: Promptly prevent the execution of conflicting commands to protect the hydraulic cylinder from damage.

[0102] Step 2-3-3: Anomaly 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 an instruction conflict, stop the current cylinder action and put the PLC into a safe standby state;

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

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

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

[0108] Steps 2-3 employ 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 malfunctions. They can prevent command conflicts the instant they occur, minimizing damage to the cylinder. A robust exception handling and recovery mechanism enhances the PLC's fault tolerance and maintainability. This allows the PLC to quickly resume normal operation when facing complex working conditions and unexpected situations, reducing downtime and maintenance costs caused by malfunctions.

[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 includes:

[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 includes:

[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 magnification factor is The offset is The processed and amplified signal is ;

[0115] but: .

[0116] Among them, the magnification 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 range of the original signal is V, while the input signal range required by the PLC is V, then you can set , This is to achieve signal amplification and matching.

[0118] Step 3-2: Display the position status of the hydraulic cylinder in real time on 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 includes:

[0120] It can acquire real-time position data of the hydraulic cylinder with high precision.

[0121] It transmits position data to the PLC quickly and reliably.

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

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

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

[0125] Step 3-2-1-1: Install a high-precision position sensor (such as an encoder) on the hydraulic cylinder to detect changes in the cylinder's position 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 ports and data formats in the PLC to receive and interpret the sensor signals.

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

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

[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 acquired raw position data is filtered and calibrated to remove noise and errors; the filtering and calibration algorithm can be the 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 PLC's internal registers for subsequent display and use.

[0134] Step 3-2-2 ensures 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 PLC's human-machine interface (HMI) to display the position status of the hydraulic cylinder;

[0138] Step 3-2-3-2: Use graphics, numbers, or text to visually present the location data to the user;

[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 conveniently and promptly understand the position information of the hydraulic cylinder. Advanced filtering algorithms are employed to process the 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 latency and improving system real-time performance. An intelligent HMI design provides a personalized and user-friendly position display interface, meeting the needs of different users and improving operational convenience and efficiency.

[0141] Step 3-3: Based on the feedback information, monitor and diagnose the movement of the hydraulic cylinder, promptly detect abnormalities and issue an alarm.

[0142] Step 3-3 specifically includes:

[0143] Accurately identify normal and abnormal cylinder operation modes. Quickly detect abnormal situations to ensure timely alarms. Reduce false alarm rate and improve alarm accuracy.

[0144] Main steps:

[0145] I. Data Acquisition and Preprocessing:

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

[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 motion analysis.

[0150] II. Action Pattern Analysis:

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

[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 motion model in real time to adapt to changes in cylinder performance.

[0154] The above methods can accurately determine whether the hydraulic cylinder is operating normally.

[0155] III. Anomaly Detection and Alarm:

[0156] (1) Set an abnormal threshold. When real-time data exceeds the threshold range, it is judged as abnormal.

[0157] (2) Use multi-parameter comprehensive judgment, combining parameters such as position, velocity, and acceleration to improve the accuracy of anomaly detection.

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

[0159] The above methods can promptly detect abnormal situations and issue effective alerts.

[0160] Based on this, machine learning algorithms are used for motion pattern analysis, enabling adaptive learning and recognition of complex motion patterns. Compared to traditional fixed threshold judgment methods, it offers higher accuracy and flexibility. Multi-parameter comprehensive judgment of anomalies reduces the possibility of misjudgment based on a single parameter. Considering more factors improves the reliability of anomaly detection. Combining real-time data to update the normal motion model makes the system more adaptable and robust. It can handle changes in cylinder performance over time, maintaining good monitoring performance.

[0161] Step 3-3 enables timely and accurate signal processing and feedback, allowing operators to understand the working status of the hydraulic cylinder and facilitating timely adjustment and maintenance.

