Grab bucket hydraulic control system for movement of water conservancy cleaning robot

Abstract

The invention relates to the technical field of grab bucket equipment, and discloses a hydraulic grab bucket control system for movement of a water conservancy cleaning robot, which comprises a frame body, a partition plate is fixedly arranged in the middle of the frame body, a hydraulic assembly is fixedly arranged at the upper end of the frame body, and two groups of upper hydraulic cylinders are fixedly arranged on the inner wall of the upper side of the frame body; and two sets of lower hydraulic cylinders are rotationally arranged on the lower sides of telescopic rods of the two sets of upper hydraulic cylinders, two sets of grab bucket assemblies are arranged on the positions, close to the front side and the rear side, of the lower side of the frame body, two guide wheel sets are fixedly installed at the two ends of the frame body correspondingly, and each hydraulic assembly comprises a lower box body fixedly arranged at the upper end of the frame body. According to the grab bucket hydraulic control system for movement of the water conservancy trash removal robot, through overall cooperative use, the characteristics of high synchronous operation precision, simple and convenient operation and control and high efficiency can be completed, two sets of lower hydraulic cylinders on the same side are independently controlled, operation and control can be more flexible, and trash grabbing work can be efficiently carried out.

Description

Technical Field

[0001] The invention relates to the technical field of grab bucket equipment, and in particular to a grab bucket hydraulic control system for the movement of a water conservancy and pollution cleaning robot. Background Art

[0002] In hydropower station projects, lifting machinery with garbage grab buckets, such as gantry hoists or garbage cleaning machines, are usually installed on the dam surface. The garbage grab buckets are suspended from the lifting machinery to clean the trash racks at the water inlet to prevent head loss caused by accumulation of dirt on the trash rack surface and improve water energy utilization.

[0003] For example, the crane-type garbage grab bucket with the publication number of CN111663596B can grab the garbage on the bottom of the shovel teeth. The garbage grab bucket mainly includes a grab frame 1, a hydraulic pump station 21, a hydraulic oil cylinder 22, a gear pair 23, a transmission shaft 24, a guide device 3, a bracket 41, a crank 42, a rotating rake claw 43, a bracket 44, a rocker 45 and a shovel tooth 5. The hydraulic pump station 21, the hydraulic oil cylinder 22, the gear pair 23 and the transmission shaft 24 constitute the driving system of the rotating rake claw 43. The bracket 41, the crank 42, the rotating rake claw 43, the bracket 44 and the rocker 45 constitute a four-bar linkage. The rotating claw 43 of the garbage cleaning grab bucket can move to the lower part of the tooth tip of the grab bucket shovel tooth 5 under the action of the four-bar linkage mechanism, and the tooth tip of the rotating claw 43 can move to the lower part of the tooth tip of the grab bucket shovel tooth 5 close to the surface of the trash rack after moving a distance below the tooth tip of the grab bucket shovel tooth 5, so as to grab the dirt on the lower part of the tooth tip of the shovel tooth. Therefore, compared with the grab buckets in the prior art, this crane-type garbage cleaning grab bucket can grab the dirt attached to the surface of the trash rack and against the shovel teeth of the garbage cleaning grab bucket, which can well solve the problem that the garbage cleaning grab bucket cannot be lowered along the surface of the trash rack for cleaning because the shovel teeth are blocked by the dirt. It is a solution that can achieve good garbage cleaning effect with relatively small investment, and also provides a reliable guarantee for the garbage cleaning work of the power station trash rack. The invention has a wide range of practical applications.

[0004] However, the problems with this type of garbage grab are: it has a single-sided grab structure, garbage is mainly grabbed by the single-sided grab, and the garbage grab needs to face the trash rack, so it is designed as a grille structure, but the gaps between the grabs can easily cause dirt to fall, making the overall garbage cleaning effect unsatisfactory. Summary of the invention

