Gripper control method and system for a material handling machine, material handling machine

Abstract

The application relates to the technical field of material grabbing, in particular to a material grabbing machine gripper control method and system and a material grabbing machine. The method comprises the following steps: receiving a material grabbing control signal; controlling the gripper to perform a material grabbing action according to the material grabbing control signal; receiving gripper hydraulic pressure of a gripper oil cylinder; if the gripper hydraulic pressure is less than a first preset pressure, controlling a hydraulic system to supplement oil to the gripper oil cylinder; and if the gripper hydraulic pressure is greater than or equal to a second preset pressure, controlling the hydraulic system to stop supplementing oil to the gripper oil cylinder and controlling the gripper oil cylinder to keep pressure. When the material grabbing machine is used to perform a material grabbing operation, the gripper hydraulic pressure of the gripper oil cylinder is detected, and whether to supplement oil is judged according to the gripper hydraulic pressure; when the gripper hydraulic pressure is insufficient, oil is supplemented to the gripper oil cylinder; the oil supplementing is stopped after the second preset pressure is reached; and the gripper oil cylinder is controlled to close and keep pressure. The application can guarantee that the gripper has sufficient gripping force, thereby guaranteeing the stability of material grabbing.

Description

Technical Field

[0001] This application relates to the field of material handling technology, specifically to a material handling machine gripper control method and system, and a material handling machine. Background Technology

[0002] With the rapid development of technology, the industrial manufacturing sector has also grown rapidly. Automated material handling machines have been widely used in scenarios such as docks and automated storage and retrieval yards, significantly improving overall work efficiency through automated material handling processes. During the material handling process, the stability of the gripper is a crucial concern. Insufficient gripping force can lead to unstable material handling, resulting in decreased production efficiency and even safety accidents. Therefore, ensuring sufficient gripping force to guarantee stable material handling is a key technical problem that needs to be solved in this field. Summary of the Invention

[0003] In view of this, this application provides a gripper control method and system for a material gripper, and a material gripper, which can ensure that the gripper of the material gripper has sufficient gripping force to ensure the stability of material gripping.

[0004] In a first aspect, this application provides a gripper control method for a material handling machine, applicable to a material handling machine including a hydraulic system and a gripper. The gripper includes a gripper cylinder connected to the hydraulic system. The hydraulic system is configured to supply oil to the gripper cylinder, and the gripper cylinder is used to provide gripping force to the gripper. The gripper control method includes: receiving a material handling control signal; controlling the gripper to perform a material handling action according to the material handling control signal; receiving the gripper hydraulic pressure from the gripper cylinder; if the gripper hydraulic pressure is less than a first preset pressure, controlling the hydraulic system to replenish oil to the gripper cylinder; and if the gripper hydraulic pressure is greater than or equal to a second preset pressure, controlling the hydraulic system to stop replenishing oil to the gripper cylinder and controlling the gripper cylinder to maintain pressure.

[0005] In use, during the process of controlling the material grabber to perform the material grabbing operation, the hydraulic pressure of the grabber cylinder is detected, and it is determined whether to replenish the hydraulic pressure. When the hydraulic pressure of the grabber is insufficient, the hydraulic pressure of the grabber cylinder is replenished until the second preset pressure is reached, and then the replenishment is stopped. The grabber cylinder is then controlled to close and maintain pressure. This application can ensure that the grabber has sufficient gripping force, thereby ensuring the stability of material grabbing.

[0006] In conjunction with the first aspect, in one possible implementation, the hydraulic system further includes an accumulator; wherein, if the gripper hydraulic pressure is less than a first preset pressure, controlling the hydraulic system to replenish oil to the gripper cylinder includes: controlling the accumulator to replenish oil to the gripper cylinder; if the gripper hydraulic pressure is greater than or equal to a second preset pressure, controlling the hydraulic system to stop replenishing oil to the gripper cylinder and controlling the gripper cylinder to maintain pressure includes: controlling the accumulator to stop replenishing oil to the gripper cylinder.

