阅读说明：本技术 一种液压行走装置及其控制方法 (Hydraulic walking device and control method thereof ) 是由 李长节 胡社来 叶茂 熊正强 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种液压行走装置及其控制方法,属于船舶运输技术领域,解决了现有大型液压油缸运输距离有限,且大型液压油缸的制造工艺复杂、重量大、使用成本高的技术问题。液压行走装置包括导轨、液压机构、第一定位机构以及第二定位机构,导轨上间隔设置有多个定位部；液压机构包括滑动设置在导轨上的第一油缸以及设置在第一油缸内,并可沿第一油缸的轴向往返运动的第一活塞杆；分别设置在液压机构的两端,第一定位机构设置在第一油缸的固定端,第二定位机构设置在第一油缸的第一活塞杆的端部上,第一定位机构与第二定位机构均可切换地与定位部连接。本发明降低了船舶运输的重量和各项成本,且运输距离大幅增长。(The invention discloses a hydraulic traveling device and a control method thereof, belongs to the technical field of ship transportation, and solves the technical problems that the existing large hydraulic oil cylinder is limited in transportation distance, and the large hydraulic oil cylinder is complex in manufacturing process, heavy in weight and high in use cost. The hydraulic walking device comprises a guide rail, a hydraulic mechanism, a first positioning mechanism and a second positioning mechanism, wherein a plurality of positioning parts are arranged on the guide rail at intervals; the hydraulic mechanism comprises a first oil cylinder arranged on the guide rail in a sliding manner and a first piston rod arranged in the first oil cylinder and capable of moving back and forth along the axial direction of the first oil cylinder; the two positioning mechanisms are respectively arranged at two ends of the hydraulic mechanism, the first positioning mechanism is arranged at the fixed end of the first oil cylinder, the second positioning mechanism is arranged at the end part of the first piston rod of the first oil cylinder, and the first positioning mechanism and the second positioning mechanism are connected with the positioning portions in a switchable manner. The invention reduces the weight and various costs of ship transportation, and the transportation distance is greatly increased.)

1. A hydraulic traveling apparatus, comprising:

the guide rail is provided with a plurality of positioning parts at intervals;

the hydraulic mechanism comprises a first oil cylinder arranged on the guide rail in a sliding mode and a first piston rod arranged in the first oil cylinder and capable of moving back and forth along the axial direction of the first oil cylinder;

positioning mechanism, two positioning mechanism is first positioning mechanism and second positioning mechanism respectively, sets up respectively hydraulic pressure mechanism's both ends, first positioning mechanism sets up the stiff end of first hydro-cylinder, second positioning mechanism sets up on the tip of the first piston rod of first hydro-cylinder, first positioning mechanism with second positioning mechanism all changeable ground with location portion connects.

2. The hydraulic traveling device according to claim 1, wherein the hydraulic mechanism further comprises a hydraulic pump station, the first cylinder is provided with a first oil inlet pipe and a first oil return pipe, the first oil inlet pipe is connected with the oil outlet pipe of the hydraulic pump station through a hose, the first oil return pipe is connected with the oil return pipe of the hydraulic pump station, the first oil inlet pipe is provided with a first oil inlet valve, and the first oil return pipe is provided with a first oil return valve.

3. The hydraulic walking device of claim 2, wherein the positioning mechanism comprises a second cylinder, a second piston rod movably connected in the second cylinder, and a spring for returning the second piston rod, and an end of the second piston rod is operatively connected to the positioning portion.

4. The hydraulic walking device according to claim 3, wherein a second oil inlet pipe and a second oil return pipe are arranged on the second oil cylinder, the second oil inlet pipe is connected with the oil outlet pipe of the hydraulic pump station, the second oil return pipe is connected with the oil return pipe of the hydraulic pump station, a second oil inlet valve is arranged on the second oil inlet pipe, and a second oil return valve is arranged on the second oil return pipe.

5. The hydraulic traveling device according to claim 4, wherein the spring is disposed in the second cylinder, the spring is an extension spring, and when the spring is in a natural state, the end of the second piston rod does not contact the stopper.

6. The hydraulic walking device of claim 1, wherein the positioning mechanism further comprises a guide block, the bottom surface of the guide block is flush with the bottom surface of the first oil cylinder, the guide block is fixedly connected with the hydraulic mechanism, and the second oil cylinder is arranged on the guide block.

7. The hydraulic traveling apparatus according to claim 1, wherein a plurality of the positioning portions are provided on the guide rail at equal intervals in a longitudinal direction of the guide rail.

