A multi-way valve hydraulic system for underwater robots

Abstract

This utility model discloses a multi-way valve hydraulic system for underwater robots, relating to the field of underwater robot technology. It solves the technical problem of significant pressure loss in the pipelines caused by the numerous hydraulic hoses in underwater robots, thus affecting robot efficiency. The system includes P-pipes and T-pipes, which are respectively connected to the oil outlet and return port of the power station. The ends of the P-pipes and T-pipes furthest from the power station are connected to the oil inlet and return pipes, respectively. The oil inlet and return pipes are integrated into the robot, which also integrates a multi-way valve mechanism. This multi-way valve mechanism controls the robot's superstructure adjustment mechanism, roller brush adjustment mechanism, left travel mechanism, right travel mechanism, suction pump, and roller brush rotation mechanism. This utility model integrates all valves onto the robot, effectively shortening the distance between the valves and the robot's actuators, and also effectively reducing the number of pipelines, thereby reducing pressure loss and improving robot efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater robots, in particular to a multi-way valve hydraulic system for an underwater robot. Background Art

[0002] An underwater drainage robot is a robot specially used for underwater dredging, inspection and maintenance. It can complete various tasks underwater, such as desilting drainage pipes, underwater building inspection, underwater equipment maintenance, etc. This robot usually consists of two parts: a control unit above the water and an actuator unit under the water.

[0003] Since underwater drainage machines require a small size and work underwater for a long time, there are as many as 12 hydraulic hoses behind the original robot, and the length is more than 50 meters. Not only does it seriously affect the robot's walking, but the large number of hydraulic hoses will increase the loss of pipeline pressure, thereby affecting the efficiency of the robot. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a multi-way valve hydraulic system for an underwater robot, which solves the problem that the setting of a large number of hydraulic hoses of the underwater robot causes a large loss of pipeline pressure, thereby affecting the efficiency of the robot.

[0005] To achieve the above-mentioned purpose, according to an embodiment of the first aspect of the utility model, a multi-way valve hydraulic system for an underwater robot is provided, comprising a P tube and a T tube, wherein the P tube and the T tube are respectively connected to the oil outlet and the oil return port of the power station, and the ends of the P tube and the T tube away from the power station are respectively connected to an oil inlet pipe and an oil return pipe, wherein the oil inlet pipe and the oil return pipe are integrated on the robot, and a multi-way valve mechanism is also integrated on the robot, wherein the multi-way valve mechanism is used to control the upper adjustment mechanism, the roller brush adjustment mechanism, the left walking mechanism, the right walking mechanism, the sewage suction pump and the roller brush rotation mechanism of the robot;

[0006] The multi-way valve mechanism includes two first proportional reversing valves, two second proportional reversing valves, two electromagnetic reversing valves and four proportional flow valves. The two first proportional reversing valves, the two second proportional reversing valves and the two electromagnetic reversing valves are respectively connected to the upper adjustment mechanism, the roller brush adjustment mechanism, the left walking mechanism, the right walking mechanism, the sewage suction pump and the roller brush rotation mechanism through pipelines, and the oil inlets and oil return ports of the two first proportional reversing valves, the two second proportional reversing valves and the two electromagnetic reversing valves are respectively connected to the oil inlet pipe and the oil return pipe through branch pipes, and the four proportional flow valves are respectively installed on the branch pipes between the two second proportional reversing valves and the two electromagnetic reversing valves and the oil inlet pipe.

[0007] As a further technical solution of the utility model, the first proportional reversing valve and the second proportional reversing valve are both three-position four-way electromagnetic reversing valves.

[0008] As a further technical solution of the utility model, the electromagnetic reversing valve is a two-position four-way electromagnetic reversing valve.

[0009] As a further technical solution of the utility model, the two first proportional reversing valves are respectively used to control the upper adjustment mechanism and the roller brush adjustment mechanism to perform ascent or descent, and the two second proportional reversing valves are respectively used to control the left walking mechanism and the right walking mechanism to perform forward or backward movement.

[0010] As a further technical solution of the utility model, the two electromagnetic reversing valves are respectively used to control the sewage suction pump and the roller brush rotating mechanism to perform forward rotation or reverse rotation.

