A bottoming machine and a mechanical arm thereof

Abstract

The application provides a floor laying machine and a mechanical arm thereof, and belongs to the technical field of roadway repair. The floor laying machine mechanical arm comprises a cantilever I, a cantilever II, a telescopic oil cylinder and an oil pipe assembly. The oil pipe arrangement is modularized by arranging the oil pipe assembly on the cantilever. The quick-change plug I at the front end of the oil pipe frame is connected with the oil pipe of the tool unit, and the quick-change plugs II on the two sides are connected with the oil pipes on the frame, so that the oil pipes on the mechanical arm are neat and uniform, the quick-change plug I of the corresponding tool unit is clear and obvious, and the replacement efficiency of the tool unit can be effectively improved.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel repair, and specifically discloses an undercover machine and its robotic arm. Background Technology

[0002] A tunnel repair machine, also known as a roadway repair machine, is a comprehensive intelligent equipment specifically designed for underground mining operations. It integrates drilling, crushing, loading, and transportation functions, and features a compact structure, high mobility, and a high degree of automation. For example, CN213392160U discloses a multi-functional tunnel repair machine whose robotic arm is equipped with several tool units, enabling diverse functions. However, because each tool unit requires a different hydraulic system, the hydraulic lines on the robotic arm are arranged in a cluttered manner, affecting the efficiency of tool unit replacement. Summary of the Invention

[0003] This invention provides an undercover machine and its robotic arm to solve the technical problems described in the background art.

[0004] The robotic arm for a sewing machine provided by this invention includes a cantilever I, a cantilever II, a telescopic cylinder, and a hydraulic pipe assembly. Cantilever II and cantilever I are slidably connected. Cantilever II is driven by the telescopic cylinder to extend and retract along cantilever I. The front end of cantilever II is connected to a tool unit. The hydraulic pipe assembly includes a pipe frame, quick-change plug I, quick-change plug II, a pipe, connecting lugs, and sliding blocks. The front end of the pipe frame is provided with multiple quick-change plug I units, and both sides are provided with an equal number of quick-change plug II units. The number of quick-change plug I units is equal to the total number of quick-change plug II units on both sides. The pipe is L-shaped, with both ends connected to quick-change plug I and quick-change plug II, respectively. Both sides of the pipe frame are provided with connecting lugs and sliding blocks. The upper end of the connecting lug is hinged to the pipe frame, and the lower end is fixedly connected to cantilever II. The sliding block is fixed to the pipe frame and slidably connected to cantilever I.

[0005] In the aforementioned robotic arm of the undercover machine, both the upper and lower surfaces of the oil pipe rack are equipped with heat dissipation windows.

[0006] In the aforementioned robotic arm of the undercover machine, a dust cover is rotatably connected to the upper surface of the oil pipe frame.

[0007] In the aforementioned robotic arm of the undercover machine, plug frames are provided on both sides of the cantilever I, and quick-change plugs III corresponding to quick-change plugs II are provided on the plug frames.

[0008] The undercover machine provided by the present invention includes a frame, a rotary table, a rotary cylinder, a left swing cylinder, a right swing cylinder, and the aforementioned undercover machine robotic arm; the rotary table is rotatably mounted on the frame; the rotary cylinder is located on one side of the rotary table, with both ends rotatably connected to the frame and the rotary table respectively; the cantilever I is hinged to the rotary table through a horizontally arranged connecting piece; the left swing cylinder and the right swing cylinder are arranged on both sides of the cantilever I, and are hinged to the cantilever I and the frame respectively.

[0009] The aforementioned undercover machine also includes a tracked traveling mechanism disposed on both sides of the machine frame; the tracked traveling mechanism includes a drive wheel, a driven wheel, a track, a left traveling motor and a right traveling motor; the drive wheel and the driven wheel are rotatably connected to the machine frame respectively; the track is fitted on the drive wheel and the driven wheel; the drive wheels on both sides of the machine frame are driven to rotate by the left traveling motor and the right traveling motor respectively.

