Floating obstacle crossing valve group, lifting hydraulic assembly and water sump dredging robot

Abstract

The invention provides a floating obstacle crossing valve group, a lifting hydraulic assembly and a water sump desilting robot, the floating obstacle crossing valve group comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve and a floating reversing valve, a first oil inlet is communicated with an oil tank, and a first oil outlet is communicated with a rod cavity; the second oil inlet is communicated with the oil tank, and the second oil outlet is communicated with the rodless cavity; the floating pressure port is communicated with the meso-position machine port, the floating working port is respectively communicated with the first control port and the second control port, the floating oil return port is communicated with the oil tank, when the floating reversing valve is in a first working state, the floating working port is communicated with the floating pressure port, and when the floating reversing valve is in a second working state, the floating working port is communicated with the floating oil return port. And the floating working port is communicated with the floating oil return port. Through the technical scheme provided by the invention, the problem that the pre-charging pressure value of an energy accumulator is difficult to adjust accurately due to the fact that the energy accumulator is used for flushing and absorbing energy in a desilting robot in the related technology can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of sump silt clearing, and in particular to a floating obstacle-crossing valve group, a lifting hydraulic component and a sump silt clearing robot. Background Art

[0002] The silo desilting robot can automatically clean the deposited impurities such as coal slime in the underground silo, replacing the original manual desilting or the reciprocating operation of the bucket machine, freeing personnel from the harsh working environment and improving work efficiency. When operating in the underground silo, the desilting robot needs to face the complex silo bottom structure (including but not limited to accumulated water, silt, coal slime and various unforeseen obstacles such as rocks and rubble). The height and position of these obstacles vary, which poses a serious challenge to the passability of the desilting robot.

[0003] In the relevant technology, the obstacle crossing condition refers to the working state in which the silo silt cleaning robot encounters obstacles or slopes exceeding the silt cleaning height when walking in the silo under the premise of a certain silt cleaning height (the height of the feed and aggregate device), so that the feed and aggregate device is forced to lift. The silo silt cleaning robot includes a complete machine, a lifting cylinder, a feed and aggregate device, a proportional reversing valve, a two-way hydraulic lock, a rod accumulator and a rodless accumulator. The feed and aggregate device is connected to the complete machine through a lifting cylinder, and the height of the feed and aggregate device is adjusted by the telescopic action of the lifting cylinder. The two-way hydraulic lock is composed of two hydraulically controlled one-way valves, which respectively control the rod chamber and the rodless chamber of the lifting cylinder. When the lifting cylinder is in a stationary state, the two-way hydraulic lock plays a supporting role, so that the lifting cylinder can stably support the feed and aggregate device to prevent the feed and aggregate device from moving due to gravity or external loads, thereby ensuring the stability of the feed and aggregate device during the silt cleaning process. The rod accumulator is arranged between the rod chamber and the bidirectional hydraulic lock, and the rodless accumulator is arranged between the rodless chamber and the bidirectional hydraulic lock, so that a closed loop is formed between the rod chamber and the rod accumulator, and a closed loop is formed between the rodless chamber and the rodless accumulator.

[0004] Specifically, when the lifting cylinder is lifted, the oil enters the rodless chamber through the proportional reversing valve and accumulates pressure for the rodless accumulator. The pressure of the rodless accumulator is the same as the oil pressure of the rod chamber, both of which are the lifting load pressure. The oil in the rod chamber and the rod accumulator is unloaded through the throttle of the two-way hydraulic lock, so that the oil pressure in the rod chamber drops, and the pressure of the rod accumulator drops accordingly. When the lifting cylinder is suspended, the two-way hydraulic lock closes the oil circuit between the rod chamber and the rod accumulator and the oil circuit between the rodless chamber and the rodless accumulator. The oil circuit pressure remains at the state at the end of lifting, and the lifting height of the lifting cylinder remains unchanged. When overcoming obstacles, the feeding and collecting device encounters obstacles and is forced to rise, thereby generating a pulling force on the hydraulic rod of the lifting cylinder. The oil in the rod chamber is pressurized, and part of the oil enters the rod accumulator. The rod accumulator accumulates pressure, and the pressure value increases with the increase of the oil entering. At the same time, the rodless accumulator releases the pressure and replenishes part of the oil into the rodless chamber. Under the joint action of the two, the lifting cylinder can extend as the feeding and collecting device is raised to achieve climbing and overcoming obstacles. After the obstacle is overcome, the load on the rod chamber side is reduced, and the rod accumulator releases the pressure oil that entered during the obstacle overcoming back to the rod chamber, and the rodless chamber oil is filled back into the rodless accumulator, so that the rodless chamber oil pressure is balanced with the load pressure during hovering, and the hydraulic rod retracts to the initial position.

