A drainage vehicle with an intelligent robotic arm

Abstract

This invention discloses a drainage truck equipped with an intelligent robotic arm. By installing a hoisting system at the rear of the truck body, once the drainage truck arrives at the drainage area, the robot can be loaded and unloaded by manually controlling the extension and retraction mechanisms of the robotic arm via a remote control device. Simultaneously, the inherent advantages of the winch allow the robot to be lowered for drainage operations even in deep ditches or under high steps, greatly reducing the limitations of the drainage truck's parking location. This invention utilizes a robotic arm combined with a winch to operate the robot's loading and unloading mechanism, resulting in a simple structure where each mechanism performs its specific function and works in concert. Through the coordination of limit switches and control programs, when either the extension cylinder or the winch mechanism is working, the other mechanism is locked, preventing damage to the robot and the truck body caused by operator error.

Description

Technical Field

[0001] This invention relates to the field of special-purpose vehicles, and more particularly to a drainage vehicle equipped with an intelligent robotic arm. Background Technology

[0002] Drainage vehicles are engineering vehicles used in flood control and disaster relief. Due to the needs of different rescue scenarios, the market currently mainly offers single-person operational drainage vehicles and mother-daughter drainage vehicles. Mother-daughter drainage vehicles are equipped with a vehicle-mounted rescue robotic vehicle (referred to as a robot). The drainage vehicle is the mother vehicle, and the robot is the daughter vehicle. Normally, the daughter robot is stored inside the mother vehicle. After a flood disaster occurs, the mother vehicle is parked in a fixed location, and the daughter vehicle uses its own power source or the hydraulic / electric power source of the mother vehicle to travel to the designated drainage location to carry out drainage operations.

[0003] Existing mother-daughter type high-flow drainage trucks mostly use robots that crawl onto and off the mother truck via hydraulic tailgates. This method is slow and requires manual control of the robot's direction and speed. Furthermore, collisions are highly likely during these processes. In certain areas, such as wide, deep ditches or high steps, the hydraulic tailgates lack the space to deploy, preventing the robot from landing and performing drainage operations. Summary of the Invention

[0004] The purpose of this invention is to provide a drainage vehicle with an intelligent robotic arm to solve the problems of inconvenience for robots to get on and off the vehicle in special terrains and the limitations of their use.

[0005] The technical problem solved by this invention can be achieved by the following technical solutions:

[0006] A drainage vehicle with an intelligent robotic arm includes a car chassis on which a cargo box is mounted;

[0007] The carriage consists of a frame body covered with a skin, and the frame body is a rectangular frame welded from channel steel and square steel; a storage compartment is provided at the rear, which is used to store the robot;

[0008] The robot performs loading and unloading operations using an intelligent robotic arm. The intelligent robotic arm is slidably installed in side sliding grooves on both sides of the top of the vehicle frame. The intelligent robotic arm consists of a rear cargo box frame, a telescopic hydraulic cylinder, and a lifting system. The rear cargo box frame has a four-sided frame with a lifting area at the rear. It is inserted into the side sliding groove from back to front. A cylinder mounting beam is fixedly installed on the top of the vehicle frame. The front end of the rear cargo box frame is a telescopic guide beam with a guide hole in the middle. One end of the telescopic hydraulic cylinder is hinged to the middle of the cylinder mounting beam, and the other end passes through the guide hole and is mounted on the telescopic guide beam. The push rod is hinged to the middle of the push rod mounting rod set in the middle of the rear cargo box frame.

[0009] The hoisting system includes a hydraulic winch, pulley blocks, and steel cables. The hydraulic winch is fixedly installed at the rear of the rear cargo box frame. There are two sets of pulley blocks, which are respectively installed on both sides of the rear of the rear cargo box frame. There are two steel cables, which pass over the two sets of pulley blocks and are connected at both ends to the hydraulic winch and the robot, respectively.

[0010] Furthermore, both the telescopic cylinder and the hydraulic winch are connected to a hoisting control system. The hoisting control system includes a telescopic cylinder controller and a hydraulic lifting winch controller, both of which are connected to a control valve group. The control valve group consists of two three-position four-way directional valves, A and B, used to control the operation of the telescopic cylinder and the hydraulic winch, respectively. The control valve group is connected to a hydraulic power unit.

