CN115978031A - Waterlogging drainage robot and control method thereof - Google Patents
Waterlogging drainage robot and control method thereof Download PDFInfo
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- CN115978031A CN115978031A CN202310010747.4A CN202310010747A CN115978031A CN 115978031 A CN115978031 A CN 115978031A CN 202310010747 A CN202310010747 A CN 202310010747A CN 115978031 A CN115978031 A CN 115978031A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 39
- 239000003921 oil Substances 0.000 claims description 229
- 239000010720 hydraulic oil Substances 0.000 claims description 64
- 239000002002 slurry Substances 0.000 claims description 23
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005086 pumping Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 239000000446 fuel Substances 0.000 abstract 6
- 239000002828 fuel tank Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
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Abstract
The invention discloses a waterlogging draining robot and a control method thereof.A fuel inlet of a gear series pump (3) is communicated with a hydraulic fuel tank (1), a fuel delivery port II of the gear series pump (3) is communicated with a first electric proportional multi-way valve (4), the first electric proportional multi-way valve (4) is communicated with a switching valve (6), the switching valve (6) is communicated with a first walking speed reducer (7), a fuel port A1 of the first electric proportional multi-way valve (4) is communicated with a fuel port P4 of the first walking speed reducer (7), a fuel port B1 of the first electric proportional multi-way valve (4) is communicated with a fuel port P3 of the first walking speed reducer (7), and a controller (16) is electrically connected with the gear series pump (3), the first electric proportional multi-way valve (4), the switching valve (6) and the first walking speed reducer (7). The intelligent control system realizes the intelligent control of the pumping vacuum of the water pump, and solves the problem that the water pump cannot work due to the air leakage of the water inlet pipeline in the starting and draining processes of the water pump.
Description
Technical Field
The invention relates to a waterlogging drainage robot and a control method thereof, and belongs to the technical field of drainage vehicles.
Background
In recent years, global flood disasters frequently occur, and the safety of lives and property of people is seriously threatened. According to statistical data, about 60% of the grade cities have urban waterlogging every year in 2008-2016, and the urban waterlogging tends to worsen year by year, and sometimes occurs in common areas with rare rainwater. Urban waterlogging becomes a common problem in cities, and is one of the most serious disasters causing property loss. Through statistical analysis, urban overpasses, underground parking lots, subways, underground shopping malls and the like are urban waterlogging-prone points which generally have the defects of narrow space and limited vehicle movement.
The self-priming pump needs to maintain a certain vacuum degree at the initial starting stage and during working, when drainage operation is started and performed, air enters the water pump or a water suction pipeline due to external factors, the water level of the water pump is not fed back, and the automatic vacuum pumping during the starting and the drainage process of the water pump cannot be met, so that the work of the water pump is influenced; moreover because city flood rainwater deposits, lead to the bottom silt to pile up in a large number, need further clear away silt after the drainage waterlogging is accomplished, can't satisfy little water level drainage and clear away the silt demand, whole car reliability is low, influences rescue efficiency.
The waterlogging draining robot in the prior art has the following defects: (1) The water level feedback of a water pump is avoided, and automatic vacuumizing during starting and draining of the water pump cannot be met. And (2) the requirements of small water level drainage and sludge removal cannot be met. And (3) the reliability of the whole vehicle is low, and the rescue efficiency is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a waterlogging draining robot and a control method thereof.
In order to achieve the purpose, the invention provides a waterlogging draining robot which comprises a controller, a hydraulic oil tank, a gear series pump, a first electric proportional multi-way valve, a switching valve and a first walking speed reducer, wherein an oil inlet of the gear series pump is communicated with the hydraulic oil tank, an oil delivery port II of the gear series pump is communicated with the first electric proportional multi-way valve, the first electric proportional multi-way valve is communicated with the switching valve, the switching valve is communicated with the first walking speed reducer, an oil port A1 of the first electric proportional multi-way valve is communicated with an oil port P4 of the first walking speed reducer, an oil port B1 of the first electric proportional multi-way valve is communicated with an oil port P3 of the first walking speed reducer, and the controller is electrically connected with the gear series pump, the first electric proportional multi-way valve, the switching valve and the first walking speed reducer.
Preferably, the device comprises a second electric proportional multi-way valve and a second walking speed reducer, the second electric proportional multi-way valve comprises a third working unit, a fourth working unit and a fifth working unit,
an oil delivery port I of the gear series pump is communicated with a third working unit, a fourth working unit and a fifth working unit, an oil port A1 of the third working unit is communicated with an oil port P6 of the second walking speed reducer, and an oil port B1 of the third working unit is communicated with an oil port P5 of the second walking speed reducer.
