Pile pressing machine

Abstract

The utility model discloses a pile pressing-in machine, and belongs to the technical field of engineering machinery technologies. The pile pressing-in machine comprises a machine body platform, supporting legs, a double-shaft tilt angle sensor, a motion sensor and a controller. The double-shaft tilt angle sensor is arranged on the machine body platform, the supporting legs are installed on the machine body platform, and the motion sensors are arranged on the supporting legs; the supporting leg comprises a digital hydraulic cylinder and an oil cylinder driving assembly, and the digital hydraulic cylinder is connected with the oil cylinder driving assembly; the controller is connected with the double-shaft tilt angle sensor, the motion sensor and the oil cylinder driving assembly. The controller is used for sending a control instruction to the oil cylinder driving assembly according to the state information so as to adjust the height of the supporting leg; wherein the state information comprises measured values of the double-shaft tilt angle sensor and the motion sensor. According to the invention, automatic leveling of the pile pressing-in machine can be realized.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery, and particularly relates to a pile press machine. Background Art

[0002] A pile press machine is a construction machinery that uses static pressure to drive piles into the ground, and can be applied to pile construction in scenarios such as subways, seaports, bridges, reservoir power stations, and offshore oil platforms.

[0003] The horizontal leveling control of a pile press machine generally involves an operator manually controlling the lifting and lowering of four outrigger cylinders to control the level of the pile body. The outrigger cylinders are controlled by hydraulic valves, with poor micro-mobility, large operation errors, low operation efficiency, and high requirements for the operator's operation level.

[0004] Therefore, how to achieve automatic leveling of a pile press machine is a technical problem that needs to be solved by those skilled in the art at present. Utility Model Content

[0005] The purpose of this application is to provide a pile press machine that can achieve automatic leveling of the pile press machine.

[0006] To solve the above technical problems, this application provides a pile press machine, which includes: a fuselage platform, outriggers, a biaxial inclination sensor, a motion sensor, and a controller;

[0007] The biaxial inclination sensor is arranged on the fuselage platform, the outriggers are installed on the fuselage platform, and the motion sensor is arranged on the outriggers; the outriggers include digital hydraulic cylinders and cylinder drive assemblies, and the digital hydraulic cylinders are connected to the cylinder drive assemblies;

[0008] The controller is respectively connected to the biaxial inclination sensor, the motion sensor, and the cylinder drive assembly; the controller is used to send control instructions to the cylinder drive assembly according to the status information so as to adjust the height of the outriggers; wherein, the status information includes the measurement values of the biaxial inclination sensor and the motion sensor.

[0009] Optionally, the cylinder drive assembly includes a stepper motor and a motor driver, and the stepper motor is respectively connected to the motor driver and the digital hydraulic cylinder.

[0010] Optionally, the cylinder drive assembly includes an electro-hydraulic proportional valve and a proportional valve driver, and the electro-hydraulic proportional valve is respectively connected to the proportional valve driver and the digital hydraulic cylinder.

[0011] Optionally, the motion sensor is a gyroscope.

[0012] Optionally, the motion sensor is a cylinder stroke sensor.

[0013] Optionally, the pile driver further includes an indicator light connected to the controller, and the indicator light is disposed on the outrigger;

[0014] The controller is further configured to send a flashing instruction to the corresponding indicator light when sending a control instruction to the oil cylinder driving assembly; the indicator light is configured to flash at a preset frequency for a preset duration after receiving the flashing instruction.

[0015] Optionally, the pile driver further includes a locking mechanism disposed on the outrigger.

[0016] Optionally, the pile driver further includes a display connected to the controller for displaying the information transmitted by the controller.

[0017] Optionally, the outrigger is mounted on the fuselage platform through a hinge seat.

[0018] Optionally, the biaxial inclination sensor is disposed in the clamping box of the fuselage platform.

[0019] A pile driver provided by the present application includes a fuselage platform, outriggers, a biaxial inclination sensor, a motion sensor, and a controller. The above-mentioned biaxial inclination sensor is disposed on the fuselage platform to detect the inclination angle of the fuselage platform; the above-mentioned motion sensor is disposed on the outrigger to detect the motion state of the outrigger. The biaxial inclination sensor and the motion sensor are both connected to the controller, and are configured to transmit the measured values of the biaxial inclination sensor and the motion sensor to the controller as status information. The outrigger includes a digital hydraulic cylinder and an oil cylinder driving assembly, and the controller can send a control instruction to the oil cylinder driving assembly of the outrigger according to the status information to adjust the height of the outrigger, thereby realizing automatic leveling of the pile driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application, and those of ordinary skill in the art can obtain other drawings according to the provided drawings without creative efforts.

