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

Abstract

The application discloses a hydraulic system, a drainage robot, a control method, a control system and a readable storage medium, relates to the field of hydraulics, and aims to improve the system efficiency of the drainage robot. The hydraulic system comprises a variable plunger pump, an engine, a hydraulic clutch, a water pump, a first valve group, a cylinder assembly and a second valve group. 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 the closed state, the engine drives the water pump through the hydraulic clutch. The first valve group is located downstream of the variable plunger pump and is in fluid communication with the variable plunger pump, and the first valve group comprises a first conduction state and a second conduction state. The cylinder assembly comprises a first cylinder and a second cylinder. The second valve group comprises a third conduction state and a fourth conduction state. The above technical scheme can flexibly control the water outlet state of the water outlet of the water pump, thereby improving the system efficiency of the hydraulic system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydraulic pressure, in particular to a hydraulic system, a drainage robot, a control method, a control system and a readable storage medium. BACKGROUND

[0002] The emergency rescue demand is most urgent after the flood disaster, and the research and development of flood disaster emergency equipment has important value.

[0003] The urban waterlogging point generally has the defects of small space and limited vehicle movement. Therefore, the small drainage robot is developed by Xugong, which directly drives the water pump by the engine, and the small drainage robot has the advantages of high efficiency and compact structure.

[0004] The inventor finds that the existing technology at least has the following problems: the current small drainage robot has large power loss and low system efficiency. SUMMARY

[0005] The present application provides a hydraulic system, a drainage robot, a control method, a control system and a readable storage medium to improve the system efficiency of the drainage robot.

[0006] The hydraulic system provided by the embodiment of the present application comprises a variable plunger pump, an engine, a hydraulic clutch, a water pump, a first valve group, a cylinder assembly and a second valve group. The variable plunger pump is configured to provide hydraulic oil. The engine is drivingly connected with the variable plunger pump. The hydraulic clutch is drivingly connected with the engine; the hydraulic clutch comprises a closed state and an open state. The water pump is connected with the hydraulic clutch; wherein when the hydraulic clutch is in the closed state, the engine drives the water pump through the hydraulic clutch; when the hydraulic clutch is in the open state, the engine cannot drive the water pump through the hydraulic clutch. The first valve group is located downstream of the variable plunger pump and is in fluid communication with the variable plunger pump; the first valve group comprises a first conduction state and a second conduction state. The cylinder assembly comprises a first cylinder and a second cylinder. The second valve group comprises a third conduction state and a fourth conduction state. When the first valve group is in the first conduction state and the second valve group is in the third conduction state, the oil flows along the following path: the variable plunger pump, the first valve group, the second valve group, the rodless cavity of the cylinder assembly, so that the first cylinder and the second cylinder of the cylinder assembly extend.

[0007] When the first valve group is in the first conduction state and the second valve group is in the fourth conduction state, the oil flows along the following path: the variable plunger pump, the first valve group, the second valve group, the hydraulic clutch, so that the hydraulic clutch switches to the closed state;

[0008] When the first valve group is in the second conducting state and the second valve group is in the third conducting state, the oil flows along the following path: the variable piston pump, the first valve group, the oil cylinder assembly, and the second valve group, so that the first oil cylinder and the second oil cylinder of the oil cylinder assembly retract.

[0009] In some embodiments, the first valve group comprises 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; the first oil port of the three-position seven-way valve is in communication with the oil outlet of the variable piston pump; the seventh oil port of the three-position seven-way valve is in communication with the oil return passage. The first pilot control valve is arranged between the oil outlet of the variable piston pump and the 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 piston pump and the second pilot oil port of the three-position seven-way valve.

[0010] When the first valve group is in the first valve position, the second pilot control valve Y1 is conducting, the first oil port of the three-position seven-way valve is in communication with the fourth oil port of the three-position seven-way valve, the second oil port of the three-position seven-way valve is in communication with the fifth oil port of the three-position seven-way valve, the third oil port of the three-position seven-way valve is in communication with the rod cavity of the first oil cylinder and the second oil cylinder; the fourth oil port of the three-position seven-way valve is in communication with the first oil port of the two-position three-way valve and the first pilot oil port of the two-position three-way valve; the first oil port of the two-position three-way valve is in communication with the second oil port of the two-position three-way valve, and the second oil port of the two-position three-way valve is in communication with the fifth oil port of the three-position seven-way valve.

[0011] When the first valve group is in the second valve position, the first pilot control valve is conducting, the first oil port of the three-position seven-way valve is in communication with the fourth oil port of the three-position seven-way valve, the third oil port of the three-position seven-way valve is in communication with the fifth oil port of the three-position seven-way valve, and the fifth oil port of the three-position seven-way valve is in communication with the third oil port of the three-position seven-way valve; the third oil port of the three-position seven-way valve is in communication with the rod cavity of the first oil cylinder and the second oil cylinder; the second oil port of the three-position seven-way valve is in communication with the sixth oil port of the three-position seven-way valve; the sixth oil port of the three-position seven-way valve is in communication with the oil return passage.

[0012] In some embodiments, the first valve group further comprises a first overflow valve and / or a second overflow valve. The first overflow valve is arranged between the second oil port of the three-position seven-way valve and the oil return passage; the second overflow valve is arranged between the third oil port of the three-position seven-way valve and the oil return passage.

[0013] In some embodiments, the second valve group includes a first electrically controlled on-off valve, a second electrically controlled on-off valve, and a third electrically controlled on-off valve. The first electrically controlled on-off valve includes a first oil port, a second oil port, and a third oil port; the first oil port of the first electrically controlled on-off valve is in communication with the second oil port of the three-position seven-way valve; the second oil port of the first electrically controlled on-off valve is in communication with the rodless cavity of the first oil cylinder of the oil cylinder assembly and the rodless cavity of the second oil cylinder; when the first electrically controlled on-off valve is powered on, the first oil port of the first electrically controlled on-off valve and the second oil port of the first electrically controlled on-off valve are in communication; when the first electrically controlled on-off valve is powered off, the first oil port of the first electrically controlled on-off valve and the third oil port of the first electrically controlled on-off valve are in communication. The second electrically controlled on-off valve includes a first oil port, a second oil port, and a third oil port; the first oil port of the second electrically controlled on-off valve is configured to be in communication with the traveling motor; the second oil port of the second electrically controlled on-off valve is in communication with the MX oil circuit; when the second electrically controlled on-off valve is powered on, the first oil port of the second electrically controlled on-off valve and the second oil port of the second electrically controlled on-off valve are in communication. When the second electrically controlled on-off valve is powered off, the first oil port of the second electrically controlled on-off valve and the third oil port of the second electrically controlled on-off valve are in communication.

[0014] The third electrically controlled on-off valve includes a first oil port, a second oil port, and a third oil port; the third oil port of the third electrically controlled on-off valve is in communication with the third oil port of the first electrically controlled on-off valve; the third oil port of the second electrically controlled on-off valve is in communication with the second oil port of the third electrically controlled on-off valve; when the third electrically controlled on-off valve is powered on, the first oil port of the third electrically controlled on-off valve and the third oil port of the third electrically controlled on-off valve are in communication; when the third electrically controlled on-off valve is powered off, the first oil port of the third electrically controlled on-off valve and the second oil port of the third electrically controlled on-off valve are in communication.

[0015] In some embodiments, the second valve group further includes a first pressure reducing valve, which is arranged between the third oil port of the first electrically controlled on-off valve and the third oil port of the third electrically controlled on-off valve.

[0016] In some embodiments, when the hydraulic system is in a state that all the water ports of the water pump are open, the hydraulic system comprises a first communication state. When the hydraulic system is in the first communication state: the second pilot control valve is powered on, the first electric control on-off valve is powered on, and the first pilot oil port of the two-position three-way valve is connected, the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable piston 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 to 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 on-off valve through the second oil port of the three-position seven-way valve, and flows into the rodless chambers of the first and second oil cylinders of the oil cylinder assembly through the second oil port of the first electric control on-off valve; the oil in the rod chambers of the first and second oil cylinders flows back to the oil return oil circuit through the third oil port of the three-position seven-way valve and the sixth oil port of the three-position seven-way valve, so as to realize the extension of the first and second oil cylinders.