[0010] The aforementioned undercover machine also includes a hydraulic oil tank, a hydraulic pump, and reversing valves I, II, III, IV, and V. The inlet of the hydraulic pump is connected to the hydraulic oil tank, and its outlet is connected to the P port of each of the reversing valves I, II, III, IV, and V. The A port of reversing valve I is connected to the rodless chamber of the telescopic cylinder, its B port is connected to the rod-side chamber of the telescopic cylinder, and its T port is connected back to the hydraulic oil tank. The A port of reversing valve II is connected to the rodless chamber of the rotary cylinder. The rod chamber is connected, with port B connected to the rod chamber of the rotary cylinder and port T connected back to the hydraulic oil tank; port A of directional valve III is connected to the rodless chamber of the left swing cylinder and the rodless chamber of the right swing cylinder respectively, port B is connected to the rod chamber of the left swing cylinder and the rod chamber of the right swing cylinder respectively, and port T is connected back to the hydraulic oil tank; ports A and B of directional valve IV are connected to ports A and B of the left travel motor respectively; ports A and B of directional valve V are connected to ports A and B of the right travel motor respectively.

[0011] The aforementioned undercover machine also includes balance valve I, balance valve II, balance valve III, balance valve IV, and balance valve V; port A and port B of directional valve I are connected to port A1 and port B1 of balance valve I, respectively; port A2 of balance valve I is connected to the rodless chamber of the telescopic cylinder, and port B2 is connected to the rod chamber of the telescopic cylinder; ports A and B of directional valve II are connected to ports A1 and B1 of balance valve II, respectively; port A2 of balance valve II is connected to the rodless chamber of the rotary cylinder, and port B2 is connected to the rod chamber of the rotary cylinder; ports A and B of directional valve III are connected to ports A1 and B1 of balance valve III, respectively. 1. Connection: Port A2 of balance valve III is connected to the rodless chamber of the left swing cylinder and the rodless chamber of the right swing cylinder, respectively; Port B2 is connected to the rod chamber of the left swing cylinder and the rod chamber of the right swing cylinder, respectively; Ports A and B of directional valve IV are connected to ports A1 and B1 of balance valve IV, respectively; Ports A2 and B2 of balance valve IV are connected to ports A and B of the left travel motor, respectively; Ports A and B of directional valve V are connected to ports A1 and B1 of balance valve V, respectively; Ports A2 and B2 of balance valve V are connected to ports A and B of the right travel motor, respectively.

[0012] The aforementioned undercover machine also includes a diverter valve; the A2 and B2 ports of the balance valve III are connected to the A1 and B1 ports of the diverter valve, respectively; the A2 port of the diverter valve is connected to the rodless chamber of the left swing cylinder, the A3 port is connected to the rodless chamber of the right swing cylinder, the B2 port is connected to the rod chamber of the left swing cylinder, and the B3 port is connected to the rod chamber of the right swing cylinder.

[0013] The aforementioned undercover machine also includes a hydraulic pump drive motor and a controller; the hydraulic pump drive motor is connected to the hydraulic pump and controlled by the controller; the directional valves are all electrically controlled valves, and their control ports are all connected to the controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The undercover machine and its robotic arm provided by this invention modularize the arrangement of oil pipes by setting an oil pipe assembly on the cantilever. The quick-change plug I at the front end of the oil pipe rack is connected to the oil pipe of the tool unit, and the quick-change plugs II on both sides are connected to the oil pipes on the frame. This makes the oil pipes on the robotic arm neat and uniform, and the quick-change plugs I of the corresponding tool units are clear and easy to understand, which can effectively improve the replacement efficiency of the tool units. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a rendering of the robotic arm of the undercover machine. Figure 2 This is a front view of the tubing assembly; Figure 3 This is a left view of the tubing assembly; Figure 4 This is a top view of the oil pipe assembly; Figure 5 This is a bottom view of the oil pipe assembly; Figure 6 This is the front view of the undercover machine; Figure 7 This is a top view of the spy machine; Figure 8 This is a hydraulic schematic diagram of a seizure machine.