[0005] The main purpose of the present invention is to provide a grab hydraulic control system for the movement of a water conservancy and pollution cleaning robot, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A grab bucket hydraulic control system for the movement of a water conservancy and pollution cleaning robot comprises a frame, a partition is fixedly arranged in the middle of the frame, a hydraulic assembly is fixedly arranged on the upper end of the frame, two groups of upper hydraulic cylinders are fixedly arranged on the upper inner wall of the frame, two groups of lower hydraulic cylinders are rotatably arranged on the lower sides of the telescopic rods of the two groups of upper hydraulic cylinders, two groups of grab bucket assemblies are arranged on the lower side of the frame near the front and rear sides, two groups of guide wheel groups are fixedly installed on both ends of the frame, the hydraulic assembly comprises a lower box body fixedly arranged on the upper end of the frame, a middle box body is fixedly arranged on the upper end of the lower box body, an upper box body is fixedly arranged on the upper end of the middle box body, a hydraulic valve group is fixedly installed on the inner side of the middle box body, a hydraulic motor is fixedly installed on the inner side of the lower box body, a hydraulic oil pump is fixedly installed on the inner side of the lower box body, an upper observation hole is fixedly arranged on one side of the lower box body, a lower observation hole is fixedly arranged on one side of the lower box body near the lower side of the upper observation hole, and an oil drain port is fixedly arranged on one side of the lower box body near the lower side of the lower observation hole.

[0007] Preferably, the two groups of grab bucket assemblies include two groups of triangular shafts fixedly arranged at the front and rear ends of the frame body near the lower side, the two groups of triangular shafts are rotatably arranged on the inner sides of the two groups of triangular shafts, a fixed shell is fixedly arranged on the inner side of the rotating sleeve, a plurality of groups of rake claws are fixedly arranged inside the lower side of the fixed shell, a round rod groove is arranged on the inner side of the rake claw, a driving rod is rotatably arranged on the inner side of the round rod groove, a push opening is opened on the inner side of the driving rod, a column gear is fixedly arranged on the upper end of the driving rod, a tooth plate is slidably arranged on the inner side of the rake claw, two groups of fixed blocks are fixedly arranged on one side of the tooth plate, a fixed rod is fixedly arranged between the two groups of fixed blocks, gear rods are meshed on both sides of the tooth plate, baffles are fixedly arranged on the outer sides of the two groups of gear rods, two groups of driving hydraulic cylinders are fixedly arranged on the inner bottom of the rotating sleeve, and racks are fixedly connected to the telescopic rods of the two groups of driving hydraulic cylinders.

[0008] Preferably, air flow grooves are opened on the inner sides of the two groups of baffles, and several groups of threaded joints are fixedly arranged at positions corresponding to the air flow grooves on opposite sides of the two groups of baffles, and filter air caps are threadedly connected to the outer sides of the several groups of threaded joints. Connecting pipes are fixedly arranged at interface positions above the upper ends of the two groups of baffles corresponding to the air flow grooves, an air pump is fixedly connected to the inner wall of one side of the fixed shell, and an exhaust pipe is fixedly connected to the exhaust end of the air pump.

[0009] Preferably, the telescopic rod of the upper hydraulic cylinder moves through the inner side of the partition, the hydraulic components and electrical components in the hydraulic assembly and grab assembly are all sealed, and the hydraulic valve group, hydraulic motor, hydraulic oil pump, upper hydraulic cylinder and lower hydraulic cylinder are connected to an external power supply and a control terminal.

[0010] Preferably, the upper side of the rotating sleeve is rotatably connected to the two groups of lower hydraulic cylinder telescopic rods on the same side, several groups of rake claws are evenly arranged laterally, the rake claws are spliced ​​claw shells, and the upper and lower sides of the driving rod are hollow openings to avoid rotation and interference with the two groups of fixed blocks.

[0011] Preferably, the push mouth is tilted, the fixed rod is movably arranged in the push mouth, the two groups of gear rods are rotationally connected to the rake claws, the driving hydraulic cylinder is connected to an external power supply and a control terminal, and the rack is meshed with the column gear.

