Hydraulic system of drainage robot

文档序号：1918451 发布日期：2021-12-03 浏览：29次中文

阅读说明：本技术 一种排涝机器人液压系统 (Hydraulic system of drainage robot ) 是由廉宇深吴家盛刘涛于 2021-08-31 设计创作，主要内容包括：本发明公开了一种排涝机器人液压系统,包括第一行走元件、执行元件以及提供液压油的液压泵,还包括与所述液压泵油路连接的第一电磁阀；所述第一电磁阀具有第一状态以及第二状态,所述第一电磁阀处于第一状态时,所述液压泵的出油口与所述执行元件的工作油口连通；所述第一电磁阀处于第二状态时,所述液压泵的出油口与所述第一行走元件的工作油口连通；所述第一电磁阀与所述第一行走元件的连接油路上并联有第一液压油输出端口；所述第一电磁阀与所述执行元件的连接油路上并联有第二液压油输出端口。与现有技术相对比,本液压系统通过设置外接油路,具有便于液压工具接入使用的效果,其整体灵活度较高,实用性较高。(The invention discloses a waterlogging-draining robot hydraulic system which comprises a first walking element, an executing element, a hydraulic pump for providing hydraulic oil and a first electromagnetic valve connected with an oil path of the hydraulic pump, wherein the first walking element is arranged on the first walking element; the first electromagnetic valve has a first state and a second state, and when the first electromagnetic valve is in the first state, the oil outlet of the hydraulic pump is communicated with the working oil port of the actuating element; when the first electromagnetic valve is in a second state, the oil outlet of the hydraulic pump is communicated with the working oil port of the first traveling element; a first hydraulic oil output port is connected in parallel on a connecting oil path of the first electromagnetic valve and the first traveling element; and a second hydraulic oil output port is connected in parallel on a connecting oil path of the first electromagnetic valve and the actuating element. Compared with the prior art, the hydraulic system has the advantages that the effect of facilitating the access and use of the hydraulic tool is achieved by arranging the external oil circuit, the overall flexibility is high, and the practicability is high.)

1. A hydraulic system of a drainage robot comprises a first walking element, an executing element and a hydraulic pump for providing hydraulic oil, and is characterized by further comprising a first electromagnetic valve connected with an oil path of the hydraulic pump;

the first electromagnetic valve has a first state and a second state, and when the first electromagnetic valve is in the first state, the oil outlet of the hydraulic pump is communicated with the working oil port of the actuating element; when the first electromagnetic valve is in a second state, the oil outlet of the hydraulic pump is communicated with the working oil port of the first traveling element;

a first hydraulic oil output port is connected in parallel on a connecting oil path of the first electromagnetic valve and the first traveling element; and a second hydraulic oil output port is connected in parallel on a connecting oil path of the first electromagnetic valve and the actuating element.

2. The waterlogging drainage robot hydraulic system of claim 1, further comprising a second walking element and a second solenoid valve connected to the hydraulic pump oil circuit;

the second electromagnetic valve has a first state and a second state, and when the second electromagnetic valve is in the first state, the oil outlet of the hydraulic pump is communicated with the working oil port of the actuating element; when the first electromagnetic valve is in a second state, the oil outlet of the hydraulic pump is communicated with the working oil port of the second walking element;

a third hydraulic oil output port is connected in parallel on a connecting oil path of the second electromagnetic valve and the second walking element; when the first electromagnetic valve and the second electromagnetic valve are simultaneously in a first state, hydraulic oil output from the first electromagnetic valve and the second electromagnetic valve is converged and communicated with the execution element and the second hydraulic oil output port.

3. The waterlogging drainage robot hydraulic system of claim 2, wherein the hydraulic pump comprises a hydraulic twin pump, and the first and second solenoid valves are respectively in communication with two oil outlets of the hydraulic twin pump.

4. A waterlogging drainage robot hydraulic system according to any one of claims 2-3, wherein a first proportional control valve is arranged on a connection oil path of the first walking element and the first hydraulic oil output port; and a second proportional control valve is arranged on a connecting oil path of the second walking element and the third hydraulic oil output port.