[0011] Furthermore, the intelligent robotic arm is also equipped with a sensing system, which includes a telescopic limit switch and a rewind limit switch. The telescopic limit switch is located on one side of the suspended end of the telescopic cylinder, and there are two rewind limit switches, which are respectively installed on one side of each pulley group. Both the telescopic limit switch and the rewind limit switch are connected to the hoisting control system.

[0012] Furthermore, the sensing system also includes an ultrasonic sensor and an audible and visual alarm device. The ultrasonic sensor is located in the middle of the rear bar of the rear cargo box and is connected to the hoisting control system. The audible and visual alarm device includes an alarm and a flashing light.

[0013] Furthermore, the pulley block is mounted on the rear cargo box hanger via an alignment mechanism.

[0014] Furthermore, the vehicle chassis cab is equipped with a retractable lighting fixture on its roof, and the bottom of the vehicle body is provided with hydraulic support legs.

[0015] Furthermore, the carriage is equipped with side-opening doors on both sides and a sealing plate on the top.

[0016] Furthermore, the placement compartment is equipped with side sealing panels and a rear double door.

[0017] A method for the robotic descent operation of a drainage vehicle equipped with an intelligent robotic arm includes the following steps:

[0018] Step 1: Activate the extend button on the telescopic cylinder controller in the handheld remote control. The control system sequentially feeds back the detection data from the ultrasonic sensor and the telescopic limit switch to the telescopic cylinder controller. If there is an obstacle, the audible and visual alarm is triggered, and the mechanism does not move. Only when the telescopic limit switch contact signal is not connected will the telescopic cylinder controller drive the three-position four-way directional valve A in the control valve group to open, at which time the hydraulic oil pushes the telescopic cylinder to extend. During this process, the telescopic limit switch is in the open state, the hydraulic winch controller does not receive the signal from the telescopic limit switch, and the winch hydraulic motor will not move.

[0019] Step 2: When the telescopic cylinder extends to its maximum position, the telescopic limit switch contacts are closed, and a signal is transmitted to the telescopic cylinder controller and the hydraulic winch controller. The telescopic cylinder controller sends a signal to close the three-position four-way directional valve A of the telescopic cylinder, disconnecting the oil supply to the inlet circuit, and the telescopic cylinder is in a pressure-holding state; at the same time, the hydraulic winch controller receives a signal and releases the lock-up state.

[0020] Step 3: Operate the down button on the hydraulic winch controller. The hydraulic winch controller sends a signal to open the three-position four-way valve B of the hydraulic winch, allowing hydraulic oil to enter the hydraulic winch. The motor rotates, driving the steel cable to move, and the robot slowly descends. During this process, the telescopic cylinder remains locked and will not move until the robot lands.

[0021] A method for the robotic lifting operation of a drainage vehicle equipped with an intelligent robotic arm includes the following steps:

[0022] Step 1: Activate the hydraulic winch lifting control button on the handheld remote control. The control system sequentially feeds back the detection data from the ultrasonic sensor and the winding limit switch to the hydraulic winch controller. Only when the ultrasonic sensor does not detect an obstacle and the winding limit switch contact signal is not connected, the hydraulic winch controller drives the three-position four-way valve B of the hydraulic winch in the control valve group to open in the reverse direction. At this time, the hydraulic oil pushes the hydraulic winch to move in the reverse direction, driving the winch to wind up the steel cable, and the robot slowly moves upward. During this process, the winding limit switch is not conducting, and the hydraulic telescopic cylinder controller always keeps the three-position four-way reversing valve A of the telescopic cylinder in the middle open state, and the telescopic cylinder is always in the maximum extended state.

[0023] Step 2: When the hydraulic winch winds up the steel cable and drives the robot to the highest position, the contacts of the winding limit switch are triggered, and the signal is transmitted to the telescopic cylinder controller and the hydraulic winch controller; the telescopic cylinder is released from the locked state, and the hydraulic winch controller sends a signal to the hydraulic winch to control the hydraulic winch's three-position four-way valve B return oil channel to close, returning to the middle disconnected state;

[0024] Step 3: Operate the retraction button on the telescopic cylinder controller. The telescopic cylinder controller sends a signal to the three-position four-way directional valve A of the telescopic cylinder to open in the reverse direction. Under the action of hydraulic oil, the telescopic cylinder is pushed to move in the reverse direction, and the telescopic cylinder retracts, driving the robot to return to the designated position in the carriage. When the telescopic cylinder is fully retracted, the telescopic limit switch contacts are closed, sending a signal to the telescopic cylinder controller. The telescopic cylinder controller controls the three-position four-way valve A to return to the neutral position, and the telescopic cylinder stops working.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. This invention uses a hoisting system installed at the rear of the vehicle. When the drainage truck arrives at the drainage area, the robot can be loaded and unloaded by simply using a remote control to operate the extension and retraction of the robotic arm and the winch mechanism. At the same time, the inherent advantages of the winch allow the robot to be lowered for drainage operations in deep ditches, under high steps, and other locations, greatly reducing the limitations of the drainage truck's parking location.

