CN118564506B

CN118564506B - Hydraulic system, waterlogging robot, control method, control system and readable storage medium

Info

Publication number: CN118564506B
Application number: CN202410704391.9A
Authority: CN
Inventors: 高荣; 张勇; 李亮
Original assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Current assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Priority date: 2024-05-31
Filing date: 2024-05-31
Publication date: 2025-12-09
Anticipated expiration: 2044-05-31
Also published as: CN118564506A

Abstract

The invention discloses a hydraulic system, a waterlogging robot, a control method, a control system and a readable storage medium, and relates to the field of hydraulic pressure. The hydraulic system comprises a variable plunger pump, an engine, a hydraulic clutch, a water pump, a first valve bank, an oil cylinder assembly and a second valve bank. The engine is in driving connection with the variable plunger pump. The hydraulic clutch is in driving connection with the engine and comprises a closed state and an open state. The water pump is connected with the hydraulic clutch, wherein when the hydraulic clutch is in a closed state, the engine drives the water pump through the hydraulic clutch. The first valve set is positioned downstream of and in fluid communication with the variable displacement pump, and includes a first conductive state and a second conductive state. The oil cylinder assembly comprises a first oil cylinder and a second oil cylinder. The second valve group comprises a third conducting state and a fourth conducting state. According to the technical scheme, the water outlet state of the water outlet of the water pump can be flexibly controlled, and further the system efficiency of the hydraulic system is improved.

Description

Hydraulic system, waterlogging robot, control method, control system and readable storage medium

Technical Field

The invention relates to the field of hydraulic pressure, in particular to a hydraulic system, a waterlogging drainage robot, a control method, a control system and a readable storage medium.

Background

The emergency rescue requirement of the flood disaster is most urgent, and the research and development of emergency equipment for the flood disaster has important value.

Urban waterlogging points generally have the defect of narrow space and limited movement of vehicles. Therefore, xu Gong has developed a small-sized waterlogging-discharging robot, and the small-sized waterlogging-discharging robot has the advantages of high efficiency, compact structure and the like by directly driving a water pump through an engine.

The inventor finds that the prior art has at least the following problems that the current small-sized waterlogging robot has large power loss and the system efficiency is reduced.

Disclosure of Invention

The invention provides a hydraulic system, a waterlogging robot, a control method, a control system and a readable storage medium, which are used for improving the system efficiency of the waterlogging robot.

The embodiment of the invention provides a hydraulic system which comprises a variable plunger pump, an engine, a hydraulic clutch, a water pump, a first valve bank, an oil cylinder assembly and a second valve bank. The variable displacement pump is configured to provide hydraulic oil. And the engine is in driving connection with the variable plunger pump. The hydraulic clutch is in driving connection with the engine and comprises a closed state and an open state. The engine drives the water pump through the hydraulic clutch when the hydraulic clutch is in a closed state, and the engine cannot drive the water pump through the hydraulic clutch when the hydraulic clutch is in an open state. A first valve block is downstream of and in fluid communication with the variable displacement pump, the first valve block including a first conductive state and a second conductive state. The oil cylinder assembly comprises a first oil cylinder and a second oil cylinder. The second valve group comprises a third conducting state and a fourth conducting state. When the first valve group is in a first conduction state and the second valve group is in a third conduction state, oil flows according to the following paths, namely the variable plunger pump, the first valve group, the second valve group and the rodless cavity of the oil cylinder assembly, so that the first oil cylinder and the second oil cylinder of the oil cylinder assembly extend out.

When the first valve bank is in a first conduction state and the second valve bank is in a fourth conduction state, oil flows according to the following paths, namely the variable plunger pump, the first valve bank, the second valve bank and the hydraulic clutch, so that the hydraulic clutch is switched to a closed state;

When the first valve bank is in a second conduction state and the second valve bank is in a third conduction state, oil flows according to the following paths, namely the variable plunger pump, the first valve bank, the oil cylinder assembly and the second valve bank, so that the first oil cylinder and the second oil cylinder of the oil cylinder assembly retract.

In some embodiments, the first valve block includes a two-position three-way valve, a three-position seven-way valve, a first pilot control valve, and a second pilot control valve. The two-position three-way valve comprises a first oil port, a second oil port, a third oil port and a first pilot oil port. The three-position seven-way valve comprises a first oil port, a second oil port, a third oil port, a fourth oil port, a fifth oil port, a sixth oil port, a seventh oil port, a first pilot oil port and a second pilot oil port, wherein the first oil port of the three-position seven-way valve is communicated with an oil outlet of the variable plunger pump, and the seventh oil port of the three-position seven-way valve is communicated with an oil return path. The first pilot control valve is arranged between an oil outlet of the variable plunger pump and a first pilot oil port of the three-position seven-way valve. The second pilot control valve is arranged between the oil outlet of the variable plunger pump and the second pilot oil port of the three-position seven-way valve.

When the first valve group is at a first valve position, the second pilot control valve Y1 is conducted, a first oil port of the three-position seven-way valve is communicated with a fourth oil port of the three-position seven-way valve, a second oil port of the three-position seven-way valve is communicated with a fifth oil port of the three-position seven-way valve, a third oil port of the three-position seven-way valve is communicated with a rod cavity of the first oil cylinder and the second oil cylinder, a fourth oil port of the three-position seven-way valve is communicated with a first oil port of the two-position three-way valve and a first pilot oil port of the two-position three-way valve, and a first oil port of the two-position three-way valve is communicated with a second oil port of the two-position three-way valve.

When the first valve group is at the second valve position, the first pilot control valve is conducted, the first oil port of the three-position seven-way valve is communicated with the fourth oil port of the three-position seven-way valve, the third oil port of the three-position seven-way valve is communicated with the fifth oil port of the three-position seven-way valve, the fifth oil port of the three-position seven-way valve is communicated with the third oil port of the three-position seven-way valve, the third oil port of the three-position seven-way valve is communicated with the first oil cylinder and the second oil cylinder and is communicated with a rod cavity, the second oil port of the three-position seven-way valve is communicated with the sixth oil port of the three-position seven-way valve, and the sixth oil port of the three-position seven-way valve is communicated with an oil return path.

In some embodiments, the first valve block further comprises a first relief valve and/or a second relief valve. The first overflow valve is arranged between the second oil port of the three-position seven-way valve and the oil return path, and the second overflow valve is arranged between the third oil port of the three-position seven-way valve and the oil return path.

In some embodiments, the second valve block includes a first electronically controlled on-off valve, a second electronically controlled on-off valve, and a third electronically controlled on-off valve. The first electric control switch valve comprises a first oil port, a second oil port and a third oil port, wherein the first oil port of the first electric control switch valve is communicated with the second oil port of the three-position seven-way valve, the second oil port of the first electric control switch valve is communicated with a rodless cavity of a first oil cylinder and a rodless cavity of a second oil cylinder of the oil cylinder assembly, when the first electric control switch valve is powered on, the first oil port of the first electric control switch valve is communicated with the second oil port of the first electric control switch valve, and when the first electric control switch valve is powered off, the first oil port of the first electric control switch valve is communicated with the third oil port of the first electric control switch valve. The second electric control switch valve comprises a first oil port, a second oil port and a third oil port, wherein the first oil port of the second electric control switch valve is communicated with the walking motor, the second oil port of the second electric control switch valve is communicated with an MX oil way, and when the second electric control switch valve is electrified, the first oil port of the second electric control switch valve is communicated with the second oil port of the second electric control switch valve. When the second electric control switch valve is powered off, the first oil port of the second electric control switch valve is communicated with the third oil port of the second electric control switch valve.

The third electric control switch valve comprises a first oil port, a second oil port and a third oil port, wherein the third oil port of the third electric control switch valve is communicated with the third oil port of the first electric control switch valve, the third oil port of the second electric control switch valve is communicated with the second oil port of the third electric control switch valve, when the third electric control switch valve is electrified, the first oil port of the third electric control switch valve is communicated with the third oil port of the third electric control switch valve, and when the third electric control switch valve is in power failure, the first oil port of the third electric control switch valve is communicated with the second oil port of the third electric control switch valve.

In some embodiments, the second valve block further comprises a first pressure relief valve disposed between the third port of the first electronically controlled on-off valve and the third port of the third electronically controlled on-off valve.