[0017] In some embodiments, the hydraulic system further comprises a second communication state. In the second communication state: the second pilot control valve is powered on, the first electric control on-off valve is powered off, the third electric control on-off valve is powered off, and the first pilot oil port of the two-position three-way valve is connected, the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve through the variable piston 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 to 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 on-off valve through the second oil port of the three-position seven-way valve, and flows into the third oil port of the third electric control on-off valve through the third oil port of the first electric control on-off valve, and then stops, the first and second oil cylinders of the oil cylinder assembly are locked and kept in the current extended state.

[0018] In some embodiments, when the hydraulic system is in a state that all the water ports of the water pump are open, which is also called water pump open parallel state, and when the outlet pressure of the variable piston pump is greater than or equal to a set value, the hydraulic system is switched from the first communication state to the second communication state.

[0019] In the water pump open parallel state, the hydraulic system further comprises a third communication state.

[0020] When in the third communication state: the second pilot control valve is powered, the first electric control on-off valve is powered off, the third electric control on-off valve is powered, the first pilot port of the two-position three-way valve is open, then the oil flows along the following path: hydraulic oil flows into the first port of the three-position seven-way valve via the variable piston pump, flows into the first port of the two-position three-way valve via the fourth port of the three-position seven-way valve, flows back to the fifth port of the three-position seven-way valve via the second port of the two-position three-way valve, flows into the first port of the first electric control on-off valve via the second port of the three-position seven-way valve, flows into the third port of the third electric control on-off valve via the third port of the first electric control on-off valve, and enters the hydraulic clutch, so that the hydraulic clutch is switched to the closed state.

[0021] In some embodiments, the hydraulic system further comprises a fourth communication state. When in the fourth communication state: if the hydraulic system is in error, the hydraulic system switches to the fourth communication state: the second pilot control valve is powered off, the third electric control on-off valve is powered off, the three-position seven-way valve is in the neutral 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 the open state.

[0022] In some embodiments, when one of the plurality of water ports of the water pump is in the open state, the hydraulic system comprises a fifth communication state. When in the fifth communication state: the first pilot control valve is powered, the first electric control on-off valve is powered, the first pilot port of the two-position three-way valve is open, then the oil flows along the following path: hydraulic oil flows into the first port of the three-position seven-way valve via the variable piston pump, flows into the first port of the two-position three-way valve via the fourth port of the three-position seven-way valve, flows back to the fifth port of the three-position seven-way valve via the second port of the two-position three-way valve, flows into the respective rod cavities of the first and second oil cylinders via the third port of the three-position seven-way valve, back oil flows into the second port of the first electric control on-off valve via the respective rodless cavities of the first and second oil cylinders, the first port of the first electric control on-off valve flows into the second port of the three-position seven-way valve, the sixth port of the three-position seven-way valve flows back to the back oil circuit.

[0023] In some embodiments, the hydraulic system further comprises a sixth working state, a sixth communication state. When in the sixth communication state: the first pilot control valve is de-energized, the first electrically controlled on-off valve is de-energized, the second pilot control valve is energized, and the third electrically controlled on-off valve is energized, the hydraulic oil flows along the following path: the hydraulic oil flows into the first oil port of the three-position seven-port valve via the variable piston pump, flows into the first oil port of the two-position three-port valve via the fourth oil port of the three-position seven-port valve, flows back to the fifth oil port of the three-position seven-port valve via the second oil port of the two-position three-port valve, flows into the first oil port of the first electrically controlled on-off valve via the second oil port of the three-position seven-port valve, flows to the third oil port of the third electrically controlled on-off valve via the third oil port of the first electrically controlled on-off valve, and flows to the hydraulic clutch via the first oil port of the third electrically controlled on-off valve, so that the hydraulic clutch switches to a closed state.

[0024] In some embodiments, when the hydraulic system is in a state in which one of the multiple water outlets of the water pump is open, which is also referred to as a water pump open series state, and when the outlet pressure of the variable piston pump is greater than or equal to a set value, the hydraulic system is switched from the fifth communication state to the sixth communication state.

[0025] Irrespective of whether the water pump is in a water pump open parallel state or a water pump open series state, before driving the water pump to work, it is necessary to determine whether the hydraulic system has a fault. If the hydraulic system has a fault, the second pilot control valve is de-energized, and the third electrically controlled on-off valve is de-energized, so that the hydraulic clutch is switched to an open state, and the water pump is switched to a stop state, for maintenance.

[0026] In some embodiments, the hydraulic system further comprises a traveling motor, which is in communication with the first oil port of the second electrically controlled on-off valve. When the hydraulic system is in a normal traveling state, the second electrically controlled on-off valve is de-energized, and the third electrically controlled on-off valve is de-energized, so as to provide hydraulic oil to the traveling motor.

[0027] In some embodiments, the hydraulic system further comprises a high-speed traveling state. When the hydraulic system is in the high-speed traveling state, the second electrically controlled on-off valve is switched to an energized state, so as to increase the hydraulic oil supplied to the traveling motor.

[0028] The embodiments of the present application also provide a drainage robot, which comprises the hydraulic system provided by any of the technical solutions of the present application.

[0029] The embodiments of the present application also provide a hydraulic system control method, which is implemented by using the hydraulic system provided by any of the technical solutions of the present application. The hydraulic system control method comprises the following steps:

[0030] Setting a working condition of the hydraulic system; the working condition comprises a drainage working condition and a traveling working condition.

[0031] When the working condition of the hydraulic system is the flood drainage working condition, it is determined whether each water outlet of the water pump is discharging water.

[0032] If each water outlet of the water pump is discharging water, the second pilot control valve and the first electric control switch valve of the hydraulic system are adjusted to the powered state, so that the first oil cylinder and the second oil cylinder of the oil cylinder assembly are both extended.

[0033] When the outlet pressure of the variable plunger pump is greater than or equal to a set value, the second pilot control valve and the third electric control switch valve of the hydraulic system are adjusted to the powered state, and the first electric control switch valve of the hydraulic system is adjusted to the unpowered state.

[0034] The hydraulic clutch of the hydraulic system is turned on to drive the water pump to work.

[0035] In some embodiments, the hydraulic system control method further comprises the following steps:

[0036] If only one of the water outlets of the water pump is discharging water, the first pilot control valve and the first electric control switch valve of the hydraulic system are switched to the powered state.

[0037] The first oil cylinder and the second oil cylinder of the oil cylinder assembly of the hydraulic system are both retracted.

[0038] When the outlet pressure of the variable plunger pump is greater than or equal to a set value, the second pilot control valve and the third electric control switch valve of the hydraulic system are adjusted to the powered state, and the first pilot control valve and the first electric control switch valve of the hydraulic system are adjusted to the unpowered state.

[0039] The hydraulic clutch of the hydraulic system is turned on to drive the water pump to work.

[0040] In some embodiments, the hydraulic system control method further comprises the following steps:

[0041] After the second pilot control valve and the third electric control switch valve are adjusted to the powered state, it is determined whether the hydraulic system has a fault.

[0042] If the hydraulic system has a fault, the second pilot control valve and the third electric control switch valve are adjusted to the unpowered state to disconnect the hydraulic clutch and stop the water pump.

[0043] In some embodiments, the hydraulic system control method further comprises the following steps: when the working condition of the hydraulic system is the walking working condition, the second electric control switch valve and the third electric control switch valve of the hydraulic system are adjusted to the unpowered state, and the walking mechanism of the hydraulic system is turned on, so that the hydraulic system is in the ordinary walking working condition.