[0005] The accumulator usually consists of an airbag (or piston) and a shell. The airbag is pre-filled with high-pressure gas (such as nitrogen), and the shell is connected to the oil circuit. When the oil circuit pressure exceeds the pressure of the pre-filled gas in the accumulator, the oil will compress the airbag and further enter the accumulator. This process is equivalent to the accumulator "storing" energy. The compression of the airbag (or gas) also means that the air pressure inside the accumulator increases. When the oil stops flowing in, the airbag will remain in a compressed state, thereby maintaining the high-pressure oil inside and releasing it when the system needs it.

[0006] However, the dredging robot in the related art utilizes an accumulator to absorb energy, but has the problem that the pre-charge pressure value of the accumulator is difficult to accurately adjust, that is, the debugging is difficult. Summary of the invention

[0007] The present invention provides a floating obstacle-crossing valve group, a lifting hydraulic component and a water tank silt-clearing robot, so as to solve the problem in the related art that the silt-clearing robot utilizes an accumulator to absorb energy and the pre-charge pressure value of the accumulator is difficult to accurately adjust.

[0008] According to one aspect of the present invention, a floating obstacle valve group is provided, which includes: a first hydraulically controlled one-way valve, having a first oil inlet, a first oil outlet and a first control port, the first oil inlet is connected to the oil tank, and the first oil outlet is connected to the rod chamber; a second hydraulically controlled one-way valve, having a second oil inlet, a second oil outlet and a second control port, the second oil inlet is connected to the oil tank, and the second oil outlet is connected to the rodless chamber; a floating reversing valve, having a floating pressure port, a floating working port and a floating oil return port, the floating pressure port is connected to the mid-position function port, the floating working port is respectively connected to the first control port and the second control port, the floating oil return port is connected to the oil tank, and the floating reversing valve has a first working state and a second working state, when the floating reversing valve is in the first working state, the floating working port is connected to the floating pressure port, when the floating reversing valve is in the second working state, the floating working port is connected to the floating oil return port.

[0009] Furthermore, the floating obstacle valve group also includes a valve block, the valve block having a first flow channel, a second flow channel, a third flow channel and a fourth flow channel, the first end of the first flow channel is connected to the mid-position functional port, the second end of the first flow channel is connected to the floating pressure port, the first end of the second flow channel is respectively connected to the floating oil return port, the first oil outlet and the second oil outlet, the second end of the second flow channel is connected to the oil tank, the first end of the third flow channel is connected to the first oil outlet, the second end of the third flow channel is connected to the rod chamber, the first end of the fourth flow channel is connected to the second oil outlet, and the second end of the fourth flow channel is connected to the rodless chamber.

[0010] Furthermore, the valve block has a first side wall and a second side wall arranged opposite to each other, the second end of the first flow channel and the second end of the second flow channel are both arranged on the first side wall, and the second end of the third flow channel and the second end of the fourth flow channel are both arranged on the second side wall.

[0011] Furthermore, the valve block also has a third side wall and a fourth side wall that are arranged opposite to each other and a fifth side wall and a sixth side wall that are arranged opposite to each other. The first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve are arranged on the third side wall and the fourth side wall respectively, and the floating reversing valve is arranged on the fifth side wall.

[0012] Furthermore, the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve and the floating reversing valve are all detachably connected to the valve block.

[0013] Furthermore, the floating reversing valve is a plate-type structure.

[0014] Furthermore, the first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve are both hydraulically controlled one-way throttle valves.

[0015] Furthermore, the floating reversing valve is a two-position four-way reversing valve, the floating pressure port, the floating working port and the floating oil return port are all arranged on the two-position four-way reversing valve, the two-position four-way reversing valve also has a discarded working port, and the discarded working port is in a blocked state; and / or, the floating reversing valve is an explosion-proof solenoid valve.