Preferentially, the hydraulic control system comprises a first overflow valve, a second overflow valve, an air filter and a two-position two-way electro-hydraulic valve, wherein the first electric proportional multi-way valve comprises a first working connection and a second working connection, an oil delivery port II of a gear series pump is communicated with a first oil port of the two-position two-way electro-hydraulic valve, a second oil port of the two-position two-way electro-hydraulic valve is communicated with an oil return port T1, a control port of the two-position two-way electro-hydraulic valve is communicated with a hydraulic oil tank through the second overflow valve and the air filter, and a control port of the first working connection and a control port of the second working connection are communicated with the hydraulic oil tank through the first overflow valve.
Preferably, the system comprises a slurry pump, and the first electric proportional multi-way valve is communicated with the slurry pump.
Preferably, the hydraulic system comprises an overflow valve, a second air filter, a fourth overflow valve, a fifth overflow valve and a second two-position two-way electro-hydraulic valve, wherein an oil delivery port I of the gear series pump is communicated with a first oil port of the second two-position two-way electro-hydraulic valve, an oil port of the second two-position two-way electro-hydraulic valve is communicated with a hydraulic oil tank through the second air filter and the fourth overflow valve, a second electric proportional multi-way valve is communicated with the hydraulic oil tank through the fifth overflow valve, and the second electric proportional multi-way valve is communicated with the hydraulic oil tank through the overflow valve.
Preferentially, including shaft coupling, hydraulic motor, vacuum pump and water pump, hydraulic fluid port A2 and hydraulic fluid port B2 that the fourth work allies oneself with communicate the both ends of hydraulic motor respectively, and hydraulic motor passes through shaft coupling fixed connection vacuum pump, and the vacuum pump communicates the water pump.
Preferably, the hydraulic oil cylinder is included, and the oil port A3 and the oil port B3 of the fifth working connection are communicated with two ends of the clutch cylinder.
Preferably, the radiator and the return oil filter are included, the return port T1 is communicated with the radiator, and the radiator is communicated with the hydraulic oil tank through the return oil filter.
Preferably, the hydraulic oil tank is communicated with an oil delivery port I of the gear tandem pump through the manual pump and the one-way valve.
A control method of a waterlogging draining robot is characterized in that the waterlogging draining robot is used for executing the following method:
the controller controls the fourth operation to be coupled with the electric operation;
the series gear pump is in a working state all the time, and high-pressure oil reaches an oil inlet of the gear series pump through a hydraulic oil tank and an oil absorption filter;
high-pressure oil is output to an oil inlet of the third working joint, an oil inlet of the fourth working joint and an oil inlet of the fifth working joint through an oil conveying port I of the gear series pump;
high-pressure oil enters an oil inlet of the hydraulic motor through the fourth working link, and after the hydraulic motor is driven to rotate, hydraulic oil enters the radiator and the oil return filter through an oil return port of the second electric proportional multi-way valve and returns to the hydraulic oil tank;
the hydraulic motor drives the vacuum pump to rotate, and drives the air in the cavity of the water pump to be discharged.
Preferably, the controller controls the second operation to be coupled with the electric operation;
the gear series pump is in a working state all the time, and high-pressure oil reaches an oil inlet of the gear series pump through a hydraulic oil tank and an oil absorption filter;
high-pressure oil is output to the second working unit through an output oil port II of the gear series pump;
high-pressure oil enters a slurry pump through a second working link to drive the slurry pump to work;
after the slurry pump is driven to work, high-pressure oil enters the radiator and the oil return filter and returns to the hydraulic oil tank.
Preferentially, after the engine is shut down, the clutch oil cylinder is controlled to disconnect the engine and the water pump, and the method comprises the following steps:
the fifth working is connected with electricity, and high-pressure oil enters the clutch oil cylinder through the hydraulic oil tank, the manual pump and the one-way valve and enters the fifth working connection to drive the clutch oil cylinder to be disengaged;
after the clutch oil cylinder is driven by high-pressure oil to be separated, the high-pressure oil enters the radiator and the oil return filter and returns to the hydraulic oil tank.
The invention achieves the following beneficial effects:
(1) The intelligent control of the pumping vacuum of the water pump is realized, the problem that the water pump cannot work due to air leakage of a water inlet pipeline in the starting and draining processes of the water pump is solved, the intellectualization of the pumping vacuum is assisted, and the reliability is improved;
(2) The invention has the advantages that the power output is provided, the small water level and bottom slurry pumping and draining operation is met, and the problems that the small water level cannot be used for continuously draining and cleaning sewage are solved;
(3) The invention increases a standby power source, namely a manual pump, and improves the reliability of the waterlogging draining robot.
