Road guardrail pile erecting system and method

Abstract

The invention discloses a highway guardrail pile erecting system and method. The highway guardrail pile erecting system comprises a carrying unit, a pile stopping unit, a transferring unit, a pile erecting unit and a centralized electric control unit. The carrying unit comprises a vehicle-mounted chassis and a pile storage box, the bottom of the pile storage box is provided with an inclined pile guide mechanism I with the inclination arranged in the left-right direction, and a lifting door is further arranged on the side vertical face, corresponding to the lower end of the inclined pile guide mechanism I, of the pile storage box. The pile stopping unit is arranged on the outer side of the pile storage box corresponding to the lifting door, and comprises a pile stopping station, and an inclined pile guiding mechanism II and a positioning pile blocking mechanism which are arranged on the pile stopping station; the transfer unit is arranged on the outer side of the pile stopping station corresponding to the pile stopping station and comprises a turnover frame. The pile erecting unit is arranged on the outer side of the turnover frame corresponding to the turnover frame and comprises a swing rod, a swing control component, a mechanical arm supporting rod and a mechanical arm. On the premise that automatic operation of pile taking, pile moving and pile erecting is achieved, continuous operation of long-distance pile driving can be achieved, and then the pile driving operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a highway guardrail pile erection system and method, in particular to a pile erection system and method suitable for erecting anti-collision guardrail piles on expressways, belonging to the technical field of highway maintenance. Background Art

[0002] Semi-rigid guardrails are the predominant form of highway crash barriers, known for their ease of handling, simple on-site installation, and the ability to plastically deform during a collision to absorb the impact energy of a vehicle. These guardrails are typically a continuous structure composed of corrugated steel guardrail panels joined together and supported by guardrail piles. They utilize the deformation of the subsoil, piles, and guardrail panels to absorb collision energy. Common guardrail piles are typically galvanized steel pipes with diameters of 114 or 140 mm. Lengths vary depending on requirements, ranging from 1.85 meters, 1.95 meters, 2 meters, 2.15 meters, and 2.27 meters. They have a wall thickness of 4.5 mm and are typically buried at a depth of no less than 40 cm. To ensure their support strength and stability, they are typically driven directly into the ground using a pile driver.

[0003] During continuous piling operations, the traditional method is to first control a truck loaded with guardrail piles to stop near the designated piling location. Then, an operator manually unloads a guardrail pile, straightens and erects the pile at the desired location, and then uses a pile driver to drive the pile. This traditional manual pile erection and straightening method is not only labor-intensive, time-consuming, and labor-intensive, but also poses significant safety risks.

[0004] To solve the above problems, there are methods in the prior art that use robotic arms to automatically erect guardrail piles, such as the Chinese invention patent application number 202111437117.2, which first uses a robotic arm to grab guardrail piles from a pile storage vehicle loaded with guardrail piles, and then controls the robotic arm to flip to achieve pile erection. Although this technical solution can realize the automatic operation of picking up, moving, and erecting piles, on the one hand, the method of using a robotic arm to directly grab guardrail piles from a pile storage vehicle loaded with guardrail piles, because the guardrail piles are steel pipe structures, it is necessary to first sequentially position and arrange the guardrail piles in the pile storage vehicle through a positioning mechanism so that there are gaps between adjacent guardrail piles that can allow the robotic arm to insert and grab. This results in a limited amount of piles stored in the pile storage vehicle, which is not suitable for continuous long-distance piling operations; on the other hand, the method of grabbing and flipping guardrail piles by using a multi-joint robotic arm with multiple degrees of freedom is not only complex in structure and control, but also has a high cost. Summary of the Invention

[0005] In response to the above problems, the present invention provides a highway guardrail pile erection system and method, which can realize continuous long-distance piling operations under the premise of realizing automatic operations of pile removal, pile movement and pile erection, thereby improving the efficiency of piling operations.

[0006] To achieve the above purpose, the highway guardrail pile erection system includes a carrying unit, a pile stopping unit, a transfer unit, a pile erection unit and a centralized electric control unit;

[0007] The carrying unit includes a vehicle-mounted chassis and a pile storage box. The pile storage box, which is fixedly mounted on the vehicle-mounted chassis, is a box-shaped structure with its length along the front-to-back direction. The bottom of the pile storage box is provided with an inclined pile guide mechanism I arranged in a left-right direction. A lifting door is also provided on the side elevation of the pile storage box corresponding to the lower end of the inclined pile guide mechanism I. The lifting door is mounted on the pile storage box via a lifting control component.

[0008] The pile stopping unit is arranged on the outside of the pile storage box corresponding to the lifting door. The pile stopping unit includes a pile stopping station and an inclined pile guide mechanism II and a positioning pile blocking mechanism arranged on the pile stopping station. The inclined direction of the inclined pile guide mechanism II is consistent with that of the inclined pile guide mechanism I, and the high end of the inclined pile guide mechanism II is docked with the low end of the inclined pile guide mechanism I. The positioning pile blocking mechanism includes a pile blocking telescopic cylinder.

[0009] The transfer unit is arranged at the outer side of the pile stopping position corresponding to the pile stopping position. The transfer unit includes a turning frame, and a positioning transfer position is provided on the turning frame. The positioning transfer position includes a receiving plane and a limiting vertical surface that intersect vertically. The turning frame is hingedly mounted on the vehicle chassis, and a turning control component is also provided on the turning frame. By controlling the action of the turning control component, the turning frame is controlled to turn in the left and right directions to a receiving state or to a transfer state. In the receiving state, the receiving plane of the turning frame is in a planar state docking with the inclined pile guide mechanism II, and the limiting vertical surface is in a vertical state. In the transfer state, the receiving plane of the turning frame is in a vertical state, and the limiting vertical surface is in a planar state.