[0027] 2. By setting up corresponding centering devices, the robot's loading and unloading process can be fully automated, greatly reducing the workload of operators; by setting limit switches, damage to the mechanism caused by excessive winding of the hoisting mechanism's steel cable is avoided; and by setting up ultrasonic sensors and audible and visual alarm devices around the robotic arm, the alarm device is triggered when an obstacle or person appears within the robotic arm's working range, prompting the operator to perform an emergency stop, thus ensuring the safety of personnel and the mechanism.

[0028] 3. This invention uses a robotic arm in conjunction with a winch to operate the robot to get on and off the vehicle. The mechanism is simple, with each mechanism performing its own function and cooperating with each other. Through the coordination of limit switches and control programs, when either the telescopic cylinder or the winch mechanism is working, the other mechanism is locked. This avoids damage to the robot and vehicle body caused by operator error. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the drainage vehicle of the present invention.

[0030] Figure 2 This is a schematic diagram of the installation of an intelligent robotic arm.

[0031] Figure 3 This is a schematic diagram of the intelligent robotic arm structure.

[0032] Figure 4 This is an enlarged schematic diagram of the pulley system and the centering mechanism.

[0033] Figure 5 This is a schematic diagram of the hydraulic system of an intelligent robotic arm.

[0034] Figure 6This is a schematic diagram of the control connection of an intelligent robotic arm.

[0035] In the diagram, 1-car chassis, 2-lifting lights, 3-car body, 31-frame body, 32-side tilting door, 33-storage compartment, 311-side sliding groove, 312-cylinder mounting beam;

[0036] 4-Robot, 5-Intelligent robotic arm, 51-Rear compartment gantry, 52-Telescopic hydraulic cylinder, 53-Lifting system, 54-Telescopic limit switch, 55-Rewinding limit switch, 56-Ultrasonic sensor, 511-Telescopic guide beam, 512-Top rod mounting rod, 513-Rear rod, 531-Hydraulic winch, 532-Pulley block, 533-Steel cable, 534-Centering mechanism, 6-Power output compartment, 7-Power distribution control cabinet. Detailed Implementation

[0037] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but the implementation of the present invention is not limited thereto.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0039] Figure 1-6 This is a preferred embodiment of the present invention: a drainage vehicle with an intelligent robotic arm, comprising a vehicle chassis 1 and a cargo box 3; the vehicle chassis 1 is a purchased Class II vehicle chassis, with a lifting lighting lamp 2 installed on the top of the driver's cab, and the cargo box 3 is fixedly installed on the main beam of the vehicle chassis 1. Hydraulic support legs (not shown in the figure) are provided at the four corners of the bottom of the cargo box 3.

[0040] The carriage 3 is composed of a frame body 31 covered with a skin (not shown in the figure), with side doors 32 on both sides and a sealing plate on the top (not shown in the figure); the frame body 31 is a rectangular frame welded from channel steel and square steel; the rear of the frame body 31 is the placement compartment 33 for the robot 4, with side sealing plates and a rear double door (not shown in the figure), and the inner bottom surface is the placement platform for the robot 4 (not shown in the figure).