[0007] In conjunction with the first aspect, in one possible implementation, the grabber further includes a boom, the boom including a boom cylinder connected to the hydraulic system, the hydraulic system configured to supply oil to the boom cylinder, the boom cylinder providing lifting and slewing power to the boom, the boom cylinder being connected to the accumulator, and the boom cylinder configured to charge the accumulator; wherein, the grabber gripper control method further includes: if the accumulator's accumulator hydraulic pressure is less than a third preset pressure, controlling the boom cylinder to supply oil to the accumulator for charging; and if the accumulator's accumulator hydraulic pressure is greater than or equal to a fourth preset pressure, controlling the boom cylinder to stop supplying oil to the accumulator for charging.

[0008] In conjunction with the first aspect, in one possible implementation, the step of controlling the boom cylinder to supply oil to the accumulator if the accumulator's accumulator hydraulic pressure is less than the third preset pressure includes: if the accumulator hydraulic pressure is less than the third preset pressure, then obtaining the boom's motion state; if the boom is in a lifting state, then controlling the boom cylinder to supply oil to the accumulator to charge it.

[0009] In conjunction with the first aspect, in one possible implementation, receiving the gripping control signal includes: receiving a first control signal for the gripper; and receiving a second control signal for the boom.

[0010] In conjunction with the first aspect, in one possible implementation, the hydraulic system further includes a gripper hydraulic control handle and a boom hydraulic control handle; receiving a first control signal for the gripper includes generating the first control signal if the hydraulic pressure corresponding to the hydraulic oil control signal of the gripper hydraulic control handle is greater than or equal to a fifth preset pressure; receiving a second control signal for the boom includes generating the second control signal if the hydraulic pressure corresponding to the hydraulic oil control signal of the boom hydraulic control handle is greater than or equal to a sixth preset pressure.

[0011] Secondly, this application provides a gripper control system for a material handling machine, applied to a material handling machine, the material handling machine including a hydraulic system and a gripper, the gripper including a gripper cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the gripper cylinder, the gripper cylinder being used to provide gripping force to the gripper; wherein, the material handling machine gripper control system includes: a gripping signal acquisition module configured to receive a gripping control signal; a gripping control module communicatively connected to the gripping signal acquisition module, the gripping control module being configured to control the gripper to perform a gripping action according to the gripping control signal; a hydraulic monitoring module configured to receive the gripper hydraulic pressure of the gripper cylinder; and an oil replenishment control module communicatively connected to the hydraulic monitoring module, the oil replenishment control module being configured to: if the gripper hydraulic pressure is less than a first preset pressure, control the hydraulic system to replenish oil to the gripper cylinder; and if the gripper hydraulic pressure is greater than or equal to a second preset pressure, control the hydraulic system to stop replenishing oil to the gripper cylinder and control the gripper cylinder to maintain pressure.

[0012] Thirdly, this application provides a material handling machine, comprising: a hydraulic system; a gripper, including a gripper cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the gripper cylinder, the gripper cylinder being used to provide gripping force to the gripper; a boom, including a boom cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the boom cylinder, the boom cylinder being used to provide lifting and slewing power to the boom; and the aforementioned material handling machine gripper control system.

[0013] In conjunction with the third aspect, in one possible implementation, the hydraulic system includes: an electrically controlled pump for supplying oil; a first multi-way valve including a first multi-way valve first end and a first multi-way valve second end, the first multi-way valve first end being connected to the gripper cylinder; a second multi-way valve including a second multi-way valve first end and a second multi-way valve second end, the second multi-way valve first end being connected to the boom cylinder; a gripper hydraulic control handle, respectively connected to the electrically controlled pump and the second end of the first multi-way valve; a first hydraulic sensor, connected to the gripper hydraulic control handle, the first hydraulic sensor being used to detect the hydraulic oil control signal of the gripper hydraulic control handle; a boom hydraulic control handle, respectively connected to the electrically controlled pump and the second end of the second multi-way valve; a second hydraulic sensor, connected to the boom hydraulic control handle, the second hydraulic sensor being used to detect the hydraulic oil control signal of the boom hydraulic control handle; and a third hydraulic sensor, connected to the gripper cylinder, the third hydraulic sensor being used to detect the gripper hydraulic pressure of the gripper cylinder.

[0014] In conjunction with the third aspect, in one possible implementation, the hydraulic system further includes: a proportional valve connected to the electronically controlled pump and the second end of the second multi-way valve, respectively; and a fourth hydraulic sensor disposed in the oil line between the proportional valve and the second end of the second multi-way valve, the fourth hydraulic sensor being used to detect the hydraulic pressure delivered by the proportional valve to the second multi-way valve.