[0012] Preferably, the air flow groove is communicated with the interior of the connecting pipe, and a plurality of groups of threaded joints are respectively arranged on the trajectory of the air flow groove, and the threaded joints are communicated with the interior of the air flow groove. Preferably, the connecting pipe penetrates into the interior of the fixed shell and is fixedly connected to the air outlet end of the air pump, the air pump is connected to an external power supply and a control terminal, and the air extraction pipe passes through the upper side of the fixed shell.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The whole is connected to the boom wire rope for use, and the overall energy output is provided by an external power supply. The control terminal controls the hydraulic valve group, hydraulic motor, and hydraulic oil pump in the hydraulic component, starts the work of the upper hydraulic cylinder and the lower hydraulic cylinder, and controls the two groups of upper hydraulic cylinders to descend at the same time, so as to realize the synchronous control of the opening and closing of the two groups of grab assemblies on the lower side, so that the two groups of grab assemblies can clamp the dirt in the water, and the synchronous opening of the two groups of grab assemblies can maximize the grabbing of debris in the water. The two groups of lower hydraulic cylinders on the same side are controlled and driven by the control terminal, and the other two groups can remain stationary. The control terminal can realize a unilateral working mode. In the face of actual situations, by controlling the two groups of upper hydraulic cylinders alone, the characteristics of high synchronous operation precision, simple operation control, and high efficiency can be achieved, and the two groups of lower hydraulic cylinders on the same side can be controlled alone, which can achieve more flexible operation and control. When the hydraulic components need to be adjusted or repaired, only the upper box and the middle box need to be opened to adjust and repair the interior. When the two grab bucket assemblies grab the dirt in the rake bucket and lift the rake bucket filled with dirt up to the dam surface, the control terminal first controls the driving hydraulic cylinder and the air pump to work, and the driving hydraulic cylinder pushes the rack, so that the meshing groups of column gears drive the driving rods to rotate respectively, and the push opening on the inside of the driving rod pushes the fixed rod on the inside, and the tooth plate slides outward in the rake claw, driving the gear rods and baffles on both sides in opposite directions to open at the same time, which will cover the gaps between the groups of rake claws to prevent the ungrabbed and compacted dirt from falling, thereby improving the overall cleaning efficiency. By using an air pump, air is drawn into the air flow groove opened in the baffle through the connecting pipe, and is sent to several groups of threaded joints and filter air caps by the air flow groove for rapid spraying, blowing off the dirt that may be stuck to the closed end of the two groups of baffles, avoiding affecting the closing degree of the two groups of baffles, so that the rake claws can be effectively inserted into the trash rack for grabbing work, and the surrounding dirt can also be blown away in the water. The two groups of baffles can be opened and closed in the water, completing the work better, eliminating the safety hazards caused by the lifting of the rack, and improving the structure of the grab bucket assembly to work more efficiently, ensuring the normal progress of the muddy water power generation and pollution cleaning work and the safe and efficient operation of the generator set. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of a grab hydraulic control system for a hydraulic pollution-cleaning robot according to the present invention; Figure 2 It is a side structural schematic diagram of a grab bucket hydraulic control system for a hydraulic pollution-cleaning robot according to the present invention; Figure 3 It is a schematic diagram of the structure of hydraulic components of a grabbing bucket hydraulic control system for a hydraulic pollution-cleaning robot according to the present invention; Figure 4 It is a schematic diagram of the structure of a grab bucket component of a grab bucket hydraulic control system for a hydraulic pollution-cleaning robot according to the present invention; Figure 5 A hydraulic control system for a grab bucket of a water conservancy cleaning robot according to the present invention Figure 4 A schematic diagram of the enlarged structure of the middle part A; Figure 6 The schematic diagram of the partial structure of the grab bucket component of the grab bucket hydraulic control system of the hydraulic cleaning robot of the present invention Figure 1 ; Figure 7 The schematic diagram of the partial structure of the grab bucket component of the grab bucket hydraulic control system of the hydraulic cleaning robot of the present invention Figure 2 ; Figure 8 It is a schematic diagram of a partial explosion structure of a grab bucket component of a grab bucket hydraulic control system for a hydraulic pollution cleaning robot according to the present invention; Fig. 9 The schematic diagram of the partial structure of the grab bucket component of the grab bucket hydraulic control system of the hydraulic cleaning robot of the present invention Figure 3 ; Fig.10 A hydraulic control system for a grab bucket of a water conservancy cleaning robot according to the present invention Figure 8 The enlarged structural diagram of the middle B part; Fig.11 The present invention is a schematic diagram of a control system of a grab hydraulic control system for the movement of a water conservancy and pollution cleaning robot.

