CN103893940B - A kind of telecontrol rescue fire-fighting robot energy conserving system - Google Patents
A kind of telecontrol rescue fire-fighting robot energy conserving system Download PDFInfo
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- CN103893940B CN103893940B CN201410151142.8A CN201410151142A CN103893940B CN 103893940 B CN103893940 B CN 103893940B CN 201410151142 A CN201410151142 A CN 201410151142A CN 103893940 B CN103893940 B CN 103893940B
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Abstract
A kind of telecontrol rescue fire-fighting robot energy conserving system, belongs to control field.Comprise fuel tank, hydraulic pump, overflow valve, control turntable motor and rotate forward two-position valve, control turntable motor reversion two-position valve, control large boom cylinder rising two-position valve, control large boom cylinder decline two-position valve, first two-position valve, second two-position valve, 3rd two-position valve, 4th two-position valve, accumulator, computer control unit, generator, the energy reutilization device of the composition such as blade, Conversion of Energy when being risen by large for telecontrol rescue fire-fighting robot boom cylinder and decline is that hydraulic energy is stored in accumulator to replace original primary hydraulic pump to be in different positions, side to drive three-position four-way valve, and be that electrical energy for storage is in battery by the energy conversion of turntable motor oil return, energy is fully used, reach energy-conservation object.
Description
Technical field
The present invention relates to telecontrol rescue fire-fighting robot swing arm and turntable motor energy conserving system, belong to control field.
Background technology
Telecontrol rescue fire-fighting robot can replace fireman to enter scene of fire utilizing straighforward operation fire water monitor to put out a fire, and take the combustible and explosive articles such as gas tank away, the research of current fire-fighting robot can be divided into three generations, the first generation is programme-control fire-fighting robot, the second generation is the fire-fighting robot with sensory function, and the third generation is intelligent fire-fighting robot.At present, industrially developed country just has practical second generation fire-fighting robot and the rudimentary intelligent fire-fighting robot of the third generation of difference in functionality at Speeding up development, sets about research third generation high-grade intelligent robot.Operating personnel send telecommand by carrying out operation to telecontrol transmitter, signal transmitting terminal is encoded to operation instruction signal, carrier modulation and signal amplify, then by transmitting antenna, control instruction is launched with the form of radio wave, the radio signal received is amplified by the receiver on telecontrol rescue fire-fighting robot, demodulation, output circuit is given to control the opening and closing of two-position valve after decoding, then corresponding hydraulic cylinder or motor is driven to make each workpiece carry out work respectively, and then realize the walking of telecontrol rescue fire-fighting robot, revolution, arm is elevated, roll over and open with closed, realize fire extinguishing and take combustible and explosive articles away, but existing telecontrol rescue fire-fighting robot Shortcomings in hydraulic system is energy-conservation, tackle its fluid pressure line to transform, reach energy-conservation object.
Summary of the invention
A kind of swing arm provided by the invention and turntable motor energy conserving system, Conversion of Energy when telecontrol rescue fire-fighting robot swing arm can be risen and decline is that hydraulic energy is stored in replace original primary hydraulic pump to be in different positions, side to drive three-position four-way valve in accumulator, and is that electrical power storage is in battery by the energy conversion of turntable motor oil return.