[0011] As a further technical solution of the utility model, the four proportional flow valves are respectively used to control the operating speeds of the left walking mechanism, the right walking mechanism, the sewage suction pump and the roller brush rotating mechanism.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] In the utility model, two first proportional reversing valves, two second proportional reversing valves, two electromagnetic reversing valves and four proportional flow valves are integrated on the robot, and the upper adjustment mechanism, roller brush adjustment mechanism, left walking mechanism, right walking mechanism, sewage suction pump and roller brush rotating mechanism on the robot are controlled, so that the hydraulic pipelines between the robot and the power station have only two pipelines, namely, the P pipe and the T pipe, which effectively reduces the number of pipelines, thereby facilitating reducing the pressure loss of the pipelines and improving the efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The utility model is a schematic diagram of a multi-way valve hydraulic system of an underwater robot.

[0015] In the figure: 1. P pipe; 2. T pipe; 3. Oil inlet pipe; 4. Oil return pipe; 5. Upper adjustment mechanism; 6. Roller brush adjustment mechanism; 7. Left walking mechanism; 8. Right walking mechanism; 9. Sewage suction pump; 10. Roller brush rotation mechanism; 11. First proportional reversing valve; 12. Second proportional reversing valve; 13. Solenoid reversing valve; 14. Proportional flow valve. DETAILED DESCRIPTION

[0016] The technical solution of the utility model will be described clearly and completely in conjunction with the embodiments below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] like Figure 1As shown, a multi-way valve hydraulic system of an underwater robot includes a P tube 1 and a T tube 2. The P tube 1 and the T tube 2 are respectively connected to the oil outlet and the oil return port of the power station. The ends of the P tube 1 and the T tube 2 away from the power station are respectively connected to the oil inlet pipe 3 and the oil return pipe 4. The oil inlet pipe 3 and the oil return pipe 4 are integrated on the robot, and the robot is also integrated with a multi-way valve mechanism;

[0018] The multi-way valve mechanism is used to control the robot's upper adjustment mechanism 5, roller brush adjustment mechanism 6, left walking mechanism 7, right walking mechanism 8, sewage suction pump 9 and roller brush rotation mechanism 10. The multi-way valve mechanism includes two first proportional reversing valves 11, two second proportional reversing valves 12, two electromagnetic reversing valves 13 and four proportional flow valves 14. The oil inlets and oil return ports of the two first proportional reversing valves 11, the two second proportional reversing valves 12 and the two electromagnetic reversing valves 13 are respectively connected to the oil inlet pipe 3 and the oil return pipe 4 through branch pipes.

[0019] The first proportional reversing valve 11 and the second proportional reversing valve 12 are both three-position four-way electromagnetic reversing valves. The two first proportional reversing valves 11 and the two second proportional reversing valves 12 are respectively connected to the upper adjustment mechanism 5, the roller brush adjustment mechanism 6, the left walking mechanism 7 and the right walking mechanism 8 through pipelines. The two first proportional reversing valves 11 are respectively used to control the upper adjustment mechanism 5 and the roller brush adjustment mechanism 6 to perform ascent or descent, so as to facilitate the adjustment of the wading depth of the robot and the roller brush position on the robot. The two second proportional reversing valves 12 are respectively used to control the left walking mechanism 7 and the right walking mechanism 8 to perform forward or backward movement, so as to facilitate the control of the walking of the robot.

[0020] The electromagnetic reversing valve 13 is a two-position four-way electromagnetic reversing valve. The two electromagnetic reversing valves 13 are respectively connected to the sewage suction pump 9 and the roller brush rotating mechanism 10 through pipelines. The two electromagnetic reversing valves 13 are respectively used to control the sewage suction pump 9 and the roller brush rotating mechanism 10 to perform forward or reverse rotation;

[0021] The four proportional flow valves 14 are respectively installed on the branch pipes between the two second proportional reversing valves 12 and the two electromagnetic reversing valves 13 and the oil inlet pipe 3. The four proportional flow valves 14 are respectively used to control the operating speeds of the left walking mechanism 7, the right walking mechanism 8, the sewage suction pump 9 and the roller brush rotating mechanism 10.

