Drainage equipment and drainage robot thereof

Abstract

This utility model discloses a drainage robot, comprising: a chassis with a walking mechanism, a water pump, and a hydraulic system; the water pump is mounted on the chassis and includes a water pump motor; the hydraulic system includes a first control valve block, a second control valve block, and a hydraulic actuator; the first control valve block includes a first valve body, a first oil inlet passage, a first oil return passage, and a first control valve, and the first valve body is provided with a first connector, a second connector, a third connector, a fourth connector, and two fifth connectors, the two fifth connectors being respectively connected to two working oil ports of the water pump motor via oil pipes; the second control valve block includes a second valve body, a second oil inlet passage, a second oil return passage, and multiple second control valves, the two eighth connectors being respectively connected to two working oil ports of the hydraulic actuator via oil pipes. By setting up the first and second control valve blocks, the originally dispersed hydraulic valves are integrated, simplifying the wiring structure.

Description

Technical Field

[0001] This utility model relates to the field of drainage robots, and in particular to a drainage device and its drainage robot. Background Technology

[0002] A mother-daughter vehicle system consists of a mother vehicle and one or more daughter vehicles. The mother vehicle is typically equipped with a power source and other support facilities, while the daughter vehicles are responsible for performing specific tasks, such as drainage, detection, and transportation. To enable the daughter vehicles to operate normally from a location far from the mother vehicle, they are connected via hydraulic lines or cables for transmitting hydraulic fluid, electricity, or data signals. Currently, daughter vehicles are connected to individual hydraulic actuators and hydraulic pumps via hydraulic lines, but the overall layout of the hydraulic circuitry lacks a systematic design, resulting in a chaotic and disorganized arrangement of the hydraulic lines. Utility Model Content

[0003] Therefore, it is necessary to provide a drainage device and its drainage robot to solve the problem of messy and disorderly oil pipeline layout on the vehicle.

[0004] To achieve the above objectives, the inventors provide a drainage robot, comprising: a chassis with a walking mechanism, a water pump, and a hydraulic system;

[0005] The water pump is mounted on the chassis, and the water pump includes a water pump motor;

[0006] The hydraulic system includes a first control valve block, a second control valve block, and hydraulic actuators;

[0007] The first control valve block includes a first valve body, a first oil inlet passage, a first oil return passage, and a first control valve. The first valve body is provided with a first connector, a second connector, a third connector, a fourth connector, and two fifth connectors. The first oil inlet passage, the first oil return passage, and the first control valve are all located within the first valve body. The main path of the first oil inlet passage is connected to the first connector, and the two branches of the first oil inlet passage are respectively connected to the oil inlet of the first control valve and the second connector. One end of the first oil return passage is connected to the third connector, and the other end is connected to the fourth connector. The two working oil ports of the first control valve are respectively connected to the two fifth connectors, and the two fifth connectors are respectively connected to the two working oil ports of the water pump motor through oil pipes.

[0008] The second control valve block includes a second valve body, a second oil inlet passage, a second oil return passage, and multiple second control valves. The second valve body is provided with a sixth connector, a seventh connector, and two eighth connectors. The second oil inlet passage, the second oil return passage, and the second control valves are all located within the second valve body. The main path of the second oil inlet passage is connected to the second connector via an oil pipe. The branches of the second oil inlet passage are respectively connected to the oil inlets of the second control valves. The main path of the second oil return passage is connected to the seventh connector. The seventh connector is connected to the fourth connector via an oil pipe. The branches of the second oil return passage are respectively connected to the oil return ports of the second control valves. The two working ports of the second control valves are respectively connected to the two eighth connectors. The two eighth connectors are respectively connected to the two working ports of the hydraulic actuators via oil pipes.

[0009] Furthermore: the first control valve includes a shut-off valve and a check valve. The shut-off valve has an oil inlet of the first control valve, and the check valve has an oil return port of the first control valve. The shut-off valve and the check valve each have a working oil port of the first control valve.

[0010] Furthermore: the second control valve is an electro-proportional directional valve.

[0011] Furthermore, the first connector and the third connector are quick connectors.

[0012] Furthermore: the chassis with the walking mechanism is a tracked chassis, including two walking motors;

[0013] The travel motor serves as the hydraulic actuator, with one travel motor corresponding to one second control valve, one branch of the second oil inlet passage, and one branch of the second oil return passage.