A kind of telecontrol rescue fire-fighting robot energy conserving system comprises: fuel tank (1), overflow valve (2), hydraulic pump (3), control turntable motor and rotate forward two-position valve (4), control turntable motor reversion two-position valve (5), control manipulator rotation motor and rotate forward two-position valve (6), control manipulator rotation motor reversion two-position valve (7), control right running motor and rotate forward two-position valve (8), control right running motor reversion two-position valve (9), control left running motor and rotate forward two-position valve (10), control left running motor reversion two-position valve (11), first three-position four-way valve (12), left running motor (13), second three-position four-way valve (14), right running motor (15), 3rd three-position four-way valve (16), manipulator rotation motor (17), 4th three-position four-way valve (18), turntable motor (19), 5th three-position four-way valve (20), large boom cylinder (21), 6th three-position four-way valve (22), little boom cylinder (25), 7th three-position four-way valve (24), climbing position oil cylinder (23), 8th three-position four-way valve (26), hand grip oil cylinder (27), control hand grip oil cylinder rising two-position valve (28), control hand grip oil cylinder decline two-position valve (29), control climbing position oil cylinder rising two-position valve (30), control climbing position oil cylinder decline two-position valve (31), control little boom cylinder rising two-position valve (32), control little boom cylinder decline two-position valve (33), control large boom cylinder rising two-position valve (34), control large boom cylinder decline two-position valve (35), first two-position valve (36), second two-position valve (37), 3rd two-position valve (38), 4th two-position valve (39), accumulator (40), computer control unit (41), generator (42), blade (43), battery (44).It is characterized in that: when large boom cylinder (21) is static, the 5th three-position four-way valve (20) mediates position, and hydraulic oil cannot circulate, when large boom cylinder (21) rises, 5th three-position four-way valve (20) is in position, upside, computer control unit (41) controls the second two-position valve (37) and is in connection position, first two-position valve (36) is in and disconnects position, make hydraulic oil by the second two-position valve (37) to accumulator (40) fuel feeding, with storage power, when large boom cylinder (21) declines, computer control unit (41) controls the first two-position valve (36) and is in connection position, second two-position valve (37) is in and disconnects position, and the hydraulic oil that rodless cavity is discharged enters accumulator (40) and prevents large boom cylinder (21) from inhaling sky, when turntable motor (19) is static, the 4th three-position four-way valve (18) mediates position, and hydraulic oil cannot circulate, when turntable motor (19) rotates forward, 4th three-position four-way valve (18) is in position, upside, computer control unit controls the 3rd two-position valve (38) and is in disconnection position, 4th two-position valve (39) is in connects position, hydraulic oil after driving turntable motor (19) to rotate forward flows to accumulator (40) through the 4th two-position valve (39), blade (43) is placed in the fluid pressure line leading to accumulator (40), blade (43) is coaxially connected with generator (42) by axle, can rotate to drive the generator of coaxial linkage (42) rotate thus generate electricity and be stored in battery (44) with moving vane (43) when fluid flows through pipeline, during turntable motor (19) reversion, 4th three-position four-way valve (18) is in position, downside, 3rd two-position valve (38) is in connects position, 4th two-position valve (39) is in and disconnects position, the hydraulic oil after turntable motor (19) reversion is driven to flow to accumulator (40) through the 3rd two-position valve (38), blade (43) is placed in the fluid pressure line leading to accumulator (40), blade (43) is coaxially connected with generator (42) by axle, can rotate to drive the generator of coaxial linkage (42) rotate thus generate electricity and be stored in battery (44) with moving vane (43) when fluid flows through pipeline, this energy conserving system utilizes by increasing the hydraulic energy storage to large boom cylinder (21) rising and decline and turntable motor (19) of accumulator (40), generator (42) and blade (43), thus reaches the energy-conservation effect of robot.
The advantage that the present invention has compared with prior art:
1, instead of primary hydraulic pump by accumulator and provide hydraulic energy to each two-position valve, thus control each three-position four-way valve and make it be in different positions, side, not at needs primary hydraulic pump, thus save energy.
2, rotated by the spill strip moving vane flowing through turntable motor, make the generator of coaxial linkage rotate thus generate electricity, and to be stored in battery or for the Circuits System of robot, to reach the abundant utilization of energy.
Accompanying drawing explanation
Fig. 1 is the layout schematic diagram of robot of the present invention swing arm and turntable motor energy conserving system.
Detailed description of the invention
1, fuel tank; 2, overflow valve; 3, hydraulic pump; 4, control turntable motor and rotate forward two-position valve; 5, turntable motor reversion two-position valve is controlled; 6, control manipulator rotation motor and rotate forward two-position valve; 7, manipulator rotation motor reversion two-position valve is controlled; 8, control right running motor and rotate forward two-position valve; 9, right running motor reversion two-position valve is controlled; 10, control left running motor and rotate forward two-position valve; 11, left running motor reversion two-position valve is controlled; 12, the first three-position four-way valve; 13, left running motor; 14, the second three-position four-way valve; 15, right running motor; 16, the 3rd three-position four-way valve; 17, manipulator rotation motor; 18, the 4th three-position four-way valve; 19, turntable motor; 20, the 5th three-position four-way valve; 21, large boom cylinder; 22, the 6th three-position four-way valve; 23, climbing position oil cylinder; 24, the 7th three-position four-way valve; 25, little boom cylinder; 26, the 8th three-position four-way valve; 27, hand grip oil cylinder; 28, hand grip oil cylinder rising two-position valve is controlled; 29, hand grip oil cylinder decline two-position valve is controlled; 30, climbing position oil cylinder rising two-position valve is controlled; 31, climbing position oil cylinder decline two-position valve is controlled; 32, little boom cylinder rising two-position valve is controlled; 33, little boom cylinder decline two-position valve is controlled; 34, large boom cylinder rising two-position valve is controlled; 35, large boom cylinder decline two-position valve is controlled; 36, the first two-position valve; 37, the second two-position valve; 38, the 3rd two-position valve; 39, the 4th two-position valve; 40, accumulator; 41, computer control unit; 42, generator; 43, blade; 44, battery.
