CN112223964A - Amphibious robot for waste mine pumped storage power station - Google Patents
Amphibious robot for waste mine pumped storage power station Download PDFInfo
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- CN112223964A CN112223964A CN202011119914.1A CN202011119914A CN112223964A CN 112223964 A CN112223964 A CN 112223964A CN 202011119914 A CN202011119914 A CN 202011119914A CN 112223964 A CN112223964 A CN 112223964A
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- 239000002699 waste material Substances 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000007667 floating Methods 0.000 claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 9
- 238000005192 partition Methods 0.000 claims description 28
- 238000004891 communication Methods 0.000 claims description 11
- 238000013461 design Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 239000007788 liquid Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000003137 locomotive effect Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/08—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks
- F16K11/085—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks with cylindrical plug
- F16K11/0856—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks with cylindrical plug having all the connecting conduits situated in more than one plane perpendicular to the axis of the plug
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the technical field of submersible robots, and particularly discloses an amphibious robot for a pumped storage power station of a abandoned mine. The robot has a stable and accurate sinking and floating and attitude adjusting system, has land and underwater motion capabilities, can carry a camera and a mechanical arm to carry out inspection operation, considers the complex working environment of underground space of a waste mine as much as possible, fully utilizes the space and the size of the whole mechanism, is reasonably distributed and skillfully optimized, and designs the amphibious robot of the waste mine pumped storage power station, which has convenient attitude adjustment and stable adjustment.
Description
Technical Field
The invention relates to the technical field of submersible robots, in particular to an amphibious robot for a pumped storage power station of a abandoned mine.
Background
The method is characterized in that the underground coal mining is mainly used in most areas, the underground coal is excavated to cause surface subsidence and form accumulated water, the water body with the surface subsidence can be used as an upper reservoir, a waste roadway which extends for more than ten kilometers or even dozens of kilometers underground is used as a lower reservoir, and a pumped storage power station is constructed by utilizing the potential energy difference of the upper reservoir and the lower reservoir.
The condition of the waste mine is accurately mastered on the premise that the waste mine is used as an underground reservoir to build a pumped storage power station. Therefore, it is urgently needed to design an underground reservoir amphibious cruising robot for waste mines to survey the environment of an underground reservoir formed by waste coal mines, and the reservoir is used for building a pumped storage power station. Meanwhile, the amphibious cruise robot is key inspection equipment of the pumped storage power station and is responsible for important tasks of early exploration, later maintenance, inspection and the like of the underground space of the power station. Because the abandoned mine has a plurality of dangerous factors such as water inrush, gas collapse and the like, and the underground power station relates to amphibious working conditions, people in the underground water channel space after the power station is built can not reach the underground water channel space, and the complexity of the underground space environment, a plurality of underwater obstacles and the easy damage to the propeller are increased, the inspection diving robot which has excellent performance, flexible sinking and floating, flexible posture adjustment, simple operation, stable control and amphibious communication and operation capability is urgently needed.
Disclosure of Invention
In order to solve the defects in the background art, the invention aims to provide the amphibious robot for the pumped storage power station of the abandoned mine, which has a stable and accurate sinking and floating and attitude adjusting system, has land and underwater motion capabilities, can carry a camera and a mechanical arm for inspection operation, considers the complex working environment of the underground space of the abandoned mine as much as possible, fully utilizes the space and the size of the whole mechanism, is reasonable in layout and skillfully optimized, and is convenient to adjust and stable in attitude design.
The purpose of the invention can be realized by the following technical scheme:
an amphibious robot of a pumped storage power station of a abandoned mine comprises a body support, a sinking and floating and attitude adjusting mechanism, a walking mechanism, an underwater propelling mechanism, an inspection operation mechanism and an underwater acoustic communication and control system;
the sinking and floating and attitude adjusting mechanism comprises a right ballast tank, a left ballast tank and a hydraulic integrated valve group box, the hydraulic integrated valve group box comprises a 2D attitude control valve and a hydraulic pipeline, and the hydraulic integrated valve group box is connected with the right ballast tank and the left ballast tank through the hydraulic pipeline;
the 2D attitude control valve comprises a valve sleeve, a valve body and a valve core, wherein the valve core and the valve sleeve are coaxially arranged, the valve sleeve is fixed on an inner hole of the valve body, the valve core and the valve sleeve form a cylindrical pair, the valve core can coaxially rotate relative to the valve sleeve through the driving of a servo motor, and the valve core can linearly move along the axial direction relative to the valve sleeve through the driving of a linear motor;
the surface of the valve body is provided with a plurality of valve ports, a plurality of valve body oil ports are arranged in the valve body, the outer sides of the valve ports are communicated with the right ballast tank and the left ballast tank through hydraulic pipelines, and the inner sides of the valve ports are selectively communicated with the valve body oil ports;
a plurality of valve sleeve oil ports are sequentially arranged on the surface of the valve sleeve on the same bus at equal intervals and are selectively communicated with the valve body oil ports;
the valve core comprises a valve core upper cavity, a middle partition plate, a valve core lower cavity, a linear motor connecting shaft, a servo motor connecting shaft and a valve core oil port, the middle partition plate divides the interior of the valve core into two parts, namely the valve core upper cavity and the valve core lower cavity, the valve core oil port is unfolded along the cylindrical surface of the valve core to form eight rows of n-row oil port arrays, the oil ports in each row correspond to one valve position, and the valve core oil port and the valve sleeve oil port are communicated to form n valve positions through rotation of.
