阅读说明：本技术 一种臂架式高空作业平台混合驱动行走系统及其控制方法 (Hybrid driving walking system of cantilever type aerial work platform and control method thereof ) 是由 谭中锐 李彬 刘巧珍 邵旭 李海波 陈永亮 张昱中 孙瑞斌 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种臂架式高空作业平台混合驱动行走系统及其控制方法,包括整车底盘、车桥、转向系统、动力总成和控制总成；车桥包括主驱动桥和副驱动桥；动力总成包括蓄电池、行走电机总成、驱动电机总成、液压泵、行走马达和油箱；控制总成包括操作装置、总控制器和控制阀总成；转向系统包括转向连杆和转向油缸；所述行走电机总成为主驱动桥提供驱动力,行走马达为副驱动桥提供驱动力,转向油缸通过转向连杆驱动副驱动桥转向。有益效果：本发明提高了整车的爬坡性能；在智能行走模式下降低了驾驶难度；下坡过程中可以提供部分制动力矩,使下坡速度稳定不失控；可以回收一部分重力势能,在液压系统工作时提高行走马达和转向油缸的响应速度。(The invention discloses a mixed driving traveling system of a cantilever type aerial work platform and a control method thereof, wherein the mixed driving traveling system comprises a whole vehicle chassis, an axle, a steering system, a power assembly and a control assembly; the axle comprises a main drive axle and an auxiliary drive axle; the power assembly comprises a storage battery, a walking motor assembly, a driving motor assembly, a hydraulic pump, a walking motor and an oil tank; the control assembly comprises an operating device, a master controller and a control valve assembly; the steering system comprises a steering connecting rod and a steering oil cylinder; the walking motor assembly provides driving force for the main driving axle, the walking motor provides driving force for the auxiliary driving axle, and the steering oil cylinder drives the auxiliary driving axle to steer through the steering connecting rod. Has the advantages that: the invention improves the climbing performance of the whole vehicle; the driving difficulty is reduced in the intelligent walking mode; part of braking torque can be provided in the process of descending, so that the descending speed is stable and is not out of control; and a part of gravitational potential energy can be recovered, and the response speed of the walking motor and the steering oil cylinder is improved when the hydraulic system works.)

1. A mixed driving walking system of a cantilever crane type aerial work platform comprises a whole vehicle chassis (1), an axle (2), a steering system (3), a power assembly (4) and a control assembly (5); the axle (2) is arranged at the bottom of the whole vehicle chassis (1), the steering system (3) is connected with the axle (2), the power assembly (4) respectively provides power for the axle (2) and the steering system (3), and the control assembly (5) controls the power output of the power assembly (4); the method is characterized in that: the axle (2) comprises a main drive axle (21) and an auxiliary drive axle (22);

the power assembly (4) comprises a storage battery (41), a walking motor assembly (42), a driving motor assembly (43), a hydraulic pump (44), a walking motor (45) and an oil tank (46);

the control assembly (5) comprises an operating device (51), a master controller (52) and a control valve assembly (53);

the steering system (3) comprises a steering connecting rod (31) and a steering oil cylinder (32);

the walking motor assembly (42) provides driving force for the main driving axle (21), the walking motor (45) provides driving force for the auxiliary driving axle (22), and the steering oil cylinder (32) drives the auxiliary driving axle (22) to steer through the steering connecting rod (31);

the storage battery (41) respectively provides power for the walking motor assembly (42) and the driving motor assembly (43), the driving motor assembly (43) drives the hydraulic pump (44) to pump hydraulic oil in the oil tank (46) into the control valve assembly (53), and the hydraulic pump (44) is respectively connected with the walking motor (45) and the steering oil cylinder (32) through the hydraulic hose and the control valve assembly (53);

the operation device (51) respectively controls the walking motor assembly (42), the driving motor assembly (43) and the control valve assembly (53) through a master controller (52).

2. The boom-type aerial work platform hybrid propulsion walking system of claim 1, wherein: the walking motor assembly (42) comprises a walking motor body (421), a walking motor controller (422), a walking motor temperature sensor (423), a walking motor braking device (424), a walking motor rotating speed sensor (425) and a walking motor torque sensor (426), and the storage battery (41) provides electric power for the walking motor body (421) through the walking motor controller (422); the main controller (52) controls the running of the walking motor body (421) through the walking motor controller (422); the walking motor temperature sensor (423), the walking motor rotating speed sensor (425) and the walking motor torque sensor (426) are simultaneously connected with the walking motor controller (422); the walking motor braking device (424) acts on the walking motor body (421), and the walking motor braking device (424) is controlled by the walking motor controller (422).

3. The boom-type aerial work platform hybrid propulsion walking system of claim 2, wherein: the main drive axle (21) is provided with two groups of same walking motor assemblies (42), the two groups of same walking motor assemblies (42) respectively drive wheels on two sides of the main drive axle (21) to rotate through the same walking speed reducers (23), and the storage batteries (41) respectively provide power for the two groups of same walking motor assemblies (42).

4. The boom-type aerial work platform hybrid propulsion walking system of claim 1, 2 or 3, wherein: the driving motor assembly (43) comprises a driving motor body (431), a driving motor controller (432), a driving motor temperature sensor (433) and a driving motor rotating speed sensor (434), and the storage battery (41) supplies power to the driving motor body (431) through the driving motor controller (432); the master controller (52) controls the operation of the driving motor body (431) through the driving motor controller (432); the driving motor temperature sensor (433) and the driving motor rotating speed sensor (434) are simultaneously connected with the driving motor controller (432); the driving motor body (431) drives the hydraulic pump (44) to work.

5. The boom-type aerial work platform hybrid propulsion walking system of claim 4, wherein: the control valve assembly (53) comprises a steering priority proportional valve (531), a steering control electromagnetic valve (532) and a walking control electromagnetic valve (533), high-pressure oil generated by the hydraulic pump (44) flows into the steering control electromagnetic valve (532) and the walking control electromagnetic valve (533) through the steering priority proportional valve (531), the oil passing through the steering control electromagnetic valve (532) enters the steering oil cylinder (32), and the oil passing through the walking control electromagnetic valve (533) enters the walking motor (45);

the steering priority proportional valve (531) comprises a steering end oil outlet (5311), a steering end control oil cavity (5312), a walking end oil outlet (5313) and a walking end control oil cavity (5314), and a pre-tightening spring (5315) is arranged in the steering end control oil cavity (5312); a first damping hole (5316) is formed in a feedback oil path between a steering end oil outlet (5311) of the steering priority proportional valve (531) and a walking end control oil cavity (5314), and a second damping hole (5317) and a third damping hole (5318) which are connected in series are formed in an oil path between a steering end control oil cavity (5312) of the steering priority proportional valve (531) and a feedback oil port of the steering control electromagnetic valve (532);

and a first overflow valve (534) connected with the oil tank (46) is arranged on an oil path between the second damping hole (5317) and the third damping hole (5318).