[0016] According to another aspect of the present invention, a lifting hydraulic component is provided, which includes: a pump body, having a pump inlet and a pump outlet; an oil tank, the pump inlet being connected to the oil tank; a lifting cylinder, having a rod chamber and a rodless chamber; a two-way hydraulic lock, having a first interface, a second interface, a third interface and a fourth interface, the first interface being connected to the rod chamber, and the second interface being connected to the rodless chamber; a proportional reversing valve, having a proportional oil inlet, a mid-position function port, a first proportional working port, a second proportional working port and a proportional oil return port, the proportional oil inlet being connected to the pump outlet, the first proportional working port being connected to the third interface, the second proportional working port being connected to the fourth interface, and the proportional oil return port being connected to the oil tank; a floating obstacle valve group, which is the floating obstacle valve group provided above.

[0017] According to yet another aspect of the present invention, a sump silt cleaning robot is provided, and the sump silt cleaning robot comprises the lifting hydraulic assembly provided above.

[0018] By applying the technical solution of the present invention, the floating obstacle valve group includes a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve and a floating reversing valve. When the sump dredging robot is in an obstacle crossing condition, the mid-position functional port provides control pressure oil to the floating reversing valve, so that the floating reversing valve switches to the first working state, and the floating reversing valve introduces the control pressure oil into the first control port and the second control port. The first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve open in reverse, and the rod chamber and the rodless chamber are both connected to the oil tank. Under the action of external force, the rod chamber and the rodless chamber can actively absorb and discharge oil to realize the obstacle crossing function without relying on the charging and absorbing energy of the accumulator, thereby avoiding the problem of difficulty in adjusting the pre-charging pressure value of the accumulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of a floating obstacle-crossing valve assembly provided according to an embodiment of the present invention is shown;

[0021] Figure 2 It shows a schematic structural diagram of a floating obstacle-crossing valve group provided according to an embodiment of the present invention;

[0022] Figure 3 A schematic structural diagram of a floating obstacle-crossing valve assembly from another perspective is shown according to an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a lifting hydraulic assembly provided according to an embodiment of the present invention is shown;

[0024] Figure 5 A schematic diagram of a lifting hydraulic assembly provided according to an embodiment of the present invention is shown.

[0025] The above drawings include the following reference numerals:

[0026] 1. Floating obstacle valve group; 2. Oil tank; 3. Pump body;

[0027] 10. First hydraulically controlled one-way valve; 11. First oil inlet; 12. First oil outlet; 13. First control port;

[0028] 20. Second hydraulically controlled one-way valve; 21. Second oil inlet; 22. Second oil outlet; 23. Second control port;

[0029] 30. Floating reversing valve; 31. Floating pressure port; 32. Floating working port; 33. Floating oil return port; 34. Abandoned working port;

[0030] 40. valve block; 41. first flow channel; 42. second flow channel; 43. third flow channel; 44. fourth flow channel; 45. first side wall; 46. second side wall; 47. third side wall; 48. fourth side wall; 49. fifth side wall;

[0031] 50. Fasteners;

[0032] 60, lifting cylinder; 61, rod chamber; 62, rodless chamber;

[0033] 70, two-way hydraulic lock; 71, first interface; 72, second interface; 73, third interface; 74, fourth interface; 75, third hydraulically controlled one-way valve; 76, fourth hydraulically controlled one-way valve;

[0034] 80. Proportional reversing valve; 81. Proportional oil inlet; 82. Mid-position function port; 83. First proportional working port; 84. Second proportional working port; 85. Proportional oil return port. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the related art, the dredging robot in the related art uses an accumulator to absorb energy to perform obstacle crossing, which has the following problems:

[0037] (1) The pre-charge pressure value of the accumulator is difficult to determine accurately. The accumulator needs to be pre-charged with a certain pressure of gas (usually nitrogen) to ensure that it can quickly absorb or release oil when needed. The setting of the pre-charge pressure directly affects the charging and absorption effect of the accumulator. If the pre-charge pressure is set too high, the oil absorption capacity of the rod accumulator when crossing an obstacle will be weakened, resulting in the inability of the lifting cylinder to flexibly extend and retract. If the pre-charge pressure is set too low, the rod accumulator may not be able to replenish the oil back to the rod chamber after crossing the obstacle, affecting the automatic return of the lifting cylinder. If the pre-charge pressure of the rod accumulator and the rodless accumulator is set unevenly, when the proportional reversing valve is in the middle position, the high-pressure side accumulator will continue to deliver oil to the lifting cylinder until the oil pressure of the rod chamber and the rodless chamber is balanced, causing the lifting cylinder to produce uncontrolled movement. Therefore, complex debugging is required to find the ideal pre-charge pressure value, which is not only time-consuming and labor-intensive, but may also require professional testing equipment and experienced technicians;