[0010] The pile erection unit is arranged on the outer side of the flip frame corresponding to the flip frame, and the pile erection unit includes a swing rod, a swing control component, a manipulator support rod and a manipulator; one end of the swing rod is hingedly mounted on the vehicle chassis, and the other end of the swing rod is connected to the manipulator support rod, and the swing control component is mounted on the swing rod. By controlling the action of the swing control component, the swing rod is controlled to swing in the front and rear directions to a horizontal pile-grabbing state or a vertical pile-standing state. When the swing rod is in the horizontal pile-grabbing state, the manipulator support rod is in a horizontal state set axially along the front and rear directions. When the swing rod is in the vertical pile-standing state, the manipulator support rod is The axial direction is arranged in a vertical state along the vertical direction; the two sets of manipulators are respectively installed at both ends of the manipulator support rod, and the manipulator includes a dynamic clamping claw, a static clamping claw and a clamping control component. The dynamic clamping claw and the static clamping claw are hingedly installed, and the clamping opening and closing directions of the dynamic clamping claw and the static clamping claw are arranged corresponding to the direction of the turning frame. The clamping control component is arranged on the dynamic clamping claw, and the action of the clamping control component is controlled to control the dynamic clamping claw to swing in the left and right directions to a clamping state or to swing to an open state. When the swing rod is in a horizontal pile-grabbing state and the turning frame is in a reloading state, the static clamping claw is docked with the limited vertical space of the turning frame;

[0011] The centralized electronic control unit includes a controller, a pile stopping control circuit, a transfer control circuit and a pile erection control circuit. The controller is electrically connected to the lifting control component, the pile blocking telescopic cylinder, the flipping control component, the swinging control component and the clamping control component respectively.

[0012] As a further improvement of the present invention, the manipulator support rod is installed and connected to the swing rod through a rotary drive assembly including a rotary drive component, the rotary drive component is electrically connected to the controller, and when the swing rod swings to a vertical pile state, the rotary center axis of the rotary drive assembly is set along the front-to-back direction.

[0013] As a further improvement of the present invention, the pile erection unit also includes a manipulator translation control mechanism electrically connected to the controller, the swing rod is installed and connected to the manipulator support rod through the manipulator translation control mechanism, the manipulator translation control mechanism is transmission-installed connected to the manipulator support rod, and the manipulator support rod can move back and forth linearly and position along its axial direction relative to the manipulator translation control mechanism.

[0014] As a further improvement of the present invention, the piling unit also includes a lateral feed slide having a lateral feed drive component, the lateral feed drive component is electrically connected to the controller, the base of the lateral feed slide is fixedly mounted on the vehicle chassis, and the lateral feed direction of the lateral feed slide is set along the left and right directions, the swing arm is hingedly mounted on the lateral feed slide, and the swing arm is mounted and connected to the vehicle chassis through the lateral feed slide.

[0015] As a further improvement of the present invention, the piling unit also includes a longitudinal telescopic frame having a longitudinal telescopic drive component, the longitudinal telescopic drive component is electrically connected to the controller, the base of the longitudinal telescopic frame is fixedly mounted on the transverse feed slide, and the longitudinal telescopic direction of the longitudinal telescopic frame is arranged along the front-to-back direction, the swing rod is hingedly mounted on the telescopic end of the longitudinal telescopic frame, and the swing rod is mounted and connected to the transverse feed slide through the longitudinal telescopic frame.

[0016] As a further improvement of the present invention, a lift door upper travel switch and a lift door lower travel switch are further provided at the position corresponding to the lift door on the pile storage box. The installation height of the lift door lower travel switch corresponds to the low end position of the inclined pile guide mechanism I, and the distance between the lift door upper travel switch and the lift door lower travel switch is greater than 1 times the diameter of the guardrail pile and less than 1.5 times the diameter of the guardrail pile.

[0017] As a further improvement of the present invention, a lifting guide structure is provided between the lifting door and the pile storage box.

[0018] As a further improvement of the present invention, the supporting plane and the limiting vertical surface of the turning frame positioning and transferring station are both provided with an arc-shaped positioning surface structure that matches the outer diameter size of the guardrail pile; the corresponding clamping surfaces of the dynamic clamping claw and the static clamping claw are also provided with an arc-shaped positioning surface structure that matches the outer diameter size of the guardrail pile.

[0019] As a preferred solution of the present invention, the lifting control component, the pile-blocking telescopic cylinder, the flipping control component, the swinging control component and the clamping control component are all hydraulic cylinder structures, and the lifting control component, the pile-blocking telescopic cylinder, the flipping control component, the swinging control component and the clamping control component are respectively connected to the hydraulic station located on the vehicle chassis through a control valve group and a hydraulic pipeline.

[0020] A highway guardrail pile erection method based on a highway guardrail pile erection system comprises the following steps: in an initial state, guardrail piles arranged in a longitudinal direction along a front-to-back direction are densely stacked in a pile storage box; a lifting door is in a lowered and closed state; a positioning pile blocking mechanism is in a yielding state; a turning frame is in a receiving state; a swing rod is in a horizontal pile-grabbing state; and a manipulator is in a fully extended state;

[0021] After the vehicle-mounted chassis is controlled to transfer to the location where piles are to be piled and positioned, the controller first controls the lifting control component to raise the lifting door to the set height. The guardrail piles are then rolled out through the lifting door one by one by the inclined pile guide mechanism I. The first guardrail pile that rolls out is guided by the inclined pile guide mechanism II into the positioning and transfer station of the turnover frame.