[0017] In the diagram: 1-Cantilever I; 2-Cantilever II; 3-Telescopic cylinder; 4-Hydraulic pipe assembly; 4.1-Hydraulic pipe bracket; 4.2-Quick-change plug I; 4.3-Quick-change plug II; 4.4-Hydraulic pipe; 4.5-Connecting lug; 4.6-Sliding block; 4.7-Dust cover; 5-Plug bracket; 5.1-Quick-change plug III; 6-Frame; 7-Turntable; 8-Turn cylinder; 9-Left swing cylinder; 10-Right swing cylinder; 11-Drive wheel; 12-Driven wheel; 13 - Tracks; 14-Left travel motor; 15-Right travel motor; 16-Hydraulic oil tank; 17-Hydraulic pump; 18-Directional valve I; 19-Directional valve II; 20-Directional valve III; 21-Directional valve IV; 22-Directional valve V; 23-Balance valve I; 24-Balance valve II; 25-Balance valve III; 26-Balance valve IV; 27-Balance valve V; 28-Flow divider valve; 29-Hydraulic pump drive motor; 30-Controller; 31-Cab; 32-Power compartment. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0020] Example 1 This embodiment provides a robotic arm for an undercover machine, including a cantilever I1, a cantilever II2, a telescopic cylinder 3, and a hydraulic hose assembly 4; the cantilever II2 and cantilever I1 are slidably connected, and the cantilever II2 is driven by the telescopic cylinder 3 to extend and retract along the cantilever I1, with the front end of the cantilever II2 connected to a tool unit; the hydraulic hose assembly 4 includes a hose frame 4.1, quick-change plug I 4.2, quick-change plug II 4.3, a hose 4.4, a connecting lug 4.5, and a sliding block 4.6; the front end of the hose frame 4.1 is provided with multiple quick-change plugs I 4.2, and the two sides are respectively The system is equipped with an equal number of quick-change plugs II 4.3, and the number of quick-change plugs I 4.2 is equal to the total number of quick-change plugs II 4.3 on both sides; the oil pipe 4.4 is an L-shaped oil pipe, with both ends connected to quick-change plugs I 4.2 and quick-change plugs II 4.3 respectively; both sides of the oil pipe rack 4.1 are equipped with connecting ears 4.5 and sliding blocks 4.6; the upper end of the connecting ear 4.5 is hinged to the oil pipe rack 4.1, and the lower end is fixedly connected to the cantilever II 2; the sliding block 4.6 is fixed on the oil pipe rack 4.1 and is slidably connected to the cantilever I 1.

[0021] By installing the oil pipe assembly 4 on the cantilever, the oil pipe arrangement is modularized. The quick-change plug I 4.2 at the front end of the oil pipe rack 4.1 connects to the oil pipe of the tool unit, and the quick-change plugs II 4.3 on both sides connect to the oil pipe on the frame 6. This makes the oil pipes on the robotic arm neat and uniform, and clearly distinguishes them from the quick-change plugs I of the corresponding tool units, effectively improving the tool unit replacement efficiency. The oil pipe length of the tool unit is usually fixed, so a connecting lug 4.5 and a sliding block 4.6 are provided. When the tool unit extends or retracts with the cantilever II 2, the oil pipe assembly 4 moves accordingly.

[0022] In the aforementioned robotic arm of the undercover machine, both the upper and lower surfaces of the oil pipe frame 4.1 are equipped with heat dissipation windows, which can effectively dissipate heat.

[0023] In the aforementioned robotic arm of the undercover machine, a dust cover 4.7 is rotatably connected to the upper surface of the oil pipe frame 4.1.

[0024] In the aforementioned robotic arm of the undercover machine, plug brackets 5 are provided on both sides of the cantilever I1, and quick-change plugs III 5.1 corresponding to quick-change plugs II 4.3 are provided on the plug brackets 5. The oil pipes led out from the frame 6 are transferred to quick-change plugs II 4.3 through quick-change plugs III 5.1.

[0025] Example 2 This embodiment provides a seizure machine, including a frame 6, a rotary table 7, a rotary cylinder 8, a left swing cylinder 9, a right swing cylinder 10, and the aforementioned seizure machine robotic arm; the rotary table 7 is rotatably mounted on the frame 6; the rotary cylinder 8 is located on one side of the rotary table 7, with both ends rotatably connected to the frame 6 and the rotary table 7 respectively; the cantilever I1 is hinged to the rotary table 7 through a horizontally arranged connector; the left swing cylinder 9 and the right swing cylinder 10 are arranged on both sides of the cantilever I1, and are hinged to the cantilever I1 and the frame 6 respectively.

[0026] The horizontal rotation of the undercover machine's robotic arm is achieved by extending and retracting the rotary cylinder 8, while the vertical swing of the undercover machine is achieved by the synchronous extension and retraction of the left swing cylinder 9 and the right swing cylinder 10.

[0027] The aforementioned undercover machine also includes a tracked walking mechanism disposed on both sides of the frame 6; the tracked walking mechanism includes a drive wheel 11, a driven wheel 12, a track 13, a left travel motor 14, and a right travel motor 15; the drive wheel 11 and the driven wheel 12 are rotatably connected to the frame 6 respectively; the track 13 is fitted on the drive wheel 11 and the driven wheel 12; the drive wheels 11 on both sides of the frame 6 are driven to rotate by the left travel motor 14 and the right travel motor 15 respectively.

