CN110454459B - Hydraulic system of underwater dredging robot - Google Patents
Hydraulic system of underwater dredging robot Download PDFInfo
- Publication number
- CN110454459B CN110454459B CN201910890272.6A CN201910890272A CN110454459B CN 110454459 B CN110454459 B CN 110454459B CN 201910890272 A CN201910890272 A CN 201910890272A CN 110454459 B CN110454459 B CN 110454459B
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- oil port
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 56
- 229910052802 copper Inorganic materials 0.000 claims description 56
- 239000010949 copper Substances 0.000 claims description 56
- 238000005057 refrigeration Methods 0.000 claims description 26
- 238000001816 cooling Methods 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000007613 environmental effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/022—Installations or systems with accumulators used as an emergency power source, e.g. in case of pump failure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/025—Pressure reducing valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0807—Manifolds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/042—Controlling the temperature of the fluid
- F15B21/0423—Cooling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
- F15B2211/31588—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and multiple output members
Abstract
The application provides a hydraulic system of an underwater dredging robot, which comprises a power source hydraulic system, 2 walking hydraulic systems, 2 front extending arm left-right swinging hydraulic systems, a front extending arm up-down pitching hydraulic system, an auger rotating hydraulic system and a pilot oil path system; the front arm stretching left-right swinging hydraulic system comprises a left-right swinging hydraulic cylinder; the pilot oil passage system includes a pilot valve. The beneficial effects of this application: when the underwater dredging robot is used for dredging, the 2 left-right swinging hydraulic cylinders are alternately stretched all the time to drive the front boom to swing left and right, the oil return path of the left-right swinging hydraulic cylinders is connected with the pilot valve and can continuously supply oil for the pilot valve, so that the pilot valve can normally open each reversing valve when the working condition is large flow and large pressure, the underwater dredging robot can normally work, the process does not need a power source hydraulic system to completely supply oil, the cost is reduced, and the energy-saving effect is achieved.
Description
Technical Field
The application relates to the technical field of underwater dredging robots, in particular to a hydraulic system of an underwater dredging robot.
Background
The dredging and decontamination of river channels and ponds is a great difficulty for physical and mental health of residents in cities and towns and environmental protection in cities and towns. Especially in the last twenty years, along with the continuous acceleration of the industrialization process of China and the high-speed development of economy, the river channel is more serious in sediment accumulation, blockage and pollution. The national policies and the environmental protection of pollution are also continuously strengthened, and the requirements and consciousness of the people on environmental protection are also increasingly stronger. The traditional underwater dredging mode is mainly used for 'man-sea' construction of combined operation of spades, vehicles and pumps, and labor and financial resources are wasted. In recent years, the underwater dredging robot has gradually replaced the traditional manual dredging, but the hydraulic system of the existing underwater dredging robot needs to use a pilot valve to open a reversing valve when working conditions are large flow and large pressure, which consumes more energy, so that the hydraulic system of the underwater dredging robot with energy-saving effect is needed.
Disclosure of Invention
The purpose of the application is to provide a hydraulic system of an underwater dredging robot aiming at the problems.