In some embodiments, the hydraulic system is in a state that a plurality of water ports of the water pump are all opened, and then the hydraulic system comprises the following working state and a first communication state. When the hydraulic system is in a first communication state, the second pilot control valve is electrified, the first pilot oil port of the two-position three-way valve is conducted, hydraulic oil flows into a first oil port of the three-position seven-way valve through the variable plunger pump, flows into a first oil port of the two-position three-way valve through a fourth oil port of the three-position seven-way valve, flows back into a fifth oil port of the three-position seven-way valve through a second oil port of the two-position three-way valve, flows into the first oil port of the first electric control switch valve through the second oil port of the three-position seven-way valve, flows into rodless cavities of a first oil cylinder and a second oil cylinder of the oil cylinder assembly through the second oil port of the first electric control switch valve, and flows back into an oil return oil way through a third oil port of the three-position seven-way valve and a sixth oil port of the three-position seven-way valve, so that the first oil cylinder and the second oil cylinder can extend out.

In some embodiments, the hydraulic system further includes the following operating condition second communication condition. In a second communication state, the second pilot control valve is electrified, the first electric control switch valve is powered off, the third electric control switch valve is powered off, the first pilot oil port of the two-position three-way valve is conducted, oil flows in the following path, hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable plunger pump, flows into the first oil port of the two-position three-way valve through the fourth oil port of the three-position seven-way valve, flows back into the fifth oil port of the three-position seven-way valve through the second oil port of the two-position three-way valve, flows into the first oil port of the first electric control switch valve through the second oil port of the three-position seven-way valve, flows into the third oil port of the third electric control switch valve through the third oil port of the first electric control switch valve, and then is cut off, and the first oil cylinder and the second oil cylinder of the oil cylinder assembly are locked and kept in the current extending state.

In some embodiments, when the hydraulic system is in a state in which the water ports of the water pump are all open, this state is also referred to as a water pump opening parallel state. And switching the hydraulic system from the first communication state to a second communication state when the outlet pressure of the variable displacement plunger pump is equal to or greater than a set value.

And in the parallel state of the openings of the water pumps, the hydraulic system also comprises a third communication state.

When the second pilot control valve is in a third communication state, the first electric control switch valve is powered off, the third electric control switch valve is powered on, the first pilot oil port of the two-position three-way valve is conducted, oil flows in the following path, hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable plunger pump, flows into the first oil port of the two-position three-way valve through the fourth oil port of the three-position seven-way valve, flows back into the fifth oil port of the three-position seven-way valve through the second oil port of the two-position three-way valve, flows into the first oil port of the first electric control switch valve through the second oil port of the three-position seven-way valve, flows into the third oil port of the third electric control switch valve through the third oil port of the first electric control switch valve, and enters the hydraulic clutch, so that the hydraulic clutch is switched to a closed state.

In some embodiments, the hydraulic system further comprises the following operating state fourth communication state. When the hydraulic system is in the fourth communication state, if the hydraulic system reports errors, the hydraulic system is switched to the fourth communication state, namely the second pilot control valve is powered off, the third electric control switch valve is powered off, the three-position seven-way valve is in a neutral cut-off state, no oil enters the three-position seven-way valve, and no oil enters the hydraulic clutch, so that the hydraulic clutch is switched to a cut-off state.

In some embodiments, the hydraulic system is in an open state in one of a plurality of water ports of the water pump, and the hydraulic system includes a fifth communication state. When the first pilot control valve is electrified and the first electric control switch valve is electrified, the first pilot oil port of the two-position three-way valve is conducted, oil flows in the following paths, namely hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable plunger pump, flows into the first oil port of the two-position three-way valve through the fourth oil port of the three-position seven-way valve, flows back into the fifth oil port of the three-position seven-way valve through the second oil port of the two-position three-way valve, flows into rod cavities of the first oil cylinder and the second oil cylinder through the third oil port of the three-position seven-way valve, flows into the second oil port of the first electric control switch valve through the rodless cavity of the first oil cylinder and the second oil cylinder, flows into the second oil port of the three-position seven-way valve through the first oil port of the first electric control switch valve, and flows back into the oil return path through the sixth oil port of the three-position seven-way valve.

In some embodiments, the hydraulic system further includes the following operating condition sixth communication condition. When the first pilot control valve is in a sixth communication state, the first electric control switch valve is powered off, the second pilot control valve is powered on, the third electric control switch valve is powered on, oil flows in the following paths, hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable plunger pump, flows into the first oil port of the two-position three-way valve through the fourth oil port of the three-position seven-way valve, flows into the fifth oil port of the three-position seven-way valve through the second oil port of the two-position three-way valve, flows into the first oil port of the first electric control switch valve through the second oil port of the three-position seven-way valve, flows into the third oil port of the third electric control switch valve through the third oil port of the first electric control switch valve, flows into the hydraulic clutch through the first oil port of the third electric control switch valve, and is switched to a closed state.

In some embodiments, when the hydraulic system is in an on state at one of the plurality of water ports of the water pump, this state is also referred to as a water pump opening series state. And switching the hydraulic system from the fifth communication state to a sixth communication state when the outlet pressure of the variable displacement plunger pump is equal to or greater than a set value.

Whether the water pump openings are connected in parallel or connected in series, before the water pump is driven to work, whether the hydraulic system has faults or not needs to be judged. And if the hydraulic system has fault information, the second pilot control valve is powered off, the third electric control switch valve is powered off, so that the hydraulic clutch is switched to a disconnected state, and the water pump is switched to a stopped state for maintenance.

In some embodiments, the hydraulic system further comprises a travel motor in communication with the first port of the second electronically controlled on-off valve. And when the hydraulic system is in a normal walking state, the second electric control switch valve is powered off, and the third electric control switch valve is powered off so as to provide hydraulic oil for the walking motor.

In some embodiments, the hydraulic system further comprises a high speed travel state, and when the hydraulic system is in the high speed travel state, the second electronically controlled on-off valve is switched to an energized state to increase hydraulic oil supplied to the travel motor.

The embodiment of the invention also provides a waterlogging drainage robot which comprises the hydraulic system provided by any technical scheme of the invention.

The embodiment of the invention also provides a hydraulic system control method, which is realized by adopting the hydraulic system provided by any technical scheme of the invention, and comprises the following steps:

setting working conditions of the hydraulic system, wherein the working conditions comprise a waterlogging draining working condition and a walking working condition.

And when the working condition of the hydraulic system is a waterlogging draining working condition, judging whether all water outlets of the water pump are discharging water.

And if all water outlets of the water pump are used for discharging water, the second pilot control valve and the first electric control switch valve are regulated to be in an electric state, so that the first oil cylinder and the second oil cylinder of the oil cylinder assembly are extended.

When the outlet pressure of the variable plunger pump is larger than or equal to a set value, the second pilot control valve and the third electric control switching valve of the hydraulic system are adjusted to be in an electricity obtaining state, and the first electric control switching valve of the hydraulic system is adjusted to be in a power losing state.

And switching on a hydraulic clutch of the hydraulic system to drive the water pump to work.

In some embodiments, the hydraulic system control method further comprises the steps of:

And if only one water outlet exists in each water outlet of the water pump, switching the first pilot control valve and the first electric control switch valve of the hydraulic system to the power-on state.

And retracting the first oil cylinder and the second oil cylinder of the oil cylinder assembly of the hydraulic system.

When the outlet pressure of the variable plunger pump is larger than or equal to a set value, the second pilot control valve and the third electric control switching valve of the hydraulic system are regulated to be in an electricity obtaining state, and the first pilot control valve and the first electric control switching valve of the hydraulic system are regulated to be in an electricity losing state.

and after the second pilot control valve and the third electric control switch valve are regulated to the power-on state, judging whether the hydraulic system has faults or not.

And if the hydraulic system has faults, the second pilot control valve and the third electric control switch valve are regulated to a power-off state so as to disconnect the hydraulic clutch and stop the water pump.

In some embodiments, the hydraulic system control method further comprises the step of adjusting the second electric control switch valve and the third electric control switch valve of the hydraulic system to a power-off state when the working condition of the hydraulic system is a walking working condition, and the walking mechanism of the hydraulic system is conducted so that the hydraulic system is in a common walking working condition.

