Control system of a grab device, grab device and crane

Abstract

The application provides a control system of a grab bucket device, the grab bucket device and a crane, and relates to the technical field of cranes. The control system of the grab bucket device comprises multiple displacement control components and an inclination sensor. The displacement control components are arranged on a grab bucket assembly, and the inclination sensor is arranged on a lifting assembly. The multiple displacement control components are respectively connected with displacement driving components and grab bucket driving components. The inclination sensor is connected with the displacement driving components. The displacement control components are used for transmitting displacement signals or on-off signals, so that the grab bucket assembly moves in different directions or the grab bucket part opens and closes. The inclination sensor is used for transmitting inclination signals, so that the lifting assembly moves towards the extension line of the grab bucket assembly in the vertical direction. The control system of the grab bucket device can quickly control the displacement of the grab bucket device according to the actual position of the grab bucket device, and realizes accurate positioning of the grab bucket device.

Description

Technical Field

[0001] This application relates to the field of crane technology, and in particular to a control system for a grab bucket device, a grab bucket device, and a crane. Background Technology

[0002] Cranes include a grab bucket assembly, which is driven to achieve multi-axial displacement to accurately position the grab bucket at the required work station. Cranes typically have an operator's cab where the grab bucket's displacement stroke and timing can be controlled. However, due to obstructed views in the work area, it can sometimes be difficult to determine whether the grab bucket has accurately moved to its intended position. This can lead to fuzzy positioning and potentially cause collisions, resulting in damage to the grab bucket and other equipment on site. Utility Model Content

[0003] The purpose of this application is to solve the aforementioned technical problems by providing a control system for a grab bucket device, a grab bucket device, and a crane, thereby enabling quick and precise control of the grab bucket device's displacement based on its actual position and achieving accurate positioning of the grab bucket device. To achieve the above objective, the technical solution of this application is as follows: In a first aspect, this application provides a control system for a grab bucket device. The grab bucket device includes a grab bucket assembly and a lifting assembly. The grab bucket assembly is suspended from the bottom of the lifting assembly. The lifting assembly is connected to a displacement drive component. The grab bucket assembly includes a plurality of grab bucket parts rotatably connected and a grab bucket drive component for driving the grab bucket parts to open and close. The control system of the grab bucket device also includes a plurality of displacement control components and an angle sensor. The displacement control components are disposed on the grab bucket assembly, and the angle sensor is disposed on the lifting assembly. The plurality of displacement control components are respectively connected to the displacement drive component and the grab bucket drive component. The angle sensor is connected to the displacement drive component. The displacement control components are used to transmit displacement signals or opening / closing signals to make the grab bucket assembly move in different directions or to make the grab bucket parts open and close. The angle sensor is used to transmit angle signals to make the lifting assembly move toward the vertical extension line of the grab bucket assembly.

[0004] In one possible implementation, the lifting assembly includes a movable base, an upper drum mounted on the movable base and rotatably arranged, an upper wire rope surrounding the upper drum, and a hook connected to the upper wire rope. One end of the upper wire rope is fixed to the movable base, and the other end of the upper wire rope is connected to the upper drum. An inclination sensor is installed on the upper wire rope located between the movable base and the hook. Multiple displacement control components and the inclination sensor are all connected to a controller, which is connected to a displacement drive component and a grab bucket drive component, respectively.

[0005] In one possible implementation, the multiple displacement control elements include multiple first touch controls for controlling the movement of the grab assembly at least along the X-axis, Y-axis, or Z-axis, and multiple second touch controls for controlling the opening and closing of the grab section.

[0006] In one possible implementation, when the first touch control is triggered, the first touch control transmits a corresponding displacement signal to the controller, and the controller controls the displacement drive according to the displacement signal to move the moving seat or hook in the corresponding direction until the first touch control is released from the triggered state; or when the second touch control is triggered, the second touch control transmits a corresponding opening and closing signal to the controller, and the controller controls the grab bucket drive to open or close the grab bucket according to the opening and closing signal.

[0007] In one possible implementation, the grab assembly is subjected to force to tilt the upper wire rope relative to the vertical direction. When the tilt angle of the upper wire rope is greater than a preset angle, the tilt sensor is triggered.