[0015] In the figure: 1, frame; 2, partition; 3, hydraulic assembly; 31, lower box; 32, middle box; 33, upper box; 34, hydraulic valve group; 35, hydraulic motor; 36, hydraulic oil pump; 37, upper observation hole; 38, lower observation hole; 39, oil drain port; 4, upper hydraulic cylinder; 5, lower hydraulic cylinder; 6, grab assembly; 61, triangular shaft; 62, rotating sleeve; 63, fixed shell; 64, rake claw; 65, round rod groove; 66, driving rod; 67, push mouth; 68, column gear; 69, tooth plate; 610, fixed block; 611, fixed rod; 612, gear rod; 613, baffle; 614, driving hydraulic cylinder; 615, rack; 616, air flow groove; 617, threaded joint; 618, filter air cap; 619, connecting pipe; 620, air pump; 621, exhaust pipe; 7, guide wheel group. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are relative relationships of directions or positions, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0018] See also Figure 1-Figure 11 The present invention provides an embodiment: a grab bucket hydraulic control system for a hydraulic cleaning robot, comprising a frame 1, a partition 2 is fixedly arranged in the middle of the frame 1, a hydraulic assembly 3 is fixedly arranged on the upper end of the frame 1, two groups of upper hydraulic cylinders 4 are fixedly arranged on the inner wall of the upper side of the frame 1, two groups of lower hydraulic cylinders 5 are rotatably arranged on the lower side of the telescopic rods of the two groups of upper hydraulic cylinders 4, two groups of grab bucket assemblies 6 are arranged near the front and rear sides of the lower side of the frame 1, two groups of guide wheel assemblies 7 are fixedly installed at both ends of the frame 1, and the hydraulic assembly 3 includes a fixed assembly 4 on the upper end of the frame 1. A lower box body 31 is provided, a middle box body 32 is fixedly provided on the upper end of the lower box body 31, an upper box body 33 is fixedly provided on the upper end of the middle box body 32, a hydraulic valve group 34 is fixedly installed on the inner side of the middle box body 32, a hydraulic motor 35 is fixedly installed on the inner side of the lower box body 31, a hydraulic oil pump 36 is fixedly installed on the inner side of the lower box body 31, an upper observation hole 37 is fixedly provided on one side of the lower box body 31, a lower observation hole 38 is fixedly provided on one side of the lower box body 31 near the lower side of the upper observation hole 37, and an oil drain port 39 is fixedly provided on one side of the lower box body 31 near the lower side of the lower observation hole 38.

[0019] The telescopic rod of the upper hydraulic cylinder 4 moves through the inner side of the partition 2. The hydraulic components and electrical components in the hydraulic assembly 3 and the grab assembly 6 are all sealed. The hydraulic valve group 34, the hydraulic motor 35, the hydraulic oil pump 36, the upper hydraulic cylinder 4, and the lower hydraulic cylinder 5 are connected to the external power supply and the control terminal.

[0020] The whole is connected to the boom wire rope for use, and the energy output of the whole is provided by an external power supply. The control terminal controls the hydraulic valve group 34, the hydraulic motor 35, and the hydraulic oil pump 36 in the hydraulic component 3, starts the work of the upper hydraulic cylinder 4 and the lower hydraulic cylinder 5, controls the two groups of upper hydraulic cylinders 4 to descend at the same time, and realizes the synchronous control of the opening and closing of the two groups of grab assemblies 6 on the lower side, so that the two groups of grab assemblies 6 can clamp the dirt in the water, and the synchronous opening of the two groups of grab assemblies 6 can maximize the grabbing of debris in the water, and the two groups of lower hydraulic cylinders 5 on the same side are controlled and driven by the control terminal, and the other two groups can remain stationary. The control terminal can realize a unilateral working mode. In the face of actual situations, by controlling the two groups of upper hydraulic cylinders 4 alone, the characteristics of high synchronous operation accuracy, simple operation control, and high efficiency can be achieved, and the two groups of lower hydraulic cylinders 5 on the same side can be controlled alone, which can be more flexibly operated and controlled. When the hydraulic component 3 needs to be adjusted or repaired, it is only necessary to open the upper box body 33 and the middle box body 32 to adjust and repair the interior.

[0021] The two groups of grab bucket assemblies 6 include two groups of triangular shafts 61 fixedly arranged at the front and rear ends of the frame 1 near the lower side, the inner side of the two groups of triangular shafts 61 is rotatably provided with a rotating sleeve 62, the inner side of the rotating sleeve 62 is fixedly provided with a fixed shell 63, and the lower side of the fixed shell 63 is fixedly provided with a plurality of groups of rake claws 64, the inner side of the rake claws 64 is provided with a round rod groove 65, the inner side of the round rod groove 65 is rotatably provided with a driving rod 66, the inner side of the driving rod 66 is provided with a push port 67, and the upper end of the driving rod 66 is fixedly provided with a A column gear 68 is provided, and a tooth plate 69 is slidably provided on the inner side of the rake claw 64. Two groups of fixed blocks 610 are fixedly provided on one side of the tooth plate 69, and a fixed rod 611 is fixedly provided between the two groups of fixed blocks 610. Gear rods 612 are meshed on both sides of the tooth plate 69, and baffles 613 are fixedly provided on the outer sides of the two groups of gear rods 612. Two groups of driving hydraulic cylinders 614 are fixedly provided on the inner bottom of the rotating sleeve 62, and racks 615 are fixedly connected to the telescopic rods of the two groups of driving hydraulic cylinders 614.