In some embodiments, the hydraulic system control method further comprises the step of adjusting the second electric control switch valve to an electric power-on state when the hydraulic system is required to be switched from a normal running condition to a high-speed running condition so as to increase the hydraulic oil supply quantity of a running mechanism of the hydraulic system and improve the running speed of the running mechanism.

According to the hydraulic system provided by the technical scheme, the variable plunger pump is adopted, and the load feedback and pressure cutoff functions are integrated, so that the hydraulic system is suitable for load requirements. When the actuating mechanism does not work, the displacement of the plunger pump is cut into minimum displacement, so that the power loss is reduced, and the flow requirement of the system is met. Moreover, the water outlet of the water pump can be opened by switching the first valve group and the second valve group, so that the water pump can be conducted through a single water outlet, a plurality of water outlets can also be conducted, the switching operation is automatically performed, the operation control difficulty of on-site operators is simplified, the operation safety is improved, the intelligent and remote operation control is met, the working efficiency is improved, the energy is saved, the consumption is reduced, the reliability of the whole vehicle is improved, and the rescue efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a schematic structural diagram of a hydraulic system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a hydraulic system in a first communication state according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a hydraulic system in a second communication state according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a hydraulic system in a third communication state according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of a hydraulic system in a fourth communication state according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of a hydraulic system in a fifth communication state according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a hydraulic system in a sixth communication state according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a water pump structure of a hydraulic system according to an embodiment of the present invention.

Fig. 9 is a schematic diagram of a hydraulic system control method according to an embodiment of the present invention.

Detailed Description

The technical scheme provided by the invention is described in more detail below with reference to fig. 1-9. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless specifically stated otherwise.

The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to other devices without intervening devices, or may be directly connected to other devices without intervening devices.

All terms, including technical or scientific terms, used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are considered to be part of the specification where appropriate.

The dimensions of the various elements shown in the figures are not drawn to actual scale. In the drawings, common components or similar components are denoted by the same reference numerals, and repetitive description thereof will be omitted as appropriate.

Referring to fig. 1, an embodiment of the present invention provides a hydraulic system including a variable displacement pump 4, an engine 3, a hydraulic clutch 2, a water pump 1, a first valve bank 6.6, an oil cylinder assembly, and a second valve bank 14. The variable displacement pump 4 is configured to supply hydraulic oil. The engine 3 is in driving connection with a variable displacement pump 4. The variable displacement pump 4 is in particular an open load-sensitive plunger pump. The hydraulic clutch 2 is in driving connection with the engine 3, the hydraulic clutch 2 comprising a closed state and an open state. The water pump 1 is connected with a hydraulic clutch 2. Wherein the engine 3 drives the water pump 1 through the hydraulic clutch 2 when the hydraulic clutch 2 is in the closed state, and the engine 3 cannot drive the water pump 1 through the hydraulic clutch 2 when the hydraulic clutch 2 is in the open state. The first valve block 6.6 is located downstream of the variable displacement pump 4 and is in fluid communication with the variable displacement pump 4, the first valve block 6.6 comprising a first conducting state and a second conducting state. The cylinder assembly includes a first cylinder 13 and a second cylinder 11. The second valve group 14 includes a third conductive state and a fourth conductive state. When the first valve group 6.6 is in the first conduction state and the second valve group 14 is in the third conduction state, the oil flows according to the following paths, namely the variable plunger pump 4, the first valve group 6.6, the second valve group 14 and the rodless cavity of the oil cylinder assembly, so that the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly extend.

When the first valve group 6.6 is in the first conduction state and the second valve group 14 is in the fourth conduction state, the oil flows along the following paths, namely the variable displacement pump 4, the first valve group 6.6, the second valve group 14 and the hydraulic clutch 2, so that the hydraulic clutch 2 is switched to the closed state;

When the first valve group 6.6 is in the second conduction state and the second valve group 14 is in the third conduction state, the oil flows along the following paths, namely the variable plunger pump 4, the first valve group 6.6, the oil cylinder assembly and the second valve group 14, so that the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly are retracted.

The hydraulic system is a variable pump system, and the variable plunger pump 4 integrates load feedback and pressure cut-off functions to adapt to load demands, so that power loss is reduced, overload protection is realized, and overload flameout of an engine is prevented.

Referring to fig. 2, the first cylinder 13 is a cylinder that controls the action of a spool, and is also referred to as the first cylinder 13. The second cylinder 11 is a cylinder that controls the flap valve operation, and is also referred to as a second cylinder 11. The position of the spool valve can be controlled by the extended and retracted state of the first cylinder 13. The position of the flap valve can be controlled by the extended and retracted state of the second cylinder 11.

The water pump 1 adopts an efficient large-flow serial-parallel drainage self-priming pump, and the water pump 1 is provided with two water outlets. The water pump 1 is provided with a slide valve and a flap valve, and the serial and parallel operation working conditions of the water outlets of the water pump 1 are switched through the position switching of the slide valve and the flap valve, so that the water pump has two operation modes of high flow, low lift, high lift, low flow and the like. And the switching operation does not need to be manually participated, can be completely and automatically switched, saves time and labor when in operation, and meets the requirements of intelligent and remote operation control.

In some embodiments, the first valve block 6.6 includes a two-position three-way valve 6.6a, a three-position seven-way valve 6.6b, a first pilot control valve Y1, and a second pilot control valve Y2. The two-position three-way valve 6.6a comprises a first oil port, a second oil port, a third oil port and a first pilot oil port. The three-position seven-way valve 6.6b comprises a first oil port, a second oil port, a third oil port, a fourth oil port, a fifth oil port, a sixth oil port, a seventh oil port, a first pilot oil port and a second pilot oil port. The first oil port of the three-position seven-way valve 6.6b is communicated with the oil outlet of the variable plunger pump 4. The seventh oil port of the three-position seven-way valve 6.6b is communicated with an oil return way. The first pilot control valve Y1 is arranged between the oil outlet of the variable displacement pump 4 and the first pilot oil port of the three-position seven-way valve 6.6 b. The second pilot control valve Y2 is arranged between the oil outlet of the variable plunger pump 4 and the second pilot oil port of the three-position seven-way valve 6.6 b.

When the first valve group 6.6 is at the first valve position, the second pilot control valve Y1 is conducted, the first oil port of the three-position seven-way valve 6.6b is communicated with the fourth oil port of the three-position seven-way valve 6.6b, the second oil port of the three-position seven-way valve 6.6b is communicated with the fifth oil port of the three-position seven-way valve 6.6b, and the third oil port of the three-position seven-way valve 6.6b is communicated with the first oil cylinder 13 and the second oil cylinder 11 and is communicated with the rod cavity. The fourth oil port of the three-position seven-way valve 6.6b is communicated with the first oil port of the two-position three-way valve 6.6a and the first pilot oil port of the two-position three-way valve 6.6 a. The first oil port of the two-position three-way valve 6.6a and the second oil port of the two-position three-way valve 6.6a are communicated, and the second oil port of the two-position three-way valve 6.6a is communicated with the fifth oil port of the three-position seven-way valve 6.6 b.

When the first valve group 6.6 is at the second valve position, the first pilot control valve Y1 is conducted, the first oil port of the three-position seven-way valve 6.6b is communicated with the fourth oil port of the three-position seven-way valve 6.6b, the third oil port of the three-position seven-way valve 6.6b is communicated with the fifth oil port of the three-position seven-way valve 6.6b, and the fifth oil port of the three-position seven-way valve 6.6b is communicated with the third oil port of the three-position seven-way valve 6.6 b. The third oil port of the three-position seven-way valve 6.6b is communicated with the rod cavity of the first oil cylinder 13 and the second oil cylinder 11, and the second oil port of the three-position seven-way valve 6.6b is communicated with the sixth oil port of the three-position seven-way valve 6.6 b. The sixth oil port of the three-position seven-way valve 6.6b is communicated with an oil return way.

The current of an electric proportional valve of the first valve group 6.6 is controlled through the first valve group 6.6, required flow is set, serial-parallel switching of pumping and draining of the water pump 1 and on-off of the hydraulic clutch 2 are controlled through oil path multiplexing, serial-parallel connection of the water pump 1 is controlled, and the hydraulic clutch 2 is switched and controlled through pressure sensor feedback.