[0041] Robot 4, or the vehicle, is loaded and unloaded by the intelligent robotic arm 5. The intelligent robotic arm 5 is slidably installed in the two channel steels, namely the side sliding grooves 311, on both sides of the top of the frame body 31. The intelligent robotic arm 5 consists of a rear box frame 51, a telescopic cylinder 52, and a lifting system 53. The rear box frame 51 has a four-sided frame, with the rear being the lifting area. It is inserted into the side sliding grooves 311 of the frame body 31 from back to front and slides back and forth under the drive of the telescopic cylinder 52. Several crossbeams are fixedly installed on the top of the frame body 31, one of which is the cylinder mounting beam 312 of the telescopic cylinder 52. The front end of the rear cargo rack 51 is a telescopic guide beam 511, and a guide hole (not shown in the figure) is provided in the middle of the telescopic guide beam 511. One end (i.e., the fixed end) of the cylinder body of the telescopic cylinder 52 is hinged to the middle of the cylinder mounting beam 312, and the other end (i.e., the suspended end) passes through the guide hole and is mounted on the telescopic guide beam 511. The push rod is hinged to the middle of the push rod mounting rod 512 in the middle of the rear cargo rack 51. During installation, ensure that the telescopic cylinder 52 is parallel to the side slide groove 311.

[0042] The rear of the rear-mounted lifting frame 51 is equipped with a lifting system 53, which includes a hydraulic winch 531, pulley blocks 532, and steel cables 533. The hydraulic winch 531 is fixedly installed at the rear of the rear-mounted lifting frame 51. There are two sets of pulley blocks 532, which are respectively installed on both sides of the rear of the rear-mounted lifting frame 51 through a centering mechanism 534. There are two steel cables 533, which pass over the two sets of pulley blocks 532 and are connected at both ends to the hydraulic winch 531 and the lifting rings on both sides of the top center of the robot 4. The operation of the hydraulic winch 531 can lower the robot 4 to the ground or lift the robot 4. Then, the extension cylinder 52 retracts the robot 4 into the placement compartment 33, realizing the lifting operation of the robot 4. The centering mechanism 534 can ensure the winding direction of the steel cables 533, ensuring that the robot 4 can be centered when raised, which facilitates the robot being put into the placement compartment 33. Both the telescopic cylinder 52 and the hydraulic winch 531 are connected to a hoisting control system (not shown in the figure). The hoisting control system includes a telescopic cylinder controller and a hydraulic winch controller, both of which are connected to a control valve assembly. The control valve assembly consists of two three-position four-way directional valves, A and B, used to control the operation of the telescopic cylinder 52 and the hydraulic winch 531, respectively. The control valve assembly is connected to a hydraulic power unit, providing a power source for the control valve assembly. The telescopic cylinder controller and the hydraulic winch controller are integrated into a remote control device, allowing operators to control them conveniently and quickly with a single button press.

[0043] To reduce operational errors, the intelligent robotic arm 5 is also equipped with a sensing system, which includes a telescopic limit switch 54, a rewind limit switch 55, an ultrasonic sensor 56, and an audible and visual alarm device (not shown in the figure). The telescopic limit switch 54 is located on one side of the suspended end of the telescopic cylinder 52. When the push rod of the telescopic cylinder 52 drives the rear cargo box 51 to extend (i.e., extend outwards and to the rear), the telescopic guide beam 511 approaches the telescopic limit switch 54, and the telescopic cylinder 52 stops moving. When the push rod of the telescopic cylinder 52 drives the rear cargo box 51 to retract (i.e., retract towards the front of the vehicle), the push rod mounting rod 512 approaches the telescopic limit switch 54, and the telescopic cylinder 52 stops moving. Two retraction limit switches 55 are installed on one side of each pulley block 532. When the robot 4 rises and retracts to the height of the retractable placement compartment 33, the retraction limit switch 55 senses the limit block set at the hoisting point of the steel cable 533, thus cutting off the operation of the hydraulic winch 531 and preventing damage to the mechanism caused by over-winding of the steel cable 533. The telescopic limit switch 54 and the retraction limit switch 55 are connected to the hoisting control system. During the extension and retraction stroke of the telescopic cylinder 52, the hydraulic winch 531 is in a locked state; while the telescopic cylinder 52 is in a locked state during the process of the hydraulic winch 531 driving the robot 4 to rise and fall, the telescopic cylinder 52 is also in a locked state until the telescopic limit switch 54 and the retraction limit switch 55 are triggered (i.e., when one of the mechanisms reaches its maximum stroke position), only then will the other mechanism be triggered. This avoids damage to the robot 4 and the carriage 2 caused by operator error, as well as possible injury to other personnel and objects. An ultrasonic sensor 56 is installed in the middle of the rear bar 513 of the rear cargo box gantry 51 and is connected to the hoisting control system. When an obstacle or person appears within the working range of the intelligent robotic arm 5, an audible and visual alarm device is triggered, prompting the operator to perform an emergency stop, thus ensuring the safety of personnel and the machine. The audible and visual alarm device includes an alarm and a flashing light (not shown in the figure) and can be installed in the cab, the rear of the vehicle, the control room of the cargo box 3, and on a handheld remote control.