[0022] The upper side of the rotating sleeve 62 is rotatably connected to the telescopic rods of the two groups of lower hydraulic cylinders 5 on the same side. Several groups of rake claws 64 are evenly arranged laterally. The rake claws 64 are claw shells formed by splicing. The upper and lower sides of the driving rod 66 are hollow openings to avoid rotation and interference with the two groups of fixed blocks 610. The push port 67 is tilted, and the fixed rod 611 is movably set in the push port 67. The two groups of gear rods 612 are rotatably connected to the rake claws 64. The driving hydraulic cylinder 614 is connected to an external power supply and a control terminal, and the rack 615 is meshed with the column gear 68.

[0023] When the two groups of grab bucket assemblies 6 grab the dirt in the rake bucket and lift the rake bucket filled with dirt up to the dam surface, the control terminal first controls the driving hydraulic cylinder 614 and the air pump 620 to work, and the driving hydraulic cylinder 614 pushes the rack 615, so that the meshing groups of column gears 68 respectively drive the driving rod 66 to rotate, and the push port 67 on the inner side of the driving rod 66 will push the inner fixed rod 611, and the tooth plate 69 will slide outward in the rake claw 64, respectively driving the gear rods 612 and the baffle 613 on both sides to open in opposite directions at the same time, which will cover the gaps between the groups of rake claws 64 to prevent the ungrabbed and compacted dirt from falling, thereby improving the overall cleaning efficiency.

[0024] Air flow grooves 616 are provided on the inner sides of the two groups of baffles 613, and a plurality of groups of threaded joints 617 are fixedly provided at positions corresponding to the air flow grooves 616 on the opposite sides of the two groups of baffles 613, and filter air caps 618 are threadedly connected to the outer sides of the plurality of groups of threaded joints 617, and connecting pipes 619 are fixedly provided at the upper ends of the two groups of baffles 613 at interface positions above the air flow grooves 616, an air pump 620 is fixedly connected to the inner wall of one side of the fixed shell 63, and an exhaust pipe 621 is fixedly connected to the exhaust end of the air pump 620.

[0025] The air flow groove 616 is communicated with the interior of the connecting pipe 619, and several groups of threaded joints 617 are respectively arranged on the trajectory of the air flow groove 616. The threaded joints 617 are communicated with the interior of the air flow groove 616. The connecting pipe 619 penetrates into the interior of the fixed shell 63 and is fixedly connected to the air outlet end of the air pump 620. The air pump 620 is connected to an external power supply and a control terminal, and the exhaust pipe 621 passes through the upper side of the fixed shell 63.

[0026] By using the air pump 620, air is drawn into the air flow groove 616 opened in the baffle 613 through the connecting pipe 619, and is sent to several groups of threaded joints 617 and filter air caps 618 by the air flow groove 616 for rapid spraying, so as to blow off the dirt that may be stuck to the closed end of the two groups of baffles 613, so as to avoid affecting the closing degree of the two groups of baffles 613, so that the rake claw 64 can be effectively inserted into the trash rack for grabbing work, and the surrounding dirt can also be blown away in the water. The two groups of baffles 613 can be unfolded and closed in the water, so as to complete the work better, eliminate the safety hazards caused by the lifting operation, and improve the structure of the grab bucket assembly 6, work more efficiently, and ensure the normal progress of the muddy water power generation and pollution cleaning work and the safe and efficient operation of the generator set.