8. The hydraulic walking device according to claim 7, wherein the positioning portion is a positioning groove, and an end of the second piston rod is connectable to the positioning groove.

9. The hydraulic walking device of claim 1, further comprising a controller, wherein the hydraulic mechanism and the positioning mechanism are both connected to the controller.

10. A control method of a hydraulic traveling apparatus, applied to the hydraulic traveling apparatus according to any one of claims 1 to 9, comprising the steps of:

connecting the first positioning mechanism with the positioning part at the corresponding position to separate the second positioning mechanism from the positioning part at the corresponding position;

extending a first piston rod of the hydraulic mechanism until the second positioning mechanism is aligned with a positioning part, so that the hydraulic mechanism is kept in the current state;

connecting the second positioning mechanism with the positioning part at the corresponding position to separate the first positioning mechanism from the positioning part at the corresponding position;

enabling a first piston rod of the hydraulic mechanism to contract, and enabling the first oil cylinder to move along the guide rail until the first positioning mechanism is aligned with one positioning part, so that the hydraulic mechanism keeps the current state, and the hydraulic walking device finishes one-time walking operation;

and repeating the steps to enable the first oil cylinder and the guide rail to travel for a long distance.

Technical Field

The invention belongs to the technical field of ship transportation, and particularly relates to a hydraulic traveling device and a control method thereof.

Background

In the technical field of ship transportation at present, hydraulic traveling mechanisms used for transporting large buoys or other large devices realize the transportation of objects to be transported through the stroke of piston rods in hydraulic devices. The length of the hydraulic oil cylinder is increased along with the distance of transportation requirements, and a large oil cylinder is required when large objects to be transported are transported, but the transportation distance of the large hydraulic oil cylinder is limited, and the large hydraulic oil cylinder is complex in manufacturing process, heavy and high in use cost.

Disclosure of Invention

The hydraulic walking device and the control method thereof aim at solving the technical problems that the existing large hydraulic oil cylinder is limited in transportation distance, the manufacturing process of the large hydraulic oil cylinder is complex, the weight is large and the use cost is high at least to a certain extent.

In order to achieve the above purpose, the technical scheme of the application is as follows:

a hydraulic traveling device comprises a guide rail, wherein a plurality of positioning parts are arranged on the guide rail at intervals;

the hydraulic mechanism comprises a first oil cylinder arranged on the guide rail in a sliding mode and a first piston rod arranged in the first oil cylinder and capable of moving back and forth along the axial direction of the first oil cylinder;

positioning mechanism, two positioning mechanism is first positioning mechanism and second positioning mechanism respectively, sets up respectively hydraulic pressure mechanism's both ends, first positioning mechanism sets up the stiff end of first hydro-cylinder, second positioning mechanism sets up on the tip of the first piston rod of first hydro-cylinder, first positioning mechanism with second positioning mechanism all changeable ground with location portion connects.

In some embodiments, the hydraulic mechanism further includes a hydraulic pump station, the first oil cylinder is provided with a first oil inlet pipe and a first oil return pipe, the first oil inlet pipe is connected with the oil outlet pipe of the hydraulic pump station through a hose, the first oil return pipe is connected with the oil return pipe of the hydraulic pump station, the first oil inlet pipe is provided with a first oil inlet valve, and the first oil return pipe is provided with a first oil return valve.

In some embodiments, the first positioning mechanism and the second positioning mechanism are identical in structure, the positioning mechanism includes a second cylinder, a second piston rod movably connected in the second cylinder, and a spring for returning the second piston rod, and an end of the second piston rod is operatively connected to the positioning portion.

In some embodiments, be equipped with the second on the second hydro-cylinder and advance oil pipe and second oil return pipe, the second advance oil pipe with hydraulic power unit's play oil union coupling, the second return oil pipe with hydraulic power unit's time oil union coupling, the second advances to be equipped with the second on the oil pipe and advances the oil valve, the second returns to be equipped with the second on the oil pipe and returns the oil valve.

In some embodiments, the spring is disposed in the second cylinder, the spring is an extension spring, and when the spring is in a natural state, the end of the second piston rod does not contact the limiting portion.

In some embodiments, the positioning mechanism further comprises a guide block, a bottom surface of the guide block is flush with a bottom surface of the first oil cylinder, the guide block is fixedly connected with the hydraulic mechanism, and the second oil cylinder is arranged on the guide block.