Further preferably, the valve core oil port includes five valve positions, specifically including: the oil ports of the valve position a are not provided with oil ports in the fifth row and the seventh row, the oil ports of the valve position b are not provided with oil ports in the fourth row and the sixth row, the oil ports of the valve position c are not provided with oil ports in the third row and the fifth row, the oil ports of the valve position d are not provided with oil ports in the first row, the fourth row, the fifth row and the sixth row, the oil ports of the valve position e are not provided with oil ports in the third row, the fourth row, the sixth row and the eighth row, the oil ports of the first row, the second row, the third row and the fourth row are communicated with the upper valve core cavity, and the oil ports of the fifth row, the sixth row, the seventh row and the eighth row are communicated with the lower valve core cavity.
More preferably, the valve position oil port a, the valve position oil port b, the valve position oil port c, the valve position oil port d and the valve position oil port e are uniformly distributed in the circumferential direction of the surface of the valve core, the circumferential included angle θ is 2 pi/n, and when n is 5, θ is 72 degrees
Further preferably, the axial intervals of the oil ports of the two adjacent rows of valve cores, the oil ports of the valve sleeves and the oil ports of the valve body are the same.
Further preferably, the axial width of the oil port of the valve core is smaller than the minimum distance between two axially adjacent rows of oil ports, and the oil port of the valve core is completely shielded by the valve sleeve when the valve core axially moves for one stroke, namely the locking position of the 2D attitude control valve.
The invention has the beneficial effects that:
(1) the invention provides a sinking-floating and attitude adjusting mechanism integrating the sinking-floating adjusting function and the attitude adjusting function of a amphibious robot of a pumped storage power station of a abandoned mine, which is only provided with two ballast tanks, but can meet the requirements of buoyancy adjustment and the adjustment of the tilting attitude of the robot in the front, back, left and right directions and in eight directions to four corners due to the special piston spring cavity structure in the mechanism, the attitude adjusting reaction is quick, flexible and accurate, and simultaneously the ballast tanks are isolated from the external water body during the attitude adjustment to ensure that the whole weight of the robot is kept unchanged, and the stability of the adjusting process is good. Compared with the traditional sinking-floating and posture adjusting mechanism, the device has the advantages of structure and function integration, two-in-one sinking-floating and posture adjusting, small number of ballast tanks, high adjusting precision, good stability of the adjusting process and the like.
(2) The invention provides a novel 2D attitude control valve, which greatly simplifies the number of control valves required by attitude adjustment by reasonably optimizing the valve port conduction mode, realizes attitude adjustment by mutual transfer of hydraulic media between inner tank bodies of a ballast tank, and greatly improves the efficiency of attitude adjustment. The 2D control valve is provided with five working positions and one locking position, each working position can be switched to the locking position through axial movement of the valve core, then the locking position switches the circumferential relative position between the valve core and the valve sleeve through rotary motion of the valve core, and then the valve core is reset axially and switched to other valve positions, so that the technical problem that a common reversing valve cannot be switched to the locking position from any working position or is directly switched to any other valve position from the valve position is solved. The robot has the advantages of simple structure, integrated functions, simple and reliable posture adjustment, good stability of the robot in the adjusting process, energy conservation, environmental protection, strong adaptability and the like.
(3) The invention provides an attitude adjusting system with a propeller matched with a sinking and floating and attitude adjusting mechanism. The adjusting system realizes the sinking and floating of the robot and the adjustment of the posture by adopting a method of combining the ballast tank adjustment and the propeller adjustment. The weight and the gravity center of the ballast tank are controlled by the aid of the sinking-floating and posture adjusting mechanism, sinking-floating and operation posture adjustment of the robot are achieved, the posture of the robot is rapidly adjusted by the aid of the propeller, the purpose of rapidly and flexibly changing the position is achieved, and the posture adjusting mode of the robot is enriched. For example, the suspension of the robot in a specific posture is realized through the sinking-floating and posture adjusting mechanism, and the actions of fine adjustment of the posture, propulsion of a fixed posture and the like are realized through the propeller. The two work in coordination, the flexibility and the diversity of the posture adjustment of the robot are greatly improved, the adjustment process is quicker, and the stability is better.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the structure of the body support of the present invention;
FIG. 3 is a right side view of the overall construction of the present invention;
FIG. 4 is a rear elevational view of the overall construction of the present invention;
FIG. 5 is a general structural top view of the present invention;
FIG. 6 is a schematic diagram of the sinking-floating and attitude adjusting mechanism and hydraulic system of the present invention;
fig. 7 is a schematic view of the internal structure of the 2D attitude control valve of the present invention;
FIG. 8 is a schematic view of a 2D attitude control valve cartridge of the present invention;
FIG. 9 is a cross-sectional view of a 2D attitude control valve cartridge of the present invention;
FIG. 10 is a schematic view of the 2D attitude control valve housing structure of the present invention;
fig. 11 is a schematic diagram of the arrangement positions of a valve core, a valve sleeve and a valve body oil port of the 2D attitude control valve of the invention.
