CN112223964B - Amphibious robot for waste mine pumped storage power station - Google Patents
Amphibious robot for waste mine pumped storage power station Download PDFInfo
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- CN112223964B CN112223964B CN202011119914.1A CN202011119914A CN112223964B CN 112223964 B CN112223964 B CN 112223964B CN 202011119914 A CN202011119914 A CN 202011119914A CN 112223964 B CN112223964 B CN 112223964B
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- 239000002699 waste material Substances 0.000 title abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000007667 floating Methods 0.000 claims abstract description 27
- 238000005192 partition Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 abstract description 6
- 238000005457 optimization Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000003137 locomotive effect Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/08—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks
- F16K11/085—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks with cylindrical plug
- F16K11/0856—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only taps or cocks with cylindrical plug having all the connecting conduits situated in more than one plane perpendicular to the axis of the plug
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the technical field of submersible robots, and particularly discloses a water-land amphibious robot for a waste mine pumped storage power station. The robot has a stable and accurate sinking and floating and posture adjusting system, has land and underwater movement capability, can carry cameras and mechanical arms to carry out inspection operation, considers the complex working environment of the underground space of the waste mine as much as possible, fully utilizes the space and the size of the whole mechanism, has reasonable layout and ingenious optimization, and is convenient and stable in posture adjustment.
Description
Technical Field
The invention relates to the technical field of submersible robots, in particular to a water-land amphibious robot for a waste mine pumped storage power station.
Background
Most areas are mainly mined by underground coal mining, underground coal is excavated to cause surface subsidence and form ponding, by utilizing the characteristics, surface subsidence with water body can be used as an upper reservoir, underground waste roadways which are more than ten kilometers or even more than ten kilometers are used as a lower reservoir, and potential energy difference of the upper reservoir and the lower reservoir is utilized to construct a pumped storage power station, if the waste underground space is partially utilized to carry out pumped storage power generation, considerable dynamic benefits can be brought to a power system, and the method has important significance for urban transformation development of resource exhaustion.
The condition of the waste mine is accurately mastered on the premise that the waste mine is used as an underground reservoir to construct a pumped storage power station. It is therefore highly desirable to design an amphibious cruising robot for a waste mine pumped storage underground reservoir for surveying the environment of an underground reservoir formed from a waste coal mine, and which will be used for the construction of a pumped storage power station. Meanwhile, the amphibious cruising robot is key inspection equipment of the pumped storage power station and is responsible for important tasks such as early exploration, later maintenance, inspection and the like of the underground space of the power station. Because many dangerous factors such as water burst, gas, collapse and the like exist in abandoned mines, the underground power station relates to amphibious working conditions, the space person of a built underground water channel of the power station cannot reach, and in addition, the complexity of the underground space environment is high, the underwater barriers are more, and the screw propeller is easy to damage, the inspection submersible robot with excellent performance, flexible sinking and floating and attitude adjustment, simple operation, stable control and amphibious passing and operation capability is urgently needed.
Disclosure of Invention
In order to solve the defects in the background technology, the invention aims to provide the amphibious robot of the waste mine pumped storage power station, which is provided with a stable and accurate sinking and floating and gesture adjusting system and has the land and underwater movement capability, can carry cameras and mechanical arms to carry out inspection operation, considers the complex working environment of the underground space of the waste mine as much as possible, fully utilizes the space and the size of the whole mechanism, is reasonable in layout, skillfully optimizes, and designs the amphibious robot of the waste mine pumped storage power station with convenient gesture adjustment and stable adjustment.
The aim of the invention can be achieved by the following technical scheme:
a water-land amphibious robot of a waste mine pumped storage power station comprises a machine body support, a sinking-floating and posture adjusting mechanism, a traveling mechanism, an underwater propulsion mechanism, a patrol operation mechanism and an underwater sound communication and control system;
the sinking-floating and attitude adjusting mechanism comprises a right ballast tank, a left ballast tank and a hydraulic integrated valve assembly, the hydraulic integrated valve assembly comprises a 2D attitude control valve and a hydraulic pipeline, and the hydraulic integrated valve assembly is connected with the right ballast tank and the left ballast tank through the hydraulic pipeline;
the 2D attitude control valve comprises a valve sleeve, a valve body and a valve core, wherein the valve core and the valve sleeve are coaxially arranged, the valve sleeve is fixed on an inner hole of the valve body, the valve core and the valve sleeve form a cylindrical pair, the valve core can coaxially rotate relative to the valve sleeve through the driving of a servo motor, and the valve core can linearly move relative to the valve sleeve along the axial direction through the driving of a linear motor;
the surface of the valve body is provided with a plurality of valve ports, the interior of the valve body is provided with a plurality of valve body oil ports, the outer sides of the valve ports are communicated with the right ballast tank and the left ballast tank through hydraulic pipelines, and the inner sides of the valve ports are selectively communicated with the valve body oil ports;
the surface of the valve sleeve is sequentially and equidistantly provided with a plurality of valve sleeve oil ports on the same bus, and the valve sleeve oil ports are selectively communicated with the valve body oil ports;
the valve core comprises a valve core upper cavity, an intermediate baffle, a valve core lower cavity, a linear motor connecting shaft, a servo motor connecting shaft and valve core oil ports, wherein the intermediate baffle divides the interior of the valve core into two parts of the valve core upper cavity and the valve core lower cavity, the valve core oil ports are unfolded along the cylindrical surface of the valve core to form eight rows of n rows of oil port arrays, each row of oil ports corresponds to one valve position, and the valve core oil ports are communicated with the valve sleeve oil ports to form n valve positions through rotation of the valve core.