[0021] Figure 1 It is a schematic external view of a pile driver provided by an embodiment of the present application;

[0022] Figure 2 It is a top view of a pile driver provided by an embodiment of the present application;

[0023] Figure 3 It is a flowchart of an automatic leveling control method for a pile driver provided by an embodiment of the present application.

[0024] In the figure, 1 represents a biaxial inclination sensor, 2 represents the first leg, 3 represents the second leg, 4 represents the third leg, 5 represents the fourth leg, 6 represents the first gyroscope, 7 represents the second gyroscope, 8 represents the third gyroscope, 9 represents the fourth gyroscope, 10 represents a controller, and 11 represents a display. Specific Embodiment

[0025] The core of this application is to provide a pile driver that can achieve automatic leveling of the pile driver.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some but not all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0027] Please refer to the following Figure 1 , Figure 1 which is a schematic external view of a pile driver provided by an embodiment of this application. The pile driver includes a fuselage platform and multiple legs.

[0028] The above-mentioned pile driver may further include a biaxial inclination sensor 1, a motion sensor, and a controller 10.

[0029] The above-mentioned biaxial inclination sensor 1 is disposed on the fuselage platform. The measured value of the biaxial inclination sensor 1 is the biaxial inclination of the fuselage platform, including the inclination in the X-axis direction and the inclination in the Y-axis direction. The above X-axis and Y-axis are two mutually perpendicular axes in the horizontal plane.

[0030] The legs are installed on the fuselage platform. As a feasible implementation, the pile driver may be provided with 4 legs, and the 4 legs are symmetrically installed on the fuselage platform.

[0031] The above-mentioned legs include digital hydraulic cylinders and oil cylinder drive assemblies. The digital hydraulic cylinders are connected to the oil cylinder drive assemblies; the oil cylinder drive assemblies can change the stroke of the digital hydraulic cylinders, thereby adjusting the height of the legs. The above-mentioned motion sensor is disposed on the legs, and the measured value of the motion sensor is the motion information of the legs, which may include the oil cylinder stroke and / or angular velocity.

[0032] The controller 10 of the pile driver is respectively connected to the biaxial inclination sensor 1, the motion sensor, and the oil cylinder drive assembly. The controller 10 can receive the measured values of the biaxial inclination sensor 1 and the motion sensor, and use the above-mentioned measured values as the state information of the pile driver. That is, the state information includes the measured values of the biaxial inclination sensor 1 and the motion sensor.

[0033] The controller 10 is configured to send control instructions to the oil cylinder drive assembly according to the status information, so as to adjust the height of the outrigger. In this embodiment, the correspondence between the status information and the control parameters can be pre-stored in the controller 10. After the current status information is known, the corresponding control parameters are selected, and then the control instructions corresponding to the control parameters are generated and sent to the oil cylinder drive assembly. The operations of generating and sending the control instructions are existing implementation methods in the art.

[0034] A pile driver provided in this embodiment includes a fuselage platform, outriggers, a biaxial inclination sensor 1, a motion sensor, and a controller 10. The above-mentioned biaxial inclination sensor 1 is arranged on the fuselage platform to detect the inclination angle of the fuselage platform; the above-mentioned motion sensor is arranged on the outrigger to detect the motion state of the outrigger. The biaxial inclination sensor 1 and the motion sensor are both connected to the controller 10 and are used to transmit the measurement values of the biaxial inclination sensor 1 and the motion sensor to the controller 10 as status information. The outrigger includes a digital hydraulic cylinder and an oil cylinder drive assembly. The controller 10 can send control instructions to the oil cylinder drive assembly of the outrigger according to the status information to adjust the height of the outrigger, thereby realizing the automatic leveling of the pile driver.

[0035] As a feasible implementation manner, the oil cylinder drive assembly includes a stepping motor and a motor driver. The stepping motor is respectively connected to the motor driver and the digital hydraulic cylinder. The controller 10 can send control instructions to the motor driver, and the motor driver changes the working parameters of the stepping motor according to the control instructions, thereby realizing the control of the digital hydraulic cylinder.

