Hydraulic circuit of energy-saving oil storage tank cleaning robot

Abstract

The utility model discloses a hydraulic circuit of an energy-saving oil storage tank cleaning robot, and belongs to the technical field of cleaning equipment. The hydraulic circuit mainly comprises an oil tank, an oil filter, a hydraulic pump, an overflow valve, a hydraulic control one-way valve, an unloading valve, an energy accumulator, a three-position four-way electromagnetic directional valve, a two-position four-way electro-hydraulic proportional directional valve, a one-way speed regulating valve, a walking motor and a hydraulic oil cylinder. The energy-saving oil storage tank cleaning robot is used for improving the working performance and adaptability of the cleaning robot, and an efficient, stable and energy-saving hydraulic system is provided.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a hydraulic circuit of an energy-saving oil storage tank cleaning robot. Background Technique

[0002] Oil storage tanks are widely used in industries such as petroleum and chemical industry for storing crude oil, refined oil and other chemical liquids. However, due to impurities and sediments in the liquid, thick dirt and sediment layers will form on the bottom and inner wall of the oil storage tank. Regularly cleaning these sediments is an important measure to ensure the normal operation of the oil storage tank, extend the service life of the equipment and reduce potential safety hazards. At present, the cleaning work of oil storage tanks mostly relies on manual labor, which has problems such as low efficiency, poor safety and high working intensity. Using a cleaning robot can effectively solve the above problems. In order to improve the working performance and adaptability of the cleaning robot, an efficient, stable and energy-saving hydraulic system is crucial. Summary of the Invention

[0003] The technical problem to be solved by the utility model is that the oil storage tank cleaning robot is a high-pressure water jet device for cleaning the sludge in the crude oil tank. Since the robot works in the environment of sludge and complex ground, it is required to have sufficient driving force and both mobility and flexibility. Therefore, hydraulic technology is used to precisely control its walking and turning. Since the inside of the oil tank is an inflammable and explosive environment, using hydraulic drive can effectively avoid generating sparks. Thus, a hydraulic circuit of an energy-saving oil storage tank cleaning robot is used to control the oil storage tank cleaning robot to reduce the occurrence of the above situations and unnecessary economic losses, and this system can achieve hydraulic energy saving.

[0004] An energy-saving hydraulic circuit of an oil storage tank cleaning robot mainly includes a fuel tank (1), a filter (2), a hydraulic pump (3), a relief valve (4), a pilot-operated check valve (5), a unloading valve (6), an accumulator (7), a first three-position four-way solenoid directional valve (8), a second three-position four-way solenoid directional valve (9), a first two-position four-way electro-hydraulic proportional directional valve (10), a first one-way speed control valve (11), a second one-way speed control valve (12), a second two-position four-way electro-hydraulic proportional directional valve (13), a left travel motor (14), a right travel motor (15) and a hydraulic cylinder (16), and their corresponding oil ports are connected through oil pipes to form a hydraulic circuit.

[0005] In the design process of an energy-saving hydraulic circuit of an oil storage tank cleaning robot, the models of the left travel motor (14) and the right travel motor (15) should be kept consistent.

[0006] The oil inlet of the fuel tank (1) of an energy-saving hydraulic circuit of an oil storage tank cleaning robot is connected to the oil inlet A5 of the filter (2).

[0007] The oil return port B5 of the oil filter (2) is connected to the oil inlet port A6 of the hydraulic pump (3).

[0008] The oil return port B5 of the oil filter (2) is connected to the oil inlet port D1 of the overflow valve (4).

[0009] The P1 port of the unloading valve (6) is respectively connected to the oil return port B6 of the hydraulic pump (3) and the oil inlet port A7 of the hydraulic control one-way valve (5).

[0010] The X port of the unloading valve (6) is respectively connected to the oil return port B7 of the hydraulic control one-way valve (5), the accumulator (7), the first working oil port P1 of the first three-position four-way electromagnetic reversing valve (8), the second working oil port P2 of the second three-position four-way electromagnetic reversing valve (9), the working oil port P3 of the first two-position four-way electro-hydraulic proportional reversing valve (10), and the first working oil port P4 of the second two-position four-way electro-hydraulic proportional reversing valve (13).

[0011] The second working oil port A1 of the first three-position four-way electromagnetic reversing valve (8) is connected to the oil inlet port of the first single-way speed control valve (11).

[0012] The oil return port of the first single-way speed control valve (11) is connected to the oil inlet port of the left travel motor (14).

[0013] The oil return port of the left travel motor (14) is connected to the third working oil port B1 of the first three-position four-way electromagnetic reversing valve (8).