[0044] In some embodiments, the hydraulic system control method further comprises the following step: when it is required to switch the hydraulic system from the normal travel working condition to the high-speed travel working condition, the second electrically-controlled on-off valve is adjusted to the powered state to increase the hydraulic oil supply of the travel mechanism of the hydraulic system to increase the travel speed of the travel mechanism.

[0045] The hydraulic system provided by the technical scheme has a variable plunger pump, integrates load feedback and pressure cut-off functions, and is adapted to load demand. When the actuator is not working, the displacement of the plunger pump is cut to the minimum displacement to reduce power loss and meet the system flow requirement. In addition, the first valve group and the second valve group can switch the water outlet of the water pump, so that the water pump can be connected through a single water outlet or multiple water outlets. The switching operation is automatically performed, which simplifies the operation and control difficulty of the field operator, improves the safety of the operation, meets the intelligent and remote operation control, improves the work efficiency, saves energy and reduces consumption, improves the reliability of the whole vehicle, and improves the rescue efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application. In the drawings:

[0047] Figure 1 The hydraulic system structure schematic diagram provided for the embodiment of the application.

[0048] Figure 2 The hydraulic system schematic diagram provided for the embodiment of the application in the first communication state.

[0049] Figure 3 The hydraulic system schematic diagram provided for the embodiment of the application in the second communication state.

[0050] Figure 4 The hydraulic system schematic diagram provided for the embodiment of the application in the third communication state.

[0051] Figure 5 The hydraulic system schematic diagram provided for the embodiment of the application in the fourth communication state.

[0052] Figure 6 The hydraulic system schematic diagram provided for the embodiment of the application in the fifth communication state.

[0053] Figure 7 The hydraulic system schematic diagram provided for the embodiment of the application in the sixth communication state.

[0054] Figure 8 The water pump structure schematic diagram of the hydraulic system provided for the embodiment of the application.

[0055] Figure 9 The hydraulic system control method provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0056] The technical solutions provided by the present application will be described in more detail below. Figures 1-9 The technical solutions provided by the present application will be described in more detail below.

[0057] The terms "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different parts. The terms "include" or "contain" and similar terms mean that the elements before the terms encompass the elements listed after the terms, and do not exclude the possibility of also encompassing other elements.

[0058] In the present disclosure, when it is described that a specific device is located between a first device and a second device, there can be or can not be an intervening device between the specific device and the first device or the second device. When it is described that a specific device is connected to another device, the specific device can be directly connected to the other device without an intervening device, or can not be directly connected to the other device with an intervening device.

[0059] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by a person of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary should be interpreted to have meanings consistent with those in the context of the relevant technology, and should not be interpreted in an idealized or extremely formalized sense, unless otherwise explicitly defined herein.

[0060] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but are considered part of the specification when appropriate.

[0061] The dimensions of the various parts shown in the drawings are not necessarily to scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated description of them is appropriately omitted.

[0062] Reference will now be made to Figure 1The embodiment of the present application provides a hydraulic system, which comprises a variable piston pump 4, an engine 3, a hydraulic clutch 2, a water pump 1, a first valve group 6.6, a cylinder assembly and a second valve group 14. The variable piston pump 4 is configured to provide hydraulic oil. The engine 3 is in driving connection with the variable piston pump 4. The variable piston pump 4 is specifically an open load-sensitive piston pump. The hydraulic clutch 2 is in driving connection with the engine 3; the hydraulic clutch 2 comprises a closed state and an open state. The water pump 1 is connected with the hydraulic clutch 2. Wherein, when the hydraulic clutch 2 is in the closed state, the engine 3 drives the water pump 1 through the hydraulic clutch 2; when the hydraulic clutch 2 is in the open state, the engine 3 cannot drive the water pump 1 through the hydraulic clutch 2. The first valve group 6.6 is located downstream of the variable piston pump 4 and is in fluid communication with the variable piston pump 4; the first valve group 6.6 comprises a first conduction state and a second conduction state. The cylinder assembly comprises a first cylinder 13 and a second cylinder 11. The second valve group 14 comprises a third conduction state and a fourth conduction state. Wherein, 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 along the following path: the variable piston pump 4, the first valve group 6.6, the second valve group 14, the rodless cavity of the cylinder assembly, so that the first cylinder 13 and the second cylinder 11 of the cylinder assembly extend.

[0063] 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 path: the variable piston pump 4, the first valve group 6.6, the second valve group 14, the hydraulic clutch 2, so that the hydraulic clutch 2 switches to the closed state;

[0064] 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 path: the variable piston pump 4, the first valve group 6.6, the cylinder assembly, the second valve group 14, so that the first cylinder 13 and the second cylinder 11 of the cylinder assembly retract.

[0065] The hydraulic system is a variable pump system, the variable piston pump 4 integrates load feedback and pressure cut-off function, so as to adapt to load demand, reduce power loss, protect overload and prevent engine from stalling due to overload.

[0066] Referring to Figure 2 The first cylinder 13 is a cylinder for controlling the action of a spool valve, also referred to as the first cylinder 13. The second cylinder 11 is a cylinder for controlling the action of a flap valve, also referred to as the second cylinder 11. The position of the spool valve can be controlled through the extension and retraction state of the first cylinder 13. The position of the flap valve can be controlled through the extension and retraction state of the second cylinder 11.

[0067] The water pump 1 adopts a high-efficiency large-flow series-parallel drainage self-priming pump. The water pump 1 has two water outlets. The water pump 1 is provided with a slide valve and a flap valve. The switch of the slide valve and the flap valve realizes the switch of the series and parallel operation conditions of the water outlets of the water pump 1. The water pump 1 has two operation modes, i.e., a large-flow low-lift mode and a large-lift low-flow mode. The switch operation does not need manual participation and can be automatically switched. The operation is time-saving and labor-saving, and meets the requirements of intelligent and remote operation control.

[0068] In some embodiments, the first valve group 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 includes 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 includes 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 in communication with the oil outlet of the variable piston pump 4. The seventh oil port of the three-position seven-way valve 6.6b is in communication with the oil return oil path. The first pilot control valve Y1 is arranged between the oil outlet of the variable piston pump 4 and the first pilot oil port of the three-position seven-way valve 6.6b. The second pilot control valve Y2 is arranged between the oil outlet of the variable piston pump 4 and the second pilot oil port of the three-position seven-way valve 6.6b.

[0069] When the first valve group 6.6 is in the first valve position, the second pilot control valve Y1 is turned on, the first oil port of the three-position seven-way valve 6.6b is in communication 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 in communication 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 in communication with the rod cavity of the first oil cylinder 13 and the second oil cylinder 11. The fourth oil port of the three-position seven-way valve 6.6b is in communication 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 6.6a. The first oil port of the two-position three-way valve 6.6a is in communication with the second 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 is in communication with the fifth oil port of the three-position seven-way valve 6.6b.

[0070] When the first valve group 6.6 is in the second valve position, the first pilot control valve Y1 is turned on, the first oil port of the three-position seven-way valve 6.6b is in communication 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 in communication 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 in communication with the third 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 in communication 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 in communication with the sixth oil port of the three-position seven-way valve 6.6b. The sixth oil port of the three-position seven-way valve 6.6b is in communication with the oil return oil path.

[0071] The first valve group 6.6 controls the current size of the electric proportional valve of the first valve group 6.6, sets the required flow, and controls the series-parallel switching of the water pump 1 and the on-off of the hydraulic clutch 2 through oil path multiplexing.

[0072] In some embodiments, the first valve group 6.6 further includes a first overflow valve 6.6.1 and / or a second overflow 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; 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.