The application provides a hydraulic system of an underwater dredging robot, which comprises a crawler chassis, a front extending arm and a screw, wherein the hydraulic system of the underwater dredging robot comprises a power source hydraulic system, 2 walking hydraulic systems, 2 front extending arm left-right swinging hydraulic systems, a front extending arm up-down pitching hydraulic system, a screw rotating hydraulic system and a pilot oil path system; the power source hydraulic system is connected with the 2 walking hydraulic systems, the 2 front boom left-right swing hydraulic systems, the front boom up-down pitching hydraulic system, the auger rotating hydraulic system and the pilot oil path system at the same time; the power source hydraulic system comprises a first oil inlet filter, a first hydraulic pump, a first overflow valve and a one-way valve; an oil inlet of the first hydraulic pump is connected with an oil outlet of the first oil inlet filter, and the oil outlet is simultaneously connected with an oil inlet of the first overflow valve and an oil inlet of the one-way valve; the traveling hydraulic system comprises a first pressure reducing valve, a first three-position four-way reversing valve, a first hydraulic lock, a second overflow valve and a traveling hydraulic motor; the walking hydraulic motor is used for driving the crawler chassis to walk; the oil inlet of the first pressure reducing valve is connected with the oil outlet of the one-way valve, and the oil outlet is connected with the P oil port of the first three-position four-way reversing valve; the oil port A of the first three-position four-way reversing valve is connected with the oil port E of the first hydraulic lock; the F oil port of the first hydraulic lock is connected with the first oil port of the walking hydraulic motor; the second oil port of the walking hydraulic motor is connected with the M oil port of the first hydraulic lock; the N oil port of the first hydraulic lock is connected with the B oil port of the first three-position four-way reversing valve; the T oil port of the first three-position four-way reversing valve is connected with the oil inlet of the second overflow valve; an oil outlet of the second overflow valve is connected with an oil inlet of the oil return filter; the hydraulic system for swinging the front arm left and right comprises a second pressure reducing valve, a second three-position four-way reversing valve, a second hydraulic lock and a hydraulic cylinder for swinging the front arm left and right; the left-right swinging hydraulic cylinder is used for driving the front arm to swing left and right; the oil inlet of the second pressure reducing valve is connected with the oil outlet of the one-way valve, and the oil outlet is connected with the P oil port of the second three-position four-way reversing valve; the oil port A of the second three-position four-way reversing valve is connected with the oil port E of the second hydraulic lock; the F oil port of the second hydraulic lock is connected with the first oil port of the left-right swing hydraulic cylinder; the second oil port of the left-right swing hydraulic cylinder is connected with the M oil port of the second hydraulic lock; the N oil port of the second hydraulic lock is connected with the B oil port of the second three-position four-way reversing valve; the T oil port of the second three-position four-way reversing valve is connected with the oil inlet of the second overflow valve; an oil outlet of the second overflow valve is connected with an oil inlet of the oil return filter; the front boom up-down pitching hydraulic system comprises a third three-position four-way reversing valve, a third hydraulic lock, a third overflow valve, a fourth overflow valve and an up-down pitching hydraulic cylinder; the upper and lower pitching hydraulic cylinder is used for driving the front extending arm to pitch up and down; the oil port P of the third three-position four-way reversing valve is connected with the oil outlet of the one-way valve, and the oil port A is connected with the oil port E of the third hydraulic lock; the F oil port of the third hydraulic lock is connected with the oil inlet of the third overflow valve and the first oil port of the upper and lower pitching hydraulic cylinders at the same time; the second oil port of the upper and lower pitching hydraulic cylinders is connected with the oil inlet of the fourth overflow valve and the M oil port of the third hydraulic lock at the same time; the N oil port of the third hydraulic lock is connected with the B oil port of the third three-position four-way reversing valve; the T oil port of the third three-position four-way reversing valve is connected with the oil inlet of the oil return filter; the auger rotating hydraulic system comprises a third pressure reducing valve, a fourth three-position four-way reversing valve, a fourth hydraulic lock, a fifth overflow valve, a sixth overflow valve and an auger hydraulic motor; the auger hydraulic motor is used for driving the auger to rotate; the oil inlet of the third pressure reducing valve is connected with the oil outlet of the one-way valve, and the oil outlet is connected with the P oil port of the fourth three-position four-way reversing valve; the oil port A of the fourth three-position four-way reversing valve is connected with the oil port E of the fourth hydraulic lock; the F oil port of the fourth hydraulic lock is connected with the oil inlet of the fifth overflow valve and the first oil port of the auger hydraulic motor at the same time; the second oil port of the auger hydraulic motor is connected with the oil inlet of the sixth overflow valve and the M oil port of the fourth hydraulic lock at the same time; the N oil port of the fourth hydraulic lock is connected with the B oil port of the fourth three-position four-way reversing valve; the T oil port of the fourth three-position four-way reversing valve is connected with the oil inlet of the oil return filter; the pilot oil path system comprises a pilot valve; the oil inlet of the pilot valve is connected with the oil outlet of the first pressure reducing valve, and the oil outlet is simultaneously connected with the first three-position four-way reversing valve, the second three-position four-way reversing valve, the third three-position four-way reversing valve and the fourth three-position four-way reversing valve.