6. The boom-type aerial work platform hybrid propulsion walking system of claim 5, wherein: the walking control electromagnetic valve (533) is a reversing valve of a three-position four-way valve, and four oil ports are communicated with each other when the walking control electromagnetic valve (533) is in a middle position; the high-pressure hydraulic pressure passing through the steering priority proportional valve (531) drives a traveling motor (45) to rotate through a traveling control electromagnetic valve (533); a shuttle valve (535) is arranged between two oil ports of the walking motor (45), the two oil ports of the walking motor (45) are respectively connected with two selective oil ports of the shuttle valve (535), an oil outlet of the shuttle valve (535) is connected with an energy recovery electromagnetic valve (536), and the energy recovery electromagnetic valve (536) is connected with an energy accumulator (537); the accumulator (537) is communicated with an oil inlet pipeline of the steering priority proportional valve (531) through an energy utilization electromagnetic valve (538).

7. The boom-type aerial work platform hybrid propulsion walking system of claim 6, wherein: a flow distributing and collecting valve (539) is arranged between the traveling control electromagnetic valve (533) and the traveling motor (45), and the traveling motor (45) comprises a left traveling motor (451) and a right traveling motor (452);

an oil port A of the left walking motor (451) and an oil port B of the right walking motor (452) are respectively communicated with two branch flow ports of the flow dividing and collecting valve (539), an oil port B of the left walking motor (451) and an oil port A of the right walking motor (452) are combined to form a combined flow port C, and the combined flow port C is respectively connected with the walking control solenoid valve (533) and the shuttle valve (535).

8. The boom-type aerial work platform hybrid propulsion walking system of claim 7, wherein: the steering control electromagnetic valve (532) comprises a switch electromagnet E1 and a switch electromagnet E2, and the switch electromagnet E1 and the switch electromagnet E2 are connected with a master controller (52); the walking control electromagnetic valve (533) comprises a switch electromagnet E3 and a switch electromagnet E4, and the switch electromagnet E3 and the switch electromagnet E4 are connected with the master controller (52); the energy recovery electromagnetic valve (536) comprises a switch electromagnet E5, and the switch electromagnet E5 is connected with the master controller (52); the energy utilization electromagnetic valve (538) comprises a switch electromagnet E6, and the switch electromagnet E6 is connected with the master controller (52);

a left electromagnetic clutch (453) is arranged between the left traveling motor (451) and the auxiliary drive axle (22), a right electromagnetic clutch (454) is arranged between the right traveling motor (452) and the auxiliary drive axle (22), and the left electromagnetic clutch (453) and the right electromagnetic clutch (454) are respectively connected with the master controller (52);

the vehicle chassis (1) is provided with a tilt angle sensor (6), and the tilt angle sensor (6) is connected with a master controller (52).

9. The control method of the hybrid propulsion walking system of the boom-type aerial work platform according to claim 8, comprising the steps of:

step one, equipment debugging: confirming the number of the walking motor assemblies and the walking motors, and inputting the number of the walking motor bodies as m and the number of the walking motors as h into a master controller (52); recording parameters into a master controller (52), wherein the parameters comprise a traveling motor critical torque value T, a traveling motor critical temperature value T1, a driving motor critical temperature value T2, a tilt angle sensor critical angle value alpha, a hydraulic pump displacement q1, a hydraulic pump efficiency value eta 1, a single traveling motor displacement q2, a traveling motor efficiency value eta 2, a traveling speed reducer reduction ratio N, an adjustment coefficient K and a driving motor set rotating speed value N' turns/s;

step two, initial braking: when the master controller (52) does not receive a control signal of the operating device (51), the master controller (52) controls the traveling motor braking device (424) to enter an initial braking state through the traveling motor braking controller (422), meanwhile, the traveling motor body (421) and the driving motor body (431) do not work, a switch electromagnet E1, a switch electromagnet E2, a switch electromagnet E3, a switch electromagnet E4, a switch electromagnet E5 and a switch electromagnet E6 of the control valve assembly (53) are not powered, and the whole vehicle is in the initial braking state;

step three, selecting a walking mode: an operator selects a walking mode through the operation device (51), the walking mode comprises an economic mode, a climbing mode and an intelligent walking mode, the master controller (52) executes the corresponding walking mode according to a control signal output by the operation device (51), the parameters recorded in the first step and the actual measurement value of the tilt sensor (6), the economic mode enters the fourth step, the climbing gear mode enters the fifth step, and the intelligent walking mode enters the sixth step;

step four, an economic mode: when the absolute value of the tilt sensor is less than alpha, the walking motor is in a flat ground walking working condition, the left electromagnetic clutch (453) and the right electromagnetic clutch (454) are not electrically disconnected, and the master controller (52) controls the walking motor body (421) to rotate forwards or reversely according to forward or backward signals output by the operating device (51); when the operation device (51) outputs a steering signal at the same time, the master controller (52) starts the driving motor body (431) to rotate in N' turns/s, the steering control electromagnetic valve (532) selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, simultaneously, the energy is electrified by utilizing the switch electromagnet E6 of the electromagnetic valve (538), and the hydraulic energy in the energy accumulator (537) enters the steering control electromagnetic valve (532) by utilizing the energy and the electromagnetic valve (538); when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is larger than 0, and the vehicle is in a slope reverse downhill working condition when moving downwards, the left electromagnetic clutch (453) and the right electromagnetic clutch (454) are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve (536) is electrically connected when the operating device (51) outputs a backward signal, and the energy recovery electromagnetic valve (536) is opened to store energy for the energy accumulator (537); the main controller (52) controls the walking motor body (421) to execute backward steering and rotating speed; when the operation device (51) outputs a steering signal at the same time, the master controller (52) starts the driving motor body (431) to rotate in N' turns/s, the steering control electromagnetic valve (532) selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, simultaneously, the energy is electrified by utilizing the switch electromagnet E6 of the electromagnetic valve (538), and the hydraulic energy in the energy accumulator (537) enters the steering control electromagnetic valve (532) by utilizing the energy and the electromagnetic valve (538); when the operating device (51) outputs a forward signal, the vehicle brakes and returns to the third step;

when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is smaller than 0, and the vehicle runs down on the slope in a positive downhill working condition, the left electromagnetic clutch (453) and the right electromagnetic clutch (454) are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve (536) is electrically connected when the operating device (51) outputs a forward signal, and the energy recovery electromagnetic valve (536) is opened to store energy for the energy accumulator (537); the main controller (52) controls the walking motor body (421) to execute forward steering and rotating speed; when the operation device (51) outputs a steering signal at the same time, the master controller (52) starts the driving motor body (431) to rotate in N' turns/s, the steering control electromagnetic valve (532) selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, simultaneously, the energy is electrified by utilizing the switch electromagnet E6 of the electromagnetic valve (538), and the hydraulic energy in the energy accumulator (537) enters the steering control electromagnetic valve (532) by utilizing the energy and the electromagnetic valve (538); when the operation device (51) outputs a reverse signal, the vehicle is braked and returns to the step three;

step five, climbing mode: the main controller (52) controls the walking motor body (421) to rotate forwards or backwards according to the forward or backward signal output by the operating device (51); the main controller (52) starts the driving motor body (431), the left electromagnetic clutch (453) and the right electromagnetic clutch (454) are electrically connected, and the traveling control electromagnetic valve (533) selects the switch electromagnet E3 or the switch electromagnet E4 to be electrically connected according to a forward or backward signal output by the operating device (51); the switch electromagnet E6 is electrified, the energy utilization electromagnetic valve (538) is opened in a one-way mode, and hydraulic energy in the energy accumulator (537) enters the walking control electromagnetic valve (533) through the energy utilization electromagnetic valve (538) and the steering priority proportional valve (531); the master controller (52) calculates a rotating speed calculation value N of the driving motor body (431) according to the rotating speed of the walking motor body (421); the master controller (52) controls the actual measurement rotating speed value of the driving motor body (431) to reach a rotating speed calculation value N;

the method for calculating the rotating speed calculation value N of the driving motor body (431) is as follows:

the rotating speeds N1 and N2 … Nm of each walking motor body (421) are obtained through a walking motor rotating speed sensor (425); the calculated value N of the rotating speed of the driving motor is