Below in conjunction with accompanying drawing, the present invention will be further described.
A kind of telecontrol rescue fire-fighting robot energy conserving system comprises by fuel tank 1, overflow valve 2, hydraulic pump 3, control turntable motor and rotate forward two-position valve 4, control turntable motor reversion two-position valve 5, control manipulator rotation motor and rotate forward two-position valve 6, control manipulator rotation motor reversion two-position valve 7, control right running motor and rotate forward two-position valve 8, control right running motor reversion two-position valve 9, control left running motor and rotate forward two-position valve 10, control left running motor reversion two-position valve 11, first three-position four-way valve 12, left running motor 13, second three-position four-way valve 14, right running motor 15, 3rd three-position four-way valve 16, manipulator rotation motor 17, 4th three-position four-way valve 18, turntable motor 19, 5th three-position four-way valve 20, large boom cylinder 21, 6th three-position four-way valve 22, little boom cylinder 25, 7th three-position four-way valve 24, climbing position oil cylinder 23, 8th three-position four-way valve 26, hand grip oil cylinder 27, control hand grip oil cylinder rising two-position valve 28, control hand grip oil cylinder decline two-position valve 29, control climbing position oil cylinder rising two-position valve 30, control climbing position oil cylinder decline two-position valve 31, control little boom cylinder rising two-position valve 32, control little boom cylinder decline two-position valve 33, control large boom cylinder rising two-position valve 34, control large boom cylinder decline two-position valve 35, first two-position valve 36, second two-position valve 37, 3rd two-position valve 38, 4th two-position valve 39, accumulator 40, computer control unit 41, generator 42, blade 43, battery 44.
A kind of connected mode of telecontrol rescue fire-fighting robot energy conserving system is: hydraulic pump 3 entrance is connected with fuel tank 1, between fuel tank 1 and working connection, be parallel with overflow valve 2 prevents hydraulic pump 3 from overloading, hydraulic oil is transported to the first three-position four-way valve 12 by hydraulic pump 3 respectively, second three-position four-way valve 14, 3rd three-position four-way valve 16, 4th three-position four-way valve 18, 5th three-position four-way valve 20, 6th three-position four-way valve 22, 7th three-position four-way valve 24, the oil-in of the 8th three-position four-way valve 26, when any signal instruction do not received by receiver, robot remains static, without any action, when receiver receives the signal instruction of turntable motor 19 rotating forward, control turntable motor rotating forward two-position valve 4 and will be in left lateral position state, the hydraulic oil now coming from accumulator 40 will rotate forward through controlling turntable motor the top that two-position valve 4 arrives the 4th three-position four-way valve 18, under the effect of hydraulic oil, 4th three-position four-way valve 18 will be in position, upside, hydraulic oil from hydraulic pump 3 enters the 4th three-position four-way valve 18, arrive turntable motor 19 oil-in through oil-out to operate to drive turntable motor 19, now computer control unit 41 controls the 4th two-position valve 39 and is in connection position, 3rd two-position valve 38 is in and disconnects position, hydraulic oil after driving turntable motor 19 to rotate forward flows to accumulator 40 through the 4th two-position valve 39, blade 43 is placed in the fluid pressure line leading to accumulator 40, blade 43 is coaxially connected with generator 42 by axle, when there being hydraulic oil to flow through pipeline, driven vane 43 will rotate to drive the generator 42 of coaxial linkage to rotate thus generate electricity and be stored in battery 44, fluid finally enters accumulator 40 and completes turntable motor 19 and rotate forward, when receiver receives the signal instruction of turntable motor 19 reversion, control turntable motor reversion two-position valve 5 and will be in left lateral position state, the hydraulic oil now coming from accumulator 40 will arrive the below of the 4th three-position four-way valve 18 through controlling turntable motor reversion two-position valve 5, under the effect of hydraulic oil, 4th three-position four-way valve 18 will be in position, downside, hydraulic oil from hydraulic pump 3 enters the 4th three-position four-way valve 18, turntable motor 19 oil-in is arrived to drive turntable motor 19 antiport through oil-out, now computer control unit 41 controls the 3rd two-position valve 38 and is in connection position, 4th two-position valve 39 is in and disconnects position, hydraulic oil after driving turntable motor 19 to reverse flows to accumulator 40 through the 3rd two-position valve 38, blade 43 is placed in the fluid pressure line leading to accumulator 40, blade 43 is coaxially connected with generator 42 by axle, moving vane 43 can be with to rotate to drive