Further preferably, the valve core oil port comprises five valve positions, and specifically comprises: a valve position oil port, b valve position oil port, c valve position oil port, d valve position oil port and e valve position oil port, the a valve position oil port is not opened in the fifth row and the seventh row, the b valve position oil port is not opened in the fourth row and the sixth row, the c valve position oil port is not opened in the third row and the fifth row, the d valve position oil ports are arranged in the first row, the fourth row, the fifth row and the sixth row, the e valve position oil ports are arranged in the third row, the fourth row, the sixth row and the eighth row, the oil ports in the first row, the second row, the third row and the fourth row are communicated with the upper cavity of the valve core, and the oil ports in the fifth row, the sixth row, the seventh row and the eighth row are communicated with the lower cavity of the valve core.
Further preferably, the a-valve position oil port, the b-valve position oil port, the c-valve position oil port, the d-valve position oil port and the e-valve position oil port are uniformly distributed on the periphery of the surface of the valve core, and when n=5, the peripheral included angle is θ=2pi/n, and when n=5, θ=72°
Further preferably, the axial distance between two adjacent valve core oil ports, valve sleeve oil ports and valve body oil ports is the same.
Further preferably, the axial width of the valve core oil port is smaller than the minimum distance between two adjacent axial oil ports, and when the valve core moves axially for one stroke, the valve core oil port is completely blocked by the valve sleeve, namely the locking position of the 2D attitude control valve.
The invention has the beneficial effects that:
(1) The invention provides a sinking-floating and posture adjusting mechanism integrating sinking-floating adjusting function and posture adjusting function of a water-land amphibious robot of a waste mine pumped storage power station, which is only provided with two ballast tanks, but can meet the requirements of buoyancy adjustment and the roll posture adjustment of the robot in eight directions of front, back, left and right and four corners due to a special piston spring cavity structure in the mechanism, and the posture adjusting reaction is quick, flexible and accurate, and meanwhile, the ballast tanks are isolated from external water bodies when the posture is adjusted so as to ensure that the whole weight of the robot is kept unchanged, and the adjusting process is stable. Compared with the traditional sinking and floating and posture adjusting mechanism, the device has the advantages of structural and functional integration, sinking and floating and posture adjustment, less number of ballast tanks, high adjusting precision, good stability in the adjusting process and the like.
(2) The invention provides a novel 2D attitude control valve, which greatly simplifies the quantity of control valves required by attitude adjustment by reasonably optimizing the valve port conduction mode, and can realize the attitude adjustment by mutually transferring hydraulic media between cabin bodies in a ballast cabin, thereby greatly improving the efficiency of the attitude adjustment. The 2D control valve is provided with five working positions and one locking position, each working position can be switched to the locking position through the axial movement of the valve core, the locking position is further switched to the circumferential relative position between the valve core and the valve sleeve through the rotary movement of the valve core, and then the valve core is axially reset to be switched to other valve positions, so that the technical problem that the common reversing valve cannot be switched to the locking position from any working position or is directly switched to any other valve position from the valve position through the locking position is avoided. The robot has the advantages of simple structure, integrated functions, simple and reliable gesture adjustment, good stability of the robot in the adjustment process, energy conservation, environmental protection, strong adaptability and the like.
(3) The invention provides a posture adjusting system with a propeller matched with a sinking-floating and posture adjusting mechanism. The adjusting system adopts a method of combining ballast tank adjustment and propeller adjustment to realize the adjustment of the sinking and floating and the gesture of the robot. The weight and the gravity center of the ballast tank are controlled by the sinking and floating and posture adjusting mechanism, so that the sinking and floating and operation posture adjustment of the robot is realized, and the propeller is assisted to realize the rapid adjustment of the posture of the robot, thereby achieving the purpose of rapidly and flexibly changing the position and enriching the posture adjusting mode of the robot. If the suspension of the robot under the specific gesture is realized through the sinking and floating and gesture adjusting mechanism, the actions such as the fine adjustment of the gesture and the pushing of the fixed gesture are realized through the propeller. The robot gesture adjusting device and the robot gesture adjusting method work cooperatively, so that the flexibility and the diversity of the robot gesture adjusting are greatly improved, and the adjusting process is faster and the stability is better.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a body frame structure according to the present invention;
FIG. 3 is a right side view of the overall structure of the present invention;
FIG. 4 is a rear elevational view of the overall structure of the present invention;
FIG. 5 is a general structural top view of the present invention;
FIG. 6 is a schematic diagram of a heave and attitude adjustment mechanism and hydraulic system according to the invention;
FIG. 7 is a schematic diagram of the internal structure of a 2D attitude control valve according to the present invention;
FIG. 8 is a schematic diagram of a 2D attitude control valve cartridge structure according to the present invention;
FIG. 9 is a cross-sectional view of a 2D attitude control valve cartridge of the present invention;
FIG. 10 is a schematic view of the 2D attitude control valve housing structure of the present invention;
FIG. 11 is a schematic diagram of the arrangement positions of the valve core, valve sleeve and valve body oil ports of the 2D attitude control valve.
