CN117587912A - Sewer dredging vehicle control system and method - Google Patents

Abstract

The invention discloses a sewer dredging vehicle control system and method in the technical field of pipe network dredging equipment, and aims to solve the problems that in the prior art, in the process of placing a grab bucket into an inspection well, when an arm support stretches out, a winch cannot simultaneously unwind a rope, when the arm support retracts, the winch cannot simultaneously retract the rope, the efficiency is low, and the arm support is easy to shake, so that the whole sewer dredging vehicle shakes. The hydraulic oil pump comprises a hydraulic oil tank and a gear pump, wherein the oil outlets of electromagnetic proportional flow valves are respectively connected with the oil inlets of two pressure reducing valves, the oil outlet of one pressure reducing valve is connected with the oil inlet of a first electromagnetic proportional reversing valve, and the oil outlet of the other pressure reducing valve is connected with the oil inlet of a second electromagnetic proportional reversing valve; according to the invention, the telescopic oil cylinder and the winch motor are synchronously controlled, so that the positions of the grab bucket and the arm support can be maintained, the action of repeatedly operating the grab bucket is not needed, the starting, stopping and running of the telescopic oil cylinder are smooth, and the swinging of the arm support and the swinging of the grab bucket are reduced.

Description

Sewer dredging vehicle control system and method

Technical Field

The invention relates to a sewer dredging vehicle control system and a sewer dredging vehicle control method, and belongs to the technical field of pipe network dredging equipment.

Background

At present, most of the structures of dredging vehicles for inspection wells of water channels and sewer in the market are as follows: the tipping wagon is additionally provided with a crane arm support and a machine base, and the machine base comprises a fixed machine base and a rotary machine base; the fixed base is connected to the tipping bucket frame through bolts; the rotary base is connected with the fixed base through a rotary body. The arm support is fixed above the rotary machine base and comprises a fixed arm and a telescopic arm. The hoist and the steel wire rope assembly are arranged on the fixed arm, and the movable end of the steel wire rope is connected with the dredging grab bucket and the oil cylinder assembly. Hydraulic and electrical control systems are arranged on the frame. During operation, the revolving body drives the arm support to rotate, so that the arm support and the dump truck form an angle of approximately 90 degrees, and the arm support extends out of the winch rope releasing device, so that the dredging grab bucket enters the sewer inspection well. After the grab bucket is fully dug with sludge, the winch is used for rope collection, the arm support is retracted, the revolving body reversely rotates, the grab bucket is aligned to the sludge box, and the grab bucket is opened to complete one cycle. The hydraulic system of the dredging vehicle in the industry mostly adopts a gear pump and an open type hydraulic system consisting of an electric control multi-way valve, and an overwinding prevention sensor is arranged for preventing the winding overwinding steel wire rope from being damaged.

When the grab bucket is put into an inspection well, the winch cannot be simultaneously unreeled when the arm support stretches out, so that the grab bucket collides with the anti-overwinding sensor, the operation is automatically stopped, and the repeated operation efficiency is low; when the grab bucket is fully dug up with sludge and returns, the winch cannot simultaneously retract the rope, the position of the grab bucket relative to the arm support cannot be maintained, the grab bucket can be operated repeatedly, the efficiency is low, and the working efficiency of the device is affected; meanwhile, during operation, the arm support is easy to shake, so that the whole vehicle shakes, the action is inaccurate, and the working efficiency is low.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a control system and a control method for a sewer dredging vehicle, which are used for solving the problems that when a grab bucket is put into an inspection well in a hydraulic system of the dredging vehicle, a winch cannot be simultaneously unreeled when an arm support stretches out, so that the grab bucket collides with an anti-overwinding sensor, the operation is automatically stopped, and the repeated operation efficiency is low; when the grab bucket is dug to be full of silt and returns, the winch can not retract simultaneously when the arm support is retracted, the position of the grab bucket relative to the arm support can not be maintained, the grab bucket can be operated repeatedly, the efficiency is low, and when the grab bucket is operated, the arm support is easy to shake, so that the whole vehicle shakes, and the working efficiency of the device is affected.