In the figure:
1-right ballast tank empennage, 2-auxiliary thruster i, 3-right ballast tank, 301-right low density piston tank, 302-right ballast tank back cavity, 303-right ballast tank front cavity, 304-right piston spring cavity i, 305-right piston spring cavity ii, 306-right movable partition plate i, 307-right piston, 308-right movable partition plate ii, 5-ballast tank support plate, 6-steering thruster i, 7-crawler, 8-auxiliary thruster ii, 9-left ballast tank, 901-left low density piston tank, 902-left ballast tank back cavity, 903-left ballast tank front cavity, 904-left piston spring cavity i, 905-left piston spring cavity ii, 906-left movable partition plate i, 907-left piston, 908-left movable partition plate ii, 10-light buoyancy block bearing tank, 11-a camera, 12-a lighting lamp, 13-a steering thruster II, 14-a storage box, 15-an engine group box, 16-a manipulator, 22-a main thruster, 23-a hydraulic integrated valve group box, 24-a power supply and control circuit sealing box, 25-a floating thruster, 26-a ballast tank beam, 27-a locomotive chassis, 31-a hydraulic pipeline I, 32-a hydraulic pipeline II, 33-a hydraulic pipeline III, 34-a hydraulic pipeline IV, 36-a hydraulic pipeline V, 37-a hydraulic pipeline VI, 35-2D attitude control valve, 38/39/40/41/42/47-a two-position two-way electromagnetic valve, 43-an overflow valve, 44-a filter, 45-a one-way variable pump, 46-an external water body environment, 48-servo motor, 49-servo motor diaphragm coupler, 50-coupler mounting seat, 51-coupler bush, 52-axial displacement and angular displacement sensor, 53-sealing port, 54-bush, 55-reset spring, 56-spring bush, 57-valve core, 571-a valve position oil port I, 572-a valve position oil port II, 573-a valve position oil port III, 574-a valve position oil port IV, 575-a valve position oil port V, 576-a valve position oil port VI, 5711-b valve position oil port I, 5712-b valve position oil port II, 5713-b valve position oil port III, 5714-b valve position oil port IV, 5715-b valve position oil port V, 5716-b valve position oil port VI, 577-valve core upper cavity, 578-valve core lower cavity, 579-valve core intermediate baffle plate, 5701-connecting shaft of linear motor, 5702-connecting shaft of servo motor, 58-valve body, 581-valve port I, 582-valve port II, 583-valve port III, 584-valve port IV, 585-valve port V, 586-valve port VI, 589-valve body flow passage I, 5810-valve body flow passage II, 5811-valve body oil port I, 5812-valve body oil port II, 5813-valve body oil port III, 5814-valve body oil port IV, 5815-valve body oil port V, 5816-valve body oil port VI, 5817-valve body oil port VII, 5818-valve body oil port VIII, 59-valve sleeve, 591-valve sleeve oil port I, 592-valve sleeve oil port II, 593-valve sleeve oil port III, 594-valve sleeve oil port IV, 595-valve sleeve V, 596-valve sleeve oil port VI, 597-valve sleeve oil port VII, 598-valve sleeve oil port VIII, 60-thrust ball bearing, 61-linear motor shaft sleeve, 62-linear motor mounting seat, 63-linear motor, 64-communication system and 65-left ballast tank tail wing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
An amphibious robot for a pumped storage power station of a abandoned mine comprises a body support, a sinking and floating and posture adjusting mechanism, a walking mechanism, an underwater propelling mechanism, an inspection operation mechanism and an underwater acoustic communication and control system.
As shown in fig. 2, the airframe support comprises a ballast tank cross beam 26, a ballast tank support plate 5 and a locomotive chassis 27, wherein the ballast tank cross beam 26, the ballast tank support plate 5 and the locomotive chassis 27 are fixedly connected with each other to form a support of the whole robot structure.
As shown in fig. 1, 3 and 4, the ups and downs and posture adjustment mechanism comprises a right ballast tank 3, a left ballast tank 9, a right ballast tank empennage 1, a left ballast tank empennage 65, a light buoyancy block bearing box 10 and a hydraulic integrated valve group box 23 which are arranged on the left side and the right side of the invention. The tail part of the right ballast tank empennage 1 is fixedly connected with the tail part of the right ballast tank 3, the tail part of the left ballast tank empennage 65 is fixedly connected with the tail part of the left ballast tank 9, the light buoyancy block bearing box 10 is fixedly connected with the right ballast tank 3, the left ballast tank 9 and the ballast tank cross beam 26, and the hydraulic integrated valve group box 23 is arranged at the bottom of the engine body support and is fixedly connected with the locomotive chassis 27. The right ballast tank empennage 1 and the left ballast tank empennage 65 stabilize the robot while it is submerged. The inside of the light buoyancy block bearing box 10 contains inorganic light buoyancy blocks, and the volume of the light buoyancy block bearing box can be adjusted according to actual conditions.
As shown in fig. 3, the running gear is a crawler type running gear 7.
As shown in fig. 1, 4 and 5, the underwater propulsion mechanism comprises a steering propeller I6, a steering propeller II 13, a floating propeller 25, a main propeller 22, an auxiliary propeller I2 and an auxiliary propeller II 8, and all the propellers adopt a fan blade type rotary propulsion mode. Vice propeller I2, vice propeller II 8 are fixed connection respectively in left ballast tank 9 and the 3 tails in right ballast tank, main propeller 22 locate the robot afterbody and with organism support fixed connection, main propeller 22, vice propeller I2, vice propeller II 8 all are used for advancing or retreating at underwater drive robot. The sinking and floating propeller 25 is fixedly connected to the hollow part in the middle of the light buoyancy block bearing box 10 and is used for controlling the robot to quickly float upwards or sink. And the steering propeller I6 and the steering propeller II 13 are respectively arranged on two sides of the front end of the robot and fixedly connected with the machine body support for controlling the robot to steer.
As shown in fig. 1, the inspection operation mechanism comprises a manipulator 16, a lighting lamp 12, a camera 11 and a storage box 14, wherein the manipulator 16 is fixedly connected with a manipulator fixing beam 28, the manipulator fixing beam 28 is fixedly connected with a machine body bracket, the lighting lamp 12 is provided with two parts which are respectively arranged at the front end of the robot and the machine body bracket, the camera 11 is fixedly connected with the front end of the light buoyancy block bearing box 10, and the storage box 14 is fixedly connected with an engine group box 15.
As shown in fig. 1 and 3, the underwater acoustic communication and control system includes a communication system 64, a power supply and control circuit enclosure 24. The communication system 64 is provided on the ballast tank empennage 1 and the ballast tank empennage 65, and the power and control circuit seal box 24 is provided on the bottom of the locomotive chassis 27.