In the figure:
1-right ballast fin, 2-auxiliary propulsion I, 3-right ballast, 301-right low density piston, 302-right ballast rear, 303-right ballast front, 304-right piston spring, I, 305-right piston spring, II, 306-right movable partition, I, 307-right piston, 308-right movable partition, 5-ballast support plate, 6-steering propulsion, I, 7-track, 8-auxiliary propulsion, II, 9-left ballast, 901-left low density piston, 902-left ballast rear, 903-left ballast front, 904-left piston spring, I, 905-left piston spring, II, 906-left movable partition, I, 907-left piston, 908-left movable partition II, 10-light buoyancy block bearing box, 11-camera, 12-lighting lamp, 13-steering propeller II, 14-storage box, 15-engine unit box, 16-mechanical arm, 22-main propeller, 23-hydraulic integrated valve box, 24-power and control circuit sealing box, 25-sinking and floating propeller, 26-ballast cabin beam, 27-locomotive chassis, 31-hydraulic pipeline I, 32-hydraulic pipeline II, 33-hydraulic pipeline III, 34-hydraulic pipeline IV, 36-hydraulic pipeline V, 37-hydraulic pipeline VI, 35-2D attitude control valve, 38/39/40/41/42/47-two-position two-way electromagnetic valve, 43-overflow valve, 44-filter, 45-unidirectional variable pump, 46-external water environment, 48-servo motor, 49-servo motor diaphragm coupler, 50-coupler mounting seat, 51-coupler bushing, 52-axial displacement sensor, 53-sealing port, 54-bushing, 55-return spring, 56-spring bushing, 57-valve core, 571-a valve core opening I, 572-a valve core opening II, 573-a valve core opening III, 574-a valve core opening IV, 575-a valve core opening V, 576-a valve core opening VI, 5711-b valve core opening I, 5712-b valve core opening II, 5713-b valve core opening III, 5714-b valve core opening IV, 5715-b valve core opening V, 5716-b valve core opening VI, 577-valve core upper cavity, 578-valve core lower cavity, 579-valve core middle partition plate, 5701-linear motor connecting shaft, 5702-servo motor connecting shaft, 58-valve body, 581-valve port I, 582-valve port II, 583-valve port III, 584-valve port IV, 585-valve port V, 586-valve port VI, 589-valve body runner I, 5810-valve body runner II, 5811-valve body oil port I, 5812-valve body oil port II, 5813-valve body oil port III, 5814-valve body oil port IV, 5815-valve body oil port V, 5816-valve body oil port VI, 5817-valve body oil port VII, 5818-valve body oil port VIII, 59-valve housing, 591-valve housing oil port I, 592-valve housing oil port II, 593-valve housing oil port III, 594-valve housing oil port IV, 595-valve housing oil port V, 596-valve housing oil port VI, 597-valve sleeve oil port VII, 598-valve sleeve oil port VIII, 60 thrust ball bearing, 61-linear motor shaft sleeve, 62-linear motor mounting seat, 63-linear motor, 64-communication system, 65-left ballast tank fin.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
A water-land amphibious robot for a waste mine pumped storage power station comprises a machine body support, a sinking-floating and posture adjusting mechanism, a traveling mechanism, an underwater pushing mechanism, a patrol operation mechanism and an underwater sound communication and control system.
As shown in fig. 2, the body support comprises a ballast tank cross beam 26, a ballast tank supporting plate 5 and a locomotive chassis 27, and the ballast tank cross beam 26, the ballast tank supporting plate 5 and the locomotive chassis 27 are fixedly connected with each other to form a support of the whole robot structure.
As shown in fig. 1, 3 and 4, the sinking-floating and posture-adjusting mechanism comprises a right ballast tank 3, a left ballast tank 9, a right ballast tank tail 1, a left ballast tank tail 65, a light buoyancy block bearing box 10 and a hydraulic integrated valve box 23 which are arranged on the left side and the right side of the invention. The right ballast tank tail wing 1 is fixedly connected with the tail part of the right ballast tank 3, the left ballast tank tail wing 65 is fixedly connected with the tail part of the left ballast tank 9, the light buoyancy block bearing box 10 is fixedly connected with the right ballast tank 3, the left ballast tank 9 and the ballast tank cross beam 26, and the hydraulic integrated valve box 23 is arranged at the bottom of the engine body bracket and is fixedly connected with the locomotive chassis 27. The right and left ballast flight 1, 65 stabilize the robot while it is submerged in water. The light buoyancy block bearing box 10 contains inorganic light buoyancy blocks, and the volume of the light buoyancy block bearing box can be adjusted according to actual conditions.
As shown in fig. 3, the travelling mechanism is a crawler travelling mechanism 7.
As shown in fig. 1, 4 and 5, the underwater propulsion mechanism comprises a steering propeller i 6, a steering propeller ii 13, a sinking and floating propeller 25, a main propeller 22, a secondary propeller i 2 and a secondary propeller ii 8, wherein all the propellers adopt a fan blade type rotary propulsion mode. The auxiliary propeller I2 and the auxiliary propeller II 8 are respectively and fixedly connected to the tail parts of the left ballast tank 9 and the right ballast tank 3, the main propeller 22 is arranged at the tail part of the robot and is fixedly connected with the machine body support, and the main propeller 22, the auxiliary propeller I2 and the auxiliary propeller II 8 are all used for driving the robot to advance or retreat under water. The sinking and floating propeller 25 is fixedly connected to the hollow part in the middle of the light buoyancy block bearing box 10 and is used for controlling the robot to quickly float or sink. The steering propeller I6 and the steering propeller II 13 are respectively arranged on two sides of the front end of the robot and fixedly connected with the machine body bracket, and are used for controlling the robot to steer.
As shown in fig. 1, the inspection operation mechanism comprises a manipulator 16, an illuminating lamp 12, a camera 11 and a storage box 14, wherein the manipulator 16 is fixedly connected with a manipulator fixing beam 28, the manipulator fixing beam 28 is fixedly connected with a machine body support, the illuminating lamp 12 is provided with two illuminating lamps which are respectively arranged at the front end of the robot and fixedly connected with the machine body support, the camera 11 is fixedly connected with the front end of a light buoyancy block bearing box 10, and the storage box 14 is fixedly connected with an engine unit box 15.