[0014] Furthermore: the hydraulic actuator includes a cylinder for adjusting the pitch angle of the water pump on the chassis, and / or moving the water pump in the front-rear or left-right direction of the chassis, one cylinder corresponding to one second control valve, and one branch of the second oil inlet passage and one branch of the second oil return passage.

[0015] Furthermore: the chassis with the walking mechanism is a tracked chassis, the tracked chassis has two tracks and a frame supporting the tracks, the first control valve block and the second control valve block are both located on the frame, the first control valve block is located above one of the tracks of the tracked chassis, and the second control valve block is located above the other track of the tracked chassis.

[0016] Furthermore, it also includes a controller and a remote controller. The controller is mounted on a chassis with a walking mechanism and is connected to the first control valve and the second control valve, respectively. The controller is also connected to the remote controller.

[0017] Furthermore, the hydraulic system also includes an oil tank, a hydraulic pump, high-pressure oil pipes, low-pressure oil pipes, and an overflow pipe;

[0018] The oil inlet of the hydraulic pump is connected to the oil tank, the oil outlet of the hydraulic pump is connected to the first connector through the high-pressure oil pipe, the low-pressure oil pipe connects the oil tank and the third connector, the water pump motor has an overflow port connector, and the overflow pipe connects the oil tank and the overflow port connector.

[0019] To achieve the above objectives, the inventors also provide a mother-daughter vehicle, including a mother vehicle and a drainage robot, wherein the drainage robot is the drainage robot described in the above embodiments, the mother vehicle supports an oil tank and a hydraulic pump, and the mother vehicle is used for parking the drainage robot.

[0020] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0021] 1. By setting up a first control valve block and a second control valve block, the originally dispersed hydraulic valves are integrated, simplifying the wiring structure and improving the system's neatness and maintainability.

[0022] 2. The water pump motor only requires unidirectional oil supply to meet its stable operation requirements, unlike other bidirectional actuators that rely on reversing control. Therefore, in the overall hydraulic circuit design, the oil circuit containing the water pump motor is connected in parallel with the second control valve block used to control other bidirectional hydraulic actuators, ensuring that each actuator works independently.

[0023] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0024] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this utility model and other related contents, and should not be considered as limitations on this application.

[0025] Figure 1 This is a schematic diagram of the hydraulic system on the drainage robot in this embodiment;

[0026] Figure 2This is a schematic diagram of the hydraulic system on the drainage robot and the mother vehicle in this embodiment.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. First control valve block; 11. First control valve; 111. Shut-off valve; 112. Check valve; 12. First oil inlet passage; 13. First oil return passage; 14. First connector; 15. Second connector; 16. Third connector; 17. Fourth connector; 18. Fifth connector;

[0029] 2. Second control valve block; 21. Second control valve; 22. Second oil inlet passage; 23. Second oil return passage; 24. Sixth connector; 25. Seventh connector; 26. Eighth connector;

[0030] 3. Hydraulic actuators;

[0031] 31. Travel motor; 32. Hydraulic cylinder;

[0032] 4. Water pump motor; 41. Overflow port connector;

[0033] 5. High-pressure oil pipe;

[0034] 6. Low-pressure oil pipe;

[0035] 7. Overflow pipe;

[0036] 8. Hydraulic pump;

[0037] 9. Engine. Detailed Implementation

[0038] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0039] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0040] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0041] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0042] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0043] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0044] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0045] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0046] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0047] Please see Figures 1 to 2 This embodiment provides a drainage robot, including: a chassis with a walking mechanism, a water pump, and a hydraulic system;

[0048] The water pump is mounted on the chassis and includes a water pump motor 4.

[0049] The hydraulic system includes a first control valve block 1, a second control valve block 2, and a hydraulic actuator 3;

[0050] The first control valve block 1 includes a first valve body, a first oil inlet passage 12, a first oil return passage 13, and a first control valve 11. The first valve body is provided with a first connector 14, a second connector 15, a third connector 16, a fourth connector 17, and two fifth connectors 18. The first oil inlet passage 12, the first oil return passage 13, and the first control valve 11 are all located within the first valve body. The main path of the first oil inlet passage 12 is connected to the first connector 14. The two branches of the first oil inlet passage 12 are respectively connected to the oil inlet of the first control valve 11 and the second connector 15. One end of the first oil return passage 13 is connected to the third connector 16, and the other end is connected to the fourth connector 17. The two working oil ports of the first control valve 11 are respectively connected to the two fifth connectors 18. The two fifth connectors 18 are respectively connected to the two working oil ports of the water pump motor 4 through oil pipes.