In order to solve the technical problems, the invention is realized by adopting the following technical scheme:

in a first aspect, the invention provides a sewer dredging vehicle control system, which comprises a hydraulic oil tank and a gear pump, wherein an oil inlet of the gear pump is connected with the hydraulic oil tank, an oil outlet of the gear pump is connected with an oil inlet of an electromagnetic proportional flow valve, oil outlets of the electromagnetic proportional flow valves are respectively connected with oil inlets of two pressure reducing valves, one oil outlet of the pressure reducing valve is connected with an oil inlet of a first electromagnetic proportional reversing valve, an oil outlet of the pressure reducing valve is connected with an oil inlet of a second electromagnetic proportional reversing valve, and an oil return port of the first electromagnetic proportional reversing valve and an oil return port of the second electromagnetic proportional reversing valve are both connected with the hydraulic oil tank;

the first oil outlet of the first electromagnetic proportional reversing valve is connected with a rodless cavity of the telescopic oil cylinder, and the second oil outlet is connected with a rod cavity of the telescopic oil cylinder; the first oil outlet and the second oil outlet of the second electromagnetic proportional reversing valve are connected with the winch motor.

Further, an oil outlet of the electromagnetic proportional flow valve is respectively connected with an oil inlet of the first reversing valve, an oil inlet of the second reversing valve and an oil inlet of the third reversing valve, and an oil return port of the first reversing valve, an oil return port of the second reversing valve and an oil return port of the third reversing valve are all connected with the hydraulic oil tank;

the first oil outlet and the second oil outlet of the first reversing valve are connected with the rotary motor; the first oil outlet of the second reversing valve is connected with a rodless cavity of the amplitude variation oil cylinder, and the second oil outlet is connected with a rod cavity of the amplitude variation oil cylinder; the first oil outlet of the third reversing valve is connected with a rod cavity of the grab bucket oil cylinder, and the second oil outlet is connected with a rodless cavity of the grab bucket oil cylinder.

Further, the hydraulic oil pump further comprises an unloading valve, an oil inlet of the unloading valve is connected with an oil outlet of the gear pump, an oil outlet of the unloading valve is connected with the hydraulic oil tank, and a control oil port of the unloading valve is connected with an oil outlet of the electromagnetic proportional flow valve.

Further, the hydraulic oil pump further comprises an overflow valve, wherein an oil inlet of the overflow valve is connected with an oil outlet of the gear pump, and an oil outlet of the overflow valve is connected with the hydraulic oil tank.

Further, a first shuttle valve is arranged between the first oil outlet and the second oil outlet of the first electromagnetic proportional reversing valve, and a second shuttle valve is arranged between the first oil outlet and the second oil outlet of the second electromagnetic proportional reversing valve.

Further, the intelligent control system further comprises a remote controller and a controller, wherein the controller is used for receiving signals of the remote controller, and the controller is electrically connected with the electromagnetic proportional flow valve, the pressure reducing valve, the first electromagnetic proportional reversing valve, the second electromagnetic proportional reversing valve, the first reversing valve, the second reversing valve and the third reversing valve at the same time.

Further, the remote controller is provided with a one-key operation button and an independent operation button;

the number of the one-key operation buttons is two, one of the one-key operation buttons is used for simultaneously realizing the speed increase of the chassis engine, the extension of the arm support and the winding and unwinding of the rope, and the other one-key operation button is used for simultaneously realizing the speed increase of the chassis engine, the retraction of the arm support and the winding and unwinding of the rope;

the independent operation buttons comprise a winch rope releasing button, a winch rope collecting button, a grab bucket opening button, a grab bucket closing button and an arm support rotating button.

In a second aspect, the invention provides a sewer dredging vehicle, which comprises the sewer dredging vehicle control system in the first aspect, and further comprises a chassis, wherein a chassis engine is arranged in the chassis, a fixed base is arranged on the chassis, a rotary base which is rotationally connected is arranged on the fixed base, the rotary base is connected with the fixed base through a rotary motor, a fixed arm support which is rotationally connected is arranged on the rotary base, a luffing cylinder is arranged between the fixed arm support and the rotary base, one end of the fixed arm support is provided with a telescopic arm support, the telescopic arm support is connected with the same fixed arm support through a telescopic cylinder, a hoisting mechanism is arranged on the rotary base, the hoisting mechanism comprises the motor, one end of the hoisting mechanism extends to one side of the telescopic arm support and is connected with the grab bucket cylinder, a grab bucket is arranged at the output end of the grab bucket cylinder, a sludge box is arranged at one side of the top of the chassis, and a landing leg cylinder for controlling landing leg lifting is arranged on the outer wall of the chassis.

Furthermore, an overwinding prevention sensor is arranged on one side, close to the grab bucket, of the outer wall of the telescopic boom.