As shown in fig. 1 and 3, the underwater acoustic communication and control system includes a communication system 64, a power and control circuit seal box 24. The communication system 64 is arranged on the ballast tank tail wing 1 and the ballast tank tail wing 65, and the power supply and control circuit sealing box 24 is arranged at the bottom of the locomotive chassis 27.
As shown in fig. 1, 4, 5 and 6, the right ballast tank 3 and the left ballast tank 9 are fixedly connected with the machine body support, the right ballast tank 3 and the left ballast tank 9 are parallel and symmetrically arranged on two sides of the robot body, and the structure and the size of the ballast tank 3 and the left ballast tank 9 are identical.
The right ballast tank 3 includes a right low density piston tank 301, a right ballast tank rear chamber 302, a right ballast tank front chamber 303, a right piston spring chamber i 304, a right piston spring chamber ii 305, a right movable diaphragm i 306, a right piston 307, a right movable diaphragm ii 308. The right piston spring cavity I304 and the right piston spring cavity II 305 are separated by the right piston 307, the center section of the right piston 307 is I-shaped, and the piston structures at the two ends are symmetrical and have the same area; the right piston 307 forms a closed right low density piston tank 301 with the right ballast tank 3 inner surface; the right piston 307, the right movable partition I306 and the right movable partition II 308 all form a cylindrical moving pair with the inner surface of the right ballast tank 3. A right piston spring chamber I304 is formed between the right movable diaphragm I306 and the right piston 307, and a right piston spring chamber II 305 is formed between the right movable diaphragm II 308 and the right piston 307.
Similarly, the left ballast tank 9 includes a left low density piston tank 901, a left ballast tank rear chamber 902, a left ballast tank front chamber 903, a left piston spring chamber i 904, a left piston spring chamber ii 905, a left movable diaphragm i 906, a left piston 907, and a left movable diaphragm ii 908. The left piston spring cavity I904 and the left piston spring cavity II 905 are separated by a left piston 907, the central section of the left piston 907 is I-shaped, and the piston structures at the two ends of the left piston 907 are symmetrical and have the same area; left piston 907 forms a closed left low density piston tank 901 with the inner surface of left ballast tank 9; the left piston 907, the left movable partition I906 and the left movable partition II 908 form a cylindrical sliding pair with the inner surface of the left ballast tank 9. A left piston spring chamber I904 is formed between the left movable diaphragm I906 and the left piston 907, and a left piston spring chamber II 905 is formed between the left movable diaphragm II 908 and the left piston 907.
The volumes of the right ballast tank back chamber 302, the right ballast tank front chamber 303, the right piston spring chamber i 304, the right piston spring chamber ii 305, and the left ballast tank back chamber 902, the left ballast tank front chamber 903, the left piston spring chamber i 904, and the left piston spring chamber ii 905 are variable, while the volumes of the right low density piston chamber 301 and the left low density piston chamber 901 are unchanged.
As shown in fig. 3 and 6, the hydraulic integrated valve assembly 23 includes a unidirectional variable pump 45, a 2D attitude control valve 35, a two-position two-way solenoid valve 38/39/40/41/42/47, an overflow valve 43, a filter 44, a hydraulic line i 31, a hydraulic line ii 32, a hydraulic line iii 33, a hydraulic line iv 34, a hydraulic line v 36, and a hydraulic line vi 37.
As shown in fig. 7 and 11, the 2D posture control valve includes a servo motor 48, a coupling mount 50, a servo motor diaphragm coupling 49, a coupling bushing 51, an axial displacement sensor 52, a bushing 54, a return spring 55, a valve housing 59, a valve body 58, a valve spool 57, a thrust ball bearing 60, a linear motor bushing 61, a linear motor mount 62, a linear motor 63, a seal port 53, and a spring bushing 56. The valve core 57 and the valve sleeve 59 are coaxially arranged, the valve sleeve 59 is fixed on an inner hole of the valve body 58, the valve core 57 and the valve sleeve 59 form a cylindrical pair, and a thrust ball bearing 60, a spring bushing 56, a return spring 55 and a sealing port 53 are respectively arranged at the lower end of the valve core 57. The coupler mount 50 is located at the lower end of the valve body 58 and is screw-fastened to the valve body. The axial displacement and angular displacement sensor 52 is fixedly arranged in the coupler mounting seat 50, the lower end of the valve core 57 is connected with the coupler 49 through the coupler bushing 51, and the coupler 49 is arranged in the coupler mounting seat 50 and used for connecting the lower end of the valve core 57 and the rotating shaft of the servo motor. The thrust ball bearing 60 and the linear motor shaft sleeve 61 are respectively arranged at the upper end of the valve core, the linear motor mounting seat 62 is positioned at the upper end of the valve body 58 and is fixedly connected with the valve body by bolts, and the linear motor 63 is arranged on the linear motor mounting seat 62.
As shown in fig. 7 and 11, valve body 58 is sequentially provided with valve ports i 581, ii 582, iii 583, iv 584, v 585, and vi 586, which are respectively communicated with valve body oil ports viii 5818, vii 5817, vi 5816, v 5815, ii 5812, and i 5811, in a manner of communicating with undercut grooves inside the valve body. Valve body oil port III 5813 and valve body oil port VI 5816 are communicated through valve body flow passage I589, and valve body oil port IV 5814 and valve body oil port V5815 are communicated through valve body flow passage II 5810.