[0044] When drainage work is required, first park the vehicle on a level surface. Extend the hydraulic support legs to support the vehicle body. Then open the rear double doors. The ultrasonic sensor 56 activates; if an obstacle appears in the work area, it triggers an audible and visual alarm, prompting the operator to disconnect the operating buttons of the telescopic cylinder 52 or the hydraulic winch mechanism 531. If everything is normal, the telescopic cylinder 52 extends normally (during which the hydraulic winch mechanism 531 is locked). After the telescopic cylinder 52 extends the robotic arm to its maximum position, it triggers the limit switch 1, releasing the hydraulic winch mechanism 531 from its locked state. At this time, the operator operates the lifting control button of the hydraulic winch mechanism 531 on the remote control. The hydraulic winch mechanism 531 operates, slowly releasing the steel cable 533, gently lowering the robot 4 to the ground. After the robot 4 lands smoothly, the operator only needs to release the steel cable 533 on the robot 4's lifting ring to complete the release of the robot 4.

[0045] Once robot 4 has completed its drainage operation and returned to the rear of the mother car 3, the operator simply needs to attach the steel cable 533 of the hoisting system 53 to the lifting ring of robot 4, and then operate the lifting control button of the hydraulic winch 531 with one button. Robot 4 will then rise smoothly and automatically complete the centering operation under the action of the centering mechanism 534 (when the hydraulic winch mechanism 531 is working, the telescopic cylinder 52 is in the locked state). When robot 4 rises to the designated position, it triggers the winding limit switch 55, and the control system cuts off the hydraulic control valve of the hydraulic winch 531 to prevent the hydraulic winch 531 from over-winding. At this time, the telescopic cylinder 52 is released from the locked state. The operator can then operate the telescopic cylinder retraction control button on the remote control to retract robot 4 to the designated position in the car.

[0046] The automatic control steps for robot 4's downward movement are as follows:

[0047] 1. Activate the extend button on the telescopic cylinder controller in the handheld remote control. The control system sequentially feeds back the detection data from the ultrasonic sensor 56 and the telescopic limit switch 54 to the telescopic cylinder controller. If an obstacle is detected, an audible and visual alarm is triggered, and the mechanism will not move. Only when the contact signal of the telescopic limit switch 54 is not connected will the telescopic cylinder controller drive the three-position four-way directional valve A in the control valve group to open, at which time the hydraulic oil pushes the telescopic cylinder 52 to extend. During this process, the telescopic limit switch 54 is in the open state, and the hydraulic winch controller does not receive a signal from the telescopic limit switch 54, so the winch hydraulic motor will not move. Even if the operator mistakenly operates the winch controller to raise or lower, the winch motor will still not move.

[0048] 2. When the telescopic cylinder 52 extends to its maximum position, the contacts of the telescopic limit switch 54 are closed, and the signal is transmitted to the telescopic cylinder controller and the hydraulic winch controller. The telescopic cylinder controller sends a signal to close the three-position four-way directional valve A of the telescopic cylinder, disconnecting the oil supply to the inlet circuit, and the telescopic cylinder 52 is in a pressure-holding state; at the same time, the hydraulic winch controller receives the signal and releases the lock state.

[0049] 3. The operator presses the down button on the hydraulic winch controller. The hydraulic winch controller sends a signal to open the three-position four-way valve B of the hydraulic winch, allowing hydraulic oil to enter the hydraulic winch 531. The motor rotates, driving the steel cable 533 to move, and the robot 4 slowly descends. During this process, the telescopic cylinder 52 remains locked and will not move until the robot 4 lands.

[0050] The automatic control steps for robot 4 to rise are as follows:

[0051] 1. Activate the hydraulic winch lifting control button on the handheld remote control. The control system sequentially feeds back the detection data from the ultrasonic sensor 56 and the winding limit switch 55 to the hydraulic winch controller. Only when the ultrasonic sensor 56 does not detect an obstacle and the winding limit switch 55 is not activated, the hydraulic winch controller drives the three-position four-way valve B of the hydraulic winch in the control valve group to open in the reverse direction. At this time, the hydraulic oil pushes the hydraulic winch 531 to move in the reverse direction, driving the winch to wind up the steel cable 533, and the robot 4 slowly moves upward. During this process, the winding limit switch 55 is not activated, and the telescopic cylinder controller always keeps the three-position four-way directional valve A of the telescopic cylinder in the intermediate open state, and the telescopic cylinder 52 is always in the maximum extended state.