[0073] In some embodiments, the second valve group 14 includes a first electrically controlled on-off valve Y3, a second electrically controlled on-off valve Y4, and a third electrically controlled on-off valve Y5. The first electrically controlled on-off valve Y3 includes a first oil port, a second oil port, and a third oil port; the first oil port of the first electrically controlled on-off valve Y3 communicates with the second oil port of the three-position seven-way valve 6.6b; the second oil port of the first electrically controlled on-off valve Y3 communicates with the rodless cavity of the first oil cylinder 13 of the oil cylinder assembly and the rodless cavity of the second oil cylinder 11; when the first electrically controlled on-off valve Y3 is powered on, the first oil port of the first electrically controlled on-off valve Y3 and the second oil port of the first electrically controlled on-off valve Y3 communicate; when the first electrically controlled on-off valve Y3 is powered off, the first oil port of the first electrically controlled on-off valve Y3 and the third oil port of the first electrically controlled on-off valve Y3 communicate. The second electrically controlled on-off valve Y4 includes a first oil port, a second oil port, and a third oil port; the first oil port of the second electrically controlled on-off valve Y4 is configured to communicate with the traveling motor; the second oil port of the second electrically controlled on-off valve Y4 communicates with the MX oil path; when the second electrically controlled on-off valve Y4 is powered on, the first oil port of the second electrically controlled on-off valve Y4 and the second oil port of the second electrically controlled on-off valve Y4 communicate; when the second electrically controlled on-off valve Y4 is powered off, the first oil port of the second electrically controlled on-off valve Y4 and the third oil port of the second electrically controlled on-off valve Y4 communicate.

[0074] The third electrically controlled on-off valve Y5 includes a first oil port, a second oil port, and a third oil port; the third oil port of the third electrically controlled on-off valve Y5 communicates with the third oil port of the first electrically controlled on-off valve Y3; the third oil port of the second electrically controlled on-off valve Y4 communicates with the second oil port of the third electrically controlled on-off valve Y5; when the third electrically controlled on-off valve Y5 is powered on, the first oil port of the third electrically controlled on-off valve Y5 and the third oil port of the third electrically controlled on-off valve Y5 communicate; when the third electrically controlled on-off valve Y5 is powered off, the first oil port of the third electrically controlled on-off valve Y5 and the second oil port of the third electrically controlled on-off valve Y5 communicate.

[0075] The second valve group 14 can adopt a highly concentrated cartridge valve group. By controlling the power-on and power-off states of each electromagnetic valve, the hydraulic clutch 2 can be switched between the closed state and the separated state. The extension and retraction of the first oil cylinder 13 and the second oil cylinder 11 can be controlled to control the series and parallel states of the water outlet of the water pump 1. The above operations can be completely automated, simplifying the operation and control difficulty of the site operator, improving the safety and efficiency of the operation, meeting the requirements of intelligent and remote operation control, improving the work efficiency, and achieving energy saving and consumption reduction.

[0076] In some embodiments, the second valve group 14 further includes a first pressure reducing valve 14.4 arranged between the third oil port of the first electrically controlled on-off valve Y3 and the third oil port of the third electrically controlled on-off valve Y5.

[0077] Referring to Figure 1 , the variable piston pump 4 is directly connected to the engine 3 and sucks oil from the hydraulic oil tank 5. The oil outlet A of the variable piston pump 4 is connected to the P port of the multi-way valve 6. The multi-way valve 6 is an electrically controlled load-sensitive valve. By controlling the current size of each electric proportional valve of the multi-way valve 6, a specified speed can be given to each motor and oil cylinder to achieve the speed requirement of each working mechanism.

[0078] Referring to Figure 1 , the multi-way valve 6 includes a first connection 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 group 6.6. The outlets A2\B2 of the first proportional valve 6.2 are connected to the first actuating mechanism 10, which is an oil cylinder or a motor. The outlets A3\B3 of the second proportional valve 6.3 are connected to the second actuating mechanism 9, which is an oil cylinder or a motor. The outlets A4 / B4 of the third proportional valve 6.4 are connected to the P1 / P2 oil ports of the right traveling motor 8. The A5 / B5 oil ports of the fourth proportional valve 6.5 are connected to the P1 / P2 oil ports of the left traveling motor 7 to control the forward, reverse, and steering of the whole machine.

[0079] In the flood drainage working condition, the water pump 1 is driven and connected through the hydraulic clutch 2 and the engine 3. In other working conditions, the water pump 1 is disconnected from the engine. The water pump 1 is switched by the position of the spool valve 1.1 and the flap valve 1.2 to realize the series and parallel switching of the water outlet of the water pump.

[0080] Referring to Figure 8 , the water pump 1 is integrated with the spool valve 1.1 and the flap valve 1.2. The first oil cylinder 13 and the second oil cylinder 11 are installed on the water pump. The first oil cylinder 13 controls the opening and closing of the spool valve 1.1, and the second oil cylinder 11 controls the opening and closing of the flap valve 1.2.

[0081] The first valve group 6.6 is an additional connection of the multi-way valve 6. The outlets A1, B1 of the first valve group 6.6 are connected in parallel to the overflow valve 6.6.1 and the overflow valve 6.6.2.

[0082] The pressure sensor 6.1.5 is set to Pset, and is used to limit the maximum pressure of the first oil cylinder 13 and the second oil cylinder 11.

[0083] The oil port B1 of the first valve group 6.6 is connected to the A port of the second valve group 14, and is connected to the rodless chamber of the first oil cylinder 13 and the rodless chamber of the second oil cylinder 11 through the A2 port of the second valve group 14. The oil port A1 of the first valve group 6.6 is connected to the rod chamber of the first oil cylinder 13 and the rod chamber of the second oil cylinder 11.

[0084] The oil port of the first oil cylinder 13 and the second oil cylinder 11 is provided with a throttle plate 12, and the speed of the oil cylinder is adjusted through the throttle plate 12. The oil port MX of the first connection 6.1 is connected to the B port of the second valve group 14, and the MP port is connected to the pressure sensor 6.1.5.

[0085] The LS port is connected to the X port of the control mechanism of the variable plunger pump 4 to adjust the pump displacement, the T port is connected to the oil return filter 15 to return to the oil tank, and the L port is directly connected to the oil tank.

[0086] The second valve group 14 mainly includes a valve block, three first electrically controlled on-off valves Y3, Y4 and Y5, so as to realize selection of the required control oil path. The third overflow valve 14.3 plays a role of keeping the pressure of the hydraulic clutch 2 stable and overflowing when the pressure exceeds the set value.

[0087] The first pressure reducing valve 14.4 is used to limit the pressure of the hydraulic clutch 2.

[0088] The accumulator 14.6 is used to compensate for system leakage, absorb hydraulic impact and reduce switching impact.

[0089] The pressure sensor 14.7 detects the pressure of the hydraulic clutch 2 and failure diagnosis, and feeds back to the controller. The first oil port (1 port) of the first electrically controlled on-off valve Y3 is communicated with the A port of the second valve group 14, the second oil port (2 port) of the first electrically controlled on-off valve Y3 is communicated with the A2 port of the second valve group 14, the third oil port (3 port) of the first electrically controlled on-off valve Y3 is communicated with the P port of the third overflow valve 14.3, the P1 port of the pressure reducing valve 14.4 and the pressure measuring point M1 through an oil passage, the P2 port of the pressure reducing valve 14.4 and the 3 port of the on-off valve Y5, the oil port M2 and the accumulator 14.6 are communicated. The 1 port of the third electrically controlled on-off valve Y5 is communicated with the A1 and the oil port M3 of the pressure sensor 14.7 through an internal oil passage, the 2 port of the third electrically controlled on-off valve Y5 is communicated with the T1 of the pressure reducing valve 14.4, the T port of the third overflow valve 14.3 and the 3 port of the on-off valve Y4 at the T port of the valve block 14.0, and is directly connected to the oil tank.

[0090] The check valve 14.8 keeps the pressure of the accumulator 14.6 stable and is used as an emergency power source.