In a third aspect, the present invention provides a sewer dredging vehicle control method, based on the sewer dredging vehicle in the second aspect, the method includes:

the chassis is parked at a proper position from the pit, and the extension of the supporting leg oil cylinder is controlled;

controlling the amplitude variation oil cylinder to extend out, so that the fixed arm support rotates upwards to a required angle;

controlling the rotation of the rotary motor to enable the fixed arm support to face the pit;

pressing a key operation button to synchronously realize the speed increase of the chassis engine, the extension of the extension arm support driven by the extension oil cylinder and the rope releasing of the hoisting mechanism until the grab bucket moves to the upper part of the pit;

pressing a winch rope releasing button to enable the grab bucket to move downwards until touching the ground;

pressing a grab opening button to open the grab;

pressing a grab bucket closing button to enable the grab bucket to be closed to grab sludge;

pressing a winch rope-collecting key to enable the grab bucket to move upwards until the grab bucket leaves the pit;

pressing another one-key operation button to synchronously realize the speed increase of the chassis engine, the retraction of the telescopic boom driven by the telescopic cylinder and the rope retraction of the hoisting mechanism until the grab bucket is restored to the original position;

controlling the rotary motor to rotate so that the grab bucket moves to the position right above the sludge tank;

the grab bucket opening button is pressed to open the grab bucket, so that sludge is discharged into the sludge box.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the sewer dredging vehicle control system, hydraulic oil output by the electromagnetic proportional flow valve can enter the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve at the same time, so that synchronous control is performed on the telescopic oil cylinder and the winch motor, when the arm support stretches out, the winch can synchronously unwind ropes, and when the arm support retracts, the winch can simultaneously retract the ropes, so that the positions of the grab bucket and the arm support can be maintained, the action of repeatedly operating the grab bucket is not needed, and the working efficiency of the device is ensured;

2. according to the sewer dredging vehicle control system, the electric system is used for inputting the required electric signals into the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve, and the pressure reducing valve is combined, so that the flow of hydraulic oil entering the telescopic oil cylinder and the winch motor is accurately controlled, the influence of load change is avoided, when the telescopic oil cylinder is started and operated to the tail end, different electric signals are input, on the premise that the working efficiency is ensured, the telescopic oil cylinder is enabled to be started, stopped and operated smoothly, the swinging of the arm support and the swinging of the grab bucket are greatly weakened, and the working efficiency of the device is further ensured;

3. the remote controller panel is provided with the one-key operation buttons and the independent operation buttons, the one-key operation buttons can realize synchronous actions of the arm support and the winch, and meanwhile, the chassis engine is accelerated, and the efficiency in synchronous operation is improved; the independent buttons can operate a single action according to the needs, so that the practicability of the device is ensured.

Drawings

FIG. 1 is a schematic diagram of a system for controlling a sewer dredging vehicle according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a front view structure of a dredging vehicle for sewer provided in accordance with an embodiment of the present invention;

fig. 3 is a schematic top view of a sewer dredging vehicle according to an embodiment of the invention.

In the figure: 1. a hydraulic oil tank; 2. a gear pump; 3. an integrated valve block; 4. an overflow valve; 5. an unloading valve; 6. an electromagnetic proportional flow valve; 7. a first reversing valve; 8. a rotary motor; 9. a first electromagnetic proportional reversing valve; 10. a telescopic oil cylinder; 11. a first shuttle valve; 12. a pressure reducing valve; 13. a hoist motor; 14. a second electromagnetic proportional reversing valve; 15. grab bucket oil cylinder; 16. a luffing cylinder; 17. a second reversing valve; 18. a third reversing valve; 19. a chassis; 20. a hoisting mechanism; 21. a rotary machine base; 22. an overwinding prevention sensor; 23. fixing the arm support; 24. a telescopic boom; 25. a sludge tank; 26. a grab bucket; 27. fixing the stand; 28. and a supporting leg oil cylinder.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.