Drawings
FIG. 1 is an oil circuit diagram of a second electro-proportional multi-way valve according to the present invention;
FIG. 2 is an oil circuit diagram of a first electro-proportional multi-way valve according to the present invention;
FIG. 3 is a schematic diagram of the hydraulic reservoir and gear tandem pump of the present invention;
FIG. 4 is a schematic diagram of the present invention;
fig. 5 is a structural view of the intelligent vacuum structure of the present invention.
Meaning of reference numerals , hydraulic oil tank 1 , oil absorption filter 2 , gear tandem pump 3 , first electric proportional multi-way valve 4 , first working bank 4.1 , second working group 4.2 , second electric proportional multi-way valve 5 , third working gang 5.1 , fourth working gang 5.2 , fifth working gang 5.3 , switching valve 6 , first travel speed reducer 7 , second travel speed reducer 8 , hydraulic motor 9 , clutch cylinder 10 , heat sink 11 , return oil filter 12 , hand pump 13 , check valve 14 , slurry pump 15 , controller 16 , vacuum pump 17 , water pump 18 , first relief valve 21 , second overflow valve 22 , air filter 23 , two-position two-way electro-hydraulic valve 24 , three-position six-way electro-hydraulic valve one 25 , three-position three-way hydraulic valve 26 , three-position six-way electro-hydraulic valve two 27 , three-position three-way hydraulic valve three 28 , third relief valve 29 , three-position six-way electro-hydraulic valve four 30 , three-position three-way hydraulic valve 31 , three-position six-way electro-hydraulic valve five 32 , three-position three-way hydraulic valve 33 , three-position six-way electro-hydraulic valve six 34 , three-position three-way hydraulic valve 35 , relief valve 36 , a second air filter 38 , fourth overflow valve 37 , fifth relief valve 39 , two-position two-way electro-hydraulic valve II 40 , three-position five-way electro-hydraulic valve 71 , two-position six-way electro-hydraulic valve 72 , shuttle valve 73 , adjustable hydraulic pump 74 , a first cylinder 75..
Detailed Description
The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that, if directional indications (such as up, down, left, right, front, and back) are provided in the embodiment of the present invention, they are only used to explain the relative position relationship and movement of each component in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.
In addition, if the description of "first" and "second", etc. is referred to in the present invention, it is used for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In order to solve the problems, the waterlogging draining robot comprises a hydraulic oil tank 1, an oil absorption filter 2, a gear series pump 3, a first electric proportional multi-way valve 4, a second electric proportional multi-way valve 5, a switching valve 6, a first walking speed reducer 7, a second walking speed reducer 8, a hydraulic motor 9, a clutch oil cylinder 10, a radiator 11, an oil return filter 12, a manual pump 13, a one-way valve 14, a slurry pump 15, a controller 16, a vacuum pump 17 and a water pump 18.
The first electric proportional multi-way valve 4 comprises a first working link 4.1, a second working link 4.2, a first overflow valve 21, a second overflow valve 22, an air filter 23, a two-position two-way electro-hydraulic valve 24 and a third overflow valve 29, an output oil port II of the gear series pump 3 is communicated with a port P2, the port P2 is communicated with an oil port 1 of the two-position two-way electro-hydraulic valve 24, an oil port 2 of the two-position two-way electro-hydraulic valve 24 is communicated with an oil port T1 of the first electric proportional multi-way valve 4, and the oil port T1 of the first electric proportional multi-way valve 4 is communicated with an oil port T3 of the second electric proportional multi-way valve 5;
a control port of the two-position two-way electro-hydraulic valve 24 is communicated with one end of a second overflow valve 22 through an air filter 23, the other end of the second overflow valve 22 is communicated with the hydraulic oil tank 1, and a port P of the switching valve 6 is communicated with the hydraulic oil tank 1 through a third overflow valve 29;
the first working linkage 4.1 comprises a third direct-acting proportional overflow valve Y3, a fourth direct-acting proportional overflow valve Y4, a three-position six-way electro-hydraulic valve I25 and a three-position three-way hydraulic valve 26, an oil port 2 of the three-position six-way electro-hydraulic valve I25 is communicated with an oil port P3 of a first traveling speed reducer 7, an oil port 2 of the three-position six-way electro-hydraulic valve I25 is communicated with an oil port P4 of the first traveling speed reducer 7, an oil port 3 of the three-position six-way electro-hydraulic valve I25 is communicated with an oil port 1 of a two-position two-way electro-hydraulic valve 24, an oil port 4 of the three-position six-way electro-hydraulic valve I25 is communicated with a hydraulic oil tank 1, an oil port 5 of the three-position six-way electro-hydraulic valve 25 is communicated with an oil port 2 of the three-position three-way electro-hydraulic valve 26, an oil port 6 of the three-position six-way electro-hydraulic valve 25 is communicated with an oil port 3 of the three-position three-way electro-hydraulic valve 26 and a lower control port of the three-position three-way electro-hydraulic valve 26, an oil port 1 of the three-position three-way electro-hydraulic valve 26 is communicated with an upper control port of the hydraulic oil tank 1 through a first overflow valve 21;