In the formula, N is a calculated value of the rotating speed of the driving motor, N1 and N2 … Nm are rotating speed values of each walking motor body (421), q1 is the displacement of a hydraulic pump, eta 1 is the efficiency value of the hydraulic pump, q2 is the displacement of a single walking motor, eta 2 is the efficiency value of the walking motor, N is the reduction ratio of a walking speed reducer, m is the number of the walking motor bodies, and h is the number of the walking motors;

when the steering is carried out in the walking process and the operation device (51) outputs a steering signal, the steering control electromagnetic valve (532) selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, and the master controller (52) calculates a rotating speed calculation value N 'of the driving motor body (431) according to the rotating speed of the walking motor body (421) and the set rotating speed value N' of the driving motor; the master controller (52) controls the actually measured rotating speed value of the driving motor body (431) to reach a rotating speed calculated value N';

the method for calculating the rotating speed calculation value N' of the driving motor body (431) comprises the following steps:

the rotating speeds N1 and N2 … Nm of each walking motor body (421) are obtained through a walking motor rotating speed sensor (425); the calculated value N' of the rotating speed of the driving motor is

In the formula, N 'is a calculated value of the rotating speed of the driving motor, N1 and N2 … Nm are rotating speed values of each walking motor body (421), q1 is the displacement of a hydraulic pump, eta 1 is the efficiency value of the hydraulic pump, q2 is the displacement of a single walking motor, eta 2 is the efficiency value of the walking motor, N is the reduction ratio of a walking speed reducer, N' is the set rotating speed value of the driving motor, m is the number of the walking motor bodies, and h is the number of the walking motors;

step six, an intelligent walking mode: when the torque value of the walking motor body (421) measured by the walking motor torque sensor (426) is greater than or equal to the walking motor critical torque value T, the master controller (52) executes the fifth step, and when the torque value of the walking motor body (421) measured by the walking motor torque sensor (426) is smaller than the walking motor critical torque value T, the master controller (52) executes the fourth step;

step seven, parking braking: when the operating device (51) has no signal output, the master controller (52) controls the walking motor braking device (424) to recover the braking state through the walking motor braking controller (422), meanwhile, the walking motor body (421) and the driving motor body (431) do not work, the switch electromagnet E1, the switch electromagnet E2, the switch electromagnet E3, the switch electromagnet E4, the switch electromagnet E5 and the switch electromagnet E6 of the control valve assembly (53) are not powered, and the whole vehicle is in the parking braking state.

10. The control method of the boom type aerial work platform hybrid propulsion traveling system of claim 9, characterized in that: when the temperature value of the walking motor body (421) measured by the walking motor temperature sensor (423) is greater than or equal to the walking motor critical temperature value T1, the master controller (52) sends an alarm signal, meanwhile, the master controller (52) controls the walking motor controller (422) to cut off the power input of the walking motor body (421), and the walking motor braking device (424) enters a braking state;

when the temperature value measured by the driving motor temperature sensor (433) is greater than or equal to the driving motor critical temperature value T2, the master controller (52) sends out an alarm signal, and meanwhile, the master controller (52) controls the driving motor controller (432) to cut off the power supply input of the driving motor body (431), and the walking motor braking device (424) enters a braking state.

Technical Field

The invention relates to a traveling system of an aerial work platform and a control method thereof, in particular to a mixed driving traveling system of an arm frame type aerial work platform and a control method thereof, belonging to the technical field of engineering machinery.

Background

At present, a cantilever type overhead working truck is generally driven by a diesel engine, the problems of overlarge noise and heavy pollution exist, a traveling system of the cantilever type overhead working truck is generally completed by acquiring source power from the diesel engine by a variable pump and then outputting high-pressure oil to drive a variable motor, the traveling hydraulic system is complex in principle, a plurality of oil pipes are arranged, the reliability is low, and the cost is high.

With the improvement of the national requirement on environmental protection, the strong implementation of environmental protection policies such as carbon neutralization and carbon peak reaching, and the more and more extensive application of high-altitude vehicles in supermarkets, museums and other rooms, the boom type high-altitude operation vehicles of all large host factories are changing to full electric driving, and the electric driving traveling system is widely used in the full electric boom type high-altitude operation vehicles due to the characteristics of environmental protection, energy conservation, simple structure, silence, no intermediate energy conversion and the like. Compared with a direct current motor, the alternating current traveling motor has a mature technology, a simple structure, few moving parts, larger power and torque under the same volume and wider speed regulation range, and is widely applied to an electric driving traveling system of an arm-frame type high-altitude operation vehicle; however, the above electric drive traveling system mainly has the following problems: the cantilever type overhead working truck has heavy self weight, generally more than 10 tons, has higher requirements on climbing and cross-country capacity, the electrically-driven traveling system has poorer climbing and cross-country capacity, and if the climbing and cross-country capacity needs to be increased, the voltage of the whole truck and the volume of a traveling motor need to be increased; or under the condition that two drives can meet most walking working conditions, in order to meet the requirements of design standards on climbing performance, two walking motors and two motor controllers are additionally added, so that the cost of the whole machine is greatly increased, and great adverse effects are caused on the arrangement and assembly of the whole machine.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to solve the problems in the prior art and provides a hybrid drive traveling system of an arm-type aerial work platform and a control method thereof, wherein the hybrid drive traveling system is low in cost, simple to control, high in reliability and strong in climbing and cross-country capacity.

The technical scheme is as follows: a mixed driving walking system of a cantilever crane type aerial work platform comprises a whole vehicle chassis, an axle, a steering system, a power assembly and a control assembly; the axle is arranged at the bottom of the chassis of the whole vehicle, the steering system is connected with the axle, the power assembly respectively provides power for the axle and the steering system, and the control assembly controls the power output of the power assembly; the axle comprises a main driving axle and an auxiliary driving axle;

the power assembly comprises a storage battery, a walking motor assembly, a driving motor assembly, a hydraulic pump, a walking motor and an oil tank;

the control assembly comprises an operating device, a master controller and a control valve assembly;

the steering system comprises a steering connecting rod and a steering oil cylinder;

the walking motor assembly provides driving force for the main driving axle, the walking motor provides driving force for the auxiliary driving axle, and the steering oil cylinder drives the auxiliary driving axle to steer through the steering connecting rod;

the storage battery respectively provides electric power for the walking motor assembly and the driving motor assembly, the driving motor assembly drives the hydraulic pump to pump hydraulic oil in the oil tank into the control valve assembly, and the hydraulic pump is respectively connected with the walking motor and the steering oil cylinder through the hydraulic hose and the control valve assembly;

the operation device respectively controls the walking motor assembly, the driving motor assembly and the control valve assembly through the master controller.