Embodiment one:

as shown in fig. 1, the invention provides a sewer dredging vehicle control system, which comprises a hydraulic oil tank 1 and a gear pump 2, wherein an oil inlet of the gear pump 2 is connected with the hydraulic oil tank 1, an oil outlet of the gear pump 2 is connected with an oil inlet of an electromagnetic proportional flow valve 6, oil outlets of the electromagnetic proportional flow valve 6 are respectively connected with oil inlets of two pressure reducing valves 12, one oil outlet of the pressure reducing valve 12 is connected with an oil inlet of a first electromagnetic proportional reversing valve 9, an oil outlet of the other pressure reducing valve 12 is connected with an oil inlet of a second electromagnetic proportional reversing valve 14, and an oil return port of the first electromagnetic proportional reversing valve 9 and an oil return port of the second electromagnetic proportional reversing valve 14 are both connected with the hydraulic oil tank 1; the first oil outlet of the first electromagnetic proportional reversing valve 9 is connected with a rodless cavity of the telescopic oil cylinder 10, and the second oil outlet is connected with a rod cavity of the telescopic oil cylinder 10; the first oil outlet and the second oil outlet of the second electromagnetic proportional reversing valve 14 are connected with the winch motor 13.

Specifically, the main functions of the hydraulic oil tank 1 are to store oil and dissipate heat for a hydraulic system, and a pump oil pumping filter element, an oil return filter, an air filter, a liquid level meter and the like are arranged in the hydraulic oil tank 1; the gear pump 2 is arranged at a side power take-off outlet of a gear box of the chassis of the dump truck, and the gear pump 2 is used for providing power for the system; the electromagnetic proportional flow valve 6, the first electromagnetic proportional reversing valve 9, the second electromagnetic proportional reversing valve 14, the first reversing valve 7, the second reversing valve 17, the third reversing valve 18 and other valves are integrated into an integrated valve block 3, oil ports such as P, T are arranged on the integrated valve block 3, and an oil outlet of the gear pump 2 is communicated with a P port of the integrated valve block 3 through a hydraulic rubber pipe; when the hydraulic oil pump works, the gear pump 2 starts to work, hydraulic oil is input into the electromagnetic proportional flow valve 6, a required current value is input into an electromagnetic coil of the electromagnetic proportional flow valve 6 through an electrical system according to actual working requirements, so that the electromagnetic proportional flow valve 6 outputs a certain amount of hydraulic oil, redundant hydraulic oil can return to a hydraulic oil tank through the unloading valve 5, the hydraulic oil output by the electromagnetic proportional flow valve 6 can enter the first electromagnetic proportional reversing valve 9 and the second electromagnetic proportional reversing valve 14 at the same time, synchronous control is carried out on the telescopic oil cylinder 10 and the winch motor 13, when the arm support stretches out, the winch can synchronously unwind ropes, when the arm support retracts, the winch can simultaneously retract ropes, so that the positions of the grab 26 and the arm support can be maintained, the action of repeatedly operating the grab 26 is not needed, and the working efficiency of the device is ensured; meanwhile, the electric system can be used for inputting respective required electric signals into the first electromagnetic proportional reversing valve 9 and the second electromagnetic proportional reversing valve 14, and the pressure reducing valve 12 is combined, so that the flow of hydraulic oil entering the telescopic oil cylinder 10 and the winch motor 13 is accurately controlled, the influence of load change is avoided, when the telescopic oil cylinder 10 is started and operated to the tail end, different electric signals are input, on the premise of ensuring the working efficiency, the telescopic oil cylinder 10 is enabled to be relatively gentle in the starting, stopping and operation, the swinging of the arm support and the grab bucket 26 is greatly weakened, and the working efficiency of the device is further ensured; optionally, the electromagnetic proportional flow valve 6 is a three-way proportional throttle valve, the electric system inputs different current values to the electromagnetic coil of the valve, the valve outputs hydraulic oil with different flow rates, and redundant hydraulic oil returns to the hydraulic oil tank 1 through the unloading valve 5.

In one embodiment, the oil outlet of the electromagnetic proportional flow valve 6 is respectively connected with the oil inlet of the first reversing valve 7, the oil inlet of the second reversing valve 17 and the oil inlet of the third reversing valve 18, and the oil return port of the first reversing valve 7, the oil return port of the second reversing valve 17 and the oil return port of the third reversing valve 18 are all connected with the hydraulic oil tank 1; the first oil outlet and the second oil outlet of the first reversing valve 7 are connected with the rotary motor 8; the first oil outlet of the second reversing valve 17 is connected with the rodless cavity of the amplitude variation oil cylinder 16, and the second oil outlet is connected with the rod cavity of the amplitude variation oil cylinder 16; the first oil outlet of the third reversing valve 18 is connected with the rod cavity of the grab bucket cylinder 15, and the second oil outlet is connected with the rodless cavity of the grab bucket cylinder 15.