[0008] In one possible implementation, when the tilt sensor is triggered, the tilt sensor transmits a corresponding tilt signal to the controller. The controller controls the displacement drive to move along the X-axis and / or Y-axis towards the vertical extension of the grab assembly, until the tilt angle of the upper wire rope is less than or equal to a preset angle.

[0009] Secondly, this application provides a grab bucket device, including a control system and a grab bucket assembly. The grab bucket assembly includes a grab bucket beam, the top of which is connected to a hook. A side support rod is provided between the grab bucket beam and the grab bucket part, and multiple displacement control components are provided on the side support rod.

[0010] Thirdly, this application provides a crane including the aforementioned grab bucket device.

[0011] Compared with the prior art, the advantages of the control system, grab device, and crane of this application are mainly reflected in: By installing multiple displacement control components on the grab bucket assembly and an angle sensor on the upper wire rope between the moving seat and the hook, the grab bucket device can be operated on-site, avoiding the obstruction of view caused by operating the grab bucket device in the control room. The grab bucket device has a high control response speed. The grab bucket assembly can move in multiple different directions according to actual work needs. The opening and closing of the grab bucket can also be intervened in a timely manner. The angle sensor can also be triggered by pulling the grab bucket assembly to make rapid fine adjustments to the movement of the grab bucket assembly. The grab bucket device can be operated on-site by triggering the displacement control components or the angle sensor, thereby improving the positioning efficiency of the grab bucket device according to actual positioning needs. Attached Figure Description

[0012] Figure 1 A front view schematic diagram of a crane provided for embodiments of this application; Figure 2 for Figure 1The crane shown is a top view of one embodiment; Figure 3 for Figure 1 The diagram shown is a structural schematic of one embodiment of the grab bucket device; Figure 4 for Figure 3 The diagram shown is a structural schematic of one embodiment of the grab bucket assembly; Figure 5 for Figure 3 The diagram shows an assembly of the mounting base and tilt sensor in one embodiment. Figure 6 for Figure 5 The mounting base and tilt sensor shown are illustrated in a top view of one embodiment. Figure 7 for Figure 3 The lower drum shown is a cross-sectional schematic diagram in one embodiment; Figure 8 for Figure 3 The upper roll shown is a cross-sectional schematic diagram in one embodiment.

[0013] Figure label: 1. Grab bucket assembly, 11. Grab bucket part, 12. Grab bucket drive component, 13. Grab bucket beam, 14. Side support rod, 15. Lower drum, 16. Lower wire rope, 17. Linkage shaft, 18. Lower roller; Lifting component 2, movable seat 21, upper drum 22, upper wire rope 23, hook 24, displacement drive component 25; Displacement control component 3; Tilt sensor 4; Mounting base 5, mounting part 51, arc-shaped part 52, fixing part 53; First rotating shaft 61, first encoder 62, lower drum fixing seat 63, lower drum body 64; Second rotating shaft 71, second encoder 72, upper drum fixing seat 73, upper drum body 74, overload limiter 75, height limiter 76; Track 81 for large vehicles and track 82 for small vehicles. Detailed Implementation

[0014] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0015] Example 1 This embodiment provides a control system for a grab bucket device, which is applied to a grab bucket device, such as a grab bucket device on a crane. The opening and closing action of the grab bucket 11 of the grab bucket device can grab materials, such as brewing mash. The crane can load and lift the materials, and effectively transfer the materials to the designated work station.

[0016] The grab bucket device includes a grab bucket assembly 1 and a lifting assembly 2. The lifting assembly 2 includes a movable base 21, an upper drum 22 mounted on the movable base 21 and rotatably arranged, an upper wire rope 23 surrounding the upper drum 22, and a hook 24 connected to the upper wire rope 23. One end of the upper wire rope 23 is fixed to the movable base 21, and the other end of the upper wire rope 23 is connected to the upper drum 22. The grab bucket assembly 1 is suspended from the bottom of the lifting assembly 2, specifically, the grab bucket assembly 1 is connected to the hook 24. The grab bucket assembly 1 can move along multiple axes, such as along the X-axis, along the Y-axis, and along the Z-axis.