[0051] The second control valve block 2 includes a second valve body, a second oil inlet passage 22, a second oil return passage 23, and multiple second control valves 21. The second valve body is provided with a sixth connector 24, a seventh connector 25, and two eighth connectors 26. The second oil inlet passage 22, the second oil return passage 23, and the second control valves 21 are all located within the second valve body. The main path of the second oil inlet passage 22 is connected to the second connector 15 via an oil pipe. The branches of the second oil inlet passage 22 are respectively connected to the oil inlet of the second control valve 21. The main path of the second oil return passage 23 is connected to the seventh connector 25. The seventh connector 25 is connected to the fourth connector 17 via an oil pipe. The branches of the second oil return passage 23 are respectively connected to the oil return port of the second control valve 21. The two working oil ports of the second control valve 21 are respectively connected to the two eighth connectors 26. The two eighth connectors 26 are respectively connected to the two working oil ports of the hydraulic actuator 3 via oil pipes.

[0052] Oil pipes are used to connect two hydraulic components to facilitate the transfer of hydraulic oil within a hydraulic system. Connecting via oil pipe means that the oil passages between two hydraulic components are connected through a single, independent oil pipe, with each end connected to one of two interfaces. In systems containing multiple hydraulic components, multiple oil pipes are typically used, each pipe corresponding to a pair of interfaces, rather than all components sharing the same oil pipe. Of course, provided it doesn't affect hydraulic function or cause oil passage interference, a single oil pipe can connect at least three hydraulic components simultaneously to simplify the piping layout.

[0053] The water pump motor 4 does not require reversible installation and has a large displacement, so its oil circuit can be connected in parallel with the second control valve block 2. The hydraulic actuator 3 is preferably a hydraulic component capable of bidirectional motion, such as a bidirectional hydraulic motor or a double-acting cylinder 32, which can switch the oil inlet and outlet directions through the second control valve 21, thereby realizing a change in the direction of rotation or linear motion.

[0054] The first control valve block 1 is used to control the working state of the water pump motor 4. Internally, it has a first oil inlet passage 12, a first oil return passage 13, and a first control valve 11. High-pressure hydraulic oil is introduced through a first connector 14 and supplied to the oil inlet of the first control valve 11 and the second connector 15, respectively. The oil is then output to the second control valve block 2 through the second connector 15. The two working oil ports of the first control valve 11 are connected to the two working oil ports of the water pump motor 4 through a fifth connector 18, thereby controlling the start / stop and rotation direction of the water pump motor 4. The hydraulic oil flow path is as follows: the hydraulic oil output by the hydraulic pump 8 enters the first oil inlet channel 12 through the first connector 14, and the hydraulic oil enters the oil inlet of the first control valve 11 through a branch of the first oil inlet channel 12. The first control valve 11 delivers the hydraulic oil to one working oil port of the water pump motor 4 through one of the fifth connectors 18 according to the control signal. The hydraulic oil flows out from the other working oil port of the water pump motor 4, returns to the first control valve 11 through the other fifth connector 18, and then returns to the first return oil channel 13 through the return oil port of the first control valve 11. Finally, it flows back to the oil tank through the third connector 16.