Specifically, during operation, hydraulic oil output by the electromagnetic proportional flow valve 6 can enter the first electromagnetic proportional reversing valve 9, the second electromagnetic proportional reversing valve 14, the first reversing valve 7, the second reversing valve 17 and the third reversing valve 18 at the same time, so that synchronous control can be performed on the telescopic oil cylinder 10, the winch motor 13, the rotary motor 8, the luffing oil cylinder 16 and the grab oil cylinder 15 according to actual working requirements, and meanwhile, compound actions between the oil cylinders and the motors can be realized, and the efficiency of synchronous operation is improved; optionally, the first reversing valve 7, the second reversing valve 17 and the third reversing valve 18 are all three-position four-way reversing valves.

An embodiment further comprises an unloading valve 5, wherein an oil inlet of the unloading valve 5 is connected with an oil outlet of the gear pump 2, an oil outlet of the unloading valve 5 is connected with the hydraulic oil tank 1, and a control oil port of the unloading valve 5 is connected with an oil outlet of the electromagnetic proportional flow valve 6.

Specifically, the oil inlet of the unloading valve 5 is directly communicated with the P port of the integrated valve block 3, the oil outlet is directly communicated with the T port of the integrated valve block 3, the control oil port is communicated with the A1 oil port of the electromagnetic proportional flow valve 6, the opening pressure of the unloading valve 5 is low, the energy loss is small, and redundant hydraulic oil can flow back to the hydraulic oil tank 1 through the unloading valve 5.

The embodiment further comprises an overflow valve 4, wherein an oil inlet of the overflow valve 4 is connected with an oil outlet of the gear pump 2, an oil outlet of the overflow valve 4 is connected with the hydraulic oil tank 1, the overflow valve 4 is a system safety valve for preventing overload of a system, a pipeline and elements are protected, the oil inlet is directly communicated with a P port of the integrated valve block 3, and the oil outlet is directly communicated with a T port of the integrated valve block 3.

In one embodiment, a first shuttle valve 11 is disposed between a first oil outlet and a second oil outlet of the first electromagnetic proportional reversing valve 9, a second shuttle valve is disposed between a first oil outlet and a second oil outlet of the second electromagnetic proportional reversing valve 14, and the first shuttle valve 11 is used for realizing accurate control of hydraulic oil when the telescopic oil cylinder 10 extends and retracts; the second shuttle valve is used for realizing accurate control of hydraulic oil when the winch motor 13 rotates, and further ensures the stability of the arm support and the grab bucket during operation.

The arm support and the winch adopt an oil way formed by the pressure reducing valve 12, the first electromagnetic proportional reversing valve 9, the second electromagnetic proportional reversing valve 14, the first shuttle valve 11 and the second shuttle valve, the output flow is constant, more accurate synchronous action is realized under the control of an electrical system, and the aim that the grab bucket 26 just falls down to a manhole in the process of extending the arm support is achieved; when the arm support is retracted, the grab bucket 26 always keeps a relatively proper position with the arm support, and the unloading is convenient.

An embodiment further comprises a remote controller and a controller, wherein the controller is used for receiving signals of the remote controller, and the controller is electrically connected with the electromagnetic proportional flow valve 6, the pressure reducing valve 12, the first electromagnetic proportional reversing valve 9, the second electromagnetic proportional reversing valve 14, the first reversing valve 7, the second reversing valve 17 and the third reversing valve 18 at the same time; a key operation button and an independent operation button are arranged on the remote controller; the number of the one-key operation buttons is two, one of the one-key operation buttons is used for simultaneously realizing the speed increase of the chassis engine, the extension of the arm support and the winding and unwinding of the rope, and the other one-key operation button is used for simultaneously realizing the speed increase of the chassis engine, the retraction of the arm support and the winding and unwinding of the rope; the independent operation buttons comprise a winch rope releasing button, a winch rope collecting button, a grab bucket opening button, a grab bucket closing button and an arm support rotating button.

Specifically, a plurality of independent operation buttons are arranged on the remote controller, so that the boom can rotate left and right, the boom rises and descends, the boom stretches out and retracts, the rope is hoisted, released and received, and the grab bucket 26 is opened and closed; the remote controller is also provided with a key operation button which can simultaneously perform chassis starting speed up, arm support extension and hoisting rope releasing grab 26 falling, and the other key operation button can simultaneously perform chassis starting speed up, arm support retraction and hoisting rope collecting grab 26 lifting; the double keys can finish the composite actions of lifting the arm support, extending the arm support, lowering the arm support, retracting the arm support and the like; the controller is provided with information values of each electromagnetic valve, and when the controller receives input signals of the remote controller, the controller outputs information to corresponding electromagnetic valve coils, so that accurate control of actions is realized.