[0014] The oil return port of the first three-position four-way electromagnetic reversing valve (8) is connected to the fuel tank (1).

[0015] The second working oil port A2 of the second three-position four-way electromagnetic reversing valve (9) is connected to the oil inlet port of the second single-way speed control valve (12).

[0016] The oil return port of the second single-way speed control valve (12) is connected to the oil inlet port of the right travel motor (15).

[0017] The oil return port of the right travel motor (15) is connected to the third working oil port B2 of the second three-position four-way electromagnetic reversing valve (9).

[0018] The oil return port of the second three-position four-way electromagnetic reversing valve (9) is connected to the fuel tank (1).

[0019] The second working oil port A3 of the first two-position four-way electro-hydraulic proportional reversing valve (10) is connected to the rodless cavity of the hydraulic cylinder (16).

[0020] The third working oil port B3 of the first two-position four-way electro-hydraulic proportional reversing valve (10) is connected to the rod cavity of the hydraulic cylinder (16).

[0021] The second working oil port A4 of the second two-position four-way electro-hydraulic proportional direction valve (13) is connected to the rodless cavity of the hydraulic cylinder (16).

[0022] The third working oil port B4 of the second two-position four-way electro-hydraulic proportional direction valve (13) is connected to the rod cavity of the hydraulic cylinder (16).

[0023] The second working oil port A3 of the first two-position four-way electro-hydraulic proportional direction valve (10) is connected to the second working oil port A4 of the second two-position four-way electro-hydraulic proportional direction valve (13).

[0024] The oil return port of the first two-position four-way electro-hydraulic proportional direction valve (10) is connected to the oil tank (1).

[0025] The oil return port of the second two-position four-way electro-hydraulic proportional direction valve (13) is connected to the oil tank. Description of the Drawings

[0026] Figure 1 It is the hydraulic schematic diagram of the present utility model.

[0027] Reference numerals: oil tank (1), oil filter (2), hydraulic pump (3), overflow valve (4), pilot-operated check valve (5), unloading valve (6), accumulator (7), first three-position four-way solenoid directional valve (8), second three-position four-way solenoid directional valve (9), first two-position four-way electro-hydraulic proportional direction valve (10), first single-speed regulating valve (11), second single-speed regulating valve (12), second two-position four-way electro-hydraulic proportional direction valve (13), left travel motor (14), right travel motor (15) and hydraulic cylinder (16). Detailed Embodiment

[0028] The oil inlet of the fuel tank (1) is connected to the oil inlet A5 of the oil filter (2); the oil return port B5 of the oil filter (2) is connected to the oil inlet A6 of the hydraulic pump (3); the oil return port B5 of the oil filter (2) is connected to the oil inlet D1 of the relief valve (4); the P1 port of the unloading valve (6) is respectively connected to the oil return port B6 of the hydraulic pump (3) and the oil inlet A7 of the pilot-operated check valve (5); the X port of the unloading valve (6) is respectively connected to the oil return port B7 of the pilot-operated check valve (5), the accumulator (7), the first working oil port P1 of the first three-position four-way electromagnetic directional valve (8), the second working oil port P2 of the second three-position four-way electromagnetic directional valve (9), the working oil port P3 of the first two-position four-way electro-hydraulic proportional directional valve (10), and the first working oil port P4 of the second two-position four-way electro-hydraulic proportional directional valve (13); the second working oil port A1 of the first three-position four-way electromagnetic directional valve (8) is connected to the oil inlet of the first single-way speed control valve (11); the oil return port of the first single-way speed control valve (11) is connected to the oil inlet of the left travel motor (14); the oil return port of the left travel motor (14) is connected to the third working oil port B1 of the first three-position four-way electromagnetic directional valve (8); the oil return port of the first three-position four-way electromagnetic directional valve (8) is connected to the fuel tank (1); the second working oil port A2 of the second three-position four-way electromagnetic directional valve (9) is connected to the oil inlet of the second single-way speed control valve (12); the oil return port of the second single-way speed control valve (12) is connected to the oil inlet of the right travel motor (15); the oil return port of the right travel motor (15) is connected to the third working oil port B2 of the second three-position four-way electromagnetic directional valve (9); the oil return port of the second three-position four-way electromagnetic directional valve (9) is connected to the fuel tank (1); the second working oil port A3 of the first two-position four-way electro-hydraulic proportional directional valve (10) is connected to the rodless cavity of the hydraulic cylinder (16); the third working oil port B3 of the first two-position four-way electro-hydraulic proportional directional valve (10) is connected to the rod cavity of the hydraulic cylinder (16); the second working oil port A4 of the second two-position four-way electro-hydraulic proportional directional valve (13) is connected to the rodless cavity of the hydraulic cylinder (16); the third working oil port B4 of the second two-position four-way electro-hydraulic proportional directional valve (13) is connected to the rod cavity of the hydraulic cylinder (16); the second working oil port A3 of the first two-position four-way electro-hydraulic proportional directional valve (10) is connected to the second working oil port A4 of the second two-position four-way electro-hydraulic proportional directional valve (13); the oil return port of the first two-position four-way electro-hydraulic proportional directional valve (10) is connected to the fuel tank (1); the oil return port of the second two-position four-way electro-hydraulic proportional directional valve (13) is connected to the fuel tank.