generator 42 to rotate thus generate electricity and be stored in battery 44 when fluid flows through pipeline, fluid finally enters accumulator 40 and completes turntable motor 19 and reverse, when receiver receives the command signal that robot moves ahead, control left running motor rotating forward two-position valve 10 and control right running motor rotating forward two-position valve 8 to be in left lateral position state, hydraulic oil from accumulator 40 will rotate forward two-position valve 10 through controlling left running motor and control right running motor and rotate forward the top that two-position valve 8 arrives the first three-position four-way valve 12 and the second three-position four-way valve 14 respectively, under the effect of this hydraulic oil, make the first three-position four-way valve 12 and the second three-position four-way valve 14 be in position, upside, hydraulic oil from hydraulic pump 3 arrives left running motor 13 through the first three-position four-way valve 12, arrive right running motor 15 driven machine people through the second three-position four-way valve 14 to move ahead, left running motor 13 and the hydraulic oil after driving right running motor 15 to operate is driven to flow back to fuel tank 1 through the first three-position four-way valve 12 and the second three-position four-way valve 14 through oil return line, when receiver receives the command signal of robot retrogressing, control left running motor reversion two-position valve 11 and control right running motor reversion two-position valve 9 to be in left lateral position state, hydraulic oil from accumulator 40 will through controlling left running motor reversion two-position valve 11 and controlling right running motor reversion two-position valve 9, arrive the below of the first three-position four-way valve 12 and the second three-position four-way valve 14 respectively, under the effect of this hydraulic oil, make the first three-position four-way valve 12 and the second three-position four-way valve 14 be in position, downside, hydraulic oil from hydraulic pump 3 arrives left running motor 13 through the first three-position four-way valve 12, arrive right running motor 15 driven machine people through the second three-position four-way valve 14 to retreat, left running motor 13 and the hydraulic oil after driving right running motor 15 to operate is driven to flow back to fuel tank 1 through the first three-position four-way valve 12 and the second three-position four-way valve 14 through oil return line, when requiring robot mechanical arm rotation motor 17 to rotate forward, receiver receives this signal instruction, control manipulator rotation motor rotating forward two-position valve 6 and be in left lateral position state, the hydraulic oil now coming from accumulator 40 will rotate forward through controlling manipulator rotation motor the top that two-position valve 6 arrives the 3rd three-position four-way valve 16, under the effect of hydraulic oil, 3rd three-position four-way valve 16 will be in position, upside, hydraulic oil from hydraulic pump 3 enters the 3rd three-position four-way valve 16 and operates with CD-ROM drive motor forward through oil-out arrival manipulator rotation motor 17 oil-in, hydraulic oil after driving device hand rotation motor 17 rotates forward flows back to fuel tank 1 through the 3rd three-position four-way valve 16, when needs manipulator rotation motor 17 reversely rotates, control manipulator rotation motor reversion two-position valve 7 and be in left lateral position state, the hydraulic oil now coming from accumulator 40 will arrive the below of the 3rd three-position four-way valve 16 through controlling manipulator rotation motor reversion two-position valve 7, under the effect of hydraulic oil, 3rd three-position four-way valve 16 will be in position, downside, hydraulic oil from hydraulic pump 3 enters the 3rd three-position four-way valve 16, manipulator rotation motor 17 oil-in is arrived with CD-ROM drive motor antiport through oil-out, hydraulic oil after the reversion of driving device hand rotation motor 17 flows back to fuel tank 1 through the 3rd three-position four-way valve 16, when receiver receives the signal instruction of large boom cylinder 21 rising, control large swing arm rising two-position valve 34 and will be in left lateral position, hydraulic oil from accumulator 40 will arrive the top of the 5th three-position four-way valve 20 by controlling large swing arm rising two-position valve 34, the 5th three-position four-way valve 20 is impelled to be in position, upside, hydraulic oil from hydraulic pump 3 will enter large boom cylinder 21 rodless cavity by the 5th three-position four-way valve 20, large boom cylinder 21 is made to increase, now computer control unit 41 controls the second two 37 valves and is in and connects position, first two-position valve 36 is in and disconnects position, the hydraulic oil of rod chamber will enter accumulator 40 and store, when emitter send large boom cylinder 21 decline instruction time, receiver receives large boom cylinder 21 and to decline command