[0022] Then the controller controls the positioning and blocking mechanism of the pile stopping unit to move so that the second guardrail pile that rolls out immediately after the first guardrail pile is positioned at the pile stopping position of the pile stopping unit;

[0023] Then the controller controls the turning control component to turn the turning frame to the transfer state, and the first guardrail pile is pushed to the static clamping claw by the turning frame;

[0024] Then the controller controls the clamping control component to make the movable clamping claw swing to a clamping state, and the first guardrail pile is firmly clamped by the manipulator;

[0025] Then, the controller controls the swing control component to cause the swing rod to swing to a vertical pile state, and the first guardrail pile firmly clamped by the manipulator is in a vertical state. The controller controls the clamping control component to cause the movable clamping claw to open to a set angle to release and support the first guardrail pile. After the bottom end of the first guardrail pile rests on the ground, the pile driver performs a pile driving operation on the first guardrail pile.

[0026] After the piling operation of the first guardrail pile is completed, the controller controls the turning frame, the swing rod and the manipulator to reset to the initial state, and then controls the vehicle-mounted chassis to transfer to the next piling position and position it. Then, the controller first controls the positioning and blocking mechanism of the pile stopping unit to guide the second guardrail pile through the inclined pile guide mechanism II into the positioning and transferring station of the turning frame, and then controls the positioning and blocking mechanism of the pile stopping unit to position the third guardrail pile that rolls out immediately after the second guardrail pile at the pile stopping station of the pile stopping unit and wait for further operation.

[0027] Similarly, the guardrail piles are continuously transferred, erected and driven.

[0028] Compared with the existing technology, the pile storage box of the highway guardrail pile erection system is equipped with an inclined pile guide mechanism I and a lifting door, so the guardrail piles can be densely stacked and stacked in the pile storage box, and under the action of their own gravity, they are rolled out one by one through the lifting door through the inclined pile guide mechanism I, so that the guardrail piles can be guided out in an orderly manner one by one; because a pile stopping unit is provided, it can cooperate with the lifting door to realize the accurate start and stop of the guardrail piles guided out one by one; because the receiving plane of the flip frame is in a planar state docking with the inclined pile guide mechanism II and the limiting vertical surface is in a vertical state in the receiving state, it can effectively receive and position the guardrail piles released by the pile stopping unit Guardrail piles, because the receiving plane is in a vertical state and the limiting vertical state in a flat state when the flip frame is in the retransmission state, and the static clamping claw is docked with the limiting vertical space of the flip frame, the guardrail piles on the positioning retransmission station can be effectively transferred and pushed to the static clamping claw during the retransmission process of the flip frame, so that the manipulator can grab the guardrail piles one by one; because the pile erection unit is provided with a swing rod and a manipulator support rod, and when the swing rod swings to the vertical pile erection state, the manipulator support rod is in a vertical state set in the axial direction, so the guardrail piles can be effectively erected by the manipulator, which is convenient for the subsequent pile driver to perform pile driving operations. This highway guardrail pile erection system can achieve continuous long-distance piling operations under the premise of realizing automatic operations of pile retrieval, pile movement, and pile erection through the coordinated cooperation of the carrying unit, pile stopping unit, retransmission unit, and pile erection unit, thereby improving the efficiency of pile driving operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of the present invention when the swing rod is in a vertical pile state;

[0030] Figure 2 When the swing rod is in the horizontal pile grabbing state Figure 1 A-direction view;

[0031] Figure 3 It is a schematic structural diagram of the carrier unit of the present invention;

[0032] Figure 4 yes Figure 3 Right view;

[0033] Figure 5 2. It is a schematic structural diagram of the present invention when the positioning pile blocking mechanism adopts a clamping pile blocking structure;

[0034] Figure 6 yes Figure 5 Left view of;

[0035] Figure 7 It is a structural schematic diagram of the transfer unit of the present invention;

[0036] Figure 8 It is a structural diagram of the pile unit when the swing rod is in a vertical pile state;

[0037] Figure 9 When the swing rod is in the horizontal pile grabbing state Figure 8 Left view of .

[0038] In the figure: 1. Carrying unit, 11. Vehicle chassis, 12. Hydraulic station, 13. Electric control room, 14. Pile storage box, 14-1. Bottom plate, 14-2. Support ribs, 14-3. Inclined pile guide mechanism I, 14-4. Corner column, 14-5. Top connecting beam, 14-6. Lifting door, 14-7. Lifting control component, 14-8. Lifting door upper travel switch, 14-9. Lifting door lower travel switch, 2. Pile stopping unit, 21. Clamping pile blocking telescopic cylinder, 22. Pile blocking pressure plate, 23. Rubber pad, 24. Tilt Pile guide mechanism II, 25. Pile blocking telescopic cylinder bracket, 3. Transfer unit, 31. Turning control component, 32. Support frame II, 33. Turning frame, 34. Support frame I, 4. Pile unit, 41. Longitudinal telescopic frame, 42. Transverse feed slide, 43. Swing rod, 44. Swing control component, 45. Manipulator translation control mechanism, 46. Positioning force transmission component, 47. Guide sleeve, 48. Manipulator support rod, 49. Dynamic clamping claw, 410. Static clamping claw, 411. Clamping control component, 5. Centralized electronic control unit. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings (hereinafter referred to as Figure 1 The right side direction is described as the front, and the direction away from the pile storage box 14 in the left and right directions of the vehicle-mounted chassis 11 is described as the outside direction).

[0040] like Figure 1 、 Figure 2 As shown, the highway guardrail pile erection system includes a carrying unit 1, a pile stopping unit 2, a transfer unit 3, a pile erection unit 4 and a centralized electronic control unit 5.