Through adopting above-mentioned technical scheme, when dredging the work under water, 2 horizontal swing pneumatic cylinders are flexible in turn all the time in order to drive the preceding arm horizontal swing, the oil return way of horizontal swing pneumatic cylinder links to each other with the pilot valve, can last for the pilot valve fuel feeding, thereby guaranteed when the operating mode is large-traffic, high pressure, the pilot valve can normally open first three-position four-way switching-over valve, second three-position four-way switching-over valve, third three-position four-way switching-over valve and fourth three-position four-way switching-over valve, make under water dredging the robot can normally work, and this process need not the complete fuel feeding of power supply hydraulic system, the cost is reduced, energy-conserving effect has been reached. By arranging the second overflow valve to build pressure, oil in an oil return path of the left-right swing hydraulic cylinder flows into an oil inlet of the pilot valve to the maximum extent to supply oil for the pilot valve.
According to the technical scheme provided by certain embodiments of the application, the hydraulic system further comprises a refrigeration hydraulic system; the refrigeration hydraulic system comprises a second oil inlet filter, a cooling oil pump and a refrigeration copper pipe; the refrigeration copper pipe is arranged at the bottom of the underwater dredging robot; an oil inlet of the cooling oil pump is connected with an oil outlet of the second oil inlet filter, and the oil outlet is connected with the refrigeration copper pipe. Through adopting above-mentioned technical scheme, when the underwater dredging robot works under semi-water state, this refrigeration hydraulic system can be used to cool off the robot, has solved traditional robot cooling untimely under semi-water state, the poor problem of cooling effect.
According to the technical scheme provided by certain embodiments of the application, the bottom of the underwater dredging robot is provided with an X-shaped walking frame; the middle part of the walking frame is provided with a circular groove; the refrigeration copper pipe coil is arranged in the annular groove; the refrigeration copper pipe comprises an inner ring copper pipe and an outer ring copper pipe; the inner ring copper pipe is connected with the outer ring copper pipe through an elbow; the inner ring copper pipe is connected with a liquid inlet pipe; the outer ring copper pipe is connected with a liquid outlet pipe.
According to the technical scheme provided by certain embodiments of the application, one side of the inner ring copper pipe, which is close to the outer ring copper pipe, is provided with a plurality of inner ring manifolds; the outer ring copper pipe is provided with a plurality of outer ring manifolds at one side close to the inner ring copper pipe; the inner ring manifold and the outer ring manifold are staggered. By adopting the technical scheme, the contact area of the refrigeration copper pipe can be increased, so that the cooling effect is improved.
According to the technical scheme provided by certain embodiments of the application, the oil outlet of the one-way valve is also connected with the energy accumulator and the pressure relay, and when the oil pressure of the loop is insufficient or the power source hydraulic system fails or fails, the energy accumulator can be used as an emergency power source to ensure that the underwater dredging robot can work normally.
According to the technical scheme provided by certain embodiments of the application, the oil inlet ends of the first pressure reducing valve, the second pressure reducing valve and the third pressure reducing valve are connected with pressure gauges so as to monitor the pressure of the hydraulic system.
The beneficial effects of this application: when the underwater dredging robot is used for dredging, the 2 left-right swing hydraulic cylinders are alternately stretched all the time to drive the front boom to swing left and right, the oil return path of the left-right swing hydraulic cylinders is connected with the pilot valve and can continuously supply oil for the pilot valve, so that the pilot valve can normally open the first three-position four-way reversing valve, the second three-position four-way reversing valve, the third three-position four-way reversing valve and the fourth three-position four-way reversing valve when working conditions are large flow and high pressure, the underwater dredging robot can normally work, a power source hydraulic system is not required to supply oil completely in the process, the cost is reduced, and the energy-saving effect is achieved. By arranging the second overflow valve to build pressure, oil in an oil return path of the left-right swing hydraulic cylinder flows into an oil inlet of the pilot valve to the maximum extent to supply oil for the pilot valve.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic system of an underwater dredging robot according to an embodiment of the present application;
fig. 2 is a schematic structural view of a walking frame of a hydraulic system of an underwater dredging robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a refrigeration copper pipe of a hydraulic system of an underwater dredging robot according to an embodiment of the present application.