The remote controller panel is provided with the one-key operation buttons and the independent operation buttons, the one-key operation buttons can realize synchronous actions of the arm support and the winch, and meanwhile, the chassis engine is accelerated, and the efficiency in synchronous operation is improved; the independent buttons can operate a single action according to the needs, so that the practicability of the device is ensured.

Embodiment two:

as shown in fig. 2-3, the present invention provides a sewer dredging vehicle, which comprises the sewer dredging vehicle control system according to the first embodiment, and further comprises a chassis 19, wherein a chassis engine is arranged in the chassis 19, a fixed base 27 is arranged on the chassis 19, a rotary base 21 which is rotationally connected is arranged on the fixed base 27, the rotary base 21 is connected with the fixed base 27 through a rotary motor 8, a fixed boom 23 which is rotationally connected is arranged on the rotary base 21, a luffing cylinder 16 is arranged between the fixed boom 23 and the rotary base 21, one end of the fixed boom 23 is provided with a telescopic boom 24, the telescopic boom 24 is also connected with the fixed boom 23 through a telescopic cylinder 10, a winch mechanism 20 is arranged on the rotary base 21, the winch mechanism 20 comprises a winch motor 13, one end of the winch mechanism 20 extends to one side of the telescopic boom 24 and is connected with the grab cylinder 15, an output end of the grab cylinder 15 is provided with a grab bucket 26, a sludge box 25 is arranged on one side of the top of the chassis 19 at the grab bucket 26, and a supporting leg 28 for controlling the lifting of the chassis 19 is arranged on the outer wall of the chassis; the outer wall of the telescopic boom 24 is provided with an overwinding prevention sensor 22 at one side close to the grab bucket 26.

Specifically, the invention is provided with the overwinding prevention sensor 22, which is used for preventing the damage of the steel wire rope when the hoisting mechanism 20 is placed and infinitely receives the rope, and the electric system automatically protects against power failure when the overwinding prevention sensor 22 is touched in the ascending process of the grab 26; the chassis engine is a power source of the sewer dredging vehicle; specifically, the boom according to the first embodiment includes a fixed boom 23 and a telescopic boom 24, and the winch includes a winch mechanism 20 and a winch motor 13.

Embodiment III:

the invention provides a control method of a sewer dredging vehicle, which is based on the sewer dredging vehicle in the second embodiment, and comprises the following steps:

parking the chassis 19 at a proper position from the pit, and controlling the supporting leg oil cylinders 28 to extend;

the amplitude variation oil cylinder 16 is controlled to extend, so that the fixed arm support 23 rotates upwards to a required angle;

the rotary motor 8 is controlled to rotate, so that the fixed arm support 23 faces the pit;

pressing a key operation button to synchronously realize the speed increase of the chassis engine, the extension of the extension arm support 24 driven by the extension oil cylinder 10 and the rope releasing of the hoisting mechanism 20 until the grab 26 moves to the upper part of the pit;

pressing the hoist rope pay-off button to cause the grapple 26 to move downward until touching the ground;

pressing the grapple opening button causes grapple 26 to open;

pressing the grapple closure button so that the grapple 26 is closed to grasp sludge;

pressing the winch rope-receiving button to cause the grab 26 to move upward until it leaves the pit;

pressing the other one-key operation button to synchronously realize the speed increase of the chassis engine, the retraction of the telescopic boom 24 driven by the telescopic cylinder 10 and the rope retraction of the hoisting mechanism 20 until the grab 26 is restored to the original position;

the rotary motor 8 is controlled to rotate, so that the grab 26 moves to the position right above the sludge tank 25;

pressing the grab opening button causes the grab 26 to open, discharging the sludge into the sludge tank 25.

