Oil-liquid hybrid power hydraulic system suitable for underground robot

Abstract

The invention discloses an oil-liquid hybrid power hydraulic system suitable for an underground robot, and relates to the technical field of hydraulic systems, the oil-liquid hybrid power hydraulic system comprises a hydraulic oil system and an emulsion system, the emulsion system comprises a plurality of driving cylinders, and two oil ports of each driving cylinder are communicated with a seventh oil way and an eighth oil way respectively; the seventh oil way and the eighth oil way are each provided with a protection pipeline communicating with the seventh oil way and the eighth oil way. Wherein a cavity is formed in the inner side of the protective pipeline, the protective pipeline is divided into an outer cylinder and an inner cylinder by the cavity, the interior of the cavity is subjected to vacuum treatment, a double-hollow bag is jointly fixed to the two ends of the cavity, the double-hollow bag is integrally cylindrical and is provided with two hollow parts, and two flow paths are formed in one end of the hollow cavity. The protection pipeline is of a double-layer structure, when the outer side or the inner side of the protection pipeline is damaged, the vacuum environment is damaged at the moment, the electrorheological fluid in the electrorheological fluid box flows into the double hollow bags through hydraulic pressure, and therefore expansion occurs, the damaged position is blocked, and automatic blocking is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic systems, and in particular to an oil-liquid hybrid power hydraulic system suitable for an underground robot. Background Art

[0002] Underground robots are a type of mining robots. They are intelligent and flexible robots that help humans perform mining work in various toxic, harmful and dangerous environments. They include special coal mining robots, rock drilling robots, underground shotcrete robots, gas detection robots, ground pressure detection robots and other types.

[0003] After searching, the patent document with the authorization announcement number CN107795857B discloses a method and device for monitoring underground pipeline leakage, including a signal acquisition belt, multiple probe points, a data terminal and a host computer; the signal acquisition belt is attached to the outer wall of the underground pipeline or arranged adjacent to the underground pipeline, and extends along the extension direction of the underground pipeline; the multiple probe points are arranged on the signal acquisition belt at intervals along the extension direction of the underground pipeline, and are used to collect the resistivity of the soil; the data terminal is connected to the signal acquisition belt, and receives the soil resistivity collected by the multiple probe points through the signal acquisition belt and sends it to the host computer, and the host computer calculates and determines whether there is a leakage accident in the underground pipeline, and locates the leakage point. This patent determines whether there is a leakage accident in the underground pipeline by detecting the resistivity change of the soil around the underground pipeline. It is simple to operate, accurate in detection results, and highly automated, and can quickly and accurately locate the leakage point of the underground pipeline.

[0004] However, the above patent has the following shortcomings: First, the above patent can also be used for pipeline detection in the hydraulic system of the downhole robot. Although it can detect whether the pipeline is leaking, it does not have the function of automatic blocking. When the downhole robot walks to a certain depth, if the pipeline leaks, the working medium of the hydraulic system used for suction leaks, and the working medium cannot participate in the work, which will cause the downhole robot to be unable to walk, and thus the robot cannot be recovered; Second, using hydraulic oil as the working medium of the hydraulic system requires a high-power oil pump, and the process of precise control of the horizontal cylinder is relatively slow. Using emulsion as the working medium of the hydraulic system requires a low-power oil pump, and the good lubrication performance of the emulsion is used to make the extension and retraction process of the horizontal cylinder faster. However, the prior art lacks a precise control reversing valve for the emulsion medium, and it is difficult to achieve precise control of the horizontal cylinder of the robot's walking mechanism. Summary of the invention

[0005] The purpose of the present invention is to provide an oil-liquid hybrid hydraulic system suitable for an underground robot to solve the problems raised in the above-mentioned background technology.