signal, control large swing arm decline two-position valve 35 and will be in left lateral position state, hydraulic oil from accumulator 40 will arrive the below of the 5th three-position four-way valve 20 by controlling large swing arm decline two-position valve 35, the 5th three-position four-way valve 20 is impelled to be in position, downside, hydraulic oil from hydraulic pump 3 will enter large boom cylinder 21 rod chamber by the 5th three-position four-way valve 20, large swing arm can decline due to self gravitation, now computer control unit 41 controls the second two-position valve 37 and is in disconnection position, first two-position valve 36 is in connects position, the hydraulic oil of rodless cavity will enter accumulator 40 and carries out storing and prevent large boom cylinder 21 to be in suction dummy status, when robot will climb, control climbing position oil cylinder rising two-position valve 30 and will be in left lateral position state, hydraulic oil from accumulator 40 will arrive the top of the 6th three-position four-way valve 22 by controlling climbing position oil cylinder rising two-position valve 30, the 6th three-position four-way valve 22 is impelled to be in position, upside, hydraulic oil from hydraulic pump 3 will enter climbing position oil cylinder 23 rodless cavity by the 6th three-position four-way valve 22, make climbing position oil cylinder 23 increase, the hydraulic oil of climbing position oil cylinder 23 rod chamber flows back to fuel tank 1 through the 6th three-position four-way valve 22, when slope has been climbed by robot, control climbing position oil cylinder decline two-position valve 31 and will be in left lateral position state, hydraulic oil from accumulator 40 will arrive the below of the 6th three-position four-way valve 22 by controlling climbing position oil cylinder decline two-position valve 31, the 6th three-position four-way valve 22 is impelled to be in position, downside, hydraulic oil from hydraulic pump 3 will enter climbing position oil cylinder 23 rod chamber by the 6th three-position four-way valve 22, climbing position oil cylinder 23 is declined, and the hydraulic oil of climbing position oil cylinder 23 rodless cavity flows back to fuel tank 1 through the 6th three-position four-way valve 22, when robot needs to capture thing, control hand grip oil cylinder rising two-position valve 28 and can be in left lateral position state, hydraulic oil from accumulator 40 will arrive the top of the 8th three-position four-way valve 26 by controlling hand grip oil cylinder rising two-position valve 28, the 8th three-position four-way valve 26 is impelled to be in position, upside, hydraulic oil from hydraulic pump 3 will enter hand grip oil cylinder 27 rodless cavity by the 8th three-position four-way valve 26, hand grip oil cylinder 27 is made to increase, to capture thing, the hydraulic oil of hand grip oil cylinder 27 rod chamber flows back to fuel tank 1 through the 8th three-position four-way valve 26, when captured thing will be put down, control hand grip oil cylinder decline two-position valve 29 and can be in left lateral position state, hydraulic oil from accumulator 40 will arrive the below of the 8th three-position four-way valve 26 by controlling hand grip oil cylinder decline two-position valve 29, the 8th three-position four-way valve 26 is impelled to be in position, downside, hydraulic oil from hydraulic pump 3 will enter hand grip oil cylinder 27 rod chamber by the 8th three-position four-way valve 26, hand grip oil cylinder 27 is declined, thus put down thing, the hydraulic oil of hand grip oil cylinder 27 rodless cavity flows back to fuel tank 1 through the 8th three-position four-way valve 26, when receiver receives the signal instruction of little boom cylinder 25 rising, control little swing arm rising two-position valve 32 and will be in left lateral position, hydraulic oil from accumulator 40 will arrive the top of the 7th three-position four-way valve 24 by controlling little swing arm rising two-position valve 32, the 7th three-position four-way valve 24 is impelled to be in position, upside, hydraulic oil from hydraulic pump 3 will enter little boom cylinder 25 rodless cavity by the 7th three-position four-way valve 24, make little boom cylinder 25 increase, the hydraulic oil of little boom cylinder 25 rod chamber flows back to fuel tank 1 through the 7th three-position four-way valve 24, when receiver receives the signal instruction of little boom cylinder 25 decline, control little boom cylinder decline two-position valve 33 and will be in left lateral position, hydraulic oil from accumulator 40 will arrive the below of the 7th three-position four-way valve 24 by controlling little swing arm decline two-position valve 33, the 7th three-position four-way valve 24 is impelled to be in position, downside, hydraulic oil from hydraulic pump 3 will enter little boom cylinder 25 rod chamber by the 7th three-position four-way valve 24, little boom cylinder 25 is declined, and the hydraulic oil of little boom cylinder 25 rod chamber flows back to fuel tank 1 through the 7th three-position four-way valve 24.