The text labels in the figures are expressed as:
1. a first oil feed filter; 2. a first hydraulic pump; 3. a first overflow valve; 4. a one-way valve; 5. an oil tank; 6. a first pressure reducing valve; 7. a first three-position four-way reversing valve; 8. a first hydraulic lock; 9. a second overflow valve; 10. a walking hydraulic motor; 11. an oil return filter; 12. a second pressure reducing valve; 13. a second three-position four-way reversing valve; 14. a second hydraulic lock; 15. a hydraulic cylinder swings left and right; 16. a third three-position four-way reversing valve; 17. a third hydraulic lock; 18. a third overflow valve; 19. a fourth overflow valve; 20. an up-down pitching hydraulic cylinder; 21. a third pressure reducing valve; 22. a fourth three-position four-way reversing valve; 23. a fourth hydraulic lock; 24. a fifth overflow valve; 25. a sixth overflow valve; 26. a screw hydraulic motor; 27. a pilot valve; 28. a second oil feed filter; 29. a cooling oil pump; 30. refrigerating copper pipe; 31. an accumulator; 32. a pressure relay; 33. a pressure gauge; 34. a walking frame; 35. an annular groove; 36. an inner ring copper pipe; 37. an outer ring copper pipe; 38. an elbow; 39. a liquid inlet pipe; 40. a liquid outlet pipe; 41. an inner ring manifold; 42. an outer ring manifold.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present application, the following detailed description of the present application is provided by way of example and illustration only, and should not be construed to limit the scope of the present application in any way.
Referring to fig. 1, the present embodiment provides a hydraulic system of an underwater dredging robot, where the underwater dredging robot includes a crawler chassis, a front boom and a screw, and the hydraulic system of the underwater dredging robot includes a power source hydraulic system, 2 walking hydraulic systems, 2 front boom left-right swing hydraulic systems, a front boom up-down pitching hydraulic system, a screw rotation hydraulic system and a pilot oil path system; the power source hydraulic system is connected with the 2 walking hydraulic systems, the 2 front boom left-right swing hydraulic systems, the front boom up-down pitching hydraulic system, the auger rotating hydraulic system and the pilot oil path system at the same time; the power source hydraulic system comprises a first oil inlet filter 1, a first hydraulic pump 2, a first overflow valve 3 and a one-way valve 4, wherein an oil inlet of the first hydraulic pump 2 is connected with an oil outlet of the first oil inlet filter 1, the oil outlet is simultaneously connected with an oil inlet of the first overflow valve 3 and an oil inlet of the one-way valve 4, and an oil inlet of the first oil inlet filter 1 extends into an oil tank 5; the walking hydraulic system comprises a first pressure reducing valve 6, a first three-position four-way reversing valve 7, a first hydraulic lock 8, a second overflow valve 9 and a walking hydraulic motor 10, wherein the walking hydraulic motor 10 is used for driving the crawler chassis to walk, an oil inlet of the first pressure reducing valve 6 is connected with an oil outlet of the one-way valve 4, an oil outlet of the first three-position four-way reversing valve 7 is connected with an oil inlet P of the first three-position four-way reversing valve 7, an oil inlet A of the first three-position four-way reversing valve 7 is connected with an oil inlet E of the first hydraulic lock 8, an oil inlet F of the first hydraulic lock 8 is connected with a first oil inlet of the walking hydraulic motor 10, a second oil inlet of the walking hydraulic motor 10 is connected with an oil inlet M of the first hydraulic lock 8, an oil inlet N of the first hydraulic lock 8 is connected with an oil inlet B of the first three-position four-way reversing valve 7, an oil inlet T of the first three-position four-way reversing valve 7 is connected with an oil inlet of the second overflow valve 9, an oil outlet of the second overflow valve 9 is connected with an oil inlet of the oil return filter 11, and an oil outlet of the oil return filter 11 stretches into the oil tank 5; the front arm left-right swing hydraulic system comprises a second pressure reducing valve 12, a second three-position four-way reversing valve 13, a second hydraulic lock 14 and a left-right swing hydraulic cylinder 15, wherein the left-right swing hydraulic cylinder 15 is used for driving the front arm to swing left and right, an oil inlet of the second pressure reducing valve 12 is connected with an oil outlet of the one-way valve 4, the oil outlet is connected with a P oil port of the second three-position four-way reversing valve 13, an A oil port of the second three-position four-way reversing valve 13 is connected with an E oil port of the second