[0006] The technical solution of the present invention is: an oil-liquid hybrid hydraulic system suitable for an underground robot, comprising a hydraulic oil system and an emulsion system, wherein the emulsion system comprises a plurality of drive cylinders, wherein two oil ports of the drive cylinders are respectively connected to a seventh oil circuit and an eighth oil circuit, and the seventh oil circuit and the eighth oil circuit are both provided with protective pipes connected to each other; Among them, a cavity is opened on the inner side of the protective pipe, and the cavity divides the protective pipe into an outer tube and an inner tube. The inside of the cavity is vacuum treated, and a double hollow bag is fixed at both ends of the cavity, and the double hollow bag is cylindrical as a whole, and the double hollow bag has two hollows. Two flow paths are opened at one end of the hollow cavity, and the two flow paths are respectively connected with the two hollows of the hollow cavity, and two electrode sheets are inserted at the other end of the cavity, and one end of the two electrode sheets is respectively located in the two hollows of the hollow cavity, and an electric variable liquid tank containing electric variable liquid is arranged on the outside of the protective pipe, and the electric variable liquid tank is connected with the two flow paths, and a power supply structure for supplying power to the electrode sheets is arranged on the outside of the protective pipe.

[0007] Preferably, the power supply structure includes a DC power supply and a dual-electrode connector, wherein the dual-electrode connector is composed of two conductive sheets, and the two conductive sheets are respectively fixed to two electrode sheets, and the dual-electrode connector is connected to the positive terminal of the DC power supply through a wire.

[0008] Preferably, the hydraulic oil system includes a hydraulic oil tank, a hydraulic oil pump, a first piston cylinder and an electromagnetic proportional valve, the oil inlet end of the hydraulic oil pump is connected to the hydraulic oil tank, a first oil circuit is provided between the oil outlet end of the hydraulic oil pump and the P port of the electromagnetic proportional valve to connect the two, the two oil ports of the first piston cylinder are respectively connected to the second oil circuit and the third oil circuit, and the second oil circuit and the third oil circuit are respectively connected to the A port and the B port of the electromagnetic proportional valve.

[0009] Preferably, the emulsion system includes a second piston cylinder, a fourth oil circuit, an emulsion tank, a fifth oil circuit, a sixth oil circuit, an emulsion pump station, a liquid return tank, an electromagnetic two-position four-way valve and a plurality of electromagnetic reversing valves, the plurality of electromagnetic reversing valves are arranged one-to-one with the plurality of driving cylinders, and the seventh oil circuit and the eighth oil circuit of the driving cylinder are respectively connected to the A port and the B port of the electromagnetic reversing valve, one of the oil ports on the second piston cylinder is connected to the emulsion tank through the fourth oil circuit, the other oil port on the second piston cylinder is connected to the fifth oil circuit, the fifth oil circuit is connected to the P port of the plurality of electromagnetic reversing valves, the fifth oil circuit is connected to the A port of the electromagnetic two-position four-way valve, and a check valve is arranged between the fifth oil circuit and the electromagnetic two-position four-way valve, the oil outlet end of the emulsion pump in the emulsion pump station is connected to the P port of the electromagnetic two-position four-way valve, the T port of the electromagnetic two-position four-way valve is connected to the liquid return tank, and the T ports of the plurality of electromagnetic reversing valves are all connected to the sixth oil circuit.

[0010] Preferably, the two hollow inner side walls of the double hollow bag are provided with an insulating layer.

[0011] Preferably, support mechanisms are provided at both ends of the protective pipe, and the support mechanisms include a fixing frame, a circular hole is opened on the outer side of the fixing frame, the protective pipe is coaxially arranged with the circular hole, and a plurality of elastic structures are provided between the outer side of the fixing frame and the outer side of the protective pipe.

[0012] Preferably, the elastic structure includes a double-section telescopic rod, a spring and two rotating blocks, the two ends of the double-section telescopic rod are respectively fixed to the two rotating blocks, the spring is sleeved on the double-section telescopic rod, and the two rotating blocks are respectively rotatably mounted on the fixed frame and the protective pipe.

[0013] Preferably, a flow regulating mechanism is provided inside the inner cylinder, and the flow regulating mechanism includes a bracket, the outer side of the bracket is cylindrical, the outer side of the bracket is rotatably installed in the inner cylinder, a hollow cylinder coaxially arranged therewith is fixed inside the bracket, a rotating hole is provided on the outer side of the hollow cylinder, a rotating column is rotatably installed inside the rotating hole, a driven plate is fixed to one end of the rotating column located outside the hollow cylinder, a sliding groove is provided at both ends of the driven plate, a counterweight block is slidably provided inside the sliding groove, a plurality of positioning rings are fixed inside the hollow cylinder, the plurality of positioning rings are coaxially arranged one-to-one with the plurality of rotating columns, and a coil spring is fixed between the positioning ring and the coaxial rotating column.