[0029] The models of the left travel motor (14) and the right travel motor (15) should be the same.

[0030] The hydraulic pump (3) pressurizes the accumulator (7). When the pressure at the X port is greater than the set pressure of the unloading valve (6), the unloading valve (6) unloads, the pilot-operated check valve (5) closes, and the accumulator (7) pressurizes the system. As the system is pressurized, the pressure of the accumulator (7) slowly decreases. When the pressure at the X port is less than 17% - 23% of the set pressure of the unloading valve (6), the P port continues to supply oil to the hydraulic system and the accumulator (7), the main valve closes, and the accumulator (7) continues to supply oil, working reciprocally to achieve stable operation of the hydraulic system and hydraulic energy conservation.

[0031] When the first three-position four-way solenoid directional valve (8) is in the left position, the hydraulic oil in the oil tank (1) passes through in sequence: the oil filter (2), the hydraulic pump (3), the pilot-operated check valve (5), the working oil port (P1) of the first three-position four-way solenoid directional valve (8), the working oil port (A1) of the first three-position four-way solenoid directional valve (8), and the first single-way speed control valve (11). At this time, the left travel motor (14) rotates forward, and the hydraulic oil returns to the oil tank (1) through the working oil port (B1) of the first three-position four-way solenoid directional valve (8).

[0032] When the first three-position four-way solenoid directional valve (8) is in the right position, the hydraulic oil in the oil tank (1) passes through in sequence: the oil filter (2), the hydraulic pump (3), the pilot-operated check valve (5), the working oil port (P1) of the first three-position four-way solenoid directional valve (8), the working oil port (B1) of the first three-position four-way solenoid directional valve (8). At this time, the left travel motor (14) rotates reversely, and the hydraulic oil returns to the oil tank (1) through the first single-way speed control valve (11) and the working oil port (A1) of the first three-position four-way solenoid directional valve (8).

[0033] When the second three-position four-way solenoid directional valve (9) is in the left position, the hydraulic oil in the oil tank (1) passes through in sequence: the oil filter (2), the hydraulic pump (3), the pilot-operated check valve (5), the working oil port (P2) of the second three-position four-way solenoid directional valve (9), the working oil port (A2) of the second three-position four-way solenoid directional valve (9), and the second single-way speed control valve (12). At this time, the right travel motor (15) rotates forward, and the hydraulic oil returns to the oil tank (1) through the working oil port (B2) of the second three-position four-way solenoid directional valve (9).

[0034] When the second three-position four-way solenoid directional valve (9) is in the right position, the hydraulic oil in the oil tank (1) passes through in sequence: the oil filter (2), the hydraulic pump (3), the pilot-operated check valve (5), the working oil port (P2) of the second three-position four-way solenoid directional valve (9), the working oil port (B2) of the second three-position four-way solenoid directional valve (9). At this time, the right travel motor (15) rotates reversely, and the hydraulic oil returns to the oil tank (1) through the second single-way speed control valve (12) and the working oil port (A2) of the second three-position four-way solenoid directional valve (9).

[0035] The telescopic movement of the hydraulic rod of the hydraulic cylinder (16) is jointly controlled by the first two-position four-way electro-hydraulic proportional directional valve (10) and the second two-position four-way electro-hydraulic proportional directional valve (13). By adjusting the energization and de-energization of the electromagnets 5YA and 6YA of the first two-position four-way electro-hydraulic proportional directional valve (10) and the second two-position four-way electro-hydraulic proportional directional valve (13), the lifting, stopping, and lowering of the scraper plate are controlled.

[0036] The pilot-operated check valve (5) is used to prevent the reverse flow of hydraulic oil to protect the hydraulic pump (3).

[0037] By adjusting the control current magnitudes of the electromagnets 1YA~4YA of the first three-position four-way electromagnetic directional valve (8) and the second three-position four-way electromagnetic directional valve (9), the opening degrees of the valve ports of the first three-position four-way electromagnetic directional valve (8) and the second three-position four-way electromagnetic directional valve (9) are adjusted, thereby controlling the flow rate to achieve the control of the traveling speed.