Specifically, before the dredging vehicle works, the chassis 19 is parked at a proper position from the inspection well, the supporting leg oil cylinders 28 extend, the remote controller sequentially operates to enable the amplitude variable oil cylinders 16 to extend, and the fixed arm support 23 rotates upwards; the rotary base 21 rotates 90 degrees to enable the arm support to rotate to an inspection well direction perpendicular to the chassis 19, at the moment, the fixed arm support 23, the telescopic arm support 24, the grab bucket 26 and the hoisting mechanism 20 are rotated, a key operation button of the remote controller is pressed to enable the arm support to extend, the hoisting mechanism 20 is used for paying off a rope and accelerating a chassis engine, at the moment, the controller receives instructions from the remote controller, the controller outputs information to corresponding elements and the chassis engine to accelerate the chassis engine, the telescopic oil cylinder 10 extends out to drive the telescopic arm support 24 to extend out, the hoisting motor 13 rotates, and the hoisting mechanism 20 is used for paying off the rope until the grab bucket 26 falls down to the inspection well mouth; at the moment, a hand releases a key operation button, and singly operates a grab bucket falling button until the grab bucket 26 collides with the ground, presses a grab bucket opening button, stretches out a grab bucket oil cylinder 15 until the grab bucket 26 opens to grab sludge, then presses a grab bucket closing button and a winch rope collecting button, retracts the grab bucket oil cylinder 15, closes the grab bucket 26, reversely rotates a winch motor 13, and the winch mechanism 20 collects ropes, so that the grab bucket 26 leaves a scenting wellhead; pressing another one-key operation button to retract the arm support, retract the hoisting mechanism 20, accelerate the chassis engine, and lift the grab bucket 26 all the time, retracting the telescopic cylinder 10 to drive the telescopic arm support 24 to retract, wherein the grab bucket 26 and the telescopic arm support 24 always keep a proper position; and then the rotary motor 8 is controlled to rotate, so that the grab bucket 26 rotates to be right above the sludge box 25, the grab bucket opening key is pressed, and the sludge is discharged into the sludge box 25, so that one cycle of sludge loading and unloading is completed.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (10)

1. The sewer dredging vehicle control system is characterized by comprising a hydraulic oil tank (1) and a gear pump (2), wherein an oil inlet of the gear pump (2) is connected with the hydraulic oil tank (1), an oil outlet of the gear pump (2) is connected with an oil inlet of an electromagnetic proportional flow valve (6), oil outlets of the electromagnetic proportional flow valve (6) are respectively connected with oil inlets of two pressure reducing valves (12), one oil outlet of the pressure reducing valve (12) is connected with an oil inlet of a first electromagnetic proportional reversing valve (9), an oil outlet of the other pressure reducing valve (12) is connected with an oil inlet of a second electromagnetic proportional reversing valve (14), and an oil return port of the first electromagnetic proportional reversing valve (9) and an oil return port of the second electromagnetic proportional reversing valve (14) are both connected with the hydraulic oil tank (1);

the first oil outlet of the first electromagnetic proportional reversing valve (9) is connected with a rodless cavity of the telescopic oil cylinder (10), and the second oil outlet is connected with a rod cavity of the telescopic oil cylinder (10); the first oil outlet and the second oil outlet of the second electromagnetic proportional reversing valve (14) are connected with the winch motor (13).

2. The sewer dredging vehicle control system according to claim 1, characterized in that the oil outlet of the electromagnetic proportional flow valve (6) is connected with the oil inlet of a first reversing valve (7), the oil inlet of a second reversing valve (17) and the oil inlet of a third reversing valve (18), respectively, and the oil return port of the first reversing valve (7), the oil return port of the second reversing valve (17) and the oil return port of the third reversing valve (18) are connected with the hydraulic oil tank (1);

the first oil outlet and the second oil outlet of the first reversing valve (7) are connected with the rotary motor (8); the first oil outlet of the second reversing valve (17) is connected with a rodless cavity of the amplitude variation oil cylinder (16), and the second oil outlet is connected with a rod cavity of the amplitude variation oil cylinder (16); the first oil outlet of the third reversing valve (18) is connected with a rod cavity of the grab bucket oil cylinder (15), and the second oil outlet is connected with a rodless cavity of the grab bucket oil cylinder (15).

3. The sewer dredging vehicle control system according to claim 1, further comprising an unloading valve (5), wherein an oil inlet of the unloading valve (5) is connected with an oil outlet of the gear pump (2), an oil outlet of the unloading valve (5) is connected with the hydraulic oil tank (1), and a control oil port of the unloading valve (5) is connected with an oil outlet of the electromagnetic proportional flow valve (6).

4. The sewer dredging vehicle control system according to claim 1, further comprising an overflow valve (4), wherein an oil inlet of the overflow valve (4) is connected with an oil outlet of the gear pump (2), and an oil outlet of the overflow valve (4) is connected with the hydraulic oil tank (1).