hydraulic lock 14, an F oil port of the second hydraulic lock 14 is connected with a first oil port of the left-right swing hydraulic cylinder 15, a second oil port of the left-right swing hydraulic cylinder 15 is connected with an M oil port of the second hydraulic lock 14, an N oil port of the second hydraulic lock 14 is connected with a B oil port of the second three-position four-way reversing valve 13, a T oil port of the second three-way reversing valve 13 is connected with an oil inlet of the second overflow valve 9, and an oil outlet of the second overflow valve 9 is connected with an oil inlet of the oil return filter 11; the front boom up-down pitching hydraulic system comprises a third three-position four-way reversing valve 16, a third hydraulic lock 17, a third overflow valve 18, a fourth overflow valve 19 and an up-down pitching hydraulic cylinder 20, wherein the up-down pitching hydraulic cylinder 20 is used for driving the front boom to pitch up and down, a P port of the third three-position four-way reversing valve 16 is connected with an oil outlet of the one-way valve 4, an A port is connected with an E port of the third hydraulic lock 17, an F port of the third hydraulic lock 17 is simultaneously connected with an oil inlet of the third overflow valve 18 and a first port of the up-down pitching hydraulic cylinder 20, a second port of the up-down pitching hydraulic cylinder 20 is simultaneously connected with an oil inlet of the fourth overflow valve 19 and an M port of the third hydraulic lock 17, an N port of the third hydraulic lock 17 is connected with a B port of the third three-position four-way reversing valve 16, and a T port of the third three-position four-way reversing valve 16 is connected with an oil inlet of the oil return filter 11; the auger rotating hydraulic system comprises a third pressure reducing valve 21, a fourth three-position four-way reversing valve 22, a fourth hydraulic lock 23, a fifth overflow valve 24, a sixth overflow valve 25 and an auger hydraulic motor 26, wherein the auger hydraulic motor 26 is used for driving the auger to rotate, an oil inlet of the third pressure reducing valve 21 is connected with an oil outlet of the one-way valve 4, the oil outlet is connected with a P oil port of the fourth three-position four-way reversing valve 22, an A oil port of the fourth three-position four-way reversing valve 22 is connected with an E oil port of the fourth hydraulic lock 23, an F oil port of the fourth hydraulic lock 23 is simultaneously connected with an oil inlet of the fifth overflow valve 24 and a first oil port of the auger hydraulic motor 26, a second oil port of the auger hydraulic motor 26 is simultaneously connected with an oil inlet of the sixth overflow valve 25 and an M oil port of the fourth hydraulic lock 23, an N oil port of the fourth hydraulic lock 23 is connected with a B oil port of the fourth three-position four-way reversing valve 22, and a T oil port of the fourth three-position four-way reversing valve 22 is connected with an oil inlet of the oil return filter 11; the pilot oil way system comprises a pilot valve 27, an oil inlet of the pilot valve 27 is connected with an oil outlet of the first pressure reducing valve 6, and the oil outlet is simultaneously connected with the first three-position four-way reversing valve 7, the second three-position four-way reversing valve 13, the third three-position four-way reversing valve 16 and the fourth three-position four-way reversing valve 22.
When the underwater dredging robot performs dredging under the working conditions of large flow and large pressure, the pilot valve 27 is used for controlling the reversing of the first three-position four-way reversing valve 7, the second three-position four-way reversing valve 13, the third three-position four-way reversing valve 16 and the fourth three-position four-way reversing valve 22 in an auxiliary mode, and therefore normal operation of the underwater dredging robot is guaranteed. When the underwater dredging robot works, the left-right swinging hydraulic cylinders 15 drive the front extending arm to continuously swing left and right, the 2 left-right swinging hydraulic cylinders 15 stretch and retract alternately all the time, return oil of the left-right swinging hydraulic cylinders 15 flows through the second hydraulic lock 14 and the second three-position four-way reversing valve 13, flows out through the B oil port of the second three-position four-way reversing valve 13, and under the effect of pressure established by the second overflow valve 9, an oil inlet flowing into the pilot valve 27 supplies oil for the pilot valve 27, a power source hydraulic system is not required to supply oil for the pilot valve 27 completely, so that the cost is reduced, and the energy-saving effect is achieved.