an upper control port of the three-position six-way electro-hydraulic valve 25 is communicated with the hydraulic oil tank 1 through a fourth direct-acting proportional overflow valve Y4, and a lower control port of the three-position six-way electro-hydraulic valve 25 is communicated with the hydraulic oil tank 1 through a third direct-acting proportional overflow valve Y3;
the second working linkage 4.2 comprises a first check valve, a ninth direct-acting proportional overflow valve Y9, a direct-acting proportional overflow valve Y10, a three-position six-way electro-hydraulic valve II 27 and a three-position three-way hydraulic valve III 28, wherein an oil port 2 of the three-position six-way electro-hydraulic valve II 27 is communicated with one end of a slurry pump 15, an oil port 2 of the three-position six-way electro-hydraulic valve II 27 is communicated with the other end of the slurry pump 15, an oil port 3 of the three-position six-way electro-hydraulic valve II 27 is communicated with a hydraulic oil tank 1 through a third overflow valve 29, an oil port 4 of the three-position six-way electro-hydraulic valve II 27 is communicated with the hydraulic oil tank 1, an oil port 5 of the three-position six-way electro-hydraulic valve II 27 is communicated with an oil port 2 of the three-position three-way hydraulic valve III 28 through the first check valve, an oil port 6 of the three-position six-way electro-hydraulic valve II 27 is communicated with an overflow valve 3 of the three-position three-way hydraulic valve III 28 and a lower control port of the three-position three-way hydraulic valve III 28, an oil port 1 of the three-position three-way hydraulic valve III 28 is communicated with an upper control port of the three-position three-way hydraulic valve III 28, and an upper control oil tank of the three-position three-way hydraulic valve III-position three-way hydraulic valve III control valve 28 is communicated with a first control port 21;
an upper control port of the three-position six-way electro-hydraulic valve II 27 is communicated with the hydraulic oil tank 1 through a tenth direct-acting type proportional overflow valve Y10, and a lower control port of the three-position six-way electro-hydraulic valve II 27 is communicated with the hydraulic oil tank 1 through a ninth direct-acting type proportional overflow valve Y9;
the first traveling speed reducer 7 comprises a three-position five-way electro-hydraulic valve 71, a two-position six-way electro-hydraulic valve 72, a shuttle valve 73, an adjustable hydraulic pump 74, a first oil cylinder 75 and a second oil cylinder, an oil port 1 of the three-position five-way electro-hydraulic valve 71 is communicated with an oil port P4 of the first traveling speed reducer 7, an oil port 2 of the three-position five-way electro-hydraulic valve 71 is communicated with an oil port P3 of the first traveling speed reducer 7, an oil port 3 of the three-position five-way electro-hydraulic valve 71 is communicated with an oil port 1 of the adjustable hydraulic pump 74, an oil port 3 of the three-position five-way electro-hydraulic valve 71 is communicated with a small cavity of the second oil cylinder, a large cavity of the second oil cylinder and an oil discharge port of the adjustable hydraulic pump 74 are communicated with a hydraulic oil tank 1, and an oil port 5 of the three-position five-way electro-hydraulic valve 71 is communicated with the oil port 3 of the adjustable hydraulic pump 74;
an oil port 1 of the two-position six-way electro-hydraulic valve 72 is communicated with a hydraulic oil tank 1, an oil port 2 of the two-position six-way electro-hydraulic valve 72 is communicated with an oil port 3 of the three-position five-way electro-hydraulic valve 71, the oil port 3 of the two-position six-way electro-hydraulic valve 72 is communicated with an oil port 5 of the three-position five-way electro-hydraulic valve 71, an oil port 4 of the two-position six-way electro-hydraulic valve 72 is communicated with a large cavity of the first oil cylinder 75 and the oil port 3 of the shuttle valve 73, an expansion rod of the first oil cylinder 75 is fixedly connected with an adjusting rod of the adjustable hydraulic pump 74, the oil port 5 of the two-position six-way electro-hydraulic valve 72 is communicated with the oil port 1 of the shuttle valve 73, and an oil port 6 of the two-position six-way electro-hydraulic valve 72 is communicated with the oil port 2 of the shuttle valve 73;