[0014] The present invention provides an oil-liquid hybrid hydraulic system suitable for an underground robot through improvement, which has the following beneficial effects compared with the prior art: First, the protective pipe of the present invention has a double-layer structure. When the outer side or the inner side of the protective pipe is damaged, the vacuum environment is destroyed, and the electric transformer fluid of the electric transformer fluid box flows into the double hollow bag through the liquid pressure, thereby expanding and blocking the damaged part, completing automatic blocking; when there is no damage, it can also ensure that the protective pipe can be light; Second, if the liquid pressure of the protection pipe is greater than the pressure of the electric transformer fluid in the double hollow bag, a part of the liquid will flow into the cavity of the protection pipe through the damaged part, so that the hydraulic pressure does not reach the target. The power supply structure energizes the electric transformer fluid, and the electric transformer fluid solidifies, so that the emulsion cannot flow into the cavity through the damaged part, ensuring that the pipe pressure of the protection pipe remains unchanged; Thirdly, the present invention adopts a hydraulic system that mixes emulsion and hydraulic oil, which can be used in the process of rapid extension and retraction of the horizontal oil cylinder, and can also be accurately regulated in a short time after rapid extension and retraction, which can not only ensure the rapid movement of the walking mechanism, but also achieve accurate walking, that is, the emulsion system can be used to transmit power over a long distance and accurately adjust the details of the action at the execution end, and at the same time, the leakage of the emulsion will not cause serious pollution to the environment; Fourthly, when the pressure of the pipeline increases, the flow rate of the pipeline increases accordingly, but at this time the pressure loss of the pipeline increases, which makes the oil pressure of the driving cylinder decrease. The present invention adjusts the flow rate by setting a flow regulating mechanism, that is, the pipeline pressure increases, the flow rate of the emulsion increases, and the entire bracket rotates with the help of the driven plate. The faster the flow rate, the faster the bracket rotates. The counterweight block of the driven plate moves to one end, the centrifugal force increases, the driven plate rotates, and the interval between each adjacent two driven plates becomes smaller, thereby reducing the flow rate and reducing the pressure loss. Since the emulsion contains an emulsifier that is not mixed with hard water, the driven plate can stir the hard water and the emulsifier to improve the mixing degree and ensure the stability of the emulsion. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the protection pipeline of the present invention; Figure 2 It is a front view of the protection pipeline of the present invention; Figure 3 is a cross-sectional view of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure at point A; Figure 5 For the present invention Figure 3 A schematic diagram of the enlarged structure at B; Figure 6 It is a schematic diagram of the three-dimensional structure of the flow regulating mechanism of the present invention; Figure 7 It is a schematic diagram of the internal structure of the flow regulating mechanism of the present invention; Figure 8 is a cross-sectional view of a driven plate of the present invention; Fig. 9 This is a diagram of the mixing system of the hydraulic oil and emulsion of the present invention (the left frame is the hydraulic system, and the right frame is the emulsion system).

[0017] Reference numerals: 1. Hydraulic oil system; 2. Emulsion system; 3. Hydraulic oil tank; 4. Hydraulic oil pump; 5. Solenoid proportional valve; 6. First oil circuit; 7. Second oil circuit; 8. Third oil circuit; 9. First piston cylinder; 10. Second piston cylinder; 11. Drive cylinder; 12. Solenoid reversing valve; 13. Fourth oil circuit; 14. Emulsion tank; 15. Fifth oil circuit; 16. Sixth oil circuit; 17. Emulsion pump station; 18. Return tank; 19. Inner cylinder; 20. Electric variable liquid tank; 21. DC power supply; 22. External Cylinder; 23. Fixed frame; 24. Rotating block; 25. Double-section telescopic rod; 26. Spring; 27. Support mechanism; 28. Flow regulating mechanism; 29. ​​Double hollow bags; 30. Flow path; 31. Double electrode joint; 32. Electrode sheet; 33. Bracket; 34. Hollow cylinder; 35. Follower plate; 36. Rotating column; 37. Positioning ring; 38. Coil spring; 39. Counterweight; 40. Slide; 41. Seventh oil circuit; 42. Eighth oil circuit; 43. Solenoid two-position four-way valve; 44. One-way valve. DETAILED DESCRIPTION