As shown in fig. 6, 7 and 11, port i 581 is correspondingly connected to hydraulic line i 31, port ii 582 is correspondingly connected to hydraulic line v 36, port iii 583 is correspondingly connected to hydraulic line ii 32, port iv 584 is correspondingly connected to hydraulic line iii 33, port v 585 is correspondingly connected to hydraulic line vi 37, and port vi 586 is correspondingly connected to hydraulic line iv 34. The other ends of the hydraulic pipeline I31, the hydraulic pipeline II 32, the hydraulic pipeline III 33 and the hydraulic pipeline IV 34 are respectively communicated with the right ballast tank rear cavity 302, the right ballast tank front cavity 303, the left ballast tank rear cavity 902 and the left ballast tank front cavity 903.
As shown in fig. 8, 9 and 11, the spool 57 includes a spool upper chamber 577, an intermediate partition 579, a spool lower chamber 578, a linear motor connecting shaft 5701, a servo motor connecting shaft 5702, and a spool port, and the intermediate partition 579 divides the spool interior into two portions, the spool upper chamber 577 and the spool lower chamber 578.
As shown in fig. 10, the valve sleeve 59 is provided with a valve sleeve oil port i 591, a valve sleeve oil port ii 592, a valve sleeve oil port iii 593, a valve sleeve oil port iv 594, a valve sleeve oil port v 595, a valve sleeve oil port vi 596, a valve sleeve oil port vii 597 and a valve sleeve oil port viii 598 on the same bus in sequence at equal intervals.
As shown in fig. 6, 8, 10 and 11, the valve core oil ports are a group of array oil ports, n valve positions are formed by rotating the valve core, in this embodiment, n=5, and a total of five valve positions specifically include: an a-valve position oil port, a b-valve position oil port, a c-valve position oil port, a d-valve position oil port and an e-valve position oil port. The a-valve position oil port comprises an a-valve position oil port I571, an a-valve position oil port II 572, an a-valve position oil port III 573, an a-valve position oil port IV 574, an a-valve position oil port V575 and an a-valve position oil port VI 576; when the valve is positioned at the valve position a, the oil ports are respectively communicated with valve sleeve oil ports I591, valve sleeve oil ports II 592, valve sleeve oil ports III 593, valve sleeve oil ports IV 594, valve sleeve oil ports VI 596 and valve sleeve oil ports VIII 598 at corresponding positions, and are further respectively communicated with valve body oil ports I5811, valve body oil ports II 5812, valve body oil ports III 5813, valve body oil ports IV 5814, valve body oil ports VI 5816 and valve body oil ports VIII 5818. The b valve position oil port comprises a b valve position oil port I5711, a b valve position oil port II 5712, a b valve position oil port III 5713, a b valve position oil port IV 5714, a b valve position oil port V5715 and a b valve position oil port VI 5716; when the valve is in the position b, the oil ports are respectively communicated with valve sleeve oil ports I591, valve sleeve oil ports II 592, valve sleeve oil ports III 593, valve sleeve oil ports V595, valve sleeve oil ports VII 597 and valve sleeve oil ports VIII 598 at corresponding positions, and are further respectively communicated with valve body oil ports I5811, valve body oil ports II 5812, valve body oil ports III 5813, valve body oil ports V5815, valve body oil ports VII 5817 and valve body oil ports VIII 5818. The oil ports of other valve positions are similar.
Fig. 11 is a schematic diagram of the positions of the valve core, the valve sleeve and the valve body oil ports of the 2D posture control valve according to the present invention, where the valve core oil ports are unfolded into a planar form along the cylindrical surface of the valve core to form an array of eight rows and n columns of valve ports, each column of valve ports corresponds to one valve position, in this embodiment, n=5. Wherein the oil ports of the valve position a are not provided with oil ports in the fifth row and the seventh row, the oil ports of the valve position b are not provided with oil ports in the fourth row and the sixth row, the oil ports of the valve position c are not provided with oil ports in the third row and the fifth row, the oil ports of the valve position d are not provided with oil ports in the first row, the fourth row, the fifth row and the sixth row, and the oil ports of the valve position e are not provided with oil ports in the third row, the fourth row, the sixth row and the eighth row. The a-valve position oil port, the b-valve position oil port, the c-valve position oil port, the d-valve position oil port and the e-valve position oil port are uniformly distributed on the periphery of the surface of the valve core, and the circumferential included angle θ=2pi/n is θ=72 ° in the embodiment. The first, second, third and fourth rows of oil ports are communicated with the valve core upper cavity 577, and the fifth, sixth, seventh and eighth rows of oil ports are communicated with the valve core lower cavity 578.
As shown in fig. 11, the axial distance between the valve core oil ports and the valve sleeve oil port in two adjacent rows is identical, and the axial distance between the valve body oil ports is L. The axial dimension x of the valve core oil port is smaller than the minimum distance y between two adjacent axial rows of oil ports, so that when the valve core 57 moves axially for one stroke, the valve core oil port is completely blocked by the valve sleeve, and the valve core oil port is the locking position of the 2D attitude control valve 35. The 2D attitude control valve adopts a linear motor 63 to control the axial movement of the valve core 57, and further controls the size of the oil port flow area, namely the opening of corresponding oil ports on the valve core and the valve sleeve by controlling the axial relative position between the valve core 57 and the valve sleeve 59. The rotary motion of the valve core 57 is controlled by the servo motor 48, and then the relative position between the valve core 57 and the valve sleeve 59 in the circumferential direction is controlled to switch the communication mode of the valve core oil port and the valve sleeve oil port, namely the valve position.