With further reference to fig. 2, the hydraulic system preferably further includes a refrigeration hydraulic system, the refrigeration hydraulic system includes a second oil inlet filter 28, a cooling oil pump 29 and a refrigeration copper pipe 30, the refrigeration copper pipe 30 is installed at the bottom of the underwater dredging robot, an oil inlet of the cooling oil pump 29 is connected with an oil outlet of the second oil inlet filter 28, the oil outlet is connected with the refrigeration copper pipe 30, an oil inlet of the second oil inlet filter 28 extends into the oil tank 5, and the second oil inlet filter 28, the cooling oil pump 29, the refrigeration copper pipe 30 and the oil tank 5 form a cooling circulation loop. When the underwater dredging robot works by being completely immersed in water, the underwater dredging robot can be cooled by sludge and water; when the underwater dredging robot works in a semi-water state, the refrigeration hydraulic system is used for cooling the robot, and the problems that the traditional robot is not timely cooled in the semi-water state and the cooling effect is poor are solved.
Referring to fig. 3, preferably, an X-shaped walking frame 34 is provided at the bottom of the underwater dredging robot, an annular groove 35 is provided in the middle of the walking frame 34, a cooling copper tube 30 is fixed on the annular groove 35, the cooling copper tube 30 comprises an inner ring copper tube 36 and an outer ring copper tube 37, the inner ring copper tube 36 and the outer ring copper tube 37 are connected through an elbow 38, the inner ring copper tube 36 and the outer ring copper tube 37 are respectively fixedly connected with the elbow 38 in a welding manner, a liquid inlet tube 39 is connected to the inner ring copper tube 36, the liquid inlet tube 39 is connected with an oil outlet of the cooling oil pump 29, a liquid outlet tube 40 is connected to the outer ring copper tube 37, and the liquid outlet tube 40 extends into the oil tank 5.
Preferably, the inner ring copper tube 36 is provided with a plurality of inner ring manifolds 41 on one side close to the outer ring copper tube 37, the inner ring manifolds 41 are fixedly connected with the inner ring copper tube 36 in a welding mode, the outer ring copper tube 37 is provided with a plurality of outer ring manifolds 42 on one side close to the inner ring copper tube 36, the outer ring manifolds 42 are fixedly connected with the outer ring copper tube 37 in a welding mode, and the inner ring manifolds 41 and the outer ring manifolds 42 are staggered, so that the contact area of the refrigeration copper tube 30 can be increased, and the cooling effect is improved.
Preferably, the oil outlet of the one-way valve 4 is also connected with an energy accumulator 31 and a pressure relay 32, and when the oil pressure of the loop is insufficient or a power source hydraulic system fails or fails, the energy accumulator 31 can be used as an emergency power source to ensure that the underwater dredging robot can work normally.
Preferably, the oil inlet ends of the first pressure reducing valve 6, the second pressure reducing valve 12 and the third pressure reducing valve 21 are connected with a pressure gauge 33 for monitoring the pressure of the hydraulic system.
According to the hydraulic system of the underwater dredging robot, when the underwater dredging robot performs dredging operation, the 2 left-right swing hydraulic cylinders 15 are always alternately stretched to drive the front extending arm to swing left and right, the oil return path of the left-right swing hydraulic cylinders 15 is connected with the pilot valve 27, and oil can be continuously supplied to the pilot valve 27, so that when the working condition is high flow and high pressure, the pilot valve 27 can normally open the first three-position four-way reversing valve 7, the second three-position four-way reversing valve 13, the third three-position four-way reversing valve 16 and the fourth three-position four-way reversing valve 22, the underwater dredging robot can normally work, the power source hydraulic system is not required to be completely supplied with oil in the process, the cost is reduced, and the energy-saving effect is achieved; by arranging the second overflow valve 9 to build pressure, the oil in the oil return path of the left-right swing hydraulic cylinder 15 is ensured to flow into the oil inlet of the pilot valve 27 to the maximum extent to supply oil for the pilot valve 27; the refrigeration hydraulic system is used for cooling the underwater dredging robot when working in a semi-water state, so that the problems that the traditional robot is not cooled in time in the semi-water state and has poor cooling effect are effectively solved; by arranging the energy accumulator 31, when the oil pressure of the loop is insufficient or a power source hydraulic system fails or fails, the energy accumulator 31 can be used as an emergency power source, so that the underwater dredging robot can work normally; by providing a pressure gauge 33, the pressure of the hydraulic system is monitored.
Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. The foregoing is merely a preferred embodiment of the present application, and it should be noted that, due to the limited nature of text, there is an objectively infinite number of specific structures, and that, to those skilled in the art, several improvements, modifications or changes can be made, and the above technical features can be combined in a suitable manner, without departing from the principles of the present invention; such modifications, variations and combinations, or the direct application of the concepts and aspects of the invention in other applications without modification, are intended to be within the scope of this application.
Claims (6)
1. The hydraulic system of the underwater dredging robot comprises a crawler chassis, a front extending arm and a screw, and is characterized by comprising a power source hydraulic system, 2 walking hydraulic systems, 2 front extending arm left-right swinging hydraulic systems, a front extending arm up-down pitching hydraulic system, a screw rotating hydraulic system and a pilot oil path system; the power source hydraulic system is connected with the 2 walking hydraulic systems, the 2 front boom left-right swing hydraulic systems, the front boom up-down pitching hydraulic system, the auger rotating hydraulic system and the pilot oil path system at the same time;
the power source hydraulic system comprises a first oil inlet filter (1), a first hydraulic pump (2), a first overflow valve (3) and a one-way valve (4); an oil inlet of the first hydraulic pump (2) is connected with an oil outlet of the first oil inlet filter (1), and the oil outlet is simultaneously connected with an oil inlet of the first overflow valve (3) and an oil inlet of the one-way valve (4);
the walking hydraulic system comprises a first pressure reducing valve (6), a first three-position four-way reversing valve (7), a first hydraulic lock (8), a second overflow valve (9) and a walking hydraulic motor (10); the walking hydraulic motor (10) is used for driving the crawler chassis to walk; an oil inlet of the first pressure reducing valve (6) is connected with an oil outlet of the one-way valve (4), and the oil outlet is connected with a P oil port of the first three-position four-way reversing valve (7); an oil port A of the first three-position four-way reversing valve (7) is connected with an oil port E of the first hydraulic lock (8); the F oil port of the first hydraulic lock (8) is connected with the first oil port of the walking hydraulic motor (10); the second oil port of the walking hydraulic motor (10) is connected with the M oil port of the first hydraulic lock (8); the N oil port of the first hydraulic lock (8) is connected with the B oil port of the first three-position four-way reversing valve (7); the T oil port of the first three-position four-way reversing valve (7) is connected with the oil inlet of the second overflow valve (9); an oil outlet of the second overflow valve (9) is connected with an oil inlet of the oil return filter (11);
the hydraulic system for swinging the front boom left and right comprises a second pressure reducing valve (12), a second three-position four-way reversing valve (13), a second hydraulic lock (14) and a hydraulic cylinder (15) for swinging left and right; the left-right swinging hydraulic cylinder (15) is used for driving the front arm to swing left and right; an oil inlet of the second pressure reducing valve (12) is connected with an oil outlet of the one-way valve (4), and the oil outlet is connected with a P oil port of the second three-position four-way reversing valve (13); an oil port A of the second three-position four-way reversing valve (13) is connected with an oil port E of the second hydraulic lock (14); the F oil port of the second hydraulic lock (14) is connected with the first oil port of the left-right swing hydraulic cylinder (15); the second oil port of the left-right swing hydraulic cylinder (15) is connected with the M oil port of the second hydraulic lock (14); the N oil port of the second hydraulic lock (14) is connected with the B oil port of the second three-position four-way reversing valve (13); the T oil port of the second three-position four-way reversing valve (13) is connected with the oil inlet of the second overflow valve (9); an oil outlet of the second overflow valve (9) is connected with an oil inlet of the oil return filter (11);