In some embodiments, the first valve block 6.6 further comprises a first relief valve 6.6.1 and/or a second relief valve 6.6.2. The first overflow valve 6.6.1 is arranged between the second oil port of the three-position seven-way valve 6.6b and the oil return oil path, and the second overflow valve 6.6.2 is arranged between the third oil port of the three-position seven-way valve 6.6b and the oil return oil path.

In some embodiments, the second valve block 14 includes a first electronically controlled on-off valve Y3, a second electronically controlled on-off valve Y4, and a third electronically controlled on-off valve Y5. The first electric control switch valve Y3 comprises a first oil port, a second oil port and a third oil port, the first oil port of the first electric control switch valve Y3 is communicated with the second oil port of the three-position seven-way valve 6.6b, the second oil port of the first electric control switch valve Y3 is communicated with a rodless cavity of a first oil cylinder 13 and a rodless cavity of a second oil cylinder 11 of the oil cylinder assembly, when the first electric control switch valve Y3 is powered on, the first oil port of the first electric control switch valve Y3 is communicated with the second oil port of the first electric control switch valve Y3, and when the first electric control switch valve Y3 is powered off, the first oil port of the first electric control switch valve Y3 is communicated with the third oil port of the first electric control switch valve Y3. The second electric control switch valve Y4 comprises a first oil port, a second oil port and a third oil port, wherein the first oil port of the second electric control switch valve Y4 is communicated with the walking motor, the second oil port of the second electric control switch valve Y4 is communicated with an MX oil path, and when the second electric control switch valve Y4 is powered on, the first oil port of the second electric control switch valve Y4 is communicated with the second oil port of the second electric control switch valve Y4. When the second electric control switch valve Y4 is powered off, the first oil port of the second electric control switch valve Y4 is communicated with the third oil port of the second electric control switch valve Y4.

The third electric control switch valve Y5 comprises a first oil port, a second oil port and a third oil port, the third oil port of the third electric control switch valve Y5 is communicated with the third oil port of the first electric control switch valve Y3, the third oil port of the second electric control switch valve Y4 is communicated with the second oil port of the third electric control switch valve Y5, when the third electric control switch valve Y5 is powered on, the first oil port of the third electric control switch valve Y5 is communicated with the third oil port of the third electric control switch valve Y5, and when the third electric control switch valve Y5 is powered off, the first oil port of the third electric control switch valve Y5 is communicated with the second oil port of the third electric control switch valve Y5.

The second valve group 14 can adopt a highly concentrated cartridge valve group, can realize the switching between a closed state and a separated state of the hydraulic clutch 2 by cutting the power-on/power-off state of each electromagnetic valve, and can also control the serial connection and parallel connection states of the water outlets of the water pump 1 by controlling the extension and retraction of the first oil cylinder 13 and the second oil cylinder 11. The operation can be fully automatically completed, the operation control difficulty of field operators is simplified, the safety and the efficiency of the operation are improved, the requirements of intelligent and remote operation control are met, the working efficiency is improved, and the energy conservation and consumption reduction are realized.

In some embodiments, the second valve block 14 further includes a first relief valve 14.4, the first relief valve 14.4 being disposed between the third port of the first electronically controlled on-off valve Y3 and the third port of the third electronically controlled on-off valve Y5.

Referring to fig. 1, a variable plunger pump 4 is directly connected with an engine 3, oil is absorbed from a hydraulic oil tank 5, and an oil outlet A of the variable plunger pump 4 is communicated with a P port of a multi-way valve 6. The multi-way valve 6 is an electric control load sensitive valve, and the current of each electric proportional valve of the multi-way valve 6 is controlled to give a specified speed to the actions of each motor and each oil cylinder, so that the speed requirement of each working mechanism is realized.

Referring to fig. 1, the multiplex valve 6 comprises a head-up 6.1, a first proportional valve 6.2, a second proportional valve 6.3, a third proportional valve 6.4, a fourth proportional valve 6.5 and a first valve block 6.6. The outlet A2/B2 of the first proportional valve 6.2 is communicated with the first executing mechanism 10, and the first executing mechanism 10 is an oil cylinder or a motor. The outlet A3/B3 of the second proportional valve 6.3 is communicated with a second executing mechanism 9, and the second executing mechanism 9 is an oil cylinder or a motor. The outlet A4/B4 of the third proportional valve 6.4 is communicated with the P1/P2 oil port of the right traveling motor 8, and the A5/B5 oil port of the fourth proportional valve 6.5 is communicated with the P1/P2 oil port of the left traveling motor 7 to control the advancing, retreating and steering of the whole machine.

Under the waterlogging drainage working condition, the water pump 1 is in driving connection with the engine 3 through the hydraulic clutch 2, and under other working conditions, the water pump 1 is in a disconnected state with the engine. The water pump 1 realizes the serial and parallel switching of the water outlets of the water pump through the position switching of the slide valve 1.1 and the flap valve 1.2.

Referring to fig. 8, a water pump 1 is integrated with a slide valve 1.1 and a flap valve 1.2. The first oil cylinder 13 and the second oil cylinder 11 are arranged on the water pump, the first oil cylinder 13 controls the opening and closing of the sliding valve 1.1, and the second oil cylinder 11 is used for controlling the opening and closing of the flap valve 1.2.

The first valve block 6.6 is a newly added union of multiple valves 6. The outlets A1, B1 of the first valve group 6.6 are connected in parallel with the overflow valve 6.6.1 and the overflow valve 6.6.2.

The pressure of the pressure sensor 6.1.5 is set as P, and the pressure sensor 6.1.5 is used for limiting the highest pressure of the first cylinder 13 and the second cylinder 11.

The oil port B1 of the first valve group 6.6 is connected with the port A of the second valve group 14, and is connected with the rodless cavity of the first oil cylinder 13 and the rodless cavity of the second oil cylinder 11 through the port A2 of the second valve group 14. The oil port A1 of the first valve group 6.6 is connected with the rod cavity of the first oil cylinder 13 and the rod cavity of the second oil cylinder 11.

The oil ports of the first oil cylinder 13 and the second oil cylinder 11 are provided with a throttle plate 12, and the speed of the oil cylinders is regulated through the throttle plate 12. The oil port MX of the head connection 6.1 is connected with the port B of the second valve group 14, and the port MP is connected with the pressure sensor 6.1.5.

The LS port is connected with the X port of the control mechanism of the variable plunger pump 4 to regulate the pump displacement, the T port is connected with the oil return filter 15 to return oil tank, and the L port is directly connected with the oil return tank.

The second valve group 14 mainly comprises a valve block and three first electric control switch valves Y3, Y4 and Y5, so that a required control oil way is selected. The third relief valve 14.3 serves to keep the pressure of the hydraulic clutch 2 stable and to relieve the pressure when it exceeds a set value.

The first pressure reducing valve 14.4 serves to limit the pressure of the hydraulic clutch 2.

The accumulator 14.6 is used to compensate for system leakage, absorb hydraulic shock, and reduce commutation shock.

The pressure sensor 14.7 detects the pressure of the hydraulic clutch 2 and troubleshooting the pressure, and feeds the pressure back to the controller. The first oil port (1 port) of the first electric control switch valve Y3 is communicated with A of the second valve bank 14, the second oil port (2 port) of the first electric control switch valve Y3 is communicated with A2 of the second valve bank 14, the third oil port (3 port) of the first electric control switch valve Y3 is communicated with P port of the third overflow valve 14.3, P1 port of the pressure reducing valve 14.4 and pressure measuring point M1 through an oil duct, and P2 port of the pressure reducing valve 14.4 is communicated with 3 ports of the switch valve Y5, the oil port M2 and the energy accumulator 14.6. The port 1 of the third electric control switch valve Y5 is communicated with the port A1 and the oil port M3 of the pressure sensor 14.7 through an internal oil duct, and the port 2 of the third electric control switch valve Y5 is communicated with the port T1 of the pressure reducing valve 14.4, the port T of the third overflow valve 14.3 and the port 3 of the switch valve Y4 at the port T of the valve block 14.0 through an internal oil duct and is directly connected with an oil return tank.

The non-return valve 14.8 keeps the accumulator 14.6 pressure stable for use as an emergency power source.