[0018] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0019] The present invention provides an oil-liquid hybrid hydraulic system suitable for an underground robot through improvement. The technical solution of the present invention is: like Figures 1 to 9 As shown, an embodiment of the present invention provides an oil-liquid hybrid hydraulic system suitable for a downhole robot, including a hydraulic oil system 1 and an emulsion system 2, the emulsion system 2 includes a plurality of drive cylinders 11, two oil ports of the drive cylinders 11 are respectively connected to a seventh oil circuit 41 and an eighth oil circuit 42, and the seventh oil circuit 41 and the eighth oil circuit 42 are both installed with protective pipes connected to each other; The inner side of the protective pipe is provided with a cavity, which divides the protective pipe into an outer tube 22 and an inner tube 19. The interior of the cavity is vacuum treated. Figure 3The double hollow bag 29 shown is in a bulging state for the convenience of observing the structure. In a vacuum environment, it is in a deflated state. A double hollow bag 29 is fixed at both ends of the cavity, and the double hollow bag 29 is cylindrical as a whole. The double hollow bag 29 has two hollows. Two flow paths 30 are opened at one end of the hollow cavity, and the two flow paths 30 are respectively connected to the two hollows of the hollow cavity. Two electrode sheets 32 are inserted at the other end of the cavity, and one end of the two electrode sheets 32 is respectively located in the two hollows of the hollow cavity. An electric transformer liquid box 20 storing electric transformer liquid is arranged outside the protective pipe, and the electric transformer liquid box 20 is connected to the two flow paths 30. A power supply structure for supplying power to the electrode sheets 32 is arranged outside the protective pipe. It can be seen from the description that the protective pipe is a double-layer structure. When the outer side or the inner side of the protective pipe is damaged, the vacuum environment is destroyed, and the electric transformer liquid in the electric transformer liquid box 20 flows into the double hollow bag 29 through the liquid pressure, thereby expanding, blocking the damaged part, and completing automatic blocking. To supplement the above-mentioned electric transformer liquid tank 20, a water level sensor may be provided inside the electric transformer liquid tank 20. When the water level sensor detects a change in the water level of the electric transformer liquid tank 20, it is determined that leakage occurs in the protective pipeline, and the DC power supply 21 is started at the same time.

[0020] Furthermore, combined with Figure 1 , Attachment Figure 3 and attached Figure 5 As shown, the power supply structure includes a DC power supply 21 and a dual-electrode connector 31. The dual-electrode connector 31 is composed of two conductive sheets, and the two conductive sheets are respectively fixed to two electrode sheets 32. The dual-electrode connector 31 is connected to the positive terminal of the DC power supply 21 through a wire. The DC power supply 21 introduces current into the electro-variable fluid, and the electro-variable fluid solidifies.