[0015] In conjunction with the third aspect, in one possible implementation, the hydraulic system further includes: an accumulator, comprising an accumulator input end and an accumulator output end, the accumulator input end being connected to the boom cylinder and the accumulator output end being connected to the gripper cylinder; and a fifth hydraulic sensor, connected to the accumulator, the fifth hydraulic sensor being used to detect the accumulator's stored hydraulic pressure. Attached Figure Description

[0016] Figure 1 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to an embodiment of this application.

[0017] Figure 2 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application.

[0018] Figure 3 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application.

[0019] Figure 4 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application.

[0020] Figure 5 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application.

[0021] Figure 6 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application.

[0022] Figure 7 The diagram shown is a schematic diagram of the system structure of a material handling machine gripper control system provided in an embodiment of this application.

[0023] Figure 8 The diagram shown is a structural schematic of a hydraulic system, a gripper cylinder, and a boom cylinder provided in an embodiment of this application.

[0024] Figure 9 The diagram shown is a structural schematic of a hydraulic system, a gripper cylinder, and a boom cylinder provided in another embodiment of this application.

[0025] Figure 10The diagram shown is a control flow diagram provided in an embodiment of this application.

[0026] Figure 11 The diagram shown is a control flow diagram provided in another embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] An exemplary control method for the gripper of a material handling machine is as follows:

[0029] Figure 1 The diagram illustrates the method steps of a gripper control method for a material handling machine according to an embodiment of this application. This application provides a gripper control method for a material handling machine, which includes a hydraulic system and a gripper. The gripper includes a gripper cylinder connected to the hydraulic system. The hydraulic system is configured to supply oil to the gripper cylinder, and the gripper cylinder provides gripping force to the gripper. Figure 1 As shown, the gripper control method of the material handling machine includes:

[0030] Step 110: Receive the material handling control signal.

[0031] In this step, when material needs to be picked up, the picking control signal is issued by the operator.

[0032] Step 120: Control the gripper to perform the gripping action according to the gripping control signal.

[0033] In this step, after obtaining the material gripping control signal, the material gripper is controlled to start working according to the material gripping control signal, the gripper is moved to the position of the material to be gripped, and the gripper is controlled to grip and grab the material.

[0034] Step 130: Receive the gripper hydraulic pressure from the gripper cylinder.

[0035] In this step, a hydraulic detector can be installed on the gripper cylinder to detect the hydraulic pressure of the gripper cylinder.

[0036] If the hydraulic pressure of the gripper is less than the first preset pressure, then proceed to step 140, controlling the hydraulic system to replenish oil to the gripper cylinder. In this step, the replenishing oil pressure of the hydraulic system is controlled to be no greater than the preset replenishing hydraulic pressure to avoid excessive replenishment; specifically, the replenishing oil pressure can be set to less than 9 bar. The first preset pressure can be set to 25 MPa.

[0037] If the hydraulic pressure of the gripper is greater than or equal to the second preset pressure, then step 150 is executed: the hydraulic system is controlled to stop supplying oil to the gripper cylinder, and the gripper cylinder is controlled to maintain pressure. The second preset pressure can be set to 30 MPa.

[0038] In this embodiment, during the process of controlling the material grabber to perform the material grabbing operation, the hydraulic pressure of the grabber cylinder is detected, and it is determined whether to replenish the hydraulic pressure. When the hydraulic pressure of the grabber is insufficient, the hydraulic pressure of the grabber cylinder is replenished until the second preset pressure is reached, and then the replenishment of the hydraulic pressure is stopped. The grabber cylinder is then controlled to close and maintain pressure. This embodiment can ensure that the grabber has sufficient gripping force, thereby ensuring the stability of material grabbing.

[0039] Figure 2 The diagram illustrates the method steps of a gripper control method for a material handling machine according to another embodiment of this application. In one embodiment, the hydraulic system further includes an accumulator. Figure 2 As shown, if the hydraulic pressure of the gripper is less than the first preset pressure, step 140 includes:

[0040] Step 141: Control the accumulator to replenish oil to the gripper cylinder.

[0041] If the hydraulic pressure of the gripper is greater than or equal to the second preset pressure, step 150 includes:

[0042] Step 151: Control the accumulator to stop replenishing oil to the gripper cylinder.