As shown in fig. 1, 4, 5 and 6, the right ballast tank 3 and the left ballast tank 9 are fixedly connected with the airframe support, the right ballast tank 3 and the left ballast tank 9 are arranged in parallel and symmetrically on two sides of the robot body, and the ballast tank 3 and the left ballast tank 9 are identical in structure and size.
The right ballast tank 3 comprises a right low-density piston tank 301, a right ballast tank rear cavity 302, a right ballast tank front cavity 303, a right piston spring cavity I304, a right piston spring cavity II 305, a right movable partition plate I306, a right piston 307 and a right movable partition plate II 308. The right piston spring cavity I304 and the right piston spring cavity II 305 are separated by a right piston 307, the central section of the right piston 307 is I-shaped, and the pistons at the two ends of the right piston 307 are symmetrical in structure and equal in area; the right piston 307 forms a closed right low density piston tank 301 with the inner surface of the right ballast tank 3; cylindrical moving pairs are formed among the right piston 307, the right movable partition plate I306, the right movable partition plate II 308 and the inner surface of the right ballast tank 3. A right piston spring cavity I304 is formed between the right movable partition plate I306 and the right piston 307, and a right piston spring cavity II 305 is formed between the right movable partition plate II 308 and the right piston 307.
Similarly, the left ballast tank 9 comprises a left low-density piston tank 901, a left ballast tank rear cavity 902, a left ballast tank front cavity 903, a left piston spring cavity i 904, a left piston spring cavity ii 905, a left movable partition plate i 906, a left piston 907 and a left movable partition plate ii 908. The left piston spring cavity I904 and the left piston spring cavity II 905 are separated by a left piston 907, the central section of the left piston 907 is I-shaped, and pistons at two ends of the piston are symmetrical in structure and equal in area; the left piston 907 forms a closed left low density piston chamber 901 with the inner surface of the left ballast tank 9; cylindrical moving pairs are formed among the left piston 907, the left movable partition I906 and the left movable partition II 908 and the inner surface of the left ballast tank 9. A left piston spring cavity I904 is formed between the left movable partition plate I906 and the left piston 907, and a left piston spring cavity II 905 is formed between the left movable partition plate II 908 and the left piston 907.
The volumes of the right ballast tank back cavity 302, the right ballast tank front cavity 303, the right piston spring cavity I304, the right piston spring cavity II 305, the left ballast tank back cavity 902, the left ballast tank front cavity 903, the left piston spring cavity I904 and the left piston spring cavity II 905 can be changed, and the volumes of the right low-density piston tank 301 and the left low-density piston tank 901 are not changed.
As shown in fig. 3 and 6, the hydraulic integrated valve group box 23 includes a one-way variable pump 45, a 2D attitude control valve 35, a two-position two-way solenoid valve 38/39/40/41/42/47, an overflow valve 43, a filter 44, a hydraulic line i 31, a hydraulic line ii 32, a hydraulic line iii 33, a hydraulic line iv 34, a hydraulic line v 36, and a hydraulic line vi 37.
As shown in fig. 7 and 11, the 2D attitude control valve includes a servo motor 48, a coupling mounting seat 50, a servo motor diaphragm coupling 49, a coupling bushing 51, an axial displacement and angular displacement sensor 52, a bushing 54, a return spring 55, a valve sleeve 59, a valve body 58, a valve core 57, a thrust ball bearing 60, a linear motor shaft sleeve 61, a linear motor mounting seat 62, a linear motor 63, a sealing port 53, and a spring bushing 56. The valve core 57 and the valve sleeve 59 are coaxially arranged, the valve sleeve 59 is fixed on an inner hole of the valve body 58, the valve core 57 and the valve sleeve 59 form a cylindrical pair, and the lower end of the valve core 57 is respectively provided with the thrust ball bearing 60, the spring bushing 56, the return spring 55 and the sealing port 53. The coupling mounting seat 50 is located at the lower end of the valve body 58 and is fastened and connected with the valve body through screws. The axial displacement and angular displacement sensor 52 is fixedly arranged in the coupler mounting seat 50, the lower end of the valve core 57 is connected with the coupler 49 through the coupler bush 51, and the coupler 49 is arranged in the coupler mounting seat 50 and used for connecting the lower end of the valve core 57 with the rotating shaft of the servo motor. The upper end of the valve core is respectively provided with a thrust ball bearing 60 and a linear motor shaft sleeve 61, a linear motor mounting seat 62 is positioned at the upper end of the valve body 58 and is fixedly connected with the valve body through a screw, and a linear motor 63 is mounted on the linear motor mounting seat 62.
As shown in fig. 7 and fig. 11, a valve port i 581, a valve port ii 582, a valve port iii 583, a valve port iv 584, a valve port v 585 and a valve port vi 586 are sequentially arranged on the valve body 58 and are respectively communicated with a valve body oil port viii 5818, a valve body oil port vii 5817, a valve body oil port vi 5816, a valve body oil port v 5815, a valve body oil port ii 5812 and a valve body oil port i 5811, and the communication mode is that the valve body is communicated with an inner undercut groove. The valve body oil port III 5813 is communicated with the valve body oil port VI 5816 through a valve body flow passage I589, and the valve body oil port IV 5814 is communicated with the valve body oil port V5815 through a valve body flow passage II 5810.