[0055] The second control valve block 2 is used to control the actions of other hydraulic actuators 3, with each second control valve 21 corresponding to one hydraulic actuator 3. The second oil inlet 22 receives hydraulic oil from the first control valve block 1 through the sixth connector 24 and distributes it to the corresponding second control valve 21 via various branches. The second oil return 23 is connected to the fourth connector 17 of the first control valve block 1 through the seventh connector 25, allowing the hydraulic oil to return to the oil tank. The working port of each second control valve 21 is connected to the corresponding hydraulic actuator 3 through the eighth connector 26, thereby controlling the start / stop and direction of movement of the hydraulic actuator 3. For example, when the hydraulic actuator 3 is a hydraulic motor, its rotation direction is forward or reverse; when the hydraulic actuator 3 is a hydraulic cylinder, its movement direction is the extension or retraction of the piston rod. The hydraulic oil flow path is as follows: the hydraulic oil from the first control valve block 1 enters the second oil inlet channel 22 through the second connector 15 and the sixth connector 24, and is distributed to the oil inlets of multiple second control valves 21. Each second control valve 21 switches direction according to the control signal, and delivers the hydraulic oil through the corresponding eighth connector 26 to one working oil port of the corresponding hydraulic actuator 3. The hydraulic oil flows out from the other working oil port of the hydraulic actuator 3, returns to the second control valve 21 through another eighth connector 26, and enters the second return oil channel 23 through the return oil port of the second control valve 21. It then flows into the fourth connector 17 and the third connector 16 of the first control valve block 1 through the seventh connector 25, and then flows back to the oil tank.

[0056] This application has the following beneficial effects:

[0057] 1. By setting up the first control valve block 1 and the second control valve block 2, the originally dispersed hydraulic valves are integrated, simplifying the wiring structure and improving the neatness and maintainability of the system.

[0058] 2. The water pump motor 4 only requires unidirectional oil supply to meet its stable operation requirements, unlike other bidirectional actuators that rely on reversing control. Therefore, in the overall hydraulic circuit design, connecting the oil circuit containing the water pump motor 4 in parallel with the second control valve block 2 used to control other bidirectional hydraulic actuators 3 ensures that each actuator can work independently.

[0059] Please see Figure 1 and Figure 2In some embodiments, the first control valve 11 includes a shut-off valve 111 and a check valve 112. The shut-off valve 111 has an oil inlet for the first control valve 11, and the check valve 112 has an oil return port for the first control valve 11. The shut-off valve 111 and the check valve 112 each have a working oil port of the first control valve 11. The first control valve 11, through the cooperation of the shut-off valve 111 and the check valve 112, realizes the one-way control and return oil protection functions of the water pump motor 4. Hydraulic oil enters one working oil port of the water pump motor 4 from the first oil inlet 12 through the shut-off valve 111. The water pump motor 4 starts to run, driving the water pump to perform drainage operations. The return oil flows out from the other working oil port of the water pump motor 4, passes through the check valve 112 and enters the first return oil channel 13, and finally flows back to the oil tank.

[0060] Please see Figure 1 and Figure 2 In some embodiments, the second control valve 21 is an electro-proportional directional valve. The electro-proportional directional valve has one inlet and one outlet port, corresponding to the two outlet ports of the hydraulic actuator 3. The electro-proportional directional valve adjusts the position of its internal valve core according to the controller's instructions, thereby controlling the on / off state and opening degree of the two outlet ports. If the hydraulic actuator 3 is a cylinder 32, when one outlet port is connected to pressurized oil, oil enters the corresponding cylinder 32 chamber and pushes the piston; simultaneously, the other outlet port is in a return state, discharging the hydraulic oil in the chamber to the oil tank. Furthermore, with the switching of the directional valve, the roles of the two outlet ports are interchanged accordingly; that is, the outlet port, originally an inlet port, becomes an outlet port, and the outlet port becomes an inlet port, thereby reversing the direction of movement of the cylinder 32.

[0061] Please see Figure 1 and Figure 2In some embodiments, the first connector 14 and the third connector 16 are quick-connect couplings. Quick-connect couplings are connectors specifically designed for frequent disassembly and assembly, achieving "plug-and-play" functionality without tools through spring clips, quick-connect structures, or self-locking mechanisms. The first connector 14, as the main oil inlet, is typically connected to the hydraulic pump 8 via a high-pressure oil pipe 5, and the third connector 16, as the main oil return port, is typically connected to the oil tank via a low-pressure oil pipe 6. Since these two interfaces require frequent insertion and removal of the oil pipes, designing the first connector 14 and the third connector 16 as quick-connect couplings significantly improves operational convenience and reduces installation time. Other connectors, such as the second connector 15, the fourth connector 17, the fifth connector 18, the sixth connector 24, and the seventh connector 25, are mainly used for fixed connections within the valve block or between the valve and the actuator, and do not require frequent disassembly during actual use. Therefore, ordinary pipe fittings can meet the requirements for oil pipe connections in these locations. Ordinary pipe fittings include, but are not limited to, threaded connectors, flange connectors, and compression fittings, etc., which typically require the use of wrenches or other tools for installation and sealing, and are suitable for long-term fixed connection scenarios.