[0091] The first oil port (1 port) of the first electric control switch valve Y3 is in communication with the A oil port of the second valve group 14, the second oil port (2 port) of the first electric control switch valve Y3 is in communication with the A2 oil port of the second valve group 14, and the third oil port (3 port) of the first electric control switch valve Y3 is in communication 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 an oil passage.

[0092] The P2 port of the first pressure reducing valve 14.4 is in communication with the oil port M2 of the second valve group 14, the accumulator 14.6 through a one-way valve and the third oil port (3 port) of the third electric control switch valve Y5.

[0093] The first oil port (1 port) of the third electric control switch valve Y5 is in communication with 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 2 port of the switch valve Y5 is in communication with the T1 port of the first pressure reducing valve 14.4, the T port of the third overflow valve 14.3 and the 3 port of the switch valve Y4 at the T port of the valve block 14.0 through an internal oil passage, directly connected back to the oil tank to reduce the back pressure and ensure that the hydraulic clutch 2 can be completely disengaged.

[0094] The A3 port of the second valve group 14 is in communication with the PS port of the left travel motor 7 and the right travel motor 8, and the high / low speed switching of the equipment travel is controlled through the second electric control switch valve Y4.

[0095] The A1 port of the second valve group 14 is connected to the Y port of the hydraulic clutch 2 to control the on / off of the hydraulic clutch 2. The M1 / M2 of the second valve group 14 is connected to the pressure measuring connector 16, which can be used for system pressure detection and fault diagnosis.

[0096] Table 1: Power-on / power-off state of valves in various communication states

[0097] 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 √

[0098] Referring to Figure 2In some embodiments, when the hydraulic system is in the state that all the water ports of the water pump 1 are open, the hydraulic system includes the following working state: the first communication state. When the hydraulic system is in the first communication state: the second pilot control valve Y2 is powered on, the first electric control switch valve Y3 is powered on, and the first pilot oil port of the two-position three-way valve 6.6a is connected. The remaining first pilot control valve Y1, the second electric control switch valve Y4, and the third electric control switch valve Y5 are all powered off, and the oil flows along the following path: the hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b through the variable piston 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 first oil port of the first electric control switch valve Y3 through the second oil port of the three-position seven-way valve 6.6b, and flows into the rodless chambers of the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly through the second oil port of the first electric control switch valve Y3; the oil in the rod chambers of the first oil cylinder 13 and the second oil cylinder 11 flows back to the oil return oil circuit through the third oil port of the three-position seven-way valve 6.6b and the sixth oil port of the three-position seven-way valve 6.6b, so as to realize the extension of the first oil cylinder 13 and the second oil cylinder 11.

[0099] Referring to Figure 3 In some embodiments, the hydraulic system further includes the following working state: the 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 connected, and the remaining first pilot control valve Y1 and the second electric control switch valve Y4 are all powered off. Then the oil flows along the following path: the hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b through the variable piston 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 first oil port of the first electric control switch valve Y3 through the second oil port of the three-position seven-way valve 6.6b, and 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, then the third electric control switch valve Y5 is closed, 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.

[0100] When the hydraulic system is in the state that all the water ports of the water pump 1 are open, this state is also called the water pump 1 open parallel state. And when the outlet pressure of the variable piston pump 4 is greater than or equal to a set value, the hydraulic system is switched from the first communication state to the second communication state.

[0101] Referring to Figure 4 In the water pump 1 open parallel state, the hydraulic system further includes the following working state: the third communication state.

[0102] When in the third communication state: the second pilot control valve Y2 is powered, the first electric control switch valve Y3 is unpowered, the third electric control switch valve Y5 is powered, and the first pilot oil port of the two-position three-way valve 6.6a is open. The rest of the first pilot control valve Y1, the second electric control switch valve Y4 are unpowered. Then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b via the variable piston 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 to 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 respective rod cavity of the first oil cylinder 13 and the second oil cylinder 11 via the third oil port of the three-position seven-way valve 6.6b, and flows back to the second oil port of the first electric control switch valve Y3 via the rodless 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, flows into the second oil port of the three-position seven-way valve 6.6b via the first oil port of the first electric control switch valve Y3, and flows back to the oil return path via the sixth oil port of the three-position seven-way valve 6.6b, enters the hydraulic clutch 2, so that the hydraulic clutch 2 is switched to the closed state.

[0103] Referring to Figure 5 In some embodiments, the hydraulic system further comprises the following working state: the fourth communication state. When in the fourth communication state: if the hydraulic system has an error, the hydraulic system switches to the fourth communication state: the second pilot control valve Y2 is unpowered, the third electric control switch valve Y5 is unpowered, the three-position seven-way valve 6.6b is in the middle 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 open state. In this state, the first pilot control valve Y1, the first electric control switch valve Y3, and the second electric control switch valve Y4 are also unpowered.

[0104] Referring to Figure 6 In some embodiments, when one of the multiple water ports of the water pump 1 is in an open state, the hydraulic system comprises the following working state: the fifth communication state. When in the fifth communication state: the first pilot control valve Y1 is powered, the first electric control switch valve Y3 is powered, and the first pilot oil port of the two-position three-way valve 6.6a is open. 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 unpowered. Then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve 6.6b via the variable piston 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 to 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 respective rod cavity of the first oil cylinder 13 and the second oil cylinder 11 via the third oil port of the three-position seven-way valve 6.6b, and flows back to the second oil port of the first electric control switch valve Y3 via the rodless 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, flows into the second oil port of the three-position seven-way valve 6.6b via the first oil port of the first electric control switch valve Y3, and flows back to the oil return path via the sixth oil port of the three-position seven-way valve 6.6b.

[0105] Referring to Figure 7In some embodiments, the hydraulic system further comprises a sixth working state, a sixth communication state. When in the sixth communication state: the first pilot control valve Y1 is de-energized, the first electrically controlled on-off valve Y3 is de-energized, the second pilot control valve Y2 is energized, the third electrically controlled on-off valve Y5 is energized, and the second electrically controlled on-off valve Y4 is also de-energized. Then the oil flows along the following path: the hydraulic oil flows into the first oil port of the three-position seven-port valve 6.6b from the variable piston pump 4, flows into the first oil port of the two-position three-port valve 6.6a from the fourth oil port of the three-position seven-port valve 6.6b, flows back to the fifth oil port of the three-position seven-port valve 6.6b from the second oil port of the two-position three-port valve 6.6a, flows into the first oil port of the first electrically controlled on-off valve Y3 from the second oil port of the three-position seven-port valve 6.6b, flows to the third oil port of the third electrically controlled on-off valve Y5 from the third oil port of the first electrically controlled on-off valve Y3, and flows to the hydraulic clutch 2 from the first oil port of the third electrically controlled on-off valve Y5, so as to switch the hydraulic clutch 2 to the closed state.

[0106] In some embodiments, when the hydraulic system is in a state in which one of the multiple water outlets of the water pump 1 is open, which is also referred to as a water pump 1 open series state, and when the outlet pressure of the variable piston pump 4 is greater than or equal to a set value, the hydraulic system is switched from the fifth communication state to the sixth communication state.

[0107] Irrespective of whether the water pump 1 is in an open parallel state or an open series state, before driving the water pump 1 to work, it is necessary to determine whether the hydraulic system has a fault. If the hydraulic system has a fault, the second pilot control valve Y2 is de-energized and the third electrically controlled on-off valve Y5 is de-energized, so as to switch the hydraulic clutch 2 to the open state and switch the water pump 1 to the stop state for maintenance.

[0108] In some embodiments, the hydraulic system further comprises a traveling motor, which is in communication with the first oil port of the second electrically controlled on-off valve Y4. When the hydraulic system is in a normal traveling state, the second electrically controlled on-off valve Y4 is de-energized and the third electrically controlled on-off valve Y5 is de-energized, so as to provide hydraulic oil to the traveling motor.

[0109] In some embodiments, the hydraulic system further comprises a high-speed traveling state. When the hydraulic system is in the high-speed traveling state, the second electrically controlled on-off valve Y4 is switched to the energized state, so as to increase the hydraulic oil supplied to the traveling motor.