In some embodiments, a plurality of the positioning parts are provided on the guide rail at equal intervals in a length direction of the guide rail.

In some embodiments, the positioning portion is a positioning groove, and an end of the second piston rod may be connected to the positioning groove.

In some embodiments, the hydraulic traveling apparatus further includes a controller, and the hydraulic mechanism and the positioning mechanism are both connected to the controller.

A control method of a hydraulic walking device is applied to the hydraulic walking device and comprises the following steps:

connecting the first positioning mechanism with the positioning part at the corresponding position to separate the second positioning mechanism from the positioning part at the corresponding position;

extending a first piston rod of the hydraulic mechanism until the second positioning mechanism is aligned with a positioning part, so that the hydraulic mechanism is kept in the current state;

connecting the second positioning mechanism with the positioning part at the corresponding position to separate the first positioning mechanism from the positioning part at the corresponding position;

enabling a first piston rod of the hydraulic mechanism to contract, and enabling the first oil cylinder to move along the guide rail until the first positioning mechanism is aligned with one positioning part, so that the hydraulic mechanism keeps the current state, and the hydraulic walking device finishes one-time walking operation;

and repeating the steps to enable the first oil cylinder and the guide rail to travel for a long distance.

The embodiment of the application has at least the following beneficial effects:

according to the technical scheme, the hydraulic walking device achieves walking of the hydraulic mechanism on the guide rail through the two positioning mechanisms, the length of the first piston rod is far smaller than that of the piston rod of the hydraulic device with the oil cylinder fixed in the prior art under the condition that the walking distance of the end portion of the hydraulic mechanism meets the transportation requirement of the hydraulic walking device, so that the hydraulic walking device is high in strength when bearing or dragging other devices with large weight and not prone to damage, the bearing capacity of the hydraulic walking device is guaranteed, the weight and various costs of the hydraulic walking device are correspondingly reduced, the transportation distance of the hydraulic walking device is greatly increased, and the hydraulic walking device is particularly suitable for transportation of articles with large weight.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a hydraulic traveling apparatus according to embodiment 1 of the present application;

FIG. 2 is a schematic view illustrating a state in which the hydraulic traveling apparatus of FIG. 1 is used;

FIG. 3 is a schematic view showing another state of use of the hydraulic traveling apparatus of FIG. 1;

FIG. 4 shows a schematic structural view of the positioning mechanism of FIG. 1;

fig. 5 is a schematic flow chart showing a control method of a hydraulic traveling apparatus according to embodiment 2 of the present application;

the labels in the figure are: 100-guide rail, 101-positioning groove, 200-hydraulic mechanism, 201-first oil cylinder, 202-first piston rod, 203-hydraulic pump station, 204-hose, 300-positioning mechanism, 301-second oil cylinder, 302-second piston rod, 303-extension spring, 304-guide block, 400-first positioning mechanism and 500-second positioning mechanism.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Fig. 1 is a schematic structural view of a hydraulic traveling apparatus according to embodiment 1 of the present application; FIG. 2 is a schematic view illustrating a state in which the hydraulic traveling apparatus of FIG. 1 is used; FIG. 3 is a schematic view showing another state of use of the hydraulic traveling apparatus of FIG. 1; FIG. 4 shows a schematic structural view of the positioning mechanism of FIG. 1;

fig. 5 is a schematic flowchart showing a control method of the hydraulic traveling apparatus according to embodiment 2 of the present application.

The application is described below with reference to specific embodiments in conjunction with the following drawings:

as shown in fig. 1 to 3, the present embodiment provides a hydraulic traveling apparatus, which includes a guide rail 100, a hydraulic mechanism 200, and two positioning mechanisms 300, wherein a plurality of positioning portions are arranged on the guide rail 100 at intervals.

Referring to fig. 1, the hydraulic mechanism 200 is slidably disposed on the guide rail 100, and a bottom surface of the hydraulic mechanism 200 and a top surface of the guide rail 100 may be both flat surfaces, and in order to further limit a traveling path of the hydraulic mechanism 200, it can be understood that a guide may be disposed on the guide rail 100, and a guide portion of the hydraulic mechanism 200 may be disposed to match the guide so that the hydraulic mechanism 200 can travel in a preset direction.