[0038] (2) During the retraction of the lifting cylinder, the oil in the rodless chamber and the rodless accumulator leaks back to the oil tank. When the hydraulic rod of the lifting cylinder is retracted to the shortest limit position, there is no oil in the rodless chamber. At this time, if the obstacle crossing condition is performed, a vacuum state will appear in the rodless chamber, and the oil pressure in the rod chamber will continue to increase until it reaches the set pressure of the oil circuit safety relief valve. This value will often exceed the oil pressure when the entire vehicle is lifted. The pressure states of the rod accumulator and the rodless accumulator do not meet the obstacle avoidance requirements. To solve the above problem, it is necessary to retract the hydraulic rod to the shortest limit position. , to ensure that the rodless chamber has a certain amount of pressure oil, and to unload the rod chamber in reverse direction, so that the feeding and gathering device can still achieve the obstacle avoidance function at a lower working position, so it is necessary to set up multiple control components (such as solenoid valves, pressure sensors, one-way valves, etc.), and connect these components with the rod chamber, rodless chamber, rod accumulator and rodless accumulator through complex oil circuit connections, which not only increases the complexity of the hydraulic system, but also may lead to difficulties in the layout of the oil circuit, increase the space occupancy and weight of the equipment, and also increase the probability of system failure;

[0039] (3) It is inconvenient to inflate and maintain the accumulator. The silo desilting robot is an underground operation robot. After working for a long time, it is impossible to inflate the accumulator underground. If the accumulator pressure is too low, the above series of problems will occur. Therefore, this method has the problem of inconvenient maintenance.

[0040] like Figures 1 to 5As shown, an embodiment of the present invention provides a floating obstacle-crossing valve group, which includes a first hydraulically controlled one-way valve 10, a second hydraulically controlled one-way valve 20 and a floating reversing valve 30. The first hydraulically controlled one-way valve 10 has a first oil inlet 11, a first oil outlet 12 and a first control port 13. The first oil inlet 11 is connected to the oil tank 2, and the first oil outlet 12 is connected to the rod chamber 61. The second hydraulically controlled one-way valve 20 has a second oil inlet 21, a second oil outlet 22 and a second control port 23. The second oil inlet 21 is connected to the oil tank 2, and the second oil outlet 22 is connected to the rodless chamber 62. The floating reversing valve 30 has a floating pressure port 31, a floating working port 32 and a floating oil return port 33. The floating pressure port 31 is connected to the mid-position functional port 82. The floating working port 32 is respectively connected to the first control port 13 and the second control port 23. The floating oil return port 33 is connected to the oil tank 2. The floating reversing valve 30 has a first working state and a second working state. When the floating reversing valve 30 is in the first working state, the floating working port 32 is connected to the floating pressure port 31. When the floating reversing valve 30 is in the second working state, the floating working port 32 is connected to the floating oil return port 33.

[0041] The floating obstacle-crossing valve group provided in this embodiment is applied, and the floating obstacle-crossing valve group includes a first hydraulically controlled one-way valve 10, a second hydraulically controlled one-way valve 20, and a floating reversing valve 30. When the silo dredging robot is in an obstacle-crossing working condition, the middle position function port 82 provides control pressure oil to the floating reversing valve 30, so that the floating reversing valve 30 switches to the first working state, and the floating reversing valve 30 introduces the control pressure oil into the first control port 13 and the second control port 23, and the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are reversely opened. When the oil tank 2 is started, the rod chamber 61 and the rodless chamber 62 are both connected to the oil tank 2. Under the action of external force, the rod chamber 61 and the rodless chamber 62 can actively absorb and discharge oil to achieve the obstacle crossing function without relying on the charging and absorbing energy of the accumulator, avoiding the problem of difficulty in adjusting the pre-charge pressure value of the accumulator, avoiding frequent system calibration and accumulator inflation maintenance, reducing maintenance costs and time, and because the rod chamber 61 and the rodless chamber 62 are both connected to the oil tank 2, during the dredging process, the pressure shock of the rod chamber and the rodless chamber can be reduced.