5. A waterlogging drainage robot hydraulic system according to claim 2 or 3, wherein a third electromagnetic valve is arranged on a connection oil path of the first electromagnetic valve and the second electromagnetic valve;

the third electromagnetic valve has a first state and a second state, and when the third electromagnetic valve is in the first state, hydraulic oil output by the first electromagnetic valve and hydraulic oil output by the second electromagnetic valve are converged and then communicated with the oil return oil path through the third electromagnetic valve; and when the third electromagnetic valve is in a second state, the third electromagnetic valve disconnects the first electromagnetic valve and the second electromagnetic valve from the oil return oil way.

6. The waterlogging drainage robot hydraulic system of any one of claims 1-3, further comprising a first pressure regulating valve, an oil inlet of the first pressure regulating valve being connected in parallel with the first travel element and the first hydraulic oil output port, an oil outlet of the first pressure regulating valve being connected with an oil return path.

7. The waterlogging draining robot hydraulic system of any one of claims 1-3, further comprising a second pressure regulating valve, wherein an oil inlet of the second pressure regulating valve is connected in parallel with the actuator and the second hydraulic oil output port, and an oil outlet of the second pressure regulating valve is connected with an oil return path.

8. The waterlogging drainage robot hydraulic system of any one of claims 2-3, further comprising a third pressure regulating valve, an oil inlet of the third pressure regulating valve being connected in parallel with the second walking element and the third hydraulic oil output port, and an oil outlet of the third pressure regulating valve being connected with an oil return path.

9. The waterlogging drainage robot hydraulic system according to claim 1, wherein a fourth electromagnetic valve is connected in series to a connection oil path of the actuator;

the fourth electromagnetic valve has a first state and a second state, and when the fourth electromagnetic valve is in the first state, the actuating element is communicated with the connecting oil way; and when the fourth electromagnetic valve is in the second state, the actuating element is disconnected with the connecting oil way.

10. The waterlogging drainage robot hydraulic system of claim 1, further comprising an oil tank, wherein an oil outlet of the oil tank is connected with an oil suction port of the hydraulic pump, a filter element and a radiator are sequentially arranged at the tail end of an oil return path, and the oil return path is connected with the oil tank through the filter element and the radiator.

Technical Field

The invention relates to the technical field of drainage robots, in particular to a hydraulic system of a drainage robot.

Background

Along with the great development of science and technology, science and technology emergency is more and more important, and especially in the emergency of urban waterlogging fire control, the position that high-tech equipment occupied is also more and more important because advanced equipment not only to a great extent guarantees that the operation personnel safety can improve rescue efficiency to a great extent simultaneously to and to a great extent can alleviate work intensity.

The drainage robot that releases at present popularizes and only has the drainage function, when meetting emergency and need use the hydraulic tool of other functions, often needs extra preparation, and its whole practicality is lower, and the flexibility ratio is lower.

Disclosure of Invention

The embodiment of the invention aims to provide a waterlogging draining robot hydraulic system which has the effect of facilitating the access and use of a hydraulic tool by arranging an external oil way, and is higher in overall flexibility and practicability.

In order to achieve the above object, an embodiment of the present invention provides a hydraulic system of a drainage robot, including a first walking element, an executing element, a hydraulic pump for providing hydraulic oil, and a first electromagnetic valve connected to an oil path of the hydraulic pump;

Compared with the prior art, the hydraulic system has the advantages that the effect of facilitating the access and use of the hydraulic tool is achieved by arranging the external oil circuit, the overall flexibility is high, and the practicability is high.

As an improvement of the above scheme, the hydraulic control system further comprises a second walking element and a second electromagnetic valve connected with the hydraulic pump oil path;

As an improvement of the above scheme, the hydraulic pump includes a hydraulic duplex pump, and the first electromagnetic valve and the second electromagnetic valve are respectively communicated with two oil outlets of the hydraulic duplex pump.

As an improvement of the above scheme, a first proportional control valve is arranged on a connecting oil path between the first traveling element and the first hydraulic oil output port; and a second proportional control valve is arranged on a connecting oil path of the second walking element and the third hydraulic oil output port.

As an improvement of the above scheme, a third electromagnetic valve is arranged on a connecting oil path between the first electromagnetic valve and the second electromagnetic valve;

As an improvement of the above scheme, the hydraulic control system further comprises a first pressure regulating valve, an oil inlet of the first pressure regulating valve is connected in parallel with the first traveling element and the first hydraulic oil output port, and an oil outlet of the first pressure regulating valve is connected with an oil return path.