As shown in fig. 6, 7 and 11, a valve port i 581 is correspondingly connected with a hydraulic pipeline i 31, a valve port ii 582 is correspondingly connected with a hydraulic pipeline v 36, a valve port iii 583 is correspondingly connected with a hydraulic pipeline ii 32, a valve port iv 584 is correspondingly connected with a hydraulic pipeline iii 33, a valve port v 585 is correspondingly connected with a hydraulic pipeline vi 37, and a valve port vi 586 is correspondingly connected with a hydraulic pipeline iv 34. The other ends of the hydraulic pipeline I31, the hydraulic pipeline II 32, the hydraulic pipeline III 33 and the hydraulic pipeline IV 34 are respectively communicated with the right ballast tank rear cavity 302, the right ballast tank front cavity 303, the left ballast tank rear cavity 902 and the left ballast tank front cavity 903.
As shown in fig. 8, 9 and 11, the valve core 57 includes a valve core upper cavity 577, a middle partition plate 579, a valve core lower cavity 578, a linear motor connecting shaft 5701, a servo motor connecting shaft 5702 and a valve core oil port, and the middle partition plate 579 divides the interior of the valve core into two parts, namely a valve core upper cavity 577 and a valve core lower cavity 578.
As shown in fig. 10, on the cylindrical surface of the valve housing 59, a valve housing oil port i 591, a valve housing oil port ii 592, a valve housing oil port iii 593, a valve housing oil port iv 594, a valve housing oil port v 595, a valve housing oil port vi 596, a valve housing oil port vii 597 and a valve housing oil port viii 598 are equidistantly formed in sequence on the same bus.
As shown in fig. 6, 8, 10 and 11, the valve core oil ports are a set of array oil ports, n valve positions are formed by rotating the valve core, where n is 5 in this embodiment, and the total of five valve positions specifically includes: the oil outlet of the valve position a, the oil outlet of the valve position b, the oil outlet of the valve position c, the oil outlet of the valve position d and the oil outlet of the valve position e. The valve position oil ports a comprise a valve position oil port I571, a valve position oil port II 572, a valve position oil port III 573, a valve position oil port IV 574, a valve position oil port V575 and a valve position oil port VI 576; when the valve body is located at the valve position a, the oil ports are respectively communicated with a valve sleeve oil port I591, a valve sleeve oil port II 592, a valve sleeve oil port III 593, a valve sleeve oil port IV 594, a valve sleeve oil port VI 596 and a valve sleeve oil port VIII 598 which are located at corresponding positions, and further are respectively communicated with a valve body oil port I5811, a valve body oil port II 5812, a valve body oil port III 5813, a valve body oil port IV 5814, a valve body oil port VI 5816 and a valve body oil port VIII 5818. The oil ports at the valve position b comprise an oil port I5711 at the valve position b, an oil port II 5712 at the valve position b, an oil port III 5713 at the valve position b, an oil port IV 5714 at the valve position b, an oil port V5715 at the valve position b and an oil port VI 5716 at the valve position b; when the valve body is positioned at the valve position b, the oil ports are respectively communicated with a valve sleeve oil port I591, a valve sleeve oil port II 592, a valve sleeve oil port III 593, a valve sleeve oil port V595, a valve sleeve oil port VII 597 and a valve sleeve oil port VIII 598 which are positioned correspondingly, and further respectively communicated with a valve body oil port I5811, a valve body oil port II 5812, a valve body oil port III 5813, a valve body oil port V5815, a valve body oil port VII 5817 and a valve body oil port VIII 5818. The oil ports of other valve positions are analogized in the same way.
Fig. 11 is a schematic diagram of the arrangement positions of a valve core, a valve sleeve and a valve body oil port of the 2D attitude control valve of the present invention, the valve core oil port is unfolded along the cylindrical surface of the valve core into a planar form to form an eight-row n-column valve port array, the valve port of each column corresponds to one valve position, and n is 5 in this embodiment. The oil ports of the valve positions a are not provided with oil ports in the fifth row and the seventh row, the oil ports of the valve positions b are not provided with oil ports in the fourth row and the sixth row, the oil ports of the valve positions c are not provided with oil ports in the third row and the fifth row, the oil ports of the valve positions d are not provided with oil ports in the first row, the fourth row, the fifth row and the sixth row, and the oil ports of the valve positions e are not provided with oil ports in the third row, the fourth row, the sixth row and the eighth row. The valve position oil port a, the valve position oil port b, the valve position oil port c, the valve position oil port d and the valve position oil port e are uniformly distributed on the surface of the valve core in the circumferential direction, and the circumferential included angle theta is 2 pi/n and is 72 degrees in the embodiment. The oil ports in the first, second, third and fourth rows are communicated with the upper valve core cavity 577, and the oil ports in the fifth, sixth, seventh and eighth rows are communicated with the lower valve core cavity 578.
As shown in fig. 11, the axial distance between the valve core oil ports and the valve sleeve oil ports and the axial distance between the valve body oil ports in two adjacent rows are completely the same and are L. The axial dimension x of the oil ports of the valve core is smaller than the minimum distance y between two axially adjacent rows of oil ports, so that when the valve core 57 axially moves for one stroke, the oil ports of the valve core are completely shielded by the valve sleeve, and the locking position of the 2D attitude control valve 35 is determined at this moment. The 2D attitude control valve adopts the linear motor 63 to control the axial movement of the valve core 57, and further controls the axial relative position between the valve core 57 and the valve sleeve 59 to control the size of the flow area of the oil ports, namely the opening degree of the corresponding oil ports on the valve core and the valve sleeve. The servo motor 48 controls the valve core 57 to rotate, and further controls the circumferential relative position between the valve core 57 and the valve sleeve 59 to switch the communication mode of the valve core oil port and the valve sleeve oil port, namely, switch the valve position.