[0041] The transport unit 1 includes a vehicle chassis 11 and a pile storage box 14. The vehicle chassis 11 is a truck chassis used to transport guardrail piles. Figure 3 、 Figure 4As shown, the pile storage box 14 fixedly mounted on the vehicle chassis 11 is a box-type structure arranged in the longitudinal direction. The pile storage box 14 can be a closed-plate box-type structure including a bottom plate 14-1 arranged at the bottom and a vertical closing plate arranged around the bottom plate 14-1. The pile storage box 14 can also be a frame-type box-type structure including four corner columns 14-4 arranged at the four corner ends of the box-type structure, a top connecting beam 14-5 and a bottom connecting beam connected between two adjacent corner columns 14-4, and a plurality of supporting ribs 14-2 connected between adjacent top connecting beams 14-5 and bottom connecting beams. The bottom of the pile storage box 14 is provided with an inclined pile guide mechanism I 14-3 arranged in the left and right direction. The inclined pile guide mechanism I 14-3 can be a plurality of triangular vertical plate structures arranged parallel to each other in the front and rear direction, or a plurality of triangular vertical plate structures arranged parallel to each other in the front and rear direction. Other inclined material guiding structures such as the wedge-shaped guide rail structures arranged side by side, and the guardrail piles arranged in the longitudinal direction along the front-to-back direction can be arranged in a row and stacked in the pile storage box 14, and can be rolled and guided by the inclined pile guide mechanism Ⅰ14-3 under the action of their own gravity. A lifting door 14-6 is also provided on the side facade of the pile storage box 14 corresponding to the lower end position of the inclined pile guide mechanism Ⅰ14-3, and the length dimension of the lifting door 14-6 in the front-to-back direction is matched with the length dimension of the pile storage box 14 in the front-to-back direction. The lifting door 14-6 is installed on the pile storage box 14 through a lifting control component 14-7. The lifting control component 14-7 can be a telescopic cylinder structure or other lifting control structures such as a co-arranged gear rack transmission structure. By controlling the action of the lifting control component 14-7, the lifting action of the lifting door 14-6 can be controlled, thereby realizing the export of the guardrail piles one by one.

[0042] The pile stopping unit 2 corresponds to the lifting door 14-6 and is arranged on the outside of the pile storage box 14. The pile stopping unit 2 includes a pile stopping station and an inclined pile guide mechanism II 24 and a positioning pile blocking mechanism arranged on the pile stopping station. The inclined pile guide mechanism II 24 can be a plurality of triangular vertical plate structures arranged parallel to each other in the front-to-back direction, or a plurality of wedge-shaped guide rail structures arranged parallel to each other in the front-to-back direction. The inclined direction of the inclined pile guide mechanism II 24 is consistent with that of the inclined pile guide mechanism I 14-3, and the inclined pile guide mechanism II 24 is consistent with that of the inclined pile guide mechanism I 14-3. The high end of the mechanism II 24 is docked with the low end of the inclined pile guide mechanism I 14-3. The inclined pile guide mechanism I 14-3 and the inclined pile guide mechanism II 24 together form an inclined structure. The positioning pile blocking mechanism includes a pile blocking telescopic cylinder 21. The positioning pile blocking mechanism can be a lifting pile blocking structure set on the pile stopping station or a clamping pile blocking structure set at the front and rear ends of the pile stopping station. When the positioning pile blocking mechanism adopts a lifting pile blocking structure, the guardrail pile can be lowered from the top and pressed down. When the positioning pile blocking mechanism adopts a clamping pile blocking structure, Figure 5 、 Figure 6As shown, the positioning pile blocking mechanism may include two sets of positioning and clamping pile blocking components arranged symmetrically in the front and rear directions. The positioning and clamping pile blocking components include a pile blocking telescopic cylinder 21 and a pile blocking pressure plate 22. The pile blocking telescopic cylinder 21 is installed on the vehicle chassis 11 through a pile blocking telescopic cylinder bracket 25, and the telescopic direction of the pile blocking telescopic cylinder 21 is set along the front and rear direction. The pile blocking pressure plate 22 is fixedly set on the telescopic end of the pile blocking telescopic cylinder 21. A rubber pad 23 can also be set on the clamping surface of the pile blocking pressure plate 22. The guardrail piles guided one by one from the pile storage box 14 can roll along the inclined structure of the inclined pile guide mechanism II 24 under the action of their own gravity and be positioned at the pile stop position through the positioning pile blocking mechanism.

[0043] The corresponding pile stop station of the transfer unit 3 is set outside the pile stop station, such as Figure 7 As shown, the transfer unit 3 includes a flip frame 33, and a positioning transfer station is provided on the flip frame 33. The positioning transfer station includes a receiving plane and a limiting facade that intersect vertically. The flip frame 33 is hingedly mounted on a support frame I 34 fixedly arranged on the vehicle chassis 11, and a flip control component 31 is also provided on the flip frame 33. The flip control component 31 can be a telescopic cylinder structure installed on the vehicle chassis 11 through the support frame II 32, or it can be other flip control structures such as a rotary motor structure arranged on the hinge axis of the flip frame 33. By controlling the action of the flip control component 31, the flip frame 33 can be controlled to flip in the left and right directions to a receiving state or to flip to a transfer state. In the receiving state, the flip frame 33 flips so that the receiving plane is in a planar state docking with the inclined pile guide mechanism II 24, and the limiting facade is in a vertical state. In the transfer state, the flip frame 33 flips so that the receiving plane is in a vertical state and the limiting facade is in a planar state.