The first oil port (1 port) of the first electric control switch valve Y3 is communicated with the A oil port of the second valve bank 14, the second oil port (2 port) of the first electric control switch valve Y3 is communicated with the A2 oil port of the second valve bank 14, and the third oil port (3 port) of the first electric control switch valve Y3 is communicated with the P port of the third overflow valve 14.3, the P1 port of the first pressure reducing valve 14.4 and the pressure measuring point M1 through oil ducts.

The port P2 of the first pressure reducing valve 14.4 is communicated with a third port (3 ports) of the third electric control switch valve Y5, the port M2 of the second valve group 14 and the energy accumulator 14.6 through a one-way valve.

The first oil port (1 port) of the third electronically controlled switch valve Y5 is communicated with both the A1 port of the second valve group 14 and the oil port M3 of the pressure sensor 14.7 through an internal oil passage. The port 2 of the switch valve Y5 is communicated with the port T1 of the first pressure reducing valve 14.4, the port T of the third overflow valve 14.3 and the port 3 of the switch valve Y4 at the port T of the valve block 14.0 through an internal oil duct, and is directly connected with an oil return tank, so that the back pressure is reduced, and the hydraulic clutch 2 is ensured to be completely disconnected.

The port A3 of the second valve group 14 is communicated with the PS ports of the left traveling motor 7 and the right traveling motor 8, and the high-speed and low-speed switching of the traveling of the equipment is controlled through the second electric control switch valve Y4.

The port A1 of the second valve group 14 is connected with the port Y of the hydraulic clutch 2 to control the on-off of the hydraulic clutch 2. The M1/M2 of the second valve block 14 is connected with the pressure measuring joint 16, and the pressure measuring joint 16 can be used for system pressure detection and fault detection.

TABLE 1 Power on/off status of valve under various connected conditions

	Y1	Y2	Y3	Y4	Y5
						First communication state	X	√	√	X	X
Second communication state	X	√	X	X	X
						Third communication state	X	√	X	X	√
Fourth communication state	X	X	X	X	X
						Fifth communication state	√	X	√	X	X
Sixth communication state	X	√	X	X	√

Referring to fig. 2, in some embodiments, the hydraulic system is in a state in which a plurality of water ports of the water pump 1 are all open, and the hydraulic system includes the following working states in a first communication state. When the hydraulic system is in a first communication state, the second pilot control valve Y2 is electrified, the first electric control switch valve Y3 is electrified, and the first pilot oil port of the two-position three-way valve 6.6a is communicated. The rest of the first pilot control valve Y1, the second electric control switch valve Y4 and the third electric control switch valve Y5 are all in power failure, oil flows in the following paths that hydraulic oil flows into a first oil port of the three-position seven-way valve 6.6b through the variable plunger pump 4, flows into a first oil port of the two-position three-way valve 6.6a through a fourth oil port of the three-position seven-way valve 6.6b, flows back to a fifth oil port of the three-position seven-way valve 6.6b through a second oil port of the two-position three-way valve 6.6a, flows into a first oil port of the first electric control switch valve Y3 through a second oil port of the three-position seven-way valve 6.6b, flows into rodless cavities of the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly through a second oil port of the first electric control switch valve Y3, and oil flows back to oil return paths of rod cavities of the first oil cylinder 13 and the second oil cylinder 11 through a third oil port of the three-position seven-way valve 6.6b, so as to realize extension of the first oil cylinder 13 and the second oil cylinder 11.

Referring to fig. 3, in some embodiments, the hydraulic system further includes the following operational state second communication state. In the second communication state, the second pilot control valve Y2 is powered on, the first electric control switch valve Y3 is powered off, the third electric control switch valve Y5 is powered off, the first pilot oil port of the two-position three-way valve 6.6a is conducted, and the rest of the first pilot control valve Y1 and the second electric control switch valve Y4 are powered off. The oil flows in such a way that the hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b via the variable plunger pump 4, flows into the first oil port of the two-position three-way valve 6.6a via the fourth oil port of the three-position seven-way valve 6.6b, flows back into the fifth oil port of the three-position seven-way valve 6.6b via the second oil port of the two-position three-way valve 6.6a, flows into the first oil port of the first electric control switch valve Y3 via the second oil port of the three-position seven-way valve 6.6b, flows into the third oil port of the third electric control switch valve Y5 via the third oil port of the first electric control switch valve Y3, and is blocked, and the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly are locked and kept in the current extended state.

When the hydraulic system is in a state in which a plurality of water ports of the water pump 1 are all opened, this state is also referred to as a state in which the openings of the water pump 1 are connected in parallel. And when the outlet pressure of the variable displacement pump 4 is equal to or higher than the set value, the hydraulic system is switched from the first communication state to the second communication state.

Referring to fig. 4, in the parallel state of the openings of the water pump 1, the hydraulic system further includes a third communication state.

When the second pilot control valve Y2 is in the third communication state, the first electric control switch valve Y3 is powered off, the third electric control switch valve Y5 is powered on, and the first pilot oil port of the two-position three-way valve 6.6a is conducted. The rest of the first pilot control valve Y1 and the second electric control switch valve Y4 are powered off. The hydraulic oil flows through the variable displacement pump 4 into the first port of the three-position seven-way valve 6.6b, through the fourth port of the three-position seven-way valve 6.6b into the first port of the two-position three-way valve 6.6a, through the second port of the two-position three-way valve 6.6a back into the fifth port of the three-position seven-way valve 6.6b, through the second port of the three-position seven-way valve 6.6b into the first port of the first electronically controlled switch valve Y3, through the third port of the first electronically controlled switch valve Y3 into the third port of the third electronically controlled switch valve Y5, and into the hydraulic clutch 2, so that the hydraulic clutch 2 is switched to the closed state.

Referring to fig. 5, in some embodiments, the hydraulic system further includes the following fourth communication state of operation. When the hydraulic system is in the fourth communication state, if the hydraulic system fails, the hydraulic system is switched to the fourth communication state, namely the second pilot control valve Y2 is powered off, the third electric control switching valve Y5 is powered off, the three-position seven-way valve 6.6b is in the middle-position cut-off state, no oil enters the three-position seven-way valve 6.6b, and no oil enters the hydraulic clutch 2, so that the hydraulic clutch 2 is switched to the cut-off state. In this state, the first pilot control valve Y1, the first electronically controlled switching valve Y3, and the second electronically controlled switching valve Y4 are also de-energized.

Referring to fig. 6, in some embodiments, where the hydraulic system is in an on state in one of the plurality of water ports of the water pump 1, the hydraulic system includes a fifth communication state. When the first pilot control valve Y1 is powered on and the first electric control switch valve Y3 is powered on in the fifth communication state, the first pilot oil port of the two-position three-way valve 6.6a is conducted. The rest of the second pilot control valve Y2, the second electric control switch valve Y4 and the third electric control switch valve Y5 are all powered off. The hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b through the variable plunger pump 4, flows into the first oil port of the two-position three-way valve 6.6a through the fourth oil port of the three-position seven-way valve 6.6b, flows back to the fifth oil port of the three-position seven-way valve 6.6b through the second oil port of the two-position three-way valve 6.6a, flows into the rod cavities of the first oil cylinder 13 and the second oil cylinder 11 through the third oil port of the three-position seven-way valve 6.6b, flows back to the second oil port of the first electric control switch valve Y3 through the rod-free cavity of the first oil cylinder 13 and the second oil cylinder 11, flows into the second oil port of the first electric control switch valve Y3, and flows back to the oil return path through the sixth oil port of the three-position seven-way valve 6.6 b.

Referring to fig. 7, in some embodiments, the hydraulic system further includes the following operating condition sixth communication condition. When the first pilot control valve Y1 is in the sixth communication state, the first electric control switch valve Y3 is powered off, the second pilot control valve Y2 is powered on, the third electric control switch valve Y5 is powered on, and the second electric control switch valve Y4 is powered off. The oil flows in such a way that the hydraulic oil flows into the first port of the three-position seven-way valve 6.6b via the variable plunger pump 4, into the first port of the two-position three-way valve 6.6a via the fourth port of the three-position seven-way valve 6.6b, flows back into the fifth port of the three-position seven-way valve 6.6b via the second port of the two-position three-way valve 6.6a, flows into the first port of the first electronically controlled switch valve Y3 via the second port of the three-position seven-way valve 6.6b, flows into the third port of the third electronically controlled switch valve Y5 via the third port of the first electronically controlled switch valve Y3, and flows into the hydraulic clutch 2 via the first port of the third electronically controlled switch valve Y5, so that the hydraulic clutch 2 is switched to the closed state.