As shown in fig. 6, 7 and 11, when the 2D attitude control valve is in the first valve position, i.e., the a valve position, the valve ports are communicated as follows:
the hydraulic pipeline I31 is communicated with the lower cavity 578 of the valve core sequentially through a valve port I581, a valve body oil port VIII 5818, a valve sleeve oil port VIII 598 and a valve position oil port VI 576; the hydraulic pipeline V36 is sequentially communicated with a valve port II 582, a valve body oil port VII 5817 and a valve sleeve oil port VII 597, but the oil ports are not formed on the surface of the valve core corresponding to the surface of the valve core at the fifth row of the valve position a, so that a loop is cut off; the hydraulic pipeline II 32 is communicated with the lower valve core cavity 578 through a valve port III 583, a valve body oil port VI 5816, a valve sleeve oil port VI 596 and a valve position oil port V575 in sequence, and meanwhile, the valve body oil port VI 5816 is communicated with the upper valve core cavity 577 through a valve body flow passage I589, a valve body oil port III 5813, a valve sleeve oil port III 593 and a valve position oil port III 573 in sequence, namely the upper valve core cavity 577 is communicated with the lower valve core cavity 578; the hydraulic pipeline III 33 is sequentially communicated with the valve port IV 584, the valve body oil port V5815 and the valve sleeve oil port V595, and although the oil ports are not formed in the seventh row of the valve position a corresponding to the surface of the valve core at the moment, the valve body oil port V5815 is sequentially communicated with the valve body oil port IV 5814, the valve sleeve oil port IV 594, the valve position oil port IV 574 and the valve core upper cavity 577 through a valve body flow passage II 5810; the hydraulic pipeline VI 37 is communicated with the valve core upper cavity 577 sequentially through a valve port V585, a valve body oil port II 5812, a valve sleeve oil port II 592 and a valve position oil port II 572; the hydraulic pipeline IV 34 is communicated with the valve core upper cavity 577 sequentially through a valve port VI 586, a valve body oil port I5811, a valve sleeve oil port I591 and a valve position oil port I571.
In conclusion, when the valve a is in the valve position, the hydraulic pipeline V36 is disconnected; the hydraulic pipeline I31, the hydraulic pipeline II 32, the hydraulic pipeline III 33, the hydraulic pipeline IV 34 and the hydraulic pipeline VI 37 are communicated with each other.
As shown in fig. 6, 7 and 11, when the 2D attitude control valve is in the second valve position, i.e., the b valve position, the valve ports are communicated as follows:
the hydraulic pipeline I31 is communicated with the lower cavity 578 of the valve core sequentially through a valve port I581, a valve body oil port VIII 5818, a valve sleeve oil port VIII 598 and a valve position oil port VI 5716 b; the hydraulic pipeline V36 is communicated with a valve port II 582, a valve body oil port VII 5817, a valve sleeve oil port VII 597 and a valve position oil port V5715 in sequence and is communicated with a valve core lower cavity 578; the hydraulic pipeline II 32 sequentially passes through a valve port III 583, a valve body oil port VI 5816 and a valve sleeve oil port VI 596, and although the oil ports are not formed in the surface of the valve core at the moment, namely the oil port in the valve position b in the sixth row, the valve body oil port VI 5816 sequentially passes through a valve body flow passage I589 and sequentially passes through a valve body oil port III 5813, a valve sleeve oil port III 593 and a valve position oil port III 5713 to be communicated with the valve core upper cavity 577; the hydraulic pipeline III 33 is sequentially communicated with a valve port IV 584, a valve body oil port V5815 and a valve sleeve oil port V595, and a valve position oil port IV 5714 is communicated with a valve core lower cavity 578; the hydraulic pipeline VI 37 is communicated with the valve core upper cavity 577 sequentially through a valve port V585, a valve body oil port II 5812, a valve sleeve oil port II 592 and a valve position oil port II 5712; the hydraulic pipeline IV 34 is communicated with the valve core upper cavity 577 sequentially through a valve port VI 586, a valve body oil port I5811, a valve sleeve oil port I591 and a valve position oil port I5711. In addition, the oil ports of the valve position b are not provided with oil ports in the fourth row and the sixth row, so that the valve core upper cavity 577 and the valve core lower cavity 578 cannot be communicated with each other through the valve body flow passage I589 or the valve body flow passage II 5810.
In summary, in the valve position b, the valve core upper chamber 577 and the valve core lower chamber 578 are in an isolated state, the hydraulic pipeline i 31, the hydraulic pipeline iii 33 and the hydraulic pipeline v 36 are communicated with each other through the valve core lower chamber 578, and the hydraulic pipeline ii 32, the hydraulic pipeline iv 34 and the hydraulic pipeline vi 37 are communicated with each other through the valve core upper chamber 577. The other valve positions are realized similarly.
As shown in fig. 6, 7 and 11, when the 2D attitude control valve 35 is in the first valve position, namely the valve position a, the right ballast tank 3 and the left ballast tank 9 suck and discharge water from the external water environment 46 through the one-way variable pump 45, so that the sinking and floating adjustment of the robot can be realized; when the 2D attitude control valve 35 is in the second, third, fourth, and fifth valve positions, the right ballast tank 3 and the left ballast tank 9 are isolated from the external water environment 46, and attitude adjustment can be performed under the conditions that the total weight of the robot is unchanged and sinking and floating are stable.
The linear motor 63 controls the valve core 57 to move for a stroke along the axis direction of the valve sleeve 59, so that the seven rows and five columns of valve port arrays on the valve core 57 are staggered relative to the positions of the valve sleeve oil ports on the valve sleeve 59, a communication channel between the valve core upper cavity 577 and the valve core lower cavity 578 is cut off, the valve port I581, the valve port II 582, the valve port III 583, the valve port IV 584, the valve port V585 and the valve port VI 586 are all in a closed state, and the 2D attitude control valve is in a sixth valve position, namely an f valve position. At this time, the right ballast tank 3 and the left ballast tank 9 are closed.