[0021] Furthermore, combined with Fig. 9As shown, the hydraulic oil system 1 includes a hydraulic oil tank 3, a hydraulic oil pump 4, a first piston cylinder 9 and an electromagnetic proportional valve 5. Here, the electromagnetic proportional valve 5 is supplemented. The electromagnetic proportional valve 5 is a Y-type three-way four-position valve. The oil inlet end of the hydraulic oil pump 4 is connected to the hydraulic oil tank 3. A first oil circuit 6 is arranged between the oil outlet end of the hydraulic oil pump 4 and the P port of the electromagnetic proportional valve 5 to connect the two. The two oil ports of the first piston cylinder 9 are respectively connected to the second oil circuit 7 and the third oil circuit 8, and the second oil circuit 7 and the third oil circuit 8 are respectively connected to the A port and the B port of the electromagnetic proportional valve 5; the emulsion system 2 includes a second piston cylinder 10, a fourth oil circuit 13, an emulsion tank 14, a fifth oil circuit 15, a sixth oil circuit 16, an emulsion pump station 17, a return tank 18, an electromagnetic two-position four-way valve 43 and a plurality of electromagnetic reversing valves 12. The piston rod of the second piston cylinder 10 is coaxially fixed with the piston rod of the first piston cylinder 9. Here, the electromagnetic reversing valve 12 To provide additional information, the electromagnetic reversing valve 12 is a Y-type three-way four-position valve, and multiple electromagnetic reversing valves 12 are arranged one-to-one with multiple driving cylinders 11, and the seventh oil circuit 41 and the eighth oil circuit 42 of the driving cylinder 11 are respectively connected to the A port and the B port of the electromagnetic reversing valve 12, one of the oil ports on the second piston cylinder 10 is connected to the emulsion tank 14 through the fourth oil circuit 13, and the other oil port on the second piston cylinder 10 is connected to the fifth oil circuit 15, the fifth oil circuit 15 is connected to the P port of multiple electromagnetic reversing valves 12, the fifth oil circuit 15 is connected to the A port of the electromagnetic two-position four-way valve 43, and a one-way valve 44 is arranged between the fifth oil circuit 15 and the electromagnetic two-position four-way valve 43, the oil outlet end of the emulsion pump in the emulsion pump station 17 is connected to the P port of the electromagnetic two-position four-way valve 43, the T port of the electromagnetic two-position four-way valve 43 is connected to the return liquid tank 18, and the T ports of multiple electromagnetic reversing valves 12 are all connected to the sixth oil circuit 16;It can be known from the above connection relationship that when a driving cylinder 11 is started to work, for example, one of the driving cylinders 11 is extended, the electromagnetic reversing valve 12 corresponding to the extended driving cylinder 11 moves to the left position (if the driving cylinder 11 is shortened, it moves to the right position), at this time, the emulsion pump in the emulsion pump station 17 discharges the emulsion, the electromagnetic two-position four-way valve 43 moves to the left position, the emulsion flows into the sixth oil circuit 16, and then flows into the fifth oil circuit 15, the emulsion flows into the seventh oil circuit 41 through the electromagnetic reversing valve 12, the emulsion enters the driving cylinder 11, and the piston rod in the driving cylinder 11 is pushed out, at the same time, the electromagnetic proportional valve 5 moves to the left position, and the hydraulic oil pump 4 introduces the hydraulic oil into the first oil circuit 6, and then The rear hydraulic oil flows into the first piston cylinder 9 through the electromagnetic proportional valve 5 and the second oil circuit 7. The piston rod of the first piston cylinder 9 is pushed out, and the piston rod of the first piston cylinder 9 pushes back the second piston rod of the second piston cylinder 10. A part of the emulsion of the second piston cylinder 10 is pushed into the fifth oil circuit 15, and then enters the drive cylinder 11 for fluid replenishment. Because the amount of fluid replenishment is small, the precise control speed is very fast. It can be understood that the drive cylinder 11 is roughly extended first, and then the drive cylinder 11 is accurately extended for a section, so as to realize the function of precise extension and rapid implementation; similarly, when the two drive cylinders 11 are working, it is only necessary to move the corresponding electromagnetic reversing valve 12 to the specified position, and then control the second piston cylinder 10 for fluid replenishment. ;

[0022] Furthermore, two hollow inner side walls of the double hollow bag 29 are provided with an insulating layer, and the insulating layer is provided to prevent the current from being introduced into the protective pipe.

[0023] Furthermore, combined with Figure 1 -Attached Figure 3 As shown, both ends of the protective pipe are provided with a support mechanism 27, the support mechanism 27 includes a fixed frame 23, a circular hole is opened on the outer side of the fixed frame 23, the protective pipe is coaxially arranged with the circular hole, and a plurality of elastic structures are arranged between the outer side of the fixed frame 23 and the outer side of the protective pipe, the elastic structure includes a double-section telescopic rod 25, a spring 26 and two rotating blocks 24, the two ends of the double-section telescopic rod 25 are respectively fixed to the two rotating blocks 24, the spring 26 is sleeved on the double-section telescopic rod 25, and the spring 26 is supplemented here. The two ends of the spring 26 are respectively fixed to the two rotating blocks 24. The rotating blocks 24 are fixed to each other, and the two rotating blocks 24 are rotatably installed on the fixed frame 23 and the protective pipe respectively. Here is a supplementary explanation. The protective pipe is placed on the outside, and both ends of the protective pipe are connected to the corresponding oil circuit through a hose; from the above connection relationship, it can be seen that if the protective pipe is set on the outside of the robot, when encountering an obstacle, the obstacle collides with the protective pipe, and the protective pipe is offset and pushed out. The double-section telescopic rod 25 is stretched, the spring 26 is stretched, and the double-section telescopic rod 25 in the propulsion direction is compressed, and the spring 26 is compressed.