[0044] The pile unit 4 is arranged on the outer side of the turning frame 33 corresponding to the turning frame 33. Figure 8 、 Figure 9As shown, the pile erecting unit 4 includes a swing rod 43, a swing control component 44, a manipulator support rod 48 and a manipulator; one end of the swing rod 43 is hingedly mounted on the vehicle chassis 11, and the other end of the swing rod 43 is mounted and connected to the manipulator support rod 48, and the swing control component 44 is mounted on the swing rod 43. The swing control component 44 can be a telescopic cylinder structure arranged between the swing rod 43 and the vehicle chassis 11, or it can be other swing control structures such as a rotary motor structure arranged on the hinge shaft of the swing rod 43. By controlling the action of the swing control component 44, the swing rod 43 can be controlled to swing in the front and rear directions to a horizontal pile-grabbing state or to a vertical pile-erecting state. When the swing rod 43 swings to the horizontal pile-grabbing state, the manipulator support rod 48 is in a horizontal state set axially along the front and rear direction. When the swing rod 43 swings to the vertical pile-erecting state, the manipulator support rod 48 is in a vertical state set axially along the vertical direction. The two sets of manipulators are respectively mounted on the manipulator support rod 48 At both ends of the manipulator, the manipulator includes a dynamic clamping claw 49, a static clamping claw 410 and a clamping control component 411. The dynamic clamping claw 49 and the static clamping claw 410 are hingedly installed, and the clamping opening and closing directions of the dynamic clamping claw 49 and the static clamping claw 410 are arranged in the direction of the flip frame 33. The clamping control component 411 is arranged on the dynamic clamping claw 49. The clamping control component 411 can be a telescopic cylinder structure arranged between the dynamic clamping claw 49 and the static clamping claw 410, or it can be arranged on the hinge of the dynamic clamping claw 49. The rotary motor structure on the shaft and other clamping control structures can control the movement of the clamping control component 411 to control the movable clamping claw 49 to swing in the left and right directions to a clamping state or to swing in an open state. When the swing rod 43 is in a horizontal pile-grabbing state, the spacing and height dimensions between the static clamping claw 410 and the turning frame 33 are matched with the turning stroke dimensions of the turning frame 33, that is, when the turning frame 33 is turned over to a transfer state, the static clamping claw 410 is docked with the limited vertical surface space of the turning frame 33.

[0045] The centralized electronic control unit 5 includes a controller, a pile stopping control circuit, a transfer control circuit and a pile erection control circuit. The controller is electrically connected to the lifting control component 14-7, the pile blocking telescopic cylinder 21, the flipping control component 31, the swing control component 44 and the clamping control component 411 respectively. The controller can be set in the electronic control room 13 located on the vehicle chassis 11; the centralized electronic control unit 5 can also include a numerical control component and a GPS receiver. The numerical control component can be used to receive sensor signals from each part of the carrying unit 1, the pile stopping unit 2, the transfer unit 3 and the pile erection unit 4, and issue instructions to realize the control of the process action sequence.

[0046] When using the highway guardrail pile erection system for pile erection, in the initial state, the guardrail piles arranged in the longitudinal direction along the front-to-back direction are densely stacked in the pile storage box 14, the lifting door 14-6 is in the lowered closed state, the positioning pile blocking mechanism is in the yielding state, the turning frame 33 is in the receiving state, the swing rod 43 is in the horizontal pile-grabbing state, and the manipulator is in the fully opened state;

[0047] After the vehicle-mounted chassis 11 is controlled to transfer to the location to be piled and positioned, the controller first controls the lifting control component 14-7 to operate so that the lifting door 14-6 is raised to the set height. At this time, the stacked guardrail piles are rolled out one by one through the lifting door 14-6 by the inclined pile guide mechanism I 14-3 under the action of their own gravity. The first guardrail pile that rolls out is guided by the inclined pile guide mechanism II 24 into the positioning and transfer station of the turnover frame 33;

[0048] Then the controller controls the positioning and blocking mechanism of the pile stopping unit 2 to move so that the second guardrail pile that rolls out immediately after the first guardrail pile is positioned at the pile stopping position of the pile stopping unit 2;

[0049] Then the controller controls the turning control component 31 to turn the turning frame 33 to the transfer state, and the first guardrail pile is pushed to the static clamping claw 410 by the turning frame 33;

[0050] Then the controller controls the clamping control component 411 to move the movable clamping claw 49 to swing into a clamping state, and the first guardrail pile is firmly clamped by the manipulator;

[0051] Then, the controller controls the swing control component 44 to swing the swing rod 43 to a vertical pile state, and the first guardrail pile firmly clamped by the manipulator is in a vertical state. The controller controls the clamping control component 411 to open the movable clamping claw 49 to a set angle to release and support the first guardrail pile. After the bottom end of the first guardrail pile rests on the ground, the pile driver can start piling the first guardrail pile.

[0052] After the piling operation of the first guardrail pile is completed, the controller controls the turning frame 33, the swing rod 43 and the manipulator to reset to the initial state, and then controls the vehicle-mounted chassis 11 to transfer to the next piling position and position it. Then, the controller first controls the positioning and blocking mechanism of the pile stopping unit 2 to guide the second guardrail pile into the positioning and transferring station of the turning frame 33 through the inclined pile guide mechanism II 24, and then controls the positioning and blocking mechanism of the pile stopping unit 2 to make the third guardrail pile rolled out immediately after the second guardrail pile be positioned at the pile stopping station of the pile stopping unit 2 and wait for orders; and so on, the continuous operations of transferring, erecting and driving the guardrail piles are carried out in sequence.