In some embodiments, when the hydraulic system is in an on state in one of the water ports of the water pump 1, this state is also referred to as a water pump 1 open series state. And when the outlet pressure of the variable displacement pump 4 is equal to or higher than the set value, the hydraulic system is switched from the fifth communication state to the sixth communication state.

Whether the openings of the water pumps 1 are connected in parallel or the openings of the water pumps 1 are connected in series, before the water pumps 1 are driven to work, whether the hydraulic system has faults or not needs to be judged. If the hydraulic system has fault information, the second pilot control valve Y2 is powered off, the third electric control switch valve Y5 is powered off, the hydraulic clutch 2 is switched to the off state, and the water pump 1 is switched to the stop state for maintenance.

In some embodiments, the hydraulic system further comprises a travel motor in communication with the first port of the second electronically controlled on-off valve Y4. When the hydraulic system is in a normal walking state, the second electric control switch valve Y4 is powered off, and the third electric control switch valve Y5 is powered off, so that hydraulic oil is provided for a walking motor.

In some embodiments, the hydraulic system further includes a high-speed traveling state, and when the hydraulic system is in the high-speed traveling state, the second electronically controlled switching valve Y4 is switched to the power-on state to increase the hydraulic oil supplied to the traveling motor.

Referring to fig. 9, the embodiment of the invention also provides a hydraulic system control method, which is implemented by adopting the hydraulic system provided by any technical scheme of the invention, and the hydraulic system control method comprises the following steps:

step S100, working conditions of the hydraulic system are set, wherein the working conditions comprise a waterlogging draining working condition and a walking working condition.

And step 200, judging whether all water outlets of the water pump 1 are discharged or not when the working condition of the hydraulic system is a waterlogging draining working condition.

In step S300, if the water outlets of the water pump 1 are all discharged, the second pilot control valve Y2 and the first electric control switch valve Y3 are adjusted to the power-on state, so that the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly are both extended. The first oil cylinder 13 and the second oil cylinder 11 extend out to open the slide valve and the flap valve, so that each water outlet of the water pump 1 can be used for discharging water, and the water discharge amount under the working condition is large.

In step S400, when the outlet pressure of the variable displacement pump 4 is greater than or equal to the set value, the second pilot control valve Y2 and the third electrically controlled switching valve Y5 of the hydraulic system are adjusted to the power-on state, and the first electrically controlled switching valve Y3 of the hydraulic system is adjusted to the power-off state.

In step S500, the hydraulic clutch 2 of the hydraulic system is turned on to drive the water pump 1 to operate.

In some embodiments, the hydraulic system control method further includes the step of switching the first pilot control valve Y1 and the first electronic control switching valve Y3 of the hydraulic system to the power-on state if only one outlet water exists in each outlet of the water pump 1. Only one water outlet of the water pump 1 is communicated with water, and the state is also called that the water outlets of the water pump 1 are connected in series.

In step S700, the first cylinder 13 and the second cylinder 11 of the hydraulic cylinder assembly are retracted.

In step S800, when the outlet pressure of the variable displacement pump 4 is greater than or equal to the set value, the second pilot control valve Y2 and the third electronically controlled switching valve Y5 of the hydraulic system are adjusted to the power-on state, and the first pilot control valve Y1 and the first electronically controlled switching valve Y3 of the hydraulic system are adjusted to the power-off state.

In step S900, the hydraulic clutch 2 of the hydraulic system is turned on to drive the water pump 1 to operate.

in step S1000, after the second pilot control valve Y2 and the third electronically controlled switching valve Y5 are adjusted to the power-on state, it is determined whether the hydraulic system has a fault.

In step S1100, if the hydraulic system fails, the second pilot control valve Y2 and the third electronically controlled switching valve Y5 are adjusted to a power-off state to disconnect the hydraulic clutch 2 and stop the water pump 1.

In some embodiments, the control method of the hydraulic system further comprises the following step of step S1200, when the working condition of the hydraulic system is a walking working condition, adjusting the second electric control switch valve Y4 and the third electric control switch valve Y5 of the hydraulic system to a power-off state, and conducting the walking mechanism of the hydraulic system to enable the hydraulic system to be in a normal walking working condition.

In some embodiments, the hydraulic system control method further includes the step of step S1300, when the hydraulic system needs to be switched from the normal running condition to the high-speed running condition, adjusting the second electronic control switch valve Y4 to the power-on state to increase the hydraulic oil supply amount of the running mechanism of the hydraulic system so as to increase the running speed of the running mechanism.

Referring to FIG. 9, the clutch on-off and the serial-parallel switching of the water pump 1 are controlled through oil path multiplexing, wherein the control strategy is that after the control strategy is switched to the waterlogging draining working condition:

And A, confirming that the water pump 1 pumps water in parallel, controlling the electromagnets Y2 and Y3 to be electrified by a controller, enabling high-pressure oil to pass through an oil port B1 of the first valve group 6.6 to an oil port A of the second valve group 14, pass through an opening and closing valve outlet A2 of the Y3 to a rodless cavity of the first oil cylinder 13 and a rodless cavity of the second oil cylinder 11, and enabling oil in the rod cavity to pass through an oil return filter 15 through an opening A1 and a port T of the head connection 6.1 to return to the hydraulic oil tank 5.

The rodless cavity is filled with oil, and the sliding valve 1.1 and the flap valve 1.2 are opened.

When the sensor 6.1.5 detects that the pressure of the first overflow valve 6.6.1 of the port B1 of the first valve bank 6.6 is larger than the set pressure P of the controller, the first electric control switch valve Y3 is powered off, and the first oil cylinder 13 and the second oil cylinder 11 are locked through the middle position of the first valve bank 6.65. And then Y5 is electrified, the pressure oil of the oil port A of the second valve group 14 passes through an oil duct in the 14.0 valve block through the outlet 3 of the Y3 switching valve, is decompressed through the decompression valve 14.4, is connected with the oil port Y of the hydraulic clutch 2 through the outlet A3 of the Y5 switching valve, is connected with the engine 3, and is pumped by rotation of the water pump 1.

When the pressure of the overflow valve 6.6.2 at the opening of the first valve bank 6.65A1 is detected to be greater than the set pressure P of the controller by a sensor 6.1.6, the Y1 and the Y3 are powered off, the first oil cylinder 13 and the second oil cylinder 11 are locked through the middle position of the first valve bank 6.6, then the second pilot control valve Y2 and the third electric control switch valve Y5 are powered on, the hydraulic clutch 2 is connected with the water pump 1 and the engine 3, and the water pump 1 rotates to pump water;

and C, when the display shows that the water pump 1 is blocked and alarms, the second pilot control valve Y2 and the third electric control switch valve Y5 are powered off, hydraulic oil of the hydraulic clutch 2 directly returns to the oil tank through a second oil port (2 ports) of the third electric control switch valve Y5, and the hydraulic clutch 2 cuts off the connection of the water pump 1 and the engine 3 to check the problem.

An embodiment of the present invention provides a hydraulic system control system including a memory and a processor coupled to the memory, the processor configured to execute the hydraulic system control method of any of the previous embodiments based on instructions stored in the memory.

The memory may include, for example, system memory, fixed nonvolatile storage media, and the like. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), and other programs.

Some embodiments of the present disclosure also provide a computer readable storage medium having a computer program stored thereon. Wherein the program, when executed by the processor, implements the hydraulic system control method in any of the above embodiments.

The processors described herein may include general purpose processors, digital Signal Processors (DSPs), application specific integrated circuits (AS ics), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (dsk) and disc (dsc) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (dsk) tend to reproduce data magnetically, while discs (dsc) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

In the description of the present invention, each technical feature may be combined with other technical features as possible.

It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.