[0162] The beneficial effects of the present invention are as follows: Compared with the prior art, the technical effects of the present invention include:

[0163] The adoption of a new type of high-precision and high-reliability limit switch improves the accuracy and stability of position detection. This new limit switch can more accurately detect the cylinder position, reducing errors and malfunctions, and improving the platform's efficiency and reliability. A comprehensive execution mode and signal processing mechanism have been designed, achieving automated and intelligent control of cylinder movements. This avoids the uncertainty and errors of manual judgment, improves the platform's response speed and control precision, and reduces the workload and operational risks for operators. Through debugging and optimization, the platform's performance is continuously improved to adapt to different working 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 and not 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 modifications or equivalent substitutions can still be made to the specific implementation of the present invention without departing from the spirit and scope of the present invention. Any modifications or equivalent substitutions should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for actuating a clamping cylinder for a pile gripper, characterized in that, include: The clamping cylinder and limit switch of the pile gripper are both connected to the PLC; Step 1: Select and install limit switches for the clamping cylinder of the pile driver; Step 2: Construct the clamping cylinder execution mode of the pile gripper; Step 3: Perform signal processing and feedback on the clamping cylinder of the pile gripper; The clamping cylinder execution modes 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 will receive the touch signal and immediately stop the extension action of the clamping cylinder. Step 2-2: When the clamping cylinder retracts, if it touches the limit switch at the retracted end, the PLC will stop the retraction action immediately after receiving the touch signal. Steps 2-3: Design logic interlocks to prevent the cylinder from receiving both extension and retraction commands simultaneously during the clamping cylinder's operation, thus preventing cylinder malfunction. Steps 2-3 specifically include: Step 2-3-1: Status monitoring and identification; Step 2-3-2: Interlock detection and instruction processing; Step 2-3-3: Exception handling and recovery; 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 state and retracted state of the hydraulic cylinder, respectively. Initially, both are false. Step 2-3-1-2: When the extension command is received and the hydraulic cylinder begins to extend, set Extendedstate to true and Retractedstate to false. Step 2-3-1-3: When a retraction command is received and the hydraulic cylinder begins to retract, set Retractedstate to true and Extendedstate to false. Step 2-3-2 specifically includes: Step 2-3-2-1: Upon receiving a new instruction, first check the current status flag; Step 2-3-2-2: If the device is currently in the extended state and a retraction command is received, then the retraction command is rejected and an error message is displayed on the PLC screen. Step 2-3-2-3: If the device is currently in a retracted state and an extension command is received, then refuse to execute the extension command and issue an error message; Step 2-3-3 specifically includes: Step 2-3-3-1: When an error occurs due to an instruction conflict, stop the current cylinder action and put the PLC into a safe standby state; Step 2-3-3-2: Record the error message for subsequent troubleshooting and analysis of the cause; Step 2-3-3-3: After the error is resolved, the PLC is brought back to normal working status through manual reset or automatic recovery mechanism; Step 2-3-3 ensures that measures can be taken in a timely manner in abnormal situations to ensure the safety and stability of the PLC and to quickly restore normal operation.

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

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

4. The clamping cylinder actuation method for a pile gripper according to claim 3, 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 hydraulic cylinder in real time on the PLC to provide intuitive feedback information to the operator; Step 3-3: Based on the feedback information, monitor and diagnose the movement of the hydraulic cylinder, promptly detect abnormalities and issue an alarm.

5. The clamping cylinder actuation method for a pile gripper according to claim 4, 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 as follows: Define the original signal detected by the limit switch as The magnification factor is The offset is The processed and amplified signal is ; but: .

6. The method for actuating the clamping cylinder of a pile gripper according to claim 5, characterized in that, Step 3-2 specifically includes: Step 3-2-1: Location data acquisition; Step 3-2-2: Data processing and transformation; Step 3-2-3: Display interface design.

7. The method for actuating the clamping cylinder of a pile gripper according to claim 6, characterized in that, Step 3-2-1 specifically includes: Step 3-2-1-1: Install a high-precision position sensor on the hydraulic cylinder to detect changes in the cylinder's position 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 ports and data formats in the PLC to receive and interpret the sensor signals; Step 3-2-2 specifically includes: Step 3-2-2-1: In the PLC program, the acquired raw position data is filtered and calibrated to remove noise and errors; Step 3-2-2-2: Convert and scale the processed data according to the actual physical units; Step 3-2-2-3: Store the converted position data in the PLC's internal registers for subsequent display and use; Step 3-2-3 specifically includes: Step 3-2-3-1: Create a display area on the PLC's human-machine interface to display the position status of the hydraulic cylinder; Step 3-2-3-2: Present the location data to the user visually using graphics, numbers, or text; 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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