[0110] The embodiments of the present application also provide a drainage robot, which comprises the hydraulic system provided by any of the technical solutions of the present application.

[0111] Referring to Figure 9 The embodiments of the present application also provide a hydraulic system control method, which is implemented by using the hydraulic system provided by any of the technical solutions of the present application. The hydraulic system control method comprises the following steps:

[0112] Step S100, setting the working condition of the hydraulic system; the working condition includes the drainage working condition and the walking working condition.

[0113] Step S200, when the working condition of the hydraulic system is the drainage working condition, judging whether each water outlet of the water pump 1 is watered.

[0114] Step S300, if each water outlet of the water pump 1 is watered, adjusting the second pilot control valve Y2 and the first electric control switch valve Y3 to the powered state, so that the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly are both extended. The extension of the first oil cylinder 13 and the second oil cylinder 11 can open the slide valve and the flap, so that each water outlet of the water pump 1 can be watered, and the water outlet quantity of this working condition is large.

[0115] Step S400, when the outlet pressure of the variable plunger pump 4 is greater than or equal to the set value, adjusting the second pilot control valve Y2 and the third electric control switch valve Y5 of the hydraulic system to the powered state, and adjusting the first electric control switch valve Y3 of the hydraulic system to the unpowered state.

[0116] Step S500, turning on the hydraulic clutch 2 of the hydraulic system to drive the water pump 1 to work.

[0117] In some embodiments, the hydraulic system control method further comprises the following steps: step S600, if only one water outlet of the water pump 1 is watered, adjusting the first pilot control valve Y1 and the first electric control switch valve Y3 of the hydraulic system to the powered state. Only one water outlet of the water pump 1 is watered, and this state is also called series connection of the water outlet of the water pump 1.

[0118] Step S700, retracting the first oil cylinder 13 and the second oil cylinder 11 of the oil cylinder assembly.

[0119] Step S800, when the outlet pressure of the variable plunger pump 4 is greater than or equal to the set value, adjusting the second pilot control valve Y2 and the third electric control switch valve Y5 of the hydraulic system to the powered state, and adjusting the first pilot control valve Y1 and the first electric control switch valve Y3 of the hydraulic system to the unpowered state.

[0120] Step S900, turning on the hydraulic clutch 2 of the hydraulic system to drive the water pump 1 to work.

[0121] In some embodiments, the hydraulic system control method further comprises the following steps:

[0122] Step S1000, after the second pilot control valve Y2 and the third electric control switch valve Y5 are adjusted to the powered state, judging whether the hydraulic system has a fault.

[0123] Step S1100, if the hydraulic system fails, the second pilot control valve Y2 and the third electric control switch valve Y5 are adjusted to the power-off state to disconnect the hydraulic clutch 2 and stop the water pump 1.

[0124] In some embodiments, the hydraulic system control method further comprises the following steps: step S1200, when the working condition of the hydraulic system is the 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 the power-off state, and the walking mechanism of the hydraulic system is turned on, so that the hydraulic system is in the ordinary walking working condition.

[0125] In some embodiments, the hydraulic system control method further comprises the following steps: step S1300, when it is necessary to switch the hydraulic system from the ordinary walking working condition to the high-speed walking working condition, the second electric control switch valve Y4 is adjusted to the power-on state to increase the hydraulic oil supply of the walking mechanism of the hydraulic system, so as to increase the walking speed of the walking mechanism.

[0126] Referring to Figure 9 , the clutch on-off and the water pump 1 series-parallel switching are controlled by oil path multiplexing: control strategy, after switching to the flood drainage working condition:

[0127] A: Confirm that the water pump 1 is in parallel, the controller controls the electromagnet Y2, Y3 to be powered on, the high-pressure oil passes through the oil port B1 of the first valve group 6.6 to the oil port A of the second valve group 14, passes through the outlet A2 of the Y3 switch valve to the rodless cavity of the first oil cylinder 13 and the rodless cavity of the second oil cylinder 11, and the rod cavity oil passes through the A1 port, passes through the T port of the first connection 6.1, passes through the oil return filter 15, and returns to the hydraulic oil tank 5.

[0128] The rodless cavity is filled with oil, and the spool 1.1 and the flap 1.2 are opened.

[0129] When the sensor 6.1.5 detects that the pressure of the first overflow valve 6.6.1 at the B1 port of the first valve group 6.6 is greater than the controller setting pressure Pset, the first electric control switch valve Y3 is powered off, and the first oil cylinder 13 and the second oil cylinder 11 are locked in the middle position of the first valve group 6.65. Then Y5 is powered on, the pressure oil at the oil port A of the second valve group 14 passes through the outlet 3 of the Y3 switch valve, passes through the internal oil channel of the 14.0 valve block, passes through the pressure reducing valve 14.4 to reduce the pressure, connects with the hydraulic clutch 2 oil port Y through the outlet A3 of the Y5 switch valve, and the water pump 1 is connected with the engine 3. The water pump 1 rotates to pump water.

[0130] B: When the water pump 1 needs to be connected in series to draw water, Y1 and Y3 are powered on, the rod cavity of the first oil cylinder 13 and the second oil cylinder 11 is filled with oil, the rodless cavity returns oil, the spool 1.1 and the flap 1.2 are closed, and the sensor 6.1.6 detects that the first valve group 6.65A1 overflow valve 6.6.2 pressure is greater than the controller set pressure Pset, Y1 and Y3 are powered off, the first oil cylinder 13 and the second oil cylinder 11 are locked in the middle position through the first valve group 6.6; then the second pilot control valve Y2 and the third electric control on-off valve Y5 are powered on, the hydraulic clutch 2 connects the water pump 1 and the engine 3, and the water pump 1 rotates to draw water;

[0131] 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 on-off valve Y5 are powered off, the hydraulic oil of the hydraulic clutch 2 returns to the oil tank through the second oil port (2) of the third electric control on-off valve Y5, the hydraulic clutch 2 cuts off the connection between the water pump 1 and the engine 3, and the problem is checked.

[0132] The embodiment of the present application provides a hydraulic system control system, comprising a memory and a processor coupled to the memory, and the processor is configured to execute the hydraulic system control method in any one of the preceding embodiments based on the instructions stored in the memory.

[0133] The memory may, for example, include system memory, fixed non-volatile storage media, etc. The system memory may, for example, store operating systems, application programs, boot loaders, and other programs.

[0134] Some embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the hydraulic system control method in any one of the preceding embodiments is implemented.

[0135] The processor described herein can include a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of a computer device, such as 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.

[0136] The storage media can 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. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, 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 and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0137] Those skilled in the art will appreciate that the method embodiments of this disclosure can be termed as a method, a system, or a computer program product. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the disclosure can take the form of a computer program product on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROMs, optical storage, etc.) embodying computer readable program code thereon.

[0138] The present disclosure is described herein with reference to the drawings, in which various embodiments of the present disclosure are illustrated and described. It will be understood that the drawings are not necessarily to scale, and in certain instances, the drawings have been simplified for the sake of brevity and clarity. Figure 1 one or more functions specified by one or more blocks or a combination of one or more blocks and one or more functions. Figure 1 an apparatus with one or more functions specified by one or more blocks or a combination of one or more blocks and one or more functions.

[0139] These computer program instructions can 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 instructions which implement the flow Figure 1 The functions specified in the flow or flows and / or the block Figure 1 The functions specified in the flow or flows and / or the block

[0140] These computer program instructions can 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 flow Figure 1 The functions specified in the flow or flows and / or the block Figure 1 The functions specified in the flow or flows and / or the block

[0141] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the present application. When the absolute position of the described object changes, the relative positional relationship can also change accordingly.

[0142] In the description of the present application, each technical feature can be combined with other technical features as far as possible.