Claims

1. A hydraulic system, comprising:

a variable displacement pump (4) configured to supply hydraulic oil;

an engine (3) in driving connection with the variable displacement pump (4);

the hydraulic clutch (2) is in driving connection with the engine (3), and the hydraulic clutch (2) comprises a closed state and an open state;

A water pump (1) connected to the hydraulic clutch (2), wherein the engine (3) drives the water pump (1) through the hydraulic clutch (2) when the hydraulic clutch (2) is in a closed state, and wherein the engine (3) cannot drive the water pump (1) through the hydraulic clutch (2) when the hydraulic clutch (2) is in an open state;

a first valve group (6.6) downstream of the variable displacement pump (4) and in fluid communication with the variable displacement pump (4), the first valve group (6.6) comprising a first conductive state and a second conductive state;

An oil cylinder assembly comprising a first oil cylinder (13) and a second oil cylinder (11), and

A second valve group (14) comprising a third conductive state and a fourth conductive state;

When the first valve group (6.6) is in a first conduction state and the second valve group (14) is in a third conduction state, oil flows according to the following paths, namely the variable plunger pump (4), the first valve group (6.6), the second valve group (14) and a rodless cavity of the oil cylinder assembly, so that a first oil cylinder (13) and a second oil cylinder (11) of the oil cylinder assembly extend;

when the first valve group (6.6) is in a first conduction state and the second valve group (14) is in a fourth conduction state, oil flows along the following paths of the variable plunger pump (4), the first valve group (6.6), the second valve group (14) and the hydraulic clutch (2) so as to enable the hydraulic clutch (2) to be switched to a closed state;

When the first valve group (6.6) is in a second conduction state and the second valve group (14) is in a third conduction state, oil flows according to the following paths, namely the variable plunger pump (4), the first valve group (6.6), the oil cylinder assembly and the second valve group (14), so that a first oil cylinder (13) and a second oil cylinder (11) of the oil cylinder assembly retract.

2. The hydraulic system according to claim 1, characterized in that the first valve group (6.6) comprises:

The two-position three-way valve (6.6 a) comprises a first oil port, a second oil port, a third oil port and a first pilot oil port;

the three-position seven-way valve (6.6 b) comprises a first oil port, a second oil port, a third oil port, a fourth oil port, a fifth oil port, a sixth oil port, a seventh oil port, a first pilot oil port and a second pilot oil port, wherein the first oil port of the three-position seven-way valve (6.6 b) is communicated with an oil outlet of the variable plunger pump (4);

a first pilot control valve (Y1) arranged between the oil outlet of the variable displacement pump (4) and the first pilot oil port of the three-position seven-way valve (6.6 b), and

The second pilot control valve (Y2) is arranged between the oil outlet of the variable plunger pump (4) and the second pilot oil port of the three-position seven-way valve (6.6 b);

When the first valve group (6.6) is at a first valve position, the second pilot control valve Y1 is conducted, a first oil port of the three-position seven-way valve (6.6 b) is communicated with a fourth oil port of the three-position seven-way valve (6.6 b), a second oil port of the three-position seven-way valve (6.6 b) is communicated with a fifth oil port of the three-position seven-way valve (6.6 b), a third oil port of the three-position seven-way valve (6.6 b) is communicated with a rod cavity of the first oil cylinder (13) and the second oil cylinder (11), and a fourth oil port of the three-position seven-way valve (6.6 b) is communicated with a first oil port of the two-position three-way valve (6.6 a) and a first pilot oil port of the two-position three-way valve (6.6 a);

When the first valve group (6.6) is at the second valve position, the first pilot control valve (Y1) is conducted, a first oil port of the three-position seven-way valve (6.6 b) is communicated with a fourth oil port of the three-position seven-way valve (6.6 b), a third oil port of the three-position seven-way valve (6.6 b) is communicated with a fifth oil port of the three-position seven-way valve (6.6 b), a fifth oil port of the three-position seven-way valve (6.6 b) is communicated with a third oil port of the three-position seven-way valve (6.6 b), a third oil port of the three-position seven-way valve (6.6 b) is communicated with a rod cavity of the first oil cylinder (13) and the second oil cylinder (11), a second oil port of the three-position seven-way valve (6.6 b) is communicated with a sixth oil port of the three-position seven-way valve (6.6 b), and an oil return port of the three-position seven-way valve (6.6 b) is communicated with an oil return port of the six oil path.

3. The hydraulic system according to claim 2, characterized in that the second valve group (14) comprises:

The first electric control switch valve (Y3) comprises a first oil port, a second oil port and a third oil port, wherein the first oil port of the first electric control switch valve (Y3) is communicated with the second oil port of the three-position seven-way valve (6.6 b), the second oil port of the first electric control switch valve (Y3) is communicated with a rodless cavity of a first oil cylinder (13) of the oil cylinder assembly and a rodless cavity of a second oil cylinder (11), when the first electric control switch valve (Y3) is powered on, the first oil port of the first electric control switch valve (Y3) is communicated with the second oil port of the first electric control switch valve (Y3), and when the first electric control switch valve (Y3) is powered off, the first oil port of the first electric control switch valve (Y3) is communicated with the third oil port of the first electric control switch valve (Y3);

the second electric control switch valve (Y4) comprises a first oil port, a second oil port and a third oil port, wherein the first oil port of the second electric control switch valve (Y4) is communicated with a walking motor, the second oil port of the second electric control switch valve (Y4) is communicated with an MX oil path, when the second electric control switch valve (Y4) is powered on, the first oil port of the second electric control switch valve (Y4) is communicated with the second oil port of the second electric control switch valve (Y4), when the second electric control switch valve (Y4) is powered off, the first oil port of the second electric control switch valve (Y4) is communicated with the third oil port of the second electric control switch valve (Y4), and

The third electric control switch valve (Y5) comprises a first oil port, a second oil port and a third oil port, wherein the third oil port of the third electric control switch valve (Y5) is communicated with the third oil port of the first electric control switch valve (Y3), the third oil port of the second electric control switch valve (Y4) is communicated with the second oil port of the third electric control switch valve (Y5), when the third electric control switch valve (Y5) is powered on, the first oil port of the third electric control switch valve (Y5) is communicated with the third oil port of the third electric control switch valve (Y5), and when the third electric control switch valve (Y5) is powered off, the first oil port of the third electric control switch valve (Y5) is communicated with the second oil port of the third electric control switch valve (Y5).

4. A hydraulic system according to claim 3, wherein the second valve group (14) further comprises:

the first pressure reducing valve (14.4) is arranged between the third oil port of the first electric control switch valve (Y3) and the third oil port of the third electric control switch valve (Y5).

5. A hydraulic system according to claim 2 or 3, characterized in that the first valve group (6.6) further comprises:

The first overflow valve (6.6.1) is arranged between the second oil port of the three-position seven-way valve (6.6 b) and the oil return path and/or,

The second overflow valve (6.6.2) is arranged between the third oil port of the three-position seven-way valve (6.6 b) and the oil return path.

6. A hydraulic system according to claim 3, characterized in that it is in a state in which a plurality of water ports of the water pump (1) are open, and that it comprises the following operating states:

The second pilot control valve (Y2) is electrified, the first pilot oil port of the two-position three-way valve (6.6 a) is electrified, oil flows in the following way, namely hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6 b) through the variable plunger pump (4), flows into the first oil port of the two-position three-way valve (6.6 a) through the fourth oil port of the three-position seven-way valve (6.6 b), flows into the fifth oil port of the three-position seven-way valve (6.6 b) through the second oil port of the two-position three-way valve (6.6 a), flows into the first oil port of the first electric control switch valve (Y3) through the second oil port of the first electric control switch valve (Y3), flows into the first oil cylinder (13) of the second oil cylinder (11) of the oil cylinder assembly through the third oil cylinder (13) and the third oil port of the third oil cylinder (11) of the oil cylinder assembly, and the fifth oil port of the third oil cylinder (11) is extended out of the third oil cylinder (13) through the third oil port of the third oil cylinder (6 b) and the third oil port of the third oil valve (11).

7. The hydraulic system of claim 6, further comprising the following operating conditions:

The second pilot control valve (Y2) is powered on, the first electric control switch valve (Y3) is powered off, the third electric control switch valve (Y5) is powered off, the first pilot oil port of the two-position three-way valve (6.6 a) is conducted, oil flows along the following paths, hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6 b) through the variable plunger pump (4), flows into the first oil port of the two-position three-way valve (6.6 a) through the fourth oil port of the three-position seven-way valve (6.6 b), flows back to the fifth oil port of the three-position seven-way valve (6.6 b) through the second oil port of the three-position three-way valve (6.6 b), flows into the first oil port of the first electric control switch valve (Y3) through the second oil port of the three-position seven-way valve (6.6 b), flows into the third oil port of the third electric control switch valve (Y5) through the third oil port of the first electric control switch valve (Y3), and the second oil cylinder component (11) is kept in a current dead state after the oil cylinder (13) is blocked.