[0036] As a feasible implementation manner, the oil cylinder drive assembly includes an electro-hydraulic proportional valve and a proportional valve driver. The electro-hydraulic proportional valve is respectively connected to the proportional valve driver and the digital hydraulic cylinder. The controller 10 can send control instructions to the proportional valve driver, and the proportional valve driver changes the working parameters of the electro-hydraulic proportional valve according to the control instructions, thereby realizing the control of the digital hydraulic cylinder.

[0037] As a feasible implementation manner, the above-mentioned motion sensor can be a gyroscope. The above-mentioned motion sensor can also be an oil cylinder stroke sensor. The above-mentioned motion sensor can also include a gyroscope and an oil cylinder stroke sensor. The oil cylinder stroke sensor can be arranged on the digital hydraulic cylinder.

[0038] As a feasible implementation manner, the pile driver may further include an indicator light connected to the controller 10, and the indicator light is disposed on the outrigger. A corresponding indicator light is disposed on each outrigger. The controller 10 is further configured to send a flashing instruction to the corresponding indicator light when sending a control instruction to the oil cylinder driving assembly; the indicator light is configured to flash at a preset frequency for a preset duration after receiving the flashing instruction. In this embodiment, by controlling the flashing of the indicator light to indicate the outrigger that is currently adjusting the height, it assists the user to understand the state of the pile driver.

[0039] As a feasible implementation manner, the pile driver further includes a locking mechanism disposed on the outrigger. When the outrigger extends in place, the locking mechanism fixes the outrigger in the extended position. Even if a failure occurs in the hydraulic system (such as hydraulic oil leakage, oil pipe rupture, etc.), the outrigger will not retract accidentally, thereby ensuring the stability of the equipment and preventing the occurrence of tipping accidents. The implementation manners of the locking mechanism are diverse, and it can be a mechanical locking mechanism (such as bolts, pins, buckles, etc.), or a hydraulic locking mechanism (such as a two-way hydraulic lock), or a locking mechanism combined with electronic control.

[0040] As a feasible implementation manner, the pile driver further includes a display 11 connected to the controller 10, which is configured to display the information transmitted by the controller 10. The information transmitted by the controller 10 may include the current tilt angle of the pile driver, the states of each outrigger, and whether the leveling is in place, etc.

[0041] As a feasible implementation manner, the outrigger is installed on the fuselage platform through a hinge seat.

[0042] As a feasible implementation manner, the dual-axis inclination sensor 1 is disposed in the clamping box of the fuselage platform.

[0043] The following uses an embodiment in actual application to illustrate the automatic leveling control method and system of the above-mentioned pile driver. In this embodiment, outriggers with digital oil cylinders are used, gyro sensors are respectively installed on the four outriggers, and the oil cylinder attitude position signal is converted into an electrical signal. The controller 10 performs logical operations according to the feedback signals of the gyro sensors of each outrigger, and through the electro-hydraulic control system, the outrigger oil cylinders are raised and lowered to achieve the purpose of automatically adjusting the level of the pile body. This embodiment has good micro-mobility, small error, and high operation efficiency, and can solve the problem of difficult horizontal adjustment of the pile driver fuselage.

[0044] Please refer to Figure 2 , Figure 2 which is a top view of a pile driver provided by an embodiment of the present application. As Figure 2As shown in the figure, the pile driver includes: a biaxial inclination sensor 1, a first leg 2, a second leg 3, a third leg 4, a fourth leg 5, a first gyroscope 6, a second gyroscope 7, a third gyroscope 8, a fourth gyroscope 9, a controller 10, and a display 11. The interface of the above display 11 is the man-machine interaction interface of the pile driver.

[0045] The automatic leveling system of the pile driver includes a controller 10, a man-machine interaction interface, a gyroscope signal acquisition system, a biaxial inclination sensor 1, and a leg cylinder control system. The gyroscope signal acquisition system includes four sensors such as the first gyroscope 6, the second gyroscope 7, the third gyroscope 8, and the fourth gyroscope 9 installed on the legs. The biaxial inclination sensor 1 is installed on the body platform of the pile driver. The first to fourth legs 2-5 (i.e., the leg cylinder control system) all include digital cylinders, stepper motors, and stepper motor drivers. The user can set the horizontal zeroing parameter of the biaxial sensor on the man-machine interaction interface. After pressing the "automatic leveling" button, the controller 10 automatically calculates the leveling parameter according to the difference between the feedback value of the biaxial inclination sensor 1 and the horizontal zeroing value of the biaxial sensor, sends a control instruction to the stepper motor drivers of the first leg 2, the second leg 3, the third leg 4, and the fourth leg 5, and receives the feedback information of the stepper motor drivers. At the same time, it continuously corrects the control instruction by combining the position signals of the first gyroscope 6, the second gyroscope 7, the third gyroscope 8, and the fourth gyroscope 9 to achieve the automatic leveling control of the body. This embodiment can solve the problem of difficult horizontal adjustment of the pile driver body.