[0042] like Figure 2 and Figure 3As shown, the floating obstacle valve group also includes a valve block 40, and the valve block 40 has a first flow channel 41, a second flow channel 42, a third flow channel 43 and a fourth flow channel 44. The first end of the first flow channel 41 is connected to the mid-position functional port 82, the second end of the first flow channel 41 is connected to the floating pressure port 31, the first end of the second flow channel 42 is respectively connected to the floating oil return port 33, the first oil outlet 12 and the second oil outlet 22, the second end of the second flow channel 42 is connected to the oil tank 2, the first end of the third flow channel 43 is connected to the first oil outlet 12, the second end of the third flow channel 43 is connected to the rod chamber 61, the first end of the fourth flow channel 44 is connected to the second oil outlet 22, and the second end of the fourth flow channel 44 is connected to the rodless chamber 62. An integrated design is adopted to integrate the first flow channel 41, the second flow channel 42, the third flow channel 43 and the fourth flow channel 44 on the valve block 40, which simplifies the pipeline layout, reduces potential leakage points, improves the stability and reliability of the overall system, and reduces the space occupied by the first flow channel 41, the second flow channel 42, the third flow channel 43 and the fourth flow channel 44, which is in line with the compact design concept of the underground operation robot.

[0043] like Figure 2 and Figure 3 As shown, the valve block 40 has a first side wall 45 and a second side wall 46 which are arranged opposite to each other, the second end of the first flow channel 41 and the second end of the second flow channel 42 are both arranged on the first side wall 45, and the second end of the third flow channel 43 and the second end of the fourth flow channel 44 are both arranged on the second side wall 46. With the above-mentioned layout, the second end of the first flow channel 41 and the second end of the second flow channel 42 are both arranged on the first side wall 45, and the second end of the third flow channel 43 and the second end of the fourth flow channel 44 are arranged on the second side wall 46, which is conducive to the separation and independent control of the oil circuit, reduces mutual interference, and makes the oil circuit connection of the second end of the first flow channel 41, the second end of the second flow channel 42, the second end of the third flow channel 43 and the second end of the fourth flow channel 44 more intuitive and convenient, reduces the complexity of the oil circuit connection, facilitates the maintenance and troubleshooting of the system, helps to quickly locate and handle problems during maintenance, reduces the downtime caused by oil circuit failure, and is suitable for use in equipment that requires frequent maintenance and inspection, such as a sump desilting robot, to ensure the stability and continuity of the equipment.

[0044] like Figure 2 and Figure 3As shown, the valve block 40 also has a third side wall 47 and a fourth side wall 48 arranged opposite to each other, and a fifth side wall 49 and a sixth side wall arranged opposite to each other. The first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are arranged on the third side wall 47 and the fourth side wall 48, respectively, and the floating reversing valve 30 is arranged on the fifth side wall 49. By arranging the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 on the third side wall 47 and the fourth side wall 48, respectively, the path of the oil passing through the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 is more direct, and unnecessary bends are reduced, thereby reducing system energy consumption and improving response speed. The floating reversing valve 30 is arranged on the fifth side wall 49. Such a layout is conducive to the oil circuit connection between the floating reversing valve 30 and other components, making the oil circuit switching more flexible and efficient. In addition, the first hydraulically controlled one-way valve 10, the second hydraulically controlled one-way valve 20 and the floating reversing valve 30 are respectively arranged on different side walls, which not only simplifies the oil circuit connection, but also helps to quickly locate and deal with problems during maintenance, reducing downtime caused by oil circuit failures. It is particularly suitable for water tank dredging robots that need to operate in harsh environments for a long time, ensuring the stability and continuity of the equipment.

[0045] The sixth side wall is provided with a valve block mounting portion, which is connected to an external structure through the valve block mounting portion to install and fix the valve block 40 .

[0046] In this embodiment, the first hydraulically controlled one-way valve 10, the second hydraulically controlled one-way valve 20, and the floating reversing valve 30 are all detachably connected to the valve block 40. Through the design of detachable connection, the first hydraulically controlled one-way valve 10, the second hydraulically controlled one-way valve 20, or the floating reversing valve 30 can be disassembled to replace or inspect a single component without destroying the entire floating obstacle-crossing valve group 1, which is convenient for on-site maintenance and replacement, reduces the maintenance cost of the equipment, is suitable for a water tank desilting robot that needs to operate for a long time in a harsh environment, can effectively reduce the downtime caused by valve group failure, and improves the operation continuity and economic benefits of the robot.