In order to ensure the adjustment reliability, when the valve position is switched, the valve core 57 is controlled by the linear motor 63 to move along the axis direction of the valve sleeve 59, and the valve position is switched to a locking position, namely a valve position f; then the servo motor 48 controls the valve core 57 to rotate, the required valve core oil port and the valve sleeve oil port are adjusted to the same position, and finally the linear motor 63 controls the valve core 57 to reset along the axis direction of the valve sleeve 59. In the adjusting process, the servo motor 48 or the linear motor 63 can be used for controlling the relative position of the valve core 57 and the valve sleeve 59, so as to adjust the opening degree of the valve port.
The specific adjustment process is as follows:
(1) the robot sinks and floats: the valve core 57 is controlled to rotate through the servo motor 48, the 2D attitude control valve 35 is enabled to rotate to a first valve position, namely, a valve position a, the electromagnetic valve 39/40/42 is opened, the electromagnetic valve 38/41/47 is closed, the unidirectional variable pump 45 feeds liquid from the external water environment 46 through the electromagnetic valve 40, the electromagnetic valve 42 and the filter 44, the unidirectional variable pump 45 feeds liquid to the right ballast tank front cavity 303, the right ballast tank rear cavity 302, the left ballast tank front cavity 903 and the left ballast tank rear cavity 902 through the electromagnetic valve 39 and the hydraulic pipeline VI 37, so that the right piston spring cavity I304, the right piston spring cavity II 305, the left piston spring cavity I904 and the left piston spring cavity II 905 are compressed at the same time, the weight of the robot is increased, and the robot sinks. Similarly, when the electromagnetic valve 42/38/41 is opened, the electromagnetic valve 39/40/47 is closed, and the right ballast tank front cavity 303, the right ballast tank rear cavity 302, the left ballast tank front cavity 903 and the left ballast tank rear cavity 902 can be controlled to discharge liquid simultaneously, so that the robot floats upwards.
(2) The robot heels front and back: the valve core 57 is controlled by the servo motor 48 to rotate, so that the 2D attitude control valve 35 is rotated to a second valve position, namely, a valve position b, and meanwhile, the electromagnetic valve 40/39 is opened, the electromagnetic valve 38/41/42/47 is closed, the unidirectional variable pump 45 is controlled to suck liquid from the right ballast tank rear cavity 302 and the left ballast tank rear cavity 902, and discharge liquid to the right ballast tank front cavity 303 and the left ballast tank front cavity 903, so that the right piston spring cavity i 304, the right piston spring cavity ii 305 and the right low-density piston cavity 301 inside the right ballast tank 3, and the left piston spring cavity i 904, the left piston spring cavity ii 905 and the left low-density piston cavity 901 inside the left ballast tank 9 all move backwards, so that the rear ends of the right ballast tank 3 and the left ballast tank 9 become lighter and the front ends become heavier, and the robot rolls forwards. Similarly, if the electromagnetic valve 39/40/42/47 is closed when the robot is opened 38/41, the robot can be controlled to roll backwards.
(3) The robot heels left and right: the 2D attitude control valve 35 is controlled to be in a third valve position, namely a valve position c, through the servo motor 48, meanwhile, the electromagnetic valve 40/39 is opened, the electromagnetic valve 38/41/42/47 is closed, water which can control the right ballast tank front cavity 303 and the right ballast tank rear cavity 302 is pumped into the left ballast tank front cavity 903 and the left ballast tank rear cavity 902, the left piston spring cavity I904 and the left piston spring cavity II 905 are compressed, the right side of the robot is lightened, the left side of the robot is heavier, and the robot inclines leftwards. Similarly, if the electromagnetic valve 39/40/42/47 is closed when the robot is opened 38/41, the robot can be controlled to roll to the right.
(4) The robot leans to the right front or the right back: on the basis that the robot heels to the right, when the 2D attitude control valve is in a fourth valve position, namely a D valve position, the right low-density piston tank 301 in the right ballast tank 3 can be independently controlled to move back and forth respectively, so that liquid media are exchanged between the right ballast tank back cavity 302 and the right ballast tank front cavity 303, and the robot is further controlled to heels to the right front or the right back.
(5) The robot heels left front or left back: on the basis that the robot heels to the left, when the 2D attitude control valve is in a fifth valve position, namely an e valve position, the left low-density piston cabin 901 in the left ballast tank 9 can be independently controlled to move back and forth, so that liquid media are exchanged between the left ballast tank rear cavity 902 and the left ballast tank front cavity 903, and the robot heels to the left front or the left rear.