As shown in fig. 6, 7 and 11, when the 2D posture control valve is at the first valve position, namely, the a valve position, the valve port communication condition is as follows:
the hydraulic pipeline I31 is communicated with the valve core lower cavity 578 through a valve port I581, a valve body oil port VIII 5818, a valve sleeve oil port VIII 598 and an a valve position oil port VI 576 in sequence; the hydraulic pipeline V36 is sequentially communicated with the valve port II 582, the valve body oil port VII 5817 and the valve sleeve oil port VII 597, but the valve core surface is corresponding to the valve core surface, namely, the fifth row of the valve position is not provided with an oil port, so that the loop is cut off; the hydraulic pipeline II 32 is communicated with the valve core lower cavity 578 through a valve port III 583, a valve body oil port VI 5816, a valve sleeve oil port VI 596 and an a valve position oil port V575 in sequence, and meanwhile, the valve body oil port VI 5816 is communicated with the valve core upper cavity 577 through a valve body flow passage I589, a valve body oil port III 5813, a valve sleeve oil port III 593 and an a valve position oil port III 573 in sequence, namely, the valve core upper cavity 577 is communicated with the valve core lower cavity 578 at the moment; the hydraulic pipeline III 33 is sequentially communicated with a valve port IV 584, a valve body oil port V5815 and a valve sleeve oil port V595, and the valve body oil port V5815 is sequentially communicated with the valve body oil port IV 5814, the valve sleeve oil port IV 594, an a valve position oil port IV 574 and a valve sleeve upper cavity 577 through a valve body flow passage II 5810 although no oil port is formed on the seventh row of the valve position corresponding to the surface of the valve core at the moment; the hydraulic pipeline VI 37 is communicated with the valve core upper cavity 577 through a valve port V585, a valve body oil port II 5812, a valve sleeve oil port II 592 and an a valve position oil port II 572 in sequence; the hydraulic pipeline IV 34 is communicated with the valve core upper cavity 577 through a valve port VI 586, a valve body oil port I5811, a valve sleeve oil port I591 and an a valve position oil port I571 in sequence.
In summary, when the valve is at the valve position a, the hydraulic pipeline V36 is disconnected; the hydraulic pipeline I31, the hydraulic pipeline II 32, the hydraulic pipeline III 33, the hydraulic pipeline IV 34 and the hydraulic pipeline VI 37 are communicated.
As shown in fig. 6, 7 and 11, when the 2D gesture control valve is at the second valve position, i.e., the b valve position, the valve port communication condition is as follows:
the hydraulic pipeline I31 is communicated with the valve core lower cavity 578 through a valve port I581, a valve body oil port VIII 5818, a valve sleeve oil port VIII 598 and a b valve position oil port VI 5716 in sequence; the hydraulic pipeline V36 is sequentially communicated with a valve port II 582, a valve body oil port VII 5817, a valve sleeve oil port VII 597 and a b valve position oil port V5715, and is communicated with a valve core lower cavity 578; the hydraulic pipeline II 32 sequentially passes through a valve port III 583, a valve body oil port VI 5816 and a valve sleeve oil port VI 596, and the surface of the valve core is the sixth row of valve seat oil ports at this time, but the valve body oil port VI 5816 is communicated with an upper cavity 577 of the valve core through a valve body flow passage I589 sequentially passes through the valve body oil port III 5813, the valve sleeve oil port III 593 and the valve seat oil port III 5713; the hydraulic pipeline III 33 is sequentially communicated with a valve port IV 584, a valve body oil port V5815 and a valve sleeve oil port V595, and a valve position oil port IV 5714 of the b valve is communicated with a valve core lower cavity 578; the hydraulic pipeline VI 37 is communicated with the valve core upper cavity 577 through a valve port V585, a valve body oil port II 5812, a valve sleeve oil port II 592 and a b valve position oil port II 5712 in sequence; the hydraulic pipeline IV 34 is communicated with the valve core upper cavity 577 through a valve port VI 586, a valve body oil port I5811, a valve sleeve oil port I591 and a b valve position oil port I5711 in sequence. In addition, the b-valve position oil ports are not opened in the fourth row and the sixth row, so the valve core upper cavity 577 and the valve core lower cavity 578 cannot be mutually communicated through the valve body flow passage i 589 or the valve body flow passage ii 5810.
In summary, when the valve is in the position b, the upper cavity 577 and the lower cavity 578 are in an isolated state, the hydraulic line I31, the hydraulic line III 33 and the hydraulic line V36 are communicated with each other through the lower cavity 578, and the hydraulic line II 32, the hydraulic line IV 34 and the hydraulic line VI 37 are communicated with each other through the upper cavity 577. The implementation of other valve positions is similar.
As shown in fig. 6, 7 and 11, when the 2D attitude control valve 35 is in the first valve position, namely the valve position a, the right ballast tank 3 and the left ballast tank 9 absorb and discharge water from the external water environment 46 through the unidirectional variable pump 45, so that the sinking and floating adjustment of the robot can be realized; when the 2D attitude control valve 35 is in the second, third, fourth and fifth valve positions, the right ballast tank 3 and the left ballast tank 9 are isolated from the external water environment 46, and the attitude can be adjusted under the condition that the total weight of the robot is unchanged and the sinking and floating is stable.
The valve core 57 is controlled by the linear motor 63 to move along the axial direction of the valve sleeve 59 by a stroke, so that the valve port arrays of seven rows and five columns on the valve core 57 are staggered relative to the valve sleeve oil port positions on the valve sleeve 59, thereby cutting off the communication channels between the valve core upper cavity 577 and the valve core lower cavity 578, and enabling the valve ports I581, II 582, III 583, IV 584, V585 and VI 586 to be in a closed state, and the 2D gesture control valve is in a sixth valve position, namely an f valve position. At this time, each of the right ballast tank 3 and the left ballast tank 9 is in a closed state.