[0046] The principle of automatic leveling of the pile driver provided in this embodiment is as follows:

[0047] The biaxial inclination sensor 1 collects the horizontal angle signal of the pile driver body and sends it to the controller 10. The controller 10 processes the horizontal angle signal of the body and transmits it to the man-machine interaction interface. The man-machine interaction interface receives the horizontal angle signal of the controller 10 and displays it in real time on the man-machine interaction interface.

[0048] The leg cylinder control system includes a digital cylinder, a stepper motor, and a stepper motor driver. The operator sets the horizontal zeroing parameter of the biaxial sensor on the man-machine interaction interface. After pressing the "automatic leveling" button, the controller 10 automatically calculates the leveling parameter according to the difference between the feedback angle value of the biaxial inclination sensor 1 and the horizontal zeroing parameter of the biaxial sensor. The controller 10 can send a control instruction to the stepper motor driver of the leg cylinder control system and receive the position feedback information of the stepper motor driver. At the same time, it continuously corrects the control instruction of the cylinder stepper motor by combining the position signals of the gyroscope sensors to adjust the lifting of the leg cylinders to achieve the automatic leveling control of the body.

[0049] After setting the horizontal zeroing parameter of the biaxial sensor on the human-machine interface, the controller 10 can send an action control instruction or a stop control instruction to the stepping motor driver of the outrigger according to the measurement value of the biaxial inclination sensor 1 to adjust the height of the outrigger.

[0050] When the controller 10 receives the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X <0, the controller 10 sends an action control instruction to the stepping motor drivers of the first outrigger 2 and the third outrigger 4 to make the stepping motor execute the "lower" action until the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X = 0, the controller 10 sends a stop control instruction to the stepping motor drivers of the first outrigger 2 and the third outrigger 4 to control the stepping motor to stop.

[0051] When the controller 10 receives the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X <0, the controller 10 can also send an action control instruction to the stepping motor drivers of the second outrigger 3 and the fourth outrigger 5 to make the stepping motor execute the "raise" action until the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X = 0, the controller 10 sends a stop control instruction to the stepping motor drivers of the second outrigger 3 and the fourth outrigger 5 to control the oil cylinder stepping motor to stop.

[0052] When the controller 10 receives the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X > 0, the controller 10 sends an action control instruction to the stepping motor drivers of the first outrigger 2 and the third outrigger 4 to make the stepping motor execute the "raise" action until the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X = 0, the controller 10 sends a stop control instruction to the stepping motor drivers of the first outrigger 2 and the third outrigger 4 to control the stepping motor to stop.

[0053] When the controller 10 receives the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X > 0, the controller 10 can also send an action control instruction to the stepping motor drivers of the second outrigger 3 and the fourth outrigger 5 to make the stepping motor execute the "lower" action until the X-axis inclination angle θ collected by the biaxial inclination sensor 1 X = 0, the controller 10 sends a stop control instruction to the stepping motor drivers of the second outrigger 3 and the fourth outrigger 5 to control the stepping motor to stop.

[0054] When the controller 10 receives the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 YWhen < 0, the controller 10 sends an action control instruction to the stepper motor drivers of the first leg 2 and the second leg 3 to control the stepper motors to perform the "lower" action until the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y = 0, the controller 10 sends a stop control instruction to the stepper motor drivers of the first leg 2 and the second leg 3 to control the stepper motors to stop.

[0055] When the controller 10 receives the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y < 0, the controller 10 can also send an action control instruction to the stepper motor drivers of the third leg 4 and the fourth leg 5 to control the stepper motors to perform the "raise" action until the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y = 0, the controller 10 sends a stop control instruction to the stepper motor drivers of the third leg 4 and the fourth leg 5 to control the stepper motors to stop.