[0047] Specifically, the first hydraulically controlled one-way valve 10, the second hydraulically controlled one-way valve 20 and the floating reversing valve 30 are all connected to the valve block 40 through the fastener 50. By disassembling and assembling the fastener 50, the first hydraulically controlled one-way valve 10, the second hydraulically controlled one-way valve 20 and the floating reversing valve 30 can be quickly disassembled and assembled, and elastic gaskets are arranged between the fastener 50 and the first hydraulically controlled one-way valve 10, between the fastener 50 and the second hydraulically controlled one-way valve 20, and between the fastener 50 and the floating reversing valve 30, so as to provide high connection reliability of the fastener 50.

[0048] In this embodiment, the floating reversing valve 30 is a plate-type structure. The floating reversing valve 30 with the plate-type structure has the characteristics of small size, light weight and fast response speed, which not only reduces the load of the robot, but also because the floating reversing valve 30 with the plate-type structure has a lower inertia, it can complete the oil circuit switching in a shorter time, improve the response speed, can better meet the operation requirements of the silo silt cleaning robot in a small space, improve the operation accuracy and efficiency of the silo silt cleaning robot, and effectively avoid equipment damage and operation delays caused by improper operation.

[0049] In this embodiment, the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are both hydraulically controlled one-way throttle valves. The above-mentioned hydraulically controlled one-way throttle valve can not only control the one-way flow of the oil circuit, but also play a throttling role when the oil circuit is switched, effectively controlling the floating speed of the lifting cylinder 60, avoiding equipment impact and wear caused by excessive speed, improving the stability and safety of the silo silt cleaning robot in the process of overcoming obstacles, and is suitable for the precise control of the lifting speed of the silo silt cleaning robot when overcoming obstacles, and is suitable for scenes that require stable operation in complex terrain.

[0050] In this embodiment, the floating reversing valve 30 is a two-position four-way reversing valve, and the floating pressure port 31, the floating working port 32 and the floating oil return port 33 are all arranged on the two-position four-way reversing valve. The two-position four-way reversing valve also has a discarded working port 34, and the discarded working port 34 is in a blocked state. By putting the discarded working port in a blocked state, unnecessary waste of oil can be avoided, thereby improving the efficiency of the system.

[0051] In this embodiment, the floating reversing valve 30 is an explosion-proof solenoid valve. On the one hand, it improves the response speed and control accuracy of the floating reversing valve 30. On the other hand, it is conducive to the safe operation of the floating reversing valve 30 in flammable and explosive environments, effectively preventing accidents caused by equipment failures, meeting the requirements of underground operations, and is suitable for operations in high-risk places such as water tanks or oil depots. It improves the operation continuity and safety of the water tank dredging robot and provides strong technical support for industrial production.

[0052] like Figure 4 and Figure 5As shown, another embodiment of the present invention provides a lifting hydraulic assembly, the lifting hydraulic assembly includes a pump body 3, an oil tank 2, a lifting cylinder 60, a two-way hydraulic lock 70, a proportional reversing valve 80 and a floating obstacle valve group 1, the pump body 3 has a pump inlet and a pump outlet, the pump inlet is connected to the oil tank 2, the lifting cylinder 60 has a rod chamber 61 and a rodless chamber 62, the two-way hydraulic lock 70 has a first interface 71, a second interface 72, a third interface 73, and a fourth interface 74, the first interface 71 is connected to the rod chamber 61, and the second interface 72 is connected to the rod chamber 62. 1 is connected, the second interface 72 is connected to the rodless chamber 62, the proportional reversing valve 80 has a proportional oil inlet 81, a mid-position function port 82, a first proportional working port 83, a second proportional working port 84 and a proportional oil return port 85, the proportional oil inlet 81 is connected to the pump outlet, the first proportional working port 83 is connected to the third interface 73, the second proportional working port 84 is connected to the fourth interface 74, the proportional oil return port 85 is connected to the oil tank 2, and the floating obstacle valve group 1 is the floating obstacle valve group provided above.

[0053] Among them, the proportional reversing valve 80 has a left position, a middle position and a right position. When the proportional reversing valve 80 is in the left position, the proportional oil inlet 81 is connected with the first proportional working port 83, the second proportional working port 84 is connected with the proportional oil return port 85, and the lifting cylinder 60 retracts the hydraulic rod. When the proportional reversing valve 80 is in the middle position, the first proportional working port 83 and the second proportional working port 84 are both connected with the proportional oil return port 85, the proportional oil inlet 81 is connected with the middle position functional port 82, and when the proportional reversing valve 80 is in the right position, the proportional oil inlet 81 is connected with the second proportional working port 84, the first proportional working port 83 is connected with the proportional oil return port 85, and the lifting cylinder 60 extends the hydraulic rod.