Referring to fig. 1, the hydraulic mechanism 200 includes a first cylinder 201, a first piston rod 202 movably connected in the first cylinder 201, and a hydraulic pump station 203 connected to the first cylinder 201, the hydraulic mechanism 200 has a first end and a second end along an axial direction thereof, the first piston rod 202 is located at the second end of the hydraulic mechanism 200, oil is supplied to the first cylinder 201 through the hydraulic pump station 203, and the first piston rod 202 is operable to reciprocate along an axis of the first cylinder 201 by controlling an amount of hydraulic oil in the first cylinder 201.

Referring to fig. 1 and 2, two positioning mechanisms 300 are respectively disposed at both ends of the hydraulic mechanism 200, one positioning mechanism 300 is fixedly connected to the first cylinder 201, the other positioning mechanism 300 is fixedly connected to an end of the first piston rod 202, and the positioning mechanism 300 is operatively connected to the positioning portions. When the hydraulic traveling apparatus is in a traveling state, the two positioning mechanisms 300 are not in a state of being connected to the corresponding positioning portions for a long time.

Specifically, the guide rail 100 has a head end and a tail end along the length direction thereof, the first end of the hydraulic running gear is an end close to the head end of the guide rail 100, the two positioning mechanisms 300 are respectively a first positioning mechanism 400 and a second positioning mechanism 500, referring to fig. 1-3 in sequence, the first positioning mechanism 400 is fixedly connected with the first cylinder 201, the second positioning mechanism 500 is fixedly connected with the end of the first piston rod 202, when the hydraulic running gear moves towards the tail end of the guide rail 100, the second positioning mechanism 500 is separated from the corresponding positioning portion, after the first positioning mechanism 400 is connected with the corresponding positioning portion, the hydraulic pump station 203 supplies oil to the first cylinder 201 to extend out the first piston rod 202 for a certain length and keep the same, the second positioning mechanism 500 is connected with the corresponding positioning portion at the position thereof, the first positioning mechanism 400 is separated from the corresponding positioning portion, and the hydraulic oil in the first cylinder 201 is discharged, the first piston rod 202 retracts relative to the first cylinder 201, and the second positioning mechanism 500 abuts against the positioning portion, so that the first piston rod 202 is stationary relative to the guide rail 100, and the first cylinder 201 moves towards the tail end of the guide rail 100 relative to the guide rail 100, i.e. the hydraulic walking device completes one walking.

The length of the first piston rod 202 determines the required times for the hydraulic walking device to walk on the guide rail 100 in the same distance, and considering that the present invention is mainly applied to the hoisting and transportation of large buoys, the longer the piston rod is, the weaker the strength of the piston rod is, and the longer the piston rod is, the larger the hydraulic cylinder corresponding to the length of the piston rod is, such hydraulic devices have complex processes, heavy weight, high cost, the maintenance requirements and the equipment cost are increased, in this embodiment, the length of the first piston rod 202 is much smaller than the hydraulic device in which the hydraulic cylinder is fixed in the prior art, therefore, the hydraulic walking device of this embodiment has high strength when bearing or dragging other devices with large weight, is not easy to damage, ensures the bearing capacity of the hydraulic walking device, correspondingly reduces the weight and various costs of the hydraulic walking device, and it can be understood that, in this embodiment, the specification of the hydraulic device is set individually to match the devices to be transported with different weights.

Referring to fig. 1, a first oil inlet pipe and a first oil return pipe are arranged on the first oil cylinder 201, the first oil inlet pipe is connected with an oil outlet pipe of the hydraulic pump station 203 through a hose 204, that is, the hydraulic pump station 203 can be externally arranged in this embodiment, so as to further reduce the weight of the hydraulic traveling device, it can be understood that, because the hose 204 has flexibility, the property of the hose 204 for transporting hydraulic oil is not affected by the position of the hydraulic traveling device on the guide rail 100, and the length of the hose 204 is enough for the hydraulic traveling device to travel from the head end of the guide rail 100 to the tail end of the guide rail 100.

The first oil return pipe is connected with an oil return pipe of the hydraulic pump station 203, a first oil inlet valve is arranged on the first oil inlet pipe, a first oil return valve is arranged on the first oil return pipe, the first oil inlet valve is used for controlling oil inlet of the first oil cylinder 201, and the first oil return valve is used for controlling whether hydraulic oil in the first oil cylinder 201 is discharged or not. The first oil inlet valve and the first oil return valve can be electromagnetic valves, and a return spring for retracting the first piston rod 202 into the first oil cylinder 201 is arranged in the first oil cylinder 201.