[0043] In this embodiment, oil is replenished to the gripper cylinder via an accumulator, simplifying and speeding up the oil replenishment process.

[0044] Figure 3 The diagram shown is a schematic representation of the method steps for controlling a gripper gripper according to another embodiment of this application. Specifically, the gripper further includes a boom, which includes a boom cylinder connected to a hydraulic system. The hydraulic system is configured to supply oil to the boom cylinder, which provides lifting and slewing power to the boom. The boom cylinder is connected to an accumulator, which is configured to charge the accumulator. Figure 3 As shown, the gripper control method of the material handling machine also includes:

[0045] Step 160: Obtain the accumulator hydraulic pressure.

[0046] If the accumulator's hydraulic pressure is less than the third preset pressure, then step 170 is executed to control the boom cylinder to supply oil to the accumulator for charging. The third preset pressure can be set to 25 MPa.

[0047] If the accumulator's accumulator hydraulic pressure is greater than or equal to the fourth preset pressure, then step 180 is executed to control the boom cylinder to stop supplying oil to the accumulator for charging. The fourth preset pressure can be set to 30MPa or 32MPa.

[0048] In this embodiment, the accumulator can be charged by supplying oil to the boom cylinder, ensuring that the accumulator has sufficient energy to replenish the gripper cylinder.

[0049] Figure 4 The diagram shown is a schematic representation of the method steps of a gripper control method for a material handling machine according to another embodiment of this application. In one embodiment, as... Figure 4 As shown, if the accumulator's stored hydraulic pressure is less than the third preset pressure, step 170 includes:

[0050] If the accumulator hydraulic pressure is less than the third preset pressure, then proceed to step 171 to obtain the motion state of the boom.

[0051] If the boom is in the lifting state, then execute step 172 to control the boom cylinder to supply oil to the accumulator for charging.

[0052] In this embodiment, when the boom is being lifted, the hydraulic oil supply in the boom cylinder is sufficient. In this state, the boom cylinder supplies oil to the accumulator to charge it, which can ensure that the boom cylinder can work normally while charging.

[0053] Figure 5 The diagram illustrates the method steps of a gripper control method for a material handling machine according to another embodiment of this application. Specifically, as shown... Figure 5 As shown, the material handling control signal includes the requirements for gripping control of the gripper and the requirements for lifting and rotating control of the boom. Step 110 includes:

[0054] Step 111: Receive the first control signal for the gripper.

[0055] Step 112: Receive the second control signal for the boom.

[0056] Figure 6 The diagram illustrates the method steps of a gripper control method according to another embodiment of this application. In one embodiment, the hydraulic system further includes a gripper hydraulic control handle and a boom hydraulic control handle. Figure 6 As shown, step 111 includes:

[0057] Step 113: Obtain the hydraulic oil control signal of the gripper's hydraulic control handle.

[0058] If the hydraulic pressure corresponding to the hydraulic oil control signal of the gripper's hydraulic control handle is greater than or equal to the fifth preset pressure, then step 114 is executed to generate the first control signal. The fifth preset pressure can be set to 7 bar.

[0059] Step 112 includes:

[0060] If the hydraulic pressure corresponding to the hydraulic oil control signal of the boom hydraulic control handle is greater than or equal to the sixth preset pressure, then step 115 is executed to generate the second control signal. The sixth preset pressure can be set to 7 bar.

[0061] In this embodiment, the control signal of the gripper hydraulic control handle is only responded to when the corresponding hydraulic pressure triggered by the gripper hydraulic control handle is greater than or equal to the fifth preset pressure, thereby avoiding misoperation caused by accidental activation of the gripper hydraulic control handle. Similarly, the control signal of the boom hydraulic control handle is only responded to when the corresponding hydraulic pressure triggered by the boom hydraulic control handle is greater than or equal to the sixth preset pressure, thus avoiding misoperation caused by accidental activation of the boom hydraulic control handle.

[0062] An example of a gripper control system for a material handling machine is as follows:

[0063] Figure 7 The diagram shown is a schematic representation of the system structure of a gripper control system according to an embodiment of this application. This application also provides a gripper control system for a gripper, which includes a hydraulic system and a gripper. The gripper includes a gripper cylinder connected to the hydraulic system. The hydraulic system is configured to supply oil to the gripper cylinder, which provides gripping force to the gripper. Figure 7 As shown, the gripper control system of the material handling machine includes: a gripping signal acquisition module 701, a gripping control module 702, a hydraulic monitoring module 703, and an oil replenishment control module 704.