In addition, the underwater propulsion mechanism can be matched with the sinking and floating and attitude adjusting mechanism for use. The weight and the gravity center of the ballast tank are controlled by the aid of the sinking-floating and posture adjusting mechanism, sinking-floating and operation posture adjustment of the robot are achieved, the posture of the robot is rapidly adjusted by the aid of the propeller, the purpose of rapidly and flexibly changing the position is achieved, and the posture adjusting mode of the robot is enriched. For example, the suspension of the robot in a specific posture is realized through the sinking-floating and posture adjusting mechanism, and the actions of fine adjustment of the posture, propulsion of a fixed posture and the like are realized through the propeller. The two work in coordination, the flexibility and the diversity of the posture adjustment of the robot are greatly improved, the adjustment process is quicker, and the stability is better.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (6)
1. An amphibious robot of a pumped storage power station of a abandoned mine is characterized by comprising a body support, a sinking and floating and attitude adjusting mechanism, a walking mechanism, an underwater propelling mechanism, an inspection operation mechanism and an underwater acoustic communication and control system;
the sinking and floating and attitude adjusting mechanism comprises a right ballast tank (3), a left ballast tank (9) and a hydraulic integrated valve group box (23), the hydraulic integrated valve group box (23) comprises a 2D attitude control valve (35) and a hydraulic pipeline, and the hydraulic integrated valve group box (23) is connected with the right ballast tank (3) and the left ballast tank (9) through the hydraulic pipeline;
the 2D attitude control valve (35) comprises a valve sleeve (59), a valve body (58) and a valve core (57), wherein the valve core (57) and the valve sleeve (59) are coaxially installed, the valve sleeve (59) is fixed on an inner hole of the valve body (58), the valve core (57) and the valve sleeve (59) form a cylindrical pair, the valve core (57) can coaxially rotate relative to the valve sleeve (59) through the driving of a servo motor (48), and the valve core (57) can linearly move along the axial direction relative to the valve sleeve (59) through the driving of a linear motor (63);
the surface of the valve body (58) is provided with a plurality of valve ports, a plurality of valve body oil ports are formed in the valve body (58), the outer sides of the valve ports are communicated with the right ballast tank (3) and the left ballast tank (9) through hydraulic pipelines, and the inner sides of the valve ports are selectively communicated with the valve body oil ports;
a plurality of valve sleeve oil ports are sequentially arranged on the surface of the valve sleeve (59) on the same bus at equal intervals, and the valve sleeve oil ports are selectively communicated with the valve body oil ports;
the valve core (57) comprises a valve core upper cavity (577), a middle partition plate (579), a valve core lower cavity (578), a linear motor connecting shaft (5701), a servo motor connecting shaft (5702) and valve core oil ports, wherein the middle partition plate (579) divides the interior of the valve core (57) into two parts, namely the valve core upper cavity (577) and the valve core lower cavity (578), the valve core oil ports are unfolded along the cylindrical surface of the valve core (57) to form an eight-row n-column oil port array, the oil ports in each column correspond to one valve position, and the valve core oil ports are communicated with the valve sleeve oil ports through rotation of the valve core (57) to form n valve positions.
2. The amphibious robot for the pumped-storage power station of the abandoned mine according to claim 1, wherein the right ballast tank (3) comprises a right low-density piston tank (301), a right ballast tank rear cavity (302), a right ballast tank front cavity (303), a right piston spring cavity I (304), a right piston spring cavity II (305), a right movable partition plate I (306), a right piston (307) and a right movable partition plate II (308), and the structure of the left ballast tank (9) is the same as that of the right ballast tank (3);
the piston spring chamber I (304) and the piston spring chamber II (305) on the right are separated by a right piston (307), the central section of the right piston (307) is I-shaped, the piston structures at the two ends of the right piston (307) are symmetrical and equal in area, the right piston (307) and the inner surface of the right ballast tank (3) form a closed right low-density piston chamber (301), the right piston (307), the right movable partition plate I (306), the right movable partition plate II (308) and the inner surface of the right ballast tank (3) form a cylindrical movable pair, the right piston spring chamber I (304) is formed between the right movable partition plate I (306) and the right piston (307), and the right piston spring chamber II (305) is formed between the right movable partition plate II (308) and the right piston (307).
3. The abandoned mine pumped-storage power station amphibious robot of claim 1, wherein the valve core oil port includes five valve positions, specifically including: the oil ports of the valve position a are not provided with oil ports in the fifth row and the seventh row, the oil ports of the valve position b are not provided with oil ports in the fourth row and the sixth row, the oil ports of the valve position c are not provided with oil ports in the third row and the fifth row, the oil ports of the valve position d are not provided with oil ports in the first row, the fourth row, the fifth row and the sixth row, the oil ports of the valve position e are not provided with oil ports in the third row, the fourth row, the sixth row and the eighth row, the oil ports of the first row, the second row, the third row and the fourth row are communicated with a valve core upper cavity (577), and the oil ports of the fifth row, the sixth row, the seventh row and the eighth row are communicated with a valve core lower cavity (578).
4. The abandoned mine pumped storage power station amphibious robot according to claim 2, wherein the valve position oil port a, the valve position oil port b, the valve position oil port c, the valve position oil port d and the valve position oil port e are circumferentially and uniformly distributed on the surface of the valve core (57), a circumferential included angle θ is 2 pi/n, and when n is 5, θ is 72 °.
5. The abandoned mine pumped-storage power station amphibious robot of claim 1, wherein axial distances between the valve core oil ports, the valve sleeve oil ports and the valve body oil ports in two adjacent rows are the same.
6. The abandoned mine pumped-storage power station amphibious robot according to claim 1, wherein the axial width of the valve core oil ports is smaller than the minimum distance between two axially adjacent rows of oil ports, and the valve core oil ports are completely shielded by the valve sleeve (59) when the valve core (57) axially moves for one stroke, which is the locking position of the 2D attitude control valve (35).
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| CN202011119914.1A CN112223964B (en) | 2020-10-19 | 2020-10-19 | Amphibious robot for waste mine pumped storage power station |
| LU500015A LU500015B1 (en) | 2020-10-19 | 2021-04-08 | Amphibious robot for pump-generator plant in abandoned mine |
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| CN202011119914.1A CN112223964B (en) | 2020-10-19 | 2020-10-19 | Amphibious robot for waste mine pumped storage power station |
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| US11939034B1 (en) * | 2022-12-05 | 2024-03-26 | Qingdao Institute Of Marine Geology | Deep-sea crawling robot and crawling method thereof |
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Also Published As
| Publication number | Publication date |
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| LU500015B1 (en) | 2022-04-19 |
| CN112223964B (en) | 2024-03-29 |
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