The positioning mechanism 300 may be an electromagnetic device, and the positioning portion is made of a magnetic material, and the positioning mechanism 300 is made to have magnetism by conducting electricity to the positioning mechanism 300, so that the positioning mechanism 300 is connected to the positioning portion, thereby completing positioning of the first cylinder 201 or the first piston rod 202. Referring to fig. 4, in the present embodiment, the positioning mechanism 300 includes a second cylinder 301, a second piston rod 302 movably connected in the second cylinder 301, and a spring for returning the second piston rod 302, and an end of the second piston rod 302 is operatively connected to the positioning portion. Specifically, the second piston rod 302 includes a piston slidably disposed in the second cylinder 301 and a connecting rod fixedly connected to the piston, when the spring is in a natural state, the end of the second piston rod 302 does not contact with the limiting portion, and therefore, if the spring is a compression spring, the spring is disposed on the same side as the connecting rod, when hydraulic oil in the second cylinder 301 increases, the connecting rod extends out to be connected to the positioning portion, the compression spring is compressed, and when the hydraulic oil in the second cylinder 301 is discharged, the compression spring returns to the natural state and pushes the second piston rod 302 to be separated from the connecting portion. It can be understood that if the spring is an extension spring 303, the extension spring 303 is disposed in the second cylinder 301, when the hydraulic oil in the second cylinder 301 increases, the connecting rod extends to connect with the positioning portion, the extension spring 303 is extended, and when the hydraulic oil in the second cylinder 301 is discharged, the extension spring 303 returns to a natural state and pulls the second piston rod 302 to separate from the connecting portion, thereby completing the positioning function of the positioning mechanism 300.

Referring to fig. 4, a second oil inlet pipe and a second oil return pipe are arranged on the second oil cylinder 301, the second oil inlet pipe is connected with an oil outlet pipe of the hydraulic pump station 203, the second oil return pipe is connected with an oil return pipe of the hydraulic pump station 203, namely, the positioning mechanism 300 supplies oil to the hydraulic pump station 203, the existing device is reasonably applied, a second oil inlet valve is arranged on the second oil inlet pipe, the second oil inlet valve is used for controlling whether oil of the hydraulic pump station 203 can be introduced into the second oil cylinder 301, a second oil return valve is arranged on the second oil return pipe, and the second oil return valve is used for controlling whether hydraulic oil in the second oil return valve is discharged. The second oil inlet valve and the second oil return valve can adopt electromagnetic valves so as to facilitate automatic control.

Referring to fig. 1, the plurality of positioning portions are disposed on the guide rail 100 at equal intervals along the length direction of the guide rail 100, the positioning portions may be protrusions, and then the end portion of the second piston rod 302 is provided with positioning holes, which are matched with the protrusions, so that the positioning portions can be connected with the second piston rod 302, but considering that the first cylinder 201 needs to operate along the guide rail 100, therefore, referring to fig. 1, in the present embodiment, the positioning portions are positioning grooves 101, the end portion of the second piston rod 302 can be connected with the positioning grooves 101, it can be understood that the positioning grooves 101 do not affect the operation of the first cylinder 201, and the end portion of the second piston rod 302 does not need to be reworked, the width and the length of the positioning grooves 101 are not less than those of the end portion of the second piston rod 302, so that the end portion of the second piston rod 302 can be inserted into the positioning grooves 101, and the side walls of the second piston rod 302 can be abutted against the groove walls of the positioning grooves 101.

Referring to fig. 1, the positioning mechanism 300 further includes a guide block 304, a bottom surface of the guide block 304 is flush with a bottom surface of the first cylinder 201, the guide block 304 is fixedly connected with the hydraulic mechanism 200, the second cylinder 301 is fixedly disposed on the guide block 304, and the guide block 304 increases stability of the positioning mechanism 300 so as to facilitate operation on the guide rail 100 of the hydraulic traveling device.