[0143] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A hydraulic system characterized by, Comprising: a variable piston pump (4) configured to provide hydraulic oil; an engine (3) drivingly connected with the variable piston pump (4); a hydraulic clutch (2) drivingly connected with the engine (3); the hydraulic clutch (2) comprising a closed state and an open state; a water pump (1) connected with the hydraulic clutch (2); wherein, when the hydraulic clutch (2) is in the closed state, the engine (3) drives the water pump (1) through the hydraulic clutch (2); when the hydraulic clutch (2) is in the open state, the engine (3) cannot drive the water pump (1) through the hydraulic clutch (2); a first valve group (6.6) located downstream of the variable piston pump (4) and in fluid communication with the variable piston pump (4); the first valve group (6.6) comprising a first conduction state and a second conduction state; a cylinder assembly comprising a first cylinder (13) and a second cylinder (11); and a second valve group (14) comprising a third conduction state and a fourth conduction state; wherein, 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 along the following path: the variable piston pump (4), the first valve group (6.6), the second valve group (14), the rodless cavity of the cylinder assembly, so that the first cylinder (13) and the second cylinder (11) of the 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 path: the variable piston pump (4), the first valve group (6.6), the second valve group (14), the hydraulic clutch (2), so that the hydraulic clutch (2) switches 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 path: the variable piston pump (4), the first valve group (6.6), the cylinder assembly, the second valve group (14), so that the first cylinder (13) and the second cylinder (11) of the cylinder assembly retract.

2. The hydraulic system of claim 1, wherein, The first valve group (6.6) comprises: a two-position three-way valve (6.6a) comprising a first oil port, a second oil port, a third oil port, and a first pilot oil port; a three-position seven-way valve (6.6b) comprising 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 in communication with the oil outlet of the variable piston pump (4); the seventh oil port of the three-position seven-way valve (6.6b) is in communication with the oil return circuit; a first pilot control valve (Y1) arranged between the oil outlet of the variable piston pump (4) and the first pilot oil port of the three-position seven-way valve (6.6b); and a second pilot control valve (Y2) arranged between the oil outlet of the variable piston pump (4) and the second pilot oil port of the three-position seven-way valve (6.6b); When the first valve group (6.6) is in the first valve position, the second pilot control valve Y1 is turned on, the first oil port of the three-position seven-port valve (6.6b) and the fourth oil port of the three-position seven-port valve (6.6b) are communicated, the second oil port of the three-position seven-port valve (6.6b) and the fifth oil port of the three-position seven-port valve (6.6b) are communicated, the third oil port of the three-position seven-port valve (6.6b) and the rod cavity of the first oil cylinder (13) and the second oil cylinder (11) are communicated; the fourth oil port of the three-position seven-port valve (6.6b) and the first oil port of the two-position three-port valve (6.6a) and the first pilot oil port of the two-position three-port valve (6.6a) are communicated; the first oil port of the two-position three-port valve (6.6a) and the second oil port of the two-position three-port valve (6.6a) are communicated, and the second oil port of the two-position three-port valve (6.6a) is communicated with the fifth oil port of the three-position seven-port valve (6.6b); When the first valve group (6.6) is in the second valve position, the first pilot control valve (Y1) is turned on, the first oil port of the three-position seven-port valve (6.6b) and the fourth oil port of the three-position seven-port valve (6.6b) are communicated, the third oil port of the three-position seven-port valve (6.6b) and the fifth oil port of the three-position seven-port valve (6.6b) are communicated, and the fifth oil port of the three-position seven-port valve (6.6b) and the third oil port of the three-position seven-port valve (6.6b) are communicated; the third oil port of the three-position seven-port valve (6.6b) and the rod cavity of the first oil cylinder (13) and the second oil cylinder (11) are communicated; the second oil port of the three-position seven-port valve (6.6b) and the sixth oil port of the three-position seven-port valve (6.6b) are communicated; the sixth oil port of the three-position seven-port valve (6.6b) is communicated with the return oil circuit.

3. The hydraulic system of claim 2, wherein, The second valve group (14) comprises: A first electrically controlled on-off valve (Y3) comprising a first oil port, a second oil port and a third oil port; the first oil port of the first electrically controlled on-off valve (Y3) is communicated with the second oil port of the three-position seven-port valve (6.6b); the second oil port of the first electrically controlled on-off valve (Y3) is communicated with the rodless cavity of the first oil cylinder (13) of the oil cylinder assembly and the rodless cavity of the second oil cylinder (11); when the first electrically controlled on-off valve (Y3) is powered on, the first oil port of the first electrically controlled on-off valve (Y3) and the second oil port of the first electrically controlled on-off valve (Y3) are communicated; when the first electrically controlled on-off valve (Y3) is powered off, the first oil port of the first electrically controlled on-off valve (Y3) and the third oil port of the first electrically controlled on-off valve (Y3) are communicated; A second electrically controlled on-off valve (Y4) includes a first oil port, a second oil port, and a third oil port; the first oil port of the second electrically controlled on-off valve (Y4) is configured to communicate with the traveling motor; the second oil port of the second electrically controlled on-off valve (Y4) communicates with the MX oil circuit; when the second electrically controlled on-off valve (Y4) is powered, the first oil port of the second electrically controlled on-off valve (Y4) and the second oil port of the second electrically controlled on-off valve (Y4) communicate; when the second electrically controlled on-off valve (Y4) loses power, the first oil port of the second electrically controlled on-off valve (Y4) and the third oil port of the second electrically controlled on-off valve (Y4) communicate; and A third electrically controlled on-off valve (Y5) includes a first oil port, a second oil port, and a third oil port; the third oil port of the third electrically controlled on-off valve (Y5) communicates with the third oil port of the first electrically controlled on-off valve (Y3); the third oil port of the second electrically controlled on-off valve (Y4) communicates with the second oil port of the third electrically controlled on-off valve (Y5); when the third electrically controlled on-off valve (Y5) is powered, the first oil port of the third electrically controlled on-off valve (Y5) and the third oil port of the third electrically controlled on-off valve (Y5) communicate; when the third electrically controlled on-off valve (Y5) loses power, the first oil port of the third electrically controlled on-off valve (Y5) and the second oil port of the third electrically controlled on-off valve (Y5) communicate.

4. The hydraulic system of claim 3, wherein, The second valve group (14) further includes: A first pressure reducing valve (14.4) is arranged between the third oil port of the first electrically controlled on-off valve (Y3) and the third oil port of the third electrically controlled on-off valve (Y5).

5. The hydraulic system of claim 2 or 3, wherein, The first valve group (6.6) further includes: A 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 circuit; and / or, A 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 circuit.

6. The hydraulic system of claim 3, wherein, When the hydraulic system is in a state in which all the water ports of the water pump (1) are open, the hydraulic system includes the following working states: The first communication state, the second pilot control valve (Y2) is powered, the first electric control on-off valve (Y3) is powered, the first pilot oil port of the two-position three-way valve (6.6a) is open, and then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6b) via the variable piston 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 to 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 on-off valve (Y3) via the second oil port of the three-position seven-way valve (6.6b), and flows into the rodless chambers of the first oil cylinder (13) and the second oil cylinder (11) of the oil cylinder assembly via the second oil port of the first electric control on-off valve (Y3); the oil in the rod chambers of the first oil cylinder (13) and the second oil cylinder (11) flows back to the oil return oil circuit via the third oil port of the three-position seven-way valve (6.6b) and the sixth oil port of the three-position seven-way valve (6.6b), so as to realize the extension of the first oil cylinder (13) and the second oil cylinder (11).