[0027] Working principle: When in use, the whole is connected to the steel wire rope of the boom, and the energy output of the whole is provided by an external power supply. The control terminal controls the hydraulic valve group 34, hydraulic motor 35, and hydraulic oil pump 36 in the hydraulic component 3, starts the work of the upper hydraulic cylinder 4 and the lower hydraulic cylinder 5, controls the two groups of upper hydraulic cylinders 4 to descend at the same time, and realizes the synchronous control of the opening and closing of the two groups of grab bucket components 6 on the lower side, so that the two groups of grab bucket components 6 can clamp the dirt in the water, and the synchronous opening of the two groups of grab bucket components 6 can maximize the grabbing of debris in the water, and the two groups of lower hydraulic cylinders 5 on the same side are controlled and driven by the control terminal, and the other two groups can remain static. In the stopped state, the control terminal can realize the unilateral working mode. In the face of actual situations, by controlling the two groups of upper hydraulic cylinders 4, the synchronous operation with high precision, simple operation and control, and high efficiency can be completed. By controlling the two groups of lower hydraulic cylinders 5 on the same side, more flexible operation and control can be achieved. When the hydraulic assembly 3 needs to be adjusted or repaired, it is only necessary to open the upper box body 33 and the middle box body 32 to adjust and repair the interior. When the two groups of grab bucket assemblies 6 grab the dirt in the rake bucket, when the rake bucket filled with dirt is lifted up to the dam surface, the control terminal is first used to control the driving hydraulic cylinder 614 and the air pump 620 to work, The driving hydraulic cylinder 614 pushes the rack 615, so that the meshing groups of column gears 68 drive the driving rod 66 to rotate respectively, and the push port 67 inside the driving rod 66 pushes the inner fixed rod 611, and the tooth plate 69 slides outward in the rake claw 64, respectively driving the gear rods 612 and the baffle 613 on both sides to open in the opposite direction at the same time, which will cover the gaps between the groups of rake claws 64 to prevent the ungrabbed and compacted dirt from falling, thereby improving the overall cleaning efficiency; finally, through the use of the air pump 620, the air is drawn into the air flow groove 616 opened in the baffle 613 through the connecting pipe 619, and the air is discharged by the air flow groove 616. 16 is respectively sent to several groups of threaded joints 617 and filter air caps 618 for rapid spraying, and the dirt that may be stuck to one end of the two groups of baffles 613 that is closed is blown off to avoid affecting the closing degree of the two groups of baffles 613, so that the rake claws 64 can be effectively inserted into the trash rack for grabbing work, and the surrounding dirt can also be blown away in the water. The two groups of baffles 613 can be unfolded and closed in the water, and the work is better completed, eliminating the safety hazards caused by the lifting of the rack operation, and improving the structure of the grab bucket assembly 6, working more efficiently, ensuring the normal progress of the muddy water power generation and pollution cleaning work and the safe and efficient operation of the generator set.

[0028] The hydraulic assembly 3, upper hydraulic cylinder 4, lower hydraulic cylinder 5, driving hydraulic cylinder 614, air pump 620, and guide wheel assembly 7 in the present invention are common knowledge in the field, and their working principles are already well-known technologies, and the models are selected according to actual use, so they will not be explained in detail.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grab hydraulic control system for a hydraulic cleaning robot, comprising a frame (1), characterized in that: A partition plate (2) is fixedly arranged in the middle of the frame (1), a hydraulic assembly (3) is fixedly arranged at the upper end of the frame (1), two groups of upper hydraulic cylinders (4) are fixedly arranged on the inner wall of the upper side of the frame (1), two groups of lower hydraulic cylinders (5) are rotatably arranged on the lower sides of the telescopic rods of the two groups of upper hydraulic cylinders (4), two groups of grab assemblies (6) are arranged near the front and rear sides of the lower side of the frame (1), two groups of guide wheel assemblies (7) are fixedly installed at both ends of the frame (1), and the hydraulic assembly (3) comprises a lower box body (31) fixedly arranged at the upper end of the frame body (1), and a middle box body (31) is fixedly arranged at the upper end of the lower box body (31). A box body (32), an upper box body (33) is fixedly arranged at the upper end of the middle box body (32), a hydraulic valve group (34) is fixedly installed on the inner side of the middle box body (32), a hydraulic motor (35) is fixedly installed on the inner side of the lower box body (31), a hydraulic oil pump (36) is fixedly installed on the inner side of the lower box body (31), an upper observation hole (37) is fixedly arranged on one side of the lower box body (31), a lower observation hole (38) is fixedly arranged on one side of the lower box body (31) near the lower side of the upper observation hole (37), and an oil drain port (39) is fixedly arranged on one side of the lower box body (31) near the lower side of the lower observation hole (38).