8. The hydraulic system according to claim 6, characterized in that the hydraulic system is switched from the first communication state to the second communication state when the hydraulic system is in a state in which a plurality of water ports of the water pump (1) are all open, and when the outlet pressure of the variable displacement plunger pump (4) is equal to or greater than a set value.

9. The hydraulic system of claim 6, further comprising the following operating conditions:

The third communication state is that the second pilot control valve (Y2) is powered, the first electric control switch valve (Y3) is powered off, the third electric control switch valve (Y5) is powered on, the first pilot oil port of the two-position three-way valve (6.6 a) is conducted, oil flows along the following path, hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6 b) through the variable plunger pump (4), flows into the first oil port of the two-position three-way valve (6.6 a) through the fourth oil port of the three-position seven-way valve (6.6 b), flows back into the fifth oil port of the three-position seven-way valve (6.6 b) through the second oil port of the three-position seven-way valve (6.6 b), flows into the first oil port of the first electric control switch valve (Y3) through the third oil port of the first electric control switch valve (Y3), and flows into the third electric control valve (Y5) through the third oil port of the first electric control switch valve (Y3), so that the clutch (2) is closed.

10. The hydraulic system of claim 6, further comprising the following operating conditions:

and in the fourth communication state, if the hydraulic system reports errors, the hydraulic system is switched to the fourth communication state, namely the second pilot control valve (Y2) is powered off, the third electric control switch valve (Y5) is powered off, the three-position seven-way valve (6.6 b) is in a neutral cut-off state, no oil enters the three-position seven-way valve (6.6 b), and no oil enters the hydraulic clutch (2), so that the hydraulic clutch (2) is switched to a cut-off state.

11. A hydraulic system according to claim 3, characterized in that it is in an open state in one of the water ports of the water pump (1), and that it comprises the following operating states:

In a fifth communication state, the first pilot control valve (Y1) is electrified, the first pilot oil port of the two-position three-way valve (6.6 a) is conducted, hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6 b) through the variable plunger pump (4), the first oil port of the two-position three-way valve (6.6 a) through the fourth oil port of the three-position seven-way valve (6.6 b), the fifth oil port of the three-position seven-way valve (6.6 b) through the second oil port of the two-position three-way valve (6.6 a) and the third oil port of the three-position seven-way valve (6.6 b), and return oil flows into the rod cavities of the first oil cylinder (13) and the second oil cylinder (11) through the third oil ports of the three-position seven-way valve (6.6 b), and return oil flows into the third oil port of the three-position seven-way valve (6.3) through the third oil port of the three-position seven-way valve (6.6 b) through the rod-free oil port of the first oil cylinder (13) and the second oil cylinder (11).

12. The hydraulic system of claim 11, further comprising the following operating conditions:

In a sixth communication state, the first pilot control valve (Y1) is in a power failure state, the first electric control switch valve (Y3) is in a power failure state, the second pilot control valve (Y2) is in a power failure state, the third electric control switch valve (Y5) is in a power failure state, oil flows in a path that hydraulic oil flows into a first oil port of the three-position seven-way valve (6.6 b) through the variable plunger pump (4), flows into a first oil port of the two-position three-way valve (6.6 a) through a fourth oil port of the three-position seven-way valve (6.6 b), flows back into a fifth oil port of the three-position seven-way valve (6.6 b) through a second oil port of the two-position three-way valve (6.6 a), flows into a first oil port of the first electric control switch valve (Y3) through a second oil port of the three-position seven-way valve (6.6 b), flows into a third oil port of the third electric control switch valve (Y5) through a third oil port of the first electric control switch valve (Y3), and flows into a third oil port of the clutch (2) through the third electric control valve (Y2) through the electric control valve.

13. The hydraulic system according to claim 12, characterized in that the hydraulic system is switched from the fifth communication state to a sixth communication state when one of a plurality of water ports of the water pump (1) is in an open state and when the outlet pressure of the variable displacement pump (4) is equal to or higher than a set value.

14. A hydraulic system according to claim 3, characterized in that when the hydraulic system fails, the second pilot control valve (Y2) is de-energized and the third electronically controlled switching valve (Y5) is de-energized to switch the hydraulic clutch (2) to an off-state and the water pump (1) to a stopped state for service.

15. A hydraulic system according to claim 3, further comprising:

The traveling motor is communicated with a first oil port of the second electric control switch valve (Y4);

when the hydraulic system is in a normal walking state, the second electric control switch valve (Y4) is powered off, and the third electric control switch valve (Y5) is powered off so as to provide hydraulic oil for the walking motor.

16. The hydraulic system according to claim 15, further comprising a high-speed travel state, wherein when the hydraulic system is in the high-speed travel state, the second electronically controlled switching valve (Y4) is switched to an electric power-on state to increase hydraulic oil supplied to the travel motor.

17. A drainage robot comprising the hydraulic system of any one of claims 1 to 16.

18. The hydraulic system control method is characterized by being implemented by adopting the hydraulic system according to any one of claims 1-16, and comprises the following steps:

Setting working conditions of the hydraulic system, wherein the working conditions comprise a waterlogging draining working condition and a walking working condition;

when the working condition of the hydraulic system is a waterlogging draining working condition, judging whether all water outlets of the water pump (1) are all discharged;

If all water outlets of the water pump (1) are discharged, the second pilot control valve (Y2) and the first electric control switch valve (Y3) are regulated to be in an electric state, so that a first oil cylinder (13) and a second oil cylinder (11) of the oil cylinder assembly are extended;

When the outlet pressure of the variable plunger pump (4) is larger than or equal to a set value, a second pilot control valve (Y2) and a third electric control switch valve (Y5) of the hydraulic system are regulated to be in an electric state, and a first electric control switch valve (Y3) of the hydraulic system is regulated to be in a power-off state;

and a hydraulic clutch (2) of the hydraulic system is conducted to drive the water pump (1) to work.

19. The hydraulic system control method according to claim 18, characterized by further comprising the steps of:

if only one water outlet exists in each water outlet of the water pump (1), switching a first pilot control valve (Y1) and a first electric control switch valve (Y3) of the hydraulic system to an electric state;

retracting a first oil cylinder (13) and a second oil cylinder (11) of an oil cylinder assembly of the hydraulic system;

When the outlet pressure of the variable plunger pump (4) is larger than or equal to a set value, a second pilot control valve (Y2) and a third electric control switch valve (Y5) of the hydraulic system are regulated to be in an electricity obtaining state, and a first pilot control valve (Y1) and a first electric control switch valve (Y3) of the hydraulic system are regulated to be in a power losing state;

20. The hydraulic system control method according to claim 18 or 19, characterized by further comprising the steps of:

After the second pilot control valve (Y2) and the third electric control switch valve (Y5) are regulated to the power-on state, judging whether the hydraulic system has faults or not;

and if the hydraulic system is in fault, the second pilot control valve (Y2) and the third electric control switch valve (Y5) are regulated to a power-off state so as to disconnect the hydraulic clutch (2) and stop the water pump (1).

21. The hydraulic system control method according to claim 18, characterized by further comprising the steps of:

When the working condition of the hydraulic system is a walking working condition, the second electric control switch valve (Y4) and the third electric control switch valve (Y5) of the hydraulic system are adjusted to a power-off state, and the walking mechanism of the hydraulic system is conducted, so that the hydraulic system is in a common walking working condition.

22. The hydraulic system control method according to claim 19, characterized by further comprising the steps of:

When the hydraulic system is required to be switched from a normal running working condition to a high-speed running working condition, the second electric control switch valve (Y4) is regulated to be in an electric state so as to increase the hydraulic oil supply quantity of a running mechanism of the hydraulic system and improve the running speed of the running mechanism.

23. A hydraulic system control system, comprising:

Memory, and

A processor coupled to the memory, the processor configured to execute the hydraulic system control method of any one of claims 18-22 based on instructions stored in the memory.

24. A computer-readable storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, implements the hydraulic system control method according to any one of claims 18-22.