[0054] Using the lifting hydraulic assembly provided in this embodiment, the lifting cylinder 60 of the lifting hydraulic assembly has the following two working states:

[0055] (1) In normal working state, the floating reversing valve 30 is powered off, the pump body 3 is used as the power element, the proportional reversing valve 80 switches between the left position, the middle position and the right position, and the lifting cylinder 60 extends, retracts and hovers under the control of the proportional reversing valve 80 and the two-way hydraulic lock 70;

[0056] (2) In the floating obstacle crossing state, the floating reversing valve 30 is energized, the proportional reversing valve 80 is switched to the middle position, and the pump body 3 provides the floating reversing valve 30 with control pressure oil through the middle position functional port 82, so that the floating reversing valve 30 is in the first working state. The floating reversing valve 30 introduces the control pressure oil into the control channels of the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20. The first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are opened in reverse, and the rod chamber 61 and the rodless chamber 62 are both connected to the oil tank 2. The proportional reversing valve 80 and the two-way hydraulic lock 70 fail to control the lifting cylinder 60. The lifting cylinder 60 can actively suck and discharge oil under the action of external force to achieve the obstacle crossing function.

[0057] Specifically, the bidirectional hydraulic lock includes a third hydraulically controlled one-way valve 75 and a fourth hydraulically controlled one-way valve 76 .

[0058] Another embodiment of the present invention provides a silo dredging robot, which includes the lifting hydraulic assembly provided above. The silo dredging robot provided by this embodiment can also provide control pressure oil to the floating reversing valve 30 when the silo dredging robot is in an obstacle-crossing condition. The middle functional port 82 enables the floating reversing valve 30 to switch to the first working state. The floating reversing valve 30 introduces the control pressure oil into the first control port 13 and the second control port 23. The first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are opened in reverse. The rod chamber 61 and the rodless chamber 62 are both connected to the oil tank 2. Under the action of external force, the rod chamber 61 and the rodless chamber 62 can actively absorb and discharge oil to achieve the obstacle-crossing function.

[0059] Specifically, the silo dredging robot includes a whole machine and a material feeding device. The lifting cylinder is arranged on the whole machine, and the hydraulic rod of the lifting cylinder 60 is connected to the material feeding device. Before the dredging work, the whole machine moves to the dredging starting position, at which time the lifting cylinder 60 extends the hydraulic rod, lifts the material feeding device off the ground to a safe distance, and keeps the material feeding device at a certain position. After the whole machine reaches the dredging position, the lifting cylinder 60 retracts the hydraulic rod, puts the material feeding device to the lowest position to start the dredging work, and at the same time switches the proportional reversing valve 80 to the middle position, and the middle position function port 82 provides control pressure oil for the floating reversing valve 30, and the floating reversing valve 30 switches to the first working state, the first hydraulically controlled one-way valve 10 and the second hydraulically controlled one-way valve 20 are reversely opened, and the rod chamber 61 and the rodless chamber 62 are both connected to the oil tank 2, so that the material feeding device can float freely when encountering a slope or obstacle at the bottom of the silo. After the obstacle is overcome, the proportional reversing valve 80 is switched to the left or right position, the floating function is turned off, and the lifting cylinder 60 returns to its initial working position under the gravity of the feeding and collecting device and remains stable. The extension and holding functions of the proportional reversing valve 80 and the two-way hydraulic lock 70 on the lifting cylinder 60 are restored, preparing for the next dredging work.

[0060] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0061] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0062] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0063] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0064] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A floating obstacle valve group, characterized in that: The floating obstacle valve group comprises: A first hydraulically controlled one-way valve (10) having a first oil inlet (11), a first oil outlet (12) and a first control port (13), wherein the first oil inlet (11) is connected to the oil tank (2), and the first oil outlet (12) is connected to the rod chamber (61); A second hydraulically controlled one-way valve (20) having a second oil inlet (21), a second oil outlet (22) and a second control port (23), wherein the second oil inlet (21) is connected to the oil tank (2), and the second oil outlet (22) is connected to the rodless chamber (62); A floating reversing valve (30) comprises a floating pressure port (31), a floating working port (32) and a floating oil return port (33). The floating pressure port (31) is connected to a mid-position function port (82). The floating working port (32) is respectively connected to the first control port (13) and the second control port (23). The floating oil return port (33) is connected to the oil tank (2). The floating reversing valve (30) has a first working state and a second working state. When the floating reversing valve (30) is in the first working state, the floating working port (32) is connected to the floating pressure port (31). When the floating reversing valve (30) is in the second working state, the floating working port (32) is connected to the floating oil return port (33).