[0017] In related technologies, cranes include an operator's cab (not shown in the figure). The operator's cab controls the drive mechanism of the grab bucket device, thereby controlling the grab bucket device's travel distance and timing. However, due to the elevation difference between the operator's cab and the actual work area where the grab bucket device is located, when there is obstruction of view between the two, the operator cannot accurately determine the actual position of the grab bucket device. Using fuzzy controls to move the grab bucket device greatly increases the risk of collision. Therefore, this embodiment incorporates a control system for the grab bucket device to enable movement control on the actual work area, resulting in more accurate movement and positioning, and stronger controllability. A detailed explanation follows. The X-axis and Y-axis are parallel to the horizontal direction, and the Z-axis is parallel to the vertical direction.

[0018] like Figure 1 As shown, the lifting assembly 2 is connected to a displacement drive 25, and the grab bucket assembly 1 includes multiple grab bucket parts 11 rotatably connected and a grab bucket drive 12 for driving the grab bucket parts 11 to open and close. The control system of the grab bucket device includes multiple displacement control components 3 installed on the grab bucket assembly 1 and an angle sensor 4 installed on the lifting assembly 2. The multiple displacement control components 3 are respectively connected to the displacement drive 25 and the grab bucket drive 12, and the angle sensor 4 is connected to the displacement drive 25. Specifically, the angle sensor 4 is installed on the upper wire rope 23 located between the moving seat 21 and the hook 24. The multiple displacement control components 3 and the angle sensor 4 are all connected to a controller (not shown in the figure), and the controller is respectively connected to the displacement drive 25 and the grab bucket drive 12.

[0019] The displacement control unit 3 is used to transmit displacement signals or opening / closing signals. By triggering different displacement control units 3, the grab bucket assembly 1 can be moved in different directions, or the grab bucket part 11 can be opened or closed. The tilt sensor 4 is used to transmit tilt signals. By triggering the tilt sensor 4, the lifting assembly 2 can be moved toward the extension line of the grab bucket assembly 1 in the vertical direction.

[0020] The displacement drive component 25 can drive the lifting assembly 2 to move along the X-axis or Y-axis direction, specifically by driving the moving seat 21 to move, thereby enabling the overall grab bucket device to move along the X-axis or Y-axis direction. For example, the displacement drive component 25 is a track and pulley cooperation structure, including a trolley track 81 and a trolley track 82. The trolley track 81 is arranged along the Y-axis direction, and the trolley track 82 is arranged along the X-axis direction. The trolley body moves along the trolley track 81, the trolley track 82 is installed on the trolley, and the trolley body moves along the trolley track 82. The moving seat 21 is installed on the trolley body. The displacement drive component 25 can drive the upper drum 22 to rotate. For example, the displacement drive component 25 is an electric drive component, thereby causing the upper wire rope 23 to move, driving the hook 24 to rise and fall, thereby enabling the grab bucket assembly 1 to move along the Z-axis direction.

[0021] The grab bucket drive 12 can drive the grab bucket 11 to open or close, so as to realize the material picking and unloading. For example, the grab bucket drive 12 is an electric drive or a pneumatic drive.

[0022] When the displacement control element 3 is triggered, the grab assembly 1 moves in the direction indicated by the displacement control element 3; or the grab part 11 opens or closes. When the tilt sensor 4 is triggered, the lifting assembly 2 moves along the vertical extension line of the grab assembly 1. Typically, to reduce system setup complexity and improve response time, the displacement control element 3 and the tilt sensor 4 are selectively triggered, allowing the grab device to quickly adjust to the required position by choosing either one as the current system trigger state. The controller can be integrated into a PLC control system.

[0023] This embodiment features multiple displacement control components 3 on the grab bucket assembly 1, and an angle sensor 4 installed on the upper wire rope 23 located between the moving seat 21 and the hook 24. The angle sensor 4 accurately detects changes in the angle of the upper wire rope 23. All displacement control components 3 and angle sensor 4 are connected to a controller, which is connected to the displacement drive component 25 and the grab bucket drive component 12. This allows for operation of the grab bucket device at the actual work site, avoiding the obstruction of view caused by operating the grab bucket device from the control room. The grab bucket device has a high control response speed; the grab bucket assembly 1 can move in multiple different directions according to actual work requirements, and the opening and closing of the grab bucket section 11 can be intervened in a timely manner. Furthermore, pulling the grab bucket assembly 1 can trigger the angle sensor 4, allowing for rapid fine-tuning of the grab bucket assembly 1. At the actual work site, the grab bucket device can be operated by triggering the displacement control components 3 or the angle sensor 4, thereby improving the positioning efficiency of the grab bucket device according to actual positioning needs.