The hydraulic walking device further comprises a controller, the hydraulic mechanism 200 and the positioning mechanism 300 are connected with the controller to achieve automatic walking of the hydraulic walking device, specifically, an oil pump of the hydraulic pump station 203, a first oil inlet valve, a first oil return valve, a second oil inlet valve and a second oil return valve are connected with the controller, when walking and starting, the controller controls the oil pump of the hydraulic pump station 203 to output hydraulic oil, the second oil return valve of the first positioning mechanism 400 is closed, the second oil inlet valve of the first positioning mechanism 400 is opened, after the first positioning mechanism 400 is connected with the positioning portion, the second oil inlet valve of the first positioning mechanism 400 is closed, and the first positioning mechanism 400 is enabled to keep a state of being connected with the positioning portion; closing the first oil return valve, opening the first oil inlet valve, and closing the first oil inlet valve after introducing a certain amount of hydraulic oil, so that the first piston rod 202 is kept in the current state, and the extending distance of the first piston rod 202 is just right to enable the end part of the piston rod of the second positioning mechanism 500 to be positioned above one positioning part; the second oil return valve of the second positioning mechanism 500 is closed, the second oil inlet valve of the second positioning mechanism 500 is opened, and after the second positioning mechanism 500 is connected with the positioning part, the second oil inlet valve of the second positioning mechanism 500 is closed, so that the second positioning mechanism 500 is kept in a state of being connected with the positioning part; the second oil return valve of the first positioning mechanism 400 is opened, the second oil inlet valve of the first positioning mechanism 400 is closed, the first positioning mechanism 400 is separated from the positioning portion, the first oil return valve is opened, the hydraulic oil in the first oil cylinder 201 is pumped out by the oil pump of the hydraulic pump station 203, the first oil cylinder 201 moves relative to the guide rail 100, and the first positioning mechanism 400 can be just connected with one positioning portion. After the first positioning mechanism 400 is connected to one positioning portion, the second positioning mechanism 500 is separated from the positioning portion, and the next travel can be performed.

In this embodiment, the first oil cylinder 201 and the second oil cylinder 301 are both single-acting cylinders, and in other embodiments, the first oil cylinder 201 and the second oil cylinder 301 may also be double-acting cylinders, and at this time, the installation positions of the first oil inlet pipe, the first oil return pipe, the second oil inlet pipe, and the second oil return pipe are changed correspondingly, so as to conform to the usage principle of the double-acting cylinders.

Example 2

The embodiment discloses a control method of a hydraulic traveling device, which is applied to the hydraulic traveling device in embodiment 1, and with reference to fig. 5, the method includes the following steps:

step 1: the first positioning mechanism 400 is connected to the positioning portion at the corresponding position, and the second positioning mechanism 500 is separated from the positioning portion at the corresponding position.

Step 2: the first piston rod 202 of the hydraulic mechanism 200 is extended until the second positioning mechanism 500 is aligned with one of the positioning portions, so that the hydraulic mechanism 200 maintains the current state.

And step 3: the second positioning mechanism 500 is connected to the positioning portion at the corresponding position, so that the first positioning mechanism 400 is separated from the positioning portion at the corresponding position.

And 4, step 4: the first piston rod 202 of the hydraulic mechanism 200 is contracted, and at this time, the first cylinder 201 moves along the guide rail 100 until the first positioning mechanism 400 aligns with one positioning portion, so that the hydraulic mechanism 200 keeps the current state, that is, the hydraulic walking device completes one walking operation.

And 5: the above steps are repeated to make the first oil cylinder 201 travel along the guide rail 100 for a long distance.

It can be understood that when the hydraulic traveling device needs to return to the head end of the guide rail 100 after traveling to the tail end of the guide rail 100, it can be understood that the following steps are included:

step 6: the second positioning mechanism 500 is connected to the positioning part at the corresponding position, so that the first positioning mechanism 400 is separated from the positioning part at the corresponding position.

And 7: the first piston rod 202 of the hydraulic mechanism 200 is extended until the positioning mechanism 300 at the first end of the hydraulic mechanism 200 is aligned with a positioning portion, so that the hydraulic mechanism 200 is maintained in the current state.

And 8: the first positioning mechanism 400 is connected to the positioning portion at the corresponding position, and the second positioning mechanism 500 is separated from the positioning portion at the corresponding position.

And step 9: the first piston rod 202 of the hydraulic mechanism 200 is contracted, and at this time, the first cylinder 201 moves along the guide rail 100 until the second positioning mechanism 500 aligns with one positioning portion, so that the hydraulic mechanism 200 keeps the current state, that is, the hydraulic traveling device completes one traveling operation.

Step 10: the above steps are repeated until the first oil cylinder 201 is reset to the head end of the guide rail 100.

Through the control method, the hydraulic walking device can reciprocate on the guide rail 100, the walking distance of the hydraulic walking device is long, the transportation distance of the hydraulic walking device is greatly increased under the condition that the bearing capacity is ensured, and the hydraulic walking device is safe and convenient.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. 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.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise" indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

It should be noted that all the directional indications in the embodiments of the present application are only used to explain the relative position relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.