the second electric proportional multi-way valve 5 comprises a third working link 5.1, a fourth working link 5.2, a fifth working link 5.3, an overflow valve 36, a second air filter 38, a fourth overflow valve 37, a fifth overflow valve 39 and a second two-position two-way electro-hydraulic valve 40, an upper control port of the second two-position two-way electro-hydraulic valve 40 is communicated with the hydraulic oil tank 1 through the second air filter 38 and the fourth overflow valve 37, and one end of the fifth overflow valve 39 is communicated with the hydraulic oil tank 1;
an oil port 2 of the two-position two-way electro-hydraulic valve II 40 is communicated with an oil port I of the gear series pump 3 and one end of the overflow valve 36, and an oil port 1 of the two-position two-way electro-hydraulic valve II 40 is communicated with an oil port T2 of the second electro-proportional multi-way valve 5 and an oil port T3 of the second electro-proportional multi-way valve 5;
the third working link 5.1 comprises a three-position six-way electro-hydraulic valve four 30, a three-position three-way hydraulic valve 31, a first direct-acting type proportional overflow valve Y1 and a second direct-acting type proportional overflow valve Y2,
the other end of the overflow valve 36 is communicated with one end of a first direct-acting proportional overflow valve Y1 and one end of a second direct-acting proportional overflow valve Y2, the other end of the fifth overflow valve 39 is communicated with an upper control port of a three-position three-way hydraulic valve 31, an upper control port of the three-position six-way hydraulic valve four 30 is communicated with the other end of the second direct-acting proportional overflow valve Y2, an oil port 1 of the three-position six-way hydraulic valve four 30 is communicated with one end of the radiator 11, an oil port 2 of the three-position six-way hydraulic valve four 30 is communicated with an oil port 3 of the three-position three-way hydraulic valve 31, an oil port 3 of the three-position six-way hydraulic valve four 30 is communicated with an oil port 1 of the three-position three-way hydraulic valve 31 and a lower control port of the three-position three-way hydraulic valve 31, an oil port 4 of the three-position six-way hydraulic valve four 30 is communicated with an oil port P6 of the second traveling hydraulic valve 8, an oil port 5 of the three-position six-way hydraulic valve four 30 is communicated with an oil port P5 of the second traveling speed reducer 8, the three-position six-position three-way hydraulic valve four 30 is communicated with an oil port I of the gear series-gear pump 3, and an oil port 2 of the three-position three-way hydraulic valve 31 is communicated with an upper control port of the three-position hydraulic reducer hydraulic valve 31;
the fourth working linkage 5.2 comprises a three-position six-way electro-hydraulic valve five 32, a three-position three-way hydraulic valve 33, a fifth direct-acting proportional overflow valve Y5 and a sixth direct-acting proportional overflow valve Y6, the fifth working linkage 5.3 comprises a three-position six-way electro-hydraulic valve six 34, a three-position three-way hydraulic valve 35, a seventh direct-acting proportional overflow valve Y7 and an eighth direct-acting proportional overflow valve Y8, the connection relations of the internal oil passages of the third working linkage 5.1, the fourth working linkage 5.2 and the fifth working linkage 5.3 are completely the same, the other end of the overflow valve 36 is communicated with one end of the fifth direct-acting proportional overflow valve Y5, one end of the sixth direct-acting proportional overflow valve Y6, one end of the seventh direct-acting proportional overflow valve Y7 and one end of the eighth direct-acting proportional overflow valve Y8, the other end of the fifth overflow valve 39 is communicated with an upper control port of the three-position six-way electro-hydraulic valve five 32 and an upper control port of the three-position six-position electro-hydraulic valve six 3, and the three-position six-way electro-hydraulic valve 6 of the three-position six-way electro-hydraulic valve 34 are communicated with the series I of the pump 3.
The hydraulic system is a fixed displacement pump system, the hydraulic pump is a fixed displacement gear series pump 3, and is commonly connected with an engine (the motor also meets the requirement), and the discharge capacity of the two gear pumps is consistent; the first electric proportional multi-way valve 4 and the second electric proportional multi-way valve 5 are electric proportional multi-way valves with load compensation. The switching valve 6 can control the first walking speed reducer 7 and the second walking speed reducer 8 to realize high-low speed switching; the actuator action is achieved by controlling a first electro proportional multi-way valve 4 and a second electro proportional multi-way valve 5.