the front boom up-down pitching hydraulic system comprises a third three-position four-way reversing valve (16), a third hydraulic lock (17), a third overflow valve (18), a fourth overflow valve (19) and an up-down pitching hydraulic cylinder (20); the upper and lower pitching hydraulic cylinder (20) is used for driving the front arm to pitch up and down; the P oil port of the third three-position four-way reversing valve (16) is connected with the oil outlet of the one-way valve (4), and the A oil port is connected with the E oil port of the third hydraulic lock (17); an F oil port of the third hydraulic lock (17) is connected with an oil inlet of the third overflow valve (18) and a first oil port of the upper and lower pitching hydraulic cylinder (20) at the same time; the second oil port of the upper and lower pitching hydraulic cylinder (20) is connected with the oil inlet of the fourth overflow valve (19) and the M oil port of the third hydraulic lock (17) at the same time; the N oil port of the third hydraulic lock (17) is connected with the B oil port of the third three-position four-way reversing valve (16); the T oil port of the third three-position four-way reversing valve (16) is connected with the oil inlet of the oil return filter (11);
the auger rotating hydraulic system comprises a third pressure reducing valve (21), a fourth three-position four-way reversing valve (22), a fourth hydraulic lock (23), a fifth overflow valve (24), a sixth overflow valve (25) and an auger hydraulic motor (26); the auger hydraulic motor (26) is used for driving the auger to rotate; an oil inlet of the third pressure reducing valve (21) is connected with an oil outlet of the one-way valve (4), and the oil outlet is connected with a P oil port of the fourth three-position four-way reversing valve (22); an oil port A of the fourth three-position four-way reversing valve (22) is connected with an oil port E of the fourth hydraulic lock (23); the F oil port of the fourth hydraulic lock (23) is connected with the oil inlet of the fifth overflow valve (24) and the first oil port of the auger hydraulic motor (26) at the same time; the second oil port of the auger hydraulic motor (26) is connected with the oil inlet of the sixth overflow valve (25) and the M oil port of the fourth hydraulic lock (23) at the same time; the N oil port of the fourth hydraulic lock (23) is connected with the B oil port of the fourth three-position four-way reversing valve (22); the T oil port of the fourth three-position four-way reversing valve (22) is connected with the oil inlet of the oil return filter (11);
the pilot oil path system comprises a pilot valve (27); an oil inlet of the pilot valve (27) is connected with an oil outlet of the first pressure reducing valve (6), and the oil outlet is simultaneously connected with the first three-position four-way reversing valve (7), the second three-position four-way reversing valve (13), the third three-position four-way reversing valve (16) and the fourth three-position four-way reversing valve (22).
2. The hydraulic system of an underwater dredging robot of claim 1, wherein the hydraulic system further comprises a refrigeration hydraulic system; the refrigeration hydraulic system comprises a second oil inlet filter (28), a cooling oil pump (29) and a refrigeration copper pipe (30); the refrigeration copper pipe (30) is arranged at the bottom of the underwater dredging robot; an oil inlet of the cooling oil pump (29) is connected with an oil outlet of the second oil inlet filter (28), and the oil outlet is connected with the refrigeration copper pipe (30).
3. The hydraulic system of an underwater dredging robot according to claim 2, characterized in that the bottom of the underwater dredging robot is provided with an X-shaped travelling frame (34); the middle part of the walking frame (34) is provided with a circular groove (35); the refrigeration copper pipe (30) is arranged in the annular groove (35) in a disc mode; the refrigeration copper pipe (30) comprises an inner ring copper pipe (36) and an outer ring copper pipe (37); the inner ring copper pipe (36) and the outer ring copper pipe (37) are connected through an elbow (38); the inner ring copper pipe (36) is connected with a liquid inlet pipe (39); and the outer ring copper pipe (37) is connected with a liquid outlet pipe (40).
4. A hydraulic system of an underwater dredging robot according to claim 3, characterized in that the inner ring copper tube (36) is provided with a plurality of inner ring manifolds (41) at a side close to the outer ring copper tube (37); the outer ring copper pipe (37) is provided with a plurality of outer ring manifolds (42) at one side close to the inner ring copper pipe (36); the inner ring manifolds (41) and the outer ring manifolds (42) are arranged in a staggered mode.
5. The hydraulic system of the underwater dredging robot according to claim 2, characterized in that the oil outlet of the one-way valve (4) is also connected with an accumulator (31) and a pressure relay (32).
6. The hydraulic system of the underwater dredging robot according to claim 1, wherein the oil inlet ends of the first pressure reducing valve (6), the second pressure reducing valve (12) and the third pressure reducing valve (21) are connected with a pressure gauge (33).
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