[0053] In order to achieve fine-tuning of the piling angle and ensure that the guardrail pile can be driven vertically into the ground, as a further improvement scheme of the present invention, the manipulator support rod 48 is installed and connected to the swing rod 43 through a rotary drive assembly including a rotary drive component. The rotary drive component is electrically connected to the controller, and when the swing rod 43 swings to a vertical pile state, the rotary center axis of the rotary drive assembly is set along the front and rear direction. The piling angle of the guardrail pile can be fine-tuned by controlling the action of the rotary drive assembly to ensure that the guardrail pile can be driven vertically into the ground.

[0054] When the swing rod 43 is in a horizontal pile-grabbing state, in order to facilitate adjustment of the clamping position of the manipulator according to the length of the guardrail pile, as a further improvement of the present invention, Figure 8 As shown, the pile unit 4 also includes a manipulator translation control mechanism 45 electrically connected to the controller, and the other end of the swing rod 43 is installed and connected to the manipulator support rod 48 through the manipulator translation control mechanism 45. The manipulator translation control mechanism 45 is transmission-installed in connection with the manipulator support rod 48, and the manipulator support rod 48 can be linearly reciprocated and positioned along its axial direction relative to the manipulator translation control mechanism 45. The manipulator translation control mechanism 45 can be a telescopic cylinder structure guided and connected to the manipulator support rod 48 through a positioning force transmission member 46 and a guide sleeve 47, or it can be a rack structure installed on the manipulator support rod 48, and other linear reciprocating control structures such as a transmission gear structure including a power source installed on the swing rod 43. The setting of the manipulator translation control mechanism 45 not only makes it convenient to adjust the clamping position of the manipulator according to the length of the guardrail pile when the swing rod 43 is in a horizontal pile-grabbing state, but also allows the manipulator translation control mechanism 45 to accurately position the bottom end of the vertical guardrail pile against the ground when the swing rod 43 swings to a vertical pile-standing state, so as to facilitate pile driving.

[0055] In order to facilitate the manipulator to accurately and firmly clamp the guardrail pile on the turning frame 33 and to fine-tune the pile position in the left and right directions, as a further improvement of the present invention, Figure 8 、 Figure 9As shown, the pile erection unit 4 also includes a transverse feed slide 42 with a transverse feed drive component. The transverse feed drive component is electrically connected to the controller. The base of the transverse feed slide 42 is fixedly mounted on the vehicle chassis 11, and the transverse feed direction of the transverse feed slide 42 is set along the left and right directions. One end of the swing rod 43 is hingedly mounted on the transverse feed slide 42. The swing rod 43 is connected to the vehicle chassis 11 through the transverse feed slide 42. When the swing rod 43 is in a horizontal pile-grabbing state, it can be fine-tuned by controlling the movement of the transverse feed slide 42 so that the manipulator can accurately receive the guardrail pile transferred by the flip frame 33; when the swing rod 43 swings to a vertical pile erection state, it can be fine-tuned by controlling the movement of the transverse feed slide 42 to accurately locate the piling position of the guardrail pile in the left and right directions. In order to further achieve fine-tuning of the piling position in the front and rear directions, as shown in FIG. Figure 8 、 Figure 9 As shown, the piling unit 4 also includes a longitudinal telescopic frame 41 with a longitudinal telescopic drive component electrically connected to a controller. The base of the longitudinal telescopic frame 41 is fixedly mounted on a transverse feed slide 42, and the longitudinal telescopic frame 41 is arranged to extend and retract in the fore-aft direction. One end of a swing arm 43 is hingedly mounted on the telescopic end of the longitudinal telescopic frame 41. The swing arm 43 is connected to the transverse feed slide 42 via the longitudinal telescopic frame 41. When the swing arm 43 swings to a vertical piling position, it can fine-tune the position of the guardrail pile in the fore-aft direction by controlling the movement of the longitudinal telescopic frame 41. The numerical control component of the centralized electronic control unit 5 can store the coordinates of the pile driving point and the pile driving point coordinate information from the GPS receiver, and use them to correct the actual position coordinates of the pile driving point. The corrected position coordinates are then used to control the final actual movement position of the longitudinal telescopic frame 41 and the transverse feed slide 42.

[0056] In order to accurately control the opening and closing stroke of the lifting door 14-6 so as to accurately guide the guardrail piles one by one, as a further improvement of the present invention, Figure 4 As shown, a lift door upper travel switch 14-8 and a lift door lower travel switch 14-9 are further provided at the position corresponding to the lift door 14-6 on the pile storage box 14. The installation height of the lift door lower travel switch 14-9 corresponds to the low end position of the inclined pile guide mechanism I 14-3, and the distance between the lift door upper travel switch 14-8 and the lift door lower travel switch 14-9 is greater than 1 times the diameter of the guardrail pile and less than 1.5 times the diameter of the guardrail pile.

[0057] In order to ensure the smooth opening and closing of the lifting door 14-6, as a further improvement of the present invention, a lifting guide structure is provided between the lifting door 14-6 and the pile storage box 14. The lifting guide structure can be a guide protrusion provided on the lifting door 14-6 and a guide groove structure provided on the corner column 14-4, or a guide wheel provided on the lifting door 14-6 and a guide rail structure provided on the corner column 14-4, or other lifting guide structures.

[0058] In order to achieve a better positioning and receiving effect of the flip frame 33 and a better clamping and positioning effect of the manipulator, as a further improvement scheme of the present invention, Figure 7 、 Figure 9 As shown, the supporting plane and limiting vertical surface of the turning frame 33 for positioning the transfer station are both provided with an arc-shaped positioning surface structure that matches the outer diameter size of the guardrail pile; the corresponding clamping surfaces of the dynamic clamping claw 49 and the static clamping claw 410 are also provided with an arc-shaped positioning surface structure that matches the outer diameter size of the guardrail pile.