As an improvement of the above scheme, the hydraulic control system further comprises a second pressure regulating valve, an oil inlet of the second pressure regulating valve is connected in parallel with the actuating element and the second hydraulic oil output port, and an oil outlet of the second pressure regulating valve is connected with an oil return path.

As an improvement of the above scheme, the hydraulic control system further comprises a third pressure regulating valve, an oil inlet of the third pressure regulating valve is connected in parallel with the second traveling element and the third hydraulic oil output port, and an oil outlet of the third pressure regulating valve is connected with an oil return path.

As an improvement of the scheme, a fourth electromagnetic valve is connected in series on a connecting oil path of the actuating element;

As an improvement of the scheme, the hydraulic pump further comprises an oil tank, an oil outlet of the oil tank is connected with an oil suction port of the hydraulic pump, a filter element and a radiator are sequentially arranged at the tail end of an oil return path, and the oil return path is connected with the oil tank through the filter element and the radiator.

Other beneficial effects are as follows:

1. the hydraulic double pump can also improve the overall power output effect of the hydraulic system;

2. the arrangement of the first proportional control valve and the second proportional control valve not only has the effect of controlling the left traveling motor and the right traveling motor to work, but also can lead the output of the hydraulic double pump to be concentrated on the externally connected hydraulic tool by cutting off the oil circuits of the left traveling motor and the right traveling motor when the externally connected hydraulic tool is needed, has excellent overall adjustability and flexibility and extremely high practicability, and also has the same reason as the arrangement of the fourth electromagnetic valve;

3. the first states of the components are all power-off states, the components are uniformly arranged, when the hydraulic system is started to work, high-pressure hydraulic oil output from the hydraulic double pump can directly flow back through an oil return oil way through the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve, the whole hydraulic system is protected, when action is needed, the third electromagnetic valve is adjusted to be in a power-on state, and then the states of the corresponding components are adjusted according to needs to be controlled;

4. the first pressure regulating valve, the second pressure regulating valve and the third pressure regulating valve are arranged on the connecting oil path of the corresponding parts, so that the pressure is regulated according to actual needs when the corresponding parts leave a factory, and when the pressure is too high, redundant hydraulic flow is relieved by the corresponding first pressure regulating valve, the corresponding second pressure regulating valve or the corresponding third pressure regulating valve, and a hydraulic system is protected.

5. After the hydraulic oil works through the zero-crossing part, a filter element and a radiator are designed on an oil return path, so that the filtering and the heat radiation of the hydraulic oil are realized.

Drawings

Fig. 1 is a schematic diagram of a specific principle of an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a specific principle of an embodiment of the present invention.

A hydraulic system of a drainage robot comprises a first walking element 1, an executing element 2, a hydraulic pump 3 for providing hydraulic oil, and a first electromagnetic valve 4 connected with an oil path of the hydraulic pump 3;

the first electromagnetic valve 4 has a first state and a second state, and when the first electromagnetic valve 4 is in the first state, the oil outlet of the hydraulic pump 3 is communicated with the working oil port of the actuating element 2; when the first electromagnetic valve 4 is in the second state, the oil outlet of the hydraulic pump 3 is communicated with the working oil port of the first traveling element 1;

a first hydraulic oil output port 5 is connected in parallel on a connecting oil path of the first electromagnetic valve 4 and the first traveling element 1; a second hydraulic oil output port 6 is connected in parallel with a connecting oil path of the first electromagnetic valve 4 and the actuating element 2.

The hydraulic pump also comprises a second walking element 7 and a second electromagnetic valve 8 connected with the oil path of the hydraulic pump 3;

the second electromagnetic valve 8 has a first state and a second state, and when the second electromagnetic valve 8 is in the first state, the oil outlet of the hydraulic pump 3 is communicated with the working oil port of the actuating element 2; when the first electromagnetic valve 4 is in the second state, the oil outlet of the hydraulic pump 3 is communicated with the working oil port of the second walking element 7;

a third hydraulic oil output port 9 is connected in parallel on a connecting oil path of the second electromagnetic valve 8 and the second walking element 7; when the first solenoid valve 4 and the second solenoid valve 8 are simultaneously in the first state, the hydraulic oil discharged from the first solenoid valve 4 and the second solenoid valve 8 merges and communicates with the actuator 2 and the second hydraulic oil output port 6.