[0024] In some embodiments, the multiple displacement control elements 3 include multiple first touch controls (not shown in the figure) for controlling the movement of the grab bucket assembly 1 at least along the X-axis direction, the Y-axis direction or the Z-axis direction, and multiple second touch controls (not shown in the figure) for controlling the opening and closing of the grab bucket part 11.

[0025] The number of first touch controls can be six. For example, two first touch controls are used to control the movement of the moving base 21 along the X-axis, thereby causing the grab bucket assembly 1 to move synchronously; two first touch controls are used to control the movement of the moving base 21 along the Y-axis, thereby causing the grab bucket assembly 1 to move synchronously; and two first touch controls are used to control the movement of the hook 24 along the Z-axis, thereby causing the grab bucket assembly 1 to move synchronously. The number of first touch controls is not limited to the above, and more can be set so that the grab bucket assembly 1 can move in multiple directions.

[0026] The number of secondary touch controls can be two: one secondary touch control for controlling the opening of the grab bucket 11 and another secondary touch control for controlling the closing of the grab bucket 11. The first and second touch controls can be ultrasonic sensors, which can transmit displacement signals or opening / closing signals to the controller via touch.

[0027] In some embodiments, when the first touch control is triggered, the first touch control transmits a corresponding displacement signal to the controller, and the controller controls the displacement drive 25 according to the displacement signal to move the moving seat 21 or the hook 24 in the corresponding direction until the first touch control is released from the triggered state; or when the second touch control is triggered, the second touch control transmits a corresponding opening and closing signal to the controller, and the controller controls the grab bucket drive 12 according to the opening and closing signal to open or close the grab bucket 11.

[0028] For example, when the first touch control is triggered, such as pressing the forward-moving touch control, the forward-moving touch control transmits forward-moving information to the controller. The controller controls the displacement drive 25 to move the moving seat 21 forward in the X-axis direction according to the forward-moving signal, until the forward-moving touch control is released from the pressing operation. Similarly, pressing the backward-moving touch control, pressing the left-moving touch control, pressing the right-moving touch control, pressing the upward-moving touch control, and pressing the downward-moving touch control can control the displacement drive 25 to move the grab bucket assembly 1 in the set X-axis direction, Y-axis direction, and Z-axis direction.

[0029] For example, when the second touch control is triggered, such as by pressing the open touch control, the open touch control transmits an open signal to the controller, and the controller controls the grab bucket drive 12 to open the grab bucket 11 according to the open signal. Similarly, pressing the close touch control can control the grab bucket drive 12 to close the grab bucket 11. By triggering the first and second touch controls, the movement of the grab bucket device or the opening and closing of the grab bucket 11 can be quickly controlled, and the operation of the touch controls is relatively simple and quick.

[0030] In some embodiments, the grab assembly 1 is subjected to force to tilt the upper wire rope 23 relative to the vertical direction. When the tilt angle of the upper wire rope 23 is greater than a preset angle, the tilt sensor 4 is triggered.

[0031] When the grab bucket assembly 1 is subjected to force, the upper wire rope 23 changes from its initial position in the direction of the plumb line to form an angle with the vertical direction. The grab bucket assembly 1 is subjected to force through the pulling action of external force. When the tilt angle is greater than the preset angle, the preset angle can be set to 30°, triggering the tilt sensor 4.

[0032] For example, when the tilt sensor 4 is triggered, the tilt sensor 4 transmits a corresponding tilt signal to the controller. The controller controls the displacement drive 25 to move along the X-axis and / or Y-axis towards the vertical extension of the grab bucket assembly 1 until the tilt angle of the upper wire rope 23 is less than or equal to a preset angle.

[0033] Since the upper wire rope 23 suspends the grab bucket assembly 1 through the hook 24, when the grab bucket assembly 1 is subjected to force, the position of the upper wire rope 23 changes, and the tilt sensor 4 can detect the tilt angle change. By controlling the displacement drive 25 to drive the moving seat 21, the lifting assembly 2 moves along the X-axis and / or Y-axis. When the plumb line of the upper wire rope 23 is parallel to the plumb line of the grab bucket assembly 1 and both are parallel to the vertical direction, the lifting assembly 2 moves into place. At this time, the tilt angle of the upper wire rope 23 is less than the preset angle, and the lifting assembly 2 no longer moves.