[0028] The walking motor drives the drive wheel 11 and driven wheel 12 to rotate, thereby driving the track 13 to rotate and enabling the undercarriage machine to move.

[0029] The aforementioned undercover machine also includes a hydraulic oil tank 16, a hydraulic pump 17, directional valve I 18, directional valve II 19, directional valve III 20, directional valve IV 21, and directional valve V 22; the inlet of the hydraulic pump 17 is connected to the hydraulic oil tank 16, and the outlet is connected to the P port of directional valve I 18, directional valve II 19, directional valve III 20, directional valve IV 21, and directional valve V 22 respectively; the A port of directional valve I 18 is connected to the rodless chamber of the telescopic cylinder 3, the B port is connected to the rod chamber of the telescopic cylinder 3, and the T port is connected back to the hydraulic oil tank 16; the A port of directional valve II 19... Port B is connected to the rodless chamber of rotary cylinder 8, port B is connected to the rod chamber of rotary cylinder 8, and port T is connected back to hydraulic oil tank 16; Port A of directional valve III 20 is connected to the rodless chamber of left swing cylinder 9 and right swing cylinder 10 respectively, port B is connected to the rod chamber of left swing cylinder 9 and right swing cylinder 10 respectively, and port T is connected back to hydraulic oil tank 16; Ports A and B of directional valve IV 21 are connected to ports A and B of left travel motor 14 respectively; Ports A and B of directional valve V 22 are connected to ports A and B of right travel motor 15 respectively.

[0030] When the directional valve I18 is in the right position, port P is connected to port A, and port B is connected to port T. Working oil flows from port P to port A, and then to the rodless chamber of the telescopic cylinder 3. Working oil in the rod chamber of the telescopic cylinder 3 flows from port B to port T, achieving oil return. The piston rod of the telescopic cylinder 3 extends, and cantilever II2 extends. When the directional valve I18 is in the left position, the piston rod of the telescopic cylinder 3 retracts, and cantilever II2 retracts.

[0031] When directional valve II 19 is in the right position, port P is connected to port A, and port B is connected to port T. Working oil flows from port P to port A, and then to the rodless chamber of rotary cylinder 8. Working oil in the rod chamber of rotary cylinder 8 flows from port B to port T, achieving oil return, and the piston rod of rotary cylinder 8 extends. When directional valve II 19 is in the left position, the piston rod of rotary cylinder 8 retracts.

[0032] When the directional valve III 20 is in the right position, port P is connected to port A, and port B is connected to port T. Working oil flows from port P to port A, then to the rodless chambers of the left swing cylinder 9 and the right swing cylinder 10. Working oil in the rod chambers of the left swing cylinder 9 and the right swing cylinder 10 flows from port B to port T, achieving oil return. The piston rod of the swing cylinder extends, and the robotic arm rises. When the directional valve III 20 is in the left position, the piston rod of the swing cylinder retracts, and the robotic arm falls.

[0033] When the reversing valve Ⅳ21 is in the right or left position, the left travel motor 14 achieves forward and reverse rotation.

[0034] When the reversing valve V22 is in the right or left position, the right travel motor 15 can achieve forward and reverse rotation.

[0035] The aforementioned undercover machine also includes balance valve I23, balance valve II24, balance valve III25, balance valve IV26, and balance valve V27; the A and B ports of directional valve I18 are connected to the A1 and B1 ports of balance valve I23, respectively; the A2 port of balance valve I23 is connected to the rodless chamber of telescopic cylinder 3, and the B2 port is connected to the rod chamber of telescopic cylinder 3; the A and B ports of directional valve II19 are connected to the A1 and B1 ports of balance valve II24, respectively; the A2 port of balance valve II24 is connected to the rodless chamber of rotary cylinder 8, and the B2 port is connected to the rod chamber of rotary cylinder 8; the A and B ports of directional valve III20 are connected to the A1 and B1 ports of balance valve III25, respectively. Ports A and B1 are connected; Port A2 of balance valve III25 is connected to the rodless chamber of left swing cylinder 9 and the rodless chamber of right swing cylinder 10, respectively, and Port B2 is connected to the rod chamber of left swing cylinder 9 and the rod chamber of right swing cylinder 10, respectively; Ports A and B of directional valve IV21 are connected to Ports A1 and B1 of balance valve IV26, respectively; Ports A2 and B2 of balance valve IV26 are connected to Ports A and B of left travel motor 14, respectively; Ports A and B of directional valve V22 are connected to Ports A1 and B1 of balance valve V27, respectively; Ports A2 and B2 of balance valve V27 are connected to Ports A and B of right travel motor 15, respectively.