[0024] Furthermore, combined with Figure 6-7 As shown, a flow regulating mechanism 28 is arranged inside the inner cylinder 19, and the flow regulating mechanism 28 includes a bracket 33, the outer side of the bracket 33 is cylindrical, the outer side of the bracket 33 is rotatably installed in the inner cylinder 19, a hollow cylinder 34 coaxially arranged therewith is fixed inside the bracket 33, a rotating hole is provided on the outer side of the hollow cylinder 34, a rotating column 36 is rotatably installed inside the rotating hole, a driven plate 35 is fixed to one end of the rotating column 36 located outside the hollow cylinder 34, a slide groove 40 is provided at both ends of the driven plate 35, a counterweight block 39 is slidably arranged inside the slide groove 40, a plurality of positioning rings 37 are fixed inside the hollow cylinder 34, the plurality of positioning rings 37 are coaxially arranged one by one with the plurality of rotating columns 36, and a coil spring 38 is fixed between the positioning ring 37 and the coaxial rotating column 36; when the pressure of the pipeline increases, the flow of the pipeline increases accordingly However, at this time, the pipeline pressure loss becomes larger, which makes the oil pressure of the driving cylinder 11 smaller. The conventional formula is pipeline pressure loss = pipeline resistance (related to the pipeline diameter) × twice the pipeline flow rate. The pipeline pressure becomes larger, the flow rate of the emulsion becomes faster, and the entire bracket 33 rotates in the inner cylinder 19 with the help of the driven plate 35. The faster the flow rate, the faster the rotation speed of the bracket 33. The counterweight block 39 of the driven plate 35 moves to one end, the centrifugal force increases, the driven plate 35 rotates, and the driven plate 35 drives the rotating column 36 to rotate. The coil spring 38 applies a torque force in the opposite direction to the rotating column 36. The interval between each adjacent two driven plates 35 becomes smaller, thereby reducing the flow rate and reducing the pressure loss; because the emulsion contains an emulsifier that is not mixed with hard water, the driven plate 35 can stir the hard water and the emulsifier to improve the mixing degree and ensure the stability of the emulsion.