[0062] In some embodiments, depending on the actual application requirements and operating environment, the oil pipe connection structures corresponding to other connection positions (such as the second connector 15, the fourth connector 17, the fifth connector 18, the sixth connector 24, the seventh connector 25, etc.) may also be designed as quick-connect couplings. Alternatively, some or all of the couplings may be set as ordinary pipe couplings as needed.

[0063] Please see Figure 1 and Figure 2 In some embodiments, the chassis with a walking mechanism includes a walking motor 31, which serves as a hydraulic actuator 3. The power output shaft of the walking motor 31 is connected to the drive wheel of the chassis for driving the robot to move. Preferably, the chassis is a tracked chassis equipped with two walking motors 31, each walking motor 31 corresponding to a second control valve 21, a branch of the second oil inlet channel 22, and a branch of the second oil return channel 23.

[0064] The walking motor 31 is a bidirectional hydraulic motor, capable of forward and reverse rotation by switching the flow direction of hydraulic oil, thereby controlling the forward, backward, and turning movements of the drainage robot. The second control valve 21 is an electro-proportional directional valve or other type of directional valve, used to control the flow direction and flow rate of hydraulic oil, thereby adjusting the movement direction and speed of the walking motor 31. The electro-proportional directional valve has one inlet and one outlet port, corresponding to the two outlet ports of the walking motor 31. The electro-proportional directional valve adjusts the position of its internal valve core according to the instructions of the electronic control system, thereby controlling the on / off state and opening degree of the two working ports. When one working port is connected to pressurized oil, the walking motor 31 rotates forward; simultaneously, the other working port is in the return oil state. Furthermore, with the switching of the directional valve, the roles of the two working ports are also interchanged accordingly; that is, the working port that was originally an inlet becomes an outlet, and the original outlet becomes an inlet, thus achieving reverse rotation of the motor.

[0065] Please see Figure 1 and Figure 2 In some embodiments, the hydraulic actuator 3 includes a cylinder 32, which is used to adjust the pitch angle of the water pump on the chassis, and / or move the water pump in the front-to-back or left-to-right direction of the chassis. One cylinder 32 corresponds to one second control valve 21, one branch of the second oil inlet channel 22, and one branch of the second oil return channel 23. The linear extension and retraction of the cylinder 32, combined with other physical structures, can achieve pitch or translation of the water pump on the drainage robot. Of course, the cylinder 32 can also be used for other purposes, such as providing support to the robot by pressing against the ground. The electro-proportional directional valve has one inlet and one outlet port, corresponding to the two working ports of the cylinder 32, one outlet and one inlet. The electro-proportional directional valve adjusts the position of its internal valve core according to the controller's instructions, thereby controlling the on / off state and opening degree of the two working ports. When one of the working ports is connected to pressurized oil, oil enters the corresponding cylinder 32 chamber and drives the piston; simultaneously, the other working port is in the return state, discharging the hydraulic oil in the chamber to the oil tank. Furthermore, with the switching of the directional valve, the roles of the two working ports are interchanged accordingly; the working port that was originally the inlet becomes the outlet, and the original outlet becomes the inlet, thus reversing the direction of movement of cylinder 32.

[0066] Please see Figure 1 and Figure 2In one embodiment, the hydraulic actuator 3 of the vehicle has two travel motors 31, two cylinders 32, and four second control valves 21. The travel motors 31 and cylinders 32 are used for travel and water pump attitude adjustment, respectively. One of the cylinders 32 pushes the water pump to adjust the direction of the water inlet, while the other cylinder 32 pushes the water pump to move back and forth. In other embodiments, additional hydraulic actuators 3 and second control valves 21 may be added.

[0067] In some embodiments, the linear extension and retraction of the hydraulic cylinder 32, combined with other physical structures, can achieve the pitching of the water pump on the drainage robot. The specific structure can be referred to as follows: one end of the hydraulic cylinder 32 is hinged to the chassis, and the other end is hinged to the pump housing of the water pump. The pump housing of the water pump is also hinged to the chassis through a lifting bracket. The extension and retraction of the hydraulic cylinder 32 can drive the water pump to rotate upward or downward.