[0034] In some embodiments, the tilt sensor 4 is connected to the upper wire rope 23 via a mounting base 5. The mounting base 5 includes a mounting part 51, an arc-shaped part 52, and a fixing part 53. The top of the mounting part 51 is connected to the tilt sensor 4, and the two ends of the arc-shaped part 52 are respectively connected to the side wall of the mounting part 51. An installation space is formed between the arc-shaped part 52 and the mounting part 51. The upper wire rope 23 passes through the installation space and abuts against the fixing part 53 between the mounting part 51 and the upper wire rope 23.

[0035] The mounting part 51 has a roughly L-shaped structure and is detachably connected to the tilt sensor 4. The arc-shaped part 52 has a roughly U-shaped structure and is detachably connected to the mounting part 51. The arc-shaped part 52 passes through the fixing part 53, so that the fixing part 53 is stably connected between the arc-shaped part 52 and the mounting part 51. The fixing part 53 is used to effectively support and abut against the upper wire rope 23, so that the entire mounting base 5 can be fixed on the upper wire rope 23, preventing the mounting base 5 from slipping.

[0036] In other embodiments, a fixing part 53 is provided between the upper wire rope 23 and the arc-shaped portion 52. The fixing part 53 can cover the outer wall of the upper wire rope 23, increasing the friction between the fixing part 53 and the arc-shaped portion 52. By locking the arc-shaped portion 52, the mounting part 51 is positioned on the upper wire rope 23, which can also prevent the mounting seat 5 from slipping. The fixing part 53 can be made of an elastic material with a certain degree of wear resistance, improving the stability of the mounting seat 5 fixed on the upper wire rope 23.

[0037] Example 2 This embodiment provides a grab bucket device, including a control system and a grab bucket assembly 1 as described in the above embodiment. The grab bucket assembly 1 includes a grab bucket beam 13, the top of which is connected to a hook 24. A side support rod 14 is provided between the grab bucket beam 13 and the grab bucket part 11, and multiple displacement control components 3 are provided on the side support rod 14.

[0038] In some embodiments, the grab beam 13 is provided with a rotatably arranged lower drum 15 and lower wire rope 16. The two grab buckets 11 are connected by a linkage shaft 17. The linkage shaft 17 is provided with a lower roller 18. The lower wire rope 16 is wound around the lower roller 18. One end of the lower wire rope 16 is elastically connected to the grab beam 13, and the other end of the lower wire rope 16 is wound around the lower drum 15.

[0039] The lower drum 15 is connected to a grab bucket drive component 12, such as a motor, which drives the lower drum 15 to rotate. The lower drum 15 rotates to achieve the winding of the lower wire rope 16, which in turn drives the lower roller 18 to rise and fall, and synchronously achieves the rise and fall of the linkage shaft 17. Since the two ends of the side support rod 14 are hinged to the grab bucket beam 13 and the grab bucket part 11 respectively, when the linkage shaft 17 descends, the two grab bucket parts 11 rotate around the linkage shaft 17 and thus open relative to each other. When the linkage shaft 17 rises, the two grab bucket parts 11 rotate around the linkage shaft and thus close relative to each other.

[0040] One end of the lower wire rope 16 is elastically connected to the grab bucket beam 13, specifically through an elastic element installed on the grab bucket beam 13. The end of the lower wire rope 16 is connected to the elastic element, thereby achieving a buffering effect for the lifting and lowering of the grab bucket 11 and avoiding stress concentration and damage to the lower wire rope 16 during lifting.

[0041] In some embodiments, the lower drum 15 has a first rotating shaft 61, and a first encoder 62 is mounted at the end of the first rotating shaft 61; the upper drum 22 has a second rotating shaft 71, and a second encoder 72 is mounted at the end of the second rotating shaft 71.