Large boom cylinder is static: when large boom cylinder 21 attonity, receiver does not have signal instruction, control large swing arm rising two-position valve 34 and control large swing arm decline two-position valve 35 to be all in off-state, 5th three-position four-way valve 20 mediates, large boom cylinder rod chamber and rodless cavity and oil circuit disconnecting.
Large boom cylinder rises: when receiver receives the signal instruction of large boom cylinder 21 rising, control large swing arm rising two-position valve 34 and will be in left lateral position, hydraulic oil from accumulator 40 will arrive the top of the 5th three-position four-way valve 20 by controlling large swing arm rising two-position valve 34, the 5th three-position four-way valve 20 is impelled to be in position, upside, hydraulic oil from hydraulic pump 3 will enter large boom cylinder 21 rodless cavity by the 5th three-position four-way valve 20, large boom cylinder 21 is made to increase, now computer control unit 41 controls the second two 37 valves and is in and connects position, first two-position valve 36 is in and disconnects position, the hydraulic oil of rod chamber will enter accumulator 40 and store.
Large boom cylinder declines: when emitter send large boom cylinder 21 decline instruction time, receiver receives large boom cylinder 21 and to decline command signal, control large swing arm decline two-position valve 35 and will be in left lateral position state, hydraulic oil from accumulator 40 will arrive the below of the 5th three-position four-way valve 20 by controlling large swing arm decline two-position valve 35, the 5th three-position four-way valve 20 is impelled to be in position, downside, hydraulic oil from hydraulic pump 3 will enter large boom cylinder 21 rod chamber by the 5th three-position four-way valve 20, large swing arm can decline due to self gravitation, now computer control unit 41 controls the second two 37 valves and is in and disconnects position, first two-position valve 36 is in connects position, the hydraulic oil of rodless cavity will enter accumulator 40 and carries out storing and prevent large boom cylinder 21 to be in suction dummy status.
Turntable motor is static: when turntable motor 19 attonity, receiver does not have signal instruction, controls turntable motor rotating forward two-position valve 4 and control turntable motor reversion two-position valve 5 to be all in off-state, and the 4th three-position four-way valve 18 mediates, connect without oil circuit, turntable motor 19 is static without rotating.
Turntable motor rotates forward: when receiver receives the signal instruction of turntable motor 19 rotating forward, control turntable motor rotating forward two-position valve 4 and will be in left lateral position state, the hydraulic oil now coming from accumulator 40 will rotate forward through controlling turntable motor the top that two-position valve 4 arrives the 4th three-position four-way valve 18, under the effect of hydraulic oil, 4th three-position four-way valve 18 will be in position, upside, hydraulic oil from hydraulic pump 3 enters the 4th three-position four-way valve 18 and operates with CD-ROM drive motor through oil-out arrival turntable motor 19 oil-in, now computer control unit 41 controls the 4th two-position valve 39 and is in connection position, 3rd two-position valve 38 is in and disconnects position, hydraulic oil after driving turntable motor 19 to rotate forward flows to accumulator 40 through the 4th two-position valve 39, blade 43 is placed in the fluid pressure line leading to accumulator 40, blade 43 is coaxially connected with generator 42 by axle, moving vane 43 can be with to rotate to drive generator 42 to rotate thus generate electricity and be stored in battery 44 when fluid flows through pipeline, fluid finally enters accumulator 40 and completes turntable motor 19 and rotate forward.