[0059] As a preferred embodiment of the present invention, the lifting control component 14-7, the pile-blocking telescopic cylinder 21, the flipping control component 31, the swing control component 44 and the clamping control component 411 are all hydraulic cylinder structures, and the lifting control component 14-7, the pile-blocking telescopic cylinder 21, the flipping control component 31, the swing control component 44 and the clamping control component 411 are respectively connected to the hydraulic station 12 located on the vehicle chassis 11 through a control valve group and a hydraulic pipeline.

[0060] This highway guardrail pile erection system, through the coordinated cooperation of the carrying unit 1, the pile stopping unit 2, the transfer unit 3 and the pile erection unit 4, can realize continuous long-distance piling operations under the premise of realizing automatic operations of pile retrieval, pile movement and pile erection, thereby improving the efficiency of pile driving operations.

Claims

1. A highway guardrail pile erection system, comprising a carrying unit (1) and a centralized electronic control unit (5); the carrying unit (1) comprises a vehicle-mounted chassis (11) and a pile storage box (14); the pile storage box (14) fixedly mounted on the vehicle-mounted chassis (11) is a box-shaped structure with its length arranged in a front-to-rear direction; and characterized in that: The bottom of the pile storage box (14) is provided with an inclined pile guide mechanism I (14-3) arranged in a left-right direction, and a lifting door (14-6) is also provided on the side elevation of the pile storage box (14) corresponding to the lower end of the inclined pile guide mechanism I (14-3). The lifting door (14-6) is installed on the pile storage box (14) through a lifting control component (14-7); The highway guardrail pile erection system also includes a pile stopping unit (2), a transfer unit (3), and a pile erection unit (4); The pile stopping unit (2) is arranged on the outside of the pile storage box (14) corresponding to the lifting door (14-6). The pile stopping unit (2) includes a pile stopping station and an inclined pile guide mechanism II (24) and a positioning pile blocking mechanism arranged on the pile stopping station. The inclined direction of the inclined pile guide mechanism II (24) is consistent with that of the inclined pile guide mechanism I (14-3), and the high end of the inclined pile guide mechanism II (24) is docked with the low end of the inclined pile guide mechanism I (14-3). The positioning pile blocking mechanism includes a pile blocking telescopic cylinder (21). The transfer unit (3) is arranged outside the pile stop station corresponding to the pile stop station. The transfer unit (3) includes a turning frame (33). The turning frame (33) is provided with a positioning transfer station. The positioning transfer station includes a receiving plane and a limiting vertical surface that intersect vertically. The turning frame (33) is hingedly mounted on the vehicle chassis (11). The turning frame (33) is also provided with a turning control component (31). By controlling the action of the turning control component (31), the turning frame (33) is controlled to turn in the left and right directions to a receiving state or a transferring state. In the receiving state, the receiving plane of the turning frame (33) is in a plane state docking with the inclined pile guide mechanism II (24), and the limiting vertical surface is in a vertical state. In the transferring state, the receiving plane of the turning frame (33) is in a vertical state, and the limiting vertical surface is in a plane state. In the transferring state, the receiving plane of the turning frame (33) is in a vertical state, and the limiting vertical surface is in a plane state. The pile erecting unit (4) is arranged on the outer side of the flip frame (33) corresponding to the flip frame (33). The pile erecting unit (4) includes a swing rod (43), a swing control component (44), a manipulator support rod (48) and a manipulator; one end of the swing rod (43) is hingedly mounted on the vehicle chassis (11), and the other end of the swing rod (43) is connected to the manipulator support rod (48). The swing control component (44) is mounted on the swing rod (43). By controlling the action of the swing control component (44), the swing rod (43) is controlled to swing in the front-back direction to a horizontal pile-grabbing state or to swing in a vertical pile-standing state. When the swing rod (43) is in the horizontal pile-grabbing state, the manipulator support rod (48) is in a horizontal state arranged in the axial direction along the front-back direction. When the swing rod (43) is in the vertical pile-standing state, the manipulator support rod (48) is in a horizontal state arranged in the axial direction along the front-back direction. The axial direction is arranged in a vertical state along the vertical direction; two sets of manipulators are respectively installed at both ends of the manipulator support rod (48), and the manipulator includes a dynamic clamping claw (49), a static clamping claw (410) and a clamping control component (411); the dynamic clamping claw (49) and the static clamping claw (410) are hingedly installed, and the clamping opening and closing directions of the dynamic clamping claw (49) and the static clamping claw (410) are arranged corresponding to the direction of the flip frame (33); the clamping control component (411) is arranged on the dynamic clamping claw (49), and the dynamic clamping claw (49) is controlled to swing in the left and right directions to a clamping state or to swing in an open state by controlling the action of the clamping control component (411); when the swing rod (43) is in a horizontal pile-grabbing state and the flip frame (33) is in a reloading state, the static clamping claw (410) is docked with the limited vertical space of the flip frame (33); The centralized electric control unit (5) comprises a controller, a pile stopping control circuit, a transfer control circuit and a pile erection control circuit, and the controller is electrically connected to the lifting control component (14-7), the pile blocking telescopic cylinder (21), the turnover control component (31), the swing control component (44) and the clamping control component (411).

2. The highway guardrail pile erection system according to claim 1, characterized in that: The manipulator support rod (48) is connected to the swing rod (43) through a swing drive assembly including a swing drive component. The swing drive component is electrically connected to the controller. When the swing rod (43) swings to a vertical pile state, the rotation center axis of the swing drive assembly is set along the front-back direction.

3. The highway guardrail pile system according to claim 1, characterized in that: The pile erection unit (4) further comprises a manipulator translation control mechanism (45) electrically connected to the controller, the swing rod (43) being mounted and connected to the manipulator support rod (48) via the manipulator translation control mechanism (45), the manipulator translation control mechanism (45) being transmission-mounted and connected to the manipulator support rod (48), and the manipulator support rod (48) being capable of linearly reciprocating and positioning relative to the manipulator translation control mechanism (45) along its axial direction.