When the whole vehicle is in a climbing or cross-country working condition, the auxiliary drive axle provides auxiliary driving force for the whole traveling system, so that the climbing or cross-country performance is obviously improved, and the cruising ability of the whole vehicle is improved.

The walking motor assembly comprises a walking motor body, a walking motor controller, a walking motor temperature sensor, a walking motor braking device, a walking motor rotating speed sensor and a walking motor torque sensor, and the storage battery supplies power to the walking motor body through the walking motor controller; the main controller controls the running of the running motor body through the running motor controller; the walking motor temperature sensor, the walking motor rotating speed sensor and the walking motor torque sensor are simultaneously connected with the walking motor controller; the walking motor braking device acts on the walking motor body and is controlled by the walking motor controller.

The running condition of the motor can be effectively and timely mastered by monitoring the temperature, the rotating speed and the torque parameters of the running motor body in real time in the running process, and the running reliability of the running motor assembly can be improved; the reliability of the whole vehicle can be improved through the walking motor braking device.

Preferably, in order to further improve the driving force of the whole machine and adapt to the driving force requirements of various models, two groups of same walking motor assemblies are arranged on the main drive axle, the two groups of same walking motor assemblies respectively drive wheels on two sides of the main drive axle to rotate through the same walking speed reducers, and the storage batteries respectively provide power for the two groups of same walking motor assemblies.

The main drive axle can be provided with a walking motor assembly, and wheels on two sides are respectively driven to rotate through a transmission mechanism in the drive axle; two walking motor assemblies can be also arranged to respectively drive the wheels at the two sides to rotate; one main drive axle can be provided with one or two walking motor assemblies; meanwhile, two or more main driving axles can be arranged on one whole machine; the number of travel motor assemblies also increases as the number of primary drive axles increases.

Preferably, in order to improve the operation reliability of the driving motor and the operation reliability of the whole machine, the driving motor assembly comprises a driving motor body, a driving motor controller, a driving motor temperature sensor and a driving motor rotating speed sensor, and the storage battery supplies power to the driving motor body through the driving motor controller; the master controller controls the operation of the driving motor body through the driving motor controller; the driving motor temperature sensor and the driving motor rotating speed sensor are simultaneously connected with the driving motor controller; the driving motor body drives the hydraulic pump to work.

The running condition of the driving motor body can be monitored through the temperature sensor, and the damage of the driving motor body caused by overhigh temperature in the running process is avoided; the main controller controls the rotating speed of the driving motor body through the driving motor controller according to needs, so that the requirement of the system on the flow of hydraulic oil is met, and the matching of a hydraulic system of the whole machine is realized.

Preferably, in order to ensure that a hydraulic system meets steering requirements preferentially in the running process of the vehicle, the control valve assembly comprises a steering priority proportional valve, a steering control electromagnetic valve and a walking control electromagnetic valve, high-pressure oil generated by the hydraulic pump flows into the steering control electromagnetic valve and the walking control electromagnetic valve respectively through the steering priority proportional valve, the oil passing through the steering control electromagnetic valve enters a steering oil cylinder, and the oil passing through the walking control electromagnetic valve enters a walking motor;

according to the difference of the opening degree of the steering priority proportional valve, the flow rates flowing into the steering control electromagnetic valve and the walking control electromagnetic valve are different, and the walking function is realized on the premise of meeting the steering;

the steering priority proportional valve comprises a steering end oil outlet, a steering end control oil cavity, a walking end oil outlet and a walking end surface control oil cavity, and a pre-tightening spring is arranged in the steering end control oil cavity;

a first damping hole is formed in a feedback oil path between an oil outlet of a steering end of the steering priority proportional valve and a control oil cavity of a walking end, and a second damping hole and a third damping hole which are connected in series are formed in an oil path between the control oil cavity of the steering end of the steering priority proportional valve and a feedback oil port of a steering control electromagnetic valve;

and a first overflow valve connected with the oil tank is arranged on an oil way between the second damping hole and the third damping hole.

When the walking vehicle is in straight line walking, the steering control electromagnetic valve is in a middle position, the oil pressure value of the walking end face control oil cavity is larger than the oil pressure of the steering end control oil cavity and the pre-tightening force of the pre-tightening spring, oil in the walking end face control oil cavity pushes the steering priority proportional valve to compress one side of the pre-tightening spring to move, an oil outlet of the walking end is communicated with the walking control electromagnetic valve, and all the oil enters the walking motor;

when the walking steering is carried out, the steering control electromagnetic valve is in a non-neutral position, the pressure value of the walking end face control oil cavity is established by an oil outlet at the steering end through a first damping hole, the pressure of the steering end control oil cavity is established by a feedback oil port of the steering control electromagnetic valve through a second damping hole and a third damping hole which are connected in series, meanwhile, under the combined action of a pre-tightening spring, the opening degree of a steering priority proportional valve is different, the flow rate flowing into the steering control electromagnetic valve is different from that flowing into the walking control electromagnetic valve, and the walking function is realized on the premise of meeting the steering;

when the steering control electromagnetic valve is in a non-neutral position during in-situ steering, the walking control electromagnetic valve is in a neutral position, the pressure of the walking end surface control oil cavity is equal to that of the steering end control oil cavity, an oil outlet of the steering end is communicated with the steering control electromagnetic valve under the action of a pre-tightening spring, all oil enters the steering oil cylinder, and redundant oil flows back to the oil tank through the first overflow valve.

Preferably, in order to realize the recovery of energy in the downhill process of the vehicle and simultaneously improve the response speed of a traveling motor and a steering oil cylinder, the traveling control electromagnetic valve is a reversing valve of a three-position four-way valve, and four oil ports are communicated with each other in the middle position of the traveling control electromagnetic valve; the high-pressure hydraulic pressure passing through the steering priority proportional valve drives a walking motor to rotate through a walking control electromagnetic valve; a shuttle valve is arranged between two oil ports of the walking motor, the two oil ports of the walking motor are respectively connected with two selective oil ports of the shuttle valve, an oil outlet of the shuttle valve is connected with an energy recovery electromagnetic valve, and the energy recovery electromagnetic valve is connected with an energy accumulator; the energy accumulator is communicated with an oil inlet pipeline of the steering priority proportional valve through an electromagnetic valve.

When the walking motor provides auxiliary power for the running of the vehicle, the walking control electromagnetic valve is in a non-neutral position, the energy recovery electromagnetic valve is closed, the oil circuit where the shuttle valve is located is cut off, the forward and reverse rotation of the walking motor can be controlled by switching the walking control electromagnetic valve, and the forward and reverse of the vehicle are realized;

when the vehicle downhill walking motor recovers the gravitational potential energy, the walking control electromagnetic valve is positioned at the middle position, the energy recovery electromagnetic valve is opened, the oil outlet of the shuttle valve is a high-pressure oil way and is connected with the energy recovery electromagnetic valve, and the energy accumulator recovers the potential energy;

the energy accumulator is communicated with an oil inlet pipeline of the steering priority proportional valve through an electromagnetic valve, and when a vehicle steers or a walking motor provides driving force, the response speed of the walking motor and the steering oil cylinder can be improved by releasing hydraulic energy stored in the energy accumulator; in order to prevent the oil from flowing backwards, the energy recovery electromagnetic valve and the energy utilization electromagnetic valve are one-way electromagnetic valves.