2. The grab hydraulic control system of the hydraulic cleaning robot according to claim 1 is characterized in that: The two groups of grab assemblies (6) include two groups of triangular shafts (61) fixedly arranged at the front and rear ends of the frame (1) near the lower side, the inner sides of the two groups of triangular shafts (61) are rotatably provided with a rotating sleeve (62), the inner side of the rotating sleeve (62) is fixedly provided with a fixed shell (63), the lower side of the fixed shell (63) is fixedly provided with a plurality of groups of rake claws (64), the inner side of the rake claws (64) is provided with a round rod groove (65), the inner side of the round rod groove (65) is rotatably provided with a driving rod (66), the inner side of the driving rod (66) is provided with a push opening (67), the upper end of the driving rod (66) is fixedly provided with a push opening (67) A column gear (68) is fixedly arranged, a tooth plate (69) is slidably arranged on the inner side of the rake claw (64), two groups of fixed blocks (610) are fixedly arranged on one side of the tooth plate (69), a fixed rod (611) is fixedly arranged between the two groups of fixed blocks (610), gear rods (612) are meshedly arranged on both sides of the tooth plate (69), baffles (613) are fixedly arranged on the outer sides of the two groups of gear rods (612), and two groups of driving hydraulic cylinders (614) are fixedly arranged on the inner bottom of the rotating sleeve (62), and racks (615) are fixedly connected to the telescopic rods of the two groups of driving hydraulic cylinders (614).

3. The grab hydraulic control system of the hydraulic cleaning robot according to claim 2 is characterized in that: An air flow groove (616) is provided on the inner side of the two groups of baffles (613); a plurality of groups of threaded joints (617) are fixedly provided at positions corresponding to the air flow grooves (616) on opposite sides of the two groups of baffles (613); filter air caps (618) are threadedly connected to the outer sides of the plurality of groups of threaded joints (617); a connecting pipe (619) is fixedly provided at an interface position above the air flow grooves (616) at the upper ends of the two groups of baffles (613); an air pump (620) is fixedly connected to the inner wall of one side of the fixed shell (63); and an air extraction pipe (621) is fixedly connected to the air extraction end of the air pump (620).

4. The grab hydraulic control system for the movement of a hydraulic pollution-cleaning robot according to claim 1 is characterized in that: The telescopic rod of the upper hydraulic cylinder (4) movably passes through the inner side of the partition (2); the hydraulic components and electrical components in the hydraulic assembly (3) and the grab assembly (6) are all sealed; the hydraulic valve group (34), the hydraulic motor (35), the hydraulic oil pump (36), the upper hydraulic cylinder (4), and the lower hydraulic cylinder (5) are connected to an external power source and a control terminal.

5. The grab hydraulic control system for the movement of a hydraulic pollution-cleaning robot according to claim 2, characterized in that: The upper side of the rotating sleeve (62) is rotatably connected to the telescopic rods of the two groups of lower hydraulic cylinders (5) on the same side. The plurality of groups of rake claws (64) are evenly arranged laterally. The rake claws (64) are spliced ​​claw shells. The upper and lower sides of the driving rod (66) are hollow openings to prevent rotation from interfering with the two groups of fixed blocks (610).

6. The grab hydraulic control system for the movement of a hydraulic cleaning robot according to claim 2, characterized in that: The push opening (67) is tilted, the fixed rod (611) is movably arranged in the push opening (67), the two sets of gear rods (612) are rotatably connected to the rake claws (64), the driving hydraulic cylinder (614) is connected to an external power source and a control terminal, and the rack (615) is meshed with the column gear (68).

7. The grab hydraulic control system for the movement of a hydraulic pollution-cleaning robot according to claim 3 is characterized by: The airflow groove (616) is in communication with the interior of the connecting pipe (619), and a plurality of groups of threaded joints (617) are respectively arranged on the trajectory of the airflow groove (616), and the threaded joints (617) are in communication with the interior of the airflow groove (616).

8. The grab hydraulic control system for the movement of a hydraulic pollution-cleaning robot according to claim 3, characterized in that: The connecting pipe (619) penetrates into the interior of the fixed shell (63) and is fixedly connected to the air outlet end of the air pump (620). The air pump (620) is connected to an external power source and a control terminal. The air extraction pipe (621) passes through the upper side of the fixed shell (63).

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