2. The floating obstacle valve assembly according to claim 1, characterized in that: The floating obstacle valve group also includes a valve block (40), and the valve block (40) has a first flow channel (41), a second flow channel (42), a third flow channel (43) and a fourth flow channel (44). The first end of the first flow channel (41) is connected to the mid-position functional port (82), the second end of the first flow channel (41) is connected to the floating pressure port (31), the first end of the second flow channel (42) is respectively connected to the floating oil return port (33), the first oil outlet (12) and the second oil outlet (22), the second end of the second flow channel (42) is connected to the oil tank (2), the first end of the third flow channel (43) is connected to the first oil outlet (12), the second end of the third flow channel (43) is connected to the rod chamber (61), the first end of the fourth flow channel (44) is connected to the second oil outlet (22), and the second end of the fourth flow channel (44) is connected to the rodless chamber (62).

3. The floating obstacle valve assembly according to claim 2, characterized in that: The valve block (40) has a first side wall (45) and a second side wall (46) arranged opposite to each other; the second end of the first flow channel (41) and the second end of the second flow channel (42) are both arranged on the first side wall (45); and the second end of the third flow channel (43) and the second end of the fourth flow channel (44) are both arranged on the second side wall (46).

4. The floating obstacle valve assembly according to claim 2, characterized in that: The valve block (40) further comprises a third side wall (47) and a fourth side wall (48) which are arranged opposite to each other, and a fifth side wall (49) and a sixth side wall which are arranged opposite to each other. The first hydraulically controlled one-way valve (10) and the second hydraulically controlled one-way valve (20) are arranged on the third side wall (47) and the fourth side wall (48) respectively, and the floating reversing valve (30) is arranged on the fifth side wall (49).

5. The floating obstacle valve assembly according to claim 2, characterized in that: The first hydraulically controlled one-way valve (10), the second hydraulically controlled one-way valve (20) and the floating reversing valve (30) are all detachably connected to the valve block (40).

6. The floating obstacle valve assembly according to claim 1, characterized in that: The floating reversing valve (30) is a plate-type structure.

7. The floating obstacle valve assembly according to claim 1, characterized in that: The first hydraulically controlled one-way valve (10) and the second hydraulically controlled one-way valve (20) are both hydraulically controlled one-way throttle valves.

8. The floating obstacle valve assembly according to claim 1, characterized in that: The floating reversing valve (30) is a two-position four-way reversing valve, the floating pressure port (31), the floating working port (32) and the floating oil return port (33) are all arranged on the two-position four-way reversing valve, and the two-position four-way reversing valve also has a discarded working port (34), and the discarded working port (34) is in a blocked state; and / or, The floating reversing valve (30) is an explosion-proof electromagnetic valve.

9. A lifting hydraulic assembly, characterized in that: The lifting hydraulic assembly comprises: A pump body (3) having a pump inlet and a pump outlet; An oil tank (2), wherein the pump inlet is connected to the oil tank (2); A lifting cylinder (60) having a rod chamber (61) and a rodless chamber (62); A bidirectional hydraulic lock (70) having a first interface (71), a second interface (72), a third interface (73), and a fourth interface (74), wherein the first interface (71) is connected to the rod chamber (61), and the second interface (72) is connected to the rodless chamber (62); A proportional reversing valve (80) having a proportional oil inlet (81), a mid-position function port (82), a first proportional working port (83), a second proportional working port (84) and a proportional oil return port (85), wherein the proportional oil inlet (81) is connected to the pump outlet, the first proportional working port (83) is connected to the third interface (73), the second proportional working port (84) is connected to the fourth interface (74), and the proportional oil return port (85) is connected to the oil tank (2); A floating barrier valve assembly (1), wherein the floating barrier valve assembly (1) is the floating barrier valve assembly according to any one of claims 1 to 8.

10. A silo desilting robot, characterized in that: The sump desilting robot comprises the lifting hydraulic assembly according to claim 9.

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