[0025] Working principle: When the outer side or inner side of the protective pipe is damaged, the vacuum environment is destroyed, and the electric transformer fluid in the electric transformer fluid box 20 flows into the double hollow bag 29 through the liquid pressure, thereby expanding and blocking the damaged part, completing the automatic blocking; the power supply structure energizes the electric transformer fluid, that is, the DC power supply 21 in the power supply structure introduces current into the electric transformer fluid through the electrode sheet 32, and the electric transformer fluid is energized and solidified, so that the emulsion cannot flow into the cavity through the damaged part, ensuring that the pipeline pressure of the protective pipe remains unchanged; When the pressure of the pipeline increases, the flow rate of the pipeline increases accordingly, but at this time the pipeline pressure loss increases, making the oil pressure of the drive cylinder 11 smaller. The conventional formula is pipeline pressure loss = pipeline resistance (related to the pipeline diameter) × twice the pipeline flow rate. When the pipeline pressure increases, the flow rate of the emulsion increases. The entire bracket 33 rotates in the inner cylinder 19 with the help of the driven plate 35. The faster the flow rate, the faster the rotation speed of the bracket 33. The counterweight block 39 of the driven plate 35 moves to one end, the centrifugal force increases, the driven plate 35 rotates, and the driven plate 35 drives the rotating column 36 to rotate. The coil spring 38 applies a torque force in the opposite direction to the rotating column 36. The interval between each adjacent two driven plates 35 becomes smaller, thereby reducing the flow rate and reducing the pressure loss. Since the emulsion contains an emulsifier that is not mixed with hard water, the driven plate 35 can stir the hard water and the emulsifier to improve the mixing degree and ensure the stability of the emulsion. Working principle of the hydraulic oil and emulsion mixing system: when a driving cylinder 11 is started to work, for example, one of the driving cylinders 11 is extended, the electromagnetic reversing valve 12 corresponding to the extended driving cylinder 11 moves to the left position (if the driving cylinder 11 is shortened, it moves to the right position), at this time, the emulsion pump in the emulsion pump station 17 discharges the emulsion, the electromagnetic two-position four-way valve 43 moves to the left position, the emulsion flows into the sixth oil circuit 16, and then flows into the fifth oil circuit 15, the emulsion flows into the seventh oil circuit 41 through the electromagnetic reversing valve 12, the emulsion enters the driving cylinder 11, and the piston rod in the driving cylinder 11 is pushed out, at the same time, the electromagnetic proportional valve 5 moves to the left position, and the hydraulic oil pump 4 introduces hydraulic oil into the first oil circuit 6. Then, the hydraulic oil flows into the first piston cylinder 9 through the electromagnetic proportional valve 5 and the second oil circuit 7. The piston rod of the first piston cylinder 9 is pushed out, and the piston rod of the first piston cylinder 9 pushes back the second piston rod of the second piston cylinder 10. A part of the emulsion of the second piston cylinder 10 is pushed into the fifth oil circuit 15, and then enters the driving cylinder 11 for fluid replenishment. Because the amount of fluid replenishment is small, the precise control speed is very fast. It can be understood that the driving cylinder 11 is roughly extended first, and then the driving cylinder 11 is accurately extended for a section, so as to realize the function of precise extension and contraction and rapid execution; similarly, when the two driving cylinders 11 are working, it is only necessary to move the corresponding electromagnetic reversing valve 12 to the specified position, and then control the second piston cylinder 10 for fluid replenishment.

[0026] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An oil-liquid hybrid hydraulic system suitable for use with an underground robot, comprising a hydraulic oil system (1) and an emulsion system (2), characterized in that: The emulsion system (2) comprises a plurality of drive cylinders (11), wherein two oil ports of the drive cylinders (11) are respectively connected to a seventh oil circuit (41) and an eighth oil circuit (42), and protective pipes connected to each other are installed on the seventh oil circuit (41) and the eighth oil circuit (42); A cavity is provided on the inner side of the protective pipe, and the cavity divides the protective pipe into an outer tube (22) and an inner tube (19). The interior of the cavity is subjected to vacuum treatment. A double hollow bag (29) is fixed to both ends of the cavity, and the double hollow bag (29) is cylindrical as a whole. The double hollow bag (29) has two hollows. Two flow paths (30) are provided at one end of the hollow cavity, and the two flow paths (30) are respectively connected to the two hollows of the hollow cavity. Two electrode sheets (32) are inserted at the other end of the cavity, and one end of the two electrode sheets (32) is respectively located in the two hollows of the hollow cavity. An electric transformer liquid box (20) storing electric transformer liquid is provided on the outside of the protective pipe, and the electric transformer liquid box (20) is connected to the two flow paths (30). A power supply structure for supplying power to the electrode sheets (32) is provided on the outside of the protective pipe.

2. The oil-liquid hybrid hydraulic system for underground robots according to claim 1, characterized in that: The power supply structure comprises a DC power supply (21) and a dual-electrode connector (31), wherein the dual-electrode connector (31) is composed of two conductive sheets, and the two conductive sheets are respectively fixed to two electrode sheets (32), and the dual-electrode connector (31) is connected to the positive terminal of the DC power supply (21) via a wire.