In order to ensure the adjustment reliability, when the valve position is switched, the valve core 57 can be controlled by the linear motor 63 to move along the axial direction of the valve sleeve 59, so that the valve position is switched to a locking position, namely an f valve position; then the servo motor 48 controls the valve core 57 to rotate, the needed valve core oil port and the valve sleeve oil port are adjusted to the same position, and finally the linear motor 63 controls the valve core 57 to reset along the axial direction of the valve sleeve 59. In the adjusting process, the relative position of the valve core 57 and the valve sleeve 59 can be controlled by the servo motor 48 or the linear motor 63, so that the opening of the valve port can be adjusted.
The specific adjusting process is as follows:
(1) The robot floats in a sinking way: the spool 57 is controlled to rotate by the servo motor 48, so that the 2D attitude control valve 35 is rotated to a first valve position, namely a valve position, the electromagnetic valve 39/40/42 is opened, the electromagnetic valve 38/41/47 is closed, the unidirectional variable pump 45 is used for feeding liquid from the external water environment 46 through the electromagnetic valve 40, the electromagnetic valve 42 and the filter 44, the unidirectional variable pump 45 is used for simultaneously feeding liquid to the right ballast tank front cavity 303, the right ballast tank rear cavity 302, the left ballast tank front cavity 903 and the left ballast tank rear cavity 902 through the electromagnetic valve 39, the hydraulic pipeline VI 37, the right piston spring cavity I304, the right piston spring cavity II 305, the left piston spring cavity I904 and the left piston spring cavity II 905 are simultaneously compressed, the weight of the robot is increased, and the robot is submerged. Similarly, when the electromagnetic valves 42/38/41 are opened, the electromagnetic valves 39/40/47 are closed, so that the front right ballast tank chamber 303, the rear right ballast tank chamber 302, the front left ballast tank chamber 903 and the rear left ballast tank chamber 902 can be controlled to simultaneously drain, and the robot floats upwards.
(2) The robot is tilted forwards and backwards: the spool 57 is controlled to rotate by the servo motor 48, so that the 2D attitude control valve 35 is rotated to a second valve position, namely a b valve position, the electromagnetic valve 40/39 is opened, the electromagnetic valve 38/41/42/47 is closed, the unidirectional variable pump 45 is controlled to suck liquid from the right ballast tank rear cavity 302 and the left ballast tank rear cavity 902, and drain liquid from the right ballast tank front cavity 303 and the left ballast tank front cavity 903, so that the right piston spring cavity I304, the right piston spring cavity II 305, the right low-density piston cavity 301 in the right ballast tank 3, the left piston spring cavity I904, the left piston spring cavity II 905 and the left low-density piston cavity 901 in the left ballast tank 9 are all moved backwards, the right ballast tank 3 and the left ballast tank 9 are lighter in rear end and the front end are heavier, and the robot is tilted forwards. Similarly, if the solenoid valve 39/40/42/47 is opened 38/41 and closed, the robot can be controlled to roll backwards.
(3) The robot is laterally inclined: the servo motor 48 controls the 2D attitude control valve 35 to be in a third valve position, namely a c valve position, and simultaneously opens the electromagnetic valve 40/39 and closes the electromagnetic valve 38/41/42/47, so that water in the front right ballast tank cavity 303 and the rear right ballast tank cavity 302 can be controlled to be pumped into the front left ballast tank cavity 903 and the rear left ballast tank cavity 902, the left piston spring cavity I904 and the left piston spring cavity II 905 are compressed, the right side of the robot is lighter, the left side of the robot is heavier, and the robot is tilted leftwards. Similarly, if the solenoid valve 39/40/42/47 is opened 38/41 and closed, the robot is controlled to roll to the right.
(4) The robot is tilted to the right front or the right back: on the basis of the robot tilting to the right, when the 2D attitude control valve is at the fourth valve position, namely the D valve position, the right low-density piston tanks 301 in the right ballast tank 3 can be independently controlled to move back and forth respectively, so that liquid medium is exchanged between the right ballast tank rear cavity 302 and the right ballast tank front cavity 303, and the robot tilting to the right front or right back is further controlled.
(5) The robot is tilted to the left front or left back: on the basis of the robot rolling to the left, when the 2D attitude control valve is in a fifth valve position, namely an e valve position, the left low-density piston chamber 901 in the left ballast tank 9 can be independently controlled to move back and forth, so that liquid medium is exchanged between the left ballast tank rear chamber 902 and the left ballast tank front chamber 903, and the robot is controlled to roll to the left front or the left rear.