[0052] 2. When the hydraulic winch 531 winds up the steel cable 533, driving the robot 4 to its highest position, the contacts of the winding limit switch 55 are triggered, and a signal is transmitted to the telescopic cylinder controller and the hydraulic winch controller. The telescopic cylinder 52 is released from its locked state, and the hydraulic winch controller sends a signal to the hydraulic winch 531 to control the three-position four-way valve B of the hydraulic winch to close the return oil channel, returning to the intermediate disconnected state.

[0053] 3. Operate the retraction button on the telescopic cylinder controller. The telescopic cylinder controller sends a signal to the three-position four-way directional valve A of the telescopic cylinder to open in the reverse direction. Under the action of hydraulic oil, the telescopic cylinder 52 is pushed to move in the reverse direction, and the telescopic cylinder 52 retracts, causing the robot 4 to return to the designated position in the carriage. When the telescopic cylinder 52 is fully retracted, the contacts of the telescopic limit switch 54 on the cylinder are closed, sending a signal to the telescopic cylinder controller. The telescopic cylinder controller controls the three-position four-way valve A to return to the neutral position, and the telescopic cylinder 52 stops working.

[0054] The interior of the carriage 3 is equipped with a power distribution control cabinet 7. The power distribution control cabinet 7 has an operating window on the outer side of the carriage 3. The side of the carriage 3 is also equipped with a power output compartment 6, which is an external output interface. The power distribution control cabinet 7 is equipped with a drainage operation control system (not shown in the figure), which is connected to a handheld remote control. Both can be used to operate and control the robot 4 and the hoisting system 53.

[0055] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A drainage vehicle with intelligent mechanical arm, comprising a vehicle chassis, a vehicle compartment mounted on the vehicle chassis; the vehicle compartment is composed of a vehicle frame body outer skin, the vehicle frame body is a rectangular frame welded by channel steel and square steel; a storage bin is arranged at the rear part, and the storage bin is used for placing a robot; characterized in that the robot is used for getting on and off the vehicle through an intelligent mechanical arm, the intelligent mechanical arm is slidably installed in side sliding grooves on both sides of the top of the vehicle frame body, the intelligent mechanical arm is composed of a rear compartment hanger, an extension oil cylinder and a hoisting system, the rear compartment hanger is a four-side frame, the rear part is a hoisting area, and the rear compartment hanger is inserted into the side sliding grooves from the rear to the front, a cylinder body mounting beam is fixedly arranged at the top of the vehicle frame body, the front end of the rear compartment hanger is an extension guide beam, and a guide hole is arranged in the middle part of the extension guide beam; one end of the extension oil cylinder is hingedly connected to the middle part of the cylinder body mounting beam, the other end is arranged on the extension guide beam through the guide hole, and a top rod is hingedly connected to the middle part of a top rod mounting rod arranged in the middle part of the rear compartment hanger; the hoisting system comprises a hydraulic winch, a pulley block and a steel cable, the hydraulic winch is fixedly arranged at the rear part of the rear compartment hanger, the pulley block has two groups, and the two groups are arranged at the two sides of the rear part of the rear compartment hanger, the steel cable has two roots, and the two roots pass through the two groups of pulley blocks, and the two ends are connected with the hydraulic winch and the robot respectively; the extension oil cylinder and the hydraulic winch are connected with a hoisting control system, the hoisting control system comprises an extension oil cylinder controller and a hydraulic lifting winch controller, and the two controllers are connected with a control valve group; the control valve group comprises two three-position four-way reversing valves A and B, which are used for controlling the operation of the extension oil cylinder and the hydraulic winch respectively; the control valve group is connected with a hydraulic power unit; the intelligent mechanical arm is further provided with a sensing system, the sensing system comprises an extension stroke switch and a winding stroke switch, the extension stroke switch is arranged on one side of the suspended end of the extension oil cylinder, the winding stroke switch has two, and the two are arranged on one side of each group of pulley blocks; the extension stroke switch and the winding stroke switch are connected with the hoisting control system; the sensing system further comprises an ultrasonic sensor and an audible and visual alarm device, the ultrasonic sensor is arranged in the middle part of the rear rod of the rear compartment hanger, and connected with the hoisting control system; the audible and visual alarm device comprises an alarm and a flashing light. The pulley block is installed on the rear compartment hanger through a centering mechanism.