Preferably, in order to ensure that the rotating speeds of the two walking motors are the same, a flow dividing and collecting valve is arranged between the walking control electromagnetic valve and the walking motors, and the walking motors comprise a left walking motor and a right walking motor;

the oil port A of the left walking motor and the oil port B of the right walking motor are respectively communicated with two shunting ports of the shunting and collecting valve, the oil port B of the left walking motor and the oil port A of the right walking motor are converged to form a converging port C, and the converging port C is respectively connected with the walking control solenoid valve and the shuttle valve.

Because the rotating shafts of the left walking motor and the right walking motor face opposite directions, the left walking motor and the right walking motor are opposite in steering direction in order to ensure that the traveling directions of the wheels are consistent; the flow through the left walking motor and the flow through the right walking motor can be ensured to be the same through the flow distributing and collecting valve, and the rotating speeds of the two walking motors are further the same.

Preferably, in order to realize the control of the overall traveling system by the overall controller, the steering control solenoid valve comprises a switch electromagnet E1 and a switch electromagnet E2, and the switch electromagnet E1 and the switch electromagnet E2 are connected with the overall controller; the walking control electromagnetic valve comprises a switch electromagnet E3 and a switch electromagnet E4, and the switch electromagnet E3 and the switch electromagnet E4 are connected with a master controller; the energy recovery electromagnetic valve comprises a switch electromagnet E5, and the switch electromagnet E5 is connected with a master controller; the energy utilization electromagnetic valve comprises a switch electromagnet E6, and the switch electromagnet E6 is connected with a master controller;

a left electromagnetic clutch is arranged between the left traveling motor and the auxiliary drive axle, a right electromagnetic clutch is arranged between the right traveling motor and the auxiliary drive axle, and the left electromagnetic clutch and the right electromagnetic clutch are respectively connected with a master controller;

and the whole vehicle chassis is provided with an inclination angle sensor, and the inclination angle sensor is connected with a master controller.

A control method of a boom type aerial work platform hybrid driving walking system comprises the following steps:

step one, equipment debugging: confirming the quantity of the walking motor assemblies and the walking motors, and inputting the quantity of the walking motor bodies as m and the quantity of the walking motors as h into a master controller; recording parameters into a master controller, wherein the parameters comprise a traveling motor critical torque value T, a traveling motor critical temperature value T1, a driving motor critical temperature value T2, an inclination angle sensor critical angle value alpha, a hydraulic pump displacement q1, a hydraulic pump efficiency value eta 1, a single traveling motor displacement q2, a traveling motor efficiency value eta 2, a traveling speed reducer reduction ratio N, an adjustment coefficient K and a driving motor set rotating speed value N' turns/s;

step two, initial braking: when the master controller does not receive a control signal of the operating device, the master controller controls the traveling motor braking device to enter an initial braking state through the traveling motor braking controller, the traveling motor body and the driving motor body do not work at the same time, a switch electromagnet E1, a switch electromagnet E2, a switch electromagnet E3, a switch electromagnet E4, a switch electromagnet E5 and a switch electromagnet E6 of the control valve assembly are not electrified, and the whole vehicle is in the initial braking state;

step three, selecting a walking mode: an operator selects a walking mode through the operation device, the walking mode comprises an economic mode, a climbing mode and an intelligent walking mode, the master controller executes the corresponding walking mode according to a control signal output by the operation device, the parameters input in the step one and the measured value of the inclination angle sensor, the economic mode enters the step four, the climbing gear mode enters the step five, and the intelligent walking mode enters the step six;

step four, an economic mode: when the absolute value of the tilt angle sensor is less than alpha, the walking motor is in a flat ground walking working condition, the left electromagnetic clutch and the right electromagnetic clutch cannot be electrically disconnected, and the main controller controls the walking motor body to rotate forwards or reversely according to forward or backward signals output by the operating device; when the operation device simultaneously outputs a steering signal, the master controller starts the driving motor body to rotate in N' turns/s, the steering control electromagnetic valve selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the switch electromagnet E6 of the energy utilization electromagnetic valve is electrified, and hydraulic energy in the energy accumulator enters the steering control electromagnetic valve through the energy utilization electromagnetic valve; when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is larger than 0, and the vehicle is in a reverse slope descending working condition of a ramp when moving downwards, the left electromagnetic clutch and the right electromagnetic clutch are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve is powered when the operating device outputs a backward signal, and the energy recovery electromagnetic valve is opened to store energy for the energy accumulator; the main controller controls the walking motor body to execute backward steering and rotating speed; when the operation device simultaneously outputs a steering signal, the master controller starts the driving motor body to rotate in N' turns/s, the steering control electromagnetic valve selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the switch electromagnet E6 of the energy utilization electromagnetic valve is electrified, and hydraulic energy in the energy accumulator enters the steering control electromagnetic valve through the energy utilization electromagnetic valve; when the operating device outputs a forward signal, the vehicle brakes and returns to the third step;

when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is smaller than 0, and the ramp is in a positive downhill working condition when the vehicle descends, the left electromagnetic clutch and the right electromagnetic clutch are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve is powered when the operating device outputs a forward signal, and the energy recovery electromagnetic valve is opened to store energy for the energy accumulator; the main controller controls the walking motor body to execute forward steering and rotating speed; when the operation device simultaneously outputs a steering signal, the master controller starts the driving motor body to rotate in N' turns/s, the steering control electromagnetic valve selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the switch electromagnet E6 of the energy utilization electromagnetic valve is electrified, and hydraulic energy in the energy accumulator enters the steering control electromagnetic valve through the energy utilization electromagnetic valve; when the operation device outputs a backward signal, the vehicle brakes and returns to the third step;

step five, climbing mode: the main controller controls the walking motor body to rotate forwards or backwards according to the forward or backward signal output by the operating device; the main controller starts the driving motor body, the left electromagnetic clutch and the right electromagnetic clutch are electrically connected, and the traveling control electromagnetic valve selects the switch electromagnet E3 or the switch electromagnet E4 to be electrified according to a forward or backward signal output by the operating device; the switch electromagnet E6 is electrified, energy is opened in one direction by utilizing an electromagnetic valve, and hydraulic energy in the energy accumulator enters the walking control electromagnetic valve by utilizing the electromagnetic valve and the steering priority proportional valve; the main controller calculates a rotating speed calculation value N of the driving motor body according to the rotating speed of the walking motor body; the main controller controls the actual measurement rotating speed value of the driving motor body to reach a rotating speed calculation value N; the calculation method of the rotating speed calculation value N of the driving motor body comprises the following steps:

acquiring the rotating speeds N1 and N2 … Nm of each walking motor body through a walking motor rotating speed sensor; the calculated value N of the rotating speed of the driving motor is

In the formula, N is a calculated value of the rotating speed of the driving motor, N1 and N2 … Nm are rotating speed values of each walking motor body, q1 is the displacement of the hydraulic pump, eta 1 is the efficiency value of the hydraulic pump, q2 is the displacement of a single walking motor, eta 2 is the efficiency value of the walking motor, N is the reduction ratio of the walking speed reducer, m is the number of the walking motor bodies, and h is the number of the walking motors;

when the steering is carried out in the walking process and the operation device outputs a steering signal, the steering control electromagnetic valve selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, and the master controller calculates a rotating speed calculation value N 'of the driving motor body according to the rotating speed of the walking motor body and the set rotating speed value N' of the driving motor; the main controller controls the actually measured rotating speed value of the driving motor body to reach a rotating speed calculation value N;

the calculation method of the rotating speed calculation value N' of the driving motor body is as follows:

acquiring the rotating speeds N1 and N2 … Nm of each walking motor body through a walking motor rotating speed sensor; the calculated value N' of the rotating speed of the driving motor is