[0042] For example, both the first encoder 62 and the second encoder 72 are connected to the controller. The first encoder 62 is an angle encoder. Based on the rotation signal of the lower drum 15 detected by the angle encoder, it is transmitted to the controller. The controller calculates the lifting distance of the lower wire rope 16 and the opening and closing angle of the grab bucket 11. During the lifting and lowering process of the grab bucket assembly 1, the lifting and lowering and opening and closing actions of the grab bucket 11 are effectively coordinated to avoid friction between the grab bucket 11 and the ground, reduce the wear of the grab bucket 11, and protect the ground of the actual working site.

[0043] The lower drum 15 includes lower drum fixing seats 63 arranged at relatively intervals, a first rotating shaft 61 passing through the opposing lower drum fixing seats 63, and a lower drum body 64 fixed between the lower drum fixing seats 63; a lower steel wire rope 16 is wound on the first rotating shaft 61. One end of the first rotating shaft 61 is connected to a first encoder 62 via an upper coupling, and the other end of the first rotating shaft 61 is connected to a grab bucket drive component 12. The first rotating shaft 61 is rotatable. The lower drum body 64 does not rotate with the first rotating shaft 61, serving to support the first rotating shaft 61 and avoid the lower steel wire rope 16.

[0044] For example, the second encoder 72 is an absolute encoder. Based on the absolute encoder, the lifting signal of the upper wire rope 23 is detected and transmitted to the controller. According to the pendulum operation principle, the controller controls the displacement drive 25 to start and brake smoothly, so as to ensure that the crane does not shake during operation.

[0045] The upper drum 22 includes an upper drum fixing seat 73, a second rotating shaft 71 passing through the upper drum fixing seat 73, and an upper drum body 74 fitted onto the second rotating shaft 71; an upper steel wire rope 23 is wound around the second rotating shaft 71. One end of the second rotating shaft 71 is connected to a second encoder 72 via a lower coupling, and the other end of the second rotating shaft 71 is connected to a shaft drive, which can be a motor, to drive the second rotating shaft 71 to rotate. The upper drum body 74 does not rotate with the second rotating shaft 71, serving to support the second rotating shaft 71 and avoid the upper steel wire rope 23.

[0046] An overload limiter 75 is installed on the upper drum fixing seat 73 to detect the weight of the upper drum 22. When the weight carried by the lifting assembly 2 exceeds the preset weight, the overload limiter 75 can accurately detect it and transmit the overload signal to the controller, thus providing a timely warning. The preset weight is the sum of the weight of the grab bucket assembly 1 and the maximum weight of the material it can carry.

[0047] The second rotating shaft 71 is equipped with a height limiter 76, which is used to detect the number of rotations of the second rotating shaft 71 and thus limit the lifting distance of the upper wire rope 23. When the second rotating shaft 71 rotates to the preset number of rotations, the height limiter 76 can accurately detect and transmit the limit signal to the controller to drive the reel drive component to prevent the second rotating shaft 71 from rotating beyond the preset number of rotations. Setting the preset number of rotations can ensure that the grab bucket assembly 1 does not contact the ground and also ensure that the grab bucket assembly 1 does not collide with the lifting assembly 2.

[0048] Example 3 This embodiment provides a crane, including the grab bucket device described in the above embodiment.

[0049] The benefits of a crane equipped with a grab bucket are the same as those described above.

[0050] In the description of this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the relative "upper" and "lower" in the direction of gravity when the corresponding component is in use. "Inner" and "outer" refer to the "inner" and "outer" relative to the outline of the corresponding component itself.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended embodiments are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0054] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the inventive concept and scope of this application. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application also intends to include such modifications and modifications.

Claims

1. A control system for a grab bucket device, the grab bucket device comprising a grab bucket assembly (1) and a lifting assembly (2), the grab bucket assembly (1) being suspended from the bottom of the lifting assembly (2), the lifting assembly (2) being connected to a displacement drive member (25), the grab bucket assembly (1) comprising a plurality of grab bucket parts (11) rotatably connected and a grab bucket drive member (12) for driving the grab bucket parts (11) to open and close, characterized in that: The control system of the grab bucket device also includes multiple displacement control components (3) and tilt sensors (4). The displacement control components (3) are disposed on the grab bucket assembly (1), and the tilt sensors (4) are disposed on the lifting assembly (2). The multiple displacement control components (3) are respectively connected to the displacement drive component (25) and the grab bucket drive component (12). The tilt sensors (4) are connected to the displacement drive component (25). The displacement control components (3) are used to transmit displacement signals or opening and closing signals to make the grab bucket assembly (1) move in different directions or to make the grab bucket part (11) open and close. The tilt sensors (4) are used to transmit tilt signals to make the lifting assembly (2) move toward the extension line of the grab bucket assembly (1) in the vertical direction.