2. The sewer cleaning vehicle with intelligent mechanical arm according to claim 1, characterized in that: A lifting light is arranged on the top of the cab of the vehicle chassis, and a hydraulic support leg is arranged at the bottom of the vehicle compartment.

3. The sewer cleaning vehicle with an intelligent mechanical arm according to claim 1, characterized in that: Side roll-up doors are arranged on both sides of the vehicle compartment, and a top sealing plate is arranged on the top of the vehicle compartment.

4. The sewer cleaning vehicle with an intelligent mechanical arm according to claim 1, characterized in that: The storage bin is provided with a side sealing plate and a rear double-door.

5. The sewer cleaning vehicle with an intelligent mechanical arm according to claim 1, characterized in that: The method comprises the following steps:

6. A method of robot downline operation of the intelligent mechanical arm-equipped sewer vehicle according to claim 1, characterized by, ​ Step one, start the telescopic oil cylinder controller in the handheld remote control button, the control system will be the detection data of ultrasonic sensor, telescopic travel switch in turn, feedback to telescopic oil cylinder controller; If there is an obstacle, trigger sound and light alarm device, mechanism does not act; And only when the telescopic travel switch contact signal is not connected, the telescopic oil cylinder controller drive control valve group in the control of telescopic oil cylinder three position four way valve A open, at this time the hydraulic oil push telescopic oil cylinder stretch out; In this process, the telescopic travel switch is in the off state, hydraulic winch controller does not receive the signal of telescopic travel switch, winch hydraulic motor will not act; Step two, when the telescopic oil cylinder stretch out to the maximum position, the telescopic travel switch contact is connected, the signal is transmitted to the telescopic oil cylinder controller and hydraulic winch controller, telescopic oil cylinder controller sends a signal, operation telescopic oil cylinder three position four way valve A close, disconnect the oil supply, telescopic oil cylinder is in the state of pressure retention; At the same time, the hydraulic winch controller receives the signal and releases the lock state; Step three, operation hydraulic winch controller down button, hydraulic winch controller sends a signal, operation hydraulic winch three position four way valve B open, hydraulic oil into the hydraulic winch, motor rotation drive cable action, robot slowly down; In this process, the telescopic oil cylinder is always in the lock state, will not act until the robot landing.

7. A method of operating a robot rising operation of the intelligent mechanical arm-equipped sewer cleaning vehicle according to claim 1, characterized by, Including the following steps: Step one, start the hydraulic winch up control button in the handheld remote control, the control system will be the detection data of ultrasonic sensor, winding travel switch in turn, feedback to hydraulic winch controller; And only when the ultrasonic sensor does not detect obstacles, and winding travel switch contact signal is not connected, the hydraulic winch controller drive control valve group in the hydraulic winch three position four way valve B reverse open, at this time the hydraulic oil push hydraulic winch reverse action, drive winding steel cable, robot slowly up; In this process, the winding travel switch is not connected, hydraulic telescopic oil cylinder controller always control telescopic oil cylinder three position four way valve A in the middle of the off state, telescopic oil cylinder is always in the maximum stretch state; Step two, when the hydraulic winch winding steel cable drive robot to the highest position, the winding travel switch contact is triggered, the signal is transmitted to the telescopic oil cylinder controller and hydraulic winch controller; Telescopic oil cylinder release lock state, and the hydraulic winch controller sends a signal to the hydraulic winch, control hydraulic winch three position four way valve B return oil channel close, back to the middle of the off state; Step three, operation telescopic oil cylinder controller button, telescopic oil cylinder controller sends a signal to the telescopic oil cylinder three position four way valve A reverse open, under the action of hydraulic oil, push telescopic oil cylinder reverse action, telescopic oil cylinder back to the designated position of the car drive robot; When the telescopic oil cylinder is completely retracted, the telescopic travel switch contact is connected, the signal is given to the telescopic oil cylinder controller, the telescopic oil cylinder controller control three position four way valve A back to the middle, telescopic oil cylinder stop working.

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