An oil outlet I of the gear series pump 3 is communicated with an oil inlet P of the second electric proportional multi-way valve 5, and an oil outlet of a third working coupler 5.1 in the second electric proportional multi-way valve 5 is communicated with an oil way of a second walking speed reducer 8 on the left side; an oil port of a fourth working link 5.2 in the second electric proportional multi-way valve 5 is communicated with an oil way of a hydraulic motor 9; an oil port of a fifth working link 5.3 in the second electric proportional multi-way valve 5 is communicated with an oil way of a clutch cylinder 10;
an output oil port II of the gear series pump 3 is communicated with an oil inlet P of the first electric proportional multi-way valve 4; an oil port of a first working connector 4.1 in the first electric proportional multi-way valve 4 is communicated with an oil way of a right walking speed reducer 7; an oil port of a second working joint 4.2 in the first electric proportional multi-way valve 4 is communicated with an oil way of a slurry pump 15; an oil inlet V of the switching valve 6 is communicated with a control oil port of the first electric proportional valve multi-way valve 4, and an output port B of the switching valve 6 is communicated with a control oil port of the first walking speed reducer 7 and a control oil port of the second walking speed reducer 8;
an oil return port T of the first electric proportional multi-way valve 4 is communicated with an oil return port T of the second electric proportional multi-way valve 5, and is communicated with the hydraulic oil tank 1 through a radiator 11 and an oil return filter 12; the manual pump 13 and the one-way valve 14 are connected between the output port I of the gear series pump 3 and the second electric proportional multi-way valve 5 in parallel.
The water level sensor is integrated in the water pump 18 and dynamically detects the water level change of the water pump 18; the air outlet of the water pump 18 is communicated with the air inlet of the vacuum pump 17 through a pipeline, and the vacuum pump 17 is driven by the hydraulic motor 9 through a coupler.
The slurry pump 15 is equipped with quick-change coupler and realizes the quick connection of mother car through hydraulic pressure extension hydraulic line, and the slurry pump 15 working radius can reach 20m.
The engine is in a fixed connection state with the water pump 18 through the clutch cylinder 10.
The second travel speed reducer 8 and the first travel speed reducer 7 have the same structure.
The hydraulic oil tank 1, the oil absorption filter 2, the gear tandem pump 3, the switching valve 6, the hydraulic motor 9, the clutch cylinder 10, the radiator 11, the oil return filter 12, the manual pump 13, the check valve 14, the slurry pump 15, the controller 16, the vacuum pump 17, the water pump 18, the first relief valve 21, the second relief valve 22, the air filter 23, the two-position two-way electro-hydraulic valve 24, the three-position six-way electro-hydraulic valve 25, the three-position three-way electro-hydraulic valve 26, the three-position six-way electro-hydraulic valve 27, the three-position three-way electro-hydraulic valve 28, the third relief valve 29, the three-position six-way electro-hydraulic valve four 30, the three-position three-way electro-hydraulic valve 31, the three-position six-way electro-hydraulic valve five 32, the three-position three-way electro-hydraulic valve 33, the three-position six-way electro-hydraulic valve six 34, the three-position three-way electro-hydraulic valve 35, the relief valve 36, the second air filter 38, the fourth electro-hydraulic valve 37, the fifth relief valve 39, the two-hydraulic valve 40, the two-position two-way electro-hydraulic valve 40, the five-way electro-hydraulic valve 71, the two-position six-way electro-hydraulic valve 72, the shuttle valve 73, the adjustable hydraulic pump 74 and the first oil cylinder 75 can be selected according to the actual requirements of the three-position technology requirements of the type of the three-hydraulic valves adopted by the person in the present embodiment.
The specific implementation process comprises the following steps:
intelligent vacuumizing: is suitable for the problem of little air leakage of a water pump in a starting state or a water suction pipeline
When a water level sensor integrated in the water pump 18 detects that the water level is too low, a feedback signal is sent to the controller 16, the controller 16 sends an instruction to a fourth working coupler 5.2 in the second electric proportional multi-way valve 5, the fourth working coupler 5.2 is powered to work, as the serial gear pump 3 is constantly in a working state, at this time, the hydraulic oil reaches an oil inlet of the gear serial pump 3 through the hydraulic oil tank 1 and the oil absorption filter 2, after passing through the gear serial pump 3, the high-pressure hydraulic oil is output to the oil inlet of the second electric proportional multi-way valve 5 through an output oil port I of the gear serial pump 3 and enters an oil inlet of the hydraulic motor 9 through the fourth working coupler 5.2, and after the hydraulic motor 9 is driven to rotate, the hydraulic oil enters the radiator 11 and the oil return filter 12 through an oil return port of the second electric proportional multi-way valve 5 and finally returns to the hydraulic oil tank 1 to complete a working cycle; the vacuum pump 17 is fixedly connected with the hydraulic motor 9 through a coupler, and the hydraulic motor 9 drives the vacuum pump 17 to rotate when working, so that air in a cavity of the water pump 18 and the water inlet pipeline is discharged.