Turntable motor reverses: when receiver receives the signal instruction of turntable motor 19 reversion, control turntable motor reversion two-position valve 5 and will be in left lateral position state, the hydraulic oil now coming from accumulator 40 will arrive the below of the 4th three-position four-way valve 18 through controlling turntable motor reversion two-position valve 5, under the effect of hydraulic oil, 4th three-position four-way valve 18 will be in position, downside, hydraulic oil from hydraulic pump 3 enters the 4th three-position four-way valve 18 and arrives turntable motor 19 oil-in to drive turntable motor 19 antiport through oil-out, now computer control unit 41 controls the 3rd two-position valve 38 and is in connection position, 4th two-position valve 39 is in and disconnects position, hydraulic oil after driving turntable motor 19 to reverse flows to accumulator 40 through the 3rd two-position valve 38, blade 43 is placed in the fluid pressure line leading to accumulator 40, blade 43 is coaxially connected with generator 42 by axle, moving vane 43 can be with to rotate to drive generator 42 to rotate thus generate electricity and be stored in battery 44 when fluid flows through pipeline, fluid finally enters accumulator 40 and completes turntable motor 19 and reverse.
By reference to the accompanying drawings detailed elaboration is done to embodiments of the present invention above but the present invention can make suitable change within the limit of power of relevant speciality technical staff, under the prerequisite of situation that do not lose contact with reality.
Claims (2)
1. a telecontrol rescue fire-fighting robot energy conserving system comprises: fuel tank, overflow valve, hydraulic pump, control turntable motor and rotate forward two-position valve, control turntable motor reversion two-position valve, control manipulator rotation motor and rotate forward two-position valve, control manipulator rotation motor reversion two-position valve, control right running motor and rotate forward two-position valve, control right running motor reversion two-position valve, control left running motor and rotate forward two-position valve, control left running motor reversion two-position valve, first three-position four-way valve, left running motor, second three-position four-way valve, right running motor, 3rd three-position four-way valve, manipulator rotation motor, 4th three-position four-way valve, turntable motor, 5th three-position four-way valve, large boom cylinder, 6th three-position four-way valve, little boom cylinder, 7th three-position four-way valve, climbing position oil cylinder, 8th three-position four-way valve, hand grip oil cylinder, control hand grip oil cylinder rising two-position valve, control hand grip oil cylinder decline two-position valve, control climbing position oil cylinder rising two-position valve, control climbing position oil cylinder decline two-position valve, control little boom cylinder rising two-position valve, control little boom cylinder decline two-position valve, control large boom cylinder rising two-position valve, control large boom cylinder decline two-position valve, first two-position valve, second two-position valve, 3rd two-position valve, 4th two-position valve, accumulator, computer control unit, generator, blade, battery, it is characterized in that: when large boom cylinder is static, the 5th three-position four-way valve mediates position, and hydraulic oil cannot circulate, when large boom cylinder rises, the 5th three-position four-way valve is in position, upside, and computer control unit controls the second two-position valve and is in connection position, and the first two-position valve is in and disconnects position, makes hydraulic oil by the second two-position valve to accumulator fuel feeding, with storage power, be in connection position when large boom cylinder decline computer-chronograph control unit controls the first two-position valve, the second two-position valve is in and disconnects position, and the hydraulic oil that rodless cavity is discharged enters accumulator and prevents from inhaling sky, when turntable motor is static, the 4th three-position four-way valve mediates position, and hydraulic oil cannot circulate, when turntable motor rotates forward, 4th three-position four-way valve is in position, upside, computer control unit controls the 3rd two-position valve and is in disconnection position, 4th two-position valve is in connects position, hydraulic oil after driving turntable motor to rotate forward flows to accumulator through the 4th two-position valve, in the fluid pressure line leading to accumulator, place blade, blade is coaxially connected with generator by axle, and blade rotary can be driven when fluid flows through pipeline to drive the generator rotation of coaxial linkage thus generate electricity and be stored in battery, during turntable motor reversion, 4th three-position four-way valve is in position, downside, 3rd two-position valve is in connects position, 4th two-position valve is in and disconnects position, the hydraulic oil after turntable motor reversion is driven to flow to accumulator through the 3rd two-position valve, in the fluid pressure line leading to accumulator, place blade, blade is coaxially connected with generator by axle, and blade rotary can be driven when fluid flows through pipeline to drive the generator rotation of coaxial linkage thus generate electricity and be stored in battery, this energy conserving system utilizes by increasing the hydraulic energy storage to large boom cylinder rising and decline and turntable motor of accumulator, generator and blade, thus reaches the energy-conservation effect of robot.