3. The oil-liquid hybrid hydraulic system for underground robots according to claim 1, characterized in that: The hydraulic oil system (1) comprises a hydraulic oil tank (3), a hydraulic oil pump (4), a first piston cylinder (9) and an electromagnetic proportional valve (5); an oil inlet end of the hydraulic oil pump (4) is connected to the hydraulic oil tank (3); a first oil circuit (6) is provided between an oil outlet end of the hydraulic oil pump (4) and a P port of the electromagnetic proportional valve (5) to connect the two; two oil ports of the first piston cylinder (9) are respectively connected to a second oil circuit (7) and a third oil circuit (8); and the second oil circuit (7) and the third oil circuit (8) are respectively connected to an A port and a B port of the electromagnetic proportional valve (5).

4. The oil-liquid hybrid hydraulic system for underground robots according to claim 1, characterized in that: The emulsion system (2) comprises a second piston cylinder (10), a fourth oil circuit (13), an emulsion tank (14), a fifth oil circuit (15), a sixth oil circuit (16), an emulsion pump station (17), a return tank (18), an electromagnetic two-position four-way valve (43), and a plurality of electromagnetic reversing valves (12); the plurality of electromagnetic reversing valves (12) are arranged one-to-one with the plurality of driving cylinders (11); the seventh oil circuit (41) and the eighth oil circuit (42) of the driving cylinder (11) are respectively connected to the A port and the B port of the electromagnetic reversing valve (12); one of the oil ports on the second piston cylinder (10) is connected to the emulsion tank (14) via the fourth oil circuit (13); The second piston cylinder (10) is connected to the fifth oil circuit (15), the other oil port on the second piston cylinder (10) is connected to the fifth oil circuit (15), the fifth oil circuit (15) is connected to the P ports of the plurality of electromagnetic reversing valves (12), the fifth oil circuit (15) is connected to the A port of the electromagnetic two-position four-way valve (43), and a one-way valve (44) is provided between the fifth oil circuit (15) and the electromagnetic two-position four-way valve (43), the oil outlet end of the emulsion pump in the emulsion pump station (17) is connected to the P port of the electromagnetic two-position four-way valve (43), the T port of the electromagnetic two-position four-way valve (43) is connected to the return liquid tank (18), and the T ports of the plurality of electromagnetic reversing valves (12) are all connected to the sixth oil circuit (16).

5. The oil-liquid hybrid hydraulic system for underground robots according to claim 1, characterized in that: The two hollow inner side walls of the double hollow bag (29) are provided with an insulating layer.

6. The oil-liquid hybrid hydraulic system for underground robots according to claim 1, characterized in that: Support mechanisms (27) are provided at both ends of the protective pipe, the support mechanism (27) comprising a fixing frame (23), a circular hole is provided on the outer side of the fixing frame (23), the protective pipe and the circular hole are coaxially arranged, and a plurality of elastic structures are provided between the outer side of the fixing frame (23) and the outer side of the protective pipe.

7. The oil-liquid hybrid hydraulic system for underground robots according to claim 6, characterized in that: The elastic structure comprises a double-section telescopic rod (25), a spring (26) and two rotating blocks (24); two ends of the double-section telescopic rod (25) are respectively fixed to the two rotating blocks (24); the spring (26) is sleeved on the double-section telescopic rod (25); and the two rotating blocks (24) are respectively rotatably mounted on the fixing frame (23) and the protective pipe.

8. The oil-liquid hybrid hydraulic system for underground robots according to claim 7, characterized in that: A flow regulating mechanism (28) is arranged inside the inner cylinder (19). The flow regulating mechanism (28) comprises a bracket (33). The outer side of the bracket (33) is cylindrical. The outer side of the bracket (33) is rotatably mounted inside the inner cylinder (19). A hollow cylinder (34) coaxially arranged therewith is fixed inside the bracket (33). A rotation hole is provided on the outer side of the hollow cylinder (34). A rotating column (36) is rotatably mounted inside the rotating hole. A driven plate (35) is fixed to one end of the rotating column (36) located outside the hollow cylinder (34). Slide grooves (40) are provided at both ends of the driven plate (35). A counterweight (39) is slidably arranged inside the slide groove (40). A plurality of positioning rings (37) are fixed inside the hollow cylinder (34). The plurality of positioning rings (37) are coaxially arranged one-to-one with the plurality of rotating columns (36), respectively. A coil spring (38) is fixed between the positioning ring (37) and the coaxial rotating column (36).

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