[0064] The material handling signal acquisition module 701 is configured to receive material handling control signals.

[0065] The material gripping control module 702 is communicatively connected to the material gripping signal acquisition module 701. The material gripping control module is configured to control the gripper to perform material gripping actions according to the material gripping control signal.

[0066] The hydraulic monitoring module 703 is configured to receive the gripper hydraulic pressure from the gripper cylinder.

[0067] The oil replenishment control module 704 is communicatively connected to the hydraulic monitoring module 703. The oil replenishment control module 704 is configured to: if the gripper hydraulic pressure is less than the first preset pressure, control the hydraulic system to replenish oil to the gripper cylinder; and if the gripper hydraulic pressure is greater than or equal to the second preset pressure, control the hydraulic system to stop replenishing oil to the gripper cylinder and control the gripper cylinder to maintain pressure.

[0068] An example material handling machine is as follows:

[0069] This application also provides a material handling machine, which includes: a hydraulic system, a gripper, a boom, and the aforementioned material handling machine gripper control system.

[0070] The gripper includes a gripper cylinder connected to a hydraulic system configured to supply oil to the gripper cylinder, which is used to provide gripping force to the gripper.

[0071] The boom includes a boom cylinder connected to a hydraulic system. The hydraulic system is configured to supply oil to the boom cylinder, which is used to provide lifting and slewing power to the boom.

[0072] Figure 8 The diagram shown is a structural schematic of a hydraulic system, a gripper cylinder, and a boom cylinder provided in an embodiment of this application. Figure 9 The diagram shown is a structural schematic of another embodiment of this application, including a hydraulic system, a gripper cylinder, and a boom cylinder. Figure 8 and Figure 9 As shown, the hydraulic system includes an electric pump 801, a first multi-way valve 802, a second multi-way valve 803, a gripper hydraulic control handle 804, a first hydraulic sensor 805, a boom hydraulic control handle 806, a second hydraulic sensor 807, and a third hydraulic sensor 808.

[0073] The electronically controlled pump 801 is used for oil supply. The first multi-way valve 802 includes a first multi-way valve first end and a first multi-way valve second end, and the first multi-way valve first end is connected to the gripper cylinder 809. The second multi-way valve 803 includes a second multi-way valve first end and a second multi-way valve second end, and the first multi-way valve first end is connected to the boom cylinder 810.

[0074] The gripper hydraulic control handle 804 is connected to the electric pump 801 and the second end of the first multi-way valve, respectively. A first hydraulic sensor 805 is connected to the gripper hydraulic control handle 804 and is used to detect the hydraulic oil control signal of the gripper hydraulic control handle 804. In some embodiments, a pilot valve 813 is also provided between the gripper hydraulic control handle 804 and the first multi-way valve 802.

[0075] The boom hydraulic control handle 806 is connected to the electric control pump 801 and the second end of the second multi-way valve, respectively. The second hydraulic sensor 807 is connected to the boom hydraulic control handle 806 and is used to detect the hydraulic oil control signal of the boom hydraulic control handle 806.

[0076] The third hydraulic sensor 808 is connected to the gripper cylinder 809 and is used to detect the gripper hydraulic pressure of the gripper cylinder 809.

[0077] In one embodiment, such as Figure 8 As shown, the hydraulic system also includes a proportional valve 811 and a fourth hydraulic sensor 812. The proportional valve 811 is connected to the electronically controlled pump 801 and the second end of the second multi-way valve, respectively. The fourth hydraulic sensor 812 is disposed in the oil line between the proportional valve 811 and the second end of the second multi-way valve, and is used to detect the hydraulic pressure delivered by the proportional valve 811 to the second multi-way valve.