2. a kind of telecontrol rescue fire-fighting robot energy conserving system as claimed in claim 1, when large boom cylinder attonity, receiver does not have signal instruction, control large boom cylinder rising two-position valve and control large boom cylinder decline two-position valve to be all in off-state, 5th three-position four-way valve mediates, large boom cylinder rod chamber and rodless cavity and oil circuit disconnecting, when receiver receives the signal instruction of large boom cylinder rising, control large boom cylinder rising two-position valve and will be in left lateral position, hydraulic oil from accumulator will arrive the top of the 5th three-position four-way valve by controlling large boom cylinder rising two-position valve, the 5th three-position four-way valve is impelled to be in position, upside, hydraulic oil from hydraulic pump will enter large boom cylinder rodless cavity by the 5th three-position four-way valve, large boom cylinder is made to increase, now computer control unit controls the second two-position valve and is in connection position, first two-position valve is in and disconnects position, the hydraulic oil of rod chamber will enter accumulator and store, when emitter sends large boom cylinder decline instruction, receiver receives large boom cylinder decline command signal, control large boom cylinder decline two-position valve and will be in left lateral position state, hydraulic oil from accumulator will arrive the below of the 5th three-position four-way valve by controlling large boom cylinder decline two-position valve, the 5th three-position four-way valve is impelled to be in position, downside, hydraulic oil from hydraulic pump will enter large boom cylinder rod chamber by this 5th three-position four-way valve, large boom cylinder can decline due to self gravitation, now computer control unit controls the second two-position valve and is in disconnection position, first two-position valve is in connects position, the hydraulic oil of rodless cavity will enter accumulator and carries out storing and prevent large boom cylinder to be in suction dummy status, when turntable motor attonity, receiver does not have signal instruction, controls turntable motor rotating forward two-position valve and control turntable motor reversion two-position valve to be all in off-state, and the 4th three-position four-way valve mediates, and connects without oil circuit, and the static nothing of turntable motor is rotated, when receiver receives the signal instruction of turntable motor rotating forward, control turntable motor rotating forward two-position valve and will be in left lateral position state, the hydraulic oil now coming from accumulator will rotate forward through controlling turntable motor the top that two-position valve arrives the 4th three-position four-way valve, under the effect of hydraulic oil, 4th three-position four-way valve will be in position, upside, hydraulic oil from hydraulic pump enters the 4th three-position four-way valve and operates with CD-ROM drive motor through oil-out arrival turntable motor oil-in, now computer control unit controls the 4th two-position valve and is in connection position, 3rd two-position valve is in and disconnects position, hydraulic oil after driving turntable motor to rotate forward flows to accumulator through the 4th two-position valve, blade is placed in the fluid pressure line leading to accumulator, blade is coaxially connected with generator by axle, blade rotary can be driven to drive the generator rotation of coaxial linkage thus generate electricity and be stored in battery when fluid flows through pipeline, fluid finally enters accumulator and completes turntable motor rotating forward, when receiver receives the signal instruction of turntable motor reversion, control turntable motor reversion two-position valve and will be in left lateral position state, the hydraulic oil now coming from accumulator will arrive the below of the 4th three-position four-way valve through controlling turntable motor reversion two-position valve, under the effect of hydraulic oil, 4th three-position four-way valve will be in position, downside, hydraulic oil from hydraulic pump enters the 4th three-position four-way valve and arrives turntable motor oil-in to drive turntable motor antiport through oil-out, now computer control unit controls the 3rd two-position valve and is in connection position, 4th two-position valve is in and disconnects position, the hydraulic oil after turntable motor reversion is driven to flow to accumulator through the 3rd two-position valve, blade is placed in the fluid pressure line leading to accumulator, blade is coaxially connected with generator by axle, blade rotary can be driven to drive the generator rotation of coaxial linkage thus generate electricity and be stored in battery when fluid flows through pipeline, fluid finally enters accumulator and completes turntable motor reversion.
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| CN103893940A (en) | 2014-07-02 |
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