In addition, the underwater propulsion mechanism can be matched with the sinking and floating and posture adjusting mechanism. The weight and the gravity center of the ballast tank are controlled by the sinking and floating and posture adjusting mechanism, so that the sinking and floating and operation posture adjustment of the robot is realized, and the propeller is assisted to realize the rapid adjustment of the posture of the robot, thereby achieving the purpose of rapidly and flexibly changing the position and enriching the posture adjusting mode of the robot. If the suspension of the robot under the specific gesture is realized through the sinking and floating and gesture adjusting mechanism, the actions such as the fine adjustment of the gesture and the pushing of the fixed gesture are realized through the propeller. The robot gesture adjusting device and the robot gesture adjusting method work cooperatively, so that the flexibility and the diversity of the robot gesture adjusting are greatly improved, and the adjusting process is faster and the stability is better.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (4)
1. The amphibious robot for the abandoned mine pumped storage power station is characterized by comprising a machine body support, a sinking-floating and posture adjusting mechanism, a traveling mechanism, an underwater pushing mechanism, a patrol operation mechanism and an underwater sound communication and control system;
the sinking-floating and posture adjusting mechanism comprises a right ballast tank (3), a left ballast tank (9) and a hydraulic integrated valve box (23), wherein the hydraulic integrated valve box (23) comprises a 2D posture control valve (35) and a hydraulic pipeline, and the hydraulic integrated valve box (23) is connected with the right ballast tank (3) and the left ballast tank (9) through the hydraulic pipeline;
the 2D attitude control valve (35) comprises a valve sleeve (59), a valve body (58) and a valve core (57), wherein the valve core (57) and the valve sleeve (59) are coaxially arranged, the valve sleeve (59) is fixed on an inner hole of the valve body (58), the valve core (57) and the valve sleeve (59) form a cylindrical pair, the valve core (57) can coaxially rotate relative to the valve sleeve (59) through the driving of a servo motor (48), and the valve core (57) can linearly move relative to the valve sleeve (59) along the axial direction through the driving of a linear motor (63);
the surface of the valve body (58) is provided with a plurality of valve ports, the valve body (58) is internally provided with a plurality of valve body oil ports, the outer sides of the valve ports are communicated with the right ballast tank (3) and the left ballast tank (9) through hydraulic pipelines, and the inner sides of the valve ports are selectively communicated with the valve body oil ports;
the surface of the valve sleeve (59) is sequentially provided with a plurality of valve sleeve oil ports at equal intervals on the same bus, and the valve sleeve oil ports are selectively communicated with the valve body oil ports;
the valve core (57) comprises a valve core upper cavity (577), an intermediate baffle (579), a valve core lower cavity (578), a linear motor connecting shaft (5701), a servo motor connecting shaft (5702) and a valve core oil port, the interior of the valve core (57) is divided into two parts of the valve core upper cavity (577) and the valve core lower cavity (578) by the intermediate baffle (579), the valve core oil port is unfolded along the cylindrical surface of the valve core (57) to form an eight-row n-column oil port array, the oil port of each column corresponds to one valve position, and the valve core oil port is communicated with the valve sleeve oil port to form n valve positions by rotating the valve core (57);
the right ballast tank (3) comprises a right low-density piston tank (301), a right ballast tank rear cavity (302), a right ballast tank front cavity (303), a right piston spring cavity I (304), a right piston spring cavity II (305), a right moving partition I (306), a right piston (307) and a right moving partition II (308), and the left ballast tank (9) has the same structure as the right ballast tank (3);
the right piston spring cavity I (304) and the right piston spring cavity II (305) are separated by a right piston (307), the center section of the right piston (307) is I-shaped, the piston structures at two ends of the right piston (307) are symmetrical and have the same area, the right piston (307) and the inner surface of the right ballast tank (3) form a closed right low-density piston cabin (301), a cylindrical moving pair is formed among the right piston (307), the right moving partition I (306) and the right moving partition II (308) and the inner surface of the right ballast tank (3), a right piston spring cavity I (304) is formed between the right moving partition I (306) and the right piston (307), and a right piston spring cavity II (305) is formed between the right moving partition II (308) and the right piston (307);
the valve core oil port comprises five valve positions, and specifically comprises: the valve comprises a valve body, a valve opening c, a valve opening d and a valve opening e, wherein the valve opening a is not opened in a fifth row and a seventh row, the valve opening b is not opened in a fourth row and a sixth row, the valve opening c is not opened in a third row and the fifth row, the valve opening d is not opened in a first row, a fourth row, the fifth row and the sixth row, the valve opening e is not opened in the third row, the fourth row, the sixth row and the eighth row, the valve openings of the first row, the second row, the third row and the fourth row are communicated with an upper cavity (577) of the valve core, and the valve openings of the fifth row, the sixth row, the seventh row and the eighth row are communicated with a lower cavity (578) of the valve core.
2. The land amphibious robot of the abandoned mine pumped storage power station according to claim 1, wherein the a-valve oil port, the b-valve oil port, the c-valve oil port, the d-valve oil port and the e-valve oil port are uniformly distributed on the surface of the valve core (57) in the circumferential direction, and the circumferential included angle is θ=2pi/n, and when n=5, θ=72 °.
3. The land amphibious robot for the abandoned mine pumped storage power station of claim 1, wherein the axial distance between the two adjacent valve core oil ports, the valve sleeve oil port and the valve body oil port is the same.
4. The amphibious robot of the abandoned mine pumped storage power station according to claim 1, wherein the axial width of the valve core oil port is smaller than the minimum distance between two adjacent axial rows of oil ports, and the valve core oil port is completely blocked by the valve sleeve (59) when the valve core (57) moves axially for one stroke, namely the locking position of the 2D attitude control valve (35).
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| CN202011119914.1A CN112223964B (en) | 2020-10-19 | 2020-10-19 | Amphibious robot for waste mine pumped storage power station |
| LU500015A LU500015B1 (en) | 2020-10-19 | 2021-04-08 | Amphibious robot for pump-generator plant in abandoned mine |
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| CN202011119914.1A CN112223964B (en) | 2020-10-19 | 2020-10-19 | Amphibious robot for waste mine pumped storage power station |
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| CN114441725B (en) * | 2022-01-25 | 2022-08-12 | 生态环境部土壤与农业农村生态环境监管技术中心 | Underground water hidden danger investigation and pollution early warning integrated system |
| CN115122837B (en) * | 2022-06-13 | 2023-04-07 | 安徽理工大学 | Amphibious robot for underground reservoir constructed by abandoned mine |
| CN115788441B (en) * | 2022-12-05 | 2023-07-21 | 青岛海洋地质研究所 | A kind of seabed crawling vehicle and its crawling method |
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