In the formula, N 'is a calculated value of the rotating speed of the driving motor, N1 and N2 … Nm are rotating speed values of each walking motor body, q1 is the displacement of the hydraulic pump, eta 1 is the efficiency value of the hydraulic pump, q2 is the displacement of a single walking motor, eta 2 is the efficiency value of the walking motor, N is the reduction ratio of the walking speed reducer, N' is a set rotating speed value of the driving motor, m is the number of the walking motor bodies, and h is the number of the walking motors; step six, an intelligent walking mode: when the walking motor body torque value measured by the walking motor torque sensor is greater than or equal to the walking motor critical torque value T, the master controller executes the step five, and when the walking motor body torque value measured by the walking motor torque sensor is smaller than the walking motor critical torque value T, the master controller executes the step four;

step seven, parking braking: when the operating device has no signal output, the main controller controls the walking motor braking device to recover the braking state through the walking motor braking controller, the walking motor body and the driving motor body do not work at the same time, the switch electromagnet E1, the switch electromagnet E2, the switch electromagnet E3, the switch electromagnet E4, the switch electromagnet E5 and the switch electromagnet E6 of the control valve assembly are not powered on, and the whole vehicle is in a parking braking state.

Preferably, in order to avoid motor damage caused by overhigh running temperatures of the walking motor body and the driving motor, when the temperature value of the walking motor body measured by the walking motor temperature sensor is greater than or equal to the walking motor critical temperature value T1, the master controller sends out an alarm signal, and simultaneously the master controller controls the walking motor controller to cut off the power supply input of the walking motor body, so that the walking motor braking device enters a braking state;

when the temperature value measured by the driving motor temperature sensor is greater than or equal to the driving motor critical temperature value T2, the master controller sends an alarm signal, and simultaneously the master controller controls the driving motor controller to cut off the power input of the driving motor body, so that the walking motor braking device enters a braking state.

Has the advantages that: under the economic mode, when the whole vehicle is in a non-downhill walking working condition, the whole vehicle is powered by the walking motor assembly, and at the moment, the walking system has high efficiency, saves energy and is stably controlled. Under the climbing mode, the auxiliary driving axle provides auxiliary driving force for the traveling system under the action of the traveling motor, the climbing performance of the whole vehicle is obviously improved under the condition of lower cost, the driving effect is better, and the vehicle can easily climb the slope without sliding. Under the intelligent walking mode, the master controller judges according to the input signal of the walking motor torque sensor, automatically completes the automatic switching of the two modes in the walking process, and reduces the driving difficulty.

Under the economic mode and the intelligent walking mode, when the whole vehicle is in a downhill walking working condition, the master controller controls the electromagnetic clutch to be electrified according to the signals of the inclination angle sensor, so that the walking motor rotates along with the wheels, and on one hand, partial braking torque can be provided, and the downhill speed is stable and is not out of control; on the other hand, a part of gravitational potential energy can be recovered and stored in the energy accumulator, and the response speed of the walking motor and the steering oil cylinder is improved when the hydraulic system works.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a block diagram of a first embodiment of a control system of the present invention;

FIG. 3 is a block diagram of a control system according to a second embodiment of the present invention;

FIG. 4 is a hydraulic schematic of the control valve assembly of the present invention;

FIG. 5 is a schematic diagram of an angle signal output by the tilt sensor of the present invention;

FIG. 6 is a logic diagram of the control system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example one

As shown in fig. 1 and 2, a boom type aerial work platform hybrid drive traveling system comprises a whole vehicle chassis 1, an axle 2, a steering system 3, a power assembly 4 and a control assembly 5; the axle 2 is arranged at the bottom of the whole vehicle chassis 1, the steering system 3 is connected with the axle 2, the power assembly 4 respectively provides power for the axle 2 and the steering system 3, and the control assembly 5 controls the power output of the power assembly 4; the method is characterized in that: the axle 2 comprises a main drive axle 21 and an auxiliary drive axle 22;

the power assembly 4 comprises a storage battery 41, a walking motor assembly 42, a driving motor assembly 43, a hydraulic pump 44, a walking motor 45 and an oil tank 46;

the control assembly 5 comprises an operating device 51, a master controller 52 and a control valve assembly 53;

the steering system 3 comprises a steering connecting rod 31 and a steering oil cylinder 32;

the walking motor assembly 42 provides driving force for the main drive axle 21, the walking motor 45 provides driving force for the auxiliary drive axle 22, and the steering oil cylinder 32 drives the auxiliary drive axle 22 to steer through the steering connecting rod 31;

the storage battery 41 respectively provides electric power for the walking motor assembly 42 and the driving motor assembly 43, the driving motor assembly 43 drives the hydraulic pump 44 to pump hydraulic oil in the oil tank 46 into the control valve assembly 53, and the hydraulic pump 44 is respectively connected with the walking motor 45 and the steering oil cylinder 32 through hydraulic hoses by virtue of the control valve assembly 53;

the operation device 51 controls the walking motor assembly 42, the driving motor assembly 43 and the control valve assembly 53 respectively through the master controller 52.

The walking motor assembly 42 comprises a walking motor body 421, a walking motor controller 422, a walking motor temperature sensor 423, a walking motor braking device 424, a walking motor speed sensor 425 and a walking motor torque sensor 426, and the storage battery 41 supplies power to the walking motor body 421 through the walking motor controller 422; the main controller 52 controls the running of the walking motor body 421 through the walking motor controller 422; the walking motor temperature sensor 423, the walking motor rotating speed sensor 425 and the walking motor torque sensor 426 are simultaneously connected with the walking motor controller 422; the walking motor braking device 424 acts on the walking motor body 421, and the walking motor braking device 424 is controlled by the walking motor controller 422.

The driving motor assembly 43 comprises a driving motor body 431, a driving motor controller 432, a driving motor temperature sensor 433 and a driving motor speed sensor 434, and the storage battery 41 supplies power to the driving motor body 431 through the driving motor controller 432; the master controller 52 controls the operation of the driving motor body 431 through the driving motor controller 432; the driving motor temperature sensor 433 and the driving motor rotating speed sensor 434 are connected with the driving motor controller 432 at the same time; the driving motor body 431 drives the hydraulic pump 44 to operate.

A left electromagnetic clutch 453 is arranged between the left traveling motor 451 and the auxiliary drive axle 22, a right electromagnetic clutch 454 is arranged between the right traveling motor 452 and the auxiliary drive axle 22, and the left electromagnetic clutch 453 and the right electromagnetic clutch 454 are respectively connected with the main controller 52;

the whole vehicle chassis 1 is provided with an inclination angle sensor 6, and the inclination angle sensor 6 is connected with a master controller 52.