[0068] In some embodiments, the linear extension and retraction action of the hydraulic cylinder 32, combined with other physical structures, can realize the translation of the water pump on the drainage robot. The specific structure can be referred to as follows: the pump casing of the water pump is mounted on the chassis through a sliding component. The sliding component can be a sliding groove slider assembly. The sliding groove is connected to the base, and the slider is connected to the pump casing of the water pump. The hydraulic cylinder 32 can push the slider to move, thereby driving the water pump to move.

[0069] In a preferred embodiment, by combining the lifting structure and the translation structure, the pitch and translation adjustment of the water pump can be achieved simultaneously.

[0070] In some embodiments, the chassis with the walking mechanism is a tracked chassis, which has two tracks and a frame supporting the tracks. The first control valve block 1 and the second control valve block 2 are both located on the frame. The first control valve block 1 is located above one track of the tracked chassis, and the second control valve block 2 is located above the other track of the tracked chassis.

[0071] The chassis is the basic load-bearing structure of the tracked chassis, used to mount track components (such as drive wheels, guide wheels, and track rollers), water pumps, and controllers. Two tracks are located on the left and right sides of the chassis, respectively, each driven by an independent hydraulic travel motor 31, enabling differential steering. The first control valve block 1 can be installed on the right side of the chassis, directly above the right track, and the second control valve block 2 can be installed on the left side of the chassis, directly above the left track. The water pump can be placed on the chassis between the two tracks. This symmetrical distribution design not only facilitates the balance of the vehicle's center of gravity but also aids in the rational routing and maintenance of hydraulic lines. The control valve blocks are located on the side of the chassis for easy inspection.

[0072] Furthermore, protective covers can be installed on the outside of the first control valve block 1 and the second control valve block 2.

[0073] In some embodiments, the system further includes a controller and a remote controller. The controller is mounted on a chassis with a walking mechanism and is connected to the first control valve 11 and the second control valve 21, respectively. The controller is also connected to the remote controller. The remote controller is a handheld device with a human-machine interface including directional keys, function buttons, and a display screen, allowing operators to remotely send control commands. The controller has a wireless communication module that can interact with an external remote controller. The controller receives commands from the remote controller and outputs control signals to the corresponding first control valve 11 or second control valve 21. The control valves switch the oil circuit direction or adjust the opening according to the signals, thereby driving the water pump motor 4, the walking motor 31, or the hydraulic cylinder 32 to operate.

[0074] Please see Figure 2 In some embodiments, the hydraulic system further includes an oil tank, a hydraulic pump 8, a high-pressure oil pipe 5, a low-pressure oil pipe 6, and an overflow pipe 7. The oil inlet of the hydraulic pump 8 is connected to the oil tank, and the oil outlet of the hydraulic pump 8 is connected to the first connector 14 via the high-pressure oil pipe 5. The low-pressure oil pipe 6 connects the oil tank and the third connector 16. The water pump motor 4 has an overflow port connector 41, and the overflow pipe 7 connects the oil tank and the overflow port connector 41. To ensure that these oil pipes can be effectively connected to the first connector 14 and the third connector 16 on the first control valve block 1, the high-pressure oil pipe 5 and the low-pressure oil pipe 6 are respectively provided with corresponding connector structures.

[0075] Preferably, the first connector 14, the third connector 16, and the overflow port connector 41 are all quick connectors, which can be disassembled and assembled without complicated tools.

[0076] This embodiment also provides a drainage device, including a mother vehicle and a drainage robot. The drainage robot is the drainage robot described in any of the above embodiments. The mother vehicle supports an oil tank and a hydraulic pump 8, and is used for parking the drainage robot. The drainage robot is referred to as the "sub-vehicle". The mother vehicle has a dedicated chassis, and its structure is designed to carry the drainage robot for driving or parking, facilitating transportation, maintenance, and work preparation.

[0077] Please see Figure 2 In some embodiments, the chassis of the mother vehicle is equipped with an engine 9, such as a diesel engine 9, which is connected to a hydraulic pump 8 to drive the hydraulic pump 8 in the hydraulic system to operate, thereby providing a stable supply of hydraulic oil to the hydraulic system.