Claims

1. An energy-saving oil tank cleaning robot hydraulic circuit, mainly including: An oil tank (1), an oil filter (2), a hydraulic pump (3), a relief valve (4), a hydraulically controlled non-return valve (5), an unloading valve (6), an accumulator (7), a first three-position four-way electromagnetic reversing valve (8), a second three-position four-way electromagnetic reversing valve (9), a first two-position four-way electro-hydraulic proportional reversing valve (10), a first single-way speed regulating valve (11), a second single-way speed regulating valve (12), a second two-position four-way electro-hydraulic proportional reversing valve (13), a left travel motor (14), a right travel motor (15) and a hydraulic cylinder (16) are connected to their corresponding oil ports through oil pipes to form a hydraulic circuit, wherein: The oil inlet of the oil tank (1) of the hydraulic circuit of the energy-saving oil tank cleaning robot is connected to the oil inlet A5 of the oil filter (2); The oil return port B5 of the oil filter (2) is connected to the oil inlet port A6 of the hydraulic pump (3); The oil return port B5 of the oil filter (2) is connected to the oil inlet port D1 of the overflow valve (4); The P1 port of the unloading valve (6) is respectively connected to the oil return port B6 of the hydraulic pump (3) and the oil inlet port A7 of the hydraulically controlled one-way valve (5); The X port of the unloading valve (6) is respectively connected to the oil return port B7 of the hydraulically controlled non-return valve (5), the accumulator (7), the first working oil port P1 of the first three-position four-way electromagnetic reversing valve (8), the second working oil port P2 of the second three-position four-way electromagnetic reversing valve (9), the working oil port P3 of the first two-position four-way electro-hydraulic proportional reversing valve (10), and the first working oil port P4 of the second two-position four-way electro-hydraulic proportional reversing valve (13); The second working oil port A1 of the first three-position four-way electromagnetic reversing valve (8) is connected to the oil inlet of the first single-way speed regulating valve (11); The oil return port of the first single-phase speed regulating valve (11) is connected to the oil inlet port of the left travel motor (14); The oil return port of the left travel motor (14) is connected to the third working oil port B1 of the first three-position four-way electromagnetic reversing valve (8); The oil return port of the first three-position four-way electromagnetic reversing valve (8) is connected to the oil tank (1); The second working oil port A2 of the second three-position four-way electromagnetic reversing valve (9) is connected to the oil inlet of the second single-way speed regulating valve (12); The oil return port of the second single-way speed regulating valve (12) is connected to the oil inlet port of the right travel motor (15); The oil return port of the right travel motor (15) is connected to the third working oil port B2 of the second three-position four-way electromagnetic reversing valve (9); The oil return port of the second three-position four-way electromagnetic reversing valve (9) is connected to the oil tank (1); The second working oil port A3 of the first two-position four-way electro-hydraulic proportional reversing valve (10) is connected to the rodless chamber of the hydraulic cylinder (16); The third working oil port B3 of the first two-position four-way electro-hydraulic proportional reversing valve (10) is connected to the rod chamber of the hydraulic cylinder (16); The second working oil port A4 of the second two-position four-way electro-hydraulic proportional directional control valve (13) is connected to the rodless chamber of the hydraulic cylinder (16); The third working oil port B4 of the second two-position four-way electro-hydraulic proportional directional control valve (13) is connected to the rod chamber of the hydraulic cylinder (16); The second working oil port A3 of the first two-position four-way electro-hydraulic proportional directional control valve (10) is connected to the second working oil port A4 of the second two-position four-way electro-hydraulic proportional directional control valve (13); The oil return port of the first two-position four-way electro-hydraulic proportional reversing valve (10) is connected to the oil tank (1); The oil return port of the second two-position four-way electro-hydraulic proportional reversing valve (13) is connected to the oil tank; The models of the left travel motor (14) and the right travel motor (15) should be consistent.

2. The hydraulic circuit of an energy-saving oil tank cleaning robot according to claim 1 is characterized by: The hydraulic pump (3) charges the accumulator (7). When the pressure at the X port is greater than the set pressure of the unloading valve (6), the unloading valve (6) is unloaded, the hydraulically controlled one-way valve (5) is closed, and the accumulator (7) charges the system. As the system is charged, the pressure of the accumulator (7) gradually decreases. When the pressure at the X port is less than the set pressure of the unloading valve (6) by 17% to 23%, the P port continues to supply oil to the hydraulic system and the accumulator (7), the main valve is closed, and the accumulator (7) continues to supply oil. The reciprocating operation is performed to achieve stable operation of the hydraulic system and hydraulic energy saving.

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