2. The control system of the grab bucket device according to claim 1, characterized in that: The lifting assembly (2) includes a movable seat (21), an upper drum (22) disposed on the movable seat (21) and rotatably arranged, an upper wire rope (23) surrounding the upper drum (22), and a hook (24) connected to the upper wire rope (23). One end of the upper wire rope (23) is fixed to the movable seat (21), and the other end of the upper wire rope (23) is connected to the upper drum (22). The upper wire rope (23) located between the movable seat (21) and the hook (24) is equipped with the tilt sensor (4). Multiple displacement control components (3) and the tilt sensor (4) are all connected to a controller. The controller is connected to the displacement drive component (25) and the grab bucket drive component (12) respectively.

3. The control system of the grab bucket device according to claim 2, characterized in that: The plurality of displacement control elements (3) include a plurality of first touch controls for controlling the movement of the grab bucket assembly (1) at least along the X-axis direction, the Y-axis direction or the Z-axis direction, and a plurality of second touch controls for controlling the opening and closing of the grab bucket part (11).

4. The control system of the grab bucket device according to claim 3, characterized in that: When the first touch control is triggered, it transmits a corresponding displacement signal to the controller. The controller then controls the displacement drive (25) according to the displacement signal to move the movable seat (21) or the hook (24) in the corresponding direction until the first touch control is released from the triggered state; or When the second touch control is triggered, the second touch control transmits a corresponding opening / closing signal to the controller, and the controller controls the grab bucket drive (12) according to the opening / closing signal so that the grab bucket part (11) opens or the grab bucket part (11) closes.

5. The control system of the grab bucket device according to claim 2, characterized in that: The grab assembly (1) is subjected to force so that the upper wire rope (23) tilts relative to the vertical direction. When the tilt angle of the upper wire rope (23) is greater than the preset angle, the tilt sensor (4) is triggered.

6. The control system of the grab bucket device according to claim 5, characterized in that: When the tilt sensor (4) is triggered, the tilt sensor (4) transmits a corresponding tilt signal to the controller. The controller controls the displacement drive (25) to move along the X-axis and / or Y-axis towards the vertical extension of the grab assembly (1) until the tilt angle of the upper wire rope (23) is less than or equal to the preset angle.

7. The control system of the grab bucket device according to claim 2, characterized in that: The tilt sensor (4) is connected to the upper steel wire rope (23) via a mounting base (5). The mounting base (5) includes a mounting part (51), an arc-shaped part (52), and a fixing part (53). The top of the mounting part (51) is connected to the tilt sensor (4). The two ends of the arc-shaped part (52) are respectively connected to the side wall of the mounting part (51). An installation space is formed between the arc-shaped part (52) and the mounting part (51). The upper steel wire rope (23) passes through the installation space and abuts against the fixing part (53) between the mounting part (51) and the mounting part (51).

8. A grab bucket device, characterized in that: The system includes a control system and a grab assembly (1) of the grab bucket device as described in any one of claims 1-7. The grab bucket assembly (1) includes a grab bucket beam (13), the top of which is connected to a hook (24). A side support rod (14) is provided between the grab bucket beam (13) and the grab bucket part (11), and a plurality of displacement control elements (3) are provided on the side support rod (14).

9. The grab bucket device according to claim 8, characterized in that: The grab beam (13) is provided with a rotating lower drum (15) and a lower wire rope (16). The two grab buckets (11) are connected by a linkage shaft (17). The linkage shaft (17) is provided with a lower roller (18). The lower wire rope (16) is wound around the lower roller (18). One end of the lower wire rope (16) is elastically connected to the grab beam (13), and the other end of the lower wire rope (16) is wound around the lower drum (15). The lower drum (15) has a first rotating shaft (61), and a first encoder (62) is installed at the end of the first rotating shaft (61). The upper drum (22) has a second rotating shaft (71), and a second encoder (72) is installed at the end of the second rotating shaft (71).

10. A crane, characterized in that: Includes the grab bucket device as described in claim 8 or 9.

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