5. The sewer dredging vehicle control system according to claim 1, wherein a first shuttle valve (11) is arranged between a first oil outlet and a second oil outlet of the first electromagnetic proportional reversing valve (9), and a second shuttle valve is arranged between a first oil outlet and a second oil outlet of the second electromagnetic proportional reversing valve (14).

6. The sewer dredging vehicle control system according to claim 2, further comprising a remote controller and a controller, wherein the controller is configured to receive signals from the remote controller, and the controller is electrically connected to the electromagnetic proportional flow valve (6), the pressure reducing valve (12), the first electromagnetic proportional reversing valve (9), the second electromagnetic proportional reversing valve (14), the first reversing valve (7), the second reversing valve (17) and the third reversing valve (18) at the same time.

7. The sewer dredging vehicle control system according to claim 6, wherein the remote controller is provided with a key operation button and an independent operation button;

the number of the one-key operation buttons is two, one of the one-key operation buttons is used for simultaneously realizing the speed increase of the chassis engine, the extension of the arm support and the winding and unwinding of the rope, and the other one-key operation button is used for simultaneously realizing the speed increase of the chassis engine, the retraction of the arm support and the winding and unwinding of the rope;

the independent operation buttons comprise a winch rope releasing button, a winch rope collecting button, a grab bucket opening button, a grab bucket closing button and an arm support rotating button.

8. The sewer dredging vehicle is characterized by comprising the sewer dredging vehicle control system according to claim 7, and further comprising a chassis (19), wherein a chassis engine is arranged in the chassis (19), a fixed frame (27) is arranged on the chassis (19), a rotary frame (21) which is rotationally connected is arranged on the fixed frame (27), the rotary frame (21) is connected with the fixed frame (27) through a rotary motor (8), a fixed arm support (23) which is rotationally connected is arranged on the rotary frame (21), a luffing cylinder (16) is arranged between the fixed arm support (23) and the rotary frame (21), one end of the fixed arm support (23) is provided with a telescopic arm support (24), the telescopic arm support (24) is also connected with the fixed arm support (23) through a telescopic cylinder (10), a winch mechanism (20) is arranged on the rotary frame (21), the winch mechanism (20) comprises a winch motor (13), one end of the winch mechanism (20) extends to one side of the telescopic arm support (24) and is connected with the telescopic arm support cylinder (15), the grab arm support (26) is provided with a grab bucket (25) at one side of the grab bucket, the grab bucket (26) is arranged at the top of the grab bucket (15), the outer wall of the chassis (19) is provided with a landing leg oil cylinder (28) for controlling landing legs to lift.

9. The sewer dredging vehicle according to claim 8, wherein an anti-overwinding sensor (22) is arranged on one side of the outer wall of the telescopic boom (24) close to the grab bucket (26).

10. A sewer dredging vehicle control method, characterized in that it is based on a sewer dredging vehicle according to any of claims 8-9, the method comprising:

the chassis (19) is parked at a proper position from the pit, and the supporting leg oil cylinders (28) are controlled to extend out;

the amplitude-variable oil cylinder (16) is controlled to extend out, so that the fixed arm support (23) rotates upwards to a required angle;

controlling the rotation of the rotary motor (8) to enable the fixed arm support (23) to face the pit;

pressing a key operation button to synchronously realize the speed increase of the chassis engine, the extension of the extension arm support (24) driven by the extension oil cylinder (10) and the rope releasing of the hoisting mechanism (20) until the grab bucket (26) moves to the upper part of the pit;

pressing a winch rope releasing button to enable the grab bucket (26) to move downwards until touching the ground;

pressing a grab opening button to open the grab (26);

pressing a grab bucket closing button to enable the grab bucket (26) to be closed to grab sludge;

pressing a winch rope-collecting key to enable the grab bucket (26) to move upwards until the grab bucket leaves the pit;

pressing the other one-key operation button to synchronously realize the speed increase of the chassis engine, the retraction of the telescopic boom (24) driven by the telescopic oil cylinder (10) and the rope retraction of the hoisting mechanism (20) until the grab bucket (26) is restored to the original position;

controlling the rotary motor (8) to rotate so that the grab bucket (26) moves to the position right above the sludge box (25);

the grab opening button is pressed to open the grab (26) and discharge the sludge into the sludge tank (25).