Example two

As shown in fig. 1 and 3, a boom type aerial work platform hybrid drive traveling system comprises a whole vehicle chassis 1, an axle 2, a steering system 3, a power assembly 4 and a control assembly 5; the axle 2 is arranged at the bottom of the whole vehicle chassis 1, the steering system 3 is connected with the axle 2, the power assembly 4 respectively provides power for the axle 2 and the steering system 3, and the control assembly 5 controls the power output of the power assembly 4; the method is characterized in that: the axle 2 comprises a main drive axle 21 and an auxiliary drive axle 22;

the power assembly 4 comprises a storage battery 41, a walking motor assembly 42, a driving motor assembly 43, a hydraulic pump 44, a walking motor 45 and an oil tank 46;

the control assembly 5 comprises an operating device 51, a master controller 52 and a control valve assembly 53;

the steering system 3 comprises a steering connecting rod 31 and a steering oil cylinder 32;

the walking motor assembly 42 provides driving force for the main drive axle 21, the walking motor 45 provides driving force for the auxiliary drive axle 22, and the steering oil cylinder 32 drives the auxiliary drive axle 22 to steer through the steering connecting rod 31;

the storage battery 41 respectively provides electric power for the walking motor assembly 42 and the driving motor assembly 43, the driving motor assembly 43 drives the hydraulic pump 44 to pump hydraulic oil in the oil tank 46 into the control valve assembly 53, and the hydraulic pump 44 is respectively connected with the walking motor 45 and the steering oil cylinder 32 through hydraulic hoses by virtue of the control valve assembly 53;

the operation device 51 controls the walking motor assembly 42, the driving motor assembly 43 and the control valve assembly 53 respectively through the master controller 52.

The main drive axle 21 is provided with two groups of same walking motor assemblies 42, the two groups of same walking motor assemblies 42 respectively drive wheels on two sides of the main drive axle 21 to rotate through the same walking speed reducer 23, and the storage battery 41 respectively provides power for the two groups of same walking motor assemblies 42.

The driving motor assembly 43 comprises a driving motor body 431, a driving motor controller 432, a driving motor temperature sensor 433 and a driving motor speed sensor 434, and the storage battery 41 supplies power to the driving motor body 431 through the driving motor controller 432; the master controller 52 controls the operation of the driving motor body 431 through the driving motor controller 432; the driving motor temperature sensor 433 and the driving motor rotating speed sensor 434 are connected with the driving motor controller 432 at the same time; the driving motor body 431 drives the hydraulic pump 44 to operate.

A left electromagnetic clutch 453 is arranged between the left traveling motor 451 and the auxiliary drive axle 22, a right electromagnetic clutch 454 is arranged between the right traveling motor 452 and the auxiliary drive axle 22, and the left electromagnetic clutch 453 and the right electromagnetic clutch 454 are respectively connected with the main controller 52;

the whole vehicle chassis 1 is provided with an inclination angle sensor 6, and the inclination angle sensor 6 is connected with a master controller 52.

As shown in fig. 4, the control valve assembly 53 includes a steering priority proportional valve 531, a steering control solenoid valve 532 and a traveling control solenoid valve 533, the high-pressure oil generated by the hydraulic pump 44 flows into the steering control solenoid valve 532 and the traveling control solenoid valve 533 through the steering priority proportional valve 531, the oil passing through the steering control solenoid valve 532 enters the steering cylinder 32, and the oil passing through the traveling control solenoid valve 533 enters the traveling motor 45;

the steering priority proportional valve 531 comprises a steering end oil outlet 5311, a steering end control oil cavity 5312, a walking end oil outlet 5313 and a walking end control oil cavity 5314, and a pre-tightening spring 5315 is arranged in the steering end control oil cavity 5312;

a first damping hole 5316 is arranged on a feedback oil path between a steering end oil outlet 5311 of the steering priority proportional valve 531 and a walking end control oil cavity 5314, and a second damping hole 5317 and a third damping hole 5318 which are connected in series are arranged on an oil path between a steering end control oil cavity 5312 of the steering priority proportional valve 531 and a feedback oil port of the steering control electromagnetic valve 532;

and a first overflow valve 534 connected with the oil tank 46 is arranged on an oil path between the second damping hole 5317 and the third damping hole 5318.

The walking control solenoid valve 533 is a reversing valve of a three-position four-way valve, and four oil ports are communicated with each other when the walking control solenoid valve 533 is in a middle position; the high-pressure hydraulic pressure passing through the steering priority proportional valve 531 drives the travel motor 45 to rotate through the travel control solenoid valve 533; a shuttle valve 535 is arranged between the two oil ports of the walking motor 45, the two oil ports of the walking motor 45 are respectively connected with the two selective oil ports of the shuttle valve 535, the oil outlet of the shuttle valve 535 is connected with an energy recovery electromagnetic valve 536, and the energy recovery electromagnetic valve 536 is connected with an accumulator 537; the accumulator 537 is communicated with an oil inlet pipeline of the steering priority proportional valve 531 through an energy utilization electromagnetic valve 538.

A flow distributing and collecting valve 539 is arranged between the traveling control solenoid valve 533 and the traveling motor 45, and the traveling motor 45 comprises a left traveling motor 451 and a right traveling motor 452;

the oil port a of the left walking motor 451 and the oil port B of the right walking motor 452 are respectively communicated with two branch ports of the flow dividing and collecting valve 539, the oil port B of the left walking motor 451 and the oil port a of the right walking motor 452 are converged to form a converging port C, and the converging port C is respectively connected with the walking control solenoid valve 533 and the shuttle valve 535.

The steering control electromagnetic valve 532 comprises a switch electromagnet E1 and a switch electromagnet E2, and the switch electromagnet E1 and the switch electromagnet E2 are connected with the master controller 52; the walking control solenoid valve 533 comprises a switch electromagnet E3 and a switch electromagnet E4, and the switch electromagnet E3 and the switch electromagnet E4 are connected with the master controller 52; the energy recovery electromagnetic valve 536 comprises a switch electromagnet E5, and the switch electromagnet E5 is connected with the master controller 52; the energy utilization solenoid valve 538 comprises a switching solenoid E6, and the switching solenoid E6 is connected with the master controller 52;

as shown in fig. 5 and 6, a control method of a boom type aerial work platform hybrid drive traveling system includes the following steps: step one, equipment debugging: confirming that the number of the walking motor assemblies is m and the number of the walking motors is h, wherein m is 1 and h is 2 in the first embodiment; in the second embodiment, m is 2, h is 2, and the values of m and h are recorded into the total controller 52; recording parameters into a master controller 52, wherein the parameters comprise a traveling motor critical torque value T, a traveling motor critical temperature value T1, a driving motor critical temperature value T2, a tilt angle sensor critical angle value alpha, a hydraulic pump displacement q1, a hydraulic pump efficiency value eta 1, a single traveling motor displacement q2, a traveling motor efficiency value eta 2, a traveling speed reducer reduction ratio N, an adjustment coefficient K and a driving motor set rotating speed value N' turns/s;

step two, initial braking: when the master controller 52 does not receive the control signal of the operating device 51, the master controller 52 controls the traveling motor braking device 424 to enter an initial braking state through the traveling motor braking controller 422, meanwhile, the traveling motor body 421 and the driving motor body 431 do not work, the switch electromagnet E1, the switch electromagnet E2, the switch electromagnet E3, the switch electromagnet E4, the switch electromagnet E5 and the switch electromagnet E6 of the control valve assembly 53 are not powered, and the whole vehicle is in the initial braking state; step three, selecting a walking mode: an operator selects a walking mode through the operation device 51, the walking mode comprises an economic mode, a climbing mode and an intelligent walking mode, the master controller 52 executes the corresponding walking mode according to a control signal output by the operation device 51, the parameters input in the step one and the actual measurement value of the tilt sensor 6, the economic mode enters the step four, the climbing mode enters the step five, and the intelligent walking mode enters the step six;