[0022] The working principle of the utility model is as follows: an oil inlet pipe 3 and an oil return pipe 4 respectively connected to the P pipe 1 and the T pipe 2 are integrated in the underwater robot, and two first proportional reversing valves 11, two second proportional reversing valves 12 and two electromagnetic reversing valves 13 respectively connected to the oil inlet pipe 3 and the oil return pipe 4 are also integrated in the robot. The two first proportional reversing valves 11 are used to control the upper adjustment mechanism 5 and the roller brush adjustment mechanism 6 to perform ascending or descending, thereby adjusting the wading depth of the robot and the roller brush position on the robot. The two second proportional reversing valves 12 are used to control the left walking mechanism 7 and the right walking mechanism 8 to perform forward or backward movement, thereby controlling the walking of the robot. The two electromagnetic reversing valves 13 are used to control the sewage suction pump 9 and the roller brush rotating mechanism 10 to perform positive and negative rotation. The robot can rotate or reverse, and four proportional flow valves 14 are used to control the running speeds of the left walking mechanism 7, the right walking mechanism 8, the sewage suction pump 9 and the roller brush rotating mechanism 10 respectively. In this way, all valves are integrated on the robot, so that the hydraulic pipeline between the robot and the power station has only two pipelines, P pipe 1 and T pipe 2, which not only effectively reduces the number of pipelines and reduces the pressure loss of the pipeline (the original pressure loss from the power station to the robot pipeline is about 10MPa, while the improved pressure loss is 4MPa), but also the distance from the integrated valve to the robot actuator pipeline is reduced to 1 meter (the original distance from the valve not integrated on the robot to the robot actuator pipeline is 70 meters), which is conducive to further reducing pressure loss and improving the efficiency of the robot.

[0023] The above embodiments are only used to illustrate the technical method of the utility model rather than to limit it. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical method of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the utility model.

Claims

1. A multi-way valve hydraulic system for an underwater robot, comprising a P pipe (1) and a T pipe (2), wherein the P pipe (1) and the T pipe (2) are respectively connected to an oil outlet and an oil return port of a power station, and characterized in that: The ends of the P tube (1) and the T tube (2) away from the power station are respectively connected to an oil inlet pipe (3) and an oil return pipe (4); the oil inlet pipe (3) and the oil return pipe (4) are integrated on the robot, and a multi-way valve mechanism is also integrated on the robot, and the multi-way valve mechanism is used to control the upper adjustment mechanism (5), the roller brush adjustment mechanism (6), the left walking mechanism (7), the right walking mechanism (8), the sewage suction pump (9) and the roller brush rotating mechanism (10) of the robot; The multi-way valve mechanism comprises two first proportional reversing valves (11), two second proportional reversing valves (12), two electromagnetic reversing valves (13) and four proportional flow valves (14). The two first proportional reversing valves (11), the two second proportional reversing valves (12) and the two electromagnetic reversing valves (13) are respectively connected to the upper mounting adjustment mechanism (5), the roller brush adjustment mechanism (6), the left walking mechanism (7), the right walking mechanism (8), the sewage suction pump (9) and the roller brush rotating mechanism (10) through pipelines. The oil inlets and oil return ports of the two first proportional reversing valves (11), the two second proportional reversing valves (12) and the two electromagnetic reversing valves (13) are respectively connected to the oil inlet pipe (3) and the oil return pipe (4) through branch pipes. The four proportional flow valves (14) are respectively installed on the branch pipes between the two second proportional reversing valves (12) and the two electromagnetic reversing valves (13) and the oil inlet pipe (3).

2. The underwater robot multi-way valve hydraulic system according to claim 1, characterized in that: The first proportional reversing valve (11) and the second proportional reversing valve (12) are both three-position four-way electromagnetic reversing valves.

3. The underwater robot multi-way valve hydraulic system according to claim 1, characterized in that: The electromagnetic reversing valve (13) is a two-position four-way electromagnetic reversing valve.

4. The underwater robot multi-way valve hydraulic system according to claim 1, characterized in that: The two first proportional reversing valves (11) are respectively used to control the upper body adjustment mechanism (5) and the roller brush adjustment mechanism (6) to ascend or descend, and the two second proportional reversing valves (12) are respectively used to control the left walking mechanism (7) and the right walking mechanism (8) to advance or retreat.

5. The underwater robot multi-way valve hydraulic system according to claim 1, characterized in that: The two electromagnetic reversing valves (13) are used to control the sewage suction pump (9) and the roller brush rotating mechanism (10) to perform forward rotation or reverse rotation respectively.

6. The underwater robot multi-way valve hydraulic system according to claim 1, characterized in that: The four proportional flow valves (14) are used to control the operating speeds of the left walking mechanism (7), the right walking mechanism (8), the sewage suction pump (9) and the roller brush rotating mechanism (10) respectively.

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