7. The hydraulic system of claim 6, wherein, The hydraulic system further includes the following working states: The second communication state, the second pilot control valve (Y2) is powered, the first electric control on-off valve (Y3) is powered, the first electric control on-off valve (Y3) is powered, the first pilot oil port of the two-position three-way valve (6.6a) is open, and then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6b) via the variable piston 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 to 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 on-off valve (Y3) via the second oil port of the three-position seven-way valve (6.6b), and flows into the third oil port of the third electric control on-off valve (Y5) via the third oil port of the first electric control on-off valve (Y3), and then the third electric control on-off valve (Y5) is closed, the first oil cylinder (13) and the second oil cylinder (11) of the oil cylinder assembly are locked, and are kept in the current extended state.

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

9. The hydraulic system of claim 6, wherein, The hydraulic system further includes the following working states: The third communication state, the second pilot control valve (Y2) is powered, the first electric control on-off valve (Y3) is powered off, the third electric control on-off valve (Y5) is powered, the first pilot oil port of the two-position three-way valve (6.6a) is open, and then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6b) through the variable piston 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 first oil port of the first electric control on-off valve (Y3) through the second oil port of the three-position seven-way valve (6.6b), flows into the third oil port of the third electric control on-off valve (Y5) through the third oil port of the first electric control on-off valve (Y3), and enters the hydraulic clutch (2), so that the hydraulic clutch (2) is switched to the closed state.

10. The hydraulic system of claim 6, wherein, The hydraulic system further comprises the following working states: The fourth communication state, if the hydraulic system has an error, the hydraulic system is switched to the fourth communication state: the second pilot control valve (Y2) is powered off, the third electric control on-off valve (Y5) is powered off, the three-position seven-way valve (6.6b) is in the middle 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 open state.

11. The hydraulic system of claim 3, wherein, The hydraulic system is in the state that one of the plurality of water outlets of the water pump (1) is in the open state, and the hydraulic system comprises the following working states: The fifth communication state, the first pilot control valve (Y1) is powered, the first electric control on-off valve (Y3) is powered, the first pilot oil port of the two-position three-way valve (6.6a) is open, and then the oil flows along the following path: hydraulic oil flows into the first oil port of the three-position seven-way valve (6.6b) through the variable piston 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 respective 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), and the return oil flows into the second oil port of the first electric control on-off valve (Y3) through the respective rodless cavities of the first oil cylinder (13) and the second oil cylinder (11), the first oil port of the first electric control on-off valve (Y3) flows into the second oil port of the three-position seven-way valve (6.6b), the sixth oil port of the three-position seven-way valve (6.6b) flows back to the return oil circuit.

12. The hydraulic system of claim 11, wherein, The hydraulic system further comprises the following working states: In the sixth communication state, the first pilot control valve (Y1) is de-energized, the first electrically controlled on-off valve (Y3) is de-energized, the second pilot control valve (Y2) is energized, and the third electrically controlled on-off valve (Y5) is energized. In this state, the hydraulic oil flows along the following path: the hydraulic oil flows into the first oil port of the three-position seven-port valve (6.6b) via the variable piston pump (4), flows into the first oil port of the two-position three-port valve (6.6a) via the fourth oil port of the three-position seven-port valve (6.6b), flows back to the fifth oil port of the three-position seven-port valve (6.6b) via the second oil port of the two-position three-port valve (6.6a), flows into the first oil port of the first electrically controlled on-off valve (Y3) via the second oil port of the three-position seven-port valve (6.6b), flows to the third oil port of the third electrically controlled on-off valve (Y5) via the third oil port of the first electrically controlled on-off valve (Y3), and flows to the hydraulic clutch (2) via the first oil port of the third electrically controlled on-off valve (Y5), so that the hydraulic clutch (2) is switched to the closed state.

13. The hydraulic system of claim 12, wherein, When the hydraulic system is in the state that one of the multiple water outlets of the water pump (1) is open, and when the outlet pressure of the variable piston pump (4) is greater than or equal to a set value, the hydraulic system is switched from the fifth communication state to the sixth communication state.

14. The hydraulic system of claim 3, wherein, When the hydraulic system has a fault information, the second pilot control valve (Y2) is de-energized, and the third electrically controlled on-off valve (Y5) is de-energized, so that the hydraulic clutch (2) is switched to the open state, and the water pump (1) is switched to the stop state for maintenance.

15. The hydraulic system of claim 3, wherein, Further comprising: a traveling motor, which is in communication with the first oil port of the second electrically controlled on-off valve (Y4); When the hydraulic system is in the normal traveling state, the second electrically controlled on-off valve (Y4) is de-energized, and the third electrically controlled on-off valve (Y5) is de-energized, so that the hydraulic oil is supplied to the traveling motor.

16. The hydraulic system of claim 15, wherein, The hydraulic system further comprises a high-speed traveling state. When the hydraulic system is in the high-speed traveling state, the second electrically controlled on-off valve (Y4) is switched to the energized state, so that the hydraulic oil supplied to the traveling motor is increased.

17. A flood drainage robot characterized by, The hydraulic system according to any one of claims 1-16.

18. A hydraulic system control method characterized by, The hydraulic system control method is implemented by the hydraulic system according to any one of claims 1-16, and comprises the following steps: setting the working conditions of the hydraulic system; the working conditions include the water drainage working condition and the traveling working condition; When the working condition of the hydraulic system is the water drainage working condition, it is determined whether all the water outlets of the water pump (1) are open; If all the water outlets of the water pump (1) are open, the second pilot control valve (Y2) and the first electrically controlled on-off valve (Y3) are adjusted to the energized state, so that the first oil cylinder (13) and the second oil cylinder (11) of the oil cylinder assembly are both extended; When the outlet pressure of the variable piston pump (4) is greater than or equal to a set value, the second pilot control valve (Y2) and the third electrically controlled on-off valve (Y5) of the hydraulic system are adjusted to the energized state, and the first electrically controlled on-off valve (Y3) of the hydraulic system is adjusted to the de-energized state; Turn on the hydraulic clutch (2) of the hydraulic system to drive the water pump (1) to work.

19. The hydraulic system control method of claim 18, wherein, Further comprising the following steps: If only one water outlet exists in each water outlet of the water pump (1), switch the first pilot control valve (Y1) and the first electric control switch valve (Y3) of the hydraulic system to the powered state; Retract the first oil cylinder (13) and the second oil cylinder (11) of the hydraulic cylinder assembly of the hydraulic system; When the outlet pressure of the variable displacement piston pump (4) is greater than or equal to the set value, adjust the second pilot control valve (Y2) and the third electric control switch valve (Y5) of the hydraulic system to the powered state, and adjust the first pilot control valve (Y1) and the first electric control switch valve (Y3) of the hydraulic system to the unpowered state. Turn on the hydraulic clutch (2) of the hydraulic system to drive the water pump (1) to work.

20. The hydraulic system control method of claim 18 or 19, wherein, Further comprising the following steps: After the second pilot control valve (Y2) and the third electric control switch valve (Y5) are adjusted to the powered state, determine whether the hydraulic system has a fault; If the hydraulic system has a fault, adjust the second pilot control valve (Y2) and the third electric control switch valve (Y5) to the unpowered state to disconnect the hydraulic clutch (2) and stop the water pump (1).

21. The hydraulic system control method of claim 18, wherein, Further comprising the following steps: When the working condition of the hydraulic system is the walking working condition, adjust the second electric control switch valve (Y4) and the third electric control switch valve (Y5) of the hydraulic system to the unpowered state, turn on the walking mechanism of the hydraulic system, and make the hydraulic system in the ordinary walking working condition.

22. The hydraulic system control method of claim 19, wherein, Further comprising the following steps: When it is necessary to switch the hydraulic system from the ordinary walking working condition to the high-speed walking working condition, adjust the second electric control switch valve (Y4) to the powered state to increase the supply amount of hydraulic oil of the walking mechanism of the hydraulic system, so as to increase the walking speed of the walking mechanism.

23. A hydraulic system control system characterized by, Comprise: a memory; and a processor coupled to the memory, the processor being configured to execute the hydraulic system control method according to 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 is executed by a processor to implement the hydraulic system control method according to any one of claims 18-22.

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