[0056] When the controller 10 receives the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y > 0, the controller 10 sends an action control instruction to the stepper motor drivers of the first leg 2 and the second leg 3 to control the stepper motors to perform the "raise" action until the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y = 0, the controller 10 sends a stop control instruction to the stepper motor drivers of the first leg 2 and the second leg 3 to control the stepper motors to stop.

[0057] When the controller 10 receives the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y > 0, the controller 10 sends an action control instruction to the stepper motor drivers of the third leg 4 and the fourth leg 5 to control the stepper motors to perform the "lower" action until the Y-axis inclination angle θ collected by the biaxial inclination sensor 1 Y = 0, the controller 10 sends a stop control instruction to the stepper motor drivers of the third leg 4 and the fourth leg 5 to control the stepper motors to stop.

[0058] Please refer to Figure 3 , Figure 3 , which is the flowchart of an automatic leveling control method for a pile driver provided by an embodiment of the present application. The specific process is as follows:

[0059] After the system is powered on, the system parameters are initialized, and the platform tilt angle is zeroed. It is judged whether the user presses the automatic leveling button. If the user does not press the automatic leveling button, manual leveling is performed. If the user presses the automatic leveling button, it is judged whether the platform tilt angle (including the X-axis inclination angle θ X and the Y-axis inclination angle θ Y)Is it not equal to 0? If so, start automatic leveling. If not, continue to determine whether the user presses the automatic leveling button. After starting automatic leveling, determine whether the platform tilt angle is equal to 0. If so, determine that automatic leveling ends. If not, start automatic leveling again.

[0060] This embodiment has good micro-mobility, small error, and high operation efficiency, realizing the automatic leveling control of the pile driver platform, which can solve the problem of difficult horizontal adjustment of the pile driver body and contribute to the pre-piling preparation work of precast piles.

[0061] Due to the complex situation, it is impossible to list and elaborate one by one. Those skilled in the art should be able to realize that there can be many examples according to the basic principles provided in this application combined with the actual situation. Without sufficient creative labor, they should all fall within the protection scope of this application.

[0062] The various embodiments in the specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0063] Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the solution and core idea of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A pile driver, characterized in that: include: fuselage platform, outriggers, dual-axis tilt sensors, motion sensors and controllers; The dual-axis tilt sensor is arranged on the fuselage platform, the outrigger is installed on the fuselage platform, and the motion sensor is arranged on the outrigger; the outrigger comprises a digital hydraulic cylinder and an oil cylinder driving assembly, and the digital hydraulic cylinder is connected to the oil cylinder driving assembly; The controller is connected to the dual-axis inclination sensor, the motion sensor and the cylinder drive assembly respectively; the controller is used to send control instructions to the cylinder drive assembly according to status information so as to adjust the height of the leg; wherein the status information includes the measurement values ​​of the dual-axis inclination sensor and the motion sensor.

2. The pile driver according to claim 1, characterized in that: The oil cylinder driving assembly comprises a stepping motor and a motor driver, and the stepping motor is connected to the motor driver and the digital hydraulic cylinder respectively.

3. The pile driver according to claim 1, characterized in that: The oil cylinder driving assembly comprises an electric proportional valve and a proportional valve driver, and the electric proportional valve is connected to the proportional valve driver and the digital hydraulic cylinder respectively.

4. The pile driver according to claim 1, characterized in that: The motion sensor is a gyroscope.

5. The pile driver according to claim 1, characterized in that: The motion sensor is a cylinder stroke sensor.

6. The pile driver according to claim 1, characterized in that: The pile driver further comprises an indicator light connected to the controller, wherein the indicator light is arranged on the supporting leg; The controller is also used to send a flashing instruction to the corresponding indicator light when sending a control instruction to the cylinder drive component; the indicator light is used to flash for a preset time at a preset frequency after receiving the flashing instruction.

7. The pile driver according to claim 1, characterized in that: The pile driver further comprises a locking mechanism arranged on the supporting legs.

8. The pile driver according to claim 1, characterized in that: The pile driver also includes a display connected to the controller, for displaying information transmitted by the controller.

9. The pile driver according to claim 1, characterized in that: The supporting legs are mounted on the fuselage platform via hinge seats.

10. The pile driver according to any one of claims 1 to 9, characterized in that: The dual-axis tilt sensor is arranged in a clamping box of the fuselage platform.

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