[0078] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A drainage robot, characterized in that, include: A chassis with a walking mechanism, a water pump, and a hydraulic system; The water pump is mounted on the chassis, and the water pump includes a water pump motor; The hydraulic system includes a first control valve block, a second control valve block, and hydraulic actuators; The first control valve block includes a first valve body, a first oil inlet passage, a first oil return passage, and a first control valve. The first valve body is provided with a first connector, a second connector, a third connector, a fourth connector, and two fifth connectors. The first oil inlet passage, the first oil return passage, and the first control valve are all located within the first valve body. The main path of the first oil inlet passage is connected to the first connector, and the two branches of the first oil inlet passage are respectively connected to the oil inlet of the first control valve and the second connector. One end of the first oil return passage is connected to the third connector, and the other end is connected to the fourth connector. The two working oil ports of the first control valve are respectively connected to the two fifth connectors, and the two fifth connectors are respectively connected to the two working oil ports of the water pump motor through oil pipes. The second control valve block includes a second valve body, a second oil inlet passage, a second oil return passage, and multiple second control valves. The second valve body is provided with a sixth connector, a seventh connector, and two eighth connectors. The second oil inlet passage, the second oil return passage, and the second control valves are all located within the second valve body. The main path of the second oil inlet passage is connected to the second connector via an oil pipe. The branches of the second oil inlet passage are respectively connected to the oil inlets of the second control valves. The main path of the second oil return passage is connected to the seventh connector. The seventh connector is connected to the fourth connector via an oil pipe. The branches of the second oil return passage are respectively connected to the oil return ports of the second control valves. The two working ports of the second control valves are respectively connected to the two eighth connectors. The two eighth connectors are respectively connected to the two working ports of the hydraulic actuators via oil pipes.

2. The drainage robot according to claim 1, characterized in that: The first control valve includes a shut-off valve and a check valve. The shut-off valve has an oil inlet of the first control valve, and the check valve has an oil return port of the first control valve. The shut-off valve and the check valve each have a working oil port of the first control valve.

3. The drainage robot according to claim 1, characterized in that: The second control valve is an electro-proportional directional valve.

4. The drainage robot according to claim 1, characterized in that: The first connector and the third connector are quick connectors.

5. The drainage robot according to claim 1, characterized in that: The chassis with a walking mechanism is a tracked chassis, which includes two walking motors; The travel motor serves as the hydraulic actuator, with one travel motor corresponding to one second control valve, one branch of the second oil inlet passage, and one branch of the second oil return passage.

6. The drainage robot according to claim 1 or 5, characterized in that: The hydraulic actuator includes a cylinder for adjusting the pitch angle of the water pump on the chassis, and / or moving the water pump in the front-rear or left-right direction of the chassis. Each cylinder corresponds to a second control valve, a branch of the second oil inlet passage, and a branch of the second oil return passage.

7. The drainage robot according to claim 1, characterized in that: The chassis with the walking mechanism is a tracked chassis. The tracked chassis has two tracks and a frame that supports the tracks. The first control valve block and the second control valve block are both located on the frame. The first control valve block is located above one of the tracks in the tracked chassis, and the second control valve block is located above the other track in the tracked chassis.

8. The drainage robot according to claim 1, characterized in that: It also includes a controller and a remote controller. The controller is mounted on a chassis with a walking mechanism and is connected to the first control valve and the second control valve, respectively. The controller is also connected to the remote controller.

9. The drainage robot according to claim 1, characterized in that: The hydraulic system also includes an oil tank, a hydraulic pump, high-pressure oil pipes, low-pressure oil pipes, and an overflow pipe; The oil inlet of the hydraulic pump is connected to the oil tank, the oil outlet of the hydraulic pump is connected to the first connector through the high-pressure oil pipe, the low-pressure oil pipe connects the oil tank and the third connector, the water pump motor has an overflow port connector, and the overflow pipe connects the oil tank and the overflow port connector.

10. A drainage device, characterized in that, It includes a mother vehicle and a drainage robot, wherein the drainage robot is the drainage robot as described in claim 9, the mother vehicle supports an oil tank and a hydraulic pump, and the mother vehicle is used for parking the drainage robot.

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