Multi-load power output: is suitable for pumping and discharging precipitated sludge at low water level and after finishing water discharge
After the slurry pump 15 is arranged at a proper position, the second working link 4.2 in the first electric proportional multi-way valve 4 is electrified, because the gear series pump 3 is constantly in a working state, at the moment, oil liquid oil reaches an oil inlet of the gear series pump 3 through the hydraulic oil tank 1 and the oil absorption filter 2, after passing through the gear series pump 3, high-pressure oil liquid oil is output to an oil inlet P of the first electric proportional multi-way valve 4 through an output oil port II of the gear series pump and enters the slurry pump 15 through the second working link 4.2, after the slurry pump 15 is driven to work, hydraulic oil enters the radiator 11 and the oil return filter 12 through an oil return port T of the second electric proportional multi-way valve 5, and finally returns to the hydraulic oil tank 1 to complete the working cycle;
an emergency auxiliary function: when the engine is shut down due to water pump blockage or other uncontrollable factors, the engine and the water pump 18 are in a fixed connection state at the moment, the clutch cylinder 10 needs to be controlled to disconnect the connection between the engine and the water pump 18, and the gear tandem pump 3 cannot work at the moment and needs the manual pump 13 to participate. Specifically, the fifth working couple 5.3 in the second electric proportional multi-way valve 5 is powered, hydraulic oil enters the fifth working couple 5.3 in the second electric proportional multi-way valve 5 through the hydraulic oil tank 1, the manual pump 13 and the one-way valve 14 and enters the clutch oil cylinder 10, and after the clutch oil cylinder 10 is driven to be disengaged, the hydraulic oil returns to the hydraulic oil tank 1 through the oil return port T of the second electric proportional multi-way valve 5, the radiator 11 and the oil return filter 12, so that the disconnection function of the clutch oil cylinder 10 is completed.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (12)
1. The utility model provides a drainage waterlogging robot, characterized in that, including controller (16), hydraulic tank (1), gear series pump (3), first electric proportional multi-way valve (4), diverter valve (6) and first speed reducer (7) of walking, the oil inlet of gear series pump (3) communicates hydraulic tank (1), the oil delivery mouth II of gear series pump (3) communicates first electric proportional multi-way valve (4), first electric proportional multi-way valve (4) communicate diverter valve (6), diverter valve (6) communicate first speed reducer (7) of walking, oil port A1 of first electric proportional multi-way valve (4) communicates oil port P4 of first speed reducer (7) of walking, oil port B1 of first electric proportional multi-way valve (4) communicates oil port P3 of first speed reducer (7) of walking, gear series pump (3), first electric proportional multi-way valve (4), diverter valve (6) and first speed reducer (7) are connected to controller (16) electricity.
2. The waterlogging draining robot of claim 1,
comprises a second electric proportional multi-way valve (5) and a second walking speed reducer (8), the second electric proportional multi-way valve (5) comprises a third working unit (5.1), a fourth working unit (5.2) and a fifth working unit (5.3),
an oil delivery port I of the gear series pump (3) is communicated with a third working unit (5.1), a fourth working unit (5.2) and a fifth working unit (5.3), an oil port A1 of the third working unit (5.1) is communicated with an oil port P6 of a second walking speed reducer (8), and an oil port B1 of the third working unit (5.1) is communicated with an oil port P5 of the second walking speed reducer (8).
3. The waterlogging draining robot of claim 1,
the hydraulic control system comprises a first overflow valve (21), a second overflow valve (22), an air filter (23) and a two-position two-way electro-hydraulic valve (24), wherein the first electric proportional multi-way valve (4) comprises a first working connection (4.1) and a second working connection (4.2), an oil delivery port II of a gear series pump (3) is communicated with a first oil port of the two-position two-way electro-hydraulic valve (24), an oil port second of the two-position two-way electro-hydraulic valve (24) is communicated with an oil return port T1, a control port of the two-position two-way electro-hydraulic valve (24) is communicated with the hydraulic oil tank (1) through the second overflow valve (22) and the air filter (23), and a control port of the first working connection (4.1) and a control port of the second working connection (4.2) are communicated with the hydraulic oil tank (1) through the first overflow valve (21).
4. The waterlogging draining robot of claim 1,
the slurry pump comprises a slurry pump (15), and a first electric proportional multi-way valve (4) is communicated with the slurry pump (15).