4. The highway guardrail pile erection system according to claim 1, 2 or 3, characterized in that: The pile erection unit (4) further comprises a transverse feed slide (42) having a transverse feed drive component, the transverse feed drive component being electrically connected to a controller, the base of the transverse feed slide (42) being fixedly mounted on the vehicle chassis (11), and the transverse feed direction of the transverse feed slide (42) being arranged in a left-right direction, the swing rod (43) being hingedly mounted on the transverse feed slide (42), and the swing rod (43) being mounted and connected to the vehicle chassis (11) via the transverse feed slide (42).

5. The highway guardrail pile erection system according to claim 4, characterized in that: The pile erection unit (4) further comprises a longitudinal telescopic frame (41) having a longitudinal telescopic drive component, the longitudinal telescopic drive component being electrically connected to a controller, a base of the longitudinal telescopic frame (41) being fixedly mounted on a transverse feed slide (42), and a longitudinal telescopic direction of the longitudinal telescopic frame (41) being arranged along a front-to-back direction, a swing rod (43) being hingedly mounted on a telescopic end of the longitudinal telescopic frame (41), and the swing rod (43) being mounted and connected to the transverse feed slide (42) via the longitudinal telescopic frame (41).

6. The highway guardrail pile erection system according to claim 1, 2 or 3, characterized in that: A lift door upper travel switch (14-8) and a lift door lower travel switch (14-9) are further provided on the pile storage box (14) at a position corresponding to the lift door (14-6). The installation height of the lift door lower travel switch (14-9) corresponds to the lower end position of the inclined pile guide mechanism I (14-3). The distance between the lift door upper travel switch (14-8) and the lift door lower travel switch (14-9) is greater than 1 times the diameter of the guardrail pile and less than 1.5 times the diameter of the guardrail pile.

7. The highway guardrail pile erection system according to claim 1, 2 or 3, characterized in that: A lifting guide structure is provided between the lifting door (14-6) and the pile storage box (14).

8. The highway guardrail pile erection system according to claim 1, 2 or 3, characterized in that: The receiving plane and the limiting vertical surface of the turning frame (33) are both provided with arc-shaped positioning surface structures that match the outer diameter of the guardrail pile; the corresponding clamping surfaces of the dynamic clamping claw (49) and the static clamping claw (410) are also both provided with arc-shaped positioning surface structures that match the outer diameter of the guardrail pile.

9. The highway guardrail pile erection system according to claim 1, 2 or 3, characterized in that: The lifting control component (14-7), the pile-blocking telescopic cylinder (21), the flip control component (31), the swing control component (44) and the clamping control component (411) are all hydraulic cylinder structures. The lifting control component (14-7), the pile-blocking telescopic cylinder (21), the flip control component (31), the swing control component (44) and the clamping control component (411) are respectively connected to a hydraulic station (12) located on a vehicle chassis (11) through a control valve group and a hydraulic pipeline.

10. A highway guardrail pile erection method based on the highway guardrail pile erection system according to claim 1, characterized in that: In the initial state, the guardrail piles arranged in the longitudinal direction along the front-back direction are densely stacked and placed in the pile storage box (14), the lifting door (14-6) is in a lowered closed state, the positioning pile blocking mechanism is in a yielding state, the turning frame (33) is in a receiving state, the swing rod (43) is in a horizontal pile-grabbing state, and the manipulator is in a fully opened state; After the vehicle-mounted chassis (11) is controlled to transfer to the position to be piled and positioned, the controller first controls the lifting control component (14-7) to move the lifting door (14-6) to a set height, and the guardrail piles are rolled out through the lifting door (14-6) one by one through the inclined pile guide mechanism I (14-3). The first guardrail pile rolled out is guided by the inclined pile guide mechanism II (24) into the positioning and reloading station of the turnover frame (33); Then the controller controls the pile-stopping unit (2) to operate the positioning pile-blocking mechanism so that the second guardrail pile that rolls out immediately after the first guardrail pile is positioned at the pile-stopping station of the pile-stopping unit (2); Then the controller controls the turning control component (31) to turn the turning frame (33) to a transfer state, and the first guardrail pile is pushed onto the static clamping claw (410) by the turning frame (33); Then the controller controls the clamping control component (411) to move so that the movable clamping claw (49) swings to a clamping state, and the first guardrail pile is firmly clamped by the manipulator; Then, the controller controls the swing control component (44) to swing the swing rod (43) to a vertical pile state, and the first guardrail pile firmly clamped by the manipulator is in a vertical state. The controller controls the clamping control component (411) to open the movable clamping claw (49) to a set angle to release and support the first guardrail pile. After the bottom end of the first guardrail pile rests on the ground, the pile driver performs a pile driving operation on the first guardrail pile. After the piling operation of the first guardrail pile is completed, the controller controls the turning frame (33), the swing rod (43) and the manipulator to reset to the initial state, and then controls the vehicle chassis (11) to transfer to the next position to be piled and position it. Then, the controller first controls the positioning pile blocking mechanism of the pile stopping unit (2) to move so that the second guardrail pile is guided by the inclined pile guide mechanism II (24) into the positioning transfer station of the turning frame (33), and then controls the positioning pile blocking mechanism of the pile stopping unit (2) to move so that the third guardrail pile rolled out immediately after the second guardrail pile is positioned at the pile stopping station of the pile stopping unit (2) and waits for operation. Similarly, the guardrail piles are continuously transferred, erected and driven.

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