step four, an economic mode: when the absolute value of the tilt sensor is less than alpha, the walking motor body 421 is controlled to rotate forwards or backwards by the master controller 52 according to the forward or backward signal output by the operating device 51; when the operation device 51 outputs a steering signal at the same time, the master controller 52 starts the driving motor body 431 to rotate in N' turns/s, the steering control solenoid valve 532 selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the energy is electrified by utilizing the switch electromagnet E6 of the solenoid valve 538, and the hydraulic energy in the accumulator 537 enters the steering control solenoid valve 532 by utilizing the energy and the solenoid valve 538;

when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is larger than 0, and the vehicle is in a slope reverse downhill working condition when moving downwards, the left electromagnetic clutch 453 and the right electromagnetic clutch 454 are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve 536 is electrically connected when the operating device 51 outputs a backward signal, and the energy recovery electromagnetic valve 536 is opened to store energy for the energy accumulator 537; the main controller 52 controls the walking motor body 421 to execute backward rotation and rotation speed; when the operation device 51 outputs a steering signal at the same time, the master controller 52 starts the driving motor body 431 to rotate in N' turns/s, the steering control solenoid valve 532 selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the energy is electrified by utilizing the switch electromagnet E6 of the solenoid valve 538, and the hydraulic energy in the accumulator 537 enters the steering control solenoid valve 532 by utilizing the energy and the solenoid valve 538; when the operation device 51 outputs the forward signal, the vehicle is braked and returns to the step three;

when the absolute value of the inclination angle sensor is larger than or equal to alpha, the value of the inclination angle sensor is smaller than 0, and the vehicle is in a positive downhill working condition when going down, the left electromagnetic clutch 453 and the right electromagnetic clutch 454 are electrically connected, the switch electromagnet E5 of the energy recovery electromagnetic valve 536 is electrically connected when the operating device 51 outputs a forward signal, and the energy recovery electromagnetic valve 536 is opened to store energy for the energy accumulator 537; the main controller 52 controls the walking motor body 421 to perform forward steering and rotating speed; when the operation device 51 outputs a steering signal at the same time, the master controller 52 starts the driving motor body 431 to rotate in N' turns/s, the steering control solenoid valve 532 selects the switch electromagnet E1 or the switch electromagnet E2 to be electrified according to the steering signal, meanwhile, the energy is electrified by utilizing the switch electromagnet E6 of the solenoid valve 538, and the hydraulic energy in the accumulator 537 enters the steering control solenoid valve 532 by utilizing the energy and the solenoid valve 538; when the operation device 51 outputs the reverse signal, the vehicle is braked and returns to the step three;

step five, climbing mode: the main controller 52 controls the walking motor body 421 to rotate forward or backward according to the forward or backward signal output by the operation device 51; the main controller 52 starts the driving motor body 431, and simultaneously the left electromagnetic clutch 453 and the right electromagnetic clutch 454 are electrically connected, and the traveling control electromagnetic valve 533 selects the switch electromagnet E3 or the switch electromagnet E4 to be electrically connected according to the forward or backward signal output by the operating device 51; the switch electromagnet E6 is electrified, the energy is opened in one direction by using the electromagnetic valve 538, and the hydraulic energy in the energy accumulator 537 enters the walking control electromagnetic valve 533 by using the electromagnetic valve 538 and the steering priority proportional valve 531; the main controller 52 calculates a rotation speed calculation value N of the driving motor body 431 according to the rotation speed of the walking motor body 421; the master controller 52 controls the actual measurement rotating speed value of the driving motor body 431 to reach a rotating speed calculation value N;

the calculation method of the rotating speed calculation value N of the driving motor body 431 is as follows:

the rotating speeds N1 and N2 … Nm of each walking motor body 421 are obtained through a walking motor rotating speed sensor 425; the calculated value N of the rotating speed of the driving motor is

In the formula, N is a calculated value of the rotating speed of the driving motor, N1, N2 … Nm are rotating speed values of each walking motor body 421, q1 is a hydraulic pump displacement, η 1 is a hydraulic pump efficiency value, q2 is a single walking motor displacement, η 2 is a walking motor efficiency value, N is a walking speed reducer reduction ratio, m is the number of the walking motor bodies, and h is the number of the walking motors;

when the steering is performed during walking and the operation device 51 outputs a steering signal, the steering control solenoid valve 532 selects the switch electromagnet E1 or the switch electromagnet E2 to be powered according to the steering signal, and the master controller 52 calculates a rotating speed calculation value N 'of the driving motor body 431 according to the rotating speed of the walking motor body 421 and the set rotating speed value N' of the driving motor; the master controller 52 controls the actually measured rotating speed value of the driving motor body 431 to reach a rotating speed calculated value N ";

the calculation method of the rotation speed calculation value N ″ of the driving motor body 431 is as follows:

the rotating speeds N1 and N2 … Nm of each walking motor body 421 are obtained through a walking motor rotating speed sensor 425; the calculated value N' of the rotating speed of the driving motor is

In the formula, N "is a calculated value of the rotating speed of the driving motor, N1, N2 … Nm are rotating speed values of the respective walking motor bodies 421, q1 is a hydraulic pump displacement, η 1 is a hydraulic pump efficiency value, q2 is a single walking motor displacement, η 2 is a walking motor efficiency value, N is a walking speed reducer reduction ratio, N' is a set rotating speed value of the driving motor, m is the number of the walking motor bodies, and h is the number of the walking motors;

step six, an intelligent walking mode: when the walking motor body 421 torque value measured by the walking motor torque sensor 426 is greater than or equal to the walking motor critical torque value T, the master controller 52 executes the step five, and when the walking motor body 421 torque value measured by the walking motor torque sensor 426 is smaller than the walking motor critical torque value T, the master controller 52 executes the step four;

step seven, parking braking: when the operating device 51 has no signal output, the master controller 52 controls the traveling motor braking device 424 to recover the braking state through the traveling motor braking controller 422, the traveling motor body 421 and the driving motor body 431 do not work at the same time, the switch electromagnet E1, the switch electromagnet E2, the switch electromagnet E3, the switch electromagnet E4, the switch electromagnet E5 and the switch electromagnet E6 of the control valve assembly 53 are not powered, and the whole vehicle is in the parking braking state.

When the temperature value of the walking motor body 421 measured by the walking motor temperature sensor 423 is greater than or equal to the walking motor critical temperature value T1, the master controller 52 sends an alarm signal, and meanwhile, the master controller 52 controls the walking motor controller 422 to cut off the power supply input of the walking motor body 421, and the walking motor braking device 424 enters a braking state;

when the temperature value measured by the driving motor temperature sensor 433 is greater than or equal to the driving motor critical temperature value T2, the master controller 52 sends an alarm signal, and meanwhile, the master controller 52 controls the driving motor controller 432 to cut off the power input of the driving motor body 431, so that the walking motor braking device 424 enters a braking state.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.