[0078] Figure 10 The diagram shown is a control flow diagram provided in an embodiment of this application. When implementing this embodiment, refer to... Figure 10First, the handle executes the operation, which includes commands for gripper closing and boom lifting / swing. Then, it checks whether the hydraulic signals from the first hydraulic sensor 805 and the second hydraulic sensor 807 are greater than or equal to 7 bar. If both are greater than 7 bar, it checks whether the gripper hydraulic pressure in gripper cylinder 809 is less than 25 MPa. If it is less than 25 MPa, it controls proportional valve 811 to replenish oil to gripper cylinder 809 at a hydraulic flow rate of less than 9 bar, where the hydraulic flow rate is detected by the fourth hydraulic sensor 812. If the gripper hydraulic pressure in gripper cylinder 809 is greater than or equal to 32 MPa, proportional valve 811 does not replenish oil to gripper cylinder, and the hydraulic flow rate is less than 5 bar, where the hydraulic flow rate is detected by the fourth hydraulic sensor 812.

[0079] In one embodiment, such as Figure 9 As shown, the hydraulic system also includes an accumulator 814 and a fifth hydraulic sensor 815. The accumulator 814 includes an accumulator input end and an accumulator output end. The accumulator input end is connected to the boom cylinder 810, and the accumulator output end is connected to the gripper cylinder 809. The fifth hydraulic sensor 815 is connected to the accumulator 814 and is used to detect the accumulator hydraulic pressure of the accumulator 814.

[0080] Figure 11 The diagram shown is a control flow diagram provided in another embodiment of this application. When implementing this embodiment, refer to... Figure 11 First, the handle executes the operation, which includes commands for gripper closure and boom lifting / slewing. Then, it checks whether the hydraulic signals of the first hydraulic sensor 805 and the second hydraulic sensor 807 are greater than or equal to 7 bar. If they are greater, it checks whether the accumulator hydraulic pressure of the accumulator 814 is less than 25 MPa. If it is less, the boom cylinder 810 replenishes oil to the accumulator 814 during the boom lifting process. If the accumulator hydraulic pressure is greater than 30 MPa, the boom cylinder 810 stops replenishing oil to the accumulator 814. Simultaneously, when the hydraulic signals of the first hydraulic sensor 805 and the second hydraulic sensor 807 are greater than or equal to 7 bar, the pilot valve 813 operates, the gripper closes, and the gripper cylinder valve core closes to maintain pressure. At this time, the hydraulic pressure supplied by the pilot valve 813 to the first multi-way valve 802 is less than 5 bar. After the gripper closes, the gripper hydraulic pressure is monitored. If the gripper hydraulic pressure is less than 25 MPa, the accumulator 814 replenishes oil to the gripper cylinder 809. If the gripper hydraulic pressure is greater than 30 MPa, the accumulator 814 stops replenishing oil to the gripper cylinder 809. This feedback process is continuously executed to ensure that the gripper cylinder has sufficient hydraulic pressure.

[0081] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0082] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0083] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0084] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0085] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling the gripper of a material handling machine, characterized in that, An application is made to a material handling machine, the material handling machine including a hydraulic system and a gripper, the hydraulic system including an accumulator, the gripper including a gripper cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the gripper cylinder, the gripper cylinder being used to provide gripping force to the gripper; wherein, the gripper gripper control method includes: Receive material handling control signals; The gripper is controlled to perform a gripping action according to the gripping control signal; Receives the gripper hydraulic pressure from the gripper cylinder; If the hydraulic pressure of the gripper is less than the first preset pressure, then the accumulator is controlled to replenish oil to the gripper cylinder; and If the hydraulic pressure of the gripper is greater than or equal to the second preset pressure, then the accumulator is controlled to stop replenishing oil to the gripper cylinder, and the gripper cylinder is controlled to maintain pressure. The grabber also includes a boom, which includes a boom cylinder connected to the hydraulic system. The hydraulic system is configured to supply oil to the boom cylinder, which provides lifting and slewing power to the boom. The boom cylinder is connected to the accumulator and is configured to charge the accumulator. The grabber gripper control method further includes: If the accumulator's stored hydraulic pressure is less than the third preset pressure, then the boom cylinder is controlled to supply oil to the accumulator to charge it; and If the accumulator's accumulator hydraulic pressure is greater than or equal to the fourth preset pressure, then the boom cylinder is controlled to stop supplying oil to the accumulator for charging.

2. The gripper control method for a material handling machine according to claim 1, characterized in that, If the accumulator's stored hydraulic pressure is less than a third preset pressure, then controlling the boom cylinder to supply oil to the accumulator includes: If the stored hydraulic pressure is less than the third preset pressure, then the motion state of the boom is obtained; If the boom is in the lifting state, the boom cylinder is controlled to supply oil to the accumulator for charging.