Further, in the present embodiment, a first proportional control valve 10 is provided on a connection oil path between the first traveling element 1 and the first hydraulic oil output port 5; a second proportional control valve 11 is arranged on a connecting oil path of the second walking element 7 and the third hydraulic oil output port 9. The control of the forward movement, the backward movement, and the stop of the first traveling element 1 is realized by controlling the first proportional control valve 10, and the turning operation can be realized by synchronously controlling the first proportional control valve 10 and the second proportional control valve 11 by the second proportional control valve 11 in the same manner.

Further, in this embodiment, a third electromagnetic valve 12 is connected in parallel to the connection oil path of the first electromagnetic valve 4 and the second electromagnetic valve 8;

the third electromagnetic valve 12 has a first state and a second state, and when the third electromagnetic valve 12 is in the first state, the hydraulic oil output by the first electromagnetic valve 4 and the hydraulic oil output by the second electromagnetic valve 8 are converged and then communicated with the oil return path through the third electromagnetic valve 12; when the third electromagnetic valve 12 is in the second state, the third electromagnetic valve 12 disconnects the first electromagnetic valve 4 and the second electromagnetic valve 8 from the oil return path. It should be noted that, in this embodiment, the third electromagnetic valve 12 is an electrically controlled one-way valve, and when the third electromagnetic valve is in the first state (power-off state), the electrically controlled one-way valve is in two-way conduction, and when the third electromagnetic valve is in the second state (power-on state), the electrically controlled one-way valve is in one-way conduction.

Further, in the present embodiment, a fourth electromagnetic valve 13 is connected in series on the connecting oil path of the actuator 2;

the fourth electromagnetic valve 13 has a first state and a second state, and when the fourth electromagnetic valve 13 is in the first state, the actuating element 2 is communicated with the connecting oil path; when the fourth electromagnetic valve 13 is in the second state, the actuator 2 is disconnected from the connection oil passage. In this embodiment, the fourth electromagnetic valve 13 is also an electrically controlled check valve.

In the present embodiment, the first traveling element 1 is a left traveling motor, the second traveling element 7 is a right traveling motor, and the actuator 2 is a drain pump. The hydraulic pump 3 comprises a hydraulic duplex pump, and the first electromagnetic valve 4 and the second electromagnetic valve 8 are respectively communicated with two oil outlets of the hydraulic duplex pump. Meanwhile, for convenience of explanation, in the present embodiment, the first states of all the components are power-off states, and the second states are power-on states.

Illustratively, when the robot adopts the hydraulic system, the specific working principle is as follows:

the walking function is as follows: after hydraulic oil is pressurized by the hydraulic duplex pump respectively, the hydraulic oil passes through the first electromagnetic valve 4 and the second electromagnetic valve 8, the first electromagnetic valve 4 and the second electromagnetic valve 8 are both in an electrified state at the moment, an oil way of the left walking motor and the first hydraulic oil output port 5 are conducted, the first hydraulic oil output port 5 is in a cut-off state under the condition that no external hydraulic tool is arranged, so that the hydraulic oil passing through the first electromagnetic valve 4 and the second electromagnetic valve 8 flows to the corresponding left walking motor and the right walking motor, and the walking function is finally realized.

The water pumping function is as follows: hydraulic oil is after the pressurization of hydraulic pressure duplex pump, through first solenoid valve 4 and second solenoid valve 8, first solenoid valve 4 and second solenoid valve 8 all are in the power failure state this moment, the hydraulic oil confluence through first solenoid valve 4 and second solenoid valve 8, third solenoid valve 12 is in the state of getting to the electricity, hydraulic flow after the confluence is walked toward the drain pump, second hydraulic oil output port 6 is the state of cutting off when not connecing hydraulic tool simultaneously, thereby realize that whole hydraulic oil volume runs on toward the drain pump of equipment self-carrying, realize high-efficient function of drawing water.

The working function of driving a large-flow hydraulic tool is as follows: after hydraulic oil is pressurized by the hydraulic duplex pump, the hydraulic oil passes through the first electromagnetic valve 4 and the second electromagnetic valve 8, the first electromagnetic valve 4 and the second electromagnetic valve 8 are in a power-off state at the moment, the hydraulic oil passing through the first electromagnetic valve 4 and the second electromagnetic valve 8 is converged, the third electromagnetic valve 12 is in a power-on state, the hydraulic flow after the confluence goes to the drainage pump, the fourth electromagnetic valve 13 is in the power-on state, the electric control one-way valve is in one-way conduction, the hydraulic oil is led to the equipment and is cut off from an oil way with the drainage pump, the hydraulic oil is led to the second hydraulic oil output port 6 at the moment, and the hydraulic oil pipe is connected with an external tool to realize the work of the hydraulic tool needing large flow.