[0036] By setting a balance valve, the hydraulic imbalance in the system is eliminated, thus stabilizing the operation of the telescopic cylinder 3, the rotary cylinder 8, the swing cylinder, and the travel motor.

[0037] The aforementioned undercover machine also includes a diversion valve 28; the A2 port and B2 port of the balance valve III 25 are respectively connected to the A1 port and B1 port of the diversion valve 28; the A2 port of the diversion valve 28 is connected to the rodless chamber of the left swing cylinder 9, the A3 port is connected to the rodless chamber of the right swing cylinder 10, the B2 port is connected to the rod chamber of the left swing cylinder 9, and the B3 port is connected to the rod chamber of the right swing cylinder 10.

[0038] The working oil entering the swing cylinder is proportionally distributed through the diversion valve 28, so that the swing cylinder extends and retracts according to the set value.

[0039] The aforementioned undercover machine also includes a hydraulic pump drive motor 29 and a controller 30; the hydraulic pump drive motor 29 is connected to the hydraulic pump 17 and is controlled by the controller 30; all directional valves are electrically controlled valves. Figure 8 In the diagram, KL is the left control port and KR is the right control port. All control ports are connected to the controller 30.

[0040] The aforementioned undercover aircraft also includes a driver's cab 31 and a power compartment 32 mounted on the frame 6.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm for an undercover machine, characterized in that, Including cantilever I (1), cantilever II (2), telescopic cylinder (3) and oil pipe assembly (4); The cantilever II (2) and cantilever I (1) are slidably connected. The cantilever II (2) is driven by the telescopic cylinder (3) to extend and retract along the cantilever I (1). The front end of the cantilever II (2) is connected to the tool unit. The oil pipe assembly (4) includes an oil pipe bracket (4.1), quick-change plug I (4.2), quick-change plug II (4.3), oil pipe (4.4), connecting lug (4.5), and sliding block (4.6). The front end of the tubing rack (4.1) is provided with multiple quick-change plugs I (4.2), and the two sides are provided with an equal number of quick-change plugs II (4.3). The number of quick-change plugs I (4.2) is equal to the total number of quick-change plugs II (4.3) on both sides. The oil pipe (4.4) is an L-shaped oil pipe, with its two ends connected to quick-change plug I (4.2) and quick-change plug II (4.3) respectively; The oil pipe rack (4.1) is provided with connecting lugs (4.5) and sliding blocks (4.6) on both sides. The upper end of the connecting lug (4.5) is hinged to the oil pipe frame (4.1), and the lower end is fixedly connected to the cantilever II (2); The sliding block (4.6) is fixed on the tubing frame (4.1) and is slidably connected to the cantilever I (1).

2. The robotic arm for the undercover machine according to claim 1, characterized in that, The upper and lower surfaces of the tubing rack (4.1) are provided with heat dissipation windows.

3. The robotic arm for the undercover machine according to claim 2, characterized in that, The upper surface of the tubing rack (4.1) is rotatably connected to a dust cover (4.7).

4. The robotic arm for the undercover machine according to claim 1, characterized in that, The cantilever I (1) is provided with plug brackets (5) on both sides, and the plug brackets (5) are provided with quick-change plugs III (5.1) corresponding to quick-change plugs II (4.3).

5. An undercover machine, characterized in that, Includes a frame (6), a rotary table (7), a rotary cylinder (8), a left swing cylinder (9), a right swing cylinder (10), and the undercarriage machine robotic arm as described in any one of claims 1-4; The rotary table (7) is rotatably mounted on the frame (6); The rotary cylinder (8) is located on one side of the rotary table (7), and its two ends are rotatably connected to the frame (6) and the rotary table (7) respectively; The cantilever I (1) is hinged to the rotary table (7) via a horizontally set connector; The left swing cylinder (9) and the right swing cylinder (10) are located on both sides of the cantilever I (1) and are hinged to the cantilever I (1) and the frame (6) respectively.