3. The gripper control method for a material handling machine according to claim 1, characterized in that, The receiving material handling control signal includes: Receive a first control signal for the gripper; and Receive a second control signal for the boom.

4. The gripper control method for a material handling machine according to claim 3, characterized in that, The hydraulic system also includes a gripper hydraulic control handle and a boom hydraulic control handle; The receiving of the first control signal for the gripper includes: If the hydraulic pressure corresponding to the hydraulic oil control signal of the gripper's hydraulic control handle is greater than or equal to the fifth preset pressure, then the first control signal is generated. The receiving of the second control signal for the boom includes: If the hydraulic pressure corresponding to the hydraulic oil control signal of the boom hydraulic control handle is greater than or equal to the sixth preset pressure, then the second control signal is generated.

5. A control system for a material handling machine gripper, characterized in that, The gripper control method for implementing the gripper control method of any one of claims 1-4 is applied to a gripper, the gripper including a hydraulic system and a gripper, the gripper including a gripper cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the gripper cylinder, the gripper cylinder being used to provide gripping force to the gripper; wherein, the gripper gripper control system includes: The material handling signal acquisition module is configured to receive material handling control signals. A material gripping control module is communicatively connected to the material gripping signal acquisition module. The material gripping control module is configured to control the gripper to perform material gripping actions according to the material gripping control signal. The hydraulic monitoring module is configured to receive the gripper hydraulic pressure from the gripper cylinder; The oil replenishment control module is communicatively connected to the hydraulic monitoring module. The oil replenishment control module is configured to: if the hydraulic pressure of the gripper is less than a first preset pressure, control the hydraulic system to replenish oil to the gripper cylinder; and if the hydraulic pressure of the gripper is greater than or equal to a second preset pressure, control the hydraulic system to stop replenishing oil to the gripper cylinder and control the gripper cylinder to maintain pressure.

6. A material handling machine, characterized in that, include: Hydraulic system; The gripper includes a gripper cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the gripper cylinder, the gripper cylinder being used to provide gripping force to the gripper; A boom, including a boom cylinder connected to the hydraulic system, the hydraulic system being configured to supply oil to the boom cylinder, the boom cylinder being used to provide lifting and slewing power to the boom; and The material handling machine gripper control system as described in claim 5.

7. The material handling machine according to claim 6, characterized in that, The hydraulic system includes: An electrically controlled pump is used for oil supply; The first multi-way valve includes a first multi-way valve first end and a first multi-way valve second end, wherein the first multi-way valve first end is connected to the gripper cylinder; The second multi-way valve includes a first end of the second multi-way valve and a second end of the second multi-way valve, wherein the first end of the second multi-way valve is connected to the boom cylinder. The gripper's hydraulic control handle is connected to the electrically controlled pump and the second end of the first multi-way valve, respectively. A first hydraulic sensor is connected to the gripper's hydraulic control handle. The first hydraulic sensor is used to detect the hydraulic oil control signal of the gripper's hydraulic control handle. The boom hydraulic control handle is connected to the electric control pump and the second end of the second multi-way valve, respectively. A second hydraulic sensor, connected to the boom hydraulic control handle, is used to detect the hydraulic oil control signal of the boom hydraulic control handle; and A third hydraulic sensor is connected to the gripper cylinder, and the third hydraulic sensor is used to detect the gripper hydraulic pressure of the gripper cylinder.

8. The material handling machine according to claim 7, characterized in that, The hydraulic system also includes: A proportional valve is connected to the electrically controlled pump and the second terminal of the second multi-way valve, respectively; and A fourth hydraulic sensor is disposed in the oil line between the proportional valve and the second end of the second multi-way valve. The fourth hydraulic sensor is used to detect the hydraulic pressure delivered from the proportional valve to the second multi-way valve.

9. The material handling machine according to claim 7, characterized in that, The hydraulic system also includes: An accumulator, comprising an accumulator input terminal and an accumulator output terminal, wherein the accumulator input terminal is connected to the boom cylinder and the accumulator output terminal is connected to the gripper cylinder; and A fifth hydraulic sensor is connected to the accumulator and is used to detect the stored hydraulic pressure of the accumulator.

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