The working function of the small-flow hydraulic tool is driven: when hydraulic oil is pressurized by the hydraulic duplex pump and passes through the first electromagnetic valve 4 and the second electromagnetic valve 8, the first electromagnetic valve 4 and the second electromagnetic valve 8 are in an electrified state, the hydraulic oil flows to the left walking motor, the right walking motor, the first hydraulic oil output port 5 and the second hydraulic oil output port 6 respectively, when the first proportional control valve 10 and the second proportional control valve 11 are in a stop state, oil paths of the left walking motor and the right walking motor are disconnected, the hydraulic oil can only flow up to the first hydraulic oil output port 5 and the second hydraulic oil output port 6, and the hydraulic oil pipe is connected with the output ports and tools to drive two small-flow hydraulic tools to work.

To sum up, this hydraulic system has the effect that the hydraulic tool of being convenient for inserts the use through setting up external oil circuit, and its whole flexibility ratio is higher, and the practicality is higher. In addition, the hydraulic double pump can improve the overall power output effect of the hydraulic system.

The first proportional control valve 10 and the second proportional control valve 11 are arranged to control the left traveling motor and the right traveling motor to work, when an external hydraulic tool is needed, the output of the hydraulic dual pump can be concentrated on the external hydraulic tool by cutting off oil paths of the left traveling motor and the right traveling motor, the whole adjustability and the flexibility are excellent, the high practicability is achieved, and the fourth electromagnetic valve 13 is arranged in the same way.

In this embodiment, the first state of part is the power-off state entirely, and its unified setting makes this hydraulic system when start-up work, and the high-pressure hydraulic oil of output can directly carry out the backward flow through the oil return circuit through first solenoid valve 4, second solenoid valve 8 and third solenoid valve 12 in the hydraulic pressure dual pump, plays the effect of protection to hydraulic system is whole, when needs move, adjust third solenoid valve 12 to get the power-on state can, the state of adjusting corresponding part as required afterwards is controlled.

More preferably, in this embodiment, the hydraulic system further includes a first pressure regulating valve 14, an oil inlet of the first pressure regulating valve 14 is connected in parallel with the first traveling element 1 and the first hydraulic oil output port 5, and an oil outlet of the first pressure regulating valve 14 is connected to the oil return path. The hydraulic system further comprises a second pressure regulating valve 15, an oil inlet of the second pressure regulating valve 15 is connected with the actuating element 2 and the second hydraulic oil output port 6 in parallel, and an oil outlet of the second pressure regulating valve 15 is connected with an oil return path. The hydraulic system further comprises a third pressure regulating valve 16, an oil inlet of the third pressure regulating valve 16 is connected with the second walking element 7 and the third hydraulic oil output port 9 in parallel, and an oil outlet of the third pressure regulating valve 16 is connected with an oil return path.

It should be noted that, by providing the first pressure regulating valve 14, the second pressure regulating valve 15, and the third pressure regulating valve 16 in the connection oil path of the corresponding components, the pressure is adjusted according to the actual need at the time of shipment, and when the pressure is too high, the excess hydraulic flow is relieved corresponding to the first pressure regulating valve 14, the second pressure regulating valve 15, or the third pressure regulating valve 16, thereby achieving the effect of protecting the hydraulic system.

Preferably, in this embodiment, the hydraulic system further includes an oil tank 17, an oil outlet of the oil tank 17 is connected to an oil suction port of the hydraulic pump 3, a filter element 18 and a radiator 19 are sequentially disposed at an end of an oil return path, and the oil return path is connected to the oil tank 17 through the filter element 18 and the radiator 19.

It should be noted that, after the hydraulic oil passes through the zero passage part, the filter element 18 and the radiator 19 are designed on the oil path of the return oil, so as to realize the filtering and heat dissipation of the hydraulic oil.

In the present embodiment, the first traveling element 1, the second traveling element 7, the actuating element 2, and the oil return port for oil return connection of the external hydraulic tool are all connected to the oil return path.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

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