6. The undercover machine according to claim 5, characterized in that, It also includes tracked walking mechanisms located on both sides of the frame (6); The tracked walking mechanism includes a drive wheel (11), a driven wheel (12), a track (13), a left travel motor (14), and a right travel motor (15). The driving wheel (11) and the driven wheel (12) are rotatably connected to the frame (6); The track (13) is fitted onto the drive wheel (11) and the driven wheel (12); The drive wheels (11) on both sides of the frame (6) are driven to rotate by the left travel motor (14) and the right travel motor (15), respectively.

7. The undercover machine according to claim 6, characterized in that, It also includes a hydraulic oil tank (16), a hydraulic pump (17), a reversing valve I (18), a reversing valve II (19), a reversing valve III (20), a reversing valve IV (21), and a reversing valve V (22). The inlet of the hydraulic pump (17) is connected to the hydraulic oil tank (16), and the outlet is connected to the P port of the reversing valve I (18), reversing valve II (19), reversing valve III (20), reversing valve IV (21) and reversing valve V (22), respectively. The A port of the reversing valve I (18) is connected to the rodless chamber of the telescopic cylinder (3), the B port is connected to the rod chamber of the telescopic cylinder (3), and the T port is connected back to the hydraulic oil tank (16). The A port of the reversing valve II (19) is connected to the rodless chamber of the rotary cylinder (8), the B port is connected to the rod chamber of the rotary cylinder (8), and the T port is connected back to the hydraulic oil tank (16). The A port of the reversing valve III (20) is connected to the rodless chamber of the left swing cylinder (9) and the rodless chamber of the right swing cylinder (10) respectively, the B port is connected to the rod chamber of the left swing cylinder (9) and the rod chamber of the right swing cylinder (10) respectively, and the T port is connected back to the hydraulic oil tank (16). The A port and B port of the reversing valve IV (21) are respectively connected to the A port and B port of the left travel motor (14); The A port and B port of the reversing valve V (22) are respectively connected to the A port and B port of the right travel motor (15).

8. The undercover machine according to claim 7, characterized in that, It also includes balance valve I (23), balance valve II (24), balance valve III (25), balance valve IV (26) and balance valve V (27); The A port and B port of the reversing valve I (18) are connected to the A1 port and B1 port of the balance valve I (23) respectively; the A2 port of the balance valve I (23) is connected to the rodless chamber of the telescopic cylinder (3), and the B2 port is connected to the rod chamber of the telescopic cylinder (3). The A port and B port of the reversing valve II (19) are connected to the A1 port and B1 port of the balance valve II (24) respectively; the A2 port of the balance valve II (24) is connected to the rodless chamber of the rotary cylinder (8), and the B2 port is connected to the rod chamber of the rotary cylinder (8). The A port and B port of the reversing valve III (20) are respectively connected to the A1 port and B1 port of the balancing valve III (25); The A2 port of the balance valve III (25) is connected to the rodless chamber of the left swing cylinder (9) and the rodless chamber of the right swing cylinder (10) respectively, and the B2 port is connected to the rod chamber of the left swing cylinder (9) and the rod chamber of the right swing cylinder (10) respectively. The A port and B port of the reversing valve IV (21) are connected to the A1 port and B1 port of the balancing valve IV (26) respectively; The A2 port and B2 port of the balance valve IV (26) are connected to the A port and B port of the left travel motor (14), respectively. The A port and B port of the reversing valve V (22) are respectively connected to the A1 port and B1 port of the balancing valve V (27); The A2 port and B2 port of the balance valve V (27) are connected to the A port and B port of the right travel motor (15), respectively.

9. The undercover machine according to claim 8, characterized in that, It also includes a flow divider valve (28); The A2 port and B2 port of the balancing valve III (25) are connected to the A1 port and B1 port of the diverter valve (28) respectively; The A2 port of the diverter valve (28) is connected to the rodless chamber of the left swing cylinder (9), the A3 port is connected to the rodless chamber of the right swing cylinder (10), the B2 port is connected to the rod chamber of the left swing cylinder (9), and the B3 port is connected to the rod chamber of the right swing cylinder (10).

10. The undercover machine according to claim 9, characterized in that, It also includes a hydraulic pump drive motor (29) and a controller (30); The hydraulic pump drive motor (29) is connected to the hydraulic pump (17) and is controlled by the controller (30); All directional valves are electrically controlled valves, and their control ports are all connected to the controller (30).

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