5. The waterlogging draining robot of claim 2,
the hydraulic oil tank comprises an overflow valve (36), a second air filter (38), a fourth overflow valve (37), a fifth overflow valve (39) and a two-position two-way electrohydraulic valve II (40), wherein an oil delivery port I of a gear series pump (3) is communicated with a first oil port of the two-position two-way electrohydraulic valve II (40), an oil port of the two-position two-way electrohydraulic valve II (40) is communicated with a hydraulic oil tank multi-way 1 through the second air filter (38) and the fourth overflow valve (37), a second electric proportional valve (5) is communicated with the hydraulic oil tank (1) through the fifth overflow valve (39), and the second electric proportional multi-way valve (5) is communicated with the hydraulic oil tank (1) through the overflow valve (36).
6. The waterlogging draining robot of claim 2,
the hydraulic control system comprises a coupler, a hydraulic motor (9), a vacuum pump (17) and a water pump (18), wherein an oil port A2 and an oil port B2 of a fourth working coupler (5.2) are respectively communicated with two ends of the hydraulic motor (9), the hydraulic motor (9) is fixedly connected with the vacuum pump (17) through the coupler, and the vacuum pump (17) is communicated with the water pump (18).
7. The waterlogging draining robot of claim 2,
the hydraulic control system comprises a clutch cylinder (10), wherein an oil port A3 and an oil port B3 of a fifth working joint (5.3) are communicated with two ends of the clutch cylinder (10).
8. The waterlogging draining robot of claim 2,
the hydraulic oil tank comprises a radiator (11) and an oil return filter (12), wherein an oil return port T1 is communicated with the radiator (11), and the radiator (11) is communicated with the hydraulic oil tank (1) through the oil return filter (12).
9. The waterlogging draining robot of claim 2,
the hydraulic oil pump comprises a manual pump (13) and a one-way valve (14), wherein a hydraulic oil tank (1) is communicated with an oil delivery port I of a gear series pump (3) through the manual pump (13) and the one-way valve (14).
10. A control method of a flood drainage robot, characterized in that the following method is performed by using the flood drainage robot of any one of claims 1-9:
the controller (16) controls the fourth working unit (5.2) to work by electrifying;
the series gear pump (3) is in a working state all the time, and high-pressure oil reaches an oil inlet of the gear series pump (3) through the hydraulic oil tank (1) and the oil absorption filter (2);
high-pressure oil is output to an oil inlet of a third working unit (5.1), an oil inlet of a fourth working unit (5.2) and an oil inlet of a fifth working unit (5.3) through an oil delivery port I of the gear series pump (3);
high-pressure oil enters an oil inlet of the hydraulic motor (9) through the fourth working coupler (5.2), and after the hydraulic motor (9) is driven to rotate, hydraulic oil enters the radiator (11) and the oil return filter (12) through an oil return port of the second electric proportional multi-way valve (5) and returns to the hydraulic oil tank (1);
the hydraulic motor (9) drives the vacuum pump (17) to rotate, and drives the water pump (18) to discharge air in the cavity.
11. The control method of the flood drainage robot according to claim 10, comprising:
the controller (16) controls the second working unit (4.2) to work by electrifying;
the gear series pump (3) is in a working state all the time, and high-pressure oil reaches an oil inlet of the gear series pump (3) through the hydraulic oil tank (1) and the oil absorption filter (2);
high-pressure oil is output to a second working unit (4.2) through an output oil port II of the gear series pump (3);
high-pressure oil enters the slurry pump (15) through the second working connector (4.2) to drive the slurry pump (15) to work;
after the slurry pump (15) is driven to work, high-pressure oil enters the radiator (11) and the oil return filter (12) and returns to the hydraulic oil tank (1).
12. The method for controlling a waterlogging draining robot according to claim 10,
when the engine is shut down, the clutch oil cylinder (10) is controlled to disconnect the engine from the water pump (18), and the method is realized by the following steps:
the fifth working joint (5.3) is electrified, high-pressure oil enters the fifth working joint (5.3) through the hydraulic oil tank (1), the manual pump (13) and the one-way valve (14) and enters the clutch oil cylinder (10), and the clutch oil cylinder (10) is driven to be disengaged;
after the clutch oil cylinder (10) is driven by high-pressure oil to be separated, the high-pressure oil enters the radiator (11) and the oil return filter (12) and returns to the hydraulic oil tank (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310010747.4A CN115978031A (en) | 2023-01-05 | 2023-01-05 | Waterlogging drainage robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310010747.4A CN115978031A (en) | 2023-01-05 | 2023-01-05 | Waterlogging drainage robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115978031A true CN115978031A (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310010747.4A Pending CN115978031A (en) | 2023-01-05 | 2023-01-05 | Waterlogging drainage robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115978031A (en) |
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2023
- 2023-01-05 CN